Diagnosis system and diagnosis method for an opening / closing device

Abstract

To diagnose the soundness of an opening / closing device with little influence on an operation state and with excellent reliability.SOLUTION: A diagnostic system diagnoses the soundness of an opening / closing device that can be opened / closed by driving a motor. A driving current acquisition part acquires a driving current of the motor. A diagnosis part specifies a current waveform by a time change in the driving current acquired by the driving current acquisition part, and diagnoses the soundness of the opening / closing device on the basis of the current waveform.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a diagnosis system and a diagnosis method for an opening / closing device.

Background Art

[0002] In platforms of transportation means such as buses, railways, and trams, an opening / closing device such as a platform door for restricting entry into a predetermined area where a vehicle enters may be installed (for example, Patent Document 1). This type of opening / closing device is being introduced as an element of a new transportation system that uses new technologies different from conventional transportation means such as staff-reduced operation and unmanned operation.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Since the opening / closing device performs opening and closing operations in response to the passage of vehicles, its operation rate is high, and the failure rate tends to be relatively high among the components of the new transportation system. Malfunctions of the opening / closing device may affect not only the opening / closing device itself but also the business operation of the entire new transportation system. It is preferable to prevent such malfunctions by performing maintenance work such as inspections and component replacements at predetermined timings. However, there are limitations to the manpower of workers, and since conventional maintenance implementation involves business interruptions, it is difficult to perform it frequently.

[0005] At least one embodiment of the present disclosure has been made in view of the above circumstances, and an object thereof is to provide a diagnosis system and a diagnosis method for an opening / closing device that have little impact on the operation state of the opening / closing device and can diagnose soundness with good reliability.

Means for Solving the Problems

[0006] A diagnostic system for an opening / closing device according to at least one embodiment of the present disclosure solves the above problems by being a diagnostic system for an opening / closing device that can be opened and closed by driving a motor, a drive current acquisition unit that acquires a drive current of the motor, and a diagnostic unit that diagnoses the soundness of the opening / closing device based on a current waveform specified by a temporal change of the drive current acquired by the drive current acquisition unit. The diagnostic system includes the above components.

[0007] A diagnostic method for an opening / closing device according to at least one embodiment of the present disclosure solves the above problems by being a diagnostic method for an opening / closing device that can be opened and closed by driving a motor, including a step of acquiring a drive current of the motor, and a step of diagnosing the soundness of the opening / closing device based on a current waveform specified by a temporal change of the drive current. The diagnostic method includes the above steps.

Advantages of the Invention

[0008] According to at least one embodiment of the present disclosure, it is possible to provide a diagnostic system and a diagnostic method for an opening / closing device that have little influence on the operating state of the opening / closing device and can diagnose soundness with good reliability.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5A

Figure 5B

Figure 6

Figure 7

Figure 8

Mode for Carrying Out the Invention

[0010] Hereinafter, some embodiments of the present invention will be described with reference to the accompanying drawings. However, the dimensions, materials, shapes, relative arrangements, etc. of the components described as embodiments or shown in the drawings are not intended to limit the scope of the present invention thereto, but are merely illustrative examples. For example, expressions representing relative or absolute arrangements such as "in a certain direction", "along a certain direction", "parallel", "orthogonal", "center", "concentric", or "coaxial" not only strictly represent such arrangements, but also represent a state of relative displacement with tolerances or at an angle or distance such that the same function can be obtained. For example, expressions representing a state where things such as "identical", "equal", and "homogeneous" are equal not only strictly represent an equal state, but also represent a state where there are tolerances or differences such that the same function can be obtained. For example, expressions representing shapes such as a rectangular shape or a cylindrical shape not only represent shapes such as a rectangular shape or a cylindrical shape in a geometrically strict sense, but also represent shapes including concave and convex portions, chamfered portions, etc. within a range where the same effect can be obtained. On the other hand, the expressions "comprising", "having", "including", or "possessing" one component are not exclusive expressions excluding the existence of other components.

[0011] First, the opening / closing device 1 that is the subject of diagnosis of the diagnostic system according to at least one embodiment of the present disclosure will be described. FIG. 1 is a schematic diagram schematically showing an example of the opening / closing device 1. In FIG. 1, the opening / closing device 1 standing on the floor surface 2 is shown from the side.

[0012] The opening / closing device 1 includes a pair of doors 6 that can be opened and closed along a rail 4 installed above the floor surface 2 and substantially parallel to the floor surface 2, a motor 8 that is a power source, and a power transmission mechanism 10 for transmitting the power of the motor 8 to the doors 6. The motor 8 is an electric motor that can output power by being driven by electric power supplied from a power source 5, and may be a DC motor that can be driven by DC power or an AC motor that can be driven by AC power.

[0013] The power output from the motor 8 is transmitted to the pair of doors 6 via the power transmission mechanism 10. The power transmission mechanism 10 includes a drive pulley 12 connected to the output shaft 8a of the motor 8, a driven pulley 14 disposed opposite to the drive pulley 12, and a belt member 16 that is an endless drive timing belt wound around the drive pulley 12 and the driven pulley 14. When the drive pulley 12 rotates by the power from the motor 8, the belt member 16 rotates accordingly, and the pair of doors 6 connected to the belt member 16 via connecting members 15a and 15b are driven. Specifically, one of the pair of doors 6 is connected above the belt member 16 via the connecting member 15a, and the other is connected below the belt member 16 via the connecting member 15b. When the belt member 16 rotates, the pair of doors 6 are driven in opposite directions to each other, and are configured to realize an opening / closing operation.

