Judgment device, railway door device, judgment method and program

Abstract

To grasp whether any of pulling-in of an interposed article between a door and a door pocket and pressurization against the door in a thickness direction occurs while a station employee or a crew is not required to go to the door.SOLUTION: A determination device includes: an acquisition unit for acquiring operation information indicating at least any one of a current value flowing through an electric motor during opening operation of a door for opening / closing a doorway of a railway vehicle by driving force of the electric motor and a speed value during the opening operation of the door; and a determination unit for determining whether or not any one of pulling-in of an interposed article between the door and a door pocket and pressurization against the door in a thickness direction of the door occurs during the opening operation of the door based on at least the operation information acquired in a specific period when receiving a driving command for making the door move at a constant speed among the acquired operation information.SELECTED DRAWING: Figure 6

Description

Technical Field

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

Background Art

[0002] A technique for detecting the drawing-in of an object between a door and a pocket during the opening operation of a door for a railway vehicle is disclosed (see, for example, Patent Document 1). Detection of the drawing-in of an object is important in ensuring the safety of railway vehicles.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The technique of the above document detects the drawing-in of an object by monitoring how much the door speed during the opening operation has decreased with respect to the commanded speed. However, the door speed during the opening operation also decreases in a state where pressure is generated in the thickness direction of the door (for example, a state where the door surface is pushed from inside the vehicle due to congestion, a state where a person is leaning on the door, etc.). That is, with the technique of the above document, since it is impossible to distinguish between a state where drawing-in has occurred and a state where pressure has occurred in the thickness direction of the door, even in a situation where there is originally no problem with safety such as pressure in the thickness direction of the door, it is detected (false detection) as drawing-in. For this reason, station staff and crew members need to go to the door to confirm safety even in a situation where there is originally no problem with safety, which may interfere with the scheduled operation of the railway.

[0005] In view of the above circumstances, the present invention aims to provide a determination device, a railway door device, a determination method, and a program that can determine whether an intervening object between the door and the door pocket has been pulled in or whether pressure has been applied to the door in the thickness direction, without requiring station staff or crew members to go to the door. [Means for solving the problem]

[0006] One aspect of the present invention includes an acquisition unit that acquires operation information indicating at least one of the current value flowing to the electric motor or the speed value during the opening operation of a door that opens and closes the entrance / exit door of a railway vehicle using the driving force of the electric motor, and a determination unit that determines, based on the acquired operation information, at least during a specific period when the door is being driven to move at a constant speed, whether or not an intervening object was drawn between the door and the door pocket, or whether pressure was applied to the door in the thickness direction of the door, during the opening operation of the door. This is a determination device equipped with [the following features]. According to the above configuration, during a specific period in which the door is driven to move at a constant speed, the door is gradually retracted into the door pocket. If an intervening object is retracted between the door and the door pocket, there is no change in the sliding resistance when the door is opened. On the other hand, if pressure is applied to the door in the thickness direction, the area of ​​the door being pressed decreases, and therefore the pressure applied to the door also decreases. Therefore, the determination unit can make a determination using the operation information acquired during the specific period. Consequently, it is possible to determine whether an intervening object is retracted between the door and the door pocket or whether pressure is applied to the door in the thickness direction without the need for station staff or crew members to go to the door. This allows, for example, station staff or crew members to ensure passenger safety by going to the door and dealing with the retraction if it is determined that retraction has occurred, while determining that there is no problem if it is determined that pressure is applied in the thickness direction.

[0007] In the determination device, the specified period may be the period after the door has moved a predetermined distance since receiving a drive command to move at a constant speed. According to the above configuration, the determination can be made effectively because it uses operational information from the period after the door has moved a predetermined distance following the drive command to move the door at a constant speed.

[0008] In the determination device, the specified period may be the period after a predetermined time has elapsed since the door received a drive command to move at a constant speed. According to the above configuration, the determination can be made effectively because it uses operational information from a predetermined period of time after a drive command is received to move the door at a constant speed.

[0009] The determination device may acquire the drive command and determine the specified period based on the acquired drive command. According to the above configuration, a specific period can be easily identified.

[0010] The determination device includes a feature calculation unit that calculates feature quantities from the operation information acquired at multiple points in time during the door opening operation, and the determination unit may input the calculated feature quantities into a trained model to determine whether the intervening object was pulled in between the door and the door pocket, whether pressure was applied to the door in the thickness direction of the door, or whether neither the intervening object was pulled in nor the pressure was applied to the door in the thickness direction of the door. With the above configuration, since the decision is made using a pre-trained model, the accuracy of the decision is improved compared to, for example, a case where a threshold is set for the decision.

[0011] The determination device may include a notification unit that notifies the outside if it is determined that the inclusion has been pulled in, but does not notify the outside if it is determined that pressure has been applied in the thickness direction. According to the above configuration, for example, station staff and train crew can ensure passenger safety by going to the door and dealing with the incident if there is a notification, and if there is no notification, they can determine that there is no problem.

[0012] The determination device may change the drive command if it determines that pressure has been applied in the thickness direction. According to the above configuration, it is possible to open the door while taking into account the situation where pressurization is occurring.

[0013] One aspect of the present invention is a railway door device comprising: an electric motor for opening and closing a door leaf; a control unit that sends a drive command to the electric motor and controls the opening and closing of the door leaf; an acquisition unit that acquires operation information indicating at least one of the current value flowing to the electric motor during the opening operation of the door leaf, or the speed value during the opening operation of the door leaf; and a determination unit that determines, based on the acquired operation information, at least the operation information acquired during a specific period when the drive command is sent to the electric motor so that the door leaf moves at a constant speed, whether an intervening object is drawn into the space between the door and the door pocket, or pressure is applied to the door in the thickness direction of the door, during the opening operation of the door. With the above configuration, similar to the detection device described above, for example, station staff or train crew can ensure passenger safety by going to the door and dealing with the situation if it is determined that a pull-in has occurred, while determining that there is no problem if it is determined that pressure has been applied in the thickness direction.

[0014] In the aforementioned railway door device, the drive command may be a PWM signal for controlling the duty cycle of the voltage supplied to the electric motor. According to the above configuration, for example, power consumption can be reduced.

[0015] One aspect of the present invention is a determination method that includes an acquisition step of acquiring operation information indicating at least one of the current value flowing to the electric motor or the speed value during the opening operation of a door that opens and closes the entrance / exit door of a railway vehicle using the driving force of the electric motor, and a determination step of determining whether, from the acquired operation information, at least the operation information acquired during a specific period when the door is being driven to move at a constant speed, either an object being drawn in between the door and the door pocket or pressure being applied to the door in the thickness direction of the door occurred during the opening operation of the door. According to the above configuration, similar to the determination device described above, for example, when it is determined that entrainment has occurred, a station staff member or a train attendant can ensure the safety of passengers by going to the door and dealing with the entrainment. On the other hand, when it is determined that pressurization in the thickness direction has occurred, it can be determined that there is no problem.

[0016] One aspect of the present invention is a program for causing a computer of a controller that controls opening and closing of a door for boarding and alighting of a railway vehicle by driving force of an electric motor to execute an acquisition procedure for acquiring operation information indicating at least one of a current value flowing through the electric motor during an opening operation of the door or a speed value during the opening operation of the door, and based on the operation information acquired, during a specific period when at least the door is receiving a drive command to move at a constant speed, determining whether entrainment of an object between the door and the door pocket or pressurization of the door in the thickness direction of the door has occurred during the opening operation of the door. According to the above configuration, similar to the determination device described above, for example, when it is determined that entrainment has occurred, a station staff member or a train attendant can ensure the safety of passengers by going to the door and dealing with the entrainment. On the other hand, when it is determined that pressurization in the thickness direction has occurred, it can be determined that there is no problem. Also, since data is not transmitted to an external server or the like, the determination time can be shortened.

