Monitoring device and monitoring method

Abstract

The present application provides a kind of monitoring device and monitoring method, which can more appropriately make the judgment about the abnormality of the constitution related to the opening and closing action of the railway vehicle door. The door control device (100) of one embodiment obtains the output of DLS70 for detecting the locking of the door (80) of the railway vehicle (1) or DCS60 for detecting the opening and closing state of the door (80), and the position information of the opening and closing direction of the door (80) is obtained from the encoder (31), and based on the output of the obtained DLS70 or DCS60 and the position information of the opening and closing direction of the door (80), the judgment about the abnormality of the constitution related to the opening and closing action of the door (80) is made.

Description

Technical Field

[0001] This invention relates to monitoring devices, etc. Background Technology

[0002] For example, there are known techniques for making judgments related to abnormalities in the opening and closing actions of railway vehicle doors (for example, see Patent Document 1).

[0003] Patent document 1 discloses a method for making a judgment related to the abnormality of the detection unit based on the output of the detection unit when the closing action of the car door is completed, that is, when the car door is fully closed and locked, or when the opening action of the car door is completed, that is, when the car door is fully open and unlocked.

[0004] <Prior art documents>

[0005] <Patent Documents>

[0006] Patent Document 1: Japanese Patent Application Publication No. 2020-75633 Summary of the Invention

[0007] <Problem to be solved by this invention>

[0008] However, in the method of Patent Document 1, for example, when the closing action of the car door is completed, there is a possibility that even if the output of the detection unit for whether the car door is locked or not, and the opening / closing state of the car door indicates an unlocked state or an open state, it is impossible to determine whether the detection unit is stuck or deteriorated. Similarly, in the method of Patent Document 1, for example, when the opening action of the car door is completed, there is a possibility that even if the output of the detection unit for whether the car door is locked or not, and the opening / closing state of the car door indicates a locked state or a closed state, it is impossible to determine whether the detection unit is stuck or deteriorated. In addition, in the method of Patent Document 1, it is unclear whether the reason for the inappropriate state indicated by the output of the detection unit lies in the detection unit itself or in the door locking device or the side receiving the output of the detection unit, and there is a possibility that it is impossible to determine whether there is an abnormal object.

[0009] Therefore, in view of the above problems, the object of the present invention is to provide a technique that can more appropriately make judgments related to anomalies in the configuration of the opening and closing actions of railway vehicle doors.

[0010] <Methods for solving problems>

[0011] To achieve the above objectives, in one embodiment of the present invention, a monitoring device is provided.

[0012] It acquires the output of a detection unit used for detecting whether the doors of railway vehicles are locked or for detecting the opening and closing status of the doors, as well as the position information of the opening and closing direction of the doors, and makes a judgment related to the abnormality of the detection unit based on whether there is a match between the acquired output of the detection unit and the position information.

[0013] Furthermore, in other embodiments of the present invention, a monitoring method is provided, which is performed by a monitoring device.

[0014] The monitoring method acquires the output of a detection unit used to detect whether the doors of railway vehicles are locked or to detect the opening and closing status of the doors, as well as the position information of the opening and closing direction of the doors. Based on whether there is a match between the acquired output of the detection unit and the position information, it makes a judgment related to the anomaly of the detection unit.

[0015] <The Effects of the Invention>

[0016] According to the above implementation method, it is possible to make more appropriate judgments related to anomalies in the structure of the opening and closing actions of railway vehicle doors. Attached Figure Description

[0017] Figure 1 This is a block diagram illustrating an example of the configuration associated with the opening and closing action of a railway vehicle door.

[0018] Figure 2 This is a schematic diagram illustrating an example of the configuration of a railway vehicle door and its door drive mechanism.

[0019] Figure 3 This is a schematic diagram illustrating an example of the configuration of a railway vehicle door and its door drive mechanism.

[0020] Figure 4 This is a schematic diagram illustrating an example of the configuration of a railway vehicle door and its door drive mechanism.

[0021] Figure 5 This is a schematic diagram illustrating an example of the configuration of a railway vehicle door and its door drive mechanism.

[0022] Figure 6 This is a schematic diagram illustrating an example of the configuration of a railway vehicle door and its door drive mechanism.

[0023] Figure 7 This is a timing diagram illustrating an example of the normal opening action of a car door, which is related to the opening and closing action of the car door.

[0024] Figure 8This is a timing diagram illustrating an example of the closing action of a car door under normal conditions, which is related to the opening and closing action of the car door.

[0025] Figure 9 This is a diagram illustrating an example of a method for determining anomalies in a structure related to the opening and closing of a car door.

[0026] Figure 10 This is a diagram illustrating an example of a method for determining anomalies in a structure related to the opening and closing of a car door.

[0027] Figure 11 This is a timing diagram showing the first example of a door opening action when there is an abnormality in the configuration related to the opening and closing action of the door.

[0028] Figure 12 This is a timing diagram showing a second example of the door opening action when there is an abnormality in the configuration related to the opening and closing action of the door.

[0029] Figure 13 This is a timing diagram showing the third example of a door opening operation when there is an abnormality in the configuration related to the opening and closing of the door.

[0030] Figure 14 This is a timing diagram illustrating the fourth example of a door opening action when there is an abnormality in the configuration related to the opening and closing action of the door.

[0031] Figure 15 This is a timing diagram showing the first example of a door closing action when there is an abnormality in the configuration related to the opening and closing action of the door.

[0032] Figure 16 This is a timing diagram illustrating a second example of the closing action of a car door when there is an abnormality in the configuration related to the opening and closing action of the car door.

[0033] Figure 17 This is a timing diagram showing the third example of a door closing action when there is an abnormality in the configuration related to the opening and closing action of the door.

[0034] Figure 18 This is a timing diagram illustrating the fourth example of a door closing action when there is an abnormality in the configuration related to the opening and closing action of the door.

[0035] Figure 19 This is a block diagram illustrating other examples of the configurations of a railway vehicle related to the opening and closing of its doors.

[0036] Figure 20 This is a diagram illustrating other examples of methods for determining anomalies in structures related to the opening and closing of car doors.

[0037] Figure 21This is a diagram illustrating other examples of methods for determining anomalies in structures related to the opening and closing of car doors.

[0038] Figure 22 This is another example of a method for determining anomalies in a configuration related to the opening and closing of a car door.

[0039] Figure 23 This is another example of a method for determining anomalies in a configuration related to the opening and closing of a car door.

[0040] Figure 24 This is another example of a method for determining anomalies in a configuration related to the opening and closing of a car door.

[0041] Figure 25 This is another example of a method for determining anomalies in a configuration related to the opening and closing of a car door.

[0042] Explanation of reference numerals in the attached figures

[0043] 1. Railway vehicles

[0044] 10 Vehicle control devices

[0045] 20 Door opening and closing operation device

[0046] 30 Electric Motors

[0047] 31 Encoder

[0048] 32, 32A, 32B Current Sensors

[0049] 50 Locking device

[0050] 51 sales

[0051] 52, 53 coils

[0052] 60 DCS (Detection Units)

[0053] 61A1, 61A2, 61B1, 61B2 Fixed contacts

[0054] 62 movable contacts

[0055] 70 DLS (Detection Unit)

[0056] 71A1, 71A2, 71B1, 71B2 Fixed contacts

[0057] 72 movable contacts

[0058] 80, 80A, 80B car doors

[0059] 100 Door control device (monitoring device)

[0060] 110 Common System Control Department

[0061] 111 Power Supply Circuit

[0062] 112 Ministry of Communications

[0063] 113 Input Signal Detection Unit (Signal Detection Unit)

[0064] 114 Sequence Section

[0065] 115 Electric Motor Control Unit

[0066] 116 Electric motor drive unit

[0067] 117 Locking / Unlocking Drive Unit

[0068] 120 Standby System Control Unit

[0069] 121 Power Supply Circuit

[0070] 122 Ministry of Communications

[0071] 123 Input Signal Detection Unit (Signal Detection Unit)

[0072] 124 Sequence Section

[0073] 125 Electric Motor Control Unit

[0074] 126 Electric motor drive unit

[0075] 127 Locking / Unlocking Drive Unit

[0076] 130, 140 Switching Circuit Section

[0077] 150 batteries

[0078] 151 Input Contactor

[0079] 160 Conveyor Device

[0080] 200 Door Drive Mechanism

[0081] 210 rack

[0082] 211 Rack section

[0083] 211A rack and pinion gear

[0084] 212 Connecting Part

[0085] 212A DCS Connecting Part

[0086] 220 rack

[0087] 221 Rack section

[0088] 221A rack and pinion gear

[0089] 222 Connecting Section

[0090] 222A Inclined section

[0091] 223 Locking pin abutment part

[0092] 223A keyhole

[0093] 230 Locking Pin

[0094] Sales Department 231

[0095] 232 Locking device contact part Detailed Implementation

[0096] The embodiments will now be described with reference to the accompanying drawings.

[0097] [An example of a component related to the opening and closing of a car door]

[0098] First, refer to Figures 1-6 An example of the configuration related to the opening and closing operation of the door 80 of the railway vehicle 1 will be described.

[0099] Figure 1 This is a block diagram illustrating an example of the configuration related to the opening and closing action of the door 80 of the railway vehicle 1. Figures 2-6 This is a schematic diagram illustrating an example of the configuration of the door 80 and door drive mechanism 200 of a railway vehicle 1. Specifically, Figure 2 This is a schematic diagram showing the door 80 in its fully closed and locked state, and the door drive mechanism 200. Figure 3 This is a schematic diagram showing the door 80 in both the fully closed and unlocked states, and the door drive mechanism 200. Figure 4 This is a schematic diagram showing the door 80 and the door drive mechanism 200 during the opening action (after the opening action begins) or the closing action (before the closing action is completed). Figure 5 This is a schematic diagram showing the door 80 and the door drive mechanism 200 during the opening action (before the opening action is completed) or the closing action (after the closing action begins). Figure 6 This is a schematic diagram showing the door 80 and the door drive mechanism 200 in the fully open state.

[0100] like Figures 1-6As shown, the railway vehicle 1 includes a vehicle control device 10, a door opening and closing operation device 20, a motor 30, an encoder 31, a current sensor 32, a locking device 50, a DCS (Door Close Switch) 60, a DLS (Door Lock Switch) 70, and a door 80. Additionally, the railway vehicle 1 includes a door control device 100, a battery 150, an input contactor 151, a transmission device 160, and a door drive mechanism 200.

[0101] The vehicle control device 10 is used for control related to the operation of the railway vehicle 1. For example, in the case of a train with multiple railway vehicles 1 connected together, one vehicle control device 10 is installed in the driver's cab of the foremost railway vehicle 1 and one in the commander's cab of the rearmost railway vehicle 1. Alternatively, for example, in the case of a single carriage, one vehicle control device 10 is installed in the driver's cab at the front end and one in the commander's cab at the rear end of the railway vehicle 1.

[0102] When the railway vehicle 1 stops at a platform, the vehicle control device 10 outputs a stop signal indicating that the vehicle is stopping to the door control device 100. In addition, the vehicle control device 10 outputs an opening command that indicates the opening of the door 80 or a closing command that indicates the closing of the door 80, which is input from the door opening and closing operation device 20, to the door control device 100.

[0103] The vehicle control unit 10 is connected to a wiring 11 for transmitting interlock signals. Both ends of the wiring 11 are connected to the vehicle control unit 10, and a DCS60 and a DLS70 are provided within the wiring 11. When both DCS60 and DLS70 are in the ON state, the wiring 11 is in the ON state, and the interlock signal becomes H (High) level. When the interlock signal is at H level, the vehicle control unit 10 determines that the railway vehicle 1 is ready to run. That is, if the interlock signal changes from L (Low) level to H level, the railway vehicle 1 can run.

[0104] The door opening and closing operation device 20 is used by the train crew (e.g., the conductor) of the railway vehicle 1 to open and close the doors 80. The door opening and closing operation device 20 includes an open switch 21A and a close switch 21B. For example, if the open switch 21A is operated while the railway vehicle 1 is stopped, the door opening and closing operation device 20 outputs an open command that rises from the L level to the H level to the vehicle control device 10. Conversely, if the close switch 21B is operated while the railway vehicle 1 is stopped, the door opening and closing operation device 20 outputs a close command that falls from the H level to the L level to the vehicle control device 10.

