MOBILE BODY CONDITION MONITORING DEVICE, MOBILE BODY CONDITION MONITORING METHOD, AND MOBILE BODY CONDITION MONITORING PROGRAM

Abstract

To provide a mobile object condition monitoring device, a mobile object condition monitoring method, and a mobile object condition monitoring program capable of accurately detecting a movement path of the mobile object and an abnormality of the mobile object.SOLUTION: A mobile object condition monitoring device according to the present disclosure is a mobile object condition monitoring device for determining an abnormality of at least one of a movement path of a mobile object including a magnetically geared motor, a magnetically geared motor, a mobile object, and it comprises a phase angle acquiring unit for acquiring a phase angle of a low-speed rotor of the magnetically geared motor and a phase angle of a high-speed rotor of the magnetically geared motor, and an abnormality determination unit for determining an abnormality of at least one of the movement path of the mobile object, the magnetically geared motor, and the mobile object on the basis of the integral value of the phase difference displaying the integral value of the difference between the phase difference of the low-speed rotor and the high-speed rotor obtained by the phase angle acquiring section relative to the phase difference between the low-speed rotor and the high-speed rotor estimated with respect to an input power as a reference.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a mobile body status monitoring device, a mobile body status monitoring method, and a mobile body status monitoring program. [Background technology]

[0002] There is a demand for technology to monitor the movement paths and conditions of moving objects in order to improve the efficiency and predictability of maintenance and inspection work. If the efficiency and predictability of maintenance and inspection work can be improved, maintenance services can be provided before an abnormality occurs. For example, technology is known for monitoring the tracks on which railway vehicles travel and the conditions of railway vehicles. In Patent Document 1 listed below, the condition of the track is monitored using displacement information and acceleration information based on image processing of camera image data. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-245503 Summary of the Invention [Problem to be solved by the invention]

[0004] The railway vehicle running state identification system described in Patent Document 1 requires sensors and systems such as wheel speed sensors and image processing devices, but if these sensors or systems fail, state monitoring becomes impossible. Therefore, it is an object of the present invention to provide a mobile body state monitoring device, a mobile body state monitoring method, and a mobile body state monitoring program that can accurately detect the moving path of a mobile body and abnormalities in the mobile body. [Means for solving the problem]

[0005] In order to solve the above-mentioned problems and achieve the objectives, the mobile body condition monitoring device of the present disclosure is a mobile body condition monitoring device that determines an abnormality in at least one of the moving path of the mobile body including a magnetic-geared motor, the magnetic-geared motor, and the moving body, and includes: a phase angle acquisition unit that acquires the phase angle of the low-speed rotor of the magnetic-geared motor and the phase angle of the high-speed rotor of the magnetic-geared motor; and an abnormality determination unit that determines an abnormality in at least one of the moving path of the mobile body, the magnetic-geared motor, and the moving body based on a phase difference integral value that indicates the integral value of the difference between the phase difference between the low-speed rotor and the high-speed rotor acquired by the phase angle acquisition unit relative to the phase difference between the low-speed rotor and the high-speed rotor estimated based on input power.

[0006] In order to solve the above-mentioned problems and achieve the objectives, the method for monitoring the condition of a moving body according to the present disclosure is a method for monitoring the condition of a moving body that determines an abnormality in at least one of the moving path of the moving body including a magnetic-geared motor, the magnetic-geared motor, and the moving body, and includes the steps of acquiring a phase angle of a low-speed rotor and a phase angle of a high-speed rotor of the magnetic-geared motor, and determining an abnormality in at least one of the moving path of the moving body, the magnetic-geared motor, and the moving body based on a phase difference integral value that indicates the integral value of the difference between the phase difference between the low-speed rotor and the high-speed rotor acquired by the acquisition unit and the phase difference between the low-speed rotor and the high-speed rotor estimated based on input power.

[0007] In order to solve the above-mentioned problems and achieve the objectives, the mobile body status monitoring program of the present disclosure is a mobile body status monitoring program that determines an abnormality in at least one of the moving path of the mobile body including a magnetic-geared motor, the magnetic-geared motor, and the moving body, and causes a computer to execute the steps of acquiring the phase angle of the low-speed rotor and the phase angle of the high-speed rotor of the magnetic-geared motor, and determining an abnormality in at least one of the moving path of the mobile body, the magnetic-geared motor, and the moving body based on a phase difference integral value that indicates the integral value of the difference between the phase difference between the low-speed rotor and the high-speed rotor acquired by the acquisition unit relative to the phase difference between the low-speed rotor and the high-speed rotor estimated based on the input power. [Effects of the Invention]

[0008] According to the present disclosure, it is possible to provide a mobile body status monitoring device, a mobile body status monitoring method, and a mobile body status monitoring program that can accurately detect the movement path of a mobile body or abnormalities in a mobile body. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a state monitoring system for a moving object according to the present disclosure. [Figure 2] FIG. 2 is a diagram illustrating an example of the configuration of a state monitoring device for a moving object according to the present disclosure. [Figure 3] FIG. 3 is a diagram illustrating an example of information stored in a state information storage unit according to the present disclosure. [Figure 4] FIG. 4 is a diagram illustrating an example of information stored in a phase information storage unit according to the present disclosure. [Figure 5] FIG. 5 is a diagram illustrating an example of information stored in a position information storage unit according to the present disclosure. [Figure 6] FIG. 6 is a diagram illustrating a first example of estimated and measured values ​​of the low speed rotor phase angle according to the present disclosure. [Figure 7] FIG. 7 is a diagram showing a second example of estimated and measured values ​​of the low speed rotor phase angle according to the present disclosure. [Figure 8] FIG. 8 is a diagram schematically illustrating an example of processing by the abnormality determination unit according to the present disclosure. [Figure 9] FIG. 9 is a diagram schematically illustrating an example of processing by the performance estimation unit according to the present disclosure. [Figure 10] FIG. 10 is a diagram schematically illustrating an example of processing by the abnormality point identifying unit according to the present disclosure. [Figure 11] FIG. 11 is a diagram illustrating an example of the configuration of a moving body according to the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. However, the present disclosure is not limited to the embodiments described below.