[0014] The opening / closing device 1 having such a configuration is configured to be able to restrict entry and exit between the regions partitioned by the opening / closing device 1 by controlling the pair of doors 6 to be in an open state or a closed state at a predetermined timing. Specifically, when the pair of doors 6 are in an open state, the regions partitioned by the opening / closing device 1 communicate with each other and entry and exit are permitted. On the other hand, when the pair of doors 6 are in a closed state, the regions partitioned by the opening / closing device 1 are isolated from each other and entry and exit are prohibited.

[0015] The opening and closing control of the pair of doors 6 is performed by a controller (not shown). Here, the details of the opening and closing control will be omitted. For example, when the opening and closing device 1 is a home door installed on the platform of a transportation vehicle, the opening and closing control is carried out in synchronization with the timing of the vehicle entering the platform. Incidentally, the opening and closing device 1 may be an interlocking type home door that is controlled to open and close in conjunction with the opening and closing timing of the vehicle-side door of the vehicle entering the platform, or may be a non-interlocking type home door that is controlled to open and close independently of the opening and closing timing of the vehicle-side door.

[0016] In addition, the opening and closing device 1 is provided with a drive current sensor 18 for detecting the drive current Id of the motor 8. The drive current sensor 18 is installed on the power supply circuit 11 that electrically connects the motor 8 and the power supply 5. The detection result (drive current Id) by the drive current sensor 18 is configured to be extractable externally as an electrical signal as described later. The drive current sensor 18 is, for example, a current transducer (CT: Current Transducer).

[0017] Incidentally, the opening and closing device 1 shown in FIG. 1 may be of a full-screen type that is provided from the floor surface 2 to the ceiling to completely separate the regions partitioned by the opening and closing device 1 from each other, or may be of a movable home fence type that is set to a height corresponding to the chest of a human to partially separate the regions partitioned by the opening and closing device 1 from each other.

[0018] Subsequently, a diagnostic system 100 for diagnosing the opening and closing device 1 having the above configuration will be described. FIG. 2 is an overall configuration diagram of the diagnostic system 100 according to at least one embodiment of the present disclosure.

[0019] The soundness diagnosis system 100 includes a first system 110 installed relatively close to the site (field) where the opening / closing device 1 to be diagnosed is located, and a second system 120 installed at a base station or the like geographically separated from the first system 110. The first system 110 and the second system 120 are configured to be able to transmit and receive various data to and from each other by being connected via a network 130. Specifically, the first system 110 and the second system 120 are configured to be able to communicate with each other via the network 130 using the first router 112 and the second router 122 as communication interfaces, respectively. Data transmission and reception by the first router 112 and the second router 122 are performed under predetermined conditions, as will be described later.

[0020] Note that the network 130 may be a wired network or a wireless network.

[0021] The first system 110 includes a drive current acquisition unit 114 (an example of the acquisition unit 114), an opening / closing count unit 116 (an example of the count unit 116), and a storage unit 118. The second system 120 includes a soundness diagnosis unit 124 (an example of the diagnosis unit 124), a maintenance timing prediction unit 126 (an example of the prediction unit 126), and a diagnosis result output unit 128 (an example of the output unit 128).

[0022] The drive current acquisition unit 114 acquires the drive current Id of the motor 8 by acquiring the detection signal of the drive current sensor 18 (see FIG. 1). The acquisition of the drive current Id by the drive current acquisition unit 114 is performed continuously in time. The drive current Id acquired by such a drive current acquisition unit 114 is stored in the storage unit 118 as a time change of the drive current Id by recording the magnitude of the drive current Id and the measurement time in association with each other. Note that the acquisition of the drive current Id by the drive current acquisition unit 114 is performed at intervals such that its time resolution is sufficiently small with respect to the current waveform described later.

[0023] The opening / closing count unit 116 counts the number of times the opening / closing operation of the pair of doors 6 of the opening / closing device 1 is performed. The pair of doors 6 is controlled to open and close by a controller (not shown) of the opening / closing device 1 as described above. The opening / closing count unit 116 counts the number of times the pair of doors 6 opens and closes, and stores the integrated value in the storage unit 118. The counting of the number of opening / closing times by the opening / closing count unit 116 may be performed by acquiring the measurement results of an opening / closing counter (not shown) installed on the pair of doors 6, or may be performed based on a control signal of a controller (not shown) of the opening / closing device 1. Incidentally, the number of opening / closing times stored in the storage unit 118 may be reset at a predetermined timing (for example, every regular inspection).

[0024] The storage unit 118 is a storage device capable of storing various data handled by the first system 110. The various data stored in the storage unit 118 includes the time change of the drive current Id acquired by the drive current acquisition unit 114 described above, and the number of opening / closing operations of the pair of doors 6 counted by the opening / closing count unit 116. These various data are stored in the storage unit 118 so as to be readable as appropriate.

[0025] The soundness diagnosis unit 124 diagnoses the soundness of the opening / closing device 1 based on various data acquired from the first system 110. The method of diagnosing the soundness by the soundness diagnosis unit 124 will be described later, but the diagnosis result is output from the diagnosis result output unit 128 in a predetermined format.

