Door entrapment detection device, railway door device and program

Abstract

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

Description

[Technical field]

[0001] An embodiment of the present invention relates to a door entrapment detection device, a railway door device, and a program. [Background technology]

[0002] Electric door systems are equipped with a door entrapment detection device that detects when a human or object comes into contact with the edge of the door leaf. Conventional door entrapment detection devices include a method that detects entrapment by the moving speed of the door leaf, and a method that detects entrapment by the current (hereinafter referred to as motor current) flowing through a motor that generates the driving force to move the door leaf.

[0003] When detecting entrapment using the moving speed of the door leaf, the door leaf's moving speed becomes zero when entrapment occurs, and it is determined that entrapment has occurred when the moving speed becomes zero. When detecting entrapment using the motor current, the motor current increases sharply when entrapment occurs, and it is determined that entrapment has occurred when the motor current exceeds a predetermined threshold. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-93901 A Summary of the Invention [Problem to be solved by the invention]

[0005] A rubber edge is attached to the edge of the door leaf to soften the impact with people or objects, and even if a person or object comes into contact with the rubber edge, the speed of the door leaf does not immediately become zero, but moves at a slow speed within the range in which the rubber edge can contract. Similarly, when the door is fully closed, even if the rubber edge of the left and right door leaves come into contact with each other, the door leaf continues to move at a slow speed for a while. For this reason, it may not be possible to accurately determine whether or not someone is trapped in the door based on the door movement speed alone.

[0006] On the other hand, the motor current is also prone to change due to various factors, and even if an attempt is made to detect entrapment by comparing the motor current with a threshold value, accurate detection of entrapment cannot be performed in a situation where the motor current changes significantly. For example, the motor current changes according to the sliding resistance of the door leaf and the driving force of the motor, but the sliding resistance of the door leaf and the driving force of the motor are not always constant and change over time, so when detecting entrapment using the motor current, it is necessary to keep in mind that the motor current changes due to deterioration over time.

[0007] Therefore, one embodiment of the present invention provides a door entrapment detection device, a railway door device, and a program that can easily and accurately detect whether or not an object is entrapped in the door. [Means for solving the problem]

[0008] In order to solve the above problems, according to one embodiment of the present invention, there is provided a door entrapment detection device for detecting an object caught in a door when a door is driven in a closing direction by a driving force of a motor, comprising: a first acquisition unit that acquires a first current value flowing through the motor during a first period during the closing operation of the door; a threshold setting unit that sets a threshold for determining whether the object is caught in the door based on the acquired first current value; a second acquisition unit that acquires a second current value flowing through the motor during a second period that is after the first period during the closing operation of the door; and a determination unit that determines whether or not the entrapment has occurred by comparing the acquired second current value with the set threshold value.

[0009] The first period may include a period during which the door moves at a constant speed after the door starts to move in the closing direction.

[0010] The first period may be a period within an acceleration region after the door starts to move in the closing direction, or a period within a constant speed region transitioned from the acceleration region.

[0011] The threshold setting unit may set the threshold based on at least one of an average value, a median value, a mode value, and an integral value of a current value flowing through the motor within the first period.

[0012] a storage unit that stores a correspondence relationship between at least one of a mean value, a median value, a mode value, and an integral value of a current value flowing through the motor when the door is driven in a closing direction and no object is caught in the door, and a reference threshold value based on the measured value; The threshold setting unit may set the threshold based on the correspondence stored in the memory unit and at least one of an average value, a median value, a mode value, or an integral value of the current value flowing to the motor within the first period.

[0013] The threshold setting unit may set the threshold based on a drive voltage of the motor within the first period.

[0014] The door closing operation may further include a period determination unit that determines the first period and the second period based on at least one of a moving speed, a moving distance, or a moving time during the closing operation of the door.

[0015] the first acquisition unit acquires the first current value during the first period each time the door is moved in a closing direction from a fully open position; The threshold setting unit may reset the threshold based on the first current value acquired by the first acquisition unit every time the door is moved in a closing direction from a fully open position.

[0016] The first acquisition unit acquires the first current value during the first period when the door is driven in a closing direction immediately after the door is started, The threshold setting unit may set the threshold based on the first current value acquired by the first acquisition unit when driving the door in the closing direction immediately after activation of the door.

[0017] The determination unit may determine that the door has been caught in at least one of the following cases: when it is determined that the door has been caught due to a current flowing through the motor within the second period, or when it is determined that the door has been caught based on a speed of the door.

