Diagnostic methods

Abstract

To provide a technology capable of enhancing the availability of a control system of a door of a redundant railroad vehicle.SOLUTION: A door control module (DCM) 100 includes a regular-system controller 110 for controlling operation of one door 20 of a railroad vehicle 1 on the basis of a control signal externally inputted to the DCM 100 and other DCMs 100 all at once, and a standby-system controller 120 capable of controlling operation of the one door 20 of the railroad vehicle 1 on the basis of the externally inputted control signal. The regular-system controller 110 controls the operation of the one door 20 on the basis of contents of a control signal recognized by itself, contents of a control signal acquired from the standby-system controller 120 and recognized by the standby-system controller 120, and contents of a control signal acquired from the other DCMs 100 and recognized by the other DCMs 100.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to Diagnostic methods Regarding. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there is known a technique for making a control system for doors of a railway vehicle redundant (dual) into a regular system and a standby system (see, for example, Patent Document 1).

[0003] Patent Document 1 discloses a door control device provided with a first controller for a regular system and a second controller for a standby system, and when an abnormality occurs in the first controller, the second controller takes over control of the motor. In this case, in Patent Document 1, if the contents of the control information input from outside the door control device recognized by the first controller and the second controller do not match, the presence or absence of an abnormality in the first controller is judged by comparing the contents of the control information recognized by the same controller with the contents of the control information recognized by another door control device. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 5117614 Summary of the Invention [Problem to be solved by the invention]

[0005] however, For example, depending on the form of comparison of the contents of recognition of the same control information in the first controller, the second controller, and another door control device, Even if there is no abnormality in the function related to the control of the regular door, the regular door is judged to have an abnormality and switched to the standby door, which may reduce the availability of the door control system.

[0006] In view of the above problems, an object of the present invention is to provide a technique capable of increasing the availability of a redundant control system for railway vehicle doors. [Means for solving the problem]

[0007] In order to achieve the above object, in one embodiment of the present disclosure, A diagnostic method executed by a control device comprising: a first control unit that controls an operation of one door of a railway vehicle based on a control signal input from an outside to the control device and another control device at the same time; and a second control unit that can control the operation of the one door of the railway vehicle based on the control signal input from an outside, the first control unit being configured to be able to communicate with the second control unit and the other control device that controls another door of the railway vehicle based on the same control signal input from the outside, The first control unit compares the contents of the control signal recognized by itself, the contents of the control signal acquired from the second control unit and recognized by the second control unit, and the contents of the control signal acquired from the specific other control unit and recognized by the specific other control unit, and determines a majority decision. and comparing the contents of the control signal recognized by the majority of the majority votes with the contents of the control signal recognized by the control unit itself. By this, you can diagnose whether there is an abnormality in yourself. A diagnostic method is provided.

[0008] In another embodiment of the present disclosure, A diagnostic method executed by a control device comprising: a first control unit that controls an operation of one door of a railway vehicle based on a control signal input from an outside to the control device and another control device at the same time; and a second control unit that can control the operation of the one door of the railway vehicle based on the control signal input from an outside, the first control unit being configured to be able to communicate with the second control unit and the other control device that controls another door of the railway vehicle based on the same control signal input from the outside, the first control unit compares the contents of the control signals recognized by each of the other control devices, which are acquired from the other control devices, and takes a majority vote; and compares the majority vote results between the contents of the control signals recognized by itself, the contents of the control signals recognized by the second control unit, which are acquired from the second control unit, and the contents of the control signals recognized by each of the other control devices, and diagnoses the presence or absence of an abnormality in itself based on the majority vote. A diagnostic method is provided. In still another embodiment of the present disclosure, A diagnostic method executed by a control device comprising: a first control unit that controls an operation of one door of a railway vehicle based on a control signal input from an outside to the control device and another control device at the same time; and a second control unit that can control the operation of the one door of the railway vehicle based on the control signal input from an outside, the first control unit being configured to be able to communicate with the second control unit and the other control device that controls another door of the railway vehicle based on the same control signal input from the outside, The first control unit assigns importance to each of the contents of the control signal recognized by itself, the contents of the control signal recognized by the second control unit, and the contents of the control signal recognized by the other control device, and based on the sum of the importance of each of the first contents and second contents assumed as the recognized contents of the control signal, By determining the content of the control signal to be used for controlling the one door and comparing the determined content of the control signal with the content of the control signal recognized by the self, Diagnose whether there are any abnormalities in yourself, A diagnostic method is provided. In still another embodiment of the present disclosure, A diagnostic method executed by a control device comprising: a first control unit that controls an operation of one door of a railway vehicle based on a control signal input from an outside to the control device and another control device at the same time; and a second control unit that can control the operation of the one door of the railway vehicle based on the control signal input from an outside, the first control unit being configured to be able to communicate with the second control unit and the other control device that controls another door of the railway vehicle based on the same control signal input from the outside, comparing the contents of the control signals recognized by each of the plurality of other control devices, which are acquired from the plurality of other control devices, and taking a majority vote; and comparing the majority vote results of the contents of the control signals recognized by the first control unit, the contents of the control signals recognized by the second control unit, and the contents of the control signals recognized by each of the plurality of other control devices, and diagnosing the presence or absence of an abnormality in at least one of the first control unit and the second control unit based on the majority vote. A diagnostic method is provided. Effect of the Invention

[0009] According to the above-described embodiment, it is possible to increase the availability of a redundant control system for a railway vehicle door. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing an example of the configuration of a railway vehicle. [Diagram 2] FIG. 2 is a diagram showing an example of a configuration of a door control system. [Diagram 3] FIG. 11 is a diagram showing an example of a process for determining the content of a control signal used for door control by a DCM. [Figure 4] FIG. 13 is a diagram showing another example of the process for determining the content of the control signal used to control the door by the DCM. [Diagram 5] FIG. 13 is a diagram showing another example of the configuration of the door control system. [Figure 6] FIG. 11 is a diagram showing yet another example of the process for determining the contents of the control signal used to control the door by the DCM. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment will be described with reference to the drawings.

[0012] [Configuration for opening and closing the doors of railway vehicles] A configuration relating to the opening and closing operation of a door 20 of a railway vehicle 1 will be described with reference to FIG.

[0013] 1 is a diagram showing an example of a configuration related to the opening and closing operation of a door 20 of a railway vehicle 1. In the following description, for the sake of convenience, the main traveling direction when the railway vehicle 1 is in operation, i.e., the side where the driver's seat is located, is defined as "front."

[0014] As shown in Fig. 1, the railway vehicle 1 is configured as a train in which a plurality of vehicles are coupled together, including, for example, the first and last vehicles 1A, 1B and a vehicle 1C coupled between the vehicles 1A, 1B. The vehicles 1A, 1B are so-called control cars, and are provided with a driver's seat. Hereinafter, when there is no need to distinguish between the vehicles 1A to 1C, the vehicles 1A to 1C may be collectively or individually referred to as "vehicle 1X."