[0026] The maintenance timing prediction unit 126 predicts the maintenance timing of the opening / closing device 1 in consideration of the diagnosis result of the soundness diagnosis unit 124. The maintenance timing predicted by the maintenance timing prediction unit 126 is output together with the diagnosis result by the soundness diagnosis unit 124 described above at the diagnosis result output unit 128.

[0027] The diagnosis result output unit 128 outputs a diagnosis result regarding the soundness of the opening / closing device 1. This diagnosis result includes information regarding the soundness diagnosed by the soundness diagnosis unit 124 and the maintenance timing predicted by the maintenance timing prediction unit 126, and is output in a predetermined format. The diagnosis result output from the diagnosis result output unit 128 may be output on the second system 120 side, or may be output on the first system 110 side by being transmitted via the network 130.

[0028] Next, a diagnosis method implemented by the diagnosis system 100 having the above configuration will be described. FIG. 3 is a flowchart schematically showing the diagnosis method implemented by the diagnosis system 100 of FIG. 2.

[0029] The drive current acquisition unit 114 acquires the drive current Id of the motor 8 (step S100). The acquisition of the drive current Id in step S100 is performed by acquiring the output signal of the drive current sensor 18. Since the detection of the drive current Id by the drive current sensor 18 is continuously performed regardless of the operating state of the opening / closing device 1, the acquisition of the drive current Id by the drive current acquisition unit 114 can be performed without affecting the operating state of the opening / closing device 1.

[0030] Also, the acquisition of the drive current Id by the drive current acquisition unit 114 is continuously performed over time, and the acquisition result is stored in the storage unit 118 at any time as a time change of the drive current Id specified by associating the magnitude of the drive current Id with the acquisition time (step S101). The acquisition of the drive current Id by the drive current acquisition unit 114 is performed with a sufficiently small time resolution so that the current waveform used for diagnosis can be specified from the time change of the drive current Id.

[0031] Here, FIG. 4 shows an example of the time variation of the drive current Id acquired by the drive current acquisition unit 114. In FIG. 4, the time variation of the drive current Id for one cycle including one opening control period T1 during which the opening / closing device 1 is controlled to perform an opening operation and one closing control period T2 during which the opening / closing device 1 is controlled to perform a closing operation is shown. Note that at the end of the closing control period T2, the opening / closing device 1 returns to the same state as at the start of the opening control period T1, so that the opening control period T1 and the closing control period T2 are repeated for each cycle.

[0032] During the opening control period T1, at time t0 which is the initial state, the pair of doors 6 are in the fully closed state. The opening control period T1 includes an opening operation period T1a during which the pair of doors 6 are opened from time t0 to time t2, and an opening lock control period T1b during which the pair of doors 6 are maintained in the fully open state from time t2 to time t3. The opening operation period T1a further includes a first opening operation period T1a1 in which the motor 8 outputs the torque necessary to open the pair of doors 6 in the fully closed state from time t0 to time t1 towards the fully open state, and a second opening operation period T1a2 in which the pair of doors 6 are aligned with the fully open position which is the target position by moving at a slower speed than the first opening operation period T1a1. In the first opening operation period T1a1 and the second opening operation period T1a2, peaks P1 and P2 (<P1) of the drive current Id appear respectively so as to correspond to the opening operation of the pair of doors 6.

[0033] Also, during the opening lock control period T1b, the torque necessary to maintain the pair of doors 6 in the fully open state is output from the motor 8, and after showing a broad and large peak P3 compared to the two peaks P1 and P2 of the opening operation period T1a, an opening lock maintenance current value Ir1 having a constant value is shown.

[0034] During the closing control period T2, at time t3 in the initial state, the pair of doors 6 are fully open. The closing operation period T2a in which the closing operation of the pair of doors 6 is performed from time t3 to time t5, and the closing lock period T2b in which the closing lock control for maintaining the pair of doors 6 in the fully closed state is performed after time t5 are included. The closing operation period T2a further includes a first closing operation period T2a1 that outputs the torque required from the motor 8 to perform a closing operation on the pair of doors 6 in the fully open state from time t3 to time t4 to the fully closed state, and a second closing operation period T2a2 that aligns the pair of doors 6 with the fully closed position, which is the target position, by moving the pair of doors 6 at a slower speed than the first closing operation period T2a1. In the first closing operation period T2a1 and the second closing operation period T2a2, peaks P4 and P5 (<P4) of the drive current Id appear corresponding to the closing operation of such a pair of doors 6, respectively.

[0035] Also, during the closing lock period T2b, the torque required to maintain the pair of doors 6 in the fully closed state is output from the motor 8, showing a broad and large peak P6 compared to the two peaks P4 and P5 of the closing operation period T2a, and then a closing lock maintenance current value Ir2 (<Ir1) having a constant value is shown.

[0036] Returning to FIG. 3, subsequently, the first system 110 determines whether the drive current Id detected by the drive current acquisition unit 114 exceeds a reference value Idref (step S102). The reference value Idref is a threshold value for determining whether to transmit the data stored in the storage unit 118 in step S101 to the second system 120 via the network 130. In the present embodiment, the reference value Idref is set to be larger than the opening lock maintenance current value Ir1 and the closing lock maintenance current value Ir2, so that based on the fact that an opening operation or a closing operation is performed in the opening / closing device 1, the current waveform CW specified from the time change of the drive current Id stored in the storage unit 118 in step S101 is transmitted to the second system 120 via the network 130.