[0011] (Configuration of a mobile object status monitoring system) 1 is a diagram showing an example of the configuration of a mobile object status monitoring system according to the present disclosure. As shown in FIG. 1, the mobile object status monitoring system 1 according to the present disclosure includes a status monitoring device 100, a mobile object 200, and a network N.

[0012] The status monitoring device 100 is an information processing device that is connected to the moving object 200 via a network N and monitors the status of the moving object 200. The status monitoring device 100 may be, for example, an information processing device provided in a central control room that monitors the moving object 200 and issues commands to the moving object 200.

[0013] The moving body 200 is driven to move by a magnetic-geared motor 240. Details of the magnetic-geared motor 240 will be described later; the magnetic-geared motor 240 replaces the speed reduction and torque transmission using a conventional mechanical reducer with torque transmission using magnetic force. The moving body 200 may be, for example, a railway vehicle, an automobile, an AGV (Automatic Guided Vehicle), an AGT (Automated Guideway Transit), a ship, a robot actuator, or the like. The moving body 200 may be equipped with multiple magnetic-geared motors 240.

[0014] The network N connects the status monitoring device 100 and the mobile object 200 via wired or wireless communication so that they can communicate with each other. The network N may be realized by various dedicated wired lines or wireless communication with security measures in place.

[0015] In this way, the moving body status monitoring system 1 according to the present disclosure monitors the status of the moving body 200 and determines the moving path of the moving body or any abnormality in the moving body. Note that, although the status monitoring device 100 is depicted as a separate device from the moving body 200 in Fig. 1, the status monitoring device 100 and the moving body 200 may be provided as an integrated unit.

[0016] (Configuration of the condition monitoring device) 2 is a diagram showing an example of the configuration of a state monitoring device for a moving object according to the present disclosure. As shown in FIG. 2, the state monitoring device 100 according to the present disclosure includes a communication unit 110, a storage unit 120, and a control unit 130.

[0017] The communication unit 110 connects the inside and outside of the status monitoring device 100 so that they can communicate with each other, and transmits and receives information between the inside and outside of the status monitoring device 100. The communication unit 110 may be realized by, for example, a network interface card (NIC), a wireless local area network (LAN) card, an antenna, etc.

[0018] The storage unit 120 is a storage device that stores various types of information. The storage unit 120 may be realized by a main storage device and an auxiliary storage device. The main storage device may be realized by a semiconductor memory element such as a RAM (Random Access Memory), a ROM (Read Only Memory), or a flash memory. The auxiliary storage device may be realized by a hard disk or an SSD (Solid State Drive), for example.

[0019] 2, the storage unit 120 includes a state information storage unit 121, a phase information storage unit 122, and a position information storage unit 123. These components will be described below in order.

[0020] (Regarding the status information storage unit) The state information storage unit 121 stores information relating to the state of the magnetic-geared motor 240. An example of the information stored in the state information storage unit 121 will now be described with reference to Fig. 3. Fig. 3 is a diagram showing an example of information stored in the state information storage unit according to the present disclosure.

[0021] In the example shown in FIG. 3, the state information storage unit 121 stores information relating to the items "magnetic-geared motor ID," "measurement date and time," "bearing temperature," "voltage," and "current" in association with each other.

[0022] "Magnetic-geared motor ID" is an identifier that identifies the magnetic-geared motor 240, and is represented by a character string, a number, etc. "Measurement date and time" indicates the date and time when the bearing temperature, voltage, and current were measured. "Bearing temperature" indicates the measured value of the temperature of the bearing connected to the magnetic-geared motor 240. "Voltage" indicates the voltage value of the power supplied to the magnetic-geared motor 240. "Current" indicates the current value of the power supplied to the magnetic-geared motor 240.

[0023] That is, in Figure 3, for the magnetic-geared motor 240 identified by the magnetic-geared motor ID "MGMID#1", it is shown that the bearing temperature of the bearing connected to the magnetic-geared motor 240 measured at the measurement date and time "TM#1-1" is "BT#1-1", the voltage of the power supplied to the magnetic-geared motor 240 is "VL#1-1", and the current of the power supplied to the magnetic-geared motor 240 is "CR#1-1".

[0024] The information stored in the status information storage unit 121 is not limited to information relating to the items "magnetic-geared motor ID," "measurement date and time," "bearing temperature," "voltage," and "current," and any other information relating to the status of the magnetic-geared motor 240 may be stored.

[0025] (About the phase information storage unit) The phase information storage unit 122 stores information related to the phase angle of the magnetic-geared motor 240. An example of information stored in the phase information storage unit 122 will now be described with reference to Fig. 4. Fig. 4 is a diagram showing an example of information stored in the phase information storage unit according to the present disclosure.

[0026] In the example shown in FIG. 4, the phase information storage unit 122 stores information relating to the items "magnetic-geared motor ID," "measurement date and time," "low-speed rotor phase angle," and "high-speed rotor phase angle" in association with each other.