[0015] The railcar 1 may be a two-car train. In this case, cars 1A and 1B are directly connected. The railcar 1 may also be a one-car train. In this case, a driver's seat (driver's cab) may be provided at both the front and rear ends of the railcar 1.

[0016] The railway vehicle 1 includes, as components related to the opening and closing operation of the door 20, a vehicle control device 10, the door 20, switches 30A, 30B, a signal line 35, switches 40A, 40B, a signal line 45, a transmission device 50, a communication line 55, and a DCM (Door Control Module) 100.

[0017] The vehicle control device 10 controls the operation of the railway vehicle 1. For example, when the railway vehicle 1 is a train in which multiple cars are coupled together, the vehicle control device 10 is provided in the driver's cab of the leading car 1A. Also, for example, when the railway vehicle 1 is a train in which multiple cars are coupled together, the vehicle control device 10 is also provided in the conductor's cab at the rearmost car. Also, for example, when the railway vehicle 1 is operated as a one-car formation, the vehicle control device 10 is provided in each driver's cab at the front and rear ends of the railway vehicle 1.

[0018] The vehicle control device 10 outputs commands related to the opening and closing operation of the door 20 to the DCM 100 in response to inputs from the driver or conductor via a predetermined input device and various conditions. The vehicle control device 10 outputs open and close commands for the door 20 in response to inputs from the driver or conductor.

[0019] The doors 20 are double-leaf sliding doors provided at openings on the left and right sides of the railcar 1 (cars 1A to 1C), and are used for passengers to get on and off the railcar 1. In this example, the car 1X has four openings on each of the left and right sides, and a door 20 is provided at each opening. That is, in this example, the car 1X is provided with four doors 20 on each of the left and right sides. The number of doors 20 provided on the left and right sides of the car 1X may be three or less. For example, the car 1X may be provided with two doors 20 at the front end and the rear end on each of the left and right sides. The number of doors 20 provided on the left and right sides of the car 1X may be five or more. For example, the car 1X may be provided with six doors 20 on each of the left and right sides.

[0020] In addition, in Figure 1, for convenience, the door 20 of vehicle 1C and related configurations (signal lines 35, 45, transmission device 50, communication line 55, and DCM 100) are drawn, but vehicles 1A and 1B also have similar doors 20 and related configurations.

[0021] The switches 30A, 30B are used to permit the door 20 on the left side of the railcar 1 (car 1X) (hereinafter, for convenience, referred to as the "left door 20") to be opened. The switches 30A, 30B are provided, for example, in the driver's cab of car 1A and the conductor's cab of car 1C, respectively, and are turned on / off in response to the operation of the driver or conductor. For example, the driver or conductor turns on the switches 30A, 30B immediately before the railcar 1 stops at a station adjacent to a boarding and disembarking platform on the left side.

[0022] The signal line 35 connects in parallel between a predetermined DC power source and each of the multiple DCMs 100 (hereinafter, for convenience, "left DCMs 100") that control the left side door 20. Specifically, the signal line 35 has two signal paths that are connected in parallel from a predetermined DC power source to each of the left DCMs 100 via the switches 30A and 30B. As a result, when both the switches 30A and 30B are in the off state, an L (Low) level signal (off signal) is input to each of the left DCMs 100. On the other hand, when either one of the switches 30A and 30B is in the on state, conduction is established between the DC power source and the left DCMs 100, and an H (High) level signal (on signal) is input to each of the left DCMs 100. Therefore, signal line 35 can transmit a signal for permitting opening of left door 20 (hereinafter, "open permission signal") to left DCM 100 depending on the on / off state of switches 30A, 30B.

[0023] The switches 40A, 40B are used to permit the door 20 on the right side of the railcar 1 (car 1X) (hereinafter, for convenience, referred to as the "right door 20") to be opened. The switches 40A, 40B are provided, for example, in the driver's cab of car 1A and the conductor's cab of car 1C, respectively, and are turned on / off in response to the operation of the driver or conductor. For example, the driver or conductor turns on the switches 40A, 40B immediately before the railcar 1 stops at a station adjacent to a boarding and disembarking platform on the right side.

[0024] The signal line 45 connects in parallel between a predetermined DC power source and each of the multiple DCMs 100 that control the right side door 20 (hereinafter, for convenience, referred to as the "right DCMs 100"). Specifically, the signal line 45 has two signal paths that are connected in parallel from a predetermined DC power source to each of the right DCMs 100 via the switches 40A and 40B. As a result, when both the switches 40A and 40B are in the off state, an L (Low) level signal (off signal) is input to each of the right DCMs 100. On the other hand, when either one of the switches 40A and 40B is in the on state, conduction is established between the DC power source and the right DCMs 100, and an H (High) level signal (on signal) is input to each of the right DCMs 100. Therefore, the signal line 45 can transmit a signal for permitting the right door 20 to be opened (open permission signal) to the right DCM 100 according to the on / off state of the switches 40A, 40B.

[0025] The transmission device 50 is provided in a vehicle 1X, and transmits commands output from a vehicle control device 10 to the DCM 100 of the same vehicle 1X, and transmits signals output from the DCM 100 of the same vehicle 1X to the vehicle control device 10.

[0026] The communication line 55 connects the transmission device 50 of the vehicle 1X to a plurality of (eight in this example) DCMs 100 in parallel. This allows the transmission device 50 to transmit commands from the vehicle control device 10 to the DCMs 100 through the communication line 55, and to receive signals from the DCMs 100 and relay them to the vehicle control device 10. The communication line 55 is, for example, a communication line for serial communication based on a standard such as RS-485. The communication line 55 may also be a communication line for parallel communication.

[0027] The DCM 100 is provided for each door 20 of the railway vehicle 1, and controls the opening and closing operations of the corresponding door 20.

[0028] For example, when the DCM 100 (an example of a control device) receives a command to open the door 20 from the vehicle control device 10, if the open permission signal is on, the DCM 100 opens the door 20 to be controlled. This allows the DCM 100 to open only one of the left and right doors 20 that is permitted to be opened by the switches 30A, 30B or the switches 40A, 40B.

[0029] [An example of a door control system configuration] Next, an example of the configuration of a control system for the door 20 will be described with reference to FIG.

[0030] FIG. 2 is a diagram showing an example of the configuration of a control system for the door 20. As shown in FIG.

[0031] Incidentally, the left-side DCM 100 and the right-side DCM 100 have the same configuration except that the former is connected to signal line 35 and the latter is connected to signal line 45, and therefore in Fig. 2, the left-side DCM 100 is depicted as a representative. Therefore, in the case of the right-side DCM 100, signal line 35 in Fig. 2 is replaced with signal line 45. The same applies to the case of Fig. 5 described below.

[0032] As shown in FIG. 2, the DCM 100 includes a regular system controller 110, a standby system controller 120, and an output switching circuit .

[0033] The regular system controller 110 (an example of a first control unit) controls the opening and closing operations of the door 20.