[0037] When the drive current Id acquired by the drive current acquisition unit 114 is less than or equal to the reference value Idref (step S102: NO), the process returns to step S100, and the acquisition of the drive current Id and the storage in the storage unit 118 are repeatedly performed. In this case, the stored content of the storage unit 118 may be updated (overwritten) according to the storage capacity of the storage unit 118.

[0038] On the other hand, when the drive current Id acquired by the drive current acquisition unit 114 exceeds the reference value Idref (step S102: YES), the first system 110 extracts the current waveform CW from the time change of the drive current Id stored in the storage unit 118 and transmits it to the second system 120 via the network 130 (step S103).

[0039] The current waveform CW extracted from the time change of the drive current Id in step S103 is specified from the waveform start time ts set before the time point when the drive current Id exceeds the reference value Idref to the waveform end time te when the drive current Id is maintained below the reference value Idref for a predetermined period among the time changes of the drive current Id stored in the storage unit 118. In the example of FIG. 4, the waveform start time ts is set a predetermined period tp (for example, several seconds) before the time point ta exceeding the reference value, and the waveform end time te is set as the time point when the drive current Id is maintained below the reference value Idref for a predetermined period tq (for example, several seconds). Thereby, the current waveform CW at the time of opening and closing used for diagnosis can be appropriately extracted from the time change of the series of drive currents Id stored in the storage unit 118.

[0040] Subsequently, the second system 120 receives the current waveform CW transmitted in step S103 (step S014), and the soundness diagnosis unit 124 diagnoses the soundness of the switching device 1 based on the current waveform CW received in step S104 (step S105). In this way, among the temporal changes in the drive current Id that are continuous over time, only the current waveform CW at the time of opening and closing used for diagnosis is sent to the second system 120 side via the network 130, and the diagnosis is performed. As a result, it is possible to perform a highly reliable soundness diagnosis in the second system 120 located at a remote location from the switching device 1 while suppressing the communication load and power consumption.

[0041] Here, the diagnosis method in step S105 will be specifically described. FIGS. 5A and 5B are flowcharts showing the soundness diagnosis method implemented by the soundness diagnosis unit 124 for each step.

[0042] First, as shown in FIG. 5A, the soundness diagnosis unit 124 acquires the current waveform CW received by the second system 120 (step S200). Then, by analyzing the acquired current waveform CW, it is determined whether or not the drive current Idstart at the waveform start time point ts in the current waveform CW is less than or equal to the opening / closing determination threshold value Idj (step S201). The opening / closing determination threshold value Idj used as the determination criterion in step S201 is a current threshold value for determining whether the current waveform CW corresponds to the opening control period T1 or the closing control period T2. As described above with reference to FIG. 4, in the current waveform CW corresponding to the opening control period T1, the drive current Idstart (= closing lock maintenance current value Ir2) at the waveform start time point ts is smaller than the drive current Idstart (= opening lock maintenance current value Ir1) at the waveform start time point ts included in the current waveform CW corresponding to the closing control period T2. Therefore, the opening / closing determination threshold value Idj is set between the opening lock maintenance current value Ir1 and the closing lock maintenance current value Ir2 (that is, Ir2 < Idj < Ir1), so that it is possible to determine whether the current waveform CW corresponds to the opening control period T1 or the closing control period T2.

[0043] In this way, the soundness diagnosis unit 124 determines whether the current waveform CW is in the open control state or the closed control state, and diagnoses the soundness of the opening / closing device based on the diagnosis criteria set corresponding to the determination result, as will be described later. That is, by performing soundness diagnosis based on the diagnosis criteria set according to the operating state of the opening / closing device, the reliability can be more effectively enhanced.

[0044] When the drive current Idstart is equal to or less than the opening / closing determination threshold value Idj (step S201: YES), it is determined that the current waveform CW acquired in step S200 corresponds to the open control period T1 (step S202). In this case, the soundness diagnosis unit 124 further determines whether the measurement time Tm (time width of the current waveform CW) of the current waveform CW is less than a predetermined threshold value Tref (step S203). The threshold value Tref used in step S203 is a preset time, and is set, for example, to have a margin with respect to normal operation.

[0045] When the measurement time Tm of the current waveform CW is equal to or greater than the threshold value Tref (step S203: NO), the soundness diagnosis unit 124 determines whether the maximum current value Idmax included in the current waveform CW is less than the threshold value Idmaxref1 (step S204). When the maximum current value Idmax is equal to or greater than the threshold value Idmaxref1 (step S204: NO), the soundness diagnosis unit 124 abnormally diagnoses that there is foreign object pinching during the open control of the opening / closing device 1 (step S205).

[0046] Here, FIG. 6 is an example of the current waveform CW acquired by the soundness diagnosis unit 124. In the example of FIG. 6, the maximum current value Idmax is possessed at the peak P3 included in the open lock period T1b of the current waveform CW, and it is shown that the maximum current value Idmax is equal to or greater than the threshold value Idmaxref1. This indicates that due to foreign object pinching occurring in the pair of doors 6, an excessive load is applied to the motor 8 that supplies power to the pair of doors 6, and the maximum current value Idmax has increased.

