Platform screen door device, method, program, and platform screen door control device.

Abstract

To provide a method by which a detection accuracy of a door catcher is improved while suppressing a false detection of the door catcher caused by a foreign matter between doors of a platform door device.SOLUTION: A platform door device in this invention comprises a pair of doors which open / close an entrance on a platform, a pair of door pockets including each of the pair of doors, stoppers to limit movements of one door when the one door moves in a closing direction and reaches a prescribed position, a drive control part 33 which controls a drive mechanism 13 to make a drive force of the one door bigger than the drive force of the other door of the pair of doors and moves the one door to close, and a door catch determination part 35 which determines whether any foreign object is caught between the pair of doors based on a comparison of a reference position with a stop position of the other door when the movement of the one door is limited and stopped by the stopper.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a home door device, method, program, and home door control device.

Background Art

[0002] Conventionally, in a home door device, a method of using a door end sensor to detect that a foreign object such as a person or an object is caught between the door ends when the door is closed (so-called door pinch) is generally known (for example, see Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above-described conventional technology, when the sensitivity of the sensor is set high, although it becomes possible to detect door pinches even by foreign objects with a relatively small thickness, there is a possibility that false detections of door pinches by foreign objects increase. On the other hand, when the sensitivity of the sensor is set low, although false detections of door pinches by foreign objects can be suppressed, there is a possibility that door pinches by thin foreign objects such as umbrellas and strings or thin foreign objects cannot be detected. Thus, there is a trade-off relationship between the sensitivity set in the sensor and the detection accuracy of door pinches.

[0005] In view of the above problems, an object of the present invention is to provide a technology capable of improving the detection accuracy of door pinches while suppressing false detections of door pinches by foreign objects between the doors of a home door device.

Means for Solving the Problems

[0006] To solve the above problems, a platform door device according to one aspect of the present invention includes a pair of doors for opening and closing an entrance / exit on a platform, a pair of door pockets for housing each of the pair of doors, a stopper for restricting the movement of one of the doors when it moves in the closing direction and reaches a predetermined position, a drive control unit for controlling the drive mechanism to close the pair of doors by controlling the drive force of one of the doors to be greater than the drive force of the other of the pair of doors, and a door pinch determination unit for determining whether or not a foreign object is caught between the pair of doors based on a comparison between the stopping position of the other door and a reference position when the movement of one of the doors is restricted by the stopper and the movement of the other door is stopped.

[0007] A method according to one aspect of the present invention is a method for determining door entrapment in a platform door device having a pair of doors for opening and closing an entrance on a platform, a pair of door pockets for housing each of the pair of doors, and a stopper for restricting the movement of one of the pair of doors when it moves in the closing direction and reaches a predetermined position, the method comprising the steps of: controlling the drive mechanism so that the driving force of one of the doors is greater than the driving force of the other of the pair of doors, thereby moving the pair of doors in a closing position; and determining whether or not a foreign object is caught between the pair of doors based on a comparison between the stopping position of the other door and a reference position when the movement of one of the doors is restricted by the stopper and the movement of the other door is stopped.

[0008] A program according to one aspect of the present invention is a program for determining door entrapment in a platform door device having a pair of doors for opening and closing an entrance on a platform, a pair of door pockets for housing each of the pair of doors, and a stopper for restricting the movement of one of the pair of doors when it moves in the closing direction and reaches a predetermined position, and is a program for causing a computer to perform the steps of: controlling the drive mechanism so that the driving force of one of the doors is greater than the driving force of the other of the pair of doors, thereby moving the pair of doors in a closing position; and determining whether or not a foreign object is caught between the pair of doors based on a comparison between the stopping position of the other door when its movement is restricted by the stopper and the movement of one of the doors is stopped and a reference position.

[0009] A platform door control device according to one aspect of the present invention includes a pair of doors for opening and closing an entrance / exit on a platform, a pair of door pockets for housing each of the pair of doors, a stopper that restricts the movement of one of the doors when it moves in the closing direction and reaches a predetermined position, and a platform door control device for controlling a platform door device having a drive control unit that controls the drive mechanism to move the pair of doors in the closing direction by controlling the drive mechanism such that the driving force of one of the doors is greater than the driving force of the other of the pair of doors, and a door pinch determination unit that determines whether or not a foreign object is caught between the pair of doors based on a comparison between the stopping position of the other door and a reference position when the movement of one of the doors is restricted by the stopper and the movement of the other door is stopped.

