Early warning devices and platform door devices

Abstract

To provide a sign detection device which is installed on a platform screen door device and detects a sign of failure of an electric motor that drives a scanning device that mechanically scans a sensor.SOLUTION: Sign detection units 20 and 30 is installed on a platform screen door device and detects a sign of failure of an electric motor that drives a scanning device that mechanically scans a sensor detecting the presence or absence of an obstruction. The sign detection units 20 and 30 have data collection units 21 and 31 for collecting data on control variables of a stepping motor 10 and a DC motor 11, data analysis units 22 and 32 for obtaining the number of pieces of data of control variables collected by the data collection units 21 and 31 that are out of a pre-set allowable range and alarm output units 23 and 33 for reporting that the number of pieces of data out of the allowable range obtained by the data analysis units 22 and 32 satisfies a pre-set condition, respectively.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a predictive detection device. reference and platform door devices. [Background technology]

[0002] A platform door system is a type of automatic door system installed on the platform of a railway station. The platform door system has a door pocket that is fixed to the platform, and a door body that is attached to the door pocket and can move forward and backward. When a train arrives at the track adjacent to the platform, the door body is retracted into the door pocket, allowing passengers to board and disembark. When passengers have finished boarding and disembarking, the door body is retracted out of the door pocket, and the boarding and disembarking entrance is closed.

[0003] To ensure passenger safety, platform door devices are fitted with sensors that check for the presence or absence of objects. The platform door device described in Patent Document 1 is equipped with a three-dimensional distance image sensor to detect passengers or obstacles such as obstacles near the platform doors. Based on the detection results of the three-dimensional distance image sensor, the opening and closing of door panels or the operation of trains is controlled to improve safety.

[0004] Some 3D range image sensors are equipped with a scanning device that mechanically scans the sensor. For example, the 3D environment measuring device equipped in a mobile robot described in Patent Document 2 tilts and rotates the sensor that acquires the 2D shape using a motor. In other words, the 3D environment measuring device described in Patent Document 2 achieves vertical scanning of the sensor by mechanically rotating the sensor using a motor. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-11224 [Patent Document 2] JP 2008-139035 A Summary of the Invention [Problem to be solved by the invention]

[0006] In a scanning device that mechanically scans a sensor driven by a motor, there is a problem that the motor is more prone to failure than the electronic circuit that constitutes the sensor body. Therefore, a method or device is required that can detect a phenomenon that is a sign of a motor failure before a failure actually occurs. If a phenomenon that is a sign of a motor failure can be detected, the motor can be replaced or repaired before a failure actually occurs.

[0007] The present disclosure has been made in consideration of the above problems, and provides an apparatus, a method, and a platform door apparatus equipped with the apparatus for detecting phenomena that are predictive of failure of a motor that drives a scanning device that is installed in a platform door apparatus and mechanically scans a sensor. [Means for solving the problem]

[0008] In order to achieve the above object, the sign detection device according to the present disclosure is installed in a platform door device and detects signs of failure of an electric motor that drives a scanning device that mechanically scans a sensor that detects the presence or absence of an obstacle in the vicinity of the platform door device. The sensor fluctuates during the scanning motion. Motor control variables Amount of change A data collection section that collects , De Data collected by the data collection department It was A data analysis section calculates the number of data items that fall outside a preset acceptable range. , De The data analysis section Allowed The device further includes an alarm output unit that notifies the user when the number of data items that are out of the acceptable range satisfies a preset condition. The symptom detection device further includes a P point detection means for detecting that the sensor is at one end point of the scanning operation and points at azimuth angle P, a Q point detection means for detecting that the sensor is at the other end point of the scanning operation and points at azimuth angle Q, and an origin detection means for detecting that the sensor is pointing at an origin O of the scanning operation that is set between one end point and the other end point of the scanning operation. have At the same time, the data collection unit collects the amount of variation in the control variable that varies while the sensor moves from any of the end points of the scanning motion to a position pointing toward the origin O of the scanning motion, and the amount of variation in the control variable that varies while the sensor moves from a position pointing toward the origin O of the scanning motion to any of the end points of the scanning motion. Effect of the Invention

[0009] According to the present disclosure, a phenomenon that is a sign of an electric motor failure is detected and an alarm is output, which makes it easy to take measures such as replacing or repairing the electric motor before a failure actually occurs. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1A is a front view of a platform door device that is a target of sign detection according to an embodiment of the present disclosure, and FIG. 1B is a plan view of the platform door device shown in FIG. [Diagram 2] (A) is a front view of the scanning device provided in the platform door device in FIG. 1, and (B) is a plan view of the scanning device. [Diagram 3] A diagram showing the hardware configuration of the control system of the platform door device shown in Figure 1. [Figure 4] 4 is a flowchart of a data collection process executed by a data collection unit included in a predictive detection unit for a stepping motor of the control system described in FIG. 3. [Diagram 5] 4 is a flowchart of a data analysis process executed by a data analysis unit included in a predictive detection unit for a stepping motor of the control system described in FIG. 3. [Figure 6] 4 is a flowchart of a warning output process executed by a warning output unit included in a predictive detection unit for a stepping motor of the control system described in FIG. 3. [Figure 7] 4 is a flowchart of a data collection process executed by a data collection unit included in a DC motor symptom detection unit of the control system described in FIG. 3. [Figure 8] 4 is a flowchart of a data analysis process executed by a data analysis unit included in a DC motor symptom detection unit of the control system described in FIG. 3. [Figure 9] 4 is a flowchart of an alarm output process executed by an alarm output unit included in a DC motor symptom detection unit of the control system illustrated in FIG. 3. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, configurations and operations of a sign detection device and method according to embodiments of the present disclosure will be described in detail with reference to the drawings. Note that in each drawing, the same reference numerals are used to denote the same or equivalent parts.