[0018] In another aspect of the present invention, there is provided a door entrapment detection device for detecting an object caught in a door when a door is driven in a closing direction by a driving force of a motor, comprising: A storage unit that stores a first current value that flows through the motor when the door was closed in the past; a threshold setting unit that sets a threshold based on the first current value stored in the memory unit; an acquisition unit that acquires a second current value flowing through the motor when the door is closed; There may be provided a door entrapment detection device including a determination unit that determines whether or not the entrapment has occurred by comparing the acquired second current value with the set threshold value.

[0019] In another aspect of the present invention, a door provided in a railway vehicle; A motor for opening and closing the door; A door opening / closing control unit that controls the motor; A door device for a railway vehicle comprising: a door entrapment detection unit that detects an obstruction in the door when the door is driven in a closing direction by a driving force of the motor, The door entrapment detection unit is a first acquisition unit that acquires a first current value flowing through the motor during a first period during the closing operation of the door; a threshold setting unit that sets a threshold for determining whether the object is caught in the door based on the acquired first current value; a second acquisition unit that acquires a second current value flowing through the motor during a second period that is after the first period during the closing operation of the door; and a determination unit that determines whether or not the door entrapment has occurred by comparing the acquired second current value with the set threshold value.

[0020] In one aspect of the present invention, there is provided a program for causing a computer to detect an object caught in a door when a door is driven in a closing direction by a driving force of a motor, the program comprising: obtaining a first current value flowing through the motor during a first period during a closing operation of the door; A procedure section that sets a threshold value for determining whether or not the object is caught in the door based on the acquired first current value; obtaining a second current value flowing through the motor during a second period that is after the first period during the closing operation of the door; and a procedure of determining whether or not the entrapment has occurred by comparing the acquired second current value with the set threshold value.

[0021] When the door resumes moving in the closing direction after it is determined that the door is trapped, reacquisition of the first current value and resetting of the threshold value may be suspended until the door moves to a fully closed position. [Brief description of the drawings]

[0022] [Figure 1] 1 is an external view of an electric door device incorporating an obstruction detection device according to a first embodiment. [Diagram 2] FIG. 4 is a diagram showing the peripheral structure of the motor in more detail. [Diagram 3] FIG. 2 is a block diagram showing a schematic configuration of a control system of the electric door device shown in FIG. [Figure 4] Graph showing changes in stroke amount, movement speed, and motor current. [Diagram 5] FIG. 2 is a block diagram showing the internal configuration of the door entrapment detection device according to the present embodiment. [Figure 6] 4 is a flowchart showing a processing procedure of the door entrapment detection device according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Hereinafter, an embodiment of a door entrapment detection device, a railway door device, and a program will be described with reference to the drawings. The following description will focus on the main components of the door entrapment detection device, the railway door device, and the program, but the door entrapment detection device, the railway door device, and the program may include components and functions that are not shown or described. The following description does not exclude components and functions that are not shown or described.

[0024] (First embodiment) FIG. 1 is an external view of an electric door device 2 incorporating a door entrapment detection device 1 according to a first embodiment. The electric door device 2 in FIG. 1 is mounted on a railway vehicle. The electric door device 2 according to this embodiment can be used for a wide range of applications other than railway vehicles. For example, the electric door device 2 according to this embodiment can be applied to automatic door devices for vehicles, buildings, and facilities, as well as platform doors for houses. In the following, this specification will mainly explain the electric door device 2 mounted on a railway vehicle.

[0025] The electric door device 2 in Fig. 1 has a pair of door leaves 3R, RL which are sliding doors. The door leaves 3R, 3L are movable in the left and right directions as shown in the figure. Above the door leaves 3R, 3L are arranged a guide rail 4, a door hanging device 5R which supports the right door leaf 3R, and a door hanging device L which supports the left door leaf 3L.

[0026] The door hanging device 5R and the door leaf 3R are movable together along the guide rail 4. The door hanging device 5L and the door leaf 3L are movable together along the guide rail 4. In this specification, at least one of the pair of door leaves 3R, 3L may be simply referred to as a door.

[0027] A plurality of door rollers 6 are provided inside the door hanging devices 5R, 5L, as shown by dashed lines in Fig. 1. Each door roller 6 rolls while contacting the upper surface or the lower surface of the guide rail 4.

[0028] A rubber tip 7 made of soft synthetic rubber is attached to the door tip of each door leaf 3R, 3L. When the pair of door leaves 3R, 3L are fully closed, the rubber tips 7 come into contact with each other, and while in contact, the rubber tips 7 contract to a certain extent before the door leaves 3R, 3L stop.