[0105] The electric motor 30 is used to drive the opening and closing of the door 80. The electric motor 30 is, for example, a rotary motor driven by three-phase AC power.

[0106] It should be noted that the door 80 can be driven by a linear motor powered by three-phase AC drive electricity, or by a DC motor.

[0107] Encoder 31 is used to detect the rotational position (rotation angle) of the rotating shaft of motor 30. For example, encoder 31 detects the rotational position (rotation angle) and the number of rotations of the rotating shaft of motor 30 in one rotation. Encoder 31 outputs a detection signal containing information related to the rotational position of the rotating shaft of motor 30, and the detection signal is fed into door control device 100. Thus, door control device 100 can obtain the position information of door 80 in the opening and closing direction based on the signal from encoder 31. In other words, the information contained in the signal from encoder 31 corresponds to the position information of door 80.

[0108] The current sensor 32 detects the current of the three-phase AC drive power supplied from the door control device 100 to the motor 30. The current sensor 32 includes current sensors 32A and 32B, which detect the current in two of the three power lines (U-phase, V-phase, and W-phase) connecting the door control device 100 and the motor 30. For example, current sensor 32A detects the current in the U-phase power line, and current sensor 32B detects the current in the W-phase power line. Alternatively, the current sensor 32 may also include a current sensor that detects the current in the remaining power line. For example, as... Figure 1 As shown, the current sensor 32 can be built into the door control device 100 or located outside the door control device 100. The detection signals of the current sensors 32 (current sensors 32A, 32B) are fed into the commonly used system control unit 110 and the standby system control unit 120, which will be described later.

[0109] The locking device 50 is used to lock and unlock the door 80. The locking device 50 includes, for example, a pin 51 and coils 52 and 53, implemented by a bidirectional self-holding solenoid. Coils 52 and 53 are respectively connected to the door control device 100.

[0110] When the coil 52 of the locking device 50 is energized by the door control device 100, the pin 51 protrudes from the housing of the locking device 50. Consequently, the locking pin 230 (described later) moves in the unlocking direction, and the door 80 is unlocked. Furthermore, since the locking device 50 is self-retaining, it maintains its protruding state from the housing even after the coil 52 is de-energized. Therefore, the unlocked state of the door 80 can be maintained.

[0111] When the coil 53 is energized by the door control device 100, the pin 51 is pulled into the housing of the locking device 50. Consequently, the locking pin 230 (described later) moves in the upward locking direction, and the door 80 is locked. Furthermore, since the locking device 50 is self-holding, it remains pulled into the housing even after the coil 53 is de-energized. Therefore, the locked state of the door 80 can be maintained.

[0112] The DCS60 (an example of a detection unit) is used to perform detection related to the opening and closing state of the door 80 of the railway vehicle 1. Specifically, the DCS60 detects the fully closed state of the door 80 of the railway vehicle 1. The DCS60 can be implemented, for example, by a limit switch that is pressed by the door 80 after it has moved to the fully closed position.

[0113] The DCS60 includes fixed contacts 61A1, 61A2, fixed contacts 61B1, 61B2 and movable contact 62.

[0114] Fixed contacts 61A1 and 61A2 are connected in series in wiring 11 to cut off wiring 11. Hereinafter, for convenience, fixed contacts 61A1 and 61A2 are sometimes referred to as the "A contact" of DCS60.

[0115] Fixed contacts 61B1 and 61B2 are connected in series in wiring 101 such that the wiring 101 connecting to the door control device 100 at both ends is disconnected. Therefore, the door control device 100 can determine the on / off state of the DCS 60 by using H-level signals and L-level signals that respectively represent the on and off states of the fixed contacts 61B1 and 61B2. Hereinafter, for convenience, fixed contacts 61B1 and 61B2 will sometimes be referred to as the "B contacts" of the DCS 60.

[0116] Movable contact 62 via axial ( Figure 1 The movable contact 62 moves (up and down) to make any one of the fixed contacts 61A1, 61A2, and 61B1, 61B2 conductive. When no external force is applied, the DCS60 is in a state where the movable contact 62 makes the fixed contacts 61B1 and 61B2 conductive, i.e., contact B is conductive and contact A is disconnected. On the other hand, as described later, for the DCS60, if the movable contact 62 is pressed by the door 80, contact A is conductive when fixed contacts 61A1 and 61A2 are conductive through the movable contact 62, and contact B is disconnected. Furthermore, for the DCS60, if the movable contact 62 returns to a non-pressed state under the action of the door 80, contact B is conductive when fixed contacts 61B1 and 61B2 are conductive through the movable contact 62, and contact A is disconnected.

[0117] For example, the door control device 100 can determine the on / off state of the B contact of the DCS 60 based on the signal input via wiring 101. Alternatively, for example, the door control device 100 can determine the on / off state of the A contact of the DCS 60 by reversing the signal input via wiring 101.

[0118] In the following, the "on" state of DCS60 refers to the on state of contact A of DCS60 (i.e., the off state of contact B), and the "off" state of DCS60 refers to the off state of contact A of DCS60 (i.e., the on state of contact B). In other words, the "on" state of DCS60 indicates that door 80 is fully closed, and the "off" state of DCS60 indicates that door 80 is open.

[0119] The DLS70 (an example of a detection unit) is used to detect whether the door 80 is locked. Specifically, it detects whether the door 80 is locked. The DLS70 is implemented, for example, by a limit switch that is pressed when the locking pin 230 of the door 80 moves to the locked position.

[0120] The DLS70 includes fixed contacts 71A1, 71A2, fixed contacts 71B1, 71B2 and movable contact 72.

[0121] Fixed contacts 71A1 and 71A2 are connected in series in wiring 11 to cut off wiring 11. Hereinafter, for convenience, fixed contacts 71A1 and 71A2 are sometimes referred to as "A contacts" of DLS70.

[0122] Fixed contacts 71B1 and 71B2 are connected in series in wiring 102 such that the wiring 102 connected to the door control device 100 at both ends is disconnected. Therefore, the door control device 100 can determine the on / off state of the DLS70 based on H-level and L-level signals representing the on and off states of the fixed contacts 71B1 and 71B2, respectively. Hereinafter, for convenience, fixed contacts 71B1 and 71B2 will sometimes be referred to as the "B contacts" of the DLS70.

[0123] Movable contact 72 via axial ( Figure 1The movable contact 72 moves (up and down) to conduct any of the fixed contacts 71A1, 71A2, and 71B1, 71B2. When no external force is applied, the DLS70 is in a state where the movable contact 72 conducts the fixed contacts 71B1 and 71B2, i.e., contact B is on and contact A is off. Conversely, for the DLS70, if the movable contact 72 is pressed by the locking pin 230, contact A is on while the fixed contacts 71A1 and 71A2 are conducted through the movable contact 72, and contact B is off. Furthermore, for the DLS70, if the movable contact 72 returns to an unpressed state under the action of the locking pin 230, contact B is on while the fixed contacts 71B1 and 71B2 are conducted through the movable contact 72, and contact A is off.

[0124] For example, the door control device 100 can determine the on / off state of the B contact of the DLS70 based on the signal input via wiring 102. Alternatively, for example, the door control device 100 can determine the on / off state of the A contact of the DLS70 by inverting the signal input via wiring 102.

[0125] In the following, the "on" state of DLS70 refers to the on state of contact A of DLS70 (i.e., the off state of contact B), and the "off" state of DLS70 refers to the off state of contact A of DLS70 (i.e., the on state of contact B). In other words, the "on" state of DLS70 indicates the locked state of door 80, and the "off" state of DLS70 indicates the unlocked state of door 80.

[0126] If the door 80 is fully closed and locked, the A contacts of DCS60 and DLS70 are connected together, then wiring 11 becomes conductive, and the interlock signal becomes H level.

[0127] The door 80 is a double-opening sliding door located on the left and right sides of the railway vehicle 1, in the openings 1A. The door 80 includes doors 80A and 80B.

[0128] With the door 80 fully closed, door end rubbers 81A and 81B are respectively provided at the abutment of the doors 80A and 80B. The door end rubbers 81A and 81B are respectively provided at the joint of the doors 80A and 80B from the top to the bottom.

[0129] The door control device 100 (an example of a monitoring device) performs control related to the opening and closing of the doors 80. The door control device 100 is provided for each of the plurality of doors 80 provided in the railway vehicle 1.

[0130] The functions of the door control device 100 are implemented through any hardware or any combination of hardware and software. The door control device 100 is centered around a computer device, which includes, for example, a memory device such as a CPU (Central Processing Unit), a memory device such as RAM (Random Access Memory), an auxiliary storage device such as ROM (Read Only Memory), and an interface device for input / output with the outside.

[0131] The door control device 100 includes a normal system control unit 110, a standby system control unit 120, a switching circuit unit 130, and a switching circuit unit 140.

[0132] The common system control unit 110 performs control related to the opening and closing of the door 80. The common system control unit 110 includes a power supply circuit 111, a communication unit 112, an input signal detection unit 113, a sequence unit 114, a motor control unit 115, a motor drive unit 116, and a locking / unlocking drive unit 117.

[0133] The power supply circuit 111 functions as the drive power for the various machines of the common system control unit 110. The power supply circuit 111 uses the relatively high voltage (e.g., 100V) power supplied from the battery 150 to the door control device 100 to generate relatively low voltage (e.g., below 5V) power for driving the machines of the common system control unit 110.

[0134] The communication unit 112 communicates bidirectionally with the external transmission device 160 of the door control device 100.

[0135] The input signal detection unit 113 (an example of a signal detection unit) detects various signals input from the outside of the door control device 100.

[0136] In addition, the input signal detection unit 113 performs various processing based on the detected signal.

[0137] For example, if the input signal detection unit 113 detects a specified signal from the input signals, it sends the specified signal to the sequence unit 114 and the motor control unit 115. That is, the input signal detection unit 113 extracts (selects) the signal required for the control of the sequence unit 114 and the motor control unit 115 from the multiple types of input signals, and sends it to the sequence unit 114 and the motor control unit 115. As a result, the sequence unit 114 and the motor control unit 115 can appropriately execute the sequence control and the drive control of the motor 30 described later based on the signal input from the input signal detection unit 113.

[0138] Additionally, for example, the input signal detection unit 113 determines, based on the detected signal, any abnormalities in the configuration related to the opening and closing action of the door 80 (see below). Figure 9 , Figure 10 , Figure 20 ,as well as Figure 21 The same applies to the input signal detection unit 123 described later.

[0139] Judgments related to anomalies include determining the presence or absence of an anomaly, identifying the constituent elements of an anomaly (confirmation), assessing the degree of the anomaly, and determining the content (type) of the anomaly.

[0140] The sequence unit 114 performs sequence control related to the opening and closing of the door 80 based on the signal input from the input signal detection unit 113. Specifically, the sequence unit 114 performs sequence control related to the opening and closing of the door 80 based on the parking signal, opening command, and closing command from the vehicle control device 10. In addition, the sequence unit 114 uses signals from the encoder 31, DCS60, and DLS70 to perform sequence control related to the opening and closing of the door 80 while grasping the opening and closing state of the door 80, the position of the opening and closing direction of the door 80, and whether the door 80 is locked.

[0141] The motor control unit 115 drives the motor 30 by implementing the opening and closing actions of the door 80 corresponding to the control commands received from the sequence unit 114. For example, the motor control unit 115 generates a PWM (Pulse Width Modulation) signal for driving the motor 30 based on the speed and thrust commands of the motor 30 input from the sequence unit 114, and outputs it to the motor drive unit 116. Specifically, the motor control unit 115 can use detection signals from the input signal detection unit 113, the encoder 31, and the current sensor 32, etc., to generate a PWM signal that conforms to the speed and thrust commands while monitoring the current of the motor 30 and the rotational position of the rotating shaft.

[0142] The motor drive unit 116 uses DC power input from the battery 150 to generate and output three-phase AC power for driving the motor 30. The motor drive unit 116 is configured, for example, to include an inverter circuit. The two DC power lines on the input side of the motor drive unit 116 are connected to the battery 150 via an input contactor 151, and the three power lines on its output side are connected to the motor 30 via a switching circuit unit 130.