[0047] On the one hand, when the measurement time Tm of the current waveform CW is less than the threshold value Tref (step S203: YES), or when the maximum current value Idmax included in the current waveform CW is less than the threshold value Idmaxref1 (step S204: YES), the soundness diagnosis unit 124 determines whether there is a protrusion in the slope included in the current waveform CW (step S206). When there is a protrusion in the slope (step S206: NO), on the condition that there is reproducibility even during closed control (step S207: NO), the soundness diagnosis unit 124 diagnoses that there is a foreign object on the rail 4 as an abnormality (step S208).

[0048] Here, FIG. 7 is another example of the current waveform CW acquired by the soundness diagnosis unit 124. In the example of FIG. 7, in the region R1 surrounded by the broken line in the current waveform CW, a protrusion has occurred in the slope. This is because, due to the presence of a foreign object on the rail 4, when the door 6 moves on the rail 4, the movement of the door 6 is temporarily inhibited by the foreign object, which appears as a disturbance in the current waveform CW.

[0049] On the other hand, when there is no protrusion in the slope (step S206: YES), or when there is no reproducibility during closed control (step S207: YES), the soundness diagnosis unit 124 diagnoses that the opening / closing device 1 is sound (step S209).

[0050] Subsequently, when the drive current Idstart is greater than the opening / closing determination threshold value Idj (step S201: NO), as shown in FIG. 5B, the soundness diagnosis unit 124 determines that the current waveform CW acquired in step S200 corresponds to the open control period T1 (step S210). In this case, the soundness diagnosis unit 124 further determines whether the measurement time Tm (time width of the current waveform CW) of the current waveform CW is less than a predetermined threshold value Tref (step S211). The determination in step S211 is the same as the determination in step S203 described above.

[0051] When the measurement time Tm of the current waveform CW is equal to or greater than the threshold value Tref (step S211: NO), the soundness diagnosis unit 124 determines whether the maximum current value Idmax included in the current waveform CW is less than the threshold value Idmaxref2 (step S212). When the maximum current value Idmax is equal to or greater than the threshold value Idmaxref2 (step S212: NO), the soundness diagnosis unit 124 diagnoses an abnormality that foreign matter was pinched during the closing control of the opening / closing device 1 (step S213). Note that the determination in step S212 is the same as the determination in step 204 described above.

[0052] On the other hand, when the measurement time Tm of the current waveform CW is less than the threshold value Tref (step S211: YES), or when the maximum current value Idmax included in the current waveform CW is less than the threshold value Idmaxref2 (step S212: YES), the soundness diagnosis unit 124 determines whether there is no protrusion in the slope included in the current waveform CW (step S214). When there is a protrusion in the slope (step S214: NO), on the condition that there is also reproducibility during the opening control (step S215: NO), the soundness diagnosis unit 124 diagnoses that there is foreign matter on the rail 4 (step S216). Note that the determinations in steps S214 and S215 are the same as the determinations in steps S206 and S207 described above, respectively.

[0053] On the other hand, when there is no protrusion in the slope (step S214: YES), or when there is no reproducibility during the closing control (step S2I5: YES), the soundness diagnosis unit 124 further determines whether there are no plural peaks in the period during which the lock control is performed in the current waveform CW (see the closing lock period T2b in FIG. 4) (step S217). When there are plural peaks in the closing lock period T2b (step S217: NO), on the condition that there is reproducibility (step S218: NO), the soundness diagnosis unit 124 diagnoses that there is slack in the belt member 16 (step S219).

[0054] Here, FIG. 8 shows another example of the current waveform acquired by the soundness diagnosis unit 124. In the example of FIG. 8, in the region R2 surrounded by the broken line in the current waveform CW, in addition to the peak P6 included in the sound current waveform shown in FIG. 4, another peak P6' appears, and a plurality of peaks occur. This is because the belt member 16 for transmitting the power of the motor 8 to the door 6 is slack, resulting in a no-load state to some extent, causing disturbance in the current waveform CW and appearing as a plurality of peaks.

[0055] In addition, when the opening / closing device 1 is provided with an encoder (not shown) capable of counting the rotation speed of the motor 8, the presence or absence of slack in the belt member 16 may be diagnosed based on the positions of the pair of doors 6 estimated from the count result of the encoder, and the final abnormality diagnosis may be performed by comparing the diagnosis result with the diagnosis result by the above method. In this case, since the abnormality diagnosis can be performed from two viewpoints, a more reliable diagnosis can be performed.

[0056] On the other hand, when the current waveform CW does not include a plurality of peaks during the period when the lock control is being performed (step S217: YES), or when there is no reproducibility (step S218: YES), the soundness diagnosis unit 124 diagnoses that the opening / closing device 1 is sound (step S220).

[0057] In addition, as another example of the diagnosis method by the soundness diagnosis unit 124, the soundness may be diagnosed by comparing the current waveform CW with the current waveform at the time of past abnormality occurrence. Also, a sound current waveform may be acquired in advance, and an abnormality diagnosis may be performed when the degree of deviation of the current waveform CW to be diagnosed from the sound current waveform exceeds a predetermined standard.