[0029] Above the guide rail 4, a right rack gear 8R and a left rack gear 8L are provided along the extending direction of the guide rail 4. A right bracket 9R is connected to the right rack gear 8R, and when the right rack gear 8R moves left and right, the right connecting bracket 9R moves left and right accordingly. Similarly, a left bracket 9L is connected to the left rack gear 8L, and when the left rack gear 8L moves left and right, the left connecting bracket 9L moves left and right accordingly. A door hanging device 5R is connected to the right connecting bracket 9R, and the door hanging device 5R and the door leaf 3R move left and right together in accordance with the left and right movement of the right connecting bracket 9R. In addition, a door hanging device 5L is connected to the left connecting bracket 9L, and the door hanging device 5L and the door leaf 3L move left and right together in accordance with the left and right movement of the left connecting bracket 9L.

[0030] The right rack gear 8R and the left rack gear 8L mesh with the pinion gear 10 and act to convert the rotational motion of the pinion gear 10 into linear motion. The pinion gear 10 is rotated by the driving force of a motor 11.

[0031] 2 is a diagram showing in more detail the structure around the motor 11. There are provided a sun gear 13 attached to a rotating shaft 12 of the motor 11, a plurality of planetary gears 14 arranged around the sun gear 13 and meshing with the sun gear 13, and a pinion gear 10 which is an outer gear arranged outside the plurality of planetary gears 14 and meshing with the plurality of planetary gears 14.

[0032] In this way, when the motor 11 rotates, the rotational force is transmitted to the rack gears 8R, 8L via the pinion gear 10, and when the rack gears 8R, 8L move left and right in response to the rotation of the motor 11, the pair of door leaves 3R, 3L move left and right along the guide rails 4 via the right bracket 9R and the left bracket 9L. The motor 11 is controlled by a controller 15 shown in FIG. 3, which will be described later.

[0033] The opening and closing system of the electric door device 2 does not necessarily have to be the rack-and-pinion system described above, and may be any other system (for example, a belt system, a screw system, a linear motor system, etc.).

[0034] Fig. 3 is a block diagram showing a schematic configuration of a control system of the electric door device 2 of Fig. 1. The control system of the electric door device 2 according to this embodiment includes a controller 15 incorporating the door entrapment detection device 1, a power supply unit 16, and a motor monitor unit 17.

[0035] The power supply unit 16 has a built-in power supply device that converts AC voltage supplied from an overhead line into DC voltage. The controller 15 has a door opening / closing control unit 18 and a command unit 19. The command unit 19 outputs a command signal to the door opening / closing control unit 18 for opening and closing the door leaves 3R, 3L. The door opening / closing command unit 19 controls the opening and closing of the door leaves 3R, 3L based on the command signal.

[0036] The door opening / closing control unit 18 includes a power supply voltage detection unit 21, a PWM control unit 22, a motor driving unit 23, and a Hall signal detector 24.

[0037] The power supply voltage detection unit 21 detects the voltage level of the DC voltage output from the power supply unit 16. The PWM control unit 22 generates a PWM signal for driving the motor 11 based on the voltage level of the DC voltage detected by the power supply voltage detection unit 21 and a command signal from the command unit 19. More specifically, the PWM control unit 22 generates a PWM signal for controlling the duty ratio of the voltage supplied to the motor 11 based on a reference voltage command pattern corresponding to the command signal and the voltage level of the DC signal detected by the power supply voltage detection unit 21.

[0038] Based on the PWM signal, the motor drive unit 23 controls the on / off of the transistors that drive the motor 11. For example, if the motor 11 is a three-phase motor 11, the motor drive unit 23 generates gate signals for turning on or off each of the U-phase, V-phase, and W-phase transistors. A Hall element 25 is attached near the rotating shaft 12 of the motor 11, and the Hall element 25 detects the rotation speed of the motor 11. In addition, a motor monitor unit 17 is provided near the motor 11. In addition to the above-mentioned Hall element 25, the motor monitor unit 17 has a motor current detector 26 for detecting the motor current, and a motor voltage detector 27 for detecting the voltage applied to the motor 11.

[0039] The Hall signal detector 24 detects the number of rotations of the motor 11 based on the detection signal of the Hall element 25. The motor drive unit 23 can feedback control the control timing of turning on or off each transistor that drives the motor 11 based on the number of rotations of the motor 11 detected by the Hall signal detector 24.

