State estimation device, platform door system, and state estimation method

Abstract

To provide a state estimation device capable of accurately estimating the state of a drive mechanism of a platform door device.SOLUTION: A state estimation device for a platform door device including a drive mechanism 13 for driving an open / close member opening / closing a doorway on a platform includes: a driving data acquisition part 112 for acquiring driving data on the drive mechanism 13 at a prescribed time when the open / close member is driven by the drive mechanism 13; a disturbance data acquisition part 113 for acquiring disturbance data showing at least one of an inclination angle of at least one of the platform and the drive mechanism 13 to the other, an expansion and contraction quantity and a torsion amount of at least one of the platform and the drive mechanism 13, a wind velocity on the platform, and an amount of vibration on the platform at the prescribed time; and a state estimation part 130 for estimating the state of the drive mechanism 13 on the basis of the drive data and the disturbance data acquired at the prescribed time.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a state estimation device for a platform door device, a platform door system, and a state estimation method. [Background technology]

[0002] Patent Document 1 discloses a state monitoring technology for a door device for opening and closing the boarding and alighting doors of a railway vehicle. Specifically, the technology described in Patent Document 1 records a current profile of a motor for opening and closing the door, and if the current value falls outside an allowable range, notifies the user that the door device is in a potential fault state. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] U.S. Patent Publication No. 2017 / 0310261 Summary of the Invention [Problem to be solved by the invention]

[0004] Platform door devices may be subject to disturbances such as sunlight, rain and wind, temperature, and wind. These disturbances cause changes in the load on the door drive mechanism, which in turn causes changes in, for example, the current value of the motor in the drive mechanism. Meanwhile, with the prior art described in Patent Document 1, for example, when the current value falls outside the allowable range, it may be erroneously determined that this is due to the state of the drive mechanism, even if the cause is actually the influence of a disturbance. As a result, there is room for improvement in the accuracy of estimating the state of the drive mechanism.

[0005] In view of the above problems, an object of the present invention is to provide a technology that can accurately estimate the state of the driving mechanism of a platform door device. [Means for solving the problem]

[0006] In order to solve the above problem, a state estimation device according to one embodiment of the present invention is a state estimation device for a platform door device including a drive mechanism that drives an opening and closing member that opens and closes a platform entrance and exit, and is equipped with: a drive data acquisition unit that acquires drive data of the drive mechanism at a predetermined time when the opening and closing member is driven by the drive mechanism; a disturbance data acquisition unit that acquires disturbance data indicating at least one of the inclination angle of at least one of the platform and the drive mechanism relative to the other, the amount of expansion and contraction, the amount of twist of at least one of the platform and the drive mechanism, the wind speed on the platform, and the amount of vibration on the platform at the predetermined time; and a state estimation unit that estimates the state of the drive mechanism based on the drive data and the disturbance data acquired at the predetermined time.

[0007] A platform door system according to another aspect of the present invention is a platform door system comprising: a platform door device including a drive mechanism that drives an opening and closing member that opens and closes boarding and alighting doors on a platform; and an external device capable of communicating with the platform door device, wherein the platform door device comprises: a drive data acquisition unit that acquires drive data of the drive mechanism at a predetermined time when the opening and closing member is driven by the drive mechanism; a disturbance data acquisition unit that acquires disturbance data that indicates at least one of the inclination angle of at least one of the platform and the drive mechanism relative to the other, the amount of expansion and contraction, the amount of twist of at least one of the platform and the drive mechanism, the wind speed on the platform, and the amount of vibration on the platform at the predetermined time; and a transmission unit that transmits the acquired drive data and disturbance data to the external device, and the external device comprises: a receiving unit that receives the drive data and the disturbance data from the platform door device; and a state estimation unit that estimates the state of the drive mechanism based on the received drive data and disturbance data.

[0008] A state estimation method according to yet another aspect of the present invention is a state estimation method for a platform door device including a drive mechanism that drives an opening and closing member that opens and closes a platform entrance and exit, and includes the steps of: acquiring drive data of the drive mechanism at a predetermined time when the opening and closing member is driven by the drive mechanism; acquiring disturbance data indicating at least one of the inclination angle of at least one of the platform and the drive mechanism relative to the other, the amount of expansion and contraction, the amount of twist of at least one of the platform and the drive mechanism, the wind speed on the platform, and the amount of vibration on the platform at the predetermined time; and estimating the state of the drive mechanism based on the drive data and the disturbance data acquired at the predetermined time.

[0009] Any combination of the above, or mutual substitution of the components or expressions of the present invention among methods, devices, programs, temporary or non-temporary storage media on which programs are recorded, systems, etc., are also valid aspects of the present invention. [Effects of the Invention]

[0010] According to the present invention, it is possible to accurately estimate the state of the driving mechanism of a platform door device. [Brief explanation of the drawings]

[0011] [Figure 1] Figure 1(a) is a front view of the platform door device when the sliding door is in the fully closed position, and Figure 1(b) is a front view of the platform door device when the sliding door is in the fully open position. [Figure 2] FIG. [Figure 3] 3 is a cross-sectional view taken along the line AA in FIG. 2. [Figure 4] This is a functional block diagram of a platform door control device. [Figure 5] 10 is a flowchart illustrating processing by a platform door control device. [Figure 6] 10 is a flowchart illustrating processing by a platform door control device. [Figure 7] This is a functional block diagram of a platform door control device. [Figure 8] 10 is a flowchart illustrating processing by a platform door control device. [Figure 9] 10A and 10B are diagrams for explaining a method for estimating failure timing of a drive mechanism. [Figure 10] FIG. 1 is a block diagram showing a platform door system equipped with a platform door device. [Figure 11] This is a functional block diagram of the platform door control device and the general control panel. [Figure 12] This is a sequence diagram illustrating processing by a platform door control device and a general control panel. [Figure 13] This is a functional block diagram of the platform door control device and the general control panel. [Figure 14] This is a sequence diagram illustrating processing by a platform door control device and a general control panel. [Figure 15] 10 is a flowchart illustrating processing by a platform door control device. [Figure 16] 10 is a flowchart illustrating processing by a platform door control device. [Figure 17] A diagram for explaining the processing by the platform door control device of the sixth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] In the following embodiments and modifications, the same or equivalent components and members are denoted by the same reference numerals, and redundant explanations are omitted where appropriate. The dimensions of the members in each drawing are enlarged or reduced as appropriate for ease of understanding. Some members that are not important for explaining the embodiments are omitted from the drawings.

[0013] [First embodiment] The platform door device 100 will be described with reference to Figures 1 to 3. The platform door device 100 has a door pocket 10, a door body 11 that can move from the door pocket 10 in the opening and closing direction Dx, a door-edge support part 12 into which the door edge of the door body 11 can be inserted and that supports the door body 11 via the inserted door edge, a drive mechanism 13 that drives the door body 11 to open and close, and a platform door control device 30. The platform door device 100 is installed on the platform.

[0014] The platform door device 100 opens and closes the boarding / alighting opening E, which is the space between the door pocket 10 and the door-tip-side support portion 12, by moving the door body 11. The platform door device 100 closes the boarding / alighting opening E by moving the door tip of the door body 11 in a direction away from the door pocket 10 and inserting the door tip of the door body 11 into the door-tip-side support portion 12 (see FIG. 1(a))). The platform door device 100 opens the boarding / alighting opening E by moving the door tip of the door body 11 in a direction approaching the door pocket 10 (see FIG. 1(b)).

[0015] The door pocket 10 is configured with the opening / closing direction Dx as its longitudinal direction when viewed from the front. The door pocket in this embodiment is an example of a housing. The door pocket 10 stores a panel-shaped door element 11 so that it can move back and forth. The door element 11 in this embodiment is a sliding door. The door pocket 10 is placed on the platform. The door pocket 10 is provided with a drive mechanism 13, a platform door control device 30, and various sensors. The drive mechanism 13 includes a motor 13m that opens and closes the door element 11 in accordance with the control of the platform door control device 30, a pair of pulleys 13p that are provided on the output shaft of the motor 13m on both sides of the opening / closing direction Dx, a timing belt 13t that is wound around the pair of pulleys 13p, a connecting member 13c that transmits the driving force of the motor 13m to the door element 11, and linear guides 20U and 20L that guide the door element 11 in the opening / closing direction Dx. The connecting member 13c is provided on the door trailing edge side of the door body 11 so as to connect the door body 11 and the timing belt 13 together.

[0016] Referring to Figure 2, the door pocket 10 includes a pair of support posts 17 spaced apart in the opening and closing direction Dx, and a connecting post 18 that connects the pair of support posts 17 in the opening and closing direction Dx. A drive mechanism 13 and a platform door control device 30 are attached to the connecting post 18.