[0010] Furthermore, any combination of the above, or any substitution of the components or expressions of the present invention between methods, apparatus, programs, temporary or non-temporary storage media recording programs, systems, etc., are also valid embodiments of the present invention. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a technology that can improve the accuracy of detecting door entrapment while suppressing false detection of door entrapment caused by foreign objects between the doors of a platform screen door system. [Brief explanation of the drawing]

[0012] [Figure 1] This is a block diagram illustrating the platform door system in general terms. [Figure 2] Figure 2(a) is a front view of the platform door system of the first embodiment when the doors are in the fully closed position, and Figure 2(b) is a front view of the platform door system of the first embodiment when the doors are in the fully open position. [Figure 3] This is a functional block diagram of the integrated control panel and platform door system. [Figure 4] This diagram illustrates a method for detecting door entrapment without using a door edge sensor. [Figure 5] This diagram illustrates a method for detecting door entrapment without using a door edge sensor. [Figure 6] This is a flowchart showing the processing of the platform door control unit in the first embodiment. [Figure 7] Figures 7(a) and 7(b) illustrate the operation of the platform door device in step S14 when a foreign object is present between the edges of a pair of doors. [Figure 8] This is a top view of Figure 7(b). [Figure 9] Figure 9(a) is a front view of the platform door system of the second embodiment when the doors are in the fully closed position, and Figure 9(b) is a front view of the platform door system of the second embodiment when the doors are in the fully open position. [Figure 10] This is a flowchart showing the processing of the platform door control unit in the second embodiment. [Modes for carrying out the invention]

[0013] In the following embodiments and modifications, identical or equivalent components and members are denoted by the same reference numerals, and redundant explanations are omitted as appropriate. Furthermore, the dimensions of members in each drawing are enlarged or reduced as appropriate for ease of understanding. Additionally, some members that are not important for explaining the embodiments are omitted from the drawings.

[0014] First Embodiment FIG. 1 is a block diagram schematically showing a platform door system 1. The platform door system 1 includes an integrated control panel 50 and a plurality of home door devices 100. The home door device 100 includes a home door control unit 30.

[0015] The plurality of home door devices 100 are respectively provided on the up line and the down line of the platform of the station. The plurality of home door devices 100 are respectively arranged at the boarding and alighting openings E (see FIG. 2) provided at positions corresponding to the vehicle doors of the vehicle 61 when the vehicle 61 stops at a predetermined position on the platform.

[0016] One integrated control panel 50 is provided on the platform and is connected to each home door control unit 30 of the plurality of home door devices 100. The door 11 (see FIG. 2) of the home door device 100 is controlled to open and close by the integrated control panel 50 via the home door control unit 30. When the vehicle door opens and the door 11 opens, passengers can board and alight from the vehicle 61. When either the vehicle door or the door 11 closes, the boarding and alighting of passengers are restricted.

[0017] The integrated control panel 50 and each home door control unit 30 can communicate with each other. For example, the integrated control panel 50 transmits an open command signal or a close command signal for moving the pair of doors 11 to open or close to each home door control unit 30. When the home door control unit 30 opens the corresponding door 11 in response to the open command signal, it transmits an all-open signal to the integrated control panel 50. When the home door control unit 30 closes the corresponding door 11 in response to the close command signal, it transmits an all-closed signal to the integrated control panel 50. Each home door control unit 30 can transmit state information and the like, which will be described later, to the integrated control panel 50.

[0018] The integrated control panel 50 and the vehicle 61 can communicate with each other via the vehicle information transmission device (ATO) 63 and the ground unit 62. The vehicle 61 can transmit an opening request signal for opening the doors 11 of all the platform door devices 100 and a closing request signal for closing the doors 11 of all the platform door devices 100 to the integrated control panel 50. When the integrated control panel 50 receives an all-open signal or an all-closed signal from all the platform door control units 30, it can transmit an all-open confirmation signal or an all-closed confirmation signal to the vehicle 61. Note that the vehicle information transmission device 63 and the ground unit 62 may not be provided at some stations.

[0019] The operation of the platform door system 1 will be described. When the vehicle 61 reaches a predetermined position on the platform and stops, the ground unit 62 and the vehicle information transmission device 63 transmit a stop signal indicating that the vehicle 61 has stopped to the integrated control panel 50. Thereby, the integrated control panel 50 detects that the vehicle 61 has stopped. Thereafter, the crew of the vehicle 61 transmits an opening request signal to the integrated control panel 50 via the ground unit 62 and the vehicle information transmission device 63. Upon receiving this opening request signal, the integrated control panel 50 supplies an opening command signal to each platform door control unit 30. Each platform door control unit 30 opens the corresponding door 11 in response to this opening command signal. The platform door control unit 30 transmits an all-open signal to the integrated control panel 50 in response to receiving an all-open position signal, which will be described later, from the all-open position sensor 41a. When the integrated control panel 50 receives an all-open signal from all the platform door control units 30, it sends an all-open confirmation signal to the vehicle 61 via the vehicle information transmission device 63 and the ground unit 62. Upon receiving this all-open confirmation signal, the crew of the vehicle 61 opens the vehicle door.