[0058] Returning to FIG. 3, the maintenance timing prediction unit 126 predicts the maintenance timing of the opening / closing device 1 based on the diagnosis result by the soundness diagnosis unit 124 (step S106). For example, the maintenance timing prediction unit 126 predicts the maintenance timing by considering at least one of the number and frequency of abnormality diagnoses by the soundness diagnosis unit 124, the number of opening / closing operations performed by the opening / closing device 1 by the opening / closing count unit 116, and the elapsed period since the previous maintenance implementation. Thereby, the maintenance timing necessary to maintain the reliability of the opening / closing device 1 can be accurately predicted, and the influence on the operation of the opening / closing device 1 due to maintenance can be effectively suppressed.

[0059] Subsequently, the output unit 128 outputs the diagnosis result of the opening / closing device 1 (step S107). This diagnosis result includes normal diagnosis and abnormality diagnosis by the soundness diagnosis unit 124, and information regarding the maintenance timing predicted by the maintenance timing prediction unit 126, and is output in a predetermined format.

[0060] Such a diagnosis result may include, for example, the failure occurrence risk of the opening / closing device 1 obtained from the occurrence frequency of abnormality diagnosis in the opening / closing device 1, so as to provide useful information for future maintenance plans (the failure occurrence risk may be evaluated, for example, by obtaining an evaluation parameter by multiplying the occurrence frequency of abnormality diagnosis by the soundness diagnosis unit 124 and the number of opening / closing operations performed by the opening / closing device 1 by the opening / closing count unit 116 over a certain period).

[0061] Also, the diagnosis result output from the diagnosis result output unit 128 may be output on the second system 120 side, or may be output on the first system 110 side via the network 130.

[0062] As described above, according to the above embodiment, the drive current Id of the motor 8 which is the power source of the opening / closing device 1 is detected, and the soundness of the opening / closing device 1 is diagnosed based on the current waveform CW specified from its change over time. Since such diagnosis can be carried out by detecting the drive current Id of the motor 8 during operation, the influence on the normal operation of the opening / closing device 1 can be suppressed. Further, by performing diagnosis based on the current waveform CW specified from the change over time of the drive current Id, the state of the opening / closing device 1 can be accurately grasped, and highly reliable diagnosis can be carried out.

[0063] In addition, without departing from the spirit of the present disclosure, it is possible to appropriately replace the components in the above-described embodiment with well-known components, and the above-described embodiments may also be combined as appropriate.

[0064] The content described in each of the above embodiments is understood as follows, for example.

[0065] (1) A diagnostic system for an opening / closing device according to one aspect is a diagnostic system (for example, the diagnostic system 100 in the above embodiment) for an opening / closing device that can be opened and closed by driving a motor (for example, the motor 8 in the above embodiment), a drive current acquisition unit (for example, the drive current acquisition unit 114 in the above embodiment) that acquires the drive current (for example, the drive current Id in the above embodiment) of the motor, and a diagnostic unit (for example, the soundness diagnostic unit 124 in the above embodiment) that diagnoses the soundness of the opening / closing device based on a current waveform (for example, the current waveform CW in the above embodiment) specified by a change over time of the drive current acquired by the drive current acquisition unit. It is provided with.

[0066] According to the aspect (1) above, the soundness of the opening / closing device is diagnosed based on the current waveform identified from the time change of the drive current of the motor capable of supplying power to the opening / closing device. Since the time change of the drive current used for diagnosis can be obtained during the operation of the motor, soundness diagnosis can be performed while suppressing the influence on the operation state of the opening / closing device. Further, by performing diagnosis based on the current waveform identified from the time change of the drive current, the operation status of the opening / closing device can be accurately grasped, and highly reliable diagnosis can be performed.

[0067] (2) In another aspect, in the aspect (1) above, it further includes a storage unit (for example, the storage unit 118 in the above embodiment) that stores the time change of the drive current, and when the drive current exceeds a reference value (for example, the reference value Idref in the above embodiment), the current waveform included in the time change of the drive current stored in the storage unit is transmitted to the diagnosis unit via a network (for example, the network 130 in the above embodiment).

[0068] According to the aspect (2) above, the time change of the drive current of the motor is accumulated by being appropriately stored in the storage unit, and triggered by the drive current exceeding the reference value, the current waveform identified from the time change of the drive current is transmitted to the diagnosis unit via the network. Thereby, while monitoring the drive current over a long period of time, the current waveform related to the opening / closing operation can be transmitted to and analyzed by a geographically remote diagnosis unit via the network, so that highly reliable diagnosis can be performed while suppressing the communication load and power consumption.

[0069] (3) In another aspect, in the aspect (2) above, the current waveform is specified from the waveform start point (for example, the waveform start point ts in the above embodiment) set before the time point when the drive current exceeds the reference value among the time change of the drive current to the waveform end point (for example, the waveform end point te in the above embodiment) where the drive current value is maintained below the reference value for a predetermined period (for example, the predetermined period tq in the above embodiment).

[0070] According to the aspect of (3) above, the current waveform used for diagnosis is specified by extracting the period from the waveform start point to the waveform end point from the time change of the drive current. Thereby, the current waveform related to the opening / closing operation can be effectively specified from the time change of a series of drive currents, and highly reliable diagnosis can be performed.