[0017] The door body 11 is configured with its longitudinal direction in the opening / closing direction Dx when viewed from the front. The door body 11 opens and closes the platform entrance E. The door body 11 includes a transparent panel portion 14 that forms part of the surface of the door body 11, a pair of upper and lower frames 15U and 15L that extend in the opening / closing direction Dx and support both ends of the transparent panel portion 14 in the up-down direction Dy, and vertical frames 16 that hold both ends of the transparent panel portion 14 in the opening / closing direction Dx. The transparent panel portion 14 is configured, for example, to be made of a glass plate, a translucent resin plate, or a glass plate sandwiched between translucent resin plates. The transparent panel portion 14 is positioned closer to the platform side in the thickness direction of the upper and lower frames 15U and 15L. The platform-side front surface of the transparent panel portion 14 is configured to be roughly flush with the platform-side front surfaces of the upper and lower frames 15U and 15L. The door body 11 of this embodiment is an example of an opening and closing member.

[0018] The linear guides 20U and 20L support and guide the pair of upper and lower frames 15U and 15L, respectively, in the opening / closing direction Dx when the door body 11 moves in the opening / closing direction Dx. The linear guides 20U and 20L are attached to the pair of upper and lower frames 15U and 15L, respectively. The linear guides 20U and 20L are arranged on the back side of the transparent panel portion 14.

[0019] The linear guides 20U and 20L each include a linear rail 21U or 21L extending in the opening / closing direction Dx, and a guide block 22U or 22L that is slidable relative to the linear rails 21U or 21L in the opening / closing direction Dx. The linear rails 21U or 21L are fixed downward to the upper frame 15U or lower frame 15L of the door body 11, respectively, and extend parallel to the upper frame 15U or lower frame 15L. The linear rails 21U or 21L have a length that covers almost the entire door body 11 in the opening / closing direction Dx.

[0020] The guide blocks 22U and 22L are attached to the linear rails 21U and 21L, respectively. The guide blocks 22U and 22L are supported by the linear rails 21U and 21L in two directions perpendicular to the opening / closing direction Dx. Therefore, the relative movement of the guide blocks 22U and 22L with respect to the linear rails 21U and 21L is restricted in two directions perpendicular to the opening / closing direction Dx. In this embodiment, the guide blocks 22U and 22L are provided inside the door pocket 10. Hereinafter, the linear rails 21U and 21L may be referred to as linear rails 21. Furthermore, the guide blocks 22U and 22L may be referred to as guide blocks 22.

[0021] The number of guide blocks 22U and 22L in each of the linear guides 20U and 20L can be set arbitrarily. For example, the number of guide blocks 22U and 22L in each of the linear guides 20U and 20L may be different from each other. Also, one of the linear guides 20U and 20L may be omitted.

[0022] Please refer to Figure 4. Each functional block shown in Figure 4 and other figures can be realized in terms of hardware using electronic elements and mechanical parts, such as a computer CPU, and in terms of software using a computer program, but here we will depict functional blocks realized by the cooperation of these. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various ways by combining hardware and software.

[0023] The platform door device 100 of this embodiment includes a fully closed position sensor 41, a strain sensor 42, and a current sensor 43. The fully closed position sensor 41 is a sensor that detects whether the door body 11 is in the fully closed position, and transmits a fully closed position signal indicating that the door body 11 is in the fully closed position. For example, a magnetic detection type proximity sensor or a photoelectric sensor is used as the fully closed position sensor 41. The strain sensor 42 measures the amount of expansion and contraction at the location where it is installed by measuring the amount of strain at that location. The strain sensor 42 of this embodiment is a strain gauge, and is attached to the linear rail 21. The current sensor 43 measures the drive current when driving the motor 13m.

[0024] The platform door control device 30 includes an acquisition unit 110, a door control unit 120, a state estimation unit 130, a transmission unit 140, and a memory unit 150. The acquisition unit 110 includes an opening / closing command acquisition unit 111, a drive data acquisition unit 112, a disturbance data acquisition unit 113, and a position signal acquisition unit 114.

[0025] The opening / closing command acquisition unit 111 acquires an opening command or a closing command for the door body 11 from, for example, an operator's work terminal. The drive data acquisition unit 112 acquires drive data for the drive mechanism 13. In this embodiment, the drive data is the drive current value of the motor 13m. The disturbance data acquisition unit 113 acquires disturbance data indicating the degree of disturbance to at least one of the drive mechanism 13 and the platform door device 100. In this embodiment, the disturbance data is the amount of expansion and contraction of the linear rail 21. The position signal acquisition unit 114 acquires a fully closed position signal from the fully closed position sensor 41. The door control unit 120 controls the motor 13m of the drive mechanism 13 in response to the opening command or closing command for the door body 11 to move the door body 11 in the opening or closing direction. The state estimation unit 130 estimates the state of the drive mechanism 13 based on the drive data and disturbance data acquired at a predetermined time point. The transmission unit 140 transmits the estimated state of the drive mechanism 13. The storage unit 150 stores, for example, a history of past drive data and disturbance data, reference drive data and reference disturbance data (to be described later), various threshold values, and the like.

[0026] Incidentally, it is assumed that the state of the drive mechanism 13 is estimated based on the drive data of the drive mechanism 13. For example, if the drive current value of the motor 13m is abnormal, it is assumed that the linear guide 20 has deteriorated, causing an increase in sliding resistance, or that the motor 13m itself has deteriorated. However, on an actual platform, disturbances occur due to sunlight irradiation conditions, the effects of rain and wind, temperature, wind, and the like. These disturbances may cause deformation of the platform or the drive mechanism 13 or apply a strong force to the drive mechanism 13, which may change the sliding resistance of the drive mechanism 13. As a result, the load on the drive mechanism 13 changes, and ultimately the drive data of the drive mechanism 13 also changes. For example, the sliding resistance of the drive mechanism 13 changes depending on the amount of expansion and contraction of the linear rail 21. For example, if the amount of expansion and contraction of the linear rail 21 is large, the shape of the linear rail 21 may be distorted by the amount of expansion and contraction of the linear rail 21, and the central axis of the linear rail 21 in the longitudinal direction may be slightly misaligned from the opening and closing direction Dx. As a result, the sliding resistance between the guide block 22 and the linear rail 21 increases, and the load on the drive mechanism 13 increases, causing the drive current of the motor 13m to increase. Therefore, even if the drive mechanism 13 is in a normal state, if the drive data indicates an abnormal value due to the influence of a disturbance on the platform door device 100, it may be erroneously determined that the drive mechanism 13 is in an abnormal state.

[0027] Based on the above, the operation of the platform door device 100 of this embodiment will be explained.

[0028] The process S100 performed by the platform door control device 30 of this embodiment will be described with reference to the flowchart in Figure 5. The following is an example of the process for timing acquisition of a close command when the door body 11 is fully open. The process S100 is repeatedly executed at regular intervals (for example, every 10 milliseconds).

[0029] In step S101, the opening / closing command acquisition unit 111 determines whether or not a close command for the door body 11 has been acquired. In the embodiment, the opening / closing command acquisition unit 111 receives a close command from an external device, such as a worker's work terminal (not shown) or a comprehensive control panel 50 (see FIG. 10, etc.) described below. If a close command has not been acquired (N in step S101), the process S100 ends. If a close command has been acquired (Y in step S101), the opening / closing command acquisition unit 111 supplies the close command to the door control unit 120, and the process S100 proceeds to S102.

[0030] In step S102, the door control unit 120 drives the door body 11 to close. In response to the close command, the door control unit 120 drives the motor 13m to execute the close drive of the door body 11. After the close drive is completed, the door control unit 120 supplies a data acquisition command to the drive data acquisition unit 112 and the disturbance data acquisition unit 113, and the process S100 proceeds to S103.

[0031] In step S103, the drive data acquisition unit 112 and the disturbance data acquisition unit 113 acquire drive data and disturbance data at the current time point when the door body 11 is driven by the drive mechanism 13. The current time point is an example of a predetermined time point and a second time point. The drive data acquisition unit 112 acquires, as drive data at the current time point, an average drive current value (hereinafter, sometimes simply referred to as a drive current value) of the motor 13m when the door body 11 is driven to close. The disturbance data acquisition unit 113 acquires, as disturbance data at the current time point, the amount of extension and contraction (hereinafter, sometimes simply referred to as an extension and contraction amount) of the linear rail 21 when a fully closed position signal is acquired from the fully closed position sensor 41 via the position signal acquisition unit 114. The acquired drive data and disturbance data at the same time point are stored in association with each other in the storage unit 150. The drive data acquisition unit 112 and the disturbance data acquisition unit 113 supply the acquired drive data and disturbance data to the state estimation unit 130, and the process S100 proceeds to step S104.

[0032] In step S104, the drive data acquisition unit 112 and the disturbance data acquisition unit 113 acquire drive data and disturbance data at a past time point as reference drive data and reference disturbance data. The reference drive data indicates a reference for the drive data, and the reference disturbance data indicates a reference for the disturbance data. The past time point is an example of a first time point. The first time point is, for example, a time point that is the same time as the second time point but on a different date (e.g., one month ago) prior to the second time point. For example, the drive data acquisition unit 112 and the disturbance data acquisition unit 113 read out drive current values ​​and expansion / contraction amounts stored in association with each other at past times from the storage unit 150 and acquire them as reference drive data and reference disturbance data. The drive data acquisition unit 112 and the disturbance data acquisition unit 113 supply the acquired reference drive data and reference disturbance data to the state estimation unit 130, and processing S100 proceeds to step S105.