[0034] The standby controller 120 (an example of a second control unit) is configured to be able to execute control related to the opening and closing operations of the door 20, and fulfills a backup function for the regular controller 110. Thus, by providing the standby controller 120 in addition to the regular controller 110, the DCM 100 can achieve redundancy of the control system related to the opening and closing operations of the door 20. Specifically, when an abnormality occurs in the regular controller 110, the standby controller 120 controls the opening and closing operations of the door 20 in place of the regular controller 110.

[0035] The functions of the utility controller 110 may be realized by any hardware or any combination of hardware and software, etc. For example, the utility controller 110 includes an auxiliary storage device 111, a memory device 112, a CPU 113, an interface device 114, and a drive device 115.

[0036] The auxiliary storage device 111 is, for example, a non-volatile storage means such as a ROM (Read Only Memory), and stores various installed programs as well as data necessary for various processes.

[0037] The memory device 112 is, for example, a volatile storage means such as a RAM (Random Access Memory), and when an instruction to start a program is received, reads out the program from the auxiliary storage device 111 and stores it.

[0038] The CPU 113 executes various programs loaded from the auxiliary storage device 111 to the memory device 112, and realizes various functions related to the opening and closing operation of the door 20 in accordance with the programs. The CPU 113 includes a signal content determination unit 1131 and a control unit 1132 as functional units realized by executing the programs loaded from the auxiliary storage device 111 to the memory device 112.

[0039] The interface device 114 is used for inputting and outputting signals, data, etc. from and to the outside. The interface device 114 includes a photocoupler 114A and a communication interface 114B.

[0040] Photocoupler 114A is connected to signal line 35 or signal line 45, receives a signal (open permission signal) transmitted by signal line 35 or signal line 45, and outputs the received signal in an electrically insulated state to CPU 113. This is because the voltage of the on signal of signal lines 35 and 45 is much higher than the drive voltage of DCM 100.

[0041] The communication interface 114B is connected to the communication line 55, and receives commands and the like from the vehicle control device 10 transmitted through the transmission device 50, and transmits data indicating the state of the normal system controller (hereinafter, "status data") to the vehicle control device 10 through the transmission device 50 under the control of the CPU 113. The status data may be transmitted to the vehicle control device 10 as a response to a command received from the vehicle control device 10, or may be transmitted to the vehicle control device 10 at predetermined intervals, for example.

[0042] The CPU 113 recognizes the contents of the open permission signal (on state or off state) from the signal received from the photocoupler 114A. The CPU 113 transmits the contents of the open permission signal recognized by itself to the standby controller 120 (CPU 123). The CPU 113 also receives the contents of the open permission signal recognized by the standby controller 120 (CPU 123) from the standby controller 120. At this time, the CPU 113 may transmit the contents of the open permission signal recognized by itself to the standby controller 120 through a communication path inside the DCM 100, or receive the contents of the open permission signal recognized by the standby controller 120 from the standby controller 120. The CPU 113 may also control the communication interface 114B, and transmit the contents of the open permission signal recognized by itself to the standby controller 120 through the communication line 55, or receive the contents of the open permission signal recognized by the standby controller 120 from the standby controller 120. Furthermore, the CPU 113 controls the communication interface 114B to transmit status data including the contents of the open permission signal recognized by itself to the vehicle control device 10 through the communication line 55 and the transmission device 50. The CPU 113 may transmit status data to the vehicle control device 10 only when the normal controller 110 is in an active state in which it controls the opening and closing operation of the door 20, or may transmit the status data regardless of whether the normal controller 110 is in an active state or not. The CPU 113 also receives (intercepts) status data of the other DCM 100 transmitted through the communication line 55 through the communication interface 114B. This allows the CPU 113 to obtain the contents of the open permission signal recognized by the other DCM 100 (the CPU 113 of the normal controller 110 or the CPU 123 of the standby controller 120).

[0043] The drive device 115 uses power supplied from a predetermined power source to drive an actuator related to the opening and closing operation of the door 20. The drive device 115 includes a motor drive device that drives the motor 22 and a solenoid drive device that drives the solenoid 24.

[0044] The motor 22 drives an opening / closing mechanism of the door 20 to open and close the door 20. A drive device 115 (motor drive device) drives the motor 22 to open and close the door 20.

[0045] The solenoid 24 drives the locking mechanism of the door 20 to lock and unlock the door 20. The solenoid 24 includes, for example, a locking solenoid and an unlocking solenoid. The drive device 115 (solenoid drive device) can lock the door 20 by energizing the locking solenoid. The drive device 115 (solenoid drive device) can unlock the door 20 by energizing the unlocking solenoid. The solenoid 24 may have only one of the locking and unlocking functions, and the other function may be replaced with a biasing member (for example, a spring) that maintains the locking mechanism of the door 20 in either the locked state or the unlocked state.

[0046] The locking mechanism of the door 20 may be of a self-holding type, and the door 20 can be maintained in a locked or unlocked state even if the solenoid 24 is de-energized.

[0047] The signal content determination unit 1131 determines the content of the control signal used by the control unit 1132 for control of the opening and closing operation of the door 20. The control signal means a signal input from outside the DCM 100 and used for control of the opening and closing operation of the door 20. The control signal includes, for example, the above-mentioned open permission signal. The control signal may also include, for example, a signal indicating that the railroad vehicle 1 has reached a predetermined speed (for example, 5 km / h). The control signal may also include, for example, a signal for opening all the doors 20 of all the cars 1X of the railroad vehicle 1 or all the doors 20 of a specific car 1X. The following description will be centered on the case where the control signal is an open permission signal. The signal content determination unit 1131 may determine the content of the control signal used by the control unit 1132 only when the normal-use controller 110 is in an active state, or may execute the process regardless of whether the normal-use controller 110 is in an active state or not.

[0048] The signal content determination unit 1131 determines the content of the open permission signal to be used by the control unit 1132 based on the content of the open permission signal recognized by the CPU 113, the content of the open permission signal recognized by the standby controller 120, and the content of the open permission signal recognized by other DCMs 100.

[0049] The control unit 1132 controls the drive device 115 to perform control related to the opening and closing operation of the door 20. Specifically, the control unit 1132 performs sequence control related to the opening and closing operation of the door 20 in response to a control signal from the outside and a stop signal, an open command, a close command, and the like from the vehicle control device 10. In addition, the control unit 1132 performs sequence control related to the opening and closing operation of the door 20 while grasping the open / closed state of the door 20, the position in the opening and closing direction, and whether or not it is locked, based on the outputs of an encoder, a DCS (Door Close Switch), a DLS (Door Lock Switch), and the like (not shown).

[0050] The functions of the standby controller 120 may be realized by any hardware or any combination of hardware and software, etc. For example, the standby controller 120 includes an auxiliary storage device 121, a memory device 122, a CPU 123, an interface device 124, and a drive device 125.

[0051] The auxiliary storage device 121 is, for example, a non-volatile storage means such as a ROM, and stores various installed programs as well as data necessary for various processes.

[0052] The memory device 122 is, for example, a volatile storage means such as a RAM, and when an instruction to start a program is received, reads out the program from the auxiliary storage device 121 and stores it.