[0143] The locking / unlocking drive unit 117 energizes the coils 52 and 53 of the locking device 50 according to the locking command and unlocking command input from the sequence unit 114, thereby driving the locking device 50 (pin 51) in the locking or unlocking direction of the door 80. The DC power lines of the positive and negative terminals on the input side of the locking / unlocking drive unit 117 are connected to the battery 150 via the input contactor 151. Furthermore, one set of the two sets of DC power lines of the positive and negative terminals on the output side of the locking / unlocking drive unit 117 is connected to the coil 52 via the switching circuit unit 140, and the other set is connected to the coil 53 via the switching circuit unit 140. For example, the locking / unlocking drive unit 117 has a semiconductor switch capable of switching the conduction / non-conduction between the DC power lines on the input side and each of the two sets of DC power lines on the output side, thereby switching the semiconductor switch on / off. Specifically, for the lock / unlock drive unit 117, if a lock command is input from the sequence unit 114, the DC power line on the input side can be switched to a conductive state with one group of DC power lines on the output side, thereby energizing the coil 52 of the lock device 50 through the switching circuit unit 140. Conversely, for the lock / unlock drive unit 117, if an unlock command is input from the sequence unit 114, the DC power line on the input side can be switched to a conductive state with another group of DC power lines, thereby energizing the coil 53 of the lock device 50 through the switching circuit unit 140.

[0144] The standby system control unit 120 is configured to perform control related to the opening and closing of the door 80, serving as a backup for the regular system control unit 110. Therefore, in addition to the regular system control unit 110, the door control device 100 also includes a standby system control unit 120, thereby achieving redundancy in the control system for the opening and closing of the door 80. Specifically, in the event of an anomaly in the regular system control unit 110, the standby system control unit 120 takes over the control related to the opening and closing of the door 80.

[0145] The standby system control unit 120 includes the same components as the conventional system control unit 110. Specifically, the standby system control unit 120 includes a power supply circuit 121, a communication unit 122, an input signal detection unit 123 (an example of a signal detection unit), a sequence unit 124, a motor control unit 125, a motor drive unit 126, and a lock / unlock drive unit 127.

[0146] The power supply circuit 121, communication unit 122, input signal detection unit 123, sequence unit 124, motor control unit 125, motor drive unit 126, and locking / unlocking drive unit 127 have the same hardware configuration and functions as the power supply circuit 111, communication unit 112, input signal detection unit 113, sequence unit 114, motor control unit 115, motor drive unit 116, and locking / unlocking drive unit 117 of the common system control unit 110. Therefore, detailed descriptions are omitted.

[0147] The switching circuit 130 is used to switch between the states where the motor drive unit 116 and the motor 30 are electrically connected, and between the states where the motor drive unit 126 and the motor 30 are electrically connected. Specifically, the switching circuit 130 connects the three-phase AC output power lines of the motor drive unit 116 and the motor drive unit 126 to its input side, and connects the three-phase AC input power line extending from the motor 30 to its output side. Furthermore, the switching circuit 130 is used to switch between the states where the output power line of the motor drive unit 116 is connected to the input power line of the motor 30, and between the states where the output power line of the motor drive unit 126 is connected to the input power line of the motor 30.

[0148] When the switching circuit unit 130 controls the opening and closing of the door 80 via the normal operating system control unit 110, it maintains the electric motor drive unit 116 and the electric motor 30 in an electrically connected state. On the other hand, when the normal operating system control unit 110 malfunctions and switches to a state where the opening and closing of the door 80 is controlled via the standby system control unit 120, the switching circuit unit 130 switches to a state where the electric motor drive unit 126 and the electric motor 30 are electrically connected.

[0149] The switching circuit section 140 switches between a state where the locking / unlocking drive section 117 is connected to the locking device 50 (coils 52, 53) and a state where the locking / unlocking drive section 127 is connected to the locking device 50 (coils 52, 53). Specifically, the switching circuit section 140 connects two sets of output power lines of the locking / unlocking drive section 117 and the locking / unlocking drive section 127 to its input side, and connects two sets of input power lines extending from the locking device 50 (coils 52, 53) to its output side. Furthermore, the switching circuit section 140 switches between a state where the two sets of output power lines of the locking / unlocking drive section 117 are connected to the two sets of input power lines of the locking device 50 and a state where the two sets of output power lines of the locking / unlocking drive section 127 are connected to the two sets of input power lines of the locking device 50.

[0150] When the switching circuit unit 140 controls the opening and closing of the door 80 via the normal operating system control unit 110, it maintains the state in which the locking / unlocking drive unit 117 and the locking device 50 (coils 52, 53) are electrically connected. On the other hand, when the normal operating system control unit 110 malfunctions and switches to the state in which the opening and closing of the door 80 is controlled via the standby system control unit 120, the switching circuit unit 140 switches to the state in which the locking / unlocking drive unit 127 and the locking device 50 (coils 52, 53) are electrically connected.

[0151] Battery 150 is a capacitor mounted on railway vehicle 1. Battery 150 supplies a specified voltage (e.g., 100 volts) of direct current to various machines of railway vehicle 1, including motor 30, locking device 50 and door control device 100.

[0152] An input contactor 151 is provided in the power circuit between the battery 150 and various machines including the door control device 100. It switches the power supply of the railway vehicle 1 to these machines by opening and closing the power circuit. For example, the input contactor 151 closes in accordance with a predetermined operation equivalent to power connection in the driver's cab of the railway vehicle 1. This initiates the power supply to the various machines of the railway vehicle 1, including the door control device 100, and the railway vehicle 1 starts. Conversely, the input contactor 151 opens in accordance with a predetermined operation equivalent to power disconnection in the driver's cab of the railway vehicle 1. This stops (blocks) the power supply to the various machines of the railway vehicle 1, including the door control device 100, and the railway vehicle 1 stops.

[0153] The transmission device 160 serves as a signal relay between the door control device 100 and the vehicle control device 10 for each of the multiple doors 80 of the railway vehicle 1.

[0154] The transmission device 160 receives various signals sent from the vehicle control device 10 toward the door control device 100 and transmits them to each door control device 100 (input signal SDR). In addition, the transmission device 160 receives various signals sent to each door control device 100 (output signal SD) and transmits them to the vehicle control device 10.

[0155] The door drive mechanism 200 transmits power from the electric motor 30 to the door 80, causing the door 80 to open and close. In addition, the door drive mechanism 200 realizes the locked and unlocked states of the door 80 according to the action of the locking device 50 (pin 51).

[0156] The door drive mechanism 200 includes racks 210 and 220 and a locking pin 230.

[0157] The rack 210 is mounted on the upper end of the door 80A. The rack 210 includes a rack portion 211 and a connecting portion 212.

[0158] The rack section 211 is a component that extends horizontally, specifically in the longitudinal direction of the railway vehicle 1. A rack gear 211A is provided on the lower surface of the rack section 211. The rack section 211 is positioned slightly above the rotation axis of the motor 30, whose rotation axis is arranged along the width direction (left-right direction) of the railway vehicle 1, above the opening 1A of the railway vehicle 1. This allows a pinion coaxially arranged with the rotation axis of the motor 30 to engage with the rack gear 211A on the lower surface of the rack section 211. Therefore, the rack section 211 can move in the longitudinal direction of the railway vehicle 1 according to the rotation of the motor 30.

[0159] The connecting part 212 connects the door 80A and the rack part 211. The connecting part 212 is provided to extend upward from the upper end of the door 80A, and its upper end is connected to the rack part 211. As a result, the door 80A moves in conjunction with the movement of the rack part 211, which corresponds to the rotation of the motor 30, in the front-rear direction of the railway vehicle 1, thereby realizing the opening and closing operation of the door 80.

[0160] The connecting part 212 has a DCS abutment part 212A on the side of the center of the opening 1A in the longitudinal direction of the railway vehicle 1. For example... Figure 2 , Figure 3 As shown, if the door 80A is changed to a fully closed state, the DCS abutment part 212A abuts against the movable contact 62 of the DCS 60, pressing the movable contact 62. Thus, the movable contact is pressed in, and the DCS 60 is switched on. On the other hand, as... Figures 4-6 As shown, if the door 80A changes to a state other than the fully closed state, the DCS abutment part 212A changes to a state where it does not abut against the movable contact 62 of the DCS 60, and the DCS 60 is disconnected.

[0161] The rack 220 is installed on the upper end of the door 80B. The rack 220 includes a rack portion 221, a connecting portion 212, and a locking pin abutment portion 223.

[0162] The rack section 221 is a component that extends horizontally, specifically in the longitudinal direction of the railway vehicle 1. A rack gear 221A is provided on the upper surface of the rack section 221. The rack section 221 is positioned slightly below the rotation axis of the electric motor 30, above the opening 1A of the railway vehicle 1. This allows the pinion, which is coaxially arranged with the rotation axis of the electric motor 30, to engage with the rack gear 211A on the upper surface of the rack section 221. Therefore, the rack section 221 can move in the longitudinal direction of the railway vehicle 1 in response to the rotation of the electric motor 30.

[0163] A connecting part 222 connects the door 80B and the rack part 221. The connecting part 222 is provided to extend upward from the upper end of the door 80B, and its upper end is connected to the rack part 221. As a result, the door 80B moves in conjunction with the movement of the rack part 221, which corresponds to the rotation of the motor 30, in the forward and backward direction of the railway vehicle 1, thereby realizing the opening and closing of the door 80. In addition, the rack gear 211A engages from the top and the rack gear 221A engages from the bottom relative to the pinion coaxial with the motor 30, so that the racks 210 and 220 can move in opposite directions according to the rotation of the motor 30. Therefore, the opening and closing of the two doors 80A and 80B can be realized by a single motor 30.

[0164] In addition, the upper end of the connecting part 222 is provided with an inclined part 222A that slopes downward toward the center side of the opening 1A in the front-rear direction of the railway vehicle 1.

[0165] When the door 80 is locked, the locking pin 230 abuts against the locking pin abutment portion 223. The locking pin abutment portion 223 is provided such that it protrudes from the connecting portion 222 on the side opposite to the direction of extension of the rack portion 221. A lock hole 223A is provided in the locking pin abutment portion 223.

[0166] The lock hole 223A is a recess on the upper surface of the locking pin abutment 223. When the door 80 is locked, the lower end of the locking pin 230 (pin 231 described later) is inserted into the lock hole 223A.

[0167] The locking pin 230 is located above the locking pin abutment portion 223 of the rack 220. The locking pin 230 includes a pin portion 231 and a locking device abutment portion 232.

[0168] The pin 231 is arranged to extend in the vertical direction.

[0169] The locking device abutment portion 232 is mounted on the upper end of the pin portion 231, and is arranged to extend from the connection portion with the pin portion 231 in the horizontal direction, specifically in the longitudinal direction of the railway vehicle 1, in the opposite direction to the opening portion 1A. A locking device 50 is fixedly disposed below the locking device abutment portion 232, and the upper end of the pin 51 of the locking device 50 abuts against the lower surface of the locking device abutment portion 232. Therefore, if the pin 51 of the locking device 50 protrudes upward, the locking device abutment portion 232 is lifted upward; if the pin 51 of the locking device 50 is pulled downward, the locking device abutment portion 232 descends downward under the weight of the locking pin 230.

[0170] like Figures 4-6As shown, with the pin 51 of the locking device 50 protruding, the lower end of the pin 231, which is connected to the locking device abutment portion 232, is positioned above the inclined portion 222A of the rack 220, and the pin 231 does not engage with the lock hole 223A. Therefore, regardless of the configuration of the locking pin 230, the rack 220 can move, thereby allowing the doors 80 (doors 80A, 80B) to move in the opening and closing directions.

[0171] On the other hand, such as Figure 2 , Figure 3 As shown, with the pin 51 of the locking device 50 pulled in, the lower end of the pin 231 is located below the inclined portion 222A of the rack 220. Furthermore, with the door 80 fully closed, the pin 231 is located on the side closer to the locking pin abutment portion 223 than the inclined portion 222A in the longitudinal direction of the railway vehicle 1. Therefore, with the door 80 fully closed, if the pin 51 of the locking device 50 is pulled in, the locking device abutment portion 232 moves downward, and the pin 231 engages with the locking hole 223A (recess) of the rack 220. This restricts the movement of the rack 220 and the rotation of the pinion gear engaging with the rack gear of the rack 220, resulting in restricted movement of the rack 210, which has the rack gear 211A engaging with the pinion gear. Therefore, the movement of doors 80A and 80B connected to racks 210 and 220 is restricted, thus achieving a locked state for doors 80A and 80B.