[0033] In step S105, the state estimation unit 130 corrects the reference drive data based on the comparison result between the current disturbance data and the reference disturbance data. Specifically, the state estimation unit 130 corrects the drive current value of the motor 13 at a past time point based on the absolute value of the difference between the current amount of expansion / contraction and the past amount of expansion / contraction.

[0034] Here, if the absolute value of the difference in the amount of expansion / contraction is relatively large, the linear rail 21 expands or contracts significantly at the second time point compared to its state at the first time point, resulting in distortion. As a result, the load on the drive mechanism 13 is greater at the second time point than at the first time point, and the drive current value is likely to increase. Therefore, expansion or contraction of the linear rail 21 makes it more likely that the drive data is determined to be equal to or greater than the reference drive data in step S106, described below, regardless of the state of the drive mechanism 13, and the drive mechanism 13 is likely to be in an abnormal state. To suppress the influence of this expansion or contraction, the state estimation unit 130 corrects the reference drive data so that it is larger when the absolute value of the difference in the amount of expansion or contraction is large compared to when the absolute value of the difference in the amount of expansion or contraction is small. By increasing the reference drive data, it becomes possible to more appropriately determine whether the drive mechanism 13 is in a normal state, even if the drive current value increases due to expansion or contraction of the linear rail 21. After step S105, the process S100 proceeds to step S106.

[0035] In step S106, the state estimation unit 130 determines whether the drive data at the current time point is equal to or greater than the corrected reference drive data. Specifically, the state estimation unit 130 determines whether the drive current value of the motor 13 at the current time point is equal to or greater than the corrected reference drive data value of the motor 13 at a past time point. If the drive data is equal to or greater than the corrected reference drive data (Y in step S106), the state estimation unit 130 supplies the transmission unit 140 with an estimation result indicating that the current state of the drive mechanism 13 is abnormal, and the process S100 proceeds to step S107. If the drive data is not equal to or greater than the corrected reference drive data (N in step S106), the state estimation unit 130 supplies the transmission unit 140 with an estimation result indicating that the current state of the drive mechanism 13 is normal, and the process S100 proceeds to step S108.

[0036] In step S107, the transmitter 140 transmits an estimation result indicating that the state of the drive mechanism 13 is abnormal. In this embodiment, the transmitter 140 transmits the estimation result indicating that the state is abnormal to the work terminal and causes it to be displayed. This allows the worker carrying the work terminal to know in real time that the state of the drive mechanism 13 at the current time point is abnormal. After step S107, the process S100 ends.

[0037] In step S108, the transmitter 140 transmits an estimation result indicating that the state of the drive mechanism 13 is normal. In this embodiment, the transmitter 140 transmits the estimation result indicating that the state is normal to the work terminal and causes it to be displayed. This allows the worker carrying the work terminal to understand in real time that the state of the drive mechanism 13 at the current time point is normal. After step S108, the process S100 ends.

[0038] The functions and effects of the present invention will be described below.

[0039] In this embodiment, the state estimation unit 130 estimates the state of the drive mechanism 13 of the platform door device 100 installed on the platform based on the drive data and disturbance data acquired at a predetermined time. With this configuration, the state of the drive mechanism 13 can be estimated taking the disturbance data into consideration, so even if the drive data changes due to the influence of a disturbance, the state of the drive mechanism 13 can be estimated with higher accuracy.

[0040] In this embodiment, the state estimation unit 130 estimates the current state of the drive mechanism 13 based on the results of comparing drive data and disturbance data acquired at a past point in time with drive data and disturbance data acquired at a current point in time. With this configuration, by taking into account the results of comparing drive data and disturbance data acquired at different points in time, it is possible to estimate the state of the drive mechanism 13 with higher accuracy.

[0041] In this embodiment, the first point in time is, for example, a point in time that occurs on a different date before the second point in time but is the same time as the second point in time. With this configuration, the first point in time and the second point in time are in the same time zone, so it is possible to reduce the difference in environmental conditions such as temperature and solar radiation between the first point in time and the second point in time. Therefore, it is possible to reduce the change in disturbance data between the first point in time and the second point in time, making it possible to more accurately estimate the state of the drive mechanism 13.

[0042] In this embodiment, the state estimation unit 130 corrects the reference drive data based on the comparison result between the acquired disturbance data at the current time point and the reference disturbance data, and estimates the state of the drive mechanism 13 based on the comparison result between the acquired drive data at the current time point and the corrected reference drive data. With this configuration, by correcting the reference drive data based on the comparison result of the disturbance data, it is possible to reduce the influence of the influence of the disturbance on the estimation result of the state of the drive mechanism 13. As a result, it is possible to estimate the state of the drive mechanism 13 with higher accuracy.

[0043] [Variations] In the embodiment, the opening and closing member is a door body 11 such as a sliding door, but is not limited to this and may be, for example, a rope or bar for opening and closing the boarding and alighting entrance E, or may be a lift-up type.

[0044] In the embodiment, the disturbance data is the amount of expansion and contraction of the linear rail 21, but is not limited to this. The disturbance data may also be the amount of expansion and contraction of the drive mechanism 13. For example, the disturbance data may be the amount of expansion and contraction of the guide block 22 of the drive mechanism 13. This is because, for example, expansion and contraction of the guide block 22 distorts the sliding surface of the guide block 22 against the linear rail 21, changing the sliding resistance between the linear rail 21 and the guide block 22, and changing the load on the drive mechanism 13. Furthermore, the disturbance data may also be the amount of expansion and contraction of the timing belt 13t of the drive mechanism 13. This is because expansion and contraction of the timing belt 13t changes the tension of the timing belt 13t, changing the sliding resistance in the drive mechanism 13 and changing the load on the drive mechanism 13.

[0045] Furthermore, the disturbance data is not limited to the amount of expansion and contraction of the drive mechanism 13, but may be the amount of expansion and contraction of the platform. This is because expansion and contraction of the platform distorts the drive mechanism 13, which changes the sliding resistance in the drive mechanism 13 and changes the load on the drive mechanism 13. In this case, the disturbance data indicates the amount of twist of at least one of the platform and the drive mechanism around the axis in the opening and closing direction Dx of the door body 11.

[0046] The disturbance data may also be the amount of twist of at least one of the platform and the drive mechanism 13. This is because twisting of the platform distorts the drive mechanism 13, changing the sliding resistance in the drive mechanism 13 and changing the load on the drive mechanism 13. In this case, the disturbance data indicates the amount of twist of at least one of the platform and the drive mechanism around the axis of the opening / closing direction Dx of the door body 11. For example, when the amount of twist is large, the state estimation unit 130 may correct the reference drive data to be larger than when the amount of twist is small.

[0047] Furthermore, when a strain sensor 42 is attached to the pulley 13p of the drive mechanism 13, the disturbance data may be a measurement value of the strain sensor 42 attached to the pulley 13p of the drive mechanism 13. For example, when the pulley 13p is distorted, the central axis in the longitudinal direction of the timing belt 13t wound around the pulley 13p may be slightly misaligned from the opening / closing direction Dx. As a result, the sliding resistance between the guide block 22 and the linear rail 21 increases, and the load on the drive mechanism 13 increases.

[0048] Furthermore, when a strain sensor 42 is attached to the connecting member 13c of the drive mechanism 13, the disturbance data may be a measurement value of the strain sensor 42 attached to the connecting member 13c. For example, if the connecting member 13c is distorted, the central axis in the longitudinal direction of the timing belt 13t connected to the connecting member 13c may be slightly misaligned with the opening / closing direction Dx. As a result, the sliding resistance between the guide block 22 and the linear rail 21 increases, and the load on the drive mechanism 13 increases.

[0049] The disturbance data may be the tilt angle of at least one of the platform and the drive mechanism 13 relative to the other. This is because when the relative tilt between the platform and the drive mechanism 13 is large, the sliding resistance between the linear rail 21 and the guide block 22 changes in accordance with this relative tilt, and therefore the load on the drive mechanism 13 also changes. When the disturbance data is the tilt angle, tilt sensors may be provided on both the platform and the drive mechanism 13, and the tilt angle of at least one of the platform and the drive mechanism 13 relative to the other may be found based on the difference between the measured values ​​of the two tilt sensors. For example, when the tilt angle is large, the state estimation unit 130 may correct the reference drive data so that it is larger than when the tilt angle is small.

[0050] The disturbance data may also be the wind speed on the platform. This is because, when a strong wind blows against the platform door device, the wind pressure increases the load on the drive mechanism 13. When the wind speed on the platform is used as the disturbance data, an anemometer may be installed near the platform door device 100. When the wind speed on the platform is used as the disturbance data, the state estimation unit 130 may estimate the state of the drive mechanism 13 based on the area of ​​a surface of the door body 11 extending in a direction parallel to the opening and closing direction and the wind speed. Specifically, the state estimation unit 130 may calculate the force that the door body 11 receives from the wind based on the product of the area of ​​the door body 11 and the wind speed, and estimate the state of the drive mechanism 13 based on this force. For example, when the wind speed or the force received from the wind is large, the state estimation unit 130 may correct the reference drive data to be larger than when the wind speed or the force received from the wind is small.