[0012] FIG. 1(A) is a front view showing the configuration of a platform door device 1 that is a target of the sign detection according to the embodiment of the present disclosure. FIG. 1(B) is a plan view of the platform door device 1. The platform door device 1 is a type of automatic door device installed on a platform of a railway station, and includes a door pocket 3 fixed to a floor surface 2 of the platform as shown in FIG. 1(A). As shown in FIG. 1(A) and FIG. 1(B), a door body 4 is supported in the door pocket 3 so as to be freely movable forward and backward. Note that FIG. 1(A) and FIG. 1(B) show a state in which the door body 4 is pulled out from the door pocket 3. In this state, the boarding and alighting passage between the two door pockets 3 is closed. When the door body 4 is pulled into the door pocket 3, the boarding and alighting passage is opened. Note that the configuration of a control system that controls the platform door device 1 will be described later.

[0013] As shown in Figures 1(A) and 1(B), the platform door device 1 is equipped with a sensor 5. In this embodiment, the sensor 5 is a sensor that uses laser light to detect the presence or absence of a foreign object in the vicinity of the platform door device 1. The sensor 5 can measure the distance to the detection object by comparing the phase of the emitted laser light wave with the phase of the laser light wave reflected from the surface of the detection object and returning to the sensor 5.

[0014] As shown in Fig. 1(A) and Fig. 1(B), the sensor 5 is attached to one of the two door pockets 3 via the scanning device 6. The scanning device 6 is a two-axis scanning device. According to the scanning device 6, the sensor 5 can be rotated around the rotation axis, i.e., the T-axis shown in Fig. 1(A), to scan the direction of the sensor 5 in a horizontal plane, and the laser light of the sensor 5 can be directed to the sector-shaped range shown in Fig. 1(B). According to the scanning device 6, the sensor 5 can be swung around the swing axis, i.e., the E-axis shown in Fig. 1(B), to scan the direction of the sensor 5 in a vertical plane, and the laser light of the sensor 5 can be directed to the sector-shaped range shown in Fig. 1(A). In this way, the sensor 5 is scanned around the T-axis and the E-axis by the scanning device 6, and therefore functions as a three-dimensional sensor that measures the direction and distance of an object in the sector-shaped range shown in Fig. 1(A) and Fig. 1(B). The scanning operation around the T-axis and the scanning operation around the E-axis are performed, for example, in parallel and independently.

[0015] In Fig. 1(A) and Fig. 1(B), the point marked with the symbol O is an origin fixed to the platform door device 1. The rotation of the scanning device 6 around the T axis is controlled with reference to the origin O. Therefore, the motor that drives the scanning device 6 to rotate around the T axis needs to be aligned with the origin O. The flat plate 7a is a component used for aligning the origin of the motor, and is a component that causes the sensor 5 to function as an origin detector 7 (not shown in Fig. 1) described later. As shown in Fig. 1(A) and Fig. 1(B), the flat plate 7a is fixed to the other door pocket 3 that is arranged on the opposite side of the door pocket 3 to which the scanning device 6 is fixed, sandwiching the door body 4. The flat plate 7a also has slits (not shown) that extend vertically above and below the origin O. The function of the flat plate 7a will be described later.

[0016] Fig. 2(A) is a front view of the scanning device 6, and Fig. 2(B) is a plan view of the scanning device 6. As shown in Figs. 2(A) and 2(B), the scanning device 6 includes a fixed part 8 and a swivel base 9 that is supported by the fixed part 8 and rotates around the T-axis. As shown in Fig. 2(A), a stepping motor 10 is fixed to the underside of the fixed part 8. The swivel base 9 is driven by the stepping motor 10 and rotates around the T-axis. The stepping motor 10 includes an angle detector that detects the rotation angle of the rotation shaft. The angle detector will be described in detail later.

[0017] 2(A) and 2(B), a DC motor 11 is fixed to the swivel base 9. The sensor 5 is driven by the DC motor 11 to swing around the E axis. Therefore, as shown in FIG. 2(A), the orientation of the sensor 5, i.e., the emission direction of the laser light, reciprocates between an upper limit U and a lower limit D in the vertical plane.