[0172] [Summary of the opening and closing action of the car door]

[0173] Next, besides Figures 2-6 Also refer to Figure 7 , Figure 8 A summary of the opening and closing actions of door 80 is provided.

[0174] <The opening action of the car door>

[0175] Figure 7 This is a timing diagram illustrating an example of the opening action of door 80 under normal conditions, related to the opening and closing action of door 80. Specifically, Figure 7 It is a timing diagram showing the opening command, closing command, opening signal, DCS signal, DLS signal, unlocking drive signal, speed command, and thrust command of the door 80 before and after the opening operation of the door 80.

[0176] As described above, the open command and the close command are instruction signals transmitted from the vehicle control device 10 to the door control device 100, respectively, to instruct the door 80 to open and close.

[0177] The "Opening in Progress" signal indicates whether the door 80 is in the opening process. When the door 80 is in the opening process, the "Opening in Progress" signal displays a high level (H), and when the door 80 is not in the opening process, it displays a low level (L). For example, the "Opening in Progress" signal is generated by the input signal detection unit 113 or the input signal detection unit 123 and is sent to the sequence unit 114 and the motor control unit 115.

[0178] The DCS and DLS signals indicate the on / off states of DCS60 and DLS70, respectively. When DCS60 and DLS70 are on (specifically, when contact A is on and contact B is off), the DCS and DLS signals show an H level; when they are off (specifically, when contact A is off and contact B is on), they show an L level.

[0179] The unlocking drive signal is used to unlock and drive the locking device 50. When the locking device 50 is not unlocking, the unlocking drive signal exhibits a high level (H), and when the locking device 50 is unlocking, it exhibits a low level (L). The unlocking drive signal is generated, for example, by sequence units 114 and 124 and sent to locking / unlocking drive units 117 and 127.

[0180] The speed and thrust commands are the command values ​​for the speed and thrust of the electric motor 30. These commands are generated by the electric motor control units 115 and 125. In this example, the drive and thrust commands for the electric motor 30 are set to positive values ​​for the rotation direction corresponding to the opening action of the door 80, and negative values ​​for the direction corresponding to the closing action of the door 80. (The following will refer to further details.) Figure 8 , Figures 11-18 The situation is the same.

[0181] like Figure 7 As shown, after the railway vehicle 1 stops, if an opening command is received, the door control device 100 lowers the unlocking drive signal to level L and raises the opening action signal to level H (time t01). Thus, the locking device 50 is unlocked, and the door 80 unlocks (refer to...). Figure 2 , Figure 3 ).

[0182] If door 80 is unlocked, the DLS signal drops from the H level indicating the locked state to the L level indicating the unlocked state (time t02).

[0183] After the door 80 is unlocked, the door control device 100 increases the speed and thrust commands of the motor 30, thereby initiating the opening action of the door 80 (see reference). Figure 4 Therefore, the DCS signal drops from the H level representing the fully closed state to the L level representing the state other than fully closed (time t03).

[0184] Door control device 100 drives motor 3 (refer to) Figure 5 ), until the door 80 reaches the fully open position. Furthermore, the door control device 100, after the door 80 reaches the fully open position (refer to...) Figure 6 The speed command is set to zero, and the signal level during the start-up operation is reduced from the H level indicating the start-up operation to the L level indicating the operation outside of the start-up operation (time t04).

[0185] <The closing action of the car door>

[0186] Figure 8 This is a timing diagram illustrating an example of the closing action of the door 80 when the components related to the opening action of the door 80 are functioning normally. Specifically, Figure 8 This is an example of a timing diagram showing the opening command, closing command, closing action signal, DCS signal, DLS signal, lock drive signal, speed command, and thrust command of the door 80 before and after the closing action of the door 80.

[0187] The closing signal indicates whether the door 80 is in the closing action. When the door 80 is in the closing action, the closing signal shows a high level (H); when the door 80 is not in the closing action, it shows a low level (L). For example, similar to the opening signal, the closing signal is generated by the input signal detection unit 113 or the input signal detection unit 123 and is sent to the sequence unit 114 and the motor control unit 115.

[0188] The locking drive signal is used to drive the locking device 50 to lock. When the locking device 50 is not being locked, the locking drive signal exhibits an L level; when the locking device 50 is being locked, it exhibits an H level. The locking drive signal is generated by sequence units 114 and 124, for example, in the same way as the unlocking drive signal, and is sent to the locking / unlocking drive units 117 and 127.

[0189] like Figure 8 As shown, if a closing command is received while the door 80 of railway vehicle 1 is fully open, the door control device 100 raises the opening signal to level H (time t11). Furthermore, the door control device 100 increases the speed and thrust (absolute value) of the motor 30 relative to the closing command, initiating the closing action of the door 80 (see reference). Figure 5 , Figure 6 ).

[0190] The door control device 100 drives the electric motor 30 until the door 80 reaches the fully closed state (see reference). Figure 4 Furthermore, after the car door reaches the fully closed position (refer to...). Figure 3 The DCS signal rises from L level to H level (time t12).

[0191] After the DCS signal rises to H level, the door control device 100 sets the speed command to zero (time t13).

[0192] After the DCS signal rises to level H and the speed command is set to zero, the door control device 100 causes the locking drive signal to rise from level L to level H (time t14). As a result, the locking device 50 is driven to lock, and the door 80 is locked (see reference). Figure 2 , Figure 3 ).

[0193] If the locking device 50 locks, the DLS signal rises from level L to level H (time t15). Furthermore, the door control device 100 causes the closing signal to drop from level H to level L.

[0194] It should be noted that, in the fully closed state, the pushing force command of the door 80 may not be zero, but rather output a relatively small pushing force command that can press the door 80 in the closing direction to a certain extent (after time t13). Therefore, even if an external force is applied to the door 80 before it is locked, the door control device 100 can restore the door 80 to the fully closed state and maintain the fully closed state.

[0195] [A summary of methods for determining anomalies related to the opening and closing of vehicle doors]

[0196] Next, a summary of the method for judging abnormalities in the structure related to the opening and closing action of the door 80 will be given.

[0197] When performing control related to the opening and closing of the door 80, the normal operating system control unit 110 performs a judgment related to anomalies in the configuration of the opening and closing of the door 80 during the operation of the railway vehicle 1. For example, as described above, the judgment related to such anomalies can be performed by the input signal detection unit 113. That is, the normal operating system control unit 110 has the function of the "monitoring device" as claimed, and specifically, the function of the "monitoring device" can be included in the input signal detection unit 113.

[0198] Furthermore, when an anomaly occurs in the normal operating system control unit 110, and the standby system control unit 120 is instead performing control related to the opening and closing of the door 80, the standby system control unit 120 performs an anomaly-related determination regarding the configuration of the door 80's opening and closing action during the operation of the railway vehicle 1. For example, this anomaly-related determination can be performed by the input signal detection unit 123, just as in the case of the normal operating system control unit 110. That is, the standby system control unit 120 also has the function of the "monitoring device" as claimed in the claims; specifically, the function of the "monitoring device" can be included in the input signal detection unit 123.

[0199] The method for determining abnormalities in the configuration related to the opening and closing of the door 80 is the same whether the control related to the opening and closing of the door 80 is performed by the normal operating system control unit 110 or by the standby system control unit 120. Hereinafter, the method for determining abnormalities in the configuration related to the opening and closing of the door 80 will be explained, focusing on the case where the control related to the opening and closing of the door 80 is performed by the normal operating system control unit 110.

[0200] The common system control unit 110 (input signal detection unit 113) determines whether there is a match between the input signals of DCS60 and DLS70 and the signal of encoder 31, and makes a judgment on the abnormality of the configuration related to the opening and closing action of the door 80.

[0201] If the opening / closing state of the door 80 indicated by, for example, the signal from the DCS 60 does not match the opening / closing state of the door 80 as imagined from the position of the door 80 corresponding to the signal from the encoder 31, the input signal detection unit 113 determines that there is an anomaly in the configuration related to the opening / closing action of the door 80. Specifically, in this case, the input signal detection unit 113 can determine that there is an anomaly in either the DCS 60 or the door control device 100.

[0202] Because if an anomaly occurs in the DCS60, there is a possibility that the output signal indicating the open / closed state of the door 80, which is unpredictable given the position of the door 80 indicated by the encoder 31 (for example, a signal indicating the door 80 is fully closed even though the door 80 is in the open position). Furthermore, because if an anomaly occurs in the input circuit of the DSC60 signal in the door control device 100, there is a possibility that the normal DCS60 signal will be detected as a different signal (for example, a high-level signal will be detected as an low-level signal).

[0203] Similarly, if the input signal detection unit 113 determines that there is an abnormality in the configuration related to the opening and closing operation of the door 80, for example, if the state of whether the door 80 is locked, as indicated by the signal from the DLS70, does not match the state of whether the door 80 is locked, as imagined by the position of the door 80 corresponding to the signal from the encoder 31, then there is an abnormality in the configuration. Specifically, in this case, the input signal detection unit 113 can determine that an abnormality has occurred in any of the locking device 50, the DLS70, and the door control device 100.

[0204] Because of potential malfunctions in the locking device 50, due to errors such as accidental activation, there is a possibility that the door 80 may be locked in a state unpredictable by the position of the door 80 corresponding to the signal from the encoder 31 (e.g., the door 80 may be locked even when it is in the open position). Furthermore, if the DLS 70 malfunctions, there is a possibility that it may output a signal indicating the lock status of the door 80, which is unpredictable by the position of the door 80 indicated by the signal from the encoder 31 (e.g., a signal indicating that the door 80 is locked even when it is in the open position). Additionally, if, for example, the input circuit of the DSC 70 signal in the door control device 100 malfunctions, there is a possibility that the normal DLS 70 signal may be detected as a different signal.

[0205] In addition, the input signal detection unit 113 can, for example, determine the constituent element with the abnormality based on the judgment results related to multiple abnormalities during the opening or closing of the door 80, including the opening or closing of the door 80.

[0206] For example, in the case of deterioration anomalies in DCS60 and DLS70, the anomaly is more likely to be single or intermittent. On the other hand, in the case of sticking anomalies in DCS60 and DLS70, the anomaly is more likely to be continuous. Therefore, the input signal detection unit 113 can use the nature of such anomalies to determine the content (type) of the anomalies in DCS60 and DLS70 based on the judgment results of multiple anomaly lines.

[0207] Furthermore, for example, in the case of an anomaly in DCS60 and an anomaly in the door control device 100 (an anomaly in the input circuit of the DCS60 signal), the tendency for the occurrence pattern of the anomaly to be judged as present and the anomaly to manifest may be different from each other. Similarly, in the case of an anomaly in locking device 50, an anomaly in DLS70, and an anomaly in the door control device 100, the tendency for the occurrence pattern of the anomaly to be judged as present and the anomaly to manifest may be different from each other. Therefore, the input signal detection unit 113 can determine (determine) the component with the anomaly based on the pre-identified anomaly occurrence tendency and the judgment results related to multiple anomalies.

[0208] [An example of a method for determining anomalies related to the opening and closing of car doors]

[0209] Next, refer to Figure 9 , Figure 10 An example of a method for judging anomalies related to the opening and closing action of door 80 will be provided. Specifically, regarding the... Figure 1 This section provides a specific example of a judgment method related to the abnormality of the opening and closing action of the car door 80, which is based on the premise of the condition.

[0210] Figure 9 , Figure 10 This is a diagram illustrating an example of a method for determining anomalies in a configuration related to the opening and closing action of door 80. Specifically, Figure 9 , Figure 10 The diagram shows specific examples of methods for judging abnormalities related to the opening and closing actions of the door 80 when the door 80 is open (when the door is open) and when the door 80 is closed (when the door is closed).

[0211] Figure 9 The five states of the car door 80, namely "fully closed / locked", "fully closed / unlocked", "starting opening action", "opening action in progress", and "fully open", respectively correspond to the following: Figure 2 , Figure 3 , Figure 4 , Figure 5 ,as well as Figure 6 The car door is in an 80-degree state. Similarly, Figure 10 The five states in the text, namely "fully open", "closing action begins", "closing action in progress", "fully closed / unlocked", and "fully closed / locked", respectively correspond to... Figure 6 , Figure 5 , Figure 4 , Figure 3 ,as well as Figure 2 The car door is in state 80.