[0051] The disturbance data may also be the amount of vibration on the platform. This is because when the amount of vibration on the platform is large, the sliding resistance in the drive mechanism 13 increases due to the up and down movement, and the load on the drive mechanism 13 increases. If the amount of vibration is used as the disturbance data, an acceleration sensor can be installed around the platform door device 100. For example, when the amount of vibration is large, the state estimation unit 130 can correct the reference drive data so that it is larger than when the amount of vibration is small.

[0052] To summarize the disturbance data, the disturbance data may indicate at least one of the following: the inclination angle of at least one of the platform and the drive mechanism relative to the other, the amount of expansion and contraction, the amount of twisting of at least one of the platform and the drive mechanism, the wind speed on the platform, and the amount of vibration on the platform.

[0053] In the embodiment, the drive data is the drive current value of the motor 13m, but is not limited to this. For example, the drive data may indicate at least one of the drive current, drive voltage, and rotation speed of the motor 13m. Furthermore, the drive data may indicate at least one of the movement time and movement speed between predetermined positions (e.g., between the fully closed position and the fully open position) when driving the door body 11 to open or close.

[0054] 1 is a waist-high type drive mechanism using linear guides 20, but is not limited to this. For example, drive mechanism 13 may be a full-height type drive mechanism using a door hanger, a door roller built into the door hanger, a guide rail on which the door roller runs, etc. instead of linear guides 20.

[0055] When the lift-up type opening / closing member or the full-height type driving mechanism is used, for example, a header box may be used as the housing instead of the door pocket 10.

[0056] In the embodiment, the drive data acquisition unit acquires the average value of the drive data during the closing drive of the door body 11, but this is not limitative, and for example, a moving average value may be acquired.

[0057] In the embodiment, the state estimation unit 130 estimates whether the drive mechanism 13 is in an abnormal state or a normal state in step S106 described above, but this is not limiting. The state estimation unit 130 may estimate the degree of deterioration of the drive mechanism 13 based on the difference between the drive data at the current time point and the corrected reference drive data. In this case, for example, when the difference in the drive data is relatively large, the state estimation unit 130 may estimate the degree of deterioration of the drive mechanism 13 to be greater than when the difference in the drive data is relatively small.

[0058] In the embodiment, the reference drive data and the reference disturbance data are drive data and disturbance data acquired at a time in the past, but are not limited to this. The reference drive data and the reference disturbance data may be arbitrarily set reference values.

[0059] In the embodiment, the disturbance data acquisition unit 113 acquires disturbance data at the fully closed position in response to acquisition of a fully closed position signal, but this is not limited to this. For example, the disturbance data acquisition unit 113 may acquire disturbance data at the fully open position in response to acquisition of a fully open position signal indicating that the door 11 is in the fully open position from a fully open position sensor that detects whether the door 11 is in the fully open position. In this case, in step S101, instead of determining whether a close command has been acquired, it is determined whether an open command has been acquired, and in step S102, instead of driving the door 11 to close, it is driven to open. Furthermore, disturbance data may be acquired at a point halfway between the fully closed position and the fully open position.

[0060] In the embodiment, the second time point is the current time point, but is not limited to this, and may be a time point in the past.

[0061] In the embodiment, the drive data and disturbance data are acquired in response to a close command, but this is not limiting. For example, the time for acquiring the drive data and disturbance data may be predetermined to be the same as a predetermined past time, and the drive data acquisition unit 112 and the disturbance data acquisition unit 113 may acquire the drive data and disturbance data at the same time as the predetermined past time. In this case, the platform door control device 30 may further include a time determination unit that determines whether the current time is the same as the predetermined past time. Process S100' in this case will be described with reference to the flowchart of FIG. 6. The flowchart of FIG. 6 mainly focuses on the differences from the flowchart of FIG. 5. Process S100' is executed periodically, independently of the drive of the door body 11. In step S101', the time determination unit determines whether the current time is the same as the predetermined past time. Here, the same time as the predetermined past time may be, for example, the time when the drive data and disturbance data were acquired one month ago. If it is determined that the times are the same (Y in step S101'), the time determination unit supplies a data acquisition command to the drive data acquisition unit 112 and the disturbance data acquisition unit 113, and process S100' proceeds to step S103. If it is determined that the times are not the same (N in step S101'), process S100' ends. In step S103, the drive data acquisition unit 112 and the disturbance data acquisition unit 113 acquire a drive current value as drive data and an expansion / contraction amount as disturbance data, respectively. Thereafter, steps S104 to S108 similar to those in FIG. 5 are executed. The drive data and disturbance data acquired in step S103 were acquired at the same time as a predetermined past point in time, such as one month ago. Therefore, it is possible to minimize changes in the disturbance data between the first and second points in time, thereby enabling more accurate estimation of the state of the drive mechanism 13.

[0062] The state estimation unit 130 may identify, from the disturbance data stored in the storage unit 150, disturbance data acquired at a previous time point whose deviation from the disturbance data acquired at the current time point is within a predetermined range, and estimate the state of the drive mechanism 13 at the current time point based on a comparison result between the drive data acquired at the current time point and the drive data acquired at the previous time point stored in association with the identified disturbance data. For example, the state estimation unit 130 may identify, from the expansion / contraction amounts stored in the storage unit 150, an expansion / contraction amount that is the same as the expansion / contraction amount at the current time point. For example, the state estimation unit 130 estimates the state of the drive mechanism 13 based on whether the drive current value at the current time point is equal to or greater than the drive current value at the previous time point stored in the storage unit 150 in association with the identified expansion / contraction amount at the previous time point. The state estimation unit 130 compares the drive data at the current time point with the drive data at the previous time point stored in association with the identified disturbance data at the previous time point. Here, since the amounts of expansion and contraction at the current time and the specified past time are approximately the same, the drive data at the current time and the specified past time should also be approximately the same if there is no abnormality in the drive mechanism 13. Therefore, with this configuration, it is possible to accurately estimate the state of the drive mechanism 13 based on the comparison result between the drive data at the current time and the drive data at the specified past time.

[0063] In the embodiment, in step S106, the state estimation unit 130 determines whether the drive data at the current time point is equal to or greater than the corrected reference drive data, but this is not limiting. For example, the state estimation unit 130 may determine whether the deviation between the drive data at the current time point and the corrected reference drive data is within a predetermined range, and determine that the drive mechanism 13 is in a normal state if the deviation is within the predetermined range, and determine that the drive mechanism 13 is in an abnormal state if the deviation is outside the predetermined range. In this case, the state estimation unit 130 may determine, for example, whether the difference between the drive data at the current time point and the corrected reference drive data is equal to or greater than a threshold.

[0064] In the embodiment, the drive data and disturbance data of the platform door device 100 itself, which is the target of estimation of the state of the drive mechanism 13, are used, but this is not limiting. For example, other drive data and other disturbance data of another platform door device 100 that is installed on the same or an adjacent platform as the platform door device 100 that is the target of estimation but is different from the platform door device 100 that is the target of estimation, may be used. For example, the drive data acquisition unit 112 may acquire another drive current value transmitted from the other platform door device 100 as reference drive data, and the disturbance data acquisition unit 113 may acquire another expansion / contraction amount transmitted from the other platform door device 100 as reference disturbance data. Furthermore, the state estimation unit may estimate the state of the drive mechanism 13 of the platform door device 100 based on the results of comparing the drive data and disturbance data at the current time with the other drive current value (reference drive data) and the other expansion / contraction amount (reference disturbance data).

[0065] In this embodiment, the linear rail 21 is attached to the door body 11, but this is not limiting and the linear rail 21 may also be attached to the platform. Also, in this embodiment, the guide block 22 is attached to the door pocket 10, but this is not limiting. When the linear rail 21 is attached to one of the door body 11 and the platform, the guide block 22 may also be attached to the other of the door body 11 and the platform.

[0066] The platform door control device 30 may further include an environmental data acquisition unit that acquires environmental data indicating at least one of the temperature, humidity, and solar radiation around or inside the platform door device 100 at a predetermined time when the door body 11 is driven by the drive mechanism 13. In this case, the disturbance data acquisition unit 113 may acquire the disturbance data at a second time when the environmental data acquired at the first time point deviates within a predetermined range. Alternatively, the memory unit 150 may further store the environmental data acquired at the first time point as reference environmental data, and the disturbance data acquisition unit may acquire the disturbance data at a second time when the environmental data acquired at the first time point deviates within a predetermined range from the reference environmental data. The interior of the platform door device 100 refers, for example, to the interior of the door pocket 10 in the case of a waist-high platform door device, or to the interior of the header box in the case of a lift-type opening / closing member or a full-height drive mechanism. For example, if the environmental data indicates temperature, the disturbance data acquisition unit acquires the disturbance data at a time when the temperature is within ±5°C of the temperature indicated by the reference environmental data. Here, the load on the drive mechanism 13 changes due to changes in the environment, such as the temperature, humidity, and solar radiation around or inside the platform door device 100, and thus the drive data of the drive mechanism 13 also changes. For example, when the temperature around or inside the platform door device 100 is high, the lubricants in the linear rail 21 and guide block 22 and the door edge rubber (not shown) attached to the door edge of the door body 11 may soften, or the timing belt 13t may expand and reduce tension. As a result, the load on the drive mechanism 13, such as the sliding resistance of the drive mechanism 13 and the load required to crush the door edge rubber during closing, becomes relatively small, and the drive current of the motor 13m decreases. With this configuration, disturbance data is acquired at the second time point when environmental data that deviates from the reference environmental data within a predetermined range is acquired, thereby suppressing the impact of changes in the environment around or inside the platform door device 100 on the state estimation of the drive mechanism 13. As a result, the state of the drive mechanism 13 can be estimated more accurately.