[0053] The CPU 123 executes various programs loaded from the auxiliary storage device 121 to the memory device 122, and realizes various functions related to the opening and closing operation of the door 20 in accordance with the programs. The CPU 123 includes a signal content determination unit 1231 and a control unit 1232 as functional units realized by executing the programs loaded from the auxiliary storage device 121 to the memory device 122.

[0054] The interface device 124 is used for inputting and outputting signals, data, etc. from and to the outside. The interface device 124 includes a photocoupler 124A and a communication interface 124B.

[0055] Photocoupler 124A is connected to signal line 35 or signal line 45, receives a signal (open permission signal) transmitted by signal line 35 or signal line 45, and outputs the received signal in an electrically insulated state to CPU 123. This is because the voltage of the on signal of signal lines 35 and 45 is much higher than the drive voltage of DCM 100.

[0056] The communication interface 124B is connected to the communication line 55, and receives commands and the like from the vehicle control device 10 transmitted through the transmission device 50, and transmits data indicating the state of the normal system controller (hereinafter, "status data") to the vehicle control device 10 through the transmission device 50 under the control of the CPU 123. The status data may be transmitted to the vehicle control device 10 as a response to a command received from the vehicle control device 10, or may be transmitted to the vehicle control device 10 at predetermined intervals, for example.

[0057] The CPU 123 recognizes the contents of the open permission signal (on state or off state) from the signal captured from the photocoupler 124A. The CPU 123 also transmits the contents of the open / close signal recognized by itself to the normal system controller 110 (CPU 113). The CPU 123 also captures the contents of the open permission signal recognized by the normal system controller 110 (CPU 113) from the normal system controller 110. At this time, the CPU 123 may transmit the contents of the open permission signal recognized by itself to the normal system controller 110 through a communication path inside the DCM 100, or may receive the contents of the open permission signal recognized by the normal system controller 110 from the normal system controller 110. The CPU 123 may also control the communication interface 124B to transmit the contents of the open permission signal recognized by itself to the normal system controller 110 through the communication line 55, or may receive the contents of the open permission signal recognized by the normal system controller 110 from the normal system controller 110. Furthermore, the CPU 123 controls the communication interface 124B to transmit status data including the contents of the open permission signal recognized by itself to the vehicle control device 10 through the communication line 55 and the transmission device 50. The CPU 123 may transmit the status data to the vehicle control device 10 only when the standby controller 120 is in an active state in which it controls the opening and closing operation of the door 20, or may transmit the status data regardless of whether the standby controller 120 is in an active state or not. The CPU 123 also receives (intercepts) the status data of the other DCM 100 transmitted through the communication line 55 through the communication interface 124B. This allows the CPU 123 to obtain the contents of the open permission signal recognized by the other DCM 100 (the CPU 113 of the regular controller 110 or the CPU 123 of the standby controller 120).

[0058] The drive device 125 uses power supplied from a predetermined power source to drive an actuator related to the opening and closing operation of the door 20. The drive device 125 includes a motor drive device that drives the motor 22 and a solenoid drive device that drives the solenoid 24.

[0059] The drive device 125 (motor drive device) drives the motor 22 to open and close the door 20.

[0060] The drive device 125 (solenoid drive device) can lock the door 20 by energizing a locking solenoid. The drive device 125 (solenoid drive device) can unlock the door 20 by energizing an unlocking solenoid.

[0061] The signal content determination unit 1231 determines the content of the control signal used by the control unit 1232 for control related to the opening and closing operation of the door 20. The signal content determination unit 1231 may determine the content of the control signal used by the control unit 1232 only when the standby controller 120 is in an active state, or may execute the process regardless of whether the standby controller 120 is in an active state or not.

[0062] The signal content determination unit 1231 determines the content of the open permission signal to be used by the control unit 1232 based on the content of the open permission signal recognized by the CPU 123, the content of the open permission signal recognized by the normal system controller 110, and the content of the open permission signal recognized by other DCMs 100.

[0063] When an abnormality occurs in the control function of the normal controller 110 regarding the opening and closing operation of the door 20, the control unit 1232 controls the drive unit 125 to control the opening and closing operation of the door 20. Specifically, the control unit 1232 performs sequence control regarding the opening and closing operation of the door 20 in response to a control signal from the outside and a stop signal, an open command, a close command, and the like from the vehicle control device 10. In addition, the control unit 1232 performs sequence control regarding the opening and closing operation of the door 20 while grasping the opening and closing state of the door 20, the position in the opening and closing direction, and whether or not it is locked, based on the outputs of an encoder, DCS, DLS, and the like (not shown).

[0064] The output switching circuit 130 is provided between the normal system controller 110 (drive device 115) and the standby system controller 120 (drive device 125) and actuators (e.g., the motor 22, the solenoid 24) related to the opening and closing operation of the door 20. The output switching circuit 130 switches between a state in which the normal system controller 110 (drive device 115) and the actuators related to the opening and closing operation of the door 20 are connected and a state in which the standby system controller 120 (drive device 125) and the actuators related to the opening and closing operation of the door 20 are connected.

[0065] Specifically, when the control function of the normal controller 110 regarding the opening and closing operation of the door 20 is normal, the output switching circuit 130 maintains a state in which the normal controller 110 (drive device 115) and the actuator regarding the opening and closing operation of the door 20 are connected. As a result, the normal controller 110 (drive device 115) can supply an output current to the actuator regarding the opening and closing operation of the door 20 through the output switching circuit 130, and realize the opening and closing operation of the door 20. On the other hand, when an abnormality occurs in the control function of the normal controller 110 regarding the opening and closing operation of the door 20, the output switching circuit 130 switches to a state in which the standby controller 120 (drive device 125) and the actuator regarding the abnormality of the door 20 are connected. As a result, when the normal controller 110 is abnormal, the standby controller 120 can supply an output current to the actuator regarding the opening and closing operation of the door 20 through the output switching circuit 130, and realize the opening and closing operation of the door 20.

[0066] [An example of signal content determination processing] Next, an example of a process (hereinafter, "signal content determination process") for determining the content of a control signal (open permission signal) used to control the door 20 by the DCM 100 (signal content determination units 1131, 1231) will be described with reference to FIG.

[0067] 3 is a flowchart showing an example of a signal content determination process by the DCM 100 (signal content determination unit 1131 of the normal system controller 110). This flowchart is executed repeatedly at predetermined intervals while the DCM 100 is in operation, for example. This flowchart may also be executed when an open command is received from the vehicle control device 10. The same may be true for the flowcharts in FIGS. 4 and 6 described below.

[0068] 3, except that in step S102, it is determined whether or not the recognition content of the open permission signal has been acquired from the active system controller 110. Therefore, in this example, the signal content determination process by the active system controller 110 (signal content determination unit 1131) will be representatively described.

[0069] As shown in FIG. 3, in step S102, the signal content determination unit 1131 determines whether or not the recognized content of the open permission signal has been acquired from each of the standby controller 120 and the specific other DCM 100.