[0027] The "magnetic-geared motor ID" is an identifier for identifying the magnetic-geared motor 240, and is represented by a character string, a number, or the like. The "measurement date and time" indicates the date and time when the phase angle of the low-speed rotor and the phase angle of the high-speed rotor were measured. The "low-speed rotor phase angle" indicates the phase angle of the low-speed rotor of the magnetic-geared motor 240. The "high-speed rotor phase angle" indicates the phase angle of the high-speed rotor of the magnetic-geared motor 240.

[0028] That is, in FIG. 4, for the magnetic-geared motor 240 identified by the magnetic-geared motor ID "MGMID#1", the phase angle of the low-speed rotor measured at the measurement date and time "TM#1-1" is "PPRPA#1-1", and the phase angle of the high-speed rotor is "HSRPA#1-1".

[0029] The information stored in the phase information storage unit 122 is not limited to information relating to the items "magnetic-geared motor ID," "measurement date and time," "low-speed rotor phase angle," and "high-speed rotor phase angle," and any other information relating to the phase angle of the magnetic-geared motor 240 may be stored.

[0030] (Regarding the location information storage unit) The position information storage unit 123 stores information relating to the position of the moving object 200. An example of information stored in the position information storage unit 123 will now be described with reference to Fig. 5. Fig. 5 is a diagram illustrating an example of information stored in the position information storage unit according to the present disclosure.

[0031] In the example shown in FIG. 5, the location information storage unit 123 stores information relating to the items "mobile object ID," "measurement date and time," and "location information" in association with each other.

[0032] "Mobile object ID" is an identifier for identifying the mobile object 200, and is represented by a character string, a number, etc. "Measurement date and time" indicates the date and time when the location information was measured. "Location information" indicates the location information of the mobile object 200, i.e., the latitude and longitude.

[0033] That is, FIG. 5 shows that the location information measured at the measurement date and time "TM#1-1" for the moving object 200 identified by the moving object ID "ID#1" is "LC#1."

[0034] The information stored in the location information storage unit 123 is not limited to information relating to the items "Mobile body ID," "Measurement date and time," and "Location information," but may also store information relating to the location information of any other mobile body 200.

[0035] (Regarding the control section) Next, returning to Fig. 2, the control unit 130 will be described. The control unit 130 is a controller that manages and controls the condition monitoring device 100. The control unit 130 is realized by a CPU (Central Processing Unit), MPU (Micro Processing Unit), GPU (Graphics Processing Unit), or the like executing various programs stored in the storage unit 120 using RAM as a working area. The control unit 130 may also be realized by an integrated circuit, such as an ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), or DSP (Digital Signal Processor).

[0036] As shown in Fig. 2, the control unit 130 includes a phase angle acquisition unit 131, an abnormality determination unit 132, a state information acquisition unit 133, a passenger number acquisition unit 134, a performance estimation unit 135, a cause estimation unit 136, a position information acquisition unit 137, and an abnormality location identification unit 138. The control unit 130 implements these components and executes these processes by reading and executing a program from the storage unit 120. Note that the control unit 130 may execute these processes using a single CPU, or may be equipped with multiple CPUs and execute these processes in parallel. Below, these components will be described in order.

[0037] The phase angle acquisition unit 131 acquires the phase angle of the low-speed rotor of the magnetic-geared motor 240 and the phase angle of the high-speed rotor of the magnetic-geared motor 240. That is, the phase angle acquisition unit 131 acquires the measured values ​​of the phase angle of the low-speed rotor and the phase angle of the high-speed rotor of the magnetic-geared motor 240 of the moving body 200 connected to the network N via the communication unit 110. After acquiring the measured values ​​of the phase angle of the low-speed rotor and the phase angle of the high-speed rotor, the phase angle acquisition unit 131 stores information on the acquired measured values ​​of the phase angle of the low-speed rotor and the phase angle of the high-speed rotor in the phase information storage unit 122. Note that, after acquiring the phase angle of the low-speed rotor of the magnetic-geared motor 240 and the phase angle of the high-speed rotor of the magnetic-geared motor 240, the phase angle acquisition unit 131 may calculate the phase difference between the low-speed rotor and the high-speed rotor and store the calculated phase difference in the phase information storage unit 122.

[0038] The phase angle acquisition unit 131 acquires the phase angles of the low-speed rotors of the multiple magnetic-geared motors 240 provided in the moving body 200 and the phase angles of the high-speed rotors of the magnetic-geared motors 240. That is, when the moving body 200 is equipped with multiple magnetic-geared motors 240, the phase angle acquisition unit 131 acquires the phase angles of the low-speed rotors and the high-speed rotors for each of the multiple magnetic-geared motors 240. After acquiring the measured values ​​of the phase angles of the low-speed rotors and the high-speed rotors for each magnetic-geared motor 240, the phase angle acquisition unit 131 stores the acquired information of the measured values ​​of the phase angles of the low-speed rotors and the high-speed rotors in the phase information storage unit 122, linking it to the identifier of the magnetic-geared motor 240 from which the information was acquired. In addition, after acquiring the phase angles of the low-speed rotors of the multiple magnetic-geared motors 240 and the phase angles of the high-speed rotors of the magnetic-geared motors 240, the phase angle acquisition unit 131 may calculate the phase difference between the low-speed rotor and the high-speed rotor for each magnetic-geared motor 240 and store the calculated phase difference in the phase information storage unit 122.