[0020] When passengers have finished boarding and alighting and the train 61 is about to depart from the platform, the crew of the train 61 transmits a close request signal to the central control panel 50 via the ground beacon 62 and the train information transmission device 63. Upon receiving this close request signal, the central control panel 50 supplies a close command signal to each platform door control unit 30. Each platform door control unit 30 responds to this close command signal and closes the corresponding door 11. If the door 11 becomes caught in a foreign object during its closing movement, the door jam is detected and the door 11 moves to open. Subsequently, in response to the receipt of the close command signal, the door 11 moves to close again. If no door jam is detected, the platform door control unit 30 transmits a fully closed signal to the central control panel 50 in response to receiving the fully closed position signal described later from the fully closed position sensor 41b. When the central control panel 50 receives fully closed signals from all platform door control units 30, it sends a fully closed confirmation signal to the train 61 via the train information transmission device 63 and the ground beacon 62. When the crew of vehicle 61 receives this fully closed confirmation signal, they close the vehicle doors. Alternatively, station staff may transmit a close request signal or an open request signal to the main control panel 50 using the station staff control panel 66 installed on the platform.

[0021] Figure 2(a) is a front view of the platform door device of the first embodiment when the doors are in the fully closed position, and Figure 2(b) is a front view of the platform door device of the first embodiment when the doors are in the fully open position. The platform door device 100 includes a pair of door pockets 10, a pair of double-opening doors 11a and 11b (sometimes collectively referred to as doors 11) that can move from the door pockets 10 in the opening and closing direction Dx, a stopper 12 that restricts the movement of doors 11 when doors 11 move in the closing direction and reach a predetermined position, a pair of drive mechanisms 13 that drive the pair of doors 11 to open and close, and a platform door control unit 30.

[0022] The platform screen door system 100 opens and closes the entrance / exit E, which is the space between a pair of door pockets 10, by moving the door 11. The platform screen door system 100 closes the entrance / exit E by moving the leading edge of the door 11 away from the door pocket 10 so that the leading edges of the pair of doors 11 come into contact with each other (see Figure 2(a)). The platform screen door system 100 opens the entrance / exit E by moving the leading edge of the door 11 towards the door pocket 10 (see Figure 2(b)).

[0023] The door pocket 10 houses the door 11 so that it can move forward and backward. The door pocket 10 is configured such that the opening and closing direction Dx is the longitudinal direction when viewed from the front. The door pocket 10 is placed on the platform. Each door pocket 10 is provided with a drive mechanism 13. In addition, one of the pair of door pockets 10 is provided with a platform door control unit 30.

[0024] The stopper 12 in this embodiment is provided on one of a pair of doors 11. In the example shown in Figure 2, the stopper 12 is provided on door 11a. The stopper 12 is configured to protrude from door 11a, and when door 11a moves in the closing direction and reaches a predetermined position, the protruding portion comes into contact with the door pocket 10, thereby restricting further closing movement of door 11a. The predetermined position here is, for example, the fully closed position of door 11. The fully closed position is, for example, an intermediate position with respect to the opening and closing direction Dx of the entrance E.

[0025] The drive mechanism 13 is provided on each of the pair of doors 11. The drive mechanism 13 includes a motor 13m that opens and closes the door 11 in accordance with the control of the platform door control unit 30, a pair of rotating bodies 13p connected to the motor 13m on both sides in the opening and closing direction Dx, a connecting part 13c that transmits the driving force of the motor 13m to the door 11, a transmission member 13t wrapped around the pair of rotating bodies 13p, and an encoder 13e (see Figure 3) that detects the rotation angle of the motor 13m. The connecting part 13c is provided, for example, on the tail end side of the door 11. The pair of drive mechanisms 13 are connected to the platform door control unit 30 via power lines (not shown).

[0026] Figure 3 is a functional block diagram of the integrated control panel 50 and the platform door device 100. Each functional block shown in Figure 3 and other figures can be implemented hardware-wise using electronic elements and mechanical parts, such as the CPU of a computer, and software-wise using computer programs, etc. However, here we depict functional blocks that are implemented through the coordination of these elements. Therefore, it will be understood by those skilled in the art that these functional blocks can be implemented in various ways through combinations of hardware and software.