[0212] like Figure 9 As shown, when the door is open, the input signal detection unit 113 determines whether there is any abnormality in the structure related to the opening and closing of the door 80 during the period from the start of the opening action of the door 80 to the fully open state of the door 80. Specifically, when the door is open, if the signal of the encoder 31 indicates a position other than the fully closed state of the door 80, the input signal detection unit 113 determines whether there is any abnormality in the structure related to the opening and closing of the door 80 based on the signals of the DCS 60 and DLS 70.

[0213] When the door is open, if the encoder 31 indicates a position other than the fully closed state and the DCS 60 signal is on (A contact on / B contact off), the input signal detection unit 113 determines that either the DCS 60 or the door control device 100 is malfunctioning. Furthermore, the input signal detection unit 113 can easily determine if the DCS 60 is malfunctioning.

[0214] Similarly, when the door is open, if the encoder 31's signal indicates a position other than fully closed / locked and the DLS 70's signal is on (A contact on / B contact off), the input signal detection unit 113 determines that any one of the locking device 50, DLS 70, or door control device 100 is malfunctioning. Furthermore, the input signal detection unit 113 can easily determine whether either the locking device 50 or DLS 70 is malfunctioning.

[0215] It should be noted that the input signal detection unit 113 does not determine the presence or absence of any abnormalities related to the opening and closing of the door 80 when the door 80 is fully closed. This is because, assuming that even when the door 80 is fully closed, the DCS60 is in a disconnected state indicating the door 80 is open, the interlock signal of wiring 11 becomes low level, therefore the railway vehicle 1 will not start moving, and this is not a problem from a fail-safe perspective. Similarly, even when the door 80 is fully closed and locked, and the DLS70 is in a disconnected state indicating the door 80 is unlocked, the interlock signal of wiring 11 becomes low level, therefore the railway vehicle 1 will not start moving, and this is not a problem from a fail-safe perspective.

[0216] In addition, such as Figure 10 As shown, when the door is closed, the input signal detection unit 113 determines whether there is any abnormality in the structure related to the opening and closing operation of the door 80 during the period from the fully open state of the door 80 to the fully closed state of the door 80. That is, when the door is closed, if the signal from the encoder 31 indicates a position other than the fully closed state of the door 80, the input signal detection unit 113 determines whether there is any abnormality in the structure related to the opening and closing operation of the door 80 based on the signals from the DCS 60 and DLS 70.

[0217] Specifically, when the door is closed, if the encoder 31's signal indicates a position other than the fully closed state and the DCS 60's signal is on (A contact on / B contact off), the input signal detection unit 113 determines that either the DCS 60 or the door control device 100 is malfunctioning. Furthermore, the input signal detection unit 113 can easily determine if the DCS 60 is malfunctioning.

[0218] Similarly, when the door is closed, if the encoder 31's signal indicates a position other than fully closed / locked and the DLS 70's signal is on (A contact on / B contact off), the input signal detection unit 113 determines that any one of the locking device 50, DLS 70, or door control device 100 is malfunctioning. Furthermore, the input signal detection unit 113 can easily determine whether either the locking device 50 or DLS 70 is malfunctioning.

[0219] It should be noted that this is related to the opening of the car door ( Figure 9 Similar to the case where the door is closed, the input signal detection unit 113 does not determine the presence or absence of any abnormalities related to the opening and closing of the door 80 when the door 80 is fully closed.

[0220] Thus, in this example, the door control device 100 can determine the presence or absence of any abnormalities related to the opening and closing action of the door 80 based on the signals from the DCS60, DLS70, and encoder 31.

[0221] It should be noted that the door control device 100 can replace the encoder 31 to obtain the position information of the opening and closing direction of the door 80 from other devices capable of outputting position information of the opening and closing direction of the door 80. For example, the door control device 100 can identify the position information of the opening and closing direction of the door 80 from image information of an indoor camera of the railway vehicle 1 capable of capturing images of the opening and closing state of the door 80. Alternatively, the encoder 31 can be omitted, and the motor control units 115 and 125 can perform sensorless control related to the motor 30. In this case, the position information of the opening and closing direction of the door 80 is estimated and calculated by the motor control units 115 and 125, and the door control device 100 can use the estimated position information of the opening and closing direction of the door 80 to determine whether there is any abnormality in the structure related to the opening and closing action of the door 80. In addition, the sequence units 114 and 124 can calculate the elapsed time when the door opens and when the door closes, and easily identify the position information of the opening and closing direction of the door 80 based on the elapsed time. In this case, the door control device 100 can use the position information of the opening and closing direction of the door 80, which is identified over time, to determine whether there is an abnormality related to the opening and closing action of the door 80.

[0222] [How to handle abnormalities that occur in components related to the opening and closing of car doors]

[0223] Next, refer to Figures 11-18 The method of handling abnormalities caused by the door control device 100 in connection with the opening and closing of the door 80 is explained.

[0224] When controlling the opening and closing of the door 80 via the normal operating system control unit 110 and when controlling the opening and closing of the door 80 via the standby system control unit 120, the method for handling abnormalities in the configuration related to the opening and closing of the door 80 is the same. The following explanation assumes that the door 80 is controlled via the normal operating system control unit 110.

[0225] <Summary>

[0226] The door control device 100 can determine the frequency and duration of abnormalities related to the opening and closing of the door 80 by using an anomaly detection method, and thus respond to the anomaly detection differently.

[0227] The commonly used system control unit 110 detects, for example, abnormalities in the configuration related to the opening and closing of the door 80. Furthermore, when the frequency of abnormality detection is relatively low, the doors 80A and 80B are continuously pressed against each other by the thrust of the motor 30 while the door 80 is fully closed (including locked). A relatively low frequency of abnormality detection means, for example, that the number of abnormality detections within a specified period or a specified number of trial runs is below a specified baseline. The specified period and the specified number of trial runs can be specified within the period of one round trip opening and closing of the door 80, or within the period of multiple round trip opening and closing of the door 80.

[0228] Similarly, the commonly used system control unit 110 detects, for example, abnormalities in the configuration related to the opening and closing of the door 80. Furthermore, if the duration of the abnormality detection is relatively low, the door 80A and 80B are continuously pressed against each other by the thrust of the motor 30 while the door 80 is fully closed. A relatively low duration of the abnormality detection means, for example, that the abnormality detection does not last for a predetermined period or a predetermined number of times. The predetermined period and the predetermined number of times can be specified within the period of one round trip opening and closing of the door 80, or within the period of multiple round trip opening and closing of the door 80.

[0229] Therefore, in the event of anomalies with relatively low detection frequency, relatively low persistence, or mild anomalies, the door control device 100 maintains the compression state of doors 80A and 80B while the doors 80 are fully closed, thereby enabling the continuous operation of the doors 80 and ensuring their safety.

[0230] On the other hand, when the commonly used system control unit 110 detects anomalies related to the opening and closing of the door 80, and the frequency of anomaly detection is relatively high, it switches the main control of the opening and closing of the door 80 to the standby system control unit 120. Furthermore, the control related to the opening and closing of the door 80 continues through the standby system control unit 120. A relatively high frequency of anomaly detection means, for example, that the number of anomaly detections exceeds a predetermined benchmark within a specified period or a specified number of trial runs.

[0231] Similarly, when the commonly used system control unit 110 detects anomalies in the configuration related to the opening and closing of the door 80, and the anomaly detection state persists relatively frequently, it switches the main control unit related to the opening and closing of the door 80 to the standby system control unit 120. A relatively frequent anomaly detection state means, for example, that the anomaly detection state persists for more than a specified period or a specified number of times.

[0232] Therefore, when anomalies occur with a relatively high frequency (detection frequency), have a relatively high duration, or are severe, the door control device 100 can switch the opening and closing action of the door 80 to be controlled by the standby system control unit 120, thereby enabling the door 80 to continue to operate and ensuring its safety.

[0233] In addition, the door control device 100, regardless of whether the situation is minor or severe, will send an alarm, including the judgment status (abnormality detection status) of the abnormality of the door 80, to the vehicle control device 10 via the transmission device 160.

[0234] Therefore, the vehicle control device 10 can, for example, notify the crew of any abnormal detection status related to the opening and closing of the door 80 through designated output devices in the driver's cab, the commander's cab, etc., thereby urging the implementation of maintenance as soon as possible.

[0235] <The first case of an abnormal situation occurring during the opening of the car door>

[0236] Figure 11 This is a timing diagram illustrating the first example of the opening action of door 80 when an abnormality occurs in the configuration related to the opening and closing action of door 80. Specifically, Figure 11This is a timing diagram showing the opening command, closing command, opening operation signal, DCS signal, DLS signal, unlocking drive signal, speed command, and thrust command for abnormal situations that occur when the door 80 is opened before and after the opening operation of the door 80.

[0237] like Figure 11 As shown, besides the DLS signal, and... Figure 7 The time series diagrams are the same; times t21, t22, t23, and t26 are equivalent to... Figure 7 The times are t01, t02, t03, and t04. The following explanation focuses on the timing diagram of the DLS signal.

[0238] After the door 80 begins to open, the DLS signal rises from L level (DLS70 off state) to H level (DLS70 on state) during the opening process of the door 80 (time t24). Therefore, the door control device 100 can determine if any of the locking device 50, DLS70, or the door control device 100 itself (specifically, the input signal detection unit 113) is malfunctioning. Furthermore, the door control device 100 can also determine if either the locking device 50 or the DLS70 is malfunctioning.

[0239] After rising to the H level, the DLS signal maintains the H level for a relatively short period of time before falling to the L level (time t25).

[0240] Furthermore, the door 80 then reaches the fully open position, ending the opening action (time t26).

[0241] In this example, the door control device 100 can determine that the frequency or persistence of anomaly detection is relatively low. Therefore, after the door 80 is closed to a fully closed state, the door control device 100 can maintain the pressed state of doors 80A and 80B in the fully closed state. Thus, the door control device 100 can maintain the operation of the door 80 and ensure its safety based on the anomaly detection status.

[0242] Furthermore, the door control device 100 can store an anomaly log, indicating that a persistent or relatively low-frequency anomaly has been detected related to the locking device 50, DLS 70, input signal detection unit 113, etc., in an internal memory such as an auxiliary storage device. Therefore, the maintenance personnel of the railway vehicle 1 can review the anomaly log afterward and apply it to the maintenance of the railway vehicle 1.

[0243] Additionally, the door control device 100 can send an anomaly log to the vehicle control device 10 via the transmission device 160. Thus, the vehicle control device 10 can, for example, notify the train crew, including the railway vehicle 1, of a persistent, relatively infrequent, minor anomaly (i.e., a minor anomaly) via a designated output device, thereby urging them to perform maintenance as soon as possible.

[0244] <Second example of an abnormal situation occurring during the opening of a car door>

[0245] Figure 12 This is a timing diagram illustrating a second example of the opening action of door 80 when an anomaly occurs in the configuration related to the opening and closing action of door 80. Specifically, Figure 12 This is a timing diagram showing the opening command, closing command, opening operation signal, DCS signal, DLS signal, unlocking drive signal, speed command, and thrust command for abnormal situations that occur when the door 80 is opened before and after the opening operation of the door 80.

[0246] like Figure 12 As shown, besides the DLS signal, and... Figure 7 The time series diagrams are the same; times t31, t32, t33, and t35 are equivalent to... Figure 7 The times are t01, t02, t03, and t04. The following explanation focuses on the timing diagram of the DLS signal.

[0247] After the door 80 begins to open, the DLS signal rises from L level (DLS70 off state) to H level (DLS70 on state) during the opening process of the door 80 (time t34). Therefore, the door control device 100 can determine if any of the locking device 50, DLS70, or the door control device 100 itself (specifically, the input signal detection unit 113) is malfunctioning. Furthermore, the door control device 100 can also determine if either the locking device 50 or the DLS70 is malfunctioning.

[0248] Afterwards, door 80 reaches the fully open position, and the opening action ends (time t35).

[0249] The DLS signal remains at the H level after the door 80 is fully closed, i.e., after the opening action is completed.