Advantages of the Invention

[0017] As described above, it is possible to grasp whether entrainment of an object between the door and the door pocket or pressurization of the door in the thickness direction has occurred without the need for a station staff member or a train attendant to go to the door.

Brief Description of the Drawings

[0018] [Figure 1] It is an external view of an electric door device incorporating a determination device. [Figure 2] It is a diagram showing the structure around the motor more specifically. [Figure 3] It is a block diagram showing a schematic configuration of a control system of an electric door device. [Figure 4] It is a graph showing the relationship between the door movement position and the door movement speed while the door moves from the fully closed position to the fully open position. [Figure 5] It is a graph showing the relationship between the door movement position and the motor current while the door moves from the fully closed position to the fully open position. [Figure 6] It is a block diagram showing a configuration example of the determination device according to the first embodiment. [Figure 7] It is a flowchart showing an example of the operation of the determination device according to the first embodiment. [Figure 8] It is a flowchart showing another example of the operation of the determination device according to the first embodiment. [Figure 9] It is a block diagram showing a configuration example of Modification Example 1 of the determination device according to the first embodiment. [Figure 10] It is a block diagram showing a configuration example of Modification Example 2 of the determination device according to the first embodiment. [Figure 11] It is a block diagram showing a configuration example of the determination device according to the second embodiment. [Figure 12] It is a flowchart showing an example of the operation of the determination device according to the second embodiment. [Figure 13] It is a block diagram showing a configuration example of Modification Example 1 of the determination device according to the second embodiment. [Figure 14] It is a block diagram showing a configuration example of Modification Example 2 of the determination device according to the second embodiment. [Figure 15] It is a block diagram showing a configuration example of the determination device according to the third embodiment. [Figure 16] It is a flowchart showing an example of the operation of the determination device according to the third embodiment. [Figure 17] It is a block diagram showing a configuration example of Modification Example 1 of the determination device according to the third embodiment. [Figure 18] It is a block diagram showing a configuration example of Modification Example 2 of the determination device according to the third embodiment. [Figure 19] It is a block diagram showing a configuration example of Modification Example 3 of the determination device according to the first embodiment. [Figure 20]This is a conceptual diagram illustrating the trained model of Modification 3 of the First Embodiment. [Figure 21] This block shows an example configuration of a model generation device. [Figure 22] This is a conceptual diagram to explain the training dataset. [Figure 23] This is a block diagram showing a configuration example of a modified example 3 of the determination device according to the second embodiment. [Figure 24] This is a conceptual diagram illustrating the trained model of Modification 3 of the second embodiment. [Figure 25] This is a block diagram showing an example of the configuration of a modified example 3 of the determination device according to the third embodiment. [Figure 26] This is a conceptual diagram illustrating the trained model of Modification 3 of the third embodiment. [Modes for carrying out the invention]

[0019] Embodiments of the present invention will be described in detail with reference to the drawings. In the following description, unless otherwise specifically distinguished, the determination device 1A according to the first embodiment, the determination device 1B according to the second embodiment, and the determination device 1C according to the third embodiment may be collectively referred to as determination device 1.

[0020] Figure 1 is an external view of an electric door device (railway door device, automatic door device) 2 incorporating a judgment device 1. The electric door device 2 is installed on a railway vehicle.

[0021] The electric door device 2 is equipped with a pair of sliding door leaves 3R and RL. Above the door leaves 3R and 3L are a guide rail 4, a door hanging device 5R supporting the right door leaf 3R, and a door hanging device 5L supporting the left door leaf 3L. The door hanging device 5R and door leaf 3R are movable together along the guide rail 4. Similarly, the door hanging device 5L and door leaf 3L are movable together along the guide rail 4. A door edge rubber 7 made of soft synthetic rubber material is attached to the door edge of each door leaf 3R and 3L.

[0022] Inside the door suspension devices 5R and 5L, multiple door rollers 6 are provided, as shown by the dashed lines. Each door roller 6 rolls while in contact with the upper or lower surface of the guide rail 4.

[0023] Above the guide rail 4, a right-side rack gear 8R and a left-side rack gear 8L are provided along the direction in which the guide rail 4 extends. The right-side bracket 9R is connected to the right-side rack gear 8R, so when the right-side rack gear 8R moves left or right, the right-side connecting bracket 9R moves left or right in conjunction with it. Similarly, the left-side bracket 9L is connected to the left-side rack gear 8L, so when the left-side rack gear 8L moves left or right, the left-side connecting bracket 9L moves left or right in conjunction with it. The right-side connecting bracket 9R is connected to a door hanging device 5R, so the door hanging device 5R and the door leaf 3R move left or right together in accordance with the left or right movement of the right-side connecting bracket 9R. In addition, the left-side connecting bracket 9L is connected to a door hanging device 5L, so the door hanging device 5L and the door leaf 3L move left or right together in accordance with the left or right movement of the left-side connecting bracket 9L.

[0024] The right-hand rack gear 8R and the left-hand rack gear 8L mesh with the pinion gear 10 and convert the rotational motion of the pinion gear 10 into linear motion. The pinion gear 10 rotates due to the driving force of the motor 11.

[0025] Figure 2 shows a more detailed view of the structure surrounding the motor 11. The motor 11 is provided with a sun gear 13 attached to the rotating shaft 12, a plurality of planetary gears 14 arranged around the sun gear 13 and meshing with the sun gear 13, and a pinion gear 10, which is an outer gear, arranged outside the plurality of planetary gears 14 and meshing with the plurality of planetary gears 14.

[0026] Thus, when the motor 11 rotates, its rotational force is transmitted to the rack gears 8R and 8L via the pinion gear 10. As the rack gears 8R and 8L move left and right in response to the rotation of the motor 11, the pair of door leaves 3R and 3L move left and right along the guide rail 4 via the right bracket 9R and the left bracket 9L. Hereinafter, one or both of the pair of door leaves 3R and 3L may simply be referred to as a door.

[0027] In other words, the doors (door leaves 3R, 3L) are movable in the left-right direction as shown in the diagram. The entrances and exits of a railway vehicle are opened and closed by the left-right movement of the doors. That is, the entrances and exits of a railway vehicle are closed by the movement of the doors in the closing direction (the direction in which the door edges come into contact with each other). In the closing movement (closing operation), the doors stop after the door edge rubbers 7 come into contact with each other and contract to a certain extent while in contact. The entrances and exits of a railway vehicle are opened by the movement of the doors in the opening direction (the direction in which the door edges move apart). In the opening movement (opening operation), the doors stop after the entire door, including the door edge rubbers 7, is stored in a door pocket (not shown) formed in the vehicle body.

[0028] The determination device 1 determines whether an object being pulled in between the door and the door pocket (hereinafter sometimes simply referred to as "pulling in") or pressure being applied to the door in the thickness direction of the door (the direction in which the door surface is pushed) (hereinafter sometimes simply referred to as "pressure") occurred during the door opening operation. Pulling in occurs when, for example, a passenger's clothing or belongings such as an umbrella come into contact with the door during the opening operation and move together, getting pulled in (caught) between the door pocket and the door. When pulling in occurs, the door slides along dragging the clothing or belongings, increasing the sliding resistance. Pressure is a situation where, for example, a passenger leans against the door in a crowded train, putting their weight on the side of the door during the opening operation. When pressure occurs, the door slides along in contact with the passenger's clothing or other items bearing their weight, increasing the sliding resistance.

[0029] Furthermore, the opening and closing mechanism of the electric door device 2 does not necessarily have to be the rack and pinion system described above; any other mechanism (for example, a belt type, screw type, linear motor type, etc.) may be used.

[0030] Figure 3 is a block diagram showing the schematic configuration of the control system of the electric door device 2. As shown in Figure 3, the control system of the electric door device 2 includes a controller 15, a power supply unit 16, and a motor monitor unit 17.