[0018] As shown in FIG. 2B, two limit switches 12p and 12q are fixed to the fixed part 8 with a gap therebetween. A dog 13 is fixed to the swivel base 9. When the swivel base 9 is rotated counterclockwise in FIG. 2B, the dog 13 abuts against the limit switch 12p and the swivel base 9 stops there. The swivel base 9 then starts rotating clockwise. When the swivel base 9 is rotated clockwise, the dog 13 abuts against the limit switch 12q and the swivel base 9 stops there. The swivel base 9 then starts rotating counterclockwise. In this way, the rotation range of the swivel base 9 is limited by the limit switches 12p and 12q. That is, the swivel base 9 reciprocates between the rotation angle at which the dog 13 abuts against the limit switch 12p and the rotation angle at which the dog 13 abuts against the limit switch 12q.

[0019] As a result, the direction of orientation of the sensor 5 in the horizontal plane, i.e., the direction of emission of the laser light in the horizontal plane, is scanned between the direction of orientation when the dog 13 abuts against the limit switch 12p and the direction of orientation when the dog 13 abuts against the limit switch 12q.

[0020] In the following description, the rotation angle of the swivel base 9 when the dog 13 abuts against the limit switch 12p is called the azimuth angle P, and the rotation angle when the dog 13 abuts against the limit switch 12q is called the azimuth angle Q. When the rotation angle of the swivel base 9 reaches the azimuth angle P, the limit switch 12p operates, and when the rotation angle of the swivel base 9 reaches the azimuth angle Q, the limit switch 12q operates.

[0021] As described above, the flat plate 7a is fixed to the other door pocket 3 disposed on the opposite side of the door body 4 from the door pocket 3 to which the scanning device 6 is fixed. The flat plate 7a also has a slit extending vertically above and below the origin O. Therefore, when the sensor 5 is directed to the origin O in the process of scanning the scanning device 6 around the T axis, that is, when the sensor 5 is directed in the direction shown in FIG. 2(B), the laser light emitted from the sensor 5 passes through the slit, and the reflected light of the laser light that has returned to the sensor 5 until then does not reach the sensor 5, so that it is possible to detect that the sensor 5 is directed to the origin O. The rotation angle of the stepping motor 10 at this time is used as the origin of the rotation angle of the stepping motor 10 in the subsequent control of the stepping motor 10. In this way, by providing the flat plate 7a, the sensor 5 itself functions as an origin detector 7 (not shown in FIG. 2) that detects that the sensor 5 is directed to the origin O.

[0022] The origin detector 7 is not limited to the sensor 5 itself detecting that the sensor 5 is directed to the origin O. A photoelectric sensor that detects laser light may be disposed at the origin O, and the photoelectric sensor may detect that the sensor 5 is directed to the origin O. In this case, the photoelectric sensor functions as the origin detector 7. Alternatively, the platform door device 1 may be provided with a mechanical switch that operates in contact with the sensor 5 when the sensor 5 is directed to the origin O, and the mechanical switch may function as the origin detector 7. Alternatively, the platform door device 1 may be provided with a magnetic switch that operates when the sensor 5 is directed to the origin O, and the magnetic switch may function as the origin detector 7.

[0023] Fig. 3 is a diagram showing the hardware configuration of the control system 15 equipped in the platform door device 1. As shown in Fig. 3, the control system 15 is made up of a computer, and includes a central processing unit 16, a storage device 17, and an input / output interface (I / F) 18. Programs are recorded in the storage device 17, and the central processing unit 16 executes various processes in accordance with the programs read from the storage device 17. In addition, the results of the processes are written to the storage device 17 by the central processing unit 16.

[0024] In addition, the control system 15 is connected to the sensor 5, the origin detector 7, the driver 10a of the stepping motor 10, the rotation angle detector 10b of the stepping motor 10, the driver 11a of the DC motor 11, the limit switches 12p, 12q, and a higher-level device 19 via an input / output interface 18. The higher-level device 19 is a control device that controls all the platform door devices 1 on the platform or all the platform door devices 1 installed in the railway station.

[0025] The origin detector 7 and the limit switches 12p, 12q output detection signals indicating the detection results to the control system 15. The detection positions of the origin detector 7 and the limit switches 12p, 12q are physically fixed to the platform door device 1, and positional deviations due to aging or the like can be ignored.

[0026] The control system 15 functions as a control unit for the sensor 5 of the platform door device 1 by having the central processing unit 16 read out a program stored in the storage device 17 and execute the program. The control system 15 performs normal control of the sensor 5, such as drive control of the stepping motor 10 and the DC motor 11, creation of a distance image showing the distribution of distances to obstacles based on the detection signal of the sensor 5, detection of obstacles, and the like. Furthermore, the control system 15 also functions as a sign detection unit 20 that detects signs of failure of the stepping motor 10 and a sign detection unit 30 that detects signs of failure of the DC motor 11. The sign detection unit 20 and the sign detection unit 30 are examples of sign detection devices according to the present disclosure.