[0250] In this example, the door control device 100 can determine that the frequency or persistence of anomaly detection is relatively high. Therefore, when the door control device 100 can determine that the frequency or persistence of anomaly detection is relatively high, it can switch the control unit for the opening and closing of the door 80 from the normal operating system control unit 110 to the standby system control unit 120 after the opening action of the door 80 is completed or after the subsequent closing action is completed. Thus, the door control device 100 can ensure the continuous operation of the door 80 and guarantee its safety based on the anomaly detection status.

[0251] Furthermore, the door control device 100 can send an alarm indicating a persistent or relatively frequent abnormality related to the locking device 50, DLS70, etc., to the vehicle control device 10 via the transmission device 160. Thus, the vehicle control device 10 can notify the train crew, including the railway vehicle 1, of a persistent, relatively frequent abnormality, i.e., a serious abnormality, via, for example, a designated output device, thereby urging them to perform maintenance as soon as possible.

[0252] <The third case of abnormal situations occurring when the car door is opened>

[0253] Figure 13 This is a timing diagram illustrating a third example of the opening action of door 80 when an abnormality occurs in the configuration related to the opening and closing action of door 80. Specifically, Figure 13 This is a timing diagram showing the opening command, closing command, opening operation signal, DCS signal, DLS signal, unlocking drive signal, speed command, and thrust command for abnormal situations that occur when the door 80 is opened before and after the opening operation of the door 80.

[0254] like Figure 13 As shown, besides the DCS signal, and... Figure 7 The timing diagrams are the same; times t41, t42, t43, and t46 are equivalent to... Figure 7 The times are t01, t02, t03, and t04. The following explanation focuses on the timing diagram of the DCS signal.

[0255] After the door 80 begins to open, the DCS signal rises from L level (DCS60 off state) to H level (DCS60 on state) during the opening process (time t44). Therefore, the door control device 100 can determine if either the DCS60 or the door control device 100 itself (specifically, the input signal detection unit 113) is malfunctioning. Additionally, the door control device 100 can also determine if the DCS60 is malfunctioning.

[0256] After the DCS signal rises to the H level, it maintains the H level for a relatively short period of time before falling to the L level (time t45).

[0257] Furthermore, the door 80 then reaches the fully open position, ending the opening action (time t46).

[0258] In this example, similar to the first example above, the door control device 100 can determine that the frequency or persistence of anomaly detection is relatively low. Therefore, if the door 80 subsequently closes completely via a closing action, the door control device 100 can maintain the compressed state of doors 80A and 80B in the fully closed state. Thus, the door control device 100 can ensure the continued operation of the door 80 and guarantee its safety based on the anomaly detection status.

[0259] Furthermore, similar to the first example described above, the door control device 100 can store an anomaly log indicating that a persistent or relatively infrequent anomaly related to the DCS60 has been detected in an internal memory such as an auxiliary storage device. Therefore, the maintenance personnel of the railway vehicle 1 can review the anomaly log afterward and apply it to the maintenance of the railway vehicle 1.

[0260] In addition, similar to the first example above, the door control device 100 can send the anomaly log to the vehicle control device 10 via the transmission device 160. Thus, the vehicle control device 10 can notify the train crew, including the railway vehicle 1, of a persistent, relatively infrequent, or minor anomaly via, for example, a predetermined output device, thereby urging them to perform maintenance as soon as possible.

[0261] <Fourth case of abnormal situations occurring when the car door is opened>

[0262] Figure 14 This is a timing diagram illustrating the fourth example of the opening action of door 80 when there is an abnormality in the configuration related to the opening and closing action of door 80. Specifically, Figure 14 This is a timing diagram showing the opening command, closing command, opening operation signal, DCS signal, DLS signal, unlocking drive signal, speed command, and thrust command for abnormal situations that occur when the door 80 is opened before and after the opening operation of the door 80.

[0263] like Figure 14 As shown, besides the DCS signal, and... Figure 7 The time series diagrams are the same; times t51, t52, t53, and t55 are equivalent to... Figure 7 The times are t01, t02, t03, and t04. The following explanation focuses on the timing diagram of the DCS signal.

[0264] After the door 80 begins to open, the DCS signal rises from L level (DCS60 off state) to H level (DCS60 on state) during the opening process (time t54). Therefore, the door control device 100 can determine if either the DCS60 or the door control device 100 itself (specifically, the input signal detection unit 113) is malfunctioning. Additionally, the door control device 100 can also determine if the DCS60 is malfunctioning.

[0265] Afterwards, door 80 reaches the fully open position, ending the opening action (time t55).

[0266] The DCS signal maintains the H level even after the door 80 is fully closed and the opening action has ended.

[0267] In this example, the door control device 100 is able to determine that the frequency or persistence of anomaly detection is relatively high. Therefore, similar to the second example above, when the door control device 100 determines that the frequency or persistence of anomaly detection is relatively high, it can switch the control unit for the opening and closing of the door 80 from the normal operating system control unit 110 to the standby system control unit 120 after the opening action of the door 80 is completed or after the subsequent closing action is completed. Thus, the door control device 100 can ensure the continuous operation of the door 80 and guarantee its safety based on the anomaly detection status.

[0268] Furthermore, similar to the second example described above, the door control device 100 can send an alarm indicating a persistent or relatively frequent anomaly related to the DCS 60 to the vehicle control device 10 via the transmission device 160. Thus, the vehicle control device 10, for example, notifies the train crew, including the railway vehicle 1, of the occurrence of a persistent, relatively frequent anomaly, i.e., a severe anomaly, via a designated output device, thereby strongly urging them to perform maintenance as soon as possible.

[0269] <The first case of an abnormal situation occurring during the closing of a car door>

[0270] Figure 15 This is a timing diagram illustrating the first example of the closing action of door 80 when an abnormality occurs in the configuration related to the opening and closing action of door 80. Specifically, Figure 15 This is a timing diagram showing the opening command, closing command, closing action signal, DCS signal, DLS signal, lock drive signal, speed command, and thrust command for abnormal situations that occur during the closing action of the door 80 before and after the closing action of the door 80.

[0271] like Figure 15 As shown, besides the DLS signal, and... Figure 8The timing diagrams are the same; times t63, t64, t65, t66, and t67 are equivalent to... Figure 8 The times t11, t12, t13, t14, and t15 are used. The following explanation focuses on the timing diagram of the DLS signal.

[0272] During the fully open state of door 80 before the timing (time t63) when the closing command of door 80 is received by door control device 100, the DLS signal rises from L level (DLS70 off state) to H level (DLS70 on state). Therefore, door control device 100 can determine if any of the locking device 50, DLS70, or door control device 100 itself (specifically, input signal detection unit 113) is malfunctioning. Furthermore, door control device 100 can also determine if either the locking device 50 or DLS70 is malfunctioning.

[0273] After rising to the H level, the DLS signal maintains the H level for a relatively short period of time, and then drops to the L level (time t62) before the closing command of the door 80 is received by the door control device 100.

[0274] In this example, the door control device 100 can determine that the frequency or duration of anomaly detection is relatively low. Therefore, if the door 80 becomes fully closed through a closing action (time t64), the door control device 100 can maintain the compression state of doors 80A and 80B in the fully closed state. Thus, the door control device 100 can ensure the continued operation of the door 80 and guarantee its safety based on the anomaly detection status.

[0275] Furthermore, the door control device 100 can store an anomaly log, indicating that a persistent or relatively infrequent anomaly detection has occurred related to the locking device 50, DLS70, etc., in an internal memory such as an auxiliary storage device. Therefore, by having the maintenance personnel of the railway vehicle 1 review the anomaly log afterward, the anomaly log can be applied to the maintenance of the railway vehicle 1.

[0276] Additionally, the door control device 100 can send an anomaly log to the vehicle control device 10 via the transmission device 160. Thus, the vehicle control device 10 can, for example, notify the train crew, including the railway vehicle 1, of a persistent, relatively infrequent, minor anomaly (i.e., a minor anomaly) via a designated output device, thereby urging them to perform maintenance as soon as possible.

[0277] <Second example of an abnormal situation occurring during the closing of the car door>

[0278] Figure 16 This is a timing diagram illustrating a second example of the closing action of door 80 when an abnormality occurs in the configuration related to the opening and closing action of door 80. Specifically, Figure 16 This is a timing diagram showing the opening command, closing command, closing action signal, DCS signal, DLS signal, lock drive signal, speed command, and thrust command for abnormal situations that occur during the closing action of the door 80 before and after the closing action of the door 80.

[0279] like Figure 16 As shown, besides the DLS signal, and... Figure 8 The timing diagrams are the same; times t71, t73, t74, t75, and t76 are equivalent to... Figure 8 The times t11, t12, t13, t14, and t15 are used. The following explanation focuses on the timing diagram of the DLS signal.

[0280] After the door 80 begins to open, the DLS signal rises from L level (DLS70 off state) to H level (DLS70 on state) during the closing action of the door 80 (time t72). Therefore, the door control device 100 can determine if any of the locking device 50, DLS70, or the door control device 100 itself (specifically, the input signal detection unit 113) is malfunctioning. Furthermore, the door control device 100 can also determine if either the locking device 50 or the DLS70 is malfunctioning.

[0281] If door 80 reaches the fully closed state, the DCS signal rises from L level to H level (time t73).

[0282] For the door control device 100, if the DCS signal rises to level H (time t73) and the speed command is set to zero (time t74), the locking drive signal rises from level L to level H (time t75). As a result, the locking device 50 is driven to lock, and the door 80 is locked.

[0283] The DLS signal does not drop to the L level but remains at the H level (time t74) until the door 80 is locked.

[0284] In this example, the door control device 100 can determine that the frequency or persistence of anomaly detection is relatively high. Therefore, when the door control device 100 determines that the frequency or persistence of anomaly detection is relatively high, or after the closing action of the door 80 is completed, the door control device 100 can switch the control unit for the opening and closing action of the door 80 from the normal system control unit 110 to the standby system control unit 120. Thus, the door control device 100 can maintain the operation of the door 80 based on the anomaly detection status and ensure its safety.

[0285] Furthermore, the door control device 100 can send an alarm indicating a persistent or relatively frequent abnormality related to the locking device 50, DLS70, etc., to the vehicle control device 10 via the transmission device 160. Thus, the vehicle control device 10 can, for example, notify the train crew, including the railway vehicle 1, of the occurrence of a persistent, relatively frequent abnormality, i.e., a serious abnormality, via a designated output device, thereby strongly urging them to perform maintenance as soon as possible.

[0286] <The third case of abnormal situations occurring during the closing of the car door>

[0287] Figure 17 This is a timing diagram illustrating a third example of the closing action of door 80 when an abnormality occurs in the configuration related to the opening and closing action of door 80. Specifically, Figure 15 This is a timing diagram showing the opening command, closing command, closing action signal, DCS signal, DLS signal, lock drive signal, speed command, and thrust command for abnormal situations that occur during the closing action of the door 80 before and after the closing action of the door 80.

[0288] like Figure 17 As shown, besides the DCS signal, and... Figure 8 The time series diagrams are the same; times t83, t84, t85, t86, and t87 are equivalent to... Figure 8 The times are t11, t12, t13, t14, and t15. The following explanation focuses on the timing diagram of the DCS signal.

[0289] Before the timing (time t83) at which the door 80 closing command is received by the door control device 100, during the fully open state of door 80, the DCS signal rises from L level (DCS60 off state) to H level (DCS60 on state). Therefore, the door control device 100 can determine if either DCS60 or the door control device 100 itself (specifically, the input signal detection unit 113) is malfunctioning. Additionally, the door control device 100 can also determine if DCS60 is malfunctioning.

[0290] After the DCS signal rises to the H level, it maintains the H level for a relatively short period of time, and then drops to the L level (time t82) before the closing command of the door 80 is received by the door control device 100.

[0291] In this example, the door control device 100 can determine that the frequency or duration of anomaly detection is relatively low. Therefore, if the door 80 becomes fully closed through a closing action (time t84), the door control device 100 can maintain the compressed state of doors 80A and 80B in the fully closed state. Thus, the door control device 100 can ensure the continued operation of the door 80 based on the anomaly detection status and guarantee its safety.

[0292] Furthermore, the door control device 100 can store anomaly logs, indicating the occurrence of persistent or relatively infrequent anomalies related to the DCS 60, in an internal memory such as an auxiliary storage device. Therefore, by having the maintenance personnel of the railway vehicle 1 review the anomaly logs afterward, the anomaly logs can be applied to the maintenance of the railway vehicle 1.