[0040] The door entrapment detection device 1 detects that entrapment has occurred at the door tips of the door leaves 3R, 3L when the door leaves 3R, 3L are driven in the closing direction by the driving force of the motor 11.

[0041] The electric door device 2 according to this embodiment may include a transmission unit 28. When the door entrapment detection device 1 detects an object being caught in the door, the transmission unit 28 notifies a management device (not shown) or a mobile terminal carried by a maintenance worker that an object is caught in the door.

[0042] FIG. 4 is a graph showing the changes in stroke amount w1, movement speed w2, and motor current w3a, w3b, and w3c of the door leaves 3R and 3L while the door leaves 3R and 3L move from the fully open position to the fully closed position. The horizontal axis of FIG. 4 shows the door edge position of the door leaves 3R and 3L, and the vertical axis shows the stroke amount w1, the movement speed w2, and the motor currents w3a, w3b, and w3c. The stroke amount indicates the distance traveled by the door leaves 3R and 3L. As for the motor current, the waveform w3a when the sliding resistance of the door leaves 3R and 3L is a first resistance value, the waveform w3b when the sliding resistance is a second resistance value, and the waveform w3c when the sliding resistance is a third resistance value are shown.

[0043] As shown by the waveform w2, the moving speed of the door leaves 3R, 3L is in an acceleration region immediately after the door leaves 3R, 3L start to move, and the moving speed increases linearly with time. After that, when a certain speed is reached, the speed transitions to a constant speed region where the speed is maintained for a predetermined period, and then the moving speed transitions to a deceleration region where the moving speed decreases with time. In the deceleration region, the speed decreases in stages. As the moving speed changes, the stroke of the door leaves 3R, 3L changes in a nonlinear curve as shown by the waveform w1.

[0044] Waveforms w3a, w3b, and w3c in Fig. 4 show the transition of the motor current value when the electric door device 2 is closed with different sliding resistances. The sliding resistance varies depending on the cant of the station where the train stops and the degree of passenger congestion.

[0045] The motor current fluctuates greatly due to the influence of disturbances immediately after the door leaves 3R and 3L start to move from the fully open position toward the closing direction. The motor current then decreases in stages, and as the moving speed of the door leaves 3R and 3L shifts to the deceleration range, it fluctuates greatly once, and then decreases in stages. When the door leaves 3R and 3L reach near the fully closed position, the door edge rubbers of the door leaves 3R and 3L come into contact with each other, causing the motor current to increase rapidly. As can be seen from the waveforms w3a, w3b, and w3c, although the motor current differs depending on the sliding resistance, the tendency for the motor current to change is the same for all of them. Regardless of the sliding resistance, the motor current increases sharply just before the door leaves 3R and 3L are fully closed.

[0046] Although not shown in the graph of FIG. 4, if the door leaf 3R, 3L is pinched near the fully closed position, the motor current further increases. Therefore, the door pinch detection device 1 according to this embodiment sets a threshold value for detecting the door pinch near the fully closed position of the door leaf 3R, 3L. The set threshold value is set to a value larger than the motor current when the door leaf is not pinched. However, as can be seen from the waveforms w3a, w3b, and w3c, the motor current changes depending on the sliding resistance of the door leaf 3R, 3L, so the threshold value is set taking the sliding resistance of the door leaf 3R, 3L into consideration.

[0047] 4 shows a threshold value w4a corresponding to the motor current of the waveform w3a, a threshold value w4b corresponding to the motor current of the waveform w3b, and a threshold value w4c corresponding to the motor current of the waveform w3c. The door entrapment detection device 1 according to this embodiment determines that an object is entrapped in the door when the motor current when the door leaves 3R and 3L are in the vicinity of being fully closed exceeds the threshold value.

[0048] 5 is a block diagram showing the internal configuration of the door entrapment detection device 1 according to this embodiment. As shown in FIG. 5, the door entrapment detection device 1 includes a first acquisition unit 31, a threshold setting unit 32, a second acquisition unit 33, and a determination unit .

[0049] The first acquisition unit 31 acquires a first current value flowing through the motor 11 during a first period during the closing operation of the door leaves 3R, 3L. The first period is, for example, a period including a constant speed region of the movement speed of the door leaves 3R, 3L shown in Fig. 4, and may be referred to as a current collection region in this specification. As shown in Fig. 5, the motor current is relatively stable during the constant speed region, and by acquiring the motor current during this period, it is possible to acquire a motor current that is less affected by external disturbances.