[0067] [Second embodiment] A second embodiment of the present invention will be described below. In the drawings and description of the second embodiment, components and members that are the same as or equivalent to those in the first embodiment will be given the same reference numerals. Explanations that overlap with the first embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from the first embodiment.

[0068] Please refer to Fig. 7. The platform door control device 30 of this embodiment further includes a change estimation unit 160 and a failure timing estimation unit 170.

[0069] In this embodiment, the state estimation unit 130 estimates the degree of deterioration of the drive mechanism 13 as the state of the drive mechanism 13. The state estimation unit 130 estimates the degree of deterioration of the drive mechanism 13 at the third time point based on a comparison result between drive data and disturbance data acquired at a third time point after the second time point and drive data and disturbance data acquired at a time point before the third time point. The change estimation unit estimates a change in the degree of deterioration of the drive mechanism 13 based on a comparison result between the degree of deterioration at the second time point and the degree of deterioration at the third time point. The failure timing estimation unit estimates the timing of a failure of the drive mechanism 13 based on the change in the estimated degree of deterioration.

[0070] The processing S200 by the platform door control device 30 of this embodiment will be described with reference to the flowchart in Figure 8. Steps S201 and S202 are basically the same as steps S101 and S102 described above, and therefore will not be described unless otherwise noted.

[0071] In step S201, the opening / closing command acquisition unit 111 determines whether or not it has acquired a command to close the door body 11. After that, in step S202, the door control unit 120 drives the door body 11 to close.

[0072] In step S203, the drive data acquisition unit 112 and the disturbance data acquisition unit 113 acquire drive data and disturbance data at the current time point. The current time point in this embodiment is an example of a third time point.

[0073] In step S204, the drive data acquisition unit 112 and the disturbance data acquisition unit 113 acquire drive data and disturbance data at a first time point and a second time point. In this embodiment, the second time point is a time point earlier than the current time point (third time point), and the first time point is a time point earlier than the second time point. The drive data acquisition unit 112 and the disturbance data acquisition unit 113 acquire the drive data and disturbance data at the first time point and the second time point earlier than the current time point by reading them from the storage unit 150. In this embodiment, the drive data acquisition unit 112 and the disturbance data acquisition unit 113 acquire the drive current value and expansion / contraction amount at the first time point as reference drive data and reference disturbance data, respectively. The drive data acquisition unit 112 and the disturbance data acquisition unit 113 supply the acquired drive current values ​​and expansion / contraction amounts at the first, second, and third time points to the state estimation unit 130, and the process S200 proceeds to step S205.

[0074] In step S205, the state estimation unit 130 corrects the drive current value (reference drive data) at the first time point based on the difference between the expansion / contraction amount (reference disturbance data) at the first time point and the expansion / contraction amount at the second and third time points. For example, the state estimation unit 130 corrects the drive current value (reference drive data) at the first time point based on the difference between the expansion / contraction amount (reference disturbance data) at the first time point and the expansion / contraction amount at the second time point. The state estimation unit 130 also corrects the drive current value (reference drive data) at the first time point based on the difference between the expansion / contraction amount (reference disturbance data) at the first time point and the expansion / contraction amount at the third time point.

[0075] In step S206, the state estimation unit 130 estimates the deterioration degree of the drive mechanism 13 at the second and third time points based on the differences between the corrected drive current value (reference drive data) at the first time point and the drive current values ​​at the second and third time points. For example, the state estimation unit 130 estimates the deterioration degree of the drive mechanism 13 at the second time point based on the difference between the drive current value at the second time point and the drive current value (reference drive data) corrected using the expansion / contraction amount at the second time point. The state estimation unit 130 also estimates the deterioration degree of the drive mechanism 13 at the third time point based on the difference between the drive current value at the third time point and the drive current value (reference drive data) corrected using the expansion / contraction amount at the third time point. The state estimation unit 130 supplies the estimated results of the deterioration degree of the drive mechanism 13 at the second and third time points to the change estimation unit 160, and the process S200 proceeds to step S207.

[0076] In step S207, the change estimation unit 160 estimates a change in the deterioration degree of the drive mechanism 13 based on the deterioration degree of the drive mechanism 13 at the second and third time points. For example, the change estimation unit 160 calculates the deterioration degree of the drive mechanism 13 over time by dividing the difference between the deterioration degree of the drive mechanism 13 at the second time point and the deterioration degree of the drive mechanism 13 at the third time point by the elapsed time from the second time point to the third time point. The change estimation unit 160 calculates an approximation curve of the deterioration degree of the drive mechanism 13 over time (see FIG. 9 ). This approximation curve represents the change in the deterioration degree of the drive mechanism 13 over time. The change estimation unit 160 supplies the calculated approximation curve of the deterioration degree of the drive mechanism 13 over time to the failure timing estimation unit 170 as an estimation result of the change in the deterioration degree of the drive mechanism 13, and the process S200 proceeds to step S208.

[0077] In step S208, the failure timing estimation unit 170 estimates the failure timing of the drive mechanism 13 based on the estimation result of the change in the deterioration degree of the drive mechanism 13. For example, as shown in FIG. 9, the failure timing estimation unit 170 finds the intersection point between the approximation curve of the deterioration degree over time of the drive mechanism 13 and the failure threshold. The failure timing estimation unit 170 estimates the time at the intersection point as the failure timing. The failure timing estimation unit 170 supplies the estimation result of the failure timing of the drive mechanism 13 to the transmission unit 140, and the process S200 proceeds to step S209.

[0078] In step S209, the transmitter 140 transmits the estimated result of the failure timing of the drive mechanism 13. Step S209 is similar to step S107 or S108 except that the transmitter 140 transmits the estimated result of the failure timing of the drive mechanism 13 instead of the estimated result of the state of the drive mechanism 13 at the second time point, and therefore a description thereof will be omitted.

[0079] After step S209, the process S200 ends.

[0080] In the embodiment, the failure timing estimation unit 170 is provided, but it is not necessary to provide the failure timing estimation unit 170. In this case, the change estimation unit 160 may supply the calculated approximation curve of the deterioration degree of the drive mechanism 13 over time to the transmission unit 140 as an estimation result of the change in the deterioration degree of the drive mechanism 13, and the transmission unit 140 may transmit this approximation curve.

[0081] In the embodiment, the third time point is the current time point, but it may be a time point in the past.

[0082] In the embodiment, the disturbance data at the second and third time points are both compared with the disturbance data at the first time point, but this is not limiting. The disturbance data at the second time point may be compared with the disturbance data at the first time point, while the disturbance data at the third time point may be compared with the disturbance data at any time point before the third time point.

[0083] [Third embodiment] A third embodiment of the present invention will be described below. In the drawings and description of the third embodiment, components and members that are the same as or equivalent to those in the first embodiment will be denoted by the same reference numerals. Explanations that overlap with the first embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from the first embodiment.

[0084] The platform screen door system 1 will be described with reference to Figure 10. The platform screen door system 1 includes a general control panel 50 and a plurality of platform door devices 100. The general control panel 50 of this embodiment is an example of an external device capable of communicating with the platform door devices 100.

[0085] A plurality of platform door devices 100 are provided on each of the inbound and outbound tracks of the station platform. When a train stops at a predetermined position on the platform, the plurality of platform door devices 100 are respectively arranged at entrances E provided at positions corresponding to each car door of the train.

[0086] One general control panel 50 is provided on each platform and is connected to each platform door control device 30 of the multiple platform door devices 100. The general control panel 50 controls the opening and closing of the door bodies 11 of the platform door devices 100 via the platform door control devices 30.

[0087] The general control panel 50 and each platform door control device 30 can communicate with each other. For example, the general control panel 50 transmits an open command or a close command for the door body 11 to each platform door control device 30. Each platform door control device 30 can transmit drive data, disturbance data, etc. to the general control panel 50.

[0088] FIG. 11 is a functional block diagram of the platform door control device 30 and the integrated control panel 50 of this embodiment. The platform door control device 30 includes an acquisition unit 110, a transmission unit 140, and a memory unit 150. The integrated control panel 50 includes an opening / closing command transmission unit 210, a reception unit 220, a state estimation unit 230, an output unit 240, and a memory unit 250. The state estimation unit 230 of the integrated control panel 50 has the same function as the state estimation unit 130 of the platform door control device 30 in the first embodiment. In this embodiment, the state estimation unit 230 of the integrated control panel 50 estimates the state of the drive mechanism 13 of each platform door device 100 based on the drive data and disturbance data of each of one or more platform door devices 100 on the platform.