[0031] The power supply unit 16 incorporates a power supply device that converts the AC voltage supplied from the overhead line into a DC voltage. The controller 15 has a door opening / closing control unit 18, a command unit 19, and a transmission unit 29. The command unit 19 outputs a drive command (command signal) to the door opening / closing control unit 18 to open and close the door. The door opening / closing control unit 18 controls the opening and closing of the door based on the drive command. The command unit 19 may also output information (for example, a drive command) to the determination device 1 that allows the determination device 1 to understand what kind of drive command has been output to the PWM control unit 22.

[0032] The transmitting unit 29 transmits information to an external location (such as a management device not shown or a mobile terminal carried by a maintenance worker). For example, if the determination device 1 determines that a pull-in has occurred while the door is opening, the transmitting unit 29 transmits (notifies) a warning to the external location that a pull-in has occurred.

[0033] The door opening / closing control unit 18 includes a power supply voltage detection unit 21, a PWM control unit 22, a motor drive unit 23, a Hall signal detector 24, a speed detection unit 25, and a determination device 1.

[0034] The power supply voltage detection unit 21 detects the voltage level of the DC voltage output from the power supply unit 16. The PWM control unit 22 generates a PWM signal to drive the motor 11 based on the voltage level of the DC voltage detected by the power supply voltage detection unit 21 and the drive command from the command unit 19. More specifically, the PWM control unit 22 generates a PWM signal to control the duty cycle of the voltage supplied to the motor 11 based on a reference voltage command pattern corresponding to the drive command and the voltage level of the DC signal detected by the power supply voltage detection unit 21.

[0035] The motor drive unit 23 drives the motor 11. More specifically, the motor drive unit 23 controls the on / off state of the transistors that drive the motor 11 based on a PWM signal. For example, if the motor 11 is a three-phase motor 11, the motor drive unit 23 generates gate signals to turn on or off the U-phase, V-phase, and W-phase transistors.

[0036] A Hall element 26 is mounted near the rotation axis 12 of the motor 11, and the rotation speed of the motor 11 is detected by the Hall element 26. A motor monitor unit 17 is also provided near the motor 11. In addition to the Hall element 26 mentioned above, the motor monitor unit 17 has a motor current detector 27 for detecting the motor current (the value of the current flowing through the motor 11).

[0037] The Hall signal detector 24 detects the rotational speed of the motor 11 based on the detection signal from the Hall element 26. The motor drive unit 23 can provide feedback control to the on / off control timing of each transistor that drives the motor 11 based on the rotational speed of the motor 11 detected by the Hall signal detector 24. The speed detection unit 25 detects the door's movement speed from the signal detected by the Hall signal detector 24.

[0038] The determination device 1 determines, based on the operation information (detection information) related to the opening operation, whether an object was drawn into or pressurized between the door and the door pocket during the door opening operation. The operation information includes the current value detected by the motor current detector 27 during the door opening operation (the current value flowing to the motor that drives the door) and the door speed value detected by the speed detection unit 25 during the door opening operation (the speed value during the door opening operation).

[0039] Figure 4 is a graph showing the relationship between the door's position and speed as it moves from the fully closed position to the fully open position. The horizontal axis in Figure 4 represents position (movement position). Position P0 is the fully closed position. Position P3 is the fully open position. The vertical axis in Figure 4 represents speed (movement speed).

[0040] The range from position P0 to position P1 is the acceleration range where the door's speed gradually accelerates and becomes constant. The range from position P1 to position P2 is the high-speed range where the door's speed remains constant at a high speed. The range from position P2 to position P3 is the deceleration range where the door's speed gradually decreases and stops. The same applies to Figure 5. The acceleration range, high-speed range, and deceleration range are based on the drive command. Therefore, in reality, the door's speed may not be constant in the high-speed range (for example, the dashed line L3 in Figure 4).

[0041] Position Pa is two-thirds of the way through the high-speed region (two-thirds of the way from position P1 towards position P2). Position Pb is near the end of the high-speed region. Position Pc is halfway through the deceleration region (one-half of the way from position P2 towards position P3). Thresholds VTh1 and VTh2 will be described later.

[0042] Figure 4 shows the door's movement speed when retraction occurs (hereinafter sometimes referred to as "movement speed when retraction occurs"), when pressurization occurs (hereinafter sometimes referred to as "movement speed when pressurization occurs"), and when neither retraction nor pressurization occurs (hereinafter sometimes referred to as "movement speed when neither retraction nor pressurization occurs").

[0043] Specifically, the solid line L1 in Figure 4 shows the movement speed when there is neither retraction nor pressurization. The long dashed line L2 shows the movement speed when retraction is applied. However, in the range where there is no difference between the movement speed when retraction is applied and the movement speed when there is neither retraction nor pressurization (solid line L1), the long dashed line L2 is omitted. The dashed line L3 shows the movement speed when pressurization is applied. However, in the range where there is no difference between the movement speed when pressurization is applied and the movement speed when there is neither retraction nor pressurization (solid line L1), the dashed line L3 is omitted.

[0044] In Figure 4, the movement speed for the retraction case is shown until the door reaches the fully open position (position P3). Similarly, the movement speed shown for the retraction case in Figure 4 represents the retraction at the point where the door has moved to the fully open position (i.e., retraction where the door cannot reach the fully open position is excluded). Likewise, in Figure 4, the movement speed for the pressurization case is shown until the door reaches the fully open position. Similarly, the movement speed shown for the pressurization case in Figure 4 represents the pressurization at the point where the door has moved to the fully open position (i.e., pressurization where the door cannot reach the fully open position is excluded). The same applies to Figure 5.

[0045] As shown in Figure 4, the speed of movement when retracted (long dashed line L2) is smaller (slower) than the speed of movement when neither retracted nor pressurized is applied (solid line L1) in the deceleration region. Note that even in the acceleration and high-speed regions, the speed of movement when retracted (long dashed line L2) may be slower than the speed of movement when neither retracted nor pressurized is applied (solid line L1), but this is ignored because the speed reduction is not as significant as in the deceleration region.

[0046] As shown in Figure 4, the moving speed under pressure (dotted line L3) is smaller than the moving speed without retraction or pressure (solid line L1) in the acceleration and high-speed ranges. As the door is retracted into the door pocket, the area of ​​the door exposed from the pocket (i.e., the area of ​​the door that can be pressurized) decreases, so the moving speed under pressure (dotted line L3) gradually approaches the moving speed without retraction or pressure (solid line L1).

[0047] Figure 5 is a graph showing the relationship between the door's movement position from the fully closed position to the fully open position and the motor current. The horizontal axis in Figure 5 represents the position (movement position). Position P0 is the fully closed position. Position P3 is the fully open position. The vertical axis in Figure 5 represents the current (motor current).

[0048] Position Pa is located at two-thirds of the high-speed range. Position Pb is located at the end of the high-speed range. The threshold ITh will be discussed later.

[0049] Figure 5 shows the current when there is a current draw, when there is a current pressurization, and when there is neither a current draw nor a current pressurization.

[0050] Specifically, the solid line L1 in Figure 5 shows the current when there is neither a power supply nor a voltage boost. The long dashed line L2 shows the current when there is a power supply. However, in the range where there is no difference between the current when there is a power supply and the current when there is neither a power supply nor a voltage boost (solid line L1), the long dashed line L2 is omitted. The dashed line L3 shows the current when there is a voltage boost. However, in the range where there is no difference between the current when there is a voltage boost and the current when there is neither a power supply nor a voltage boost (solid line L1), the dashed line L3 is omitted.