[0027] The integrated control panel 50 comprises an opening / closing signal acquisition unit 51, a command control unit 52, and a communication control unit 53. The opening / closing signal acquisition unit 51 acquires fully open signals and fully closed signals from the platform door control unit 30. When the command control unit 52 receives an open request signal or a close request signal from the train 61 or the station staff operation panel 66, it transmits an open command signal or a close command signal to the platform door control unit 30. The communication control unit 53 transmits a fully open confirmation signal or a fully closed confirmation signal to the train information transmission device 54.

[0028] Furthermore, the communication control unit 53 transmits predetermined information to the station office display device 64 and the display device installed on the station staff control panel 66. For example, these display devices show whether or not there are any abnormalities in the doors 11 on the up and down lines based on this information. The communication control unit 53 also transmits predetermined information to the general control room display device 65 in the general control room, which is located away from the station. For example, the general control room display device 65 shows whether or not there are any abnormalities in the doors 11 at all stations based on this information.

[0029] The platform door device 100 includes an opening / closing detection unit 41. The opening / closing detection unit 41 includes a fully open position sensor 41a and a fully closed position sensor 41b. The fully open position sensor 41a is a sensor that detects whether or not the door 11 is in the fully open position and transmits a fully open position signal indicating that the door 11 is in the fully open position. The fully closed position sensor 41b is a sensor that detects whether or not the door 11 is in the fully closed position and transmits a fully closed position signal indicating that the door 11 is in the fully closed position. For example, magnetic detection type proximity sensors or photoelectric sensors can be used as the fully open position sensor 41a and the fully closed position sensor 41b.

[0030] The platform door device 100 includes a platform door control unit 30. The platform door control unit 30 in this embodiment includes a receiving unit 31, an acquisition unit 32, a drive control unit 33, a stop determination unit 34, a door pinch determination unit 35, a transmission unit 36, and a storage unit 37.

[0031] The receiving unit 31 receives various signals supplied from the outside. For example, the receiving unit 31 receives a fully open position signal or a fully closed position signal from the opening / closing detection unit 41, the rotation angle of the motor 13m from the encoder 13e, and an open command signal or a closed command signal from the command control unit 52, etc.

[0032] The acquisition unit 32 acquires the respective positions of the pair of doors 11 based on the rotation angles of the motors 13m of each door 11 received via the receiving unit 31.

[0033] The drive control unit 33 controls the motor 13m of the drive mechanism 13 in response to an open command signal or a close command signal received via the receiving unit 31 to move each of the pair of doors 11 in the opening and closing direction. In this embodiment, the drive control unit 33 controls the opening and closing direction of the doors 11 by controlling the drive current supplied to each of the motors 13m of the pair of doors 11.

[0034] The stop determination unit 34 determines whether the closing movement of each of the pair of doors 11 has stopped. For example, the stop determination unit 34 determines that the closing movement of each of the pair of doors 11 has stopped if the positions of the pair of doors 11 acquired by the acquisition unit 32 do not change for a predetermined time. Alternatively, the stop determination unit 34 may determine that the closing movement of each of the pair of doors 11 has stopped if the rotation angle of the motors 13m from each encoder 13e does not change for a predetermined time.

[0035] The door pinch detection unit 35 determines whether or not a foreign object (including a person, a part of a person, and objects) is caught between the edges of a pair of doors 11 (i.e., whether or not a so-called door pinch condition exists) based on the stopping positions of the pair of doors 11. The stopping positions of each of the pair of doors 11 can be determined, for example, based on the rotation angle of the encoder 13e of the motor 13m provided on each of the pair of doors 11. The door pinch detection method in this embodiment will be described later.

[0036] The transmitting unit 36 ​​transmits a fully open signal or a fully closed signal to the integrated control panel 50.

[0037] The memory unit 37 stores reference position information indicating the reference position of door 11b, as well as various thresholds. The reference position is, for example, the stopping position of the other door 11b when one door 11a is in contact with the stopper 12, in a state where there is no door pinching (a state where there is no foreign object between the edges of door 11).

[0038] Here, a commonly known method for detecting door entrapment is to use a door edge sensor that detects when a foreign object such as a person or object is caught between the edges of the door 11 (so-called door entrapment) based on the size of the gap at the edge of the door 11 when the door 11 moves to close and stops (see, for example, Patent Document 1).

[0039] In the conventional technology described above, setting the sensitivity of the door edge sensor to a high level allows for the detection of door jams caused by relatively thin foreign objects, but it may also increase the likelihood of false detections of door jams caused by foreign objects. On the other hand, setting the sensitivity of the door edge sensor to a low level suppresses false detections of door jams caused by foreign objects, but it may fail to detect door jams caused by thin or narrow foreign objects such as umbrellas or strings. Thus, when using a door edge sensor, it has been difficult to improve the accuracy of door jam detection while suppressing false detections of door jams caused by foreign objects.