[0050] The first period may be a period in the acceleration region after the door starts moving in the closing direction, or a period in the constant speed region after the acceleration region. As shown in FIG. 4, the motor current fluctuates greatly immediately after the acceleration region begins, so it is better not to acquire the motor current during this period, but the motor current fluctuates little from the middle to the end of the acceleration region. Therefore, the acceleration region may be included in the first period. Similarly, when the moving speed transitions from the constant speed region to the deceleration region, the motor current fluctuates little for a while after the transition to the deceleration region as shown in FIG. 4, so the first period may include a part of the deceleration region of the moving speed of the door leaves 3R, 3L.

[0051] The first acquisition unit 31 may acquire the first current value within the first period every time the door leaves 3R, 3L are moved in the closing direction from the fully open position. In this case, the threshold setting unit 32 may reset the threshold based on the first current value acquired by the first acquisition unit 31 every time the door leaves 3R, 3L are moved in the closing direction from the fully open position. In this way, by resetting the threshold every time the door leaves 3R, 3L are closed, it is possible to set an optimal threshold without being affected by deterioration over time of the electric door device 2.

[0052] The first acquisition unit 31 may acquire a first current value during a first period when the door leaves 3R, 3L (electric door device 2) are driven in the closing direction immediately after the activation of the door leaves 3R, 3L. The threshold setting unit 32 may set a threshold based on the first current value acquired by the first acquisition unit 31 when the door leaves 3R, 3L are driven in the closing direction immediately after the activation of the door leaves 3R, 3L. In the case of the electric door device 2 for railways, the sliding resistance varies because there are passengers leaning against the door leaves 3R, 3L and passengers pressed against the door leaves 3R, 3L due to congestion. For this reason, the motor current is easily affected by the variation in sliding resistance when passengers are on board. In addition, the sliding resistance of the door leaves 3R, 3L may vary due to the difference in height of the cant, which differs from station to station. Therefore, the first acquisition unit 31 can acquire the motor current without being affected by the variation in sliding resistance by acquiring the motor current in a situation where the influence of the variation in sliding resistance is small, such as immediately after the activation of the door leaves 3R, 3L.

[0053] The threshold setting unit 32 sets a threshold for determining whether the door leaves 3R, 3L are caught, based on the first current value acquired by the first acquisition unit 31. The threshold set by the threshold setting unit 32 is provided for comparison with the motor current when the door leaves 3R, 3L are in the vicinity of the fully closed position. In this manner, the threshold setting unit 32 sets the threshold for the motor current when the door leaves 3R, 3L are in the vicinity of the fully closed position, based on the actual value of the motor current when the door leaves 3R, 3L have not yet reached the vicinity of the fully closed position.

[0054] The reason for providing the threshold setting unit 32 is as follows. During operation of the electric door device 2, the sliding resistance gradually changes and the driving force of the motor 11 decreases, so that even if the door leaves 3R, 3L are moved at the same speed, the motor current is not necessarily the same. Therefore, the threshold value of the motor current is set based on the actual value of the motor current at the present time.

[0055] The threshold setting unit 32 sets the threshold based on at least one of the average value, median value, mode value, and integral value of the current value flowing through the motor 11 during the first period. The motor current varies depending on the sliding resistance of the door leaves 3R and 3L and the driving force of the motor 11, as well as environmental conditions such as temperature and power supply voltage. For this reason, the threshold setting unit 32 determines the motor current to be compared with the threshold, anticipating that the motor current will change during the first period. For example, if the motor current does not vary significantly temporarily during the first period, it is sufficient to take the average value. Conversely, if the motor current varies significantly temporarily during the first period, taking the average value will be affected by the temporary fluctuation of the motor current. Therefore, in such a case, it is desirable to take the median value or the mode value. Also, if the motor current itself is small, the integral value may be taken.

[0056] Fluctuations in the power supply voltage supplied to the motor 11 may affect the motor current. Therefore, the threshold setting unit 32 may set the threshold value taking into account the power supply voltage detected by the voltage detector. That is, the threshold setting unit 32 may set the threshold value based on the drive voltage of the motor 11 within the first period. In general, the higher the drive voltage of the motor 11, the larger the motor current, so it is desirable for the threshold setting unit 32 to set a larger threshold value as the drive voltage increases.

[0057] The second acquisition unit 33 acquires a second current value flowing through the motor 11 in a second period following the first period during the closing operation of the door leaves 3R, 3L. The second period is, for example, a period in which the door leaves 3R, 3L are positioned near the fully closed position and the motor current increases rapidly, as shown in Fig. 4. The position of the door leaves 3R, 3L just before the fully closed position at which the motor current increases rapidly differs for each electric door device 2, so it is desirable to set the second period individually for each electric door device 2. The second period is, for example, a period positioned within a range of several tens of millimeters to several millimeters just before the fully closed position.