[0070] The specific other DCM 100 is selected from the DCM 100 on the same side as the DCM 100 including the target normal system controller 110 of this flowchart among the left and right DCMs 100. That is, the specific other DCM 100 is selected from the other DCMs 100 to which the same open permission signal is input simultaneously through the same one of the signal lines 35 and 45. For example, the specific other DCM 100 is the DCM 100 corresponding to the specific door 20 adjacent to the door 20 corresponding to the DCM 100 including the target normal system controller 110 of this flowchart in the same vehicle 1X and on the same side, either before or after the door 20. Also, the specific other DCM 100 may be selected from the DCM 100 on the same side of the other vehicle 1X, so long as it is the other DCM 100 on the same side as the DCM 100 including the target normal system controller 110 of this flowchart. In this case, the status data of the specific other DCM 100 of the other vehicle 1X may be transmitted, for example, from the vehicle control device 10 to the transmission device 50 and taken into the utility controller 110 that is the subject of this flowchart via the communication line 55.

[0071] The signal content determination unit 1131 proceeds to step S104 if the latest recognized content of the open permission signal has not been obtained from at least one of the standby controller 120 and the specific other DCM 100. On the other hand, if the signal content determination unit 1131 has been able to obtain the latest recognized content of the open permission signal from each of the standby controller 120 and the specific other DCM 100, the signal content determination unit 1131 proceeds to step S106.

[0072] In step S104, the signal content determination unit 1131 determines the content of the open permission signal used by the control unit 1132 to control the opening and closing operation of the door 20 to the content recognized by itself (the CPU 113 of the normal system controller 110). This is because if the recognized content of the open permission signal cannot be obtained from at least one of the standby system controller 120 and a specific other DCM 100, the majority vote in step S106 cannot be performed.

[0073] When the process of step S104 is completed, the CPU 113 ends the process of this flowchart.

[0074] On the other hand, in step S106, the signal content determination unit 1131 performs a majority vote on the recognized contents of the open permission signal by the active controller 110, the standby controller 120, and the specific other DCM 110.

[0075] When the process of step S104 is completed, the CPU 113 proceeds to step S106.

[0076] In step S108, the signal content determination unit 1131 determines whether or not the majority recognizes the open permission signal as being in the ON state as a result of the processing in step S106. If the majority recognizes the open permission signal as being in the ON state, the signal content determination unit 1131 proceeds to step S110, and if the majority does not recognize the open permission signal as being in the ON state, the signal content determination unit 1131 proceeds to step S112.

[0077] In step S110, the signal content determining unit 1131 determines the content of the open permission signal used by the control unit 1132 for controlling the opening and closing operation of the door 20 to be in the ON state.

[0078] When the process of step S110 is completed, the CPU 113 ends the process of this flowchart.

[0079] On the other hand, in step S112, the signal content determining unit 1131 determines the content of the open permission signal used by the control unit 1132 for the control unit related to the opening and closing operation of the door 20 to be in the OFF state.

[0080] When the process of step S112 is completed, the CPU 113 ends the process of this flowchart.

[0081] Thus, in this example, the regular controller 110 controls the opening and closing operation of the door 20 based on the contents of the control signal recognized by itself, the contents of the control signal recognized by the standby controller 120, and the contents of the control signal recognized by the specific other DCM 100. Specifically, the regular controller 110 compares the contents of the control signal recognized by itself, the standby controller 120, and the specific other DCM 100, and determines the contents of the control signal to be used for controlling the door 20 by majority vote.

[0082] As a result, even if, for example, an abnormality occurs in the photocoupler 114A and the CPU 113 cannot accurately recognize the contents of the control signal, the DCM 100 can adopt the recognition results by the standby controller 120 and the other DCMs 100. Therefore, for example, in a situation where an abnormality occurs only in the photocoupler 114A but there is no problem with other functions, the DCM 100 can maintain redundancy of the control system related to the opening and closing operation of the door 20. Therefore, the DCM 100 can suppress a decrease in the availability of the redundant control system of the railway vehicle 1.

[0083] Only when there is a difference in the contents of the open permission signal recognized by the active system controller 110 (CPU 113) and the standby system controller 120 (CPU 123), the signal content determination unit 1131 may check the recognized contents of the open permission signal of a specific other DCM 100. In this case, when the recognized contents of the open permission signal recognized by the active system controller 110 (CPU 113) and the standby system controller 120 (CPU 123) match, the signal content determination unit 1131 determines the recognized contents as the contents of the open permission signal to be used by the control unit 1132 as is.

[0084] [Another example of signal content determination processing] Next, another example of the signal content determination process by the DCM 100 (signal content determination units 1131, 1231) will be described with reference to FIG.

[0085] FIG. 4 is a flowchart showing another example of the signal content determination process by the DCM 100 (the signal content determination unit 1131 of the normal system controller 110).

[0086] 4, except that in step S202, it is determined whether or not the recognition content of the open permission signal has been acquired from the active system controller 110. Therefore, in this example, the signal content determination process by the active system controller 110 (signal content determination unit 1131) will be representatively described.

[0087] As shown in FIG. 4, steps S202 to S212 are the same as the processes in steps S102 to S112 in FIG. 3, and therefore detailed description thereof will be omitted.

[0088] When the process of step S210 or step S212 is completed, the CPU 113 proceeds to step S214.

[0089] In step S214, the signal content determination unit 1131 determines whether or not the content of the open permission signal recognized by itself (CPU 113) is the same as the content of the open permission signal used by the control unit 1132. If the content of both signals is not the same, the signal content determination unit 1131 proceeds to step S216, and if the content is the same, ends the processing of this flowchart.

[0090] In step S216, the signal content determination unit 1131 records information indicating an abnormality in the input unit (photocoupler 114A) of the open permission signal in a predetermined storage unit. This is because there is a high possibility that the normal system controller 110 was unable to receive the appropriate content of the open permission signal through the photocoupler 114A. As a result, for example, a person in charge of maintenance of the railway vehicle 1 can recognize the abnormality of the photocoupler 114A by checking the recorded content of the predetermined storage unit in a predetermined manner after the fact, and can utilize the information for maintenance of the railway vehicle 1. The predetermined storage unit to which the information is recorded may be, for example, an internal storage unit of the DCM 100 such as the auxiliary storage unit 111 of the normal system controller 110, or an external storage unit of the DCM 100 such as an internal memory of the vehicle control device 10. In the latter case, the signal content determination unit 1131 may transmit information indicating an abnormality in the signal input unit (photocoupler 114A) from the communication interface 114B through the communication line 55 and the transmission device 50 to an external storage unit such as the vehicle control device 10, and cause the information to be recorded in the external storage unit.

[0091] When the process of step S216 is completed, the CPU 113 ends the process of this flowchart.

[0092] Thus, in this example, the normal system controller 110 diagnoses whether or not there is an abnormality in itself, specifically, in the signal input section (photocoupler 114A), based on the contents of the control signal recognized by itself and the contents of the control signal used for the opening and closing operation of the door 20.

[0093] This allows the normal system controller 110 to determine the content of the control signal and also to diagnose whether or not there is an abnormality in its own signal input section (photocoupler 114A).