[0027] Furthermore, the sign detection unit 20 for the stepping motor 10 includes a data collection unit 21, a data analysis unit 22, and an alarm output unit 23. The data collection unit 21 collects data indicating control variables of the stepping motor 10, and records the collected data in the storage device 17. The data analysis unit 22 analyzes the data recorded in the storage device 17 by the data collection unit 21, detects the presence or absence of a sign of failure, and outputs the result to the alarm output unit 23. The alarm output unit 23 operates in response to the analysis result of the data analysis unit 22, and outputs an alarm if necessary.

[0028] The data collection unit 21, data analysis unit 22, and alarm output unit 23 are realized by the central processing unit 16 reading a program from the storage device 17 and executing the program. In other words, the control system 15 functions as the data collection unit 21, data analysis unit 22, or alarm output unit 23 by executing processing in accordance with the program described below.

[0029] 3, the sign detection unit 30 for the DC motor 11 includes a data collection unit 31, a data analysis unit 32, and an alarm output unit 33. The data collection unit 31 collects data indicating control variables of the DC motor 11, and records the collected data in the storage device 17. The data analysis unit 32 analyzes the data recorded in the storage device 17 by the data collection unit 31, detects the presence or absence of a sign of failure, and outputs the result to the alarm output unit 33. The alarm output unit 33 operates in response to the analysis result of the data analysis unit 32, and outputs an alarm if necessary.

[0030] The data collection unit 31, data analysis unit 32, and alarm output unit 33 are realized by the central processing unit 16 reading a program from the storage device 17 and executing the program. In other words, the control system 15 functions as the data collection unit 31, data analysis unit 32, or alarm output unit 33 by executing processing in accordance with the program described below.

[0031] The original function of the control system 15 is to control the platform door device 1 and operate the platform door device 1. Here, the operation of the platform door device 1 controlled by the control system 15 will be briefly explained.

[0032] First, when a train arrives, in response to an instruction from the upper device 19, the control system 15 operates a drive unit (not shown) to pull the door body 4 into the door pocket 3 and open the boarding / alighting passage. The control system 15 also activates the sensor 5 to emit a laser beam and receive the reflected light from the obstacle, and obtains the phase difference between the emitted light and the reflected light to obtain the distance to the obstacle. The control system 15 also controls the drivers 10a and 11a to rotate the stepping motor 10 and the DC motor 11 back and forth within their respective set ranges, thereby scanning the direction of the sensor 5. The control system 15 obtains a distance image within the scanning area from the distance to the obstacle obtained by the sensor 5 and the direction of the sensor 5 obtained from the drivers 10a, 11a and the rotation angle detector 10b, and determines whether or not an obstacle exists in the boarding / alighting passage or in its vicinity. When the control system 15 determines that an obstacle exists in the boarding / alighting passage or its vicinity, the control system 15 stops the door body 4. When the door body 4 is retracted into the door pocket 3 and the boarding / alighting passage is opened, the control system 15 stops the operation of the sensor 5, the stepping motor 10, and the DC motor 11.

[0033] When passengers have finished boarding and alighting, in response to an instruction from the higher-level device 19, the control system 15 operates a drive unit (not shown) to pull the door body 4 out of the door pocket 3 and close the boarding and alighting passage. While the operation of closing the boarding and alighting passage is being performed, the control system 15 operates the sensor 5, the stepping motor 10, and the DC motor 11 to obtain a distance image of the scan area and determine whether or not there is an obstacle in the boarding and alighting passage or in its vicinity. When the control system 15 determines that there is an obstacle in the boarding and alighting passage or in its vicinity, the control system 15 stops the door body 4. When the door body 4 is pulled out and the boarding and alighting passage is closed, the control system 15 stops the operation of the sensor 5, the stepping motor 10, and the DC motor 11.

[0034] In this way, the control system 15 functions as a control device that controls the platform door device 1 and operates the platform door device 1. As described above, the control system 15 also functions as an indication detection unit 20 that detects indications of failure in the stepping motor 10 and an indication detection unit 30 that detects indications of failure in the DC motor 11. The specific processes executed by the indication detection unit 20 and the indication detection unit 30 will be described in detail below.

[0035] 4 is a flowchart of the data collection process executed by the central processing unit 16 as the data collection unit 21. The data collection process is started when the sensor 5 is started, and ends when the operation of the sensor 5 ends.

[0036] 4, when the data collection unit 21 starts the data collection process, it waits until the rotation angle of the swivel base 9 becomes equal to the azimuth angle P (step S1: No). Driven by the stepping motor 10, the swivel base 9 rotates, and when the rotation angle coincides with the azimuth angle P, the dog 13 comes into contact with the limit switch 12p. This causes the limit switch 12p to output a detection signal to the control system 15. The control system 15 responds to the detection signal (step S1: Yes), and proceeds to step S2.