[0039] The abnormality determination unit 132 determines an abnormality in at least one of the moving path of the moving body 200, the magnetic-geared motor 240, and the moving body 200 based on a phase difference integral value indicating the integral value of the difference between the phase angle of the low-speed rotor and the phase angle of the high-speed rotor acquired by the phase angle acquisition unit 131 with respect to the phase difference between the low-speed rotor and the high-speed rotor estimated based on the input torque. That is, the abnormality determination unit 132 first acquires the input torque from the operation control unit 232 of the moving body 200. Then, the abnormality determination unit 132 calculates the phase difference between the low-speed rotor and the high-speed rotor from the input torque using data or a mathematical model related to the relationship between the input torque and the phase difference between the low-speed rotor and the high-speed rotor. Then, the abnormality determination unit 132 calculates the difference between the phase angle of the low-speed rotor and the phase angle of the high-speed rotor acquired by the phase angle acquisition unit 131. The abnormality determination unit 132 then calculates, for each time period, a difference (hereinafter referred to as "phase difference") between the phase angle of the low-speed rotor and the phase angle of the high-speed rotor acquired by the phase angle acquisition unit 131, relative to the phase difference between the low-speed rotor and the high-speed rotor estimated based on the input torque. The abnormality determination unit 132 then calculates a time integral value of the phase difference (hereinafter referred to as "phase difference integral value"). The abnormality determination unit 132 then determines an abnormality in at least one of the moving path of the moving body 200, the magnetic-geared motor 240, and the moving body 200. The abnormality determination unit 132 may determine an abnormality in at least one of the moving path of the moving body 200, the magnetic-geared motor 240, and the moving body 200, for example, using a trained model that has trained the relationship between the phase difference integral value and an abnormality in the moving path of the moving body 200, an abnormality in the magnetic-geared motor 240, and an abnormality in the moving body 200. The learning model in this case may be, for example, a neural network.

[0040] An example of the estimated value of the low-speed rotor phase angle and the measured value of the low-speed rotor phase angle will be described with reference to FIG. 6. FIG. 6 is a diagram showing a first example of the estimated value and measured value of the low-speed rotor phase angle according to the present disclosure. The horizontal axis of the graph shown in FIG. 6 represents time. The vertical axis of the graph shown in FIG. 6 represents the low-speed rotor phase angle. As shown in FIG. 6, if the difference between the measured value and the estimated value of the low-speed rotor phase angle is equal to or less than a predetermined value, it may be determined that there is no phase difference, and the abnormality determination unit 132 may conclude from this that there is no abnormality in the movement path of the moving body 200, the magnetic-geared motor 240, or the moving body 200.

[0041] FIG. 7 is a diagram showing a second example of the estimated and measured values ​​of the low-speed rotor phase angle according to the present disclosure. The horizontal axis of the graph shown in FIG. 7 represents time. The vertical axis of the graph shown in FIG. 7 represents the low-speed rotor phase angle. As shown in FIG. 7, when the difference between the measured and estimated low-speed rotor phase angle increases to a predetermined value or more, it may be determined that there is a phase difference. As a result, the abnormality determination unit 132 may conclude that there is an abnormality in at least one of the movement path of the moving body 200, the magnetic-geared motor 240, and the moving body 200.

[0042] The abnormality determination unit 132 may determine an abnormal portion of the moving body 200 based on the phase difference integral value of the multiple magnetic-geared motors 240. The processing of the abnormality determination unit 132 in this case will be described with reference to FIG. 8. FIG. 8 is a diagram schematically illustrating the processing of the abnormality determination unit according to the present disclosure. FIG. 8 depicts railway cars CA, CB, and CC as examples of the moving body 200, and shows graphs GA1, GB1, and GC1 of estimated and measured values ​​of the phase angle of the low-speed rotor of the magnetic-geared motors 240 that drive the wheels WHAA, WHAB, WHBA, WHBB, WHCA, and WHCB of the railway cars CA, CB, and CC. As shown in graph GB1 of FIG. 8, when the difference between the estimated and measured values ​​of the phase angle of the low-speed rotor is large, there is a high possibility that an abnormality has occurred in the magnetic-geared motor 240. Therefore, in such a case, the abnormality determination unit 132 determines that the magnetic-geared motor 240 provided to the wheel WHBA having the large difference between the estimated value and the measured value of the phase angle of the low-speed rotor is abnormal, among the multiple magnetic-geared motors 240.

[0043] The state information acquisition unit 133 acquires state information including at least one of the bearing temperature, the current of the magnetic-geared motor 240, and the voltage of the magnetic-geared motor 240. That is, the state information acquisition unit 133 acquires the state information from the storage unit 220 included in the moving object 200 via the communication unit 110. After acquiring the state information from the storage unit 220 included in the moving object 200, the state information acquisition unit 133 stores the acquired state information in the state information storage unit 121 in association with the identifier of the moving object 200 from which the state information was acquired.

[0044] The passenger number acquisition unit 134 acquires information related to the number of passengers on the moving body 200. That is, the passenger number acquisition unit 134 acquires information related to the number of passengers measured by a passenger number measurement device (for example, a number measurement device using image recognition technology using image data captured by a camera) provided on the moving body 200 via the communication unit 110 and the network N. After acquiring the information related to the number of passengers measured by the passenger number measurement device provided on the moving body 200, the passenger number acquisition unit 134 stores the acquired information related to the number of passengers in the storage unit 120 in association with the identifier of the moving body 200 from which the information was acquired.