[0089] 12 is a sequence diagram of processing S300 by the platform door control device 30 and the integrated control panel 50 of this embodiment. Steps S302 to S304 and S307 to S310 are basically the same as the above-mentioned steps S102 to S104 and S105 to S108, and therefore, explanations thereof will be omitted unless otherwise noted.

[0090] In step S301, the opening / closing command transmission unit 210 of the general control panel 50 transmits a close command to the platform door control device 30. In this embodiment, for example, when the opening / closing command transmission unit 210 of the general control panel 50 receives a close request signal from an operator via the station staff operation panel 66, it transmits a close command to each platform door control device 30.

[0091] In step S302, the door control unit 120 of the platform door control device 30 drives the door body 11 to close.

[0092] In step S303, the drive data acquisition unit 112 and the disturbance data acquisition unit 113 of the platform door control device 30 acquire disturbance data and drive data at the current time point. In step S304, the drive data acquisition unit 112 and the disturbance data acquisition unit 113 of the platform door control device 30 acquire drive data and disturbance data at a past time point as reference disturbance data and reference drive data. The drive data acquisition unit 112 and the disturbance data acquisition unit 113 supply the acquired disturbance data, drive data, reference disturbance data, and reference drive data to the transmission unit 140.

[0093] In step S305, the transmitter 140 of the platform door control device 30 transmits the disturbance data, drive data, reference disturbance data, and reference drive data to the general control panel 50.

[0094] In step S306, the receiving unit 220 of the general control panel 50 receives the disturbance data, drive data, reference disturbance data, and reference drive data from each platform door control device 30. The memory unit 250 of the general control panel 50 stores the received disturbance data, drive data, reference disturbance data, and reference drive data. The receiving unit 220 of the general control panel 50 supplies the received disturbance data, drive data, reference disturbance data, and reference drive data to the state estimation unit 230 of the general control panel 50.

[0095] In step S307, the state estimation unit 230 of the integrated control panel 50 corrects the reference drive data based on the result of comparing the reference disturbance data with the disturbance data at the current time point.

[0096] In step S308, the state estimation unit 230 of the integrated control panel 50 determines whether the drive data at the current time point is equal to or greater than the corrected reference drive data. If the drive data is equal to or greater than the corrected reference drive data (Y in step S308), the state estimation unit 230 of the integrated control panel 50 supplies an estimation result indicating that the drive mechanism 13 is in an abnormal state to the output unit 240 of the integrated control panel 50, and the process S300 proceeds to step S309. If the drive data is not equal to or greater than the corrected reference drive data (N in step S308), the state estimation unit 230 of the integrated control panel 50 supplies an estimation result indicating that the drive mechanism 13 is in a normal state to the output unit 240 of the integrated control panel 50, and the process S300 proceeds to step S310.

[0097] In step S309, the state estimation unit 230 of the general control panel 50 outputs an estimation result that the drive mechanism 13 is in an abnormal state. In step S310, the output unit 240 of the general control panel 50 outputs an estimation result that the drive mechanism 13 is in a normal state. For example, the output unit 240 of the general control panel 50 displays the estimation result of the state of the drive mechanism 13 of each platform door device 100 on a display device provided in the station office display device 64 or the station staff operation panel 66, or on the general command room display device 65 in the general command room.

[0098] Steps S309 and S310 output the estimated state of the drive mechanism 13 of each platform door device 100. After steps S309 and S310, the process S300 ends.

[0099] According to this embodiment, it is possible to monitor the status of the drive mechanism 13 of the platform door device 100 in cooperation with the general control panel 50.

[0100] In this embodiment, the platform door control device 30 has a memory unit 150 for storing disturbance data, drive data, etc., but this is not limited to this, and the integrated control panel 50 may have a memory unit 250 for storing disturbance data, drive data, etc. In this case, the memory unit 250 of the integrated control panel 50 stores the disturbance data and drive data each time it receives them in step S306, and the state estimation unit 230 of the integrated control panel 50 reads the disturbance data and drive data from the memory unit 250 of the integrated control panel 50 as reference disturbance data and reference drive data in step S307. With this configuration, there is no need to provide a separate memory unit in the platform door control device 30 for storing disturbance data, drive data, etc., making it possible to reduce the cost of the platform door control device 30.

[0101] [Fourth embodiment] A fourth embodiment of the present invention will be described below. In the drawings and description of the fourth embodiment, components and members that are the same as or equivalent to those of the third embodiment will be given the same reference numerals. Explanations that overlap with the third embodiment will be omitted as appropriate, and the description will focus on the configuration that differs from the second embodiment.

[0102] See Figure 13. In this embodiment, the platform door control device 30 further includes a feature calculation unit 180 that calculates feature quantities of the acquired drive data and disturbance data. The transmission unit 140 transmits the calculated feature quantities to the integrated control panel 50. The state estimation unit 230 of the integrated control panel 50 estimates the state of the drive mechanism 13 based on the received feature quantities.

[0103] The processing S400 by the platform door control device 30 of the platform door device 100 of this embodiment will be described with reference to the flowchart in Figure 14. In processing S400, the processing of steps S401 to S404 and S410 to S411 is basically the same as the above-mentioned steps S301 to S304 and S309 to S310 unless otherwise noted, and therefore description thereof will be omitted.

[0104] After steps S401 to S403, the drive data acquisition unit 112 and the disturbance data acquisition unit 113 acquire drive data, disturbance data, reference disturbance data, and reference drive data, and supply them to the feature amount calculation unit 180 in step S404.

[0105] In step S405, the feature calculation unit 180 calculates feature amounts of the drive data, disturbance data, reference disturbance data, and reference drive data. The feature amounts include, for example, at least one of the mean value, maximum value, minimum value, standard deviation, root mean square level (RMS), skewness (asymmetry of the signal distribution), kurtosis (length of the tail of the signal distribution), a value obtained by dividing the peak value by the RMS (crest factor), band power (99 percent occupied bandwidth), frequency mean, frequency median, occupied bandwidth, and power bandwidth. The feature calculation unit 180 supplies the calculated feature amounts to the transmission unit 140, and the process S400 proceeds to step S406.

[0106] In step S406, the transmitting unit 140 transmits the calculated drive data, disturbance data, reference disturbance data, and feature amount of the reference drive data to the integrated control panel 50.

[0107] In step S407, the receiving unit 220 of the integrated control panel 50 receives the feature quantities of the drive data, disturbance data, reference disturbance data, and reference drive data. The receiving unit 220 of the integrated control panel 50 supplies the received feature quantities to the state estimation unit 230, and the process S400 proceeds to step S408.

[0108] In step S408, the state estimation unit 230 corrects the feature amount of the reference drive data based on the difference between the feature amount of the reference disturbance data and the feature amount of the disturbance data at the current time point.

[0109] In step S409, state estimation unit 230 determines whether the feature amount of the drive data at the current time point is equal to or greater than the feature amount of the corrected reference drive data. If the feature amount of the drive data is equal to or greater than the feature amount of the corrected reference drive data (Y in step S409), process S400 proceeds to step S410. If the feature amount of the drive data is not equal to or greater than the feature amount of the corrected reference drive data (N in step S409), process S400 proceeds to step S411.

[0110] After steps S410 and S411, the process S400 ends.

[0111] In this embodiment, the platform door control device 30 has the feature calculation unit 180, but this is not limited to this, and the integrated control panel 50 may have the feature calculation unit. In this case, the transmitter 140 of the platform door control device 30 may transmit drive data and disturbance data instead of transmitting feature amounts. The feature calculation unit of the integrated control panel 50 may calculate feature amounts of the received drive data and disturbance data and supply them to the state estimation unit 230.

[0112] In this embodiment, the feature amount calculation section 180 calculates the feature amounts of the drive data and the disturbance data, but is not limited to this, and may calculate the feature amount of at least one of the drive data and the disturbance data.

[0113] In this embodiment, the feature calculation unit 180 calculates the feature values ​​of the reference driving data and the reference disturbance data, but this is not limited to this, and the feature values ​​of the reference driving data and the reference disturbance data may be stored in advance in the storage unit 250.

[0114] [Fifth embodiment] A fifth embodiment of the present invention will be described below. In the drawings and description of the fifth embodiment, components and members that are the same as or equivalent to those of the first embodiment will be denoted by the same reference numerals. Explanations that overlap with the first embodiment will be omitted as appropriate, and the description will focus on the configuration that differs from the second embodiment.

[0115] In the fifth embodiment, when the difference between the drive data at the first time point and the drive data at the second time point is equal to or greater than a predetermined value, the state estimation unit 130 estimates the state of the drive mechanism 13 at the second time point further based on the comparison result between the disturbance data at the first time point and the disturbance data at the second time point. For example, when the difference between the drive data at the first time point and the drive data at the second time point is equal to or greater than a predetermined value, and when the difference between the disturbance data at the first time point and the disturbance data at the second time point is equal to or less than a disturbance threshold, the state estimation unit 130 determines that the state of the drive mechanism 13 at the second time point is abnormal.

[0116] The processing S500 by the platform door control device 30 of the platform door device 100 of this embodiment will be described with reference to the flowchart in Figure 15. In processing S500, the processing of steps S501 to S504 and S507 to S508 is basically the same as the above-mentioned steps S101 to S104 and S107 to S108 unless otherwise noted, and therefore description thereof will be omitted.