[0037] In step S2, the data collection unit 21 calculates the number of pulses A of the pulse voltage applied to the stepping motor 10 up to that point. p The data collection unit 21 acquires the acquired pulse number A p The number of pulses A that was acquired from the driver 10a and stored in the internal memory when the sensor 5 was previously directed to the origin O. o The number of pulses A of the pulse voltage applied to the stepping motor 10 while the swivel base 9 rotates from the position where the sensor 5 points to the origin O to the position where the rotation angle of the swivel base 9 coincides with the azimuth angle P is subtracted from the number of pulses A of the pulse voltage applied to the stepping motor 10 while the swivel base 9 rotates from the position where the sensor 5 points to the origin O to the position where the rotation angle of the swivel base 9 coincides with the azimuth angle P. op is calculated and recorded in the storage device 17. In addition, the number of pulses A p is saved to the internal memory.

[0038] The data collection unit 21 also collects the rotation angle θ of the stepping motor 10 detected by the rotation angle detector 10b. p The data collection unit 21 acquires the acquired rotation angle θ p Then, the rotation angle θ that was acquired when the sensor 5 was directed to the origin O and stored in the internal memory o θ is the angle by which the stepping motor 10 rotates while the swivel base 9 rotates from the position where the sensor 5 points to the origin O to the position where the swivel angle of the swivel base 9 coincides with the azimuth angle P. op is calculated and recorded in the storage device 17. In addition, the rotation angle θ p is saved to the internal memory.

[0039] After step S2 is completed, the data collecting unit 21 waits until the sensor 5 points to the origin O (step S3: No). When the sensor 5 points to the origin O, the origin detector 7 outputs a detection signal. In response to this detection signal (step S3: Yes), the control system 15 advances the process to step S4.

[0040] In step S4, the data collecting unit 21 calculates the number of pulses A of the pulse voltage applied to the stepping motor 10 while the swivel table 9 rotates from the position where the swivel angle of the swivel table 9 coincides with the azimuth angle P to the position where the sensor 5 points to the origin O. po is calculated in the same manner as in step S2 and recorded in the storage device 17. Also, the angle θ of the stepping motor 10 during the rotation of the swivel base 9 from the position where the rotation angle of the swivel base 9 coincides with the azimuth angle P to the position where the sensor 5 points to the origin O is calculated. po is acquired in the same manner as in step S2 and recorded in the storage device 17.

[0041] After step S4 is completed, the data collecting unit 21 waits until the rotation angle of the swivel table 9 reaches the azimuth angle Q (step S5: No). When the rotation angle of the swivel table 9 reaches the azimuth angle Q, the dog 13 comes into contact with the limit switch 12q, which outputs a detection signal. The control system 15 responds to this detection signal (step S5: Yes), and the process proceeds to step S6.

[0042] In step S6, the data collecting unit 21 calculates the number of pulses A of the pulse voltage applied to the stepping motor 10 while the swivel table 9 rotates from the position where the sensor 5 points to the origin O to the position where the rotation angle of the swivel table 9 coincides with the azimuth angle Q. oq is calculated in the same manner as in step S2 and recorded in the storage device 17. In addition, the angle θ of the stepping motor 10 rotated from when the sensor 5 points to the origin O until the rotation angle of the swivel base 9 coincides with the azimuth angle Q is calculated. oq is acquired in the same manner as in step S2 and recorded in the storage device 17.

[0043] After step S6 is completed, the data collecting unit 21 waits until the sensor 5 points to the origin O (step S7: No). When the sensor 5 points to the origin O, the origin detector 7 outputs a detection signal. In response to this detection signal (step S7: Yes), the control system 15 advances the process to step S8.

[0044] In step S8, the data collecting unit 21 calculates the number of pulses A of the pulse voltage applied to the stepping motor 10 while the swivel table 9 rotates from a position where the rotation angle of the swivel table 9 coincides with the azimuth angle Q to a position where the sensor 5 points to the origin O. qo is calculated in the same manner as in step S2 and recorded in the storage device 17. In addition, the angle θ of the stepping motor 10 during the rotation of the swivel base 9 from the position where the rotation angle of the swivel base 9 coincides with the azimuth angle Q to the position where the sensor 5 points to the origin O is calculated. qo is acquired in the same manner as in step S2 and recorded in the storage device 17.

[0045] After completing the process of step S8, the data collecting section 21 returns the process to step S1 and repeats the same process.

[0046] In this way, when the data collection process is performed, the number of pulses A op ,A po ,A oq ,A qo , and the rotation angle θ op ,θ po ,θ oq ,θqo The above data is sequentially recorded and accumulated in the storage device 17.

[0047] The data analysis unit 22 analyzes the data stored in the storage device 17 by the data collection unit 21, and detects the presence or absence of a sign of a failure in the stepping motor 10.

[0048] 5 is a flowchart of the data analysis process executed by the data analysis unit 22. The data analysis unit 22 executes the data analysis process at a preset timing, for example, at the end of the day's work or every hour. Note that FIG. 5 shows the data analysis process from the position where the sensor 5 points to the origin O to the position where the rotation angle of the swivel base 9 coincides with the azimuth angle P. While the swivel base 9 is rotating, the number of pulses A of the pulse voltage applied to the stepping motor 10 is op Here is an example of analyzing the data.