[0051] As shown in Figure 5, the current in the case of suction (long dashed line L2) is greater than the current in the case of neither suction nor pressure (solid line L1), at least throughout the high-speed range. As shown in Figure 5, the current in the case of pressure (dotted line L3) is greater than the current in the case of neither suction nor pressure (solid line L1), at least in a part of the high-speed range (position P0 to position Pb). Note that in the acceleration and deceleration ranges, the current fluctuates greatly (temporarily increases) due to the effects of disturbances, etc.

[0052] (Determination device 1A according to the first embodiment) The determination device 1A according to the first embodiment determines whether retraction or pressurization has occurred based on the current value flowing to the motor that drives the door during the door opening operation and the speed value during the door opening operation.

[0053] Figure 6 is a block diagram showing an example configuration of the determination device 1A according to the first embodiment. As shown in Figure 6, the determination device 1A includes a current value acquisition unit 31, a speed value acquisition unit 32, a movement position (stroke) detection unit 33, a predetermined position storage unit 34, a timing detection unit 36, and a determination unit 39A.

[0054] The current value acquisition unit 31 acquires the current value from the motor current detector 27. The speed value acquisition unit 32 acquires the speed value from the speed detection unit 25. The movement position detection unit 33 detects the movement position of the door due to the opening operation based on the speed value from the speed value acquisition unit 32.

[0055] The predetermined position storage unit 34 stores predetermined positions of the door. For example, the predetermined position storage unit 34 stores position Pa (details described later) shown in Figures 4 and 5 as a predetermined position. The predetermined position storage unit 34 may store multiple positions as predetermined positions. For example, in addition to position Pa shown in Figures 4 and 5, the predetermined position storage unit 34 may also store position Pb (details described later) and position Pb as predetermined positions.

[0056] The timing detection unit 36 ​​detects the timing at which the door's movement position, as detected by the movement position detection unit 33, reaches a predetermined position stored in the predetermined position storage unit 34. In other words, the timing detection unit 36 ​​detects that the door, which is in the process of opening, has reached a predetermined position stored in the predetermined position storage unit 34.

[0057] The determination unit 39A determines whether retraction or pressurization has occurred based on the current value acquired by the current value acquisition unit 31 and the door speed value acquired by the speed value acquisition unit 32. Specifically, the determination unit 39A determines whether retraction or pressurization has occurred based on the current value and speed value at the timing indicated by the timing detection unit 36.

[0058] If the determination unit 39A determines that a snag has occurred, it outputs a message to the transmission unit 29 indicating that a snag has occurred. Based on this output, the transmission unit 29 transmits a warning message to an external source indicating that a snag has occurred.

[0059] Figure 7 is a flowchart showing an example of the operation of the determination device 1A according to the first embodiment. The determination device 1A may, for example, determine whether retraction or pressurization occurred during the door opening operation, as shown in Figure 7.

[0060] The determination device 1A determines whether the door has reached position Pa (step S1). If the determination device 1A determines that the door has not reached position Pa (step S1: NO), it repeatedly determines whether the door has reached position Pa (step S1).

[0061] If the determination device 1A determines that the door has reached position Pa (step S1: YES), it determines whether the current value IPa at position Pa is less than the threshold ITh (step S2). The threshold ITh is a predetermined value, as shown in Figure 5, that is greater than the current value at position Pa when there is neither pull-in nor pressurization (solid line L1), and less than the current value at position Pa when there is pull-in (long dashed line L2) or pressurization (dotted line L3). The threshold ITh only needs to be stored in a location accessible to the determination device 1A (either inside or outside the determination device 1A).

[0062] If the determination device 1A determines that the current value IPa is not less than the threshold ITh (step S2: NO), it determines whether the velocity VPa at position Pa is less than the threshold VTh1 (step S3). The threshold VTh1 is a predetermined value, as shown in Figure 4, that is smaller than the velocity value at position Pa in the case of no pull-in or no pressurization (solid line L1) or in the case of pull-in (long dashed line L2), and larger than the velocity value at position Pa in the case of pressurization (dotted dot line L3). The threshold VTh1 only needs to be stored in a location that the determination device 1A can access.

[0063] If the determination device 1A determines that the speed VPa is not less than the threshold VTh1 (step S3: NO), it determines that a pull-in has occurred (step S4) and outputs a message indicating that a pull-in has occurred (step S5). This flowchart then ends.

[0064] If the determination device 1A determines that the velocity VPa is less than the threshold VTh1 (step S3: YES), it determines that pressurization has occurred (step S6). This flowchart then ends.

[0065] If the determination device 1A determines that the current value IPa is less than the threshold ITh (Step S2: YES), this flowchart ends. In other words, if the determination device 1A determines that the current value IPa is less than the threshold ITh (Step S2: YES), it determines that neither current pull nor current pressurization has occurred.

[0066] Figure 8 is a flowchart showing another example of the operation of the determination device 1A according to the first embodiment. The determination device 1A may determine, for example, whether retraction or pressurization occurred during the door opening operation, as shown in Figure 8.

[0067] The determination device 1A determines whether the door has reached position Pa, similar to step S1 in Figure 7 (step S11). If the determination device 1A determines that the door has not reached position Pa (step S11: NO), it repeatedly determines whether the door has reached position Pa (step S11).

[0068] If the determination device 1A determines that the door has reached position Pa (step S11: YES), it determines whether the current value IPa at position Pa is less than the threshold ITh, similar to step S2 in Figure 7 (step S12).

[0069] If the determination device 1A determines that the current value IPa is not less than the threshold ITh (step S12: NO), it determines whether the door has reached position Pc (step S13). If the determination device 1A determines that the door has not reached position Pc (step S13: NO), it repeatedly determines whether the door has reached position Pc (step S13).

[0070] If the determination device 1A determines that the door has reached position Pc (step S13: YES), it determines whether the velocity VPc at position Pc is less than the threshold VTh2 (step S14). The threshold VTh2 is a predetermined value, as shown in Figure 4, that is smaller than the velocity value at position Pc when there is neither retraction nor pressure (solid line L1) or when there is pressure (dashed line L3), and larger than the velocity value at position Pc when there is retraction (long dashed line L2). The threshold VTh2 only needs to be stored in a location that the determination device 1A can access.

[0071] If the determination device 1A determines that the speed VPc is less than the threshold VTh2 (step S14: YES), it determines that a pull-in has occurred (step S15), similar to steps S4 and S5 in Figure 7, and outputs a message indicating that a pull-in has occurred (step S16). This flowchart then ends.

[0072] If the determination device 1A determines that the velocity VPb is not less than the threshold VTh1 (step S14: YES), it determines that pressurization has occurred, similar to step S6 in Figure 7 (step S17). This flowchart then ends.

[0073] If the determination device 1A determines that the current value IPa is less than the threshold ITh (step S12: NO), this flowchart ends. In other words, if the determination device 1A determines that the current value IPa is less than the threshold ITh (step S12: NO), it determines that neither current pull nor current pressurization has occurred.

[0074] (Modification 1 of the determination device 1A according to the first embodiment) A modification 1 of the determination device 1A according to the first embodiment will now be described. Figure 9 is a block diagram showing an example of the configuration of modification 1 of the determination device 1A according to the first embodiment.

[0075] As shown in Figure 9, the determination device 1A of the modified example 1 includes a current value acquisition unit 31, a speed value acquisition unit 32, a predetermined time storage unit 35, a timing detection unit 37, and a determination unit 39A. Note that the current value acquisition unit 31, speed value acquisition unit 32, and determination unit 39A shown in Figure 9 are the same as the current value acquisition unit 31, speed value acquisition unit 32, and determination unit 39A shown in Figure 6, so some or all of their descriptions will be omitted.