[0117] After executing steps S501 to S504, in step S505, state estimation unit 130 determines whether the difference between the reference drive data and the drive data acquired at the current time point is equal to or greater than a predetermined value. If the difference between the reference drive data and the drive data is equal to or greater than the predetermined value (Y in step S505), process S500 proceeds to step S506. If the difference between the reference drive data and the drive data is not equal to or greater than the predetermined value (N in step S505), process S500 proceeds to step S508.

[0118] In step S506, the state estimation unit 130 determines whether the difference between the reference disturbance data and the disturbance data acquired at the current time point is equal to or less than the disturbance threshold. If the difference between the reference disturbance data and the disturbance data is not equal to or less than the disturbance threshold (N in step S506), the process S500 ends. Therefore, if the difference between the reference disturbance data and the disturbance data is not equal to or less than the disturbance threshold, the influence of the disturbance is large, and the determination of the state of the drive mechanism 13 is put on hold. If the difference between the reference disturbance data and the disturbance data is equal to or less than the disturbance threshold (Y in step S506), the process S500 proceeds to step S507.

[0119] After steps S507 and S508, the process S500 ends.

[0120] According to the fifth embodiment, when an abnormality in the drive mechanism 13 is suspected based on a comparison between past drive data and current drive data, the presence or absence of an abnormality in the drive mechanism 13 at the current time is determined based on a comparison between past disturbance data and current disturbance data. This makes it possible to appropriately determine the state of the drive mechanism 13.

[0121] [Sixth embodiment] A sixth embodiment of the present invention will be described below. In the drawings and description of the fifth embodiment, components and members that are the same as or equivalent to those of the first embodiment will be given the same reference numerals. Explanations that overlap with the first embodiment will be omitted as appropriate, and the description will focus on the configuration that differs from the second embodiment.

[0122] In the sixth embodiment, wind speed is used as disturbance data, and therefore, in the sixth embodiment, a wind speed sensor is used instead of the strain sensor 42 in the first embodiment.

[0123] The process S600 by the platform door control device 30 of the platform door device 100 of this embodiment will be described with reference to the flowchart in Figure 16. In the process S600, the processes of steps S601 to S603 are basically the same as the above-mentioned steps S101 to S103 unless otherwise noted, and therefore description thereof will be omitted.

[0124] After steps S601 to S603 are executed, in step S604, the drive data acquisition unit 112 and the disturbance data acquisition unit 113 acquire reference drive data and reference disturbance data, respectively. See FIG. 17. The reference drive data in this embodiment includes a deterioration curve in which reference drive data values ​​are determined for each number of opening and closing of the door body 11, a failure prediction reference value serving as a reference for predicting a failure of the drive mechanism 13, and a failure determination reference value serving as a reference for determining a failure of the drive mechanism 13. The failure determination reference value is greater than the failure prediction reference value. The reference disturbance data includes a wind speed reference value serving as a reference for a wind speed that sufficiently affects the sliding resistance of the drive mechanism 13.

[0125] In step S605, the state estimation unit 130 determines whether the number of opening and closing times of the door body 11 is equal to or greater than a predetermined number of failure warnings. In the sixth embodiment, the memory unit 150 increments and stores the number of opening and closing times each time the door body 11 is opened or closed. The memory unit 150 also stores a failure warning count that is used to warn of a failure of the drive mechanism 13 if the number of opening and closing times exceeds the predetermined number. The state estimation unit 130 reads out the number of opening and closing times of the door body 11 and the failure warning count from the memory unit 150 and compares the number of opening and closing times of the door body 11 with the failure warning count. If the number of opening and closing times is equal to or greater than the failure warning count (Y in step S605), the process S600 proceeds to step S610. If the number of opening and closing times is not equal to or greater than the failure warning count (N in step S605), the process S600 proceeds to step S6065.

[0126] In step S606, the state estimation unit 130 determines whether the deviation of the drive data from the deterioration curve is equal to or greater than a predetermined range. As shown in FIG. 17, the deterioration curve increases nonlinearly as the number of opening and closing times increases. If the deviation of the drive data from the deterioration curve is not equal to or greater than the predetermined range (N in step S606), the state estimation unit 130 determines that the drive mechanism 13 is not in a state where it is broken or a state that predicts a breakdown of the drive mechanism 13, and process S600 ends. If the deviation of the drive data from the deterioration curve is equal to or greater than the predetermined range (Y in step S606), process S600 proceeds to step S607.

[0127] In step S607, the state estimation unit 130 determines whether the driving data exceeds the malfunction determination reference value. If the driving data exceeds the malfunction determination reference value (Y in step S607), the process S600 proceeds to step S611. If the driving data does not exceed the malfunction determination reference value (N in step S607), the process S600 proceeds to step S608.

[0128] In step S608, the state estimation unit 130 determines whether the drive data exceeds the failure prediction reference value. If the drive data exceeds the failure prediction reference value (Y in step S608), the process S600 proceeds to step S609. If the drive data does not exceed the failure prediction reference value (N in step S608), the state estimation unit 130 determines that the drive mechanism 13 is not in a state where it is broken or in a state that predicts a failure of the drive mechanism 13, and the process S600 ends.

[0129] In step S609, the state estimation unit 130 determines whether the disturbance data is equal to or greater than the reference disturbance data. In this embodiment, the state estimation unit 130 determines whether the wind speed as disturbance data is equal to or greater than the reference wind speed value. If the wind speed is equal to or greater than the reference wind speed value (Y in step S609), the process S600 ends. Therefore, if the wind speed is equal to or greater than the reference wind speed value, the influence of the disturbance is large, and the determination of the state of the drive mechanism 13 is put on hold. If the wind speed is not equal to or greater than the reference wind speed value (N in step S609), the state estimation unit 130 supplies the transmission unit 140 with an estimation result indicating that the state of the drive mechanism 13 is in a failure warning state in which a warning of a failure of the drive mechanism 13 is required because a failure of the drive mechanism 13 is imminent, and the process S600 proceeds to step S610.

[0130] In step S610, the transmitter 140 transmits failure warning information indicating that a failure of the drive mechanism 13 is imminent. In this embodiment, the transmitter 140 transmits the failure warning information to the work terminal, thereby causing the work terminal to display the failure warning information. This allows the worker carrying the work terminal to understand in real time that a failure of the drive mechanism 13 is imminent. After step S610, the process S600 ends.

[0131] In step S611, the state estimation unit 130 determines whether the disturbance data is equal to or greater than the reference disturbance data. In this embodiment, the state estimation unit 130 determines whether the wind speed as disturbance data is equal to or greater than the reference wind speed value. If the wind speed is equal to or greater than the reference wind speed value (Y in step S611), the process S600 ends. Therefore, if the wind speed is equal to or greater than the reference wind speed value, the influence of the disturbance is large, and the determination of the state of the drive mechanism 13 is put on hold. If the wind speed is not equal to or greater than the reference wind speed value (N in step S611), the state estimation unit 130 supplies the transmission unit 140 with an estimation result indicating that the state of the drive mechanism 13 is in a faulty state where the drive mechanism 13 is malfunctioning, and the process S600 proceeds to step S612.

[0132] In step S612, the transmitter 140 transmits malfunction information indicating that the drive mechanism 13 has malfunctioned. In this embodiment, the transmitter 140 transmits the malfunction information to the work terminal, thereby causing the work terminal to display the malfunction information. This allows the worker carrying the work terminal to know in real time that the drive mechanism 13 has malfunctioned. After step S612, the process S600 ends.

[0133] A method for determining the state of the drive mechanism in the sixth embodiment will be described with reference to FIG. 17. For example, in an example where the door body 11 has been opened and closed N1 times, the drive data exceeds the malfunction prediction reference value, while the wind speed exceeds the wind speed reference value. In this case, the influence of the disturbance is large, and therefore determination of the state of the drive mechanism 13 is put on hold. For example, in an example where the door body 11 has been opened and closed N2 times, the drive data exceeds the malfunction prediction reference value and is equal to or less than the malfunction determination reference value, while the wind speed is equal to or less than the wind speed reference value. In this case, the disturbance is small enough not to affect the estimation determination of the drive mechanism 13, and therefore the state estimation unit 130 executes a process for estimating the state of the drive mechanism 13 and estimates that the state of the drive mechanism 13 is a malfunction prediction state.

[0134] In the sixth embodiment, if the disturbance data is equal to or greater than the reference disturbance data (Y in steps S609 and S611), the process S600 is terminated, but this is not limited to this. For example, the opening / closing control of the door body 11 may be temporarily stopped, and then the process S600 may be restarted. When the opening / closing control of the door body 11 is temporarily stopped, it is preferable to transmit information to the announcement system on the platform and the train operation system that the opening / closing control of the door body 11 is temporarily stopped, and notify passengers and the like that the door body 11 will not be opened or closed.