[0094] [Another example of door control system configuration] Next, another example of the control system for the door 20 will be described with reference to Fig. 5. Below, the description will be centered on the parts that are different from the above example (Fig. 2), and the description of the same or corresponding configurations as the above example may be omitted.

[0095] FIG. 5 is a diagram showing another example of the configuration of the control system for the door 20. In FIG.

[0096] As shown in FIG. 5, the DCM 100 includes a regular system controller 110, a standby system controller 120, and an output switching circuit 130, similar to the above-mentioned example.

[0097] The utility controller 110 includes an auxiliary storage device 111, a memory device 112, a CPU 113, an interface device 114, and a drive device 115, as in the above example.

[0098] As in the above example, the CPU 113 includes a signal content determination section 1131 and a control section 1132 as functional sections realized by executing a program loaded from the auxiliary storage device 111 to the memory device 112 .

[0099] Unlike the above-mentioned example, the signal content determining section 1131 includes majority processing sections 1131A and 1131B.

[0100] The majority decision processor 1131A performs a majority decision on the recognition contents of the control signals (open permission signals) by each of the other DCMs 100 on the same side of the right and left sides, which are received via the communication line 55 by the communication interface 114B.

[0101] The majority processing unit 1131B performs majority voting on the recognition contents of the control signal by the active controller 110, the recognition contents of the control signal by the standby controller 120, and the recognition contents of the control signal corresponding to the result of the majority voting by the majority processing unit 1131A.

[0102] As in the above example, the standby controller 120 includes an auxiliary storage device 121, a memory device 122, a CPU 123, an interface device 124, and a drive device 125.

[0103] As in the above example, the CPU 123 includes a signal content determination section 1231 and a control section 1232 as functional sections realized by executing a program loaded from the auxiliary storage device 121 to the memory device 122 .

[0104] Unlike the above-mentioned example, the signal content determining section 1231 includes majority processing sections 1231A and 1231B.

[0105] The majority decision processor 1231A performs a majority decision on the recognition contents of the control signals (open permission signals) by each of the other DCMs 100 on the same side of the right and left sides, which are received via the communication line 55 by the communication interface 124B.

[0106] The majority processing unit 1231B performs majority voting on the recognition contents of the control signal by the active system controller 110, the recognition contents of the control signal by the standby system controller 120, and the recognition contents of the control signal corresponding to the result of the majority voting by the majority processing unit 1231A.

[0107] [Yet another example of signal content determination processing] Next, still another example of the signal content determination process by the DCM 100 (signal content determination units 1131, 1231) will be described with reference to FIG.

[0108] FIG. 6 is a flowchart showing an outline of still another example of the signal content determination process by the DCM 100 (the signal content determination unit 1131 of the normal system controller 110).

[0109] 6, except that in step S302, it is determined whether or not the recognition content of the open permission signal has been acquired from the active system controller 110. Therefore, in this example, the signal content determination process by the active system controller 110 (signal content determination unit 1131) will be representatively described.

[0110] 6, in step S302, the signal content determination unit 1131 judges whether or not the recognition content of the open permission signal has been acquired from the standby controller 120. If the signal content determination unit 1131 has acquired the latest recognition content of the open permission signal from the standby controller 120, the process proceeds to step S304, and if not, the process proceeds to step S310.

[0111] In step S304, signal content determination section 1131 determines whether or not it has been possible to acquire the recognized content of the open permission signal from at least some of the other DCMs 100 on the same side as the target DCM 100 of this flowchart.

[0112] The multiple other DCMs 100 are, for example, multiple other DCMs 100 corresponding to multiple other doors 20 on the same side of the vehicle 1X as the door 20 corresponding to the DCM 100 including the target normal controller 110 of this flowchart. Also, the multiple other DCMs 100 may include, for example, other DCMs 100 corresponding to doors 20 on the same side of the vehicle 1X different from the door 20 corresponding to the DCM 100 including the target normal controller 110 of this flowchart.

[0113] If the signal content determination unit 1131 has obtained the recognition content of the open permission signal from at least some of the multiple other DCMs 100, it proceeds to step S306, and if it has not obtained the recognition content of the open permission signal from all of the multiple other DCMs 100, it proceeds to step S310.

[0114] In step S306, signal content determination section 1131 (majority vote processing section 1131A) performs a majority vote on the recognized content of each of the open permission signals of the multiple other DCMs 100.

[0115] In addition, when the recognized contents of the open permission signal are obtained from both the active controller 110 and the standby controller 120 of the same other DCM 100, the signal content determination unit 1131 may perform a majority vote by treating the recognized contents of both open permission signals as separate recognized contents. In addition, when the recognized contents of both open permission signals are the same, the signal content determination unit 1131 may integrate the recognized contents of the open permission signal of the other DCM 100 into one, and perform a majority vote by using the integrated result. In addition, when there is a difference between the recognized contents of both open permission signals, the signal content determination unit 1131 may set the recognized contents of the open permission signal of one of the active controller 110 and the standby controller 120 of the other DCM 100 in the active state as the recognized contents of the open permission signal of the other DCM 100. In addition, when the recognized contents of the open permission signal are obtained only from one other DCM 100 among the multiple other DCMs 100, the majority vote processing unit 1131A may output the recognized contents already acquired from one other DCM 100 as the result of the majority vote.

[0116] When the process of step S306 is completed, CPU 113 proceeds to step S308.

[0117] In step S308, the signal content determination unit 1131 judges whether the result of the majority decision by the majority decision processing unit 1131A is that the number of ONs and OFFs is the same. If the result of the majority decision is that the number of ONs and OFFs is the same, the signal content determination unit 1131 proceeds to step S310, and if the number is not the same, the signal content determination unit 1131 proceeds to step S312.

[0118] In step S308, it may be determined whether the result of the majority decision by the majority decision processing unit 1131A is an equal number or a small difference between on and off. A small difference means that the difference between on and off as the recognition content of the open permission signal is equal to or less than a relatively small predetermined threshold (e.g., "1"). In this case, if the result of the majority decision is an equal number or a small difference between on and off, the signal content determination unit 1131 proceeds to step S310, and if the result of the majority decision is neither an equal number nor a small difference between on and off, the signal content determination unit 1131 proceeds to step S312. Also, if the recognition content of the open permission signal is obtained from only one other DCM 100 among the multiple other DCMs 100, the result of the majority decision by the majority decision processing unit 1131A may correspond to a small difference.

[0119] In step S310, the signal content determination unit 1131 determines the content of the open permission signal that the control unit 1132 uses to control the opening and closing operation of the door 20 to be the content recognized by itself (the CPU 113 of the normal system controller 110). This is because the majority vote in step S312 cannot be performed if the recognized content of the open permission signal cannot be obtained from the standby system controller 120 or all of the other DCMs 100. The same applies when the majority vote results in a tie or a close difference in the recognized content of the open permission signal among the other DCMs 100.

[0120] On the other hand, in step S312, the signal content determination unit 1131 (majority voting processing unit 1131B) makes a majority vote on the recognized content of the open permission signal by the normal system controller 110, the recognized content of the open permission signal by the standby system controller 120, and the recognized content of the open permission signal as a result of the majority vote of the majority voting processing unit 1131A.