[0071] (4) In another aspect, in the aspect of (3) above, the diagnosis unit determines whether the current waveform corresponds to an open control state or a closed control state of the operating state of the opening / closing device based on the drive current at the waveform start point among the current waveforms, and diagnoses the soundness of the opening / closing device based on diagnostic criteria (for example, FIGS. 5A and 5B of the above embodiment) set corresponding to the operating state.

[0072] According to the aspect of (4) above, based on the magnitude of the drive current at the waveform start point among the current waveforms used for diagnosis, it is determined which of the open operation state or the closed operation state the current waveform corresponds to. Then, by performing diagnosis based on diagnostic criteria set according to the open operation state or the closed operation state, the reliability can be more effectively enhanced.

[0073] (5) In another aspect, in any one of the aspects (1) to (4) above, the opening / closing device includes a door (for example, door 6 of the above embodiment) that can move on a rail (for example, rail 4 of the above embodiment) by the power output from the motor, and the diagnosis unit diagnoses whether there is a foreign object on the rail based on whether there is a protrusion (for example, region R1 of the above embodiment) on the slope included in the current waveform.

[0074] According to the aspect of (5) above, based on whether there is a protrusion on the slope included in the current waveform, it is possible to preferably diagnose whether there is a foreign object on the rail on which the opening / closing door moves.

[0075] (6) In another aspect, in any one of the aspects (1) to (5) above, The opening / closing device includes a belt member (e.g., the belt member 16 in the above embodiment) for transmitting the power output from the motor to a door (e.g., the door 6 in the above embodiment) that can be opened and closed. When a plurality of peaks (e.g., the peaks P6, P6' in the region R2 in the above embodiment) are included in the current waveform when the lock control for maintaining the door in the fully open state or the fully closed state is performed (e.g., the unlocking period T1b or the closing lock period T2b in the above embodiment), the diagnosis unit diagnoses that there is slack in the belt member.

[0076] According to the aspect (6) above, based on whether or not a plurality of peaks are included in the current waveform when the lock control is being performed during a series of operations of the opening / closing device, it is possible to suitably diagnose whether or not there is slack in the belt member for transmitting the power of the motor to the door.

[0077] (7) In another aspect, in any one of the aspects (1) to (6) above, When the maximum current value included in the current waveform is less than a threshold value (e.g., the threshold values Idmaxref1 or Idmaxref2 in the above embodiment), the diagnosis unit diagnoses that there has been foreign object entrapment in the opening / closing device.

[0078] According to the aspect (7) above, based on whether or not the maximum current value included in the current waveform is less than the threshold value, it is possible to suitably diagnose whether or not there has been foreign object entrapment in the opening / closing device.

[0079] (8) In another aspect, in any one of the aspects (1) to (7) above, The apparatus further includes a prediction unit (e.g., the maintenance timing prediction unit 126 in the above embodiment) that predicts the maintenance timing of the opening / closing device based on the diagnosis result of the diagnosis unit.

[0080] According to the aspect (8) above, by predicting the maintenance timing of the opening / closing device based on the diagnosis result regarding the soundness of the opening / closing device, it is possible to efficiently formulate a future maintenance plan. This enables the formulation of a maintenance plan that suppresses the impact on the operation of the opening / closing device.

[0081] (9) In another aspect, in the aspect of (8) above, further comprising an opening / closing count unit (for example, the opening / closing count unit 116 in the above embodiment) that counts the number of opening / closing operations of the opening / closing device, the prediction unit predicts the maintenance timing based on the number of opening / closing operations counted by the opening / closing count unit.

[0082] According to the aspect of (9) above, by considering the number of opening / closing operations of the opening / closing device in addition to the diagnosis result of the soundness based on the current waveform, the maintenance timing that will be required for the opening / closing device in the future can be predicted more suitably.

[0083] (10) In another aspect, in any one of the aspects (1) to (9) above, further comprising an output unit that outputs the diagnosis result by the diagnosis unit.

[0084] According to the aspect of (10) above, by outputting the diagnosis result by the diagnosis unit to the outside by the output unit, it can be effectively used for formulating a maintenance plan or the like of the opening / closing device based on the diagnosis result.

[0085] (11) In another aspect, in any one of the aspects (1) to (10) above, the opening / closing device is a home door.

[0086] According to the aspect of (11) above, it is possible to diagnose the soundness of a home door that is a home door installed on a platform of a transportation facility. As a result, the soundness of the platform door can be diagnosed with good reliability while suppressing the influence on the operation of the transportation facility, so that defects in the home door that affect the operation rate of the transportation facility can be effectively prevented in advance.

[0087] (12) A method for diagnosing an opening / closing device according to one aspect is a method for diagnosing an opening / closing device (for example, the opening / closing device 1 in the above embodiment) that can be opened and closed by driving a motor (for example, the motor 8 in the above embodiment), A step of obtaining a drive current of the motor (for example, the drive current Id in the above embodiment); A step of diagnosing the soundness of the opening / closing device based on a current waveform (for example, the current waveform CW in the above embodiment) specified by a temporal change in the drive current; and is provided with.