[0040] As a method for detecting door entrapment without using door edge sensors, a method is envisioned that detects door entrapment based on the stopping position of each door 11 when the door 11 moves to close and stops. Figures 4 and 5 are diagrams illustrating this detection method. Both Figures 4 and 5 illustrate the case where there is a foreign object O between the door edges of the door 11. In this method, for example, as shown in Figures 4 and 5, a fully closed position range is set for each door 11 to determine whether the door 11 is in the fully closed position based on a reference position. Then, it is conceivable that door entrapment is determined when the door edge of at least one door 11 stops outside this fully closed position range (see Figure 4), and that the door is in the fully closed position when the door edges of both doors 11 stop within this fully closed position range. However, in this method, if the fully closed position range is set too large, the positions of the leading edges of both doors 11 tend to fall within the fully closed position range when there are thin or narrow foreign objects such as umbrellas or strings, and the system may determine that the door is fully closed, failing to detect door entrapment even when there is a foreign object between the leading edges (see Figure 5). On the other hand, setting this fully closed position range smaller stabilizes the determination of the fully closed position, but this creates a trade-off where door entrapment caused by small foreign objects cannot be detected. Therefore, a method is needed to improve the accuracy of door entrapment detection so that door entrapment caused by small foreign objects can be detected without setting the fully closed position range too small.

[0041] The inventors have discovered that the accuracy of detecting door jams can be improved without setting a small fully closed position range by using the following method. This method will be described in detail below.

[0042] Figure 6 is a flowchart showing the process S10 of the platform door control unit 30 in the first embodiment.

[0043] In step S11, the receiving unit 31 determines whether or not it has received a close command signal from the integrated control panel 50. If a close command signal is not received (N in S11), process S10 returns to the beginning of step S11. If a close command signal is received (Y in S11), the receiving unit 31 supplies the close command signal to the drive control unit 33, and process S10 proceeds to step S12.

[0044] In step S12, the drive control unit 33 moves the door 11 to close in response to the acquisition of the close command signal. In this embodiment, the drive control unit 33 moves each of the pair of doors 11 to close with the same driving force. Here, "same driving force" is not limited to cases where the driving forces are exactly the same, but also includes cases where there is a difference in the driving force of the pair of doors 11, but that difference is within the margin of error, and the driving forces can be considered to be substantially the same. Furthermore, if each of the pair of doors 11 has the same driving force, the driving force may be adjusted during the closing movement to accelerate or decelerate the door 11.

[0045] In step S13, the stop determination unit 34 determines whether the closing movement of each of the pair of doors 11 has stopped. Here, if there is foreign matter between the leading edges of the pair of doors 11, the pair of doors 11 will stop by trapping the foreign matter, and if there is no foreign matter between the leading edges of the pair of doors 11, the pair of doors 11 will stop by contacting each other at the fully closed position or by the stopper 12 contacting the door pocket 10. If the closing movement has not stopped (N in S13), process S10 returns to step S12. If the closing movement has stopped (Y in S13), the stop determination unit 34 supplies a first stop signal to the drive control unit 33, and process S10 proceeds to step S14.

[0046] In step S14, the drive control unit 33 drives the doors 11 in the closing direction (close drive) with different driving forces. In this embodiment, the drive control unit 33 controls the drive mechanism 13 so that the driving force of one door 11a is greater than the driving force of the other door 11b. The operation of the platform door device 100 in step S14 when foreign matter is present between the leading edges of the pair of doors 11 will be explained using Figures 7(a) and 7(b). Figure 7(a) illustrates the state at the start of step S14, and Figure 7(b) illustrates the state when the closing movement of the door 11a is stopped by the stopper 12. When both doors 11 are driven to close in the state where the doors 11 have foreign matter caught between them, as shown in Figure 7(a), the pair of doors 11 will be pressed against each other. If the driving force of one door 11a is greater than the driving force of the other door 11b, the door 11a with the greater driving force pushes the door 11b with the less driving force and moves in the closing direction, while the door 11b with the less driving force is pushed by the door 11a and moves in the opening direction. When door 11a moves to the closed position, it comes into contact with the stopper 12 and its closing movement is restricted, stopping the movement of door 11 (see Figure 7(b)).

[0047] In step S15, the stop determination unit 34 determines whether the movement of each of the pair of doors 11 has stopped. Here, the movement of each of the pair of doors 11 stops when the movement of the pair of doors 11 with different driving forces causes door 11a to come into contact with the stopper 12 and its closing movement is restricted. If the closing movement has not stopped (N in S15), process S10 returns to step S14. If the closing movement has stopped (Y in S15), the stop determination unit 34 supplies a second stop signal to the door pinch determination unit 35, and process S10 proceeds to step S16.