[0076] The predetermined time storage unit 35 stores a predetermined time (a time that is compared with the elapsed time from the start of the door opening operation). For example, the predetermined time storage unit 35 stores the time until the door reaches position Pa when neither retraction nor pressurization occurs as the predetermined time. The predetermined time storage unit 35 may store multiple times as predetermined times. For example, in addition to the time until the door reaches position Pa, the predetermined time storage unit 35 may also store the time until the door reaches position Pb and the time until the door reaches position Pc as predetermined times.

[0077] The timing detection unit 37 detects the timing when the elapsed time since the command unit 19 outputted a drive command reaches a predetermined time stored in the predetermined time storage unit 35. In other words, the timing detection unit 37 detects when the elapsed time from the start of the door opening operation reaches a predetermined time stored in the predetermined time storage unit 35.

[0078] The determination unit 39A determines whether or not a pull-in or pressurization has occurred based on the current value and velocity value at the timing indicated by the timing detection unit 37.

[0079] Next, we will provide a supplementary explanation regarding the relationship between the configuration of Modification Example 1 (configuration in Figure 9) and the flowcharts in Figures 7 and 8. Let TPa be the time it takes for the door to reach position Pa when neither retraction nor pressurization occurs. Let TPc be the time it takes for the door to reach position Pc when neither retraction nor pressurization occurs.

[0080] When neither retraction nor pressurization occurs, the door's destination at time TPa is naturally position Pa. When retraction occurs, the door's destination at time TPa is position Pa, as shown in Figure 4. On the other hand, when pressurization occurs, the door's destination at time TPa is closer to the front (T0 side) than position Pa, as shown in Figure 4.

[0081] As shown in Figure 5, the current value at position Pa when neither suction nor pressurization occurs is smaller than the threshold ITh, and the current value at position Pa when suction or pressurization occurs is larger than the threshold ITh. Therefore, in the configuration of Figure 6, step S2 in Figure 7 (and similarly in step S12 in Figure 8) compares the current value at position Pa with the threshold ITh to determine whether neither suction nor pressurization is occurring, or whether suction or pressurization is occurring.

[0082] In the configuration of Figure 9, although the door's arrival position at time TPa when pressurization occurs is before position Pa, the current value at the door's arrival position at time TPa when pressurization occurs (the position before position Pa) is greater than the threshold ITh, according to Figure 5. Therefore, the process in step S2 of Figure 7 (and similarly in step S12 of Figure 8) in the configuration of Figure 9 can be performed in the same way as the process in step S2 of Figure 7 (and similarly in step S12 of Figure 8) in the configuration of Figure 6.

[0083] As shown in Figure 4, when retraction occurs, the velocity value at position Pa is greater than the threshold VTh1, and when pressurization occurs, the velocity value at position Pa is less than the threshold VTh1. Therefore, in the configuration of Figure 6, the process in step S3 of Figure 7 compares the velocity value at position Pa with the threshold VTh1 to determine whether retraction or pressurization is occurring.

[0084] In the configuration shown in Figure 9, the door's arrival position at time TPa when pressurization is present is before position Pa. However, according to Figure 4, the velocity value at the door's arrival position at time TPa when pressurization is present (the position before position Pa) is smaller than the threshold VTh1. Therefore, the process in step S3 of Figure 7 in the configuration of Figure 9 can be performed in the same way as the process in step S3 of Figure 7 in the configuration of Figure 6.

[0085] When neither retraction nor pressurization occurs, the door's destination at time TPc is naturally position Pc. On the other hand, when retraction occurs, the door's destination at time TPc is, according to Figure 4, closer than position Pc. Similarly, when pressurization occurs, the door's destination at time TPc is, according to Figure 5, closer than position Pc. Note that while both the door's destination at time TPc when retraction occurs and the door's destination at time TPc when pressurization occurs are closer than position Pc, they are not identical, although they may coincidentally coincide.

[0086] As shown in Figure 4, when retraction occurs, the velocity value of position Pc is smaller than the threshold VTh2, and when pressurization occurs, the velocity value of position Pc is larger than the threshold VTh2. Therefore, in step S14 of Figure 8 in the configuration of Figure 6, the velocity value of position Pc is compared with the threshold VTh2 to determine whether retraction or pressurization is occurring.

[0087] In the configuration shown in Figure 9, the threshold VTh2 should be set to the value between the velocity of the door's arrival position at time TPc when retraction occurs and the velocity of the door's arrival position at time TPc when pressurization occurs. In other words, the process in step S14 of Figure 8 in the configuration shown in Figure 9 can be performed by setting a suitable value to the threshold VTh2.

[0088] (Modified example 2 of the determination device 1A according to the first embodiment) A second modification of the determination device 1A according to the first embodiment will be described. Figure 10 is a block diagram showing an example of the configuration of the second modification of the determination device 1A according to the first embodiment.

[0089] As shown in Figure 10, the determination device 1A of the modified example 2 includes a current value acquisition unit 31, a speed value acquisition unit 32, a predetermined position storage unit 34, a timing detection unit 38, and a determination unit 39A. Note that the current value acquisition unit 31, speed value acquisition unit 32, predetermined position storage unit 34, and determination unit 39A shown in Figure 10 are the same as the current value acquisition unit 31, speed value acquisition unit 32, predetermined position storage unit 34, and determination unit 39A shown in Figure 6, so some or all of their descriptions will be omitted.

[0090] The timing detection unit 38 calculates the door's movement position based on the drive command (calculated by integrating the speed value of the drive command with respect to time), and detects the timing when the calculated door's movement position reaches a predetermined position stored in the predetermined position storage unit 34.

[0091] The determination unit 39A determines whether or not a pull-in or pressurization has occurred based on the current value and velocity value at the timing indicated by the timing detection unit 38.

[0092] Next, we will provide a supplementary explanation regarding the relationship between the configuration of Modification 2 (configuration in Figure 10) and the flowcharts in Figures 7 and 8. When the timing detection unit 38 is neither retracting nor pressurizing, the timing at which it detects the door reaching position Pa is denoted as tPa, and the timing at which it detects the door reaching position Pc is denoted as tPc.

[0093] When neither retraction nor pressurization occurs, the door's destination at timing tPa is naturally position Pa. When retraction occurs, the door's destination at timing tPa is position Pa, as shown in Figure 4. On the other hand, when pressurization occurs, the door's destination at timing tPa is in front of position Pa, as shown in Figure 4. In other words, it is the same as the configuration in Figure 9.

[0094] Therefore, similar to the configuration in Figure 9, the process in step S2 in Figure 7 (and similarly in step S12 in Figure 8) in the configuration in Figure 10 can be executed in the same way as the process in step S2 in Figure 7 (and similarly in step S12 in Figure 8) in the configuration in Figure 6.

[0095] When neither retraction nor pressurization occurs, the door's destination position at timing tPc is naturally position Pc. On the other hand, when retraction occurs, the door's destination position at timing tPc is, according to Figure 4, in front of position Pc. Similarly, when pressurization occurs, the door's destination position at timing tPc is, according to Figure 4, in front of position Pc. Note that both the door's destination position at timing tPc when retraction occurs and the door's destination position at timing tPc when pressurization occurs are in front of position Pc, but while they may coincidentally coincide, they are not identical. In other words, it is the same as the configuration in Figure 9.

[0096] Therefore, similar to the configuration in Figure 9, the process in step S14 of Figure 8 in the configuration of Figure 10 can be performed by setting a suitable value to the threshold VTh2.

[0097] (Modified example 3 of the determination device 1A according to the first embodiment) The determination device 1A in the modified example 3 inputs the characteristic values ​​of the current flowing through the motor that drives the door, and the characteristic values ​​of the speed during the door opening operation, into a trained model to determine whether retraction or pressurization has occurred. Further details will be described later.

[0098] (Determination device 1B according to the second embodiment) The determination device 1B according to the second embodiment determines whether a pull-in or pressurization has occurred based on the value of the current flowing to the motor that drives the door during the door opening operation.