[0121] When the process of step S312 is completed, CPU 113 proceeds to step S314.

[0122] In step S314, the signal content determination unit 1131 determines whether or not the majority recognizes the open permission signal as being in the ON state as a result of the processing in step S312. If the majority recognizes the open permission signal as being in the ON state, the signal content determination unit 1131 proceeds to step S316, and if the majority does not recognize the open permission signal as being in the ON state, the signal content determination unit 1131 proceeds to step S318.

[0123] In step S316, the signal content determining unit 1131 determines the content of the open permission signal used by the control unit 1132 for controlling the opening and closing operation of the door 20 to be in the ON state.

[0124] When the process of step S316 is completed, the CPU 113 ends the process of this flowchart.

[0125] On the other hand, in step S318, the signal content determining unit 1131 determines the content of the open permission signal used by the control unit 1132 for the control unit related to the opening and closing operation of the door 20 to be in the OFF state.

[0126] When the process of step S318 is completed, the CPU 113 ends the process of this flowchart.

[0127] After step S316 or step S318 is completed, the same processes as steps S214 and S216 in Fig. 4 may be performed, whereby the utility controller 110 achieves the same effects as in the other example (Fig. 4) described above.

[0128] Thus, in this example, the regular controller 110 controls the opening and closing operation of the door 20 based on the contents of the control signal recognized by itself, the contents of the control signal recognized by the standby controller 120, and the contents of the same control signal recognized by the other DCMs 100. Specifically, the regular controller 110 compares the recognized contents of the control signal recognized by itself, the recognized contents of the control signal recognized by the standby controller 120, and the results of a majority vote of the recognized contents of each of the other DCMs 100, and determines the contents of the control signal to be used to control the door 20 by majority vote.

[0129] As a result, the DCM 100 achieves the same effects and advantages as the above-mentioned example (FIG. 3) and other example (FIG. 4). In addition, since the recognition contents of the control signal by each of the multiple other DCMs 100 can be used, the DCM 100 can further increase the reliability of the control signal used to control the door 20, and can control the door 20 more appropriately.

[0130] As in the above-mentioned example (FIG. 3) and other examples (FIG. 4), the signal content determination unit 1131 may perform a majority vote on the recognized contents of the open permission signals of the multiple other DCMs 100 only when there is a difference in the recognized contents of the open permission signals by the active controller 110 and the standby controller 120. Also, instead of performing two majority votes, the signal content determination unit 1131 may perform a majority vote only once on the recognized contents of the same open permission signals by each of the active controller 110, the standby controller 120, and the multiple other DCMs 100, and determine the contents of the open permission signal to be used by the control unit 1132. Also, the signal content determination unit 1131 may assign importance to each of the recognized contents of the open permission signals of the active controller 110, the standby controller 120, and the other DCMs 100. Then, the signal content determination unit 1131 may determine the contents of the open permission signal to be used by the control unit 1132 based on the sum of the importance of on and off as the recognized contents of the open permission signal.

[0131] [Effect] Next, the operation of the DCM 100 according to this embodiment will be described.

[0132] For example, in the case of a conventional door control device for a railcar, even if there is no abnormality in the function related to the control of the normal door system, if a problem occurs in the function of an input unit that receives a signal input from the outside, it may be determined that there is an abnormality in the normal system and the system may be switched to the standby system. This may reduce the availability of the door control system. Furthermore, if the redundancy of the door control system is lost due to switching to the standby system, the railcar may need to be taken to a garage for inspection. This may reduce the availability of the railcar.

[0133] In contrast, in this embodiment, the DCM 100 includes a service controller 110 and a standby controller 120. Specifically, the service controller 110 controls the operation of the first door 20 of the railway vehicle 1 based on a control signal input from the outside to the DCM 100 and the other DCMs 100 at the same time. The standby controller 120 is configured to be able to control the operation of the first door 20 of the railway vehicle 1 based on the above-mentioned control signal input from the outside. The service controller 110 is configured to be able to communicate with the standby controller 120 and the other DCMs 100 that control the other doors 20 of the railway vehicle 1 based on the same control signal input from the outside. The service controller 110 controls the operation of the first door 20 based on the content of the control signal recognized by itself, the content of the control signal recognized by the standby controller 120 acquired from the standby controller 120, and the content of the control signal recognized by the other DCMs 100 acquired from the other DCMs 100.

[0134] As a result, even if, for example, an abnormality occurs in the photocoupler 114A and the CPU 113 cannot accurately recognize the contents of the control signal, the DCM 100 can use the contents recognized by the standby controller 120 and the other DCMs 100. Therefore, for example, in a situation where an abnormality occurs only in the photocoupler 114A but there is no problem with other functions, the DCM 100 can use the contents recognized by the standby controller 120 and the other DCMs 100 to increase the availability of the control system related to the opening and closing operations of the door 20. As a result, since the redundancy of the control system related to the opening and closing operations of the door 20 can be maintained, the DCM 100 can increase the availability of the redundant railway car 1.

[0135] In addition, in this embodiment, the regular system controller 110 may control the operation of one door 20 based on the content of the control signal recognized by itself, the content of the control signal recognized by the standby system controller 120, and the content of the control signal recognized by a specific other DCM 100.

[0136] As a result, the DCM 100 can increase the availability of the control system relating to the opening and closing operation of the door 20, specifically, by utilizing the recognized contents of the control signals of the standby controller 120 and certain other DCMs 100.

[0137] In addition, in this embodiment, the regular controller 110 may compare the content of the control signal recognized by itself, the content of the control signal recognized by the standby controller 120, and the content of the control signal recognized by a specific other DCM 100, and determine by majority vote the content of the control signal to be used to control the operation of one of the doors 20.

[0138] This allows the DCM 100 to specifically determine the content of the control signal used to control the operation of the door 20, and to control the opening and closing operation of the door 20 based on the control signal.

[0139] In addition, in this embodiment, the regular system controller 110 may control the operation of one door 20 based on the contents of the control signal recognized by itself, the contents of the control signal recognized by the standby system controller 120, and the contents of the control signal recognized by each of multiple other DCMs 100.

[0140] This allows the DCM 100 to utilize the recognition contents of the control signals of the standby controller 120 and the multiple other DCMs 100. Therefore, the DCM 100 can more appropriately increase the availability of the control system related to the opening and closing operation of the door 20.

[0141] In addition, in this embodiment, the regular system controller 110 compares the contents of the control signal recognized by each of the multiple other DCMs 100 and takes a majority vote, and also compares the results of the majority vote between the contents of the control signal recognized by itself, the contents of the control signal recognized by the standby system controller 120, and the contents of the control signal recognized by each of the multiple other DCMs 100, and may determine the contents of the control signal to be used to control the operation of one of the doors 20 by majority vote.

[0142] This makes it possible to specifically determine the content of the control signal used to control the operation of the door 20, and to control the opening and closing operation of the door 20 based on the control signal.