[0048] In step S16, the door pinch detection unit 35 determines whether or not a door pinch has occurred based on a comparison between the stopping position of the door 11b when the movement of the door 11a is stopped by the stopper 12 and the reference position of the door 11b that is stored in advance in the memory unit 37. For example, the door pinch detection unit 35 determines that a door pinch has occurred if the stopping position of the door 11b is outside the fully closed position range set with respect to the reference position. If a door pinch has not occurred (N in step S16), the door pinch detection unit 35 determines that the door 11 is in the fully closed position, and processing S10 proceeds to step S17. If a door pinch has occurred (Y in step S16), the door pinch detection unit 35 supplies a door pinch detection signal to the drive control unit 33, and processing S10 proceeds to step S16.

[0049] In step S17, the transmitting unit 36 ​​determines whether or not it has received a fully closed position signal via the receiving unit 31. If a fully closed position signal is received (Y in step S17), the door pinch detection unit 35 supplies a door pinch non-detection signal to the transmitting unit 36, and processing S10 proceeds to step S18. If a fully closed position signal is not received (N in step S17), the door pinch detection unit 35 supplies an open command signal to the drive control unit 33, and processing S10 proceeds to step S19.

[0050] In step S18, the transmitting unit 36 ​​transmits a fully closed signal to the integrated control panel.

[0051] In step S19, the drive control unit 33 opens the door. This allows station staff or passengers to remove any foreign objects caught in the edge of the door 11.

[0052] After steps S18 and S19, process S10 ends.

[0053] As described above, in this embodiment, the drive control unit 33 controls the drive mechanism 13 so that the driving force of one door 11a is greater than the driving force of the other door 11b, thereby closing the pair of doors 11. The door pinch determination unit 35 determines whether or not a foreign object is caught between the pair of doors 11 based on a comparison between the stopping position of the other door 11b and a reference position when the movement of one door 11a is stopped due to the stopper 12.

[0054] The advantages of the door jamming detection method of the present invention will be explained using Figures 5 and 8. Figure 8 is a top view of Figure 7(b). In the method of Figure 5, since the door 11 is stopped with a foreign object O caught in it, the foreign object O is located on both sides in the opening / closing direction Dx relative to the reference position. Therefore, if the distances between the reference position and the leading edges of doors 11a and 11b are X1 and X2, respectively, and the width of the foreign object O in the opening / closing direction Dx is X3 (=X1+X2), then even though the width of the foreign object O is X3, door jamming must be determined using the stopping positions of the leading edges of doors 11a and 11b, which are located at distances X1 and X2 from the reference position, respectively. Therefore, it can be said that the width X3 of the foreign object O is not being effectively utilized in door jamming detection.

[0055] In contrast, in the method shown in Figure 8 of the present invention, after the door 11 stops with the foreign object O caught in it, door 11a pushes door 11b, so that when door 11a stops due to the stopper 12, the entire foreign object O is positioned on the door 11b side relative to the reference position. Therefore, it is possible to effectively utilize the entire width X3 of the foreign object O to determine if it is caught in the door. Consequently, even if a thin foreign object such as an umbrella or string is caught, it becomes easier to detect the door being caught. Therefore, it is possible to improve the accuracy of door detection while suppressing false detection of door being caught due to foreign objects between the doors 11 of the platform door device 100.

[0056] In this embodiment, the drive control unit 33, upon receiving a closing command signal, moves each of the pair of doors 11 to close with the same driving force. When it is determined that the closing movement of the doors 11 with the same driving force has stopped, it controls the drive mechanism 13 so that the driving force of one door 11a is greater than that of the other door 11b, thereby moving one of the doors 11a to close. Here, if the pair of doors 11 move to close with different driving forces upon receiving a closing command signal, the travel speed of the door 11 with the smaller driving force will be relatively slower. As a result, there will be a difference in the timing at which the closing movement is completed for each of the pair of doors 11, and it will take time before it is determined that both of the pair of doors 11 have stopped in step S13, causing a delay in the operation of the vehicle. By moving each of the pair of doors 11 to close with the same driving force, the difference in the timing at which the closing movement is completed for each of the pair of doors 11 can be reduced, thereby suppressing delays in the operation of the vehicle.

[0057] The following describes some variations of this embodiment.

[0058] In this embodiment, the stopper 12 is provided on the door 11, but it may also be provided on the door pocket. Also, the stopper 12 is provided on door 11a, but it may also be provided on door 11b.

[0059] In this embodiment, in step S12, the drive control unit 33 closed each of the pair of doors 11 with the same driving force, but it is not limited to this and may be driven with different driving forces.