[0099] Figure 11 is a block diagram showing an example configuration of the determination device 1B according to the second embodiment. As shown in Figure 11, the determination device 1B includes a current value acquisition unit 31, a speed value acquisition unit 32, a movement position detection unit 33, a predetermined position storage unit 34, a timing detection unit 36, and a determination unit 39B. Note that the current value acquisition unit 31, speed value acquisition unit 32, movement position detection unit 33, predetermined position storage unit 34, and timing detection unit 36 ​​shown in Figure 11 are the same as those shown in Figure 6, so some or all of their descriptions will be omitted.

[0100] The determination unit 39B determines whether a current pull-in or a current pressurization has occurred based on the current value acquired by the current value acquisition unit 31. Specifically, the determination unit 39B determines whether a current pull-in or a current pressurization has occurred based on the current value at the timing indicated by the timing detection unit 36. If the determination unit 39B determines that a current pull-in has occurred, it outputs a message to the transmission unit 29 indicating that a current pull-in has occurred.

[0101] Figure 12 is a flowchart showing an example of the operation of the determination device 1B according to the second embodiment. The determination device 1B may, for example, determine whether retraction or pressurization occurred during the door opening operation, as shown in Figure 12.

[0102] The determination device 1B determines whether the door has reached position Pa, similar to step S1 in Figure 7 (step S21). If the determination device 1B determines that the door has not reached position Pa (step S21: NO), it repeatedly determines whether the door has reached position Pa (step S21).

[0103] If the determination device 1B determines that the door has reached position Pa (step S21: YES), it determines whether the current value IPa at position Pa is less than the threshold ITh, similar to step S2 in Figure 7 (step S22).

[0104] If the determination device 1B determines that the current value IPa is not less than the threshold ITh (step S22: NO), it determines whether the door has reached position Pb (step S23). If the determination device 1B determines that the door has not reached position Pb (step S23: NO), it repeatedly determines whether the door has reached position Pb (step S23).

[0105] If the determination device 1B determines that the door has reached position Pb (step S23: YES), it determines whether the current value IPb at position Pb is less than the threshold Ith (step S24).

[0106] If the determination device 1B determines that the current value IPb is not less than the threshold ITh (step S24: NO), it determines that a pull has occurred (step S25) and outputs a message indicating that a pull has occurred (step S26). This flowchart then ends.

[0107] If the determination device 1B determines that the current value IPb is less than the threshold ITh (step S24: YES), it determines that pressurization has occurred (step S27). This flowchart then ends.

[0108] If the determination device 1B determines that the current value IPa is less than the threshold ITh (step S22: YES), this flowchart ends. In other words, if the determination device 1B determines that the current value IPa is less than the threshold ITh (step S22: YES), it determines that neither current pull nor current pressurization has occurred.

[0109] In the first embodiment (and the same applies to the first and second modifications), an example was described in which the determination is made when the device reaches position Pa, which is two-thirds of the way through the high-speed range (Figures 7 and 8). However, the determination may also be made when the device reaches position P1, which is the start of the high-speed range. As the door opening operation progresses, the area of ​​the door that can be pressurized (the area of ​​the door exposed from the door pocket) decreases. Therefore, the current in the case of pressurization (dotted line L3) may begin to decrease at position P1, where the high-speed range is reached (in Figure 5, the current in the case of pressurization begins to decrease from around position Pa, but it may also begin to decrease from around position P1). Therefore, the determination may also be made when the device reaches any position between position P1 and position Pa. Furthermore, according to Figure 4, at any position between position P1 and position Pa, the relationship (magnitude) between the moving speed when there is neither pulling nor pressurization (solid line L1), the moving speed when there is pulling (long dashed line L2), and the moving speed when there is pressurization (dotted line L3) remains unchanged.

[0110] In other words, instead of using the operation information (current value, velocity value) of position Pa to make a determination, the determination device 1A may use the operation information (current value, velocity value) of any position between position P1 and position Pa to make a determination. The same applies to the determination device 1B (described later) of the second embodiment (including modified examples 1 and 2), and the determination device 1C (described later) of the third embodiment (including modified examples 1 and 2).

[0111] (Modification 1 of the determination device 1B according to the second embodiment) A modification 1 of the determination device 1B according to the second embodiment will now be described. Figure 13 is a block diagram showing an example of the configuration of modification 1 of the determination device 1B according to the second embodiment.

[0112] As shown in Figure 13, the determination device 1B of the modified example 1 includes a current value acquisition unit 31, a predetermined time storage unit 35, a timing detection unit 37, and a determination unit 39B. Note that the current value acquisition unit 31 and determination unit 39B shown in Figure 13 are the same as the current value acquisition unit 31 and determination unit 39B shown in Figure 11, so some or all of their descriptions are omitted. Also, the predetermined time storage unit 35 and timing detection unit 37 shown in Figure 13 are the same as the predetermined time storage unit 35 and timing detection unit 37 shown in Figure 9, so some or all of their descriptions are omitted. Note that the determination device 1B of the modified example 1 does not include a speed value acquisition unit 32, so the door opening / closing control unit 18 (see Figure 3) does not need to include a speed detection unit 25.

[0113] The determination unit 39B determines whether a current pull or a current pressurization has occurred based on the current value at the timing indicated by the timing detection unit 37.

[0114] Next, we will provide a supplementary explanation regarding the relationship between Modification Example 1 (the configuration in Figure 13) and the flowchart in Figure 12. Let TPa be the time it takes for the door to reach position Pa when neither retraction nor pressurization occurs. Let TPb be the time it takes for the door to reach position Pb when neither retraction nor pressurization occurs.

[0115] When neither retraction nor pressurization occurs, the door's destination at time TPa is naturally position Pa. When retraction occurs, the door's destination at time TPa is position Pa, according to Figure 4. On the other hand, when pressurization occurs, the door's destination at time TPa is closer to the front than position Pa, according to Figure 4.

[0116] In the configuration shown in Figure 13, the door's arrival position at time TPa when pressurization occurs is before position Pa. However, according to Figure 5, the current value at the door's arrival position at time TPa when pressurization occurs (the position before position Pa) is greater than the threshold ITh. Therefore, the process of step S22 in Figure 12 in the configuration of Figure 13 can be performed in the same way as the process of step S22 in Figure 12 in the configuration of Figure 11.

[0117] When neither retraction nor pressurization occurs, the door's destination at time TPb is naturally position Pb. When retraction occurs, the door's destination at time TPb is position Pb, according to Figure 4. On the other hand, when pressurization occurs, the door's destination at time TPb is closer to the front than position Pb, according to Figure 4.

[0118] In the configuration of Figure 13, although the door's arrival position at time TPb when pressurization occurs is in front of position Pb, the current value at the door's arrival position (in front of position Pb) at time TPb when pressurization occurs is smaller than the threshold ITh, according to Figure 5. Therefore, the process of step S24 in Figure 12 in the configuration of Figure 13 can be performed in the same way as the process of step S24 in Figure 12 in the configuration of Figure 11.

[0119] (Modified example 2 of the determination device 1B according to the second embodiment) A second modification of the determination device 1B according to the second embodiment will be described. Figure 14 is a block diagram showing an example of the configuration of the second modification of the determination device 1B according to the second embodiment.

[0120] As shown in Figure 14, the determination device 1B of the modified example 2 includes a current value acquisition unit 31, a predetermined position storage unit 34, a timing detection unit 38, and a determination unit 39B. Note that the current value acquisition unit 31, predetermined position storage unit 34, and determination unit 39B shown in Figure 14 are the same as the current value acquisition unit 31, predetermined position storage unit 34, and determination unit 39B shown in Figure 11, so some or all of their explanation will be omitted. Also, the timing detection unit 38 shown in Figure 14 is the same as the timing detection unit 38 shown in Figure 10, so some or all of its explanation will be omitted. Note that the determination device 1B of the modified example 2 does not include a speed value acquisition unit 32, so the door opening / closing control unit 18 (see Figure 3) does not need to include a speed detection unit 25.