[0045] The performance estimation unit 135 estimates the amount of performance degradation of the magnetic-geared motor 240 based on the phase difference integral value, the state information, and the number of passengers. For example, the performance estimation unit 135 may estimate the amount of performance degradation of the magnetic-geared motor 240 based on the phase difference integral value, the state information, and the number of passengers using a trained model that has trained the relationship between the phase difference integral value, the state information, the number of passengers, and the performance of the magnetic-geared motor 240. In this case, the training model may be, for example, a neural network, a multiple regression model, or a support vector machine.

[0046] Fig. 9 is a diagram schematically showing the processing of the performance estimation unit according to the present disclosure. As shown in Fig. 9, the performance estimation unit 135 estimates the amount of performance degradation of the magnetic-geared motor 240 based on the phase difference integral value, status information, and the number of passengers. As shown in Fig. 9, the phase difference integral value, status information, and number of passengers may be input into a model at predetermined time intervals to estimate the amount of performance degradation, and the transition in performance of the magnetic-geared motor 240 over time may be output as a graph.

[0047] The factor estimation unit 136 estimates the cause of performance degradation from information on the bearing temperature, the current of the magnetic-geared motor 240, and the voltage of the magnetic-geared motor 240. For example, the performance estimation unit 136 compares the amount of performance degradation due to the bearing temperature, the amount of performance degradation due to the current of the magnetic-geared motor 240, and the voltage of the magnetic-geared motor 240 estimated by the performance estimation unit 135, and identifies the parameter with the largest amount of performance degradation. If the parameter with the largest amount of performance degradation is the bearing temperature, the factor estimation unit 136 estimates, for example, that an increase in bearing resistance is the cause of performance degradation. If the parameter with the largest amount of performance degradation is the current of the magnetic-geared motor 240, the factor estimation unit 136 estimates that a partial short circuit of the coil winding is the cause. If the parameter with the largest amount of performance degradation is the voltage of the magnetic-geared motor 240, the factor estimation unit 136 estimates that a decrease in magnetic force of the permanent magnet is the cause. The factor estimation unit 136 may estimate the performance degradation factor using a trained model that has learned the relationship between the bearing temperature, the current of the magnetic-geared motor 240, and the voltage of the magnetic-geared motor 240 and the performance degradation factors of the magnetic-geared motor 240. In other words, the trained model may be generated by accumulating operation data of the magnetic-geared motor 240 and learning the relationship between the label for each performance degradation factor of the magnetic-geared motor 240 and the bearing temperature, the current of the magnetic-geared motor 240, and the voltage of the magnetic-geared motor 240.

[0048] The position information acquisition unit 137 acquires the position information of the mobile object 200. That is, the position information acquisition unit 137 acquires the position information measured by the GNSS receiver 250 included in the mobile object 200 via the communication unit 110. After acquiring the position information measured by the GNSS receiver 250 included in the mobile object 200, the position information acquisition unit 137 stores the acquired position information in the position information storage unit 123 in association with the identifier of the mobile object 200 from which the position information was acquired.

[0049] The abnormality part identifying unit 138 identifies an abnormal part on the movement path of the moving object 200 based on the position information when the phase difference integral value is determined to be abnormal. The processing of the abnormality part identifying unit 138 will be described with reference to Fig. 10. Fig. 10 is a diagram schematically showing the processing of the abnormality part identifying unit according to the present disclosure.

[0050] FIG. 10 depicts a railway vehicle wheel WH as an example of the moving body 200, and a railway vehicle track TJ as an example of the moving path of the moving body 200. FIG. 10 also depicts a state in which the railway vehicle wheel WH equipped with the GNSS receiver 250 passes over the track TJ. Graphs GA2, GB2, and GC2 are graphs showing the time transitions of the estimated and measured values ​​of the phase angle of the low-speed rotor when the railway vehicle wheel WH passes through positions LCA, LCB, and LCC on the track TJ, respectively. That is, when the railway vehicle wheel WH passes through positions LCC, LCB, and LCA on the track TJ in this order, it can be seen that there is a large difference between the estimated and measured values ​​of the phase angle of the low-speed rotor when it passes through position LCB. In such a case, the abnormality determination unit 132 collates the position information when the difference between the estimated and measured values ​​of the phase angle of the low-speed rotor is large, and identifies position LCB on the track TJ as an abnormal location.

[0051] (Mobile configuration) Next, the configuration of the moving body 200 will be described with reference to Fig. 6. As shown in Fig. 6, the moving body 200 includes a communication unit 210, a storage unit 220, a control unit 230, a magnetic-geared motor 240, and a GNSS receiving unit 250.

[0052] The communication unit 210 is connected to the network N by wire or wirelessly, and transmits and receives various information to and from the status monitoring device 100 via the network N. The communication unit 210 is realized by, for example, an NIC or the like.

[0053] The storage unit 220 is a storage device that stores various types of information. The storage unit 120 may be realized by a main storage device and an auxiliary storage device. The main storage device may be realized by semiconductor memory elements such as RAM, ROM, flash memory, etc. The auxiliary storage device may be realized by a hard disk, SSD, etc.

[0054] The control unit 230 is a controller that manages and controls the moving object 200. The control unit 230 is realized by a CPU, an MPU, or the like executing various programs stored in the storage unit 220 using the RAM as a work area. The control unit 230 may also be realized by an integrated circuit such as an ASIC or an FPGA.

[0055] As shown in Fig. 6, control unit 230 includes detection unit 231 and operation control unit 232. Control unit 230 realizes these components and executes these processes by reading and executing a program from storage unit 220. Note that control unit 230 may execute these processes using one CPU, or may include multiple CPUs that execute these processes in parallel. Below, these components will be described in order.