[0293] Additionally, the door control device 100 can send an anomaly log to the vehicle control device 10 via the transmission device 160. Thus, the vehicle control device 10 can, for example, notify the train crew, including the railway vehicle 1, of a persistent, relatively infrequent, minor anomaly (i.e., a minor anomaly) via a designated output device, thereby urging them to perform maintenance as soon as possible.

[0294] <Fourth case of abnormal situations occurring during the closing of the car door>

[0295] Figure 18 This is a timing diagram illustrating the fourth example of the closing action of door 80 when there is an abnormality in the configuration related to the opening and closing action of door 80. Specifically, Figure 18 This is a timing diagram showing the opening command, closing command, closing action signal, DCS signal, DLS signal, lock drive signal, speed command, and thrust command for abnormal situations that occur during the closing action of the door 80 before and after the closing action of the door 80.

[0296] like Figure 18 As shown, besides the DCS signal, and... Figure 8 The time series diagrams are the same; times t91, t93, t94, t95, and t96 are equivalent to... Figure 8 The times are t11, t12, t13, t14, and t15. The following explanation focuses on the timing diagram of the DCS signal.

[0297] After the door 80 begins to open, the DCS signal rises from L level (DCS60 off state) to H level (DCS60 on state) during the closing action of the door 80 (time t92). Therefore, the door control device 100 can determine if any of the locking device 50, DCS60, or the door control device 100 itself (specifically, the input signal detection unit 113) is malfunctioning. Furthermore, the door control device 100 can also determine if either the locking device 50 or DCS60 is malfunctioning.

[0298] The DCS signal does not drop to the L level but remains at the H level (time t93) until the door 80 becomes fully closed.

[0299] In this example, the door control device 100 can determine that the frequency or persistence of anomaly detection is relatively high. Therefore, when the door control device 100 determines that the frequency or persistence of anomaly detection is relatively high, or after the closing action of the door 80 is completed, the door control device 100 can switch the control unit for the opening and closing action of the door 80 from the normal system control unit 110 to the standby system control unit 120. Thus, the door control device 100 can ensure the continuous operation of the door 80 and guarantee its safety based on the anomaly detection status.

[0300] Furthermore, the door control device 100 can send an alarm indicating a persistent or relatively frequent anomaly related to the DCS 60 to the vehicle control device 10 via the transmission device 160. Thus, the vehicle control device 10 can, for example, notify the train crew, including the railway vehicle 1, of the occurrence of a persistent, relatively frequent anomaly, i.e., a severe anomaly, via a designated output device, thereby strongly urging them to perform maintenance as soon as possible.

[0301] [Other examples of structures related to the opening and closing of car doors]

[0302] Next, refer to Figure 19 Other examples of the configuration of railway vehicle 1 related to the opening and closing of the door 80 will be explained.

[0303] Figure 19 This is a block diagram illustrating other examples of the configuration of railway vehicle 1 related to the opening and closing action of the door 80.

[0304] In this example, the configuration of the door 80 and the door drive mechanism 200 is similar to that of the example described above. Figures 2-6 The situation is the same, therefore the reference is correct. Figures 2-6 This will be explained. Furthermore, in this example, it is compared to the first example mentioned above (…). Figure 1 The explanation focuses on different parts, sometimes simplifying or omitting the explanation of content that is the same as or corresponds to the first example above.

[0305] The configuration related to the opening and closing of the door 80 in this example differs from the first example above in that it uses two DLS70s for redundancy.

[0306] For DCS60 and the two DLS70, each A contact is connected in series and inserted into wiring 11. Thus, when DCS60 and the two DLS70 are all in the ON state, the interlock signal becomes H level, and the vehicle control device 10 can enable the railway vehicle 1 to move.

[0307] Furthermore, similar to the first example above, for the two DLS70s, each B contact (fixed contacts 71B1, 71B2) is connected to the door control device 100 (input signal detection units 113, 123) via wiring 102. Therefore, the door control device 100 can independently control the on / off state of the two DLS70s.

[0308] It should be noted that the DLS70 can be configured with more than three DCS60s. Additionally, multiple DCS60s can be configured to replace the DLS70, or multiple DCS60s can be configured in addition to the DLS70.

[0309] [Other examples of methods for determining anomalies related to the opening and closing of car doors]

[0310] Next, refer to Figure 20 , Figure 21 Other examples of methods for judging anomalies related to the opening and closing action of door 80 are explained. Specifically, for... Figure 19 The following is a specific example of a method for judging anomalies in the configuration related to the opening and closing action of the door 80, based on the premise of the configuration.

[0311] Figure 20 , Figure 21 This is a diagram illustrating another example of a method for determining anomalies in the configuration related to the opening and closing action of door 80. Specifically, Figure 20 , Figure 21 These figures are specific examples of methods for judging abnormalities related to the opening and closing actions of the door 80 when the door 80 is open (when the door is open) and when the door 80 is closed (when the door is closed).

[0312] Figure 20 The five states of the car door 80, namely "fully closed / locked", "fully closed / unlocked", "start of opening action", "in progress of opening action", and "fully open", are respectively related to the example mentioned above. Figure 9 The situation is the same, equivalent to Figure 2 , Figure 3 , Figure 4 , Figure 5 ,as well as Figure 6The car door is in an 80-degree state. Similarly, Figure 21 The five states in the text—"fully open," "closing action begins," "closing action in progress," "fully closed / unlocked," and "fully closed / locked"—are the same as the example mentioned above. Figure 10 The situations are the same, respectively equivalent to Figure 6 , Figure 5 , Figure 4 , Figure 3 ,as well as Figure 2 The car door is in state 80.

[0313] In this example, the method for determining the correlation between the DLS70 signal and anomalies is compared with the first example mentioned above. Figure 9 , Figure 10 Unlike the first example, the method for determining anomalies using DCS60 signals is the same. Therefore, the explanation of the method for determining anomalies using DCS60 signals is omitted.

[0314] like Figure 20 As shown, when the car door is open, and the car door 80 is fully closed and locked, the input signal detection unit 113 determines whether there is any abnormality related to the opening and closing action of the car door 80. Specifically, when the car door is open, and the encoder 31 indicates that the car door 80 is fully closed and the locking device 50 is locked by the locking / unlocking drive unit 117, the input signal detection unit 113 determines whether there is any abnormality in the locking device 50 and the DLS 70 based on the signal of the DLS 70.

[0315] When the door is open, and the encoder 31 indicates a fully closed state while the locking device 50 is locked, if a portion of the multiple DLS70s are in an open state (contact A open / contact B closed), the input signal detection unit 113 determines that a portion of the DLS70s is malfunctioning. This is because the possibility of only a portion of the DLS70s outputting erroneous signals due to a malfunction in the locking device 50, and the possibility of only a portion of the DLS70s incorrectly receiving signals due to a malfunction in the door control device 100, is extremely low.

[0316] On the other hand, when the door is open, if the encoder 31 indicates a fully closed state and the locking device 50 is locked, and all signals of the multiple DLS 70 are in an open state (A contact open / B contact closed), the input signal detection unit 113 determines that the locking device 50 is malfunctioning. Furthermore, in this situation, the input signal detection unit 113 can determine that either the locking device 50 or the door control device 100 is malfunctioning. This is because the probability of multiple DLS 70 malfunctioning simultaneously is extremely low.

[0317] Furthermore, when the door is open, the input signal detection unit 113 determines whether there is any abnormality related to the opening and closing action of the door 80, except when the door 80 is in a fully closed state. Specifically, when the door is open, if the signal from the encoder 31 indicates that the door 80 is not in a fully closed state, the input signal detection unit 113 determines whether there is any abnormality in the locking device 50 and the DLS 70, etc., based on the signal from the DLS 70.

[0318] When the door is open, if the signal from the encoder 31 indicates a state other than the fully closed state of the door 80, and the signal of a portion of the multiple DLS70s is in the on state (A contact on / B contact off), the input signal detection unit 113 determines that there is an abnormality in the DLS70 that is part of the object.

[0319] On the other hand, when the door is open, if the encoder 31 indicates a position other than the fully closed state of the door 80 and all signals of the multiple DLS 70 are on (A contact on / B contact off), the input signal detection unit 113 determines that the locking device 50 is malfunctioning. Furthermore, in this case, the input signal detection unit 113 can determine that either the locking device 50 or the door control device 100 is malfunctioning.

[0320] Similarly, as Figure 21 As shown, when the door is closed, the input signal detection unit 113 determines whether there is any abnormality related to the opening and closing action of the door 80, except when the door 80 is in a fully closed state. Specifically, when the door is closed, if the signal from the encoder 31 indicates that the door 80 is not in a fully closed state, the input signal detection unit 113 determines whether there is any abnormality in the locking device 50 and the DLS 70, etc., based on the signal from the DLS 70.

[0321] When the door is closed, if the signal from the encoder 31 indicates a state other than the fully closed state of the door 80, and the signal of a portion of the multiple DLS70s is in the on state (A contact on / B contact off), the input signal detection unit 113 determines that there is an abnormality in the DLS70 that is part of the object.

[0322] On the other hand, when the door is closed, if the encoder 31 indicates a position other than the fully closed state of the door 80 and all signals of the multiple DLS 70 are on (A contact on / B contact off), the input signal detection unit 113 determines that the locking device 50 is malfunctioning. Furthermore, in this case, the input signal detection unit 113 can determine that either the locking device 50 or the door control device 100 is malfunctioning.

[0323] Furthermore, when the door is closed, and the door 80 is fully closed and locked, the input signal detection unit 113 determines whether there is any abnormality related to the opening and closing action of the door 80. Specifically, when the door is closed, if the signal from the encoder 31 indicates that the door 80 is fully closed and the locking device 50 is locked by the locking / unlocking drive unit 117, the input signal detection unit 113 determines whether there is any abnormality in the locking device 50 and the DLS 70 based on the signal from the DLS 70.

[0324] When the door is closed, if the encoder 31 indicates a fully closed state and the locking device 50 is locked, and if the signal of a portion of the multiple DLS70s is in an open state (A contact open / B contact closed), the input signal detection unit 113 determines that there is an abnormality in the DLS70 that is part of the object.

[0325] On the other hand, when the door is closed, if the encoder 31 indicates a fully closed state and the locking device 50 is locked, and all signals of the multiple DLS 70 are in an open state (A contact open / B contact closed), the input signal detection unit 113 determines that the locking device 50 is malfunctioning. Furthermore, in this situation, the input signal detection unit 113 can determine that either the locking device 50 or the door control device 100 is malfunctioning.

[0326] It should be noted that, as described above, when multiple DCS60s are set, the input signal detection unit 113 can determine the presence or absence of an abnormality by distinguishing between an abnormality of the DCS60 and an abnormality of the door control device 100, using the same method as when signals from multiple DLS70s are used.

[0327] Thus, in this example, the door control device 100 can, based on signals from multiple DLS70s, multiple DCS60s, and the encoder 31, distinguish abnormal objects and make judgments about abnormalities related to the opening and closing actions of the door 80.

[0328] [effect]

[0329] Next, the function of the door control device 100 in this embodiment will be explained.

[0330] For example, it is possible to determine anomalies related to the opening and closing of the door 80 using only the outputs of DCS60 and DLS70.

[0331] However, in this method, the presence or absence of any abnormalities related to the opening and closing of the door 80 can only be determined when the opening or closing action of the door 80 is completed, or when the position of the door 80 is known in advance. Therefore, there is a possibility that the following problems may arise.

[0332] For example, even if the closing action of the door is completed, the outputs of DCS60 and DLS70 may indicate an open state other than the fully closed state of door 80, or an unlocked state of door 80, making it impossible to determine whether the abnormality is due to DCS60 or DLS70 being stuck or deteriorated. Similarly, for example, even if the opening action of door 80 is completed, the outputs of DCS60 and DLS70 may indicate a closed state of door 80, or a locked state of door 80, making it impossible to determine whether DCS60 or DLS70 is stuck or deteriorated. Furthermore, in the above method, it is unclear whether the reason for the inappropriate state indicated by the signals of DCS60 and DLS70 lies within DCS60 and DLS70 themselves, or in the locking device 50 or the signal receiving side (door control device 100), thus making it impossible to determine the object with the abnormality.