[0135] Any combination of the above-described embodiments and modifications is also useful as an embodiment of the present invention. A new embodiment resulting from the combination has the combined effects of the combined embodiments and modifications. [Explanation of symbols]

[0136] 1 Platform door system, 10 Door pocket, 11 Door body, 13 Drive mechanism, 20 Linear guide, 21 Linear rail, 22 Guide block, 30 Platform door control device, 50 General control panel, 100 Platform door device, 110 Acquisition unit, 120 Door control unit, 130 State estimation unit, 140 Transmission unit, 150 Memory unit, 160 Change estimation unit, 170 Failure timing estimation unit, 180 Feature calculation unit.

Claims

1. A state estimation device for a platform door device including a drive mechanism that drives an opening / closing member that opens and closes a platform door, a drive data acquisition unit that acquires drive data of the drive mechanism at a predetermined time when the opening / closing member is driven by the drive mechanism; a disturbance data acquisition unit that acquires disturbance data indicating at least one of an inclination angle of at least one of the platform and the drive mechanism relative to the other, an amount of extension and contraction or an amount of twist of at least one of the platform and the drive mechanism, a wind speed on the platform, and an amount of vibration on the platform at the predetermined time point; a state estimation unit that estimates a state of the drive mechanism based on the drive data and the disturbance data acquired at the predetermined time point; A state estimation device comprising:

2. the drive mechanism includes a motor and a pulley provided on an output shaft of the motor; the disturbance data indicates a measurement value of a strain sensor attached to the pulley; The state estimation device according to claim 1 .

3. the disturbance data indicates a torsion amount of at least one of the platform and the drive mechanism about an axis in the opening / closing direction of the opening / closing member; The state estimation device according to claim 1 or 2.

4. The opening and closing member is a door body, The drive mechanism includes a motor that supplies a drive force to the door body, a pulley provided on an output shaft of the motor, a belt that is wound around the pulley, and a connecting member that connects the belt and the door body, the disturbance data indicates a measurement value of a strain sensor attached to the connecting member; The state estimation device according to claim 1 .

5. The opening and closing member is a door body, the drive mechanism includes a guide block attached to one of the door body and the platform, and a linear rail attached to the other of the door body and the platform; the disturbance data indicates a measurement value of at least one of an inclination sensor and a strain sensor attached to at least one of the guide block and the linear rail; The state estimation device according to claim 1 .

6. The opening and closing member is a door body, The door further includes a position signal acquisition unit that acquires a fully closed position signal or a fully open position signal that indicates that the door has reached a fully closed position or a fully open position, the disturbance data acquisition unit acquires the disturbance data in response to acquisition of the fully closed position signal or the fully open position signal. The state estimation device according to claim 1 .

7. An opening / closing command acquisition unit that acquires an opening command or a closing command for driving the opening / closing member to open or close from an external device that can communicate with the platform door device, the disturbance data acquisition unit acquires the disturbance data in response to acquisition of the open command or the close command. The state estimation device according to claim 1 .

8. The opening and closing member is a door body, the disturbance data indicates the wind speed; the state estimation unit estimates the state of the drive mechanism based on the area of ​​the door body and disturbance data indicating the wind speed; The state estimation device according to claim 1 .

9. the state estimation unit estimates the state of the drive mechanism at a second time point based on a comparison result between the drive data and the disturbance data acquired at a first time point and the drive data and the disturbance data acquired at a second time point after the first time point; The state estimation device according to claim 1 .

10. a storage unit that stores the drive data and the disturbance data acquired at the same time in association with each other, the state estimation unit identifies, from the disturbance data stored in the storage unit, disturbance data acquired at the first time point whose deviation from the disturbance data acquired at the second time point is within a predetermined range, and estimates the state of the drive mechanism at the second time point based on a comparison result between the drive data acquired at the first time point, which is stored in association with the identified disturbance data, and the drive data acquired at the second time point. The state estimation device according to claim 9 .

11. the state estimation unit estimates the state of the drive mechanism at the second time point further based on a comparison result between the disturbance data acquired at the first time point and the disturbance data acquired at the second time point when a difference between the drive data acquired at the first time point and the drive data acquired at the second time point is equal to or greater than a predetermined value; The state estimation device according to claim 9 or 10.

12. the state estimation unit estimates a degree of deterioration of the drive mechanism as the state of the drive mechanism; the state estimation unit estimates a degree of deterioration of the drive mechanism at the third time point based on a comparison result between the drive data and the disturbance data acquired at a third time point after the second time point and the drive data and the disturbance data acquired at the first time point or the second time point; a change estimation unit that estimates a change in the degree of deterioration of the drive mechanism based on a comparison result between the degree of deterioration at the second time point and the degree of deterioration at the third time point, The state estimation device according to any one of claims 9 to 11.

13. a failure timing estimation unit that estimates a failure timing of the drive mechanism based on a change in the degree of deterioration, The state estimation device according to claim 12.

14. the second point in time is a point in time on a different date later than the first point in time and is the same time as the first point in time, the drive data acquisition unit and the disturbance data acquisition unit acquire the drive data and the disturbance data at a predetermined time. The state estimation device according to any one of claims 9 to 13.

15. a time determination unit that determines whether a current time is the same as the first time point; the drive data acquisition unit and the disturbance data acquisition unit acquire the drive data and the disturbance data when the time determination unit determines that the current time is the same as the first time point. The state estimation device according to claim 14.

16. An environmental data acquisition unit that acquires environmental data indicating at least one of temperature, humidity, and solar radiation around or inside the platform door device at the predetermined time point, the disturbance data acquisition unit acquires the disturbance data at the second time point when the environmental data acquired at the first time point has a deviation within a predetermined range. The state estimation device according to any one of claims 9 to 15.

17. a storage unit that stores reference disturbance data indicating a reference for the disturbance data and reference drive data indicating a reference for the drive data, The state estimation unit correcting the reference drive data based on a comparison result between the acquired disturbance data and the reference disturbance data; estimating a state of the drive mechanism based on a comparison result between the corrected reference drive data and the acquired drive data; The state estimation device according to claim 1 .

18. An environmental data acquisition unit that acquires environmental data indicating at least one of temperature, humidity, and solar radiation around or inside the platform door device at the predetermined time point, the storage unit further stores reference environment data indicating a reference for the environment data; the disturbance data acquisition unit acquires the disturbance data at a time when the environmental data whose deviation from the reference environmental data is within a predetermined range is acquired. The state estimation device according to claim 17.

19. the drive data acquisition unit acquires other drive data of other drive mechanisms of other platform door devices that are installed on the same or adjacent platform as the platform door device and are different from the platform door device, the disturbance data acquisition unit acquires other disturbance data of the other platform door device, The state estimation unit estimates the state of the drive mechanism of the platform door device based on a comparison result between the drive data and the disturbance data and the other drive data and the other disturbance data. The state estimation device according to claim 1 .

20. the drive mechanism includes a motor that supplies a drive force to the opening / closing member; The drive data indicates at least one of a drive current when driving the motor, a voltage when driving the motor, and a rotation speed of the motor. The state estimation device according to any one of claims 1 to 19.

21. the drive data indicates at least one of a movement time and a movement speed between predetermined positions when driving the opening / closing member to open or close; The state estimation device according to any one of claims 1 to 20.

22. A platform door system comprising: a platform door device including a drive mechanism that drives an opening / closing member that opens and closes a platform door; and an external device that can communicate with the platform door device, The platform door device is a drive data acquisition unit that acquires drive data of the drive mechanism at a predetermined time when the opening / closing member is driven by the drive mechanism; a disturbance data acquisition unit that acquires disturbance data indicating at least one of an inclination angle of at least one of the platform and the drive mechanism relative to the other at the predetermined time point, an amount of extension and contraction or an amount of twist of at least one of the platform and the drive mechanism, a wind speed on the platform, and an amount of vibration on the platform; a transmitter that transmits the acquired drive data and disturbance data to the external device; Equipped with The external device is a receiving unit that receives the drive data and the disturbance data from the platform door device; a state estimation unit that estimates a state of the drive mechanism based on the received drive data and disturbance data; A platform door system equipped with:

23. the external device is a general control panel that controls opening and closing of a plurality of platform door devices for opening and closing each of a plurality of boarding and alighting doors provided on the platform, The state estimation unit provided in the integrated control panel estimates the state of the drive mechanism of each of the plurality of platform door devices based on the drive data and the disturbance data of each of the plurality of platform door devices, The platform door system according to claim 22.

24. The platform door device further includes a feature calculation unit that calculates a feature of at least one of the acquired drive data and disturbance data, the transmitting unit included in the platform door device transmits the feature amount to the external device; the state estimation unit included in the external device estimates the state of the drive mechanism based on the feature amount; A platform door system as described in claim 22 or 23.

25. A method for estimating the state of a platform door device including a drive mechanism that drives an opening / closing member that opens and closes a platform door, acquiring drive data of the drive mechanism at a predetermined time when the opening / closing member is driven by the drive mechanism; acquiring disturbance data indicating at least one of an inclination angle of at least one of the platform and the drive mechanism relative to the other, an amount of extension and contraction or an amount of twist of at least one of the platform and the drive mechanism, a wind speed on the platform, and an amount of vibration on the platform at the predetermined time; estimating a state of the drive mechanism based on the drive data and the disturbance data acquired at the predetermined time point; A state estimation method comprising:

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