[0058] The determination unit 34 determines whether or not a door entrapment has occurred by comparing the acquired second current value with a set threshold value. More specifically, the determination unit 34 determines that a door entrapment has occurred when it is determined that a door entrapment has occurred due to a current flowing through the motor 11 within the second period or when it is determined that a door entrapment has occurred based on the door speed.

[0059] The door entrapment detection device 1 according to the present embodiment may include a period determination unit 35. The period determination unit 35 determines the first period and the second period based on at least one of the moving speed, moving distance, or moving time during the closing operation of the door leaves 3R and 3L. For example, the period determination unit 35 may determine the first period and the second period based on the stroke amount of the door leaves 3R and 3L detected by a stroke detector (not shown). The stroke detector detects the stroke based on the number of rotations of the motor 11 detected by the hall signal detector 24, for example. Alternatively, the period determination unit 35 may determine the first period and the second period based on the moving time from the fully open position of the door leaves 3R and 3L. Alternatively, the period determination unit 35 may determine the first period and the second period based on the moving speed of the door leaves 3R and 3L.

[0060] The door entrapment detection device 1 according to the present embodiment may include a storage unit 36. The storage unit 36 ​​stores a correspondence relationship between at least one of the measured values ​​of the average, median, mode, or integral value of the current value flowing through the motor 11 when the door is driven in the closing direction and there is no door entrapment, and a reference threshold value based on the measured value. Since the current flowing through the motor 11 changes depending on the sliding resistance of the door leaves 3R and 3L, for example, a plurality of weights having different weights are attached to the door hanging devices 5R and 5L in turn to artificially change the sliding resistance, and the correspondence relationship between the motor current and the reference threshold value is obtained in advance and stored in the storage unit 36. In this case, the threshold value setting unit 32 sets a threshold value based on the correspondence relationship stored in the storage unit 36 ​​and at least one of the average, median, mode, or integral value of the current value flowing through the motor 11 during the first period. In this way, by providing the storage unit 36, the threshold value previously set by the threshold value setting unit 32 can be stored in the storage unit 36 ​​and reused.

[0061] As described above, the door entrapment detection device 1 according to the present embodiment is assumed to set a threshold value based on the motor current acquired within a first period when the door leaves 3R and 3L start to move in the closing direction, and to compare the motor current with the set threshold value within a second period thereafter, but resetting the threshold value every time the door leaves 3R and 3L are moved from the fully open position in the closing direction places a large processing load on the electric door device 2. Therefore, the threshold value setting unit 32 may reset the threshold value once every multiple closing operations of the door leaves 3R and 3L are performed, and the threshold value set by the threshold value setting unit 32 may be stored in the memory unit 36, and the threshold value stored in the memory unit 36 ​​may be read out as necessary and compared with the motor current. In this way, by providing the memory unit 36, it is not necessary to reset the threshold value every time the door leaves 3R and 3L are closed, and the processing load of the door entrapment detection device 1 may be reduced.

[0062] The storage unit 36 ​​may also store the current (hereinafter referred to as the first current value) flowing through the motor 11 when the door was caught in the past. In this case, the threshold setting unit 32 sets the threshold based on the first current value stored in the storage unit 36. For example, the threshold setting unit 32 may set the threshold to a value obtained by multiplying the first current value by a coefficient greater than 0 and less than 1. During actual operation of the electric door device 2, the second acquisition unit 33 acquires the current (hereinafter referred to as the second current value) flowing through the motor 11 when the door is closed. The determination unit 34 compares the acquired second current value with the threshold set by the threshold setting unit 32 to determine whether or not the door has been caught. This eliminates the need to reset the threshold every time the door leaves 3R and 3L are moved from the fully open position in the closing direction, and the processing operation for door-catch detection can be simplified.

[0063] Fig. 6 is a flowchart showing the processing procedure of the door entrapment detection device 1 according to this embodiment. The processing of this flowchart is started when the door leaves 3R, 3L start to move in the closing direction from the fully open position. More specifically, when a closing command is received from a higher-level device of the railway vehicle, the electric door device 2 starts the closing operation of the door leaves 3R, 3L, and the door entrapment detection device 1 starts the processing of Fig. 6.