[0121] The determination unit 39B determines whether a current pull or a current pressurization has occurred based on the current value at the timing indicated by the timing detection unit 38.

[0122] Next, we will provide a supplementary explanation regarding the relationship between Modification 2 (configuration in Figure 14) and the flowchart in Figure 12. When neither retraction nor pressurization occurs, the timing at which the timing detection unit 38 detects the door reaching position Pa is denoted as tPa, and the timing at which it detects the door reaching position Pb is denoted as tPb.

[0123] When neither retraction nor pressurization occurs, the door's destination at timing tPa is naturally position Pa. When retraction occurs, the door's destination at timing tPa is position Pa, as shown in Figure 4. On the other hand, when pressurization occurs, the door's destination at timing tPa is closer to the front than position Pa, as shown in Figure 4. In other words, it is the same as the configuration in Figure 13.

[0124] Therefore, as with the configuration in Figure 13, the process in step S22 of Figure 12 in the configuration in Figure 14 can be performed in the same way as the process in step S22 of Figure 12 in the configuration in Figure 11.

[0125] When neither retraction nor pressurization occurs, the door's destination position at timing tPb is naturally position Pb. When retraction occurs, the door's destination position at timing tPb is position Pb, as shown in Figure 4. On the other hand, when pressurization occurs, the door's destination position at timing tPb is closer to the front than position Pb, as shown in Figure 4. In other words, it is the same as the configuration in Figure 13.

[0126] Therefore, as with the configuration in Figure 13, the process of step S24 in Figure 12 in the configuration in Figure 14 can be performed in the same way as the process of step S24 in Figure 12 in the configuration in Figure 11.

[0127] (Modified example 3 of the determination device 1B according to the second embodiment) The determination device 1B in the modified example 3 inputs the characteristic values ​​of the current flowing through the motor that drives the door into a trained model and determines whether or not retraction or pressurization has occurred. Details will be described later.

[0128] (Determination device 1C according to the third embodiment) The determination device 1C according to the third embodiment determines whether retraction or pressurization has occurred during the door opening operation, based on the speed value during the door opening operation.

[0129] Figure 15 is a block diagram showing an example configuration of the determination device 1C according to the third embodiment. As shown in Figure 15, the determination device 1C includes a speed value acquisition unit 32, a movement position detection unit 33, a predetermined position storage unit 34, a timing detection unit 36, and a determination unit 39C. Note that the speed value acquisition unit 32, movement position detection unit 33, predetermined position storage unit 34, and timing detection unit 36 ​​shown in Figure 15 are the same as the speed value acquisition unit 32, movement position detection unit 33, predetermined position storage unit 34, and timing detection unit 36 ​​shown in Figure 6, so some or all of their descriptions will be omitted. Note that since the determination device 1C does not include a current value acquisition unit 31, the motor monitor unit 17 (see Figure 3) does not need to include a motor current detector 27.

[0130] The determination unit 39C determines whether retraction or pressurization has occurred based on the velocity value at the timing indicated by the timing detection unit 36. If the determination unit 39C determines that retraction has occurred, it outputs a message to the transmission unit 29 indicating that retraction has occurred.

[0131] Figure 16 is a flowchart showing an example of the operation of the determination device 1C according to the third embodiment. The determination device 1C may, for example, determine whether retraction or pressurization occurred during the door opening operation, as shown in Figure 16.

[0132] The determination device 1C determines whether the door has reached position Pa, similar to step S1 in Figure 7 (step S31). If the determination device 1C determines that the door has not reached position Pa (step S31: NO), it repeatedly determines whether the door has reached position Pa (step S31).

[0133] If the determination device 1C determines that the door has reached position Pa (step S31: YES), it determines whether the velocity VPa at position Pa is less than the threshold VTh1, similar to step S3 in Figure 7 (step S32).

[0134] If the determination device 1C determines that the velocity VPa is less than the threshold VTh1 (step S32: YES), it determines that pressurization has occurred, similar to step S6 in Figure 7 (step S33). This flowchart then ends.

[0135] If the determination device 1C determines that the speed VPa is not less than the threshold VTh1 (step S32: NO), it determines whether the door has reached position Pc, similar to step S13 in Figure 8 (step S34). If the determination device 1C determines that the door has not reached position Pc (step S34: NO), it repeatedly determines whether the door has reached position Pa (step S34).

[0136] If the determination device 1C determines that the door has reached position Pc (step S34: YES), it determines whether the velocity VPc at position Pc is less than the threshold VTh2, similar to step S14 in Figure 8 (step S35).

[0137] If the determination device 1C determines that the speed VPc is less than the threshold VTh2 (step S35: YES), it determines that a pull-in has occurred (step S36), similar to steps S4 and S5 in Figure 7, and outputs a message indicating that a pull-in has occurred (step S37). This flowchart then ends.

[0138] If the determination device 1C determines that the velocity VPc is not less than the threshold VTh2 (step S35: NO), this flowchart ends. In other words, if the determination device 1C determines that the velocity VPc is not less than the threshold VTh2 (step S35: NO), it determines that neither pull-in nor pressurization is occurring.

[0139] (Modification 1 of the determination device 1C according to the third embodiment) A modification 1 of the determination device 1C according to the third embodiment will now be described. Figure 17 is a block diagram showing an example of the configuration of modification 1 of the determination device 1C according to the third embodiment.

[0140] As shown in Figure 17, the determination device 1C of the modified example 1 includes a speed value acquisition unit 32, a predetermined time storage unit 35, a timing detection unit 37, and a determination unit 39C. Note that the speed value acquisition unit 32 and determination unit 39C shown in Figure 17 are the same as the speed value acquisition unit 32 and determination unit 39C shown in Figure 15, so some or all of their descriptions are omitted. Also, the predetermined time storage unit 35 and timing detection unit 37 shown in Figure 17 are the same as the predetermined time storage unit 35 and timing detection unit 37 shown in Figure 9, so some or all of their descriptions are omitted. Note that the determination device 1C of the modified example 1 does not include a current value acquisition unit 31, so the motor monitor unit 17 (see Figure 3) does not need to include a motor current detector 27.

[0141] The determination unit 39C determines whether retraction or pressurization has occurred based on the velocity value at the timing indicated by the timing detection unit 37.

[0142] Next, we will provide a supplementary explanation regarding the relationship between Modification Example 1 (configuration shown in Figure 17) and the flowchart in Figure 16. Let TPa be the time it takes for the door to reach position Pa when neither retraction nor pressurization occurs. Let TPc be the time it takes for the door to reach position Pc when neither retraction nor pressurization occurs.

[0143] In the configuration of Figure 17, when pressurization occurs, the door reaches a position before position Pa at time TPa. However, according to Figure 4, the velocity value of the door's reach at time TPa (the position before position Pa) when pressurization occurs is smaller than the threshold ITh. Therefore, the process of step S32 in Figure 16 in the configuration of Figure 17 can be performed in the same way as the process of step S32 in Figure 16 in the configuration of Figure 15.

[0144] In the configuration shown in Figure 17, the threshold VTh2 should be set to the value between the velocity of the door's arrival position at time TPc when retraction occurs and the velocity of the door's arrival position at time TPc when neither retraction nor pressurization occurs. In other words, the process in step S35 of Figure 16 in the configuration shown in Figure 17 can be performed by setting a suitable value to the threshold VTh2.

[0145] (Modified example 2 of the determination device 1 according to the third embodiment) A third modification of the determination device 1C according to the third embodiment will be described. Figure 18 is a block diagram showing an example of the configuration of the third modification of the determination device 1C according to the third embodiment.