[0088] According to the method of (12) above, the soundness of the opening / closing device is diagnosed based on a current waveform specified from a temporal change in the drive current of a motor capable of supplying power to the opening / closing device. Since the temporal change in the drive current used for diagnosis can be obtained during operation of the motor, soundness diagnosis can be performed while suppressing the influence on the operation state of the opening / closing device. Further, by performing diagnosis based on a current waveform specified from a temporal change in the drive current, the operation state of the opening / closing device can be accurately grasped, and highly reliable diagnosis can be performed.

Explanation of Reference Numerals

[0089] 1 Opening / closing device 2 Floor surface 4 Rail 5 Power source 6 Door 8 Motor 8a Output shaft 10 Power transmission mechanism 11 Power supply circuit 12 Driving pulley 14 Driven pulley 15a, 15b Connecting member 16 Belt member 18 Drive current sensor 100 Diagnostic system 110 First system 112 First router 114 Drive current acquisition unit 116 Opening / closing count unit 118 Storage unit 120 Second system 122 Second router 124 Soundness diagnosis unit 126 Maintenance timing prediction unit 128 Diagnostic result output unit 130 Network

Claims

A diagnostic system for an opening / closing device that can be opened and closed by driving a motor, comprising: a drive current acquisition unit that acquires the drive current of the motor; a diagnostic unit that diagnoses the soundness of the opening / closing device based on a current waveform specified by a temporal change in the drive current acquired by the drive current acquisition unit; and comprising: further comprising a storage unit that stores the temporal change in the drive current; when the drive current exceeds a reference value, configured to transmit the current waveform included in the temporal change in the drive current stored in the storage unit to the diagnostic unit via a network; The current waveform is specified as from a waveform start point set before the time point when the drive current exceeds the reference value among the temporal changes in the drive current to a waveform end point when the value of the drive current is maintained below the reference value for a predetermined period, for a diagnostic system of an opening / closing device.

2. The opening / closing device includes a door that can move on a rail by power output from the motor, The diagnostic unit diagnoses whether there is a foreign object on the rail based on whether there is a protrusion in a slope where the current value increases or decreases temporally during an opening operation period in which the opening operation of the opening / closing device is performed, or a closing operation period in which the closing operation of the opening / closing device is performed, among the current waveforms, for the diagnostic system of the opening / closing device according to claim 1.

3. The diagnostic unit determines whether the current waveform is in an open control state or a closed control state of the operating state of the opening / closing device based on the drive current at the waveform start point among the current waveforms, and diagnoses the soundness of the opening / closing device based on a diagnostic criterion set corresponding to the operating state, for the diagnostic system of the opening / closing device according to claim 1 or 2.

4. The opening / closing device includes a belt member for transmitting the power output from the motor to an openable / closable door, When the current waveform includes a plurality of peaks when lock control for maintaining the door in a fully open state or a fully closed state is performed, the diagnostic unit diagnoses that there is slack in the belt member, for the diagnostic system of the opening / closing device according to any one of claims 1 to 3.

5. When the maximum current value included in the current waveform is equal to or greater than a threshold value, the diagnostic unit diagnoses that there has been pinching of a foreign object in the opening / closing device, for the diagnostic system of the opening / closing device according to any one of claims 1 to 4.

6. The diagnosis system for an opening / closing device according to any one of claims 1 to 5, further comprising a prediction unit that predicts the maintenance timing of the opening / closing device based on the diagnosis result in the diagnosis unit.

7. The opening / closing device further comprises an opening / closing count unit that counts the number of times the opening / closing device is opened and closed. The diagnosis system for an opening / closing device according to claim 6, wherein the prediction unit predicts the maintenance timing based on the number of times the opening / closing device is opened and closed counted by the opening / closing count unit.

8. The diagnosis system for an opening / closing device according to any one of claims 1 to 7, further comprising an output unit that outputs the diagnosis result by the diagnosis unit.

9. The diagnosis system for an opening / closing device according to any one of claims 1 to 8, wherein the opening / closing device is a home door.

10. A diagnosis method for an opening / closing device that can be opened and closed by driving a motor, comprising: a step of acquiring a drive current of the motor; a step of storing in a storage unit a time change of the drive current; a step of transmitting, via a network, the time change of the drive current stored in the storage unit when the drive current exceeds a reference value; a step of diagnosing the soundness of the opening / closing device based on a current waveform specified by the time change of the drive current transmitted via the network; and The current waveform is specified as from a waveform start point set before the time when the drive current exceeds the reference value to a waveform end point at which the value of the drive current is maintained below the reference value for a predetermined period among the time change of the drive current. The diagnosis method for an opening / closing device.

11. A diagnosis system for an opening / closing device that can be opened and closed by driving a motor, comprising: a drive current acquisition unit that acquires a drive current of the motor; a diagnosis unit that diagnoses the soundness of the opening / closing device based on the drive current acquired by the drive current acquisition unit; a prediction unit that predicts the maintenance timing of the opening / closing device based on the diagnosis result in the diagnosis unit; and The diagnosis unit identifies a current waveform from a waveform start point set before a time point when the drive current exceeds a reference value among time changes of the drive current to a waveform end point when the drive current is maintained below the reference value for a predetermined period, determines whether the operating state of the opening / closing device is in an open control state or a closed control state based on a current value at the waveform start point among the current waveforms, and diagnoses the soundness of the opening / closing device based on a diagnosis criterion set corresponding to the operating state. A diagnosis system for an opening / closing device.

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