[0064] First, the first acquisition unit 31 determines whether the door leaves 3R, 3L have reached the start position of the first period (step S1). The process of step S1 is repeated until the door leaves 3R, 3L reach the start position of the first period. When the door leaves 3R, 3L reach the start position of the first period, acquisition of the motor current is started, and the motor current is continuously acquired within the first period (step S2). The process of step S2 is performed by the first acquisition unit 31.

[0065] Next, it is determined whether or not the first period has ended (step S3). If it is determined that the first period has ended, the first acquisition unit 31 stops acquiring the motor current (step S4).

[0066] Next, the threshold setting unit 32 sets a threshold based on the motor current acquired by the first acquisition unit 31 (step S5). For example, the threshold setting unit 32 may set a threshold based on at least one of the average value, median value, mode value, and integral value of the motor current within the first period. For example, the threshold may be a value obtained by multiplying the average value of the cumulative sum of the motor current within the first period by a predetermined coefficient. The predetermined coefficient is a value greater than 0 and less than 1, and is set, for example, from the past operation record of the electric door device 2. Alternatively, the threshold may be a value obtained by multiplying the median value of the motor current within the first period by a predetermined coefficient. Alternatively, the current values ​​of the motor current within the first period may be classified in order of frequency, and the value obtained by multiplying the most frequent motor current by a predetermined coefficient may be set as the threshold. Alternatively, the threshold may be a value obtained by multiplying the cumulative sum (integral value) of the motor current within the first period by a predetermined coefficient. In this case, the coefficient is set to a value smaller than the coefficient used when the threshold is calculated from the average value.

[0067] Thereafter, it is determined whether the door leaves 3R, 3L have reached the start position of the second period (step S6). The process of step S6 is repeated until the door leaves 3R, 3L reach the start position of the second period. When the door leaves 3R, 3L reach the start position of the second period, the second acquisition unit 33 detects the motor current. Then, the determination unit 34 compares it with the threshold value set in step S5 (step S7). If the motor current exceeds the threshold value, it is detected that the door entrapment has occurred (step S8). In this case, a predetermined notification process is performed to notify a management device (not shown) or a maintenance worker that the door entrapment has occurred.

[0068] If the motor current does not exceed the threshold in step S7, it is determined that no door entrapment has occurred, and it is determined whether the second period has ended (step S9). If the second period has not yet ended, the process returns to step S7, and when the second period ends, the process in FIG. 6 ends.

[0069] In this manner, in this embodiment, the motor current is acquired within a first period after the door leaves 3R, 3L start to move in the closing direction, and the threshold value is set. After that, within a second period before the door leaves 3R, 3L reach the fully closed position, the motor current is acquired again and compared with the threshold value, and if the motor current exceeds the threshold value, it is determined that the door is trapped. According to this embodiment, the threshold value for detecting the door is set based on the motor current within the first period shortly after the door leaves 3R, 3L start to close. Therefore, even if the motor current fluctuates due to aging or environmental conditions, the threshold value can be set based on the motor current after the fluctuating current, and it is possible to set a threshold value that can accurately determine whether the door is trapped or not.

[0070] At least a part of the door entrapment detection device 1 and the railway door device described in the above-mentioned embodiment may be configured with hardware or software. When configured with software, a program that realizes at least a part of the functions of the door entrapment detection device 1 and the railway door device may be stored in a recording medium such as a flexible disk or a CD-ROM, and may be read and executed by a computer. The recording medium is not limited to a removable one such as a magnetic disk or an optical disk, but may be a fixed recording medium such as a hard disk device or a memory.

[0071] In addition, a program that realizes at least a part of the functions of the door entrapment detection device 1 and the railway door device may be distributed via a communication line (including wireless communication) such as the Internet. Furthermore, the program may be encrypted, modulated, or compressed and distributed via a wired line or wireless line such as the Internet, or stored in a recording medium.

[0072] The aspects of the present disclosure are not limited to the above-mentioned individual embodiments, but include various modifications that may be conceived by a person skilled in the art, and the effects of the present disclosure are not limited to the above-mentioned contents. In other words, various additions, modifications, and partial deletions are possible within the scope of the conceptual idea and intent of the present disclosure derived from the contents defined in the claims and their equivalents. [Explanation of symbols]