[0060] In this embodiment, the platform door device 100 has a fully closed position sensor 41b, but it is not limited to this, and it does not have to have a fully closed position sensor 41b. In this case, step S17 is omitted.

[0061] In this embodiment, the pair of doors 11 were driven to close with different driving forces, but the invention is not limited to this. Driving force may be applied to only one of doors 11a and 11b, and not to the other. Therefore, it is sufficient that driving force is applied to at least one of doors 11a and 11b.

[0062] In this embodiment, a door jam is determined when the stopping position of the door 11b is outside the fully closed position range, but this is not limited to this. For example, the door jam determination unit 35 may determine whether the distance between the stopping position of the door 11b and the reference position exceeds a predetermined threshold, and if it exceeds the threshold, it may determine that a door jam has occurred.

[0063] Second Embodiment A second embodiment of the present invention will be described below. In the drawings and description of the second embodiment, components and members that are the same or equivalent as those in the first embodiment will be denoted by the same reference numerals. Descriptions that overlap with those of the first embodiment will be omitted as appropriate, and the description will focus on the configurations that differ from those of the first embodiment.

[0064] Figure 9(a) is a front view of the platform door device of the second embodiment when the door is in the fully closed position, and Figure 9(b) is a front view of the platform door device of the second embodiment when the door is in the fully open position. In the second embodiment, stoppers 12 are provided on both sides of not only door 11a but also door 11b. Therefore, when door 11b reaches a predetermined position due to its closing movement, the stoppers 12 come into contact with the door pocket 10, thereby restricting further closing movement of door 11b. In addition, in this embodiment, not only the reference position of door 11b but also the reference position of door 11a is stored in the storage unit 37.

[0065] Figure 10 is a flowchart of the process S20 of the platform door control unit 30 in the second embodiment. Steps S21 to S23 and S26 to S30 in Figure 10 are basically the same as steps S11 to S13 and S15 to S19 in Figure 6, except for points that are not specifically mentioned, so their explanation is omitted.

[0066] In step S24, the drive control unit 33 compares the distance between the current position of door 11a and the fully closed position with the distance between the current position of door 11b and the fully closed position to determine which of doors 11a and 11b has the smaller distance.

[0067] In step S25, the drive control unit 33 controls the drive mechanism 13 so that the driving force of the door 11 with the smaller distance is greater than the driving force of the door 11 with the larger distance, thereby driving the doors 11 to close with different driving forces.

[0068] After step S26, in step S27, the door pinch determination unit 35 determines whether a door pinch has occurred based on a comparison between the stopping position of the door 11 with the greater distance (the door 11 with less driving force) and the reference position.

[0069] Thus, in this embodiment, when the drive control unit 33 determines that the closing movement of the door 11 with the same driving force has stopped, it controls the drive mechanism 13 so that the driving force of the door 11 with the shorter distance is greater than the driving force of the door 11 with the longer distance, thereby driving the door 11 to close with different driving forces. Here, when the door 11 with the shorter distance is moved to close, the time until the door 11 is stopped by the stopper 12 can be shortened compared to when the door with the longer distance is moved to close. Therefore, according to this embodiment, the time until door entrapment is detected can be shortened, and thus delays in vehicle operation can be suppressed.

[0070] Any combination of the embodiments and modifications described above is also useful as an embodiment of the present invention. The new embodiments resulting from these combinations possess the combined effects of both the respective embodiments and modifications.

[0071] In the embodiments disclosed herein, those in which multiple functions are provided in a distributed manner may have some or all of those multiple functions integrated into a single unit, and conversely, those in which multiple functions are integrated may have some or all of those functions provided in a distributed manner. Whether the functions are integrated or distributed, the configuration should be such that the objective of the invention can be achieved. [Explanation of symbols]

[0072] 10 Door pocket, 11 Door, 12 Stopper, 13 Drive mechanism, Platform door control device, 31 Receiving unit, 32 Acquisition unit, 33 Drive control unit, 34 Stop judgment unit, 35 Door pinch judgment unit, 36 Transmitter, 37 Memory unit, 50 Integrated control panel, 100 Platform door device.