[0049] When the data analysis process is started, the data analysis unit 22 first counts the number N of data that is within the allowable range. A and the number of counts N that fall outside the allowable range NA Next, the number of pulses A stored in the storage device 17 is reset to 0 (step S11). op Then, one of the data of the pulse number A is read out (step S12). op and the preset reference value A sop The difference d between the reference value A and the reference value B is calculated (step S13). sop There is no particular limitation on the method of setting the number of pulses A op The theoretical or design value of is calculated, and the theoretical or design value is set as the reference value A. sop Alternatively, when the platform door device 1 is newly installed, the data collection unit 21 may be operated to obtain the pulse number A op Obtain multiple actual measured values ​​and use the arithmetic mean, median, or mode of those values ​​as the reference value A. sop It is also possible to use the following.

[0050] If the difference d is within a preset allowable range (step S14: Yes), the count number N of data within the allowable range isA (Step S15), and then proceeds to Step S17.

[0051] If the difference d exceeds the preset allowable range (step S14: No), the count number N of data that falls outside the allowable range is NA (step S16), and the process proceeds to step S17.

[0052] In step S17, the number of unprocessed pulses A op If the unprocessed data remains in the storage device 17, the process returns to step S12 (step S17, Yes). If no unprocessed data remains in the storage device 17, the process ends (step S17, No).

[0053] The data analysis unit 22 analyzes the number of pulses A stored in the memory device 17. po ,A oq ,A qo , rotation angle θ op ,θ po ,θ oq ,θ qo The same process is performed for When the data analysis section 22 has completed the analysis process for all the data, it starts the alarm output section 23 and then stops it.

[0054] 6 is a flowchart of the alarm output process executed by the alarm output unit 23. When the alarm output process is started, the alarm output unit 23 outputs a pulse number A op ,A po ,A oq ,A qo , rotation angle θ op ,θ po ,θ oq ,θ qo The number of counts N of data for which the difference d found for each exceeds the allowable range NA is compared with a preset threshold (step S21). NAIf there is at least one pulse number or rotation angle having the above value (step S21: Yes), a malfunction of the stepping motor 10 is predicted, and an alarm indicating the occurrence of a malfunction is output to the higher-level device 19 (step S22). Then, the process ends.

[0055] On the other hand, the number of pulses A op ,A po ,A oq ,A qo , rotation angle θ op ,θ po ,θ oq ,θ qo For each of the above, the number of counts N of data whose difference d exceeds the allowable range NA If the threshold value is not exceeded (step S21: No), the process ends without outputting an alarm.

[0056] Next, a description will be given of the operation of the sign detection unit 30 to detect a sign of a failure in the DC motor 11. Fig. 7 is a flowchart of the data collection process executed by the data collection unit 31 of the sign detection unit 30. The data collection process is started when the sensor 5 is started, and ends when the operation of the sensor 5 ends.

[0057] 7, when the data collection unit 31 starts the data collection process, it monitors the driver 11a of the DC motor 11 and waits for the rotation direction of the DC motor 11 to be switched between forward and reverse (step S31: No). When the rotation direction of the DC motor 11 is switched (step S31: Yes), the data collection unit 31 reads the time T from the internal timer and records it in the storage device 17 (step S32).

[0058] Next, the data collecting unit 31 calculates the difference dT between time T and the time T0 recorded when the rotation direction of the DC motor 11 was previously switched between forward and reverse (step S33). The timing at which the rotation direction of the DC motor 11 is switched between forward and reverse is when the sensor 5 reaches one end of the scanning range around the E axis, so dT corresponds to the time required for one scan. Based on this scan time dT, the data collecting unit 31 calculates the average operation speed of the scanning operation or the average rotation speed V mean The average motion speed V is calculated and recorded in the storage device 17 (step S34). After step S34 is completed, the process returns to step S31 and the same process is continued. By repeatedly executing the data collection process, the average motion speed V is stored in the storage device 17. mean Data is accumulated.

[0059] The data analysis unit 32 calculates the average motion speed V mean The data is analyzed to detect the presence or absence of a sign of a failure of the stepping motor 10. The data analysis unit 32 is started at approximately the same timing as the start of the data analysis unit 22.

[0060] When the data analysis process shown in FIG. 8 is started, the data analysis unit 32 first counts N NA and the count number of data that falls outside the tolerance range NN NA and are reset back to 0 (step S41).

[0061] Next, the data analysis unit 32 calculates the average motion speed V mean (step S42), and the average motion speed V mean and a preset reference speed V s The difference dV between these values ​​is calculated (step S43).

[0062] If the difference dV is within a preset allowable range (step S44: Yes), the data analysis unit 32 calculates the count number NN of data within the allowable range. A (step S45), and then the process proceeds to step S47.

[0063] If the difference dV exceeds a preset allowable range (step S44: No), the data analysis unit 32 calculates the count number NN of data that falls outside the allowable range. NA (step S46), and the process proceeds to step S47.

[0064] In step S47, the data analysis unit 32 calculates the unprocessed average motion speed V mean If the data remains in the storage device 17, the process returns to step S42 (step S47: Yes). mean If the data does not remain in the storage device 17, the process proceeds to step S48. mean The process from step S42 to step S47 is repeated until the process is completed for all the data.