[0073] 1 Door entrapment detection device, 2 Electric door device, 3R, 3L Door leaf, 4 Guide rail, 5R, 5L Door hanging device, 6 Door roller, 7 Door tip rubber, 8R, 8L Rack gear, 9R, 9L Bracket, 10 Pinion gear, 11 Motor, 12 Rotating shaft, 13 Sun gear, 14 Planetary gear, 15 Controller, 16 Power supply unit, 17 Motor monitor unit, 18 Door opening / closing control unit, 19 Command unit, 21 Power supply voltage detection unit, 22 PWM control unit, 23 Motor drive unit, 24 Hall signal detector, 25 Hall element, 26 Motor current detector, 27 Motor voltage detector, 31 First acquisition unit, 32 Threshold setting unit, 33 Second acquisition unit, 34 Determination unit, 35 Period determination unit, 36 Memory unit

Claims

1. A door entrapment detection device that detects an object being caught in a door when the door is driven in the closing direction by the driving force of a motor, a first acquisition unit that acquires a first current value flowing through the motor during a first period during a closing operation of the door; a threshold setting unit that sets a threshold for determining whether the object is caught in the door based on the acquired first current value; a second acquisition unit that acquires a second current value flowing through the motor during a second period that is after the first period during the closing operation of the door; a determination unit that determines whether or not the entrapment has occurred by comparing the acquired second current value with the set threshold value.

2. 2. The door entrapment detection device according to claim 1, wherein the first period is a period within an acceleration region after the door starts to move in the closing direction, or a period within a constant speed region transitioned from the acceleration region.

3. 3 . The door entrapment detection device according to claim 1 , wherein the threshold setting unit sets the threshold based on at least one of an average value, a median value, a mode value, and an integral value of a current value flowing through the motor within the first period.

4. a storage unit that stores a correspondence relationship between at least one of a mean value, a median value, a mode value, and an integral value of a current value flowing through the motor when the door is driven in a closing direction and no object is caught in the door, and a reference threshold value based on the measured value; 4. The door entrapment detection device according to claim 1, wherein the threshold setting unit sets the threshold based on the correspondence relationship stored in the memory unit and at least one of an average value, a median value, a mode value, and an integral value of a current value flowing through the motor within the first period.

5. The door entrapment detection device according to claim 1 , wherein the threshold setting unit sets the threshold based on a drive voltage of the motor within the first period.

6. The door entrapment detection device according to claim 1 , further comprising a period determination unit that determines the first period and the second period based on at least one of a moving speed, a moving distance, or a moving time during a closing operation of the door.

7. the first acquisition unit acquires the first current value during the first period each time the door is moved in a closing direction from a fully open position; 7. The door entrapment detection device according to claim 1, wherein the threshold setting unit resets the threshold based on the first current value acquired by the first acquisition unit each time the door is moved in the closing direction from the fully open position.

8. the first acquisition unit acquires the first current value during the first period when the door is driven in a closing direction immediately after the door is started, 7. The door entrapment detection device according to claim 1, wherein the threshold setting unit sets the threshold based on the first current value acquired by the first acquisition unit when the door is driven in the closing direction immediately after the door is started.

9. 9. The door entrapment detection device according to claim 1, wherein the determination unit determines that the door has been entrapped at least in one of the following cases: when it is determined that the door has been entrapped due to a current flowing through the motor during the second period, or when it is determined that the door has been entrapped based on a speed of the door.

10. A door provided in a railroad car; A motor for opening and closing the door; A door opening / closing control unit that controls the motor; A door device for a railway vehicle comprising: a door entrapment detection unit that detects an obstruction in the door when the door is driven in a closing direction by a driving force of the motor, The door entrapment detection unit is a first acquisition unit that acquires a first current value flowing through the motor during a first period during a closing operation of the door; a threshold setting unit that sets a threshold for determining whether the object is caught in the door based on the acquired first current value; a second acquisition unit that acquires a second current value flowing through the motor during a second period that is after the first period during the closing operation of the door; a determination unit that determines whether or not the door entrapment has occurred by comparing the acquired second current value with the set threshold value.

11. A program for causing a computer to detect an object caught in a door when the door is driven in a closing direction by a driving force of a motor, obtaining a first current value flowing through the motor during a first period during a closing operation of the door; A step of setting a threshold value for determining whether or not an object is caught in the door based on the acquired first current value; obtaining a second current value flowing through the motor during a second period that is after the first period during the closing operation of the door; and a step of determining whether or not the entrapment has occurred by comparing the acquired second current value with the set threshold value.

12. 12. The program according to claim 11, further comprising: when the door resumes moving in the closing direction after it is determined that the door is trapped, the program causes the computer to execute a procedure of suspending reacquisition of the first current value and resetting of the threshold value until the door moves to a fully closed position.

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