[0056] The detection unit 231 detects information related to the state of the magnetic-geared motor 240. For example, the detection unit 231 detects state information including at least one of the bearing temperature of the bearing connected to the magnetic-geared motor 240, the current of the magnetic-geared motor 240, and the voltage of the magnetic-geared motor 240. The bearing temperature of the bearing may be measured using a thermocouple. The current of the magnetic-geared motor 240 may be measured by measuring the current flowing into the inverter using, for example, a shunt resistor. The voltage of the magnetic-geared motor 240 may be measured by measuring the voltage before and after the current flows into the inverter using a voltmeter. After detecting the bearing temperature of the bearing, the current of the magnetic-geared motor 240, and the voltage of the magnetic-geared motor 240, the detection unit 231 stores this information in the storage unit 220.

[0057] The operation control unit 232 controls the operation of the magnetic-geared motor 240. The operation control method of the magnetic-geared motor 240 may be realized by, for example, vector control. In vector control, when a rotational speed command is given, a torque current command is generated based on the difference from the measured rotational speed. After performing a three-phase to two-phase transformation on each phase current, a rotational coordinate transformation is performed using the rotor rotation angle to calculate the torque current and excitation current. A PI (Proportional-Integral) control calculation is performed on the difference between the torque current command and the torque current to generate a voltage command. A similar process is performed on the excitation current to generate a voltage command. The generated voltage command is then subjected to a fixed coordinate transformation using the rotor rotation angle, and then a space vector transformation is performed to convert it into a phase voltage. A phase duty ratio is determined from this phase voltage. A control signal is generated by comparing the phase duty ratio with the level of the carrier wave, and the control signal is output to the drive circuit.

[0058] The magnetic-geared motor 240 is an integrated unit of a reducer (gear mechanism) and a motor. The magnetic-geared motor 240 includes a low-speed rotor, a high-speed rotor, and a stator. The stator includes a coil and rotates the high-speed rotor by magnetomotive force. The high-speed rotor includes, for example, permanent magnets on the outer periphery of a cylindrical rotor. The permanent magnets may be arranged so as to form multiple pole pairs on the outer periphery of the high-speed rotor. The low-speed rotor is formed of a magnetic material such as an electromagnetic steel plate. The low-speed rotor is provided so as to cover the outer periphery of the high-speed rotor, and is formed, for example, by circumferentially arranging rectangular pillars extending from the inner periphery toward the outer periphery.

[0059] The magnetic-geared motor 240 rotates a high-speed rotor by the magnetomotive force generated by applying power to a coil provided in a stator. As the high-speed rotor rotates, the low-speed rotor rotates according to a reduction ratio. The magnetic-geared motor 240 can obtain reduced output without using a mechanical reducer, eliminating the need to supply lubricating oil to the gears that make up the mechanical reducer. Also, tooth contact adjustment for the gears that make up the mechanical reducer is unnecessary. Furthermore, because the magnetic-geared motor 240 does not use a mechanical reducer, it has many advantages, such as eliminating wear and fatigue on the wave surfaces of the gears that make up the mechanical reducer.

[0060] The magnetic-geared motor 240 also includes a rotor position measuring device that detects the phase angles of the low-speed rotor and the high-speed rotor. The rotor position measuring device may be, for example, a Hall sensor. A Hall sensor is an integrated circuit that combines a Hall element and an operational amplifier into a single element. The Hall element is a magnetically responsive thin-film solid formed from a semiconductor. When a current flows through the Hall element and a magnetic flux approaches perpendicular to the current, a Hall voltage is generated in the direction perpendicular to the current and magnetic flux due to the influence of the Lorentz force. As a result, the Hall sensor outputs this voltage. Note that the Hall voltage output from the Hall element is small, so it is amplified by an operational amplifier. The rotor position measuring device detects the phase angles of the low-speed rotor and the high-speed rotor from the Hall voltage.

[0061] The rotor position measuring device may be a resolver. A resolver is a rotation angle detector that uses the principle of a transformer. The resolver includes a stator with a primary coil and a rotor that rotates integrally with the object whose rotor position is to be measured and includes a secondary coil. The resolver detects the rotor phase angle using a change in an electrical signal generated by a change in reactance of the stator's primary coil that accompanies the rotation of the rotor, which rotates integrally with the object whose rotor position is to be measured. The resolver has high environmental resistance and can detect the phase angles of both low-speed and high-speed rotors with high accuracy.

[0062] The GNSS receiver 250 measures location information. The GNSS receiver 150 includes a GNSS receiver and receives radio waves transmitted from GPS (Global Positioning System) satellites, European Galileo satellites, Russian GLONASS (Global Navigation Satellite System) satellites, Chinese BeiDou satellites, etc. The GNSS receiver receives radio waves transmitted from these multiple GPS satellites, etc., and measures location information (e.g., latitude and longitude) by calculating the distance from the GPS satellite, etc. to the GNSS receiver using the difference between the time the radio waves were received and the time the GPS satellite, etc., transmitted the radio waves.

[0063] (Composition and Effects) A first aspect of the condition monitoring device 100 for a moving body 200 according to the present disclosure is a condition monitoring device 100 for a moving body 200 that determines an abnormality in at least one of the moving path of the moving body 200 including a magnetic-geared motor 240, the magnetic-geared motor 240, and the moving body 200, and includes a phase angle acquisition unit 131 that acquires the phase angle of the low-speed rotor of the magnetic-geared motor 240 and the phase angle of the high-speed rotor of the magnetic-geared motor 240, and an abnormality determination unit 132 that determines an abnormality in at least one of the moving path of the moving body 200, the magnetic-geared motor 240, and the moving body 200 based on a phase difference integral value that indicates the integral value of the difference between the phase angle of the low-speed rotor and the phase angle of the high-speed rotor acquired by the phase angle acquisition unit 131 with respect to the phase difference between the low-speed rotor and the high-speed rotor estimated based on the input power.