[0065] In step S48, the data analysis unit 32 activates the alarm output unit 33 (step S48), and the process ends.

[0066] FIG. 9 is a flowchart of the warning output process executed by the warning output unit 33.

[0067] As shown in FIG. 9, when the alarm output unit 33 starts the alarm output process, it outputs a count number NN of data whose difference dV is out of the allowable range recorded in the storage device 17. NA is compared with a preset threshold value (step S51).

[0068] The alarm output unit 33 counts NN NA If the count number NN is equal to or greater than the threshold value (step S51: Yes), a malfunction of the DC motor 11 is predicted, and an alarm indicating this is output to the higher-level device 19 (step S52). Then, the process ends. NA If the threshold value is less than the threshold value (step S51: No), the process ends without issuing an alarm.

[0069] As described above, the control system 15 collects data on control variables such as the number of applied pulses to the stepping motor 10 of the platform door device 1, the rotation angle, and the operating speed of the DC motor 11, compares the collected data with preset reference values, and counts the number of data whose difference between the two falls outside a preset tolerance range. It can then detect when data that falls outside the tolerance range appears at or above a preset level, and issue an external warning to that effect. This allows for the detection of signs of failure in the stepping motor 10 and DC motor 11, making preventive maintenance easier.

[0070] The technical scope of the present disclosure is not limited to the above-described embodiment. The present disclosure can be freely applied, modified, or improved within the scope of the technical ideas set forth in the claims.

[0071] In the above embodiment, the control variables that change while the swivel base 9 of the scanning device 6 rotates between the three reference scanning directions, i.e., the direction in which the sensor 5 points to the origin O, the direction in which the rotation angle of the swivel base 9 coincides with the azimuth angle P, and the direction in which the rotation angle of the swivel base 9 coincides with the azimuth angle Q, are used as the control variables that form the basis of the sign detection. The amount of change in the control variables while the swivel base 9 rotates between the three reference scanning directions is compared with a reference value. In other words, the number of applied pulses A applied to the stepping motor 10 while the swivel base 9 of the scanning device 6 rotates between the three reference scanning directions is op ,A po ,A oq ,A qo and the rotation angle θ of the stepping motor 10 during that time. op ,θ po ,θ oq ,θ qo was compared with the reference value.

[0072] However, the control variable that is the basis of the sign detection can be selected arbitrarily. The reference scan direction can also be selected arbitrarily. For example, the direction in which the rotation angle of the swivel base 9 coincides with the azimuth angle P and the direction in which the rotation angle of the swivel base 9 coincides with the azimuth angle Q are set as the reference scan directions, and the number of applied pulses A applied to the stepping motor 10 while the swivel base 9 of the scanning device 6 rotates between the two reference scan directions can be set as follows: qp ,A pq and the rotation angle θ of the stepping motor 10 during that time. qp ,θ pq etc. may be compared with a reference value. mean is shown as an example of a control variable that serves as the basis for early detection, but the time dT required for one scan can also be used as the basis for early detection.

[0073] Also, for example, the operating speed, operating time, magnitude of pulse current, power consumption, temperature, magnitude of vibration, etc. of the stepping motor 10 may be used as the basis for the sign detection. Also, the magnitude of direct current, power consumption, temperature, magnitude of vibration, etc. of the DC motor 11 may be used as the basis for the sign detection.

[0074] Also, for example, in the above embodiment, the condition for outputting an alarm is exemplified as the presence of data outside the allowable range equal to or greater than a predetermined reference value, but the condition for outputting an alarm, i.e., the criterion for determining whether an alarm is necessary, is not limited to this. For example, the ratio of the number of data outside the allowable range to the number of data within the allowable range may be calculated, and an alarm may be output if the ratio is equal to or greater than a predetermined reference value. Alternatively, the ratio of the number of data outside the allowable range to the total number of data collected by the data collecting unit 21 or the data collecting unit 31 may be calculated, and an alarm may be output if the ratio is equal to or greater than a predetermined reference value.

[0075] In the above embodiment, a stepping motor and a DC motor are given as examples of the electric motor for scanning the sensor 5, but other types of motors, for example, AC motors, can also be used.

[0076] The configuration of the scanning device 6 that causes the sensor 5 to scan is not limited to the configuration shown in Fig. 2. For example, in the above embodiment, an example was shown in which the orientation direction of the sensor 5 is scanned in two directions, the horizontal direction and the vertical direction, by two motors, but one motor may be used to scan in two directions, or a configuration in which the sensor 5 is scanned in only one direction, the horizontal direction or the vertical direction. In addition, the configuration for limiting the scanning range is not limited to the embodiment. The scanning device according to the present disclosure may have at least one scan axis and one motor.

[0077] Furthermore, the process performed by the higher-level device 19 upon receiving the alarm is not limited. The higher-level device 19 may turn on a warning lamp on the control panel, or may output a report urging a maintenance person to perform repairs and inspections. Furthermore, the output destination of the alarm is not limited to the higher-level device 19. The platform door device 1 or the scanning device 6 may be provided with a warning lamp, and the warning lamp may be turned on when an alarm is output.