[0143] In addition, in this embodiment, if the regular system controller 110 cannot obtain from a specific other DCM 100 the content of the control signal recognized by the specific other DCM 100, the regular system controller 110 may determine the content of the control signal recognized by itself as the content of the control signal to be used to control the operation of one door 20.

[0144] This allows the DCM 100 to continue control of the opening and closing operation of the door 20 by the regular controller 110 even if the DCM 100 is unable to acquire the recognized contents of the control signal from a specific other DCM 100.

[0145] Furthermore, in this embodiment, if the common system controller 110 is unable to obtain the contents of the control signal recognized by each of the multiple other DCMs 100 from all of the multiple other DCMs 100, or if the majority vote on the contents of the DCMs 100 recognized by each of the multiple other DCMs 100 results in a tie or a close difference below a predetermined threshold, the common system controller 110 may determine the contents of the control signal recognized by itself as the contents of the control signal to be used to control the operation of one of the doors 20.

[0146] This allows the DCM 100 to continue control of the opening and closing operation of the door 20 by the normal system controller 110 even if it is unable to acquire the recognized contents of the control signal from all of the other DCMs 100. Furthermore, the DCM 100 can continue control of the opening and closing operation of the door 20 by the normal system controller 110 even if the majority vote on the recognized contents of the control signal from each of the other DCMs 100 is the same or has a small margin of difference.

[0147] In addition, in this embodiment, when the regular system controller 110 is unable to obtain from the standby system controller 120 the contents of the control signal recognized by the standby system controller 120, the regular system controller 110 may determine the contents of the control signal recognized by itself as the contents of the control signal for controlling the operation of one of the doors 20.

[0148] As a result, even if the DCM 100 is unable to acquire the recognized contents of the control signal from the standby controller 120, the DCM 100 can allow the normal controller 110 to continue control of the opening and closing operation of the door 20.

[0149] In addition, in this embodiment, the normal system controller 110 may diagnose whether or not there is an abnormality in itself based on the contents of the control signal recognized by itself and the contents of the control signal used to control the operation of one of the doors 20.

[0150] This allows the DCM 100 to diagnose whether or not there is an abnormality in the normal system controller 110 (specifically, the input section for the control signal, such as the photocoupler 114A) in addition to determining the content of the control signal that the normal system controller 110 uses to control the door 20.

[0151] In addition, in this embodiment, if the content of the control signal recognized by the normal system controller 110 does not match the content of the control signal used to control the operation of one of the doors 20, the normal system controller 110 may record information regarding its own abnormality in a specified memory unit.

[0152] As a result, the DCM 100 can, for example, make a person in charge of maintaining the railway vehicle 1 aware of the possibility of an abnormality in the input section of the control signal of the regular controller 110 through the information in a predetermined storage section. Therefore, the DCM 100 can improve the work efficiency of maintenance of the control system of the door 20.

[0153] Although the embodiments have been described in detail above, the present disclosure is not limited to such specific embodiments, and various modifications and variations are possible within the scope of the gist described in the claims. [Explanation of symbols]

[0154] 1. Railway vehicles Cars 1A~1C 10 Vehicle control device 20 Doors 22 Motor 24 Solenoid 30A, 30B Switch 35 Signal Line 40A, 40B Switch 45 Signal Line 50 Transmission Equipment 55 Communication Line 100 DCM (control unit) 110 Normal system controller (first control unit) 111 Auxiliary storage 112 Memory device 113 CPU 114 Interface Device 114A Photocoupler 114B Communication Interface 115 Drive unit 120 Standby controller (second control unit) 121 Auxiliary storage 122 Memory Device 123 CPU 124 Interface Device 124A Photocoupler 124B Communication Interface 125 Drive Unit 130 Output switching circuit 1131 Signal Content Determination Unit 1131A Majority voting unit 1131B Majority voting processing unit 1132 Control section 1231 Signal Content Determination Unit 1231A Majority voting processing unit 1231B Majority voting processing unit 1232 Control section

Claims

1. A diagnostic method executed by a control device comprising: a first control unit that controls an operation of one door of a railway vehicle based on a control signal input from an outside to the control device and another control device at the same time; and a second control unit that can control the operation of the one door of the railway vehicle based on the control signal input from an outside, the first control unit being configured to be able to communicate with the second control unit and the other control device that controls another door of the railway vehicle based on the same control signal input from the outside, the first control unit compares the contents of the control signal recognized by itself, the contents of the control signal recognized by the second control unit obtained from the second control unit, and the contents of the control signal recognized by the specific other control unit obtained from the specific other control unit, and performs a majority vote; and diagnoses the presence or absence of an abnormality in itself by comparing the contents of the control signal recognized by the majority of the majority vote with the contents of the control signal recognized by itself. Diagnostic methods.

2. A diagnostic method executed by a control device comprising: a first control unit that controls an operation of one door of a railway vehicle based on a control signal input from an outside to the control device and another control device at the same time; and a second control unit that can control the operation of the one door of the railway vehicle based on the control signal input from an outside, the first control unit being configured to be able to communicate with the second control unit and the other control device that controls another door of the railway vehicle based on the same control signal input from the outside, the first control unit compares the contents of the control signals recognized by each of the other control devices, which are acquired from the other control devices, and takes a majority vote; and compares the majority vote results between the contents of the control signals recognized by itself, the contents of the control signals recognized by the second control unit, which are acquired from the second control unit, and the contents of the control signals recognized by each of the other control devices, and diagnoses the presence or absence of an abnormality in itself based on the majority vote. Diagnostic methods.

3. A diagnostic method executed by a control device comprising: a first control unit that controls an operation of one door of a railway vehicle based on a control signal input from an outside to the control device and another control device at the same time; and a second control unit that can control the operation of the one door of the railway vehicle based on the control signal input from an outside, the first control unit being configured to be able to communicate with the second control unit and the other control device that controls another door of the railway vehicle based on the same control signal input from the outside, the first control unit assigns importance to each of the contents of the control signal recognized by itself, the contents of the control signal recognized by the second control unit, and the contents of the control signal recognized by the other control device, and determines the contents of the control signal to be used for controlling the one door based on the sum of the importance of the first contents and the second contents assumed as the recognized contents of the control signal, and diagnoses the presence or absence of an abnormality in itself by comparing the determined contents of the control signal with the contents of the control signal recognized by itself; Diagnostic methods.

4. A diagnostic method executed by a control device comprising: a first control unit that controls the operation of one door of a railway vehicle based on a control signal input from outside to a control device and another control device simultaneously; and a second control unit capable of controlling the operation of one door of the railway vehicle based on the control signal input from outside, wherein the first control unit is configured to be able to communicate with the second control unit and the other control device that controls another door of the railway vehicle based on the same control signal input from outside, comparing the contents of the control signals recognized by each of the plurality of other control devices and acquired from the plurality of other control devices, and taking a majority vote; and comparing the majority vote results of the contents of the control signals recognized by the first control unit, the contents of the control signals recognized by the second control unit, and the contents of the control signals recognized by each of the plurality of other control devices, and diagnosing the presence or absence of an abnormality in at least one of the first control unit and the second control unit based on the majority vote. Diagnostic methods.

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