[0146] As shown in Figure 18, the determination device 1C of the modified example 2 includes a speed value acquisition unit 32, a predetermined position storage unit 34, a timing detection unit 38, and a determination unit 39C. Note that the speed value acquisition unit 32 and determination unit 39C shown in Figure 18 are the same as the speed value acquisition unit 32 and determination unit 39C shown in Figure 15, so some or all of their descriptions are omitted. Also, the predetermined position storage unit 34 and timing detection unit 38 shown in Figure 18 are the same as the predetermined position storage unit 34 and timing detection unit 38 shown in Figure 10, so some or all of their descriptions are omitted. Note that the determination device 1C of the modified example 2 does not include a current value acquisition unit 31, so the motor monitor unit 17 (see Figure 3) does not need to include a motor current detector 27.

[0147] The determination unit 39C determines whether retraction or pressurization has occurred based on the velocity value at the timing indicated by the timing detection unit 38.

[0148] Next, we will provide a supplementary explanation regarding the relationship between Modification 3 (configuration shown in Figure 18) and the flowchart in Figure 16. When neither retraction nor pressurization occurs, the timing at which the timing detection unit 38 detects the door reaching position Pa is denoted as tPa, and the timing at which it detects the door reaching position Pc is denoted as tPc.

[0149] In the configuration shown in Figure 18, the door's arrival position at timing tPa when pressurization occurs is, according to Figure 4, in front of position Pa. In other words, it is the same as in the configuration shown in Figure 17. Therefore, as with the configuration in Figure 17, the process of step S32 in Figure 16 in the configuration in Figure 18 can be performed in the same way as the process of step S32 in Figure 16 in the configuration in Figure 15.

[0150] In the configuration shown in Figure 18, as in the configuration shown in Figure 17, the threshold VTh2 should be set to the value between the velocity of the door's arrival position at time TPc when retraction occurs and the velocity of the door's arrival position at time TPc when neither retraction nor pressurization occurs. In other words, the process in step S35 of Figure 16 in the configuration shown in Figure 17 can be performed by setting a suitable value to the threshold VTh2.

[0151] (Modified example 3 of the determination device 1 according to the third embodiment) The determination device 1C in the modified example 3 inputs the characteristic values ​​of the velocity during the door opening operation into a trained model and determines whether retraction or pressurization has occurred. Details will be described later.

[0152] The following explains how to use a pre-trained model for decision-making.

[0153] (Modified example 3 of the determination device 1A according to the first embodiment) Figure 19 is a block diagram showing an example configuration of Modification 3 of the determination device 1A according to the first embodiment. Figure 20 is a conceptual diagram illustrating the trained model 1000A of Modification 3 of the first embodiment. The determination device 1A of Modification 3 inputs the characteristic quantities of the current value and the characteristic quantities of the velocity value into the trained model 1000A and determines whether or not pull-in or pressurization has occurred.

[0154] As shown in Figure 19, the determination device 1A of the modified example 3 includes a current value acquisition unit 31, a speed value acquisition unit 32, a feature quantity calculation unit 40, a storage unit 43, and a determination unit 49A. Note that the current value acquisition unit 31 and speed value acquisition unit 32 shown in Figure 19 are the same as the current value acquisition unit 31 and speed value acquisition unit 32 shown in Figure 6.

[0155] The feature calculation unit 40 calculates feature quantities of the current value obtained from the current value acquisition unit 31. For example, the feature calculation unit 40 calculates feature quantities 1 to 9 (listed below) of the current value. The feature calculation unit 40 also calculates feature quantities of the speed value obtained from the speed value acquisition unit 32. For example, the feature calculation unit 40 calculates feature quantities 1 to 9 (listed below) of the speed value.

[0156] Feature 1: Gap volume coefficient of the analyzed signal for the interval (ratio of the square root mean of the peak value and absolute value amplitudes squared) Feature 2: Peak ratio of the analyzed signal for the interval (ratio of peak value to RMS) Feature 3: Impulse coefficient of the analysis signal for the interval (ratio of peak value to mean value) Feature 4: The gap between the maximum and minimum values ​​of the analysis signal for each interval (peak to peak). Feature 5: Maximum value of the analysis signal for the interval Feature 6: Minimum value of the analysis signal for the interval Feature 7: Mean value of the analysis signal for each interval Feature 8: Root Mean Square (RMS) of the analysis signal for the interval. Feature 9: Standard deviation of the analysis signal for the interval

[0157] In the above explanation of features 1 to 9, the interval refers to a part or all of the period during which the door is opening. The analysis signal refers to the current value and the velocity value, respectively. The part of the period during which the door is opening may be, for example, from position Pa to position P3. In this case, the feature calculation unit 40 calculates features 1 to 9 (feature 1 for current value, feature 2 for current value, ..., feature 9 for current value, feature 1 for velocity value, feature 2 for velocity value, ..., feature 9 for velocity value) for position Pa to position P3.

[0158] The memory unit 43 stores the trained model 1000A. The trained model 1000A is a model that has been machine-learned using a decision tree (hereinafter referred to as a decision tree model). A decision tree model is a tree structure model that has nodes and leaves. In a decision tree model, each node has an evaluation function for determining the branch destination, and the leaves are associated with classification results (judgment results). The trained model 1000A may be a trained model that was generated using an ensemble learning method (e.g., bagging, boosting, stacking) as a machine learning method.

[0159] The pre-trained decision tree model 1000A, for example as shown in Figure 20(A), takes features (current value feature 1, current value feature 2, ..., current value feature 9, velocity value feature 1, velocity value feature 2, ..., velocity value feature 9) as input and outputs one of the following as a determination result: information indicating that pull-in occurred (e.g., value 1), information indicating that pressurization occurred (e.g., value 2), or information indicating that neither pull-in nor pressurization occurred (e.g., value 0).

[0160] The determination unit 49A inputs the feature quantities calculated by the feature quantity calculation unit 40 into the trained model 1000A stored in the memory unit 43 and determines whether or not pull-in or pressurization has occurred. If the determination unit 49A determines that pull-in has occurred, it outputs a message to the transmission unit 29 indicating that pull-in has occurred.

[0161] Note that the trained model 1000A is not limited to a decision tree model. For example, the trained model 1000A may be a model that has been machine-learned using a neural network (hereinafter referred to as a neural network model). A neural network model comprises multiple neurons that propagate signals. Each neuron has a transfer function that determines the value of its respective output signal, and the classification result (decision result) is output as an output signal from the neuron at the furthest downstream (output layer).

[0162] The trained neural network model 1000A, for example as shown in Figure 20(B), takes features (current value feature 1, current value feature 2, ..., current value feature 9, velocity value feature 1, velocity value feature 2, ..., velocity value feature 9) as input and outputs the probability (likelihood) that pull-in occurred, the probability that pressure increased, and the probability that neither pull-in nor pressure increased as a result of the determination. The determination unit 49A identifies the one with the highest probability and determines whether pull-in or pressure increased or not.

[0163] Next, we will briefly explain the generation of the trained model 1000A. The trained model 1000A is generated by the model generation device 100. The model generation device 100 may be, for example, a personal computer.

[0164] Figure 21 is a block diagram showing an example configuration of the model generation device 100. Figure 22 is a conceptual diagram illustrating the training dataset 900A. As shown in Figure 21, the model generation device 100 comprises an acquisition unit 101, a storage unit 102, a model generation unit 103, and an output unit 104.

[0165] The acquisition unit 101 acquires the training dataset 900A from an external source and stores it in the storage unit 102. The acquisition unit 101 may acquire the training dataset 900A from an external source using a storage medium (such as a USB memory stick), or it may acquire the training dataset 900A from an external source via communication.

[0166] As shown in Figure 22, the training dataset 900A consists of multiple training samples (training sample 1 to training sample