[0078] The processing procedures shown in each operational flow are not limited to those of the embodiment as long as similar results can be obtained.

[0079] In the above, an example has been shown in which the data collection units 21, 31 accumulate multiple sets of data in the storage device 17 and the accumulated data is analyzed by batch processing in the data analysis units 22, 32. However, each time the data collection units 21, 31 acquire a set or piece of data, the data analysis units 22, 32 may analyze that data.

[0080] The timing and frequency of operating the data analysis units 22, 32 and the alarm output units 23, 33 are not limited to those described in the above embodiment, and can be set arbitrarily as necessary.

[0081] Although a specific example of the sensor 5 has been given as an example of a sensor that uses laser light to generate a distance image, the type or operating principle of the sensor is not limited as long as it is a sensor that can be mounted on the scanning device 6.

[0082] Although the stepping motor 10 equipped with the angle detector 11b has been exemplified above, the motor equipped in the scanning device according to the present disclosure may not be equipped with an angle detector.

[0083] The specific or mechanical form or configuration of the platform door device and scanning device according to the present disclosure is not limited to the descriptions in the drawings. [Explanation of symbols]

[0084] 1 platform door device, 2 platform floor, 3 door pocket, 4 door body, 5 sensor, 6 scanning device, 7 origin detector, 7a flat plate, 8 fixed part, 9 swivel table, 10 stepping motor, 10a driver, 10b rotation angle detector, 11 DC motor, 11a driver, 12p, 12q limit switch, 13 dog, 15 control system, 16 central processing unit, 17 memory device, 18 input / output interface (I / F), 19 upper device, 20 early detection unit, 21 data collection unit, 22 data analysis unit, 23 alarm output unit, 30 early detection unit, 31 data collection unit, 32 data analysis unit, 33 alarm output unit.

Claims

1. A sign detection device that detects signs of failure of a motor that drives a scanning device that is installed in a platform door device and mechanically scans a sensor that detects the presence or absence of an obstacle in the vicinity of the platform door device, a data collection unit that collects a fluctuation amount of a control variable of the electric motor that fluctuates while the sensor performs a scanning operation; a data analysis unit that determines the number of data items that fall outside a preset allowable range among the data items collected by the data collection unit; an alarm output unit that notifies a user when the number of data items outside the allowable range determined by the data analysis unit satisfies a preset condition; and P point detection means for detecting that the sensor is at one end point of a scanning operation and points at an azimuth angle P; a Q point detection means for detecting that the sensor is at the other end point of the scanning operation and pointing at an azimuth angle Q; an origin detection means for detecting that the sensor is pointing to an origin O of the scanning operation set between the one end point and the other end point of the scanning operation; With The data collection unit collects a fluctuation amount of the control variable that fluctuates while the sensor moves from any one of the end points of the scan operation to a position pointing to an origin O of the scan operation, and a fluctuation amount of the control variable that fluctuates while the sensor moves from the position pointing to the origin O of the scan operation to any one of the end points of the scan operation. Early warning detection device.

2. the predetermined condition being that the number of data items outside the allowable range obtained by the data analysis unit is equal to or greater than a reference value; The symptom detection device according to claim 1 .

3. the predetermined condition being that a ratio of the number of data items outside the allowable range to the number of data items within the allowable range, the ratio being equal to or greater than a reference value; The symptom detection device according to claim 1 .

4. the predetermined condition being that a ratio of the number of data items outside the allowable range obtained by the data analysis unit to a total number of data items collected by the data collection unit is equal to or greater than a reference value; The symptom detection device according to claim 1 .

5. The electric motor is a stepping motor, The amount of change in the control variable is the number of pulses applied to the stepping motor while the sensor performs a scanning operation. The symptom detection device according to any one of claims 1 to 4.

6. a rotation angle detector for detecting a rotation angle of the electric motor, The amount of change in the control variable is a rotation angle of the motor that changes while the sensor performs a scanning operation. The symptom detection device according to any one of claims 1 to 5.

7. The sensor is a laser sensor that projects a laser beam toward an object and receives the laser beam reflected by a surface of the object, a flat plate for receiving the laser light, the flat plate having a slit formed at a position corresponding to the origin O; The origin detection means is the laser sensor itself, and detects that the laser light emitted from the laser sensor has passed through the slit, and detects that the laser sensor is directed to the origin O of the scanning operation. The symptom detection device according to claim 1 .

8. The P point detection means and the Q point detection means are a dog fixed to a swivel base of the scanning device and limit switches fixed to positions corresponding to the azimuth angle P and the azimuth angle Q of a fixed part of the scanning device, respectively, and detect that the sensor is at one of the end points of the scanning operation by detecting that the dog has come into contact with either of the limit switches. The symptom detection device according to claim 1 .

9. A sensor that detects the presence or absence of an obstacle near the platform door device; a scanning device driven by an electric motor to mechanically scan the sensor; The symptom detection device according to any one of claims 1 to 8, Platform door device.

Images