[0333] In contrast, in this embodiment, the door control device 100 acquires the outputs of DCS60 and DLS70, as well as the position information of the opening and closing direction of the door 80 (signals from encoder 31). Furthermore, based on the acquired outputs of DCS60 and DLS70, and the position information of the opening and closing direction of the door 80, the door control device 100 determines any abnormalities in the configuration related to the opening and closing action of the door 80.

[0334] Therefore, the door control device 100 can grasp the positional information of the opening and closing direction of the door 80. Thus, even when the door 80 is in an opening or closing position other than the start or end position of the opening and closing action, the door control device 100 can determine whether the outputs of the DCS 60 and DLS 70 are appropriate relative to the positional information of the opening and closing direction of the door 80, thereby making a judgment on any anomalies related to the opening and closing action of the door 80. As a result, the door control device 100 can, for example, perform multiple anomaly-related judgments during the opening and closing action of the door 80 and analyze the judgment results, thereby determining the content of the anomaly and the nature of the anomaly. Therefore, the door control device 100 can more appropriately judge any anomalies related to the opening and closing action of the door 80 of the railway vehicle 1.

[0335] In addition, in this embodiment, the door control device 100 can determine any abnormalities in the configuration related to the opening and closing of the door 80 during the closing or opening action of the door 80.

[0336] Therefore, the door control device 100 can increase the opportunity to judge abnormalities in the configuration related to the opening and closing of the door 80, and specifically, can make a more appropriate judgment on abnormalities in the configuration related to the opening and closing of the door 80 of the railway vehicle 1.

[0337] Furthermore, in this embodiment, the door control device 100 performs multiple determinations regarding the presence or absence of any abnormalities in the configuration related to the opening and closing action of the door 80, based on the position information of the opening and closing direction of the door 80 and the outputs of the DCS 60 and DLS 70. Moreover, the door control device 100 can determine the content of the abnormality or the configuration related to the abnormality based on the results of these multiple determinations.

[0338] As a result, the door control device 100 can make a more appropriate judgment on the abnormalities in the configuration related to the opening and closing of the door 80 by taking advantage of the increased opportunity to judge the abnormalities in the configuration related to the opening and closing of the door 80 of the railway vehicle 1.

[0339] In addition, in this embodiment, the door control device 100 can determine whether there is a match between the position information of the opening and closing direction of the door 80 and the output of the DCS60 and DLS70, and make a judgment on the abnormality of the configuration related to the opening and closing action of the door 80.

[0340] Therefore, the door control device 100 can determine whether there is an abnormality in the structure related to the opening and closing action of the door 80.

[0341] In addition, in this embodiment, the position information of the door control device 100 in the opening and closing direction of the door 80 indicates that the door 80 is in a state different from the locked state. On the other hand, when the output of the DLS70 indicates that the door 80 is in the locked state, it can be determined that there is an abnormality in the locking device 50, the DLS70, or the door control device 100 (input signal detection unit 113 or input signal detection unit 123) that receives the output of the DLS70.

[0342] Therefore, specifically, the door control device 100 can determine whether there is an abnormality in the structure related to the opening and closing action of the door 80.

[0343] In addition, in this embodiment, the position information of the door control device 100 in the opening and closing direction of the door 80 is different from the state of the door 80 being fully closed. On the other hand, if the output of the DCS 60 indicates that the door 80 is fully closed, it can be determined that the DCS 60 or the door control device 100 that receives the output of the DCS 60 is abnormal.

[0344] Therefore, specifically, the door control device 100 can determine whether there is an abnormality in the structure related to the opening and closing action of the door 80.

[0345] In addition, in this embodiment, the door control device 100 can determine the abnormal configuration in the configuration related to the opening and closing action of the door 80 based on the output of multiple DCS60 and multiple DLS70 and the position information of the opening and closing direction of the door 80.

[0346] Therefore, the door control device 100 can identify any abnormal configuration in the configuration related to the opening and closing action of the door 80.

[0347] In addition, in this embodiment, the position information of the door control device 100 in the opening and closing direction of the door 80 indicates that the door 80 is in a state different from the locked state. On the other hand, if the output of a portion of the multiple DLS70s indicates that the door 80 is in a locked state, it can be determined that there is an anomaly in the DLS70 as part of the object.

[0348] Therefore, specifically, the door control device 100 can identify abnormal configurations in the configurations related to the opening and closing of the door 80.

[0349] In addition, in this embodiment, the position information of the door control device 100 in the opening and closing direction of the door 80 indicates that the door 80 is in a state different from the locked state. On the other hand, if all the outputs of the multiple DLS 70 indicate that the door 80 is in a locked state, it can be determined that the locking device of the door 80 or the door control device 100 that receives the outputs of the multiple DLS 70 is abnormal.

[0350] Therefore, specifically, the door control device 100 can identify abnormal configurations in the configurations related to the opening and closing of the door 80.

[0351] In addition, in this embodiment, the position information of the door control device 100 in the opening and closing direction of the door 80 indicates a state of the door 80 that is different from the fully closed state. On the other hand, if the output of a portion of the multiple DCS60s indicates that the door 80 is in the fully closed state, it can be determined that there is an anomaly in the DCS60 that is part of the object.

[0352] Therefore, specifically, the door control device 100 can identify abnormal configurations in the configurations related to the opening and closing of the door 80.

[0353] In addition, in this embodiment, the position information of the door control device 100 in the opening and closing direction of the door 80 indicates a state of the door 80 that is different from the fully closed state. On the other hand, if all the outputs of the multiple DCS 60 indicate that the door 80 is in the fully closed state, it can be determined that the door control device 100 that receives the outputs of the multiple DCS 60 is abnormal.

[0354] Therefore, specifically, the door control device 100 can identify abnormal configurations in the configurations related to the opening and closing of the door 80.

[0355] [Transformation / Change]

[0356] The embodiments have been described in detail above, but the present invention is not limited to this specific embodiment. Various modifications and alterations can be made within the scope of the spirit described in the claims.

[0357] For example, in the above embodiments, although the function of the "monitoring device" in the claims is described as being included in the input signal detection units 113 and 123 of the normal operating system control unit 110 and the standby system control unit 120, it is not limited thereto. The function of the "monitoring device" can be included as a separate functional unit from the input signal detection units 113 and 123 in the normal operating system control unit 110 and the standby system control unit 120. Alternatively, a "monitoring device" function can be provided in the door control device 100 to determine abnormalities in both the normal operating system control unit 110 and the standby system control unit 120. Furthermore, the "monitoring device" function can be located outside the door control device 100.

[0358] Furthermore, in the above embodiment, although the position indicating the fully closed state of the door 80 (fully closed position) is the same as the position indicating the locked state of the door 80 (locked position), it is not limited to this. That is to say, the fully closed position of the door 80 can be open than the locked position.

[0359] For example, Figure 22 , Figure 23 This diagram serves as a further illustration of the method for determining anomalies related to the opening and closing action of door 80. Specifically, Figure 22 , Figure 23 With the above Figure 9 , Figure 10 Correspondingly, in the case of "fully closed / locked", the position represented by the signal of encoder 31 is changed from the fully closed position to the locked position.

[0360] In addition, for example, Figure 24 , Figure 25 This diagram serves as a further illustration of the method for determining anomalies related to the opening and closing action of door 80. Specifically, Figure 24 , Figure 25 With the above Figure 20 , Figure 21 Correspondingly, in the case of "fully closed / locked", the position represented by the signal of encoder 31 is changed from the fully closed position to the locked position.

[0361] In this situation, if the signal from encoder 31 indicates that door 80 is fully closed, and the signal from DLS70 is on (contact A on / contact B off), then it can be determined that any of the locking device 50, DLS70, and door control device 100 is malfunctioning (see reference). Figure 22 , Figure 23 Similarly, when the signal from encoder 31 indicates that door 80 is fully closed, if the signal of a portion of the multiple DLS70s is on (contact A on / contact B off), it can be determined that there is an anomaly in the DLS70 that is part of the object (see reference). Figure 24 , Figure 25 On the other hand, if the signal from encoder 31 indicates that door 80 is fully closed, and all signals from multiple DLS 70 are in the ON state (A contact ON / B contact OFF), then the locking device 50 can be determined to be malfunctioning. Therefore, even when door 80 is fully closed, malfunctions related to the opening and closing of the door can be detected.

Claims

1. A monitoring device comprising a detection unit, The above detection unit has: The first component is used to detect whether the doors of the railway vehicle are locked or not, and outputs a first signal indicating whether the doors are locked or not. The second component is used to detect the open / closed state of the aforementioned vehicle door and output a second signal indicating the open / closed state of the aforementioned vehicle door; and The third component is used to detect the position of the aforementioned door in the opening and closing direction and output a third signal to indicate that position. The aforementioned monitoring device: The first signal, the second signal, and the third signal, which are outputs of the aforementioned detection unit, are obtained. Based on whether the presence or absence of the locked door indicated by the first signal matches the presence or absence of the locked door as imagined based on the position of the door indicated by the third signal, or whether the open or closed state of the door indicated by the second signal matches the open or closed state of the door as imagined based on the position of the door indicated by the third signal, it is determined whether there is an abnormality in the configuration related to the opening and closing action of the door.

2. The monitoring device according to claim 1, wherein, During the closing or opening of the aforementioned car door, a judgment related to the above-mentioned abnormality is made.

3. The monitoring device according to claim 1, wherein, Based on the output of the above detection unit, multiple judgments are made regarding the presence or absence of the above-mentioned anomaly, and based on the results of the multiple judgments, judgments are made regarding the content of the above-mentioned anomaly or the above-mentioned components that have the above-mentioned anomaly.

4. The monitoring device according to any one of claims 1 to 3, wherein, If the position of the door indicated by the third signal indicates that the door is in a state different from the locked state, and the first signal indicates that the door is in the locked state, it is determined that there is an abnormality in the detection unit, the door locking device, or the signal detection unit that receives the output of the detection unit.

5. The monitoring device according to any one of claims 1 to 3, wherein, If the position of the door indicated by the third signal indicates that the door is in a state different from the fully closed state, and the second signal indicates that the door is fully closed, it is determined that there is an abnormality in the detection unit or the signal detection unit that receives the output of the detection unit.

6. The monitoring device according to any one of claims 1 to 3, wherein, Based on the outputs of the aforementioned detection units, the aforementioned configuration with the aforementioned abnormality is determined.

7. The monitoring device according to claim 6, wherein, If the position of the car door indicated by the third signal above suggests that the car door is in a state different from the locked state, and on the other hand, if the output of a portion of the detection units indicates that the car door is in the locked state, it is determined that a portion of the detection units is abnormal.

8. The monitoring device according to claim 6, wherein, If the position of the car door indicated by the third signal indicates that the car door is in a state different from the locked state, and on the other hand, all the outputs of the plurality of detection units indicate that the car door is in a locked state, it is determined that there is an abnormality in the locking device of the car door or the signal detection unit that receives the outputs of the plurality of detection units.

9. The monitoring device according to claim 6, wherein, If the position of the car door indicated by the third signal indicates that the car door is in a state different from the fully closed state, and on the other hand, the output of a portion of the detection units indicates that the car door is in the fully closed state, it is determined that a portion of the detection units is abnormal.

10. The monitoring device according to claim 6, wherein, If the position of the car door indicated by the third signal indicates that the car door is in a state different from the fully closed state, and on the other hand, all the outputs of the plurality of detection units indicate that the car door is in the fully closed state, it is determined that the monitoring device receiving the outputs of the plurality of detection units is abnormal.

11. A monitoring method, performed by a monitoring device including a detection unit, The above detection unit has: The first component is used to detect whether the doors of the railway vehicle are locked or not, and outputs a first signal indicating whether the doors are locked or not. The second component is used to detect the open / closed state of the aforementioned vehicle door and output a second signal indicating the open / closed state of the aforementioned vehicle door; and The third component is used to detect the position of the aforementioned door in the opening and closing direction and output a third signal to indicate that position. The above-mentioned monitoring methods include: The first signal, the second signal, and the third signal, which are outputs of the aforementioned detection unit, are obtained. Based on whether the presence or absence of the locked door indicated by the first signal matches the presence or absence of the locked door as imagined based on the position of the door indicated by the third signal, or whether the open or closed state of the door indicated by the second signal matches the open or closed state of the door as imagined based on the position of the door indicated by the third signal, it is determined whether there is an abnormality in the configuration related to the opening and closing action of the door.

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