Claims

1. A pair of doors that open and close the entrances and exits on the platform, A pair of door pockets for housing each of the aforementioned pair of doors, A stopper that restricts the movement of one of the pair of doors when that door moves in the closing direction and reaches a predetermined position, A drive control unit controls the drive mechanism so that the driving force of one of the doors is greater than the driving force of the other door of the pair, thereby closing the pair of doors. A door pinch detection unit determines whether or not a foreign object is caught between the pair of doors based on a comparison between the stopping position of the other door and a reference position when the movement of one door is restricted by the stopper and the movement of the other door is stopped, when the drive mechanism is controlled so that the driving force of one door is greater than the driving force of the other door, A stop determination unit that determines whether the movement of each of the pair of doors has stopped, It has, The drive control unit, In response to the acquisition of the closing command signal from the integrated control panel that outputs an open command signal or a closing command signal for opening and closing the pair of doors, each of the pair of doors is moved to the closing position with the same driving force. A platform door device that, when it is determined that the closing movement of the door with the same driving force has stopped, controls the drive mechanism so that the driving force of one door becomes greater than the driving force of the other door, thereby causing the one door to move in the closing position.

2. The stopper is provided on each of the pair of doors. When the drive control unit determines that the closing movement of the door with the same driving force has stopped, it compares the distance between the current position of one door and the fully closed position with the distance between the current position of the other door and the fully closed position, and controls the drive mechanism so that the driving force of the door with the smaller distance is greater than the driving force of the door with the larger distance, thereby causing the door to move in the closing position. The platform door device according to claim 1.

3. It has a storage unit that stores reference position information indicating the aforementioned reference position, The platform door device according to claim 1 or 2.

4. A pair of doors that open and close the entrances and exits on the platform, A pair of door pockets for housing each of the aforementioned pair of doors, A stopper that restricts the movement of one of the pair of doors when that door moves in the closing direction and reaches a predetermined position, A method for determining door entrapment in a platform door system having the following: The steps include controlling the drive mechanism so that the driving force of one of the doors is greater than the driving force of the other door of the pair, thereby closing the pair of doors, The steps include: determining whether or not a foreign object is caught between the pair of doors based on a comparison between the stopping position of the other door and a reference position when the movement of the one door is stopped due to the stopper, after the drive mechanism has been controlled so that the driving force of one door is greater than the driving force of the other door; A step of determining whether the movement of each of the pair of doors has stopped, It has, The aforementioned step of closing the movement is, In response to the acquisition of the closing command signal from the integrated control panel that outputs an open command signal or a closing command signal for opening and closing the pair of doors, each of the pair of doors is moved to the closing position with the same driving force. A method for closing one of the doors when it is determined that the closing movement of the door with the same driving force has stopped, by controlling the drive mechanism so that the driving force of one of the doors becomes greater than the driving force of the other door.

5. A pair of doors that open and close the entrances and exits on the platform, A pair of door pockets for housing each of the aforementioned pair of doors, A stopper that restricts the movement of one of the pair of doors when that door moves in the closing direction and reaches a predetermined position, A program for determining door entrapment in a platform door system having a computer, The steps include controlling the drive mechanism so that the driving force of one of the doors is greater than the driving force of the other door of the pair, thereby closing the pair of doors, The steps include: determining whether or not a foreign object is caught between the pair of doors based on a comparison between the stopping position of the other door and a reference position when the movement of the one door is stopped due to the stopper, after the drive mechanism has been controlled so that the driving force of one door is greater than the driving force of the other door; A step of determining whether the movement of each of the pair of doors has stopped, Make it run, The aforementioned step of closing the movement is, In response to the acquisition of the closing command signal from the integrated control panel that outputs an open command signal or a closing command signal for opening and closing the pair of doors, each of the pair of doors is moved to the closing position with the same driving force. A program that, when it is determined that the closing movement of the door with the same driving force has stopped, controls the drive mechanism so that the driving force of one door becomes greater than the driving force of the other door, thereby causing the one door to move in the closing position.

6. A pair of doors that open and close the entrances and exits on the platform, A pair of door pockets for housing each of the aforementioned pair of doors, A stopper that restricts the movement of one of the pair of doors when that door moves in the closing direction and reaches a predetermined position, A platform door control device for controlling a platform door device having, A drive control unit controls the drive mechanism so that the driving force of one of the doors is greater than the driving force of the other door of the pair, thereby closing the pair of doors. A door pinch detection unit determines whether or not a foreign object is caught between the pair of doors based on a comparison between the stopping position of the other door and a reference position when the movement of one door is restricted by the stopper and the movement of the other door is stopped, when the drive mechanism is controlled so that the driving force of one door is greater than the driving force of the other door, A stop determination unit that determines whether the movement of each of the pair of doors has stopped, It has, The drive control unit, In response to the acquisition of the closing command signal from the integrated control panel that outputs an open command signal or a closing command signal for opening and closing the pair of doors, each of the pair of doors is moved to the closing position with the same driving force. A platform door control device that, when it is determined that the closing movement of the door with the same driving force has stopped, controls the drive mechanism so that the driving force of one door becomes greater than the driving force of the other door, thereby causing the one door to move in the closing position.

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