[0064] According to this configuration, it is possible to determine an abnormality in at least one of the moving path of the moving body 200, the magnetic-geared motor 240, and the moving body 200 based on the integral value of the difference between the estimated values ​​and the measured values ​​of the phase angles of the low-speed rotor and the high-speed rotor of the magnetic-geared motor 240. Therefore, it is possible to provide a state monitoring device 100 for the moving body 200 that can accurately detect the moving path of the moving body 200 and an abnormality in the moving body 200.

[0065] A second aspect of the state monitoring device 100 for a moving body 200 according to the present disclosure is the state monitoring device of the first aspect, further comprising a state information acquisition unit 133 that detects state information including at least one of the bearing temperature, the current of the magnetic-geared motor 240, and the voltage of the magnetic-geared motor 240, a passenger number acquisition unit 134 that acquires information regarding the number of passengers on the moving body 200, and a performance estimation unit 135 that estimates the amount of performance degradation of the magnetic-geared motor 240 based on the phase difference integral value, the state information, and the number of passengers.

[0066] According to this configuration, it is possible to estimate the amount of performance degradation of the magnetic-geared motor 240 based on the phase difference integral value, the status information, and the number of passengers. Therefore, it becomes possible to carry out maintenance and inspection of the magnetic-geared motor 240 before an abnormality occurs that causes a significant degradation in performance of the magnetic-geared motor 240.

[0067] A third aspect of the condition monitoring device 100 for a moving body 200 according to the present disclosure is the condition monitoring device of the first or second aspect, further comprising a factor estimation unit 136 that estimates the cause of performance degradation from information on the bearing temperature, the current of the magnetic-geared motor 240, and the voltage of the magnetic-geared motor 240.

[0068] According to this configuration, it is possible to estimate the cause of performance degradation from information on the bearing temperature, the current of the magnetic-geared motor 240, and the voltage of the magnetic-geared motor 240. Therefore, in the maintenance and inspection work of the magnetic-geared motor 240, it is possible to identify areas that should be inspected with priority and then perform the maintenance and inspection work, thereby making the maintenance and inspection work of the magnetic-geared motor 240 more efficient.

[0069] A fourth aspect of the state monitoring device 100 for a moving body 200 according to the present disclosure is a state monitoring device according to any one of the first to third aspects, further comprising a position information acquisition unit 137 that acquires position information of the moving body 200, and an abnormality point identification unit 138 that identifies an abnormal point in the movement path of the moving body 200 based on the position information when the phase difference integral value is determined to be abnormal.

[0070] According to this configuration, it is possible to identify an abnormal location on the movement path of the moving object 200 based on the position information when it is determined that the phase difference integral value is abnormal. Therefore, in the maintenance and inspection work on the movement path of the moving object 200, it is possible to identify locations that should be inspected with priority and then perform the maintenance and inspection work, thereby making it possible to improve the efficiency of the maintenance and inspection work on the movement path of the moving object 200.

[0071] A fifth aspect of the condition monitoring device 100 for a moving body 200 according to the present disclosure is a condition monitoring device according to any one of the first to fourth aspects, in which the phase angle acquisition unit 131 acquires the phase angle of the low-speed rotor of a plurality of magnetic-geared motors 240 provided in the moving body 200 and the phase angle of the high-speed rotor of the magnetic-geared motor 240, and the abnormality determination unit 132 determines an abnormal part of the moving body 200 based on the phase difference integral value of the plurality of magnetic-geared motors 240.

[0072] According to this configuration, by identifying the magnetic-geared motor 240 whose phase difference integral value is determined to be abnormal among the multiple magnetic-geared motors 240, it is possible to identify the abnormal part of the moving body 200. Therefore, in the maintenance and inspection work of the moving body 200, it is possible to identify the part that should be inspected with priority and then perform the maintenance and inspection work, thereby making it possible to improve the efficiency of the maintenance and inspection work of the moving body 200.

[0073] The condition monitoring method for a moving body 200 according to the present disclosure is a condition monitoring method for a moving body 200 that determines an abnormality in at least one of the moving path of the moving body 200 including a magnetic-geared motor 240, the magnetic-geared motor 240, and the moving body 200, and includes the steps of acquiring the phase angle of the low-speed rotor and the phase angle of the high-speed rotor of the magnetic-geared motor 240, and determining an abnormality in at least one of the moving path of the moving body 200, the magnetic-geared motor 240, and the moving body 200 based on a phase difference integral value that indicates the integral value of the difference between the phase angle of the low-speed rotor and the phase angle of the high-speed rotor acquired in the acquisition step for the phase difference between the low-speed rotor and the high-speed rotor estimated based on the input power.

[0074] According to this configuration, it is possible to determine an abnormality in at least one of the moving path of the moving body 200, the magnetic-geared motor 240, and the moving body 200 based on the integral value of the difference between the estimated values ​​and the measured values ​​of the phase angles of the low-speed rotor and the high-speed rotor of the magnetic-geared motor 240. Therefore, it is possible to provide a state monitoring method for the moving body 200 that can accurately detect an abnormality in the moving path of the moving body 200 and the moving body 200.

[0075] The condition monitoring program for the moving body 200 according to the present disclosure is a condition monitoring program for the moving body 200 that determines an abnormality in at least one of the moving path of the moving body 200 including the magnetic-geared motor 240, the magnetic-geared motor 240, and the moving body 200, and causes a computer to execute the steps of acquiring the phase angle of the low-speed rotor and the phase angle of the high-speed rotor of the magnetic-geared motor 240, and determining an abnormality in at least one of the moving path of the moving body 200, the magnetic-geared motor 240, and the moving body 200 based on a phase difference integral value that indicates the integral value of the difference between the phase angle of the low-speed rotor and the phase angle of the high-speed rotor acquired in the acquisition step for the phase difference between the low-speed rotor and the high-speed rotor estimated based on the input power.

[0076] According to this configuration, it is possible to determine an abnormality in at least one of the moving path of the moving body 200, the magnetic-geared motor 240, and the moving body 200 based on the integral value of the difference between the estimated values ​​and the measured values ​​of the phase angles of the low-speed rotor and the high-speed rotor of the magnetic-geared motor 240. Therefore, it is possible to provide a state monitoring program for the moving body 200 that can accurately detect the moving path of the moving body 200 and an abnormality in the moving body 200.

[0077] Although the embodiments of the present disclosure have been described above, the embodiments are not limited to the contents of these embodiments. Furthermore, the above-described components include those that can be easily imagined by a person skilled in the art, those that are substantially the same, and those that are within the so-called equivalent range. Furthermore, the above-described components can be combined as appropriate. Furthermore, various omissions, substitutions, or modifications of the components can be made without departing from the spirit of the above-described embodiments. [Explanation of symbols]

[0078] 1 Condition monitoring system 100 Condition monitoring device 110 Communications Department 120 Storage section 130 Control Unit 131 Phase angle acquisition section 132 Abnormality determination section 133 Status information acquisition unit 134 Passenger Number Acquisition Department 135 Performance estimation part 136 Factor Estimation Section 137 Location information acquisition unit 138 Abnormality location identification section 200 Mobile 210 Communications Department 220 Storage section 230 Control Unit 231 Detector 232 Operation control section 240 Magnetic Geared Motor 250 GNSS receiver N Network

Claims

1. A state monitoring device for a moving body that determines an abnormality in at least one of a moving path of the moving body including a magnetic-geared motor, the magnetic-geared motor, and the moving body, a phase angle acquisition unit that acquires a phase angle of a low-speed rotor of the magnetic-geared motor and a phase angle of a high-speed rotor of the magnetic-geared motor; an abnormality determination unit that determines an abnormality in at least one of a moving path of the moving body, the magnetic-geared motor, and the moving body based on a phase difference integral value that indicates an integral value of a difference between the phase difference between the low-speed rotor and the high-speed rotor acquired by the phase angle acquisition unit with respect to a phase difference between the low-speed rotor and the high-speed rotor estimated based on an input power as a reference, A mobile object condition monitoring device.

2. a status information acquiring unit that acquires status information including at least one of a bearing temperature, a current of the magnetic-geared motor, and a voltage of the magnetic-geared motor; a passenger number acquisition unit that acquires the number of passengers of the moving body; a performance estimation unit that estimates a performance degradation amount of the magnetic-geared motor based on the phase difference integral value, the state information, and the number of passengers. The state monitoring device for a moving body according to claim 1.

3. and a factor estimation unit that estimates a factor of performance degradation from information on the bearing temperature, the current of the magnetic-geared motor, and the voltage of the magnetic-geared motor. The state monitoring device for a moving body according to claim 2.

4. a location information acquisition unit that acquires location information of the moving object; an abnormality location identifying unit that identifies an abnormal location on a moving path of the moving object based on the position information when the phase difference integral value is determined to be abnormal, The state monitoring device for a moving body according to claim 2.

5. the phase angle acquisition unit acquires phase angles of low-speed rotors of a plurality of magnetic-geared motors provided on the moving body and phase angles of high-speed rotors of the magnetic-geared motors; the abnormality determination unit determines an abnormal portion of the moving body based on the phase difference integral values ​​of the plurality of magnetic-geared motors. The state monitoring device for a moving body according to claim 1.

6. A method for monitoring the state of a moving body that determines an abnormality in at least one of a moving path of the moving body that includes a magnetic-geared motor, the magnetic-geared motor, and the moving body, comprising: obtaining a phase angle of a low-speed rotor and a phase angle of a high-speed rotor of the magnetic-geared motor; and determining whether there is an abnormality in at least one of the moving path of the moving body, the magnetic-geared motor, and the moving body based on a phase difference integral value indicating an integral value of the difference between the phase difference between the low-speed rotor and the high-speed rotor acquired in the acquiring step with respect to the phase difference between the low-speed rotor and the high-speed rotor estimated based on an input power. A method for monitoring the condition of a moving object.

7. A state monitoring program for a moving body that determines an abnormality in at least one of a moving path of the moving body including a magnetic-geared motor, the magnetic-geared motor, and the moving body, obtaining a phase angle of a low-speed rotor and a phase angle of a high-speed rotor of the magnetic-geared motor; determining whether there is an abnormality in at least one of the moving path of the moving body, the magnetic-geared motor, and the moving body based on a phase difference integral value indicating an integral value of the difference between the phase difference between the low-speed rotor and the high-speed rotor acquired in the acquiring step with respect to the phase difference between the low-speed rotor and the high-speed rotor estimated based on the input power; A mobile object status monitoring program that causes a computer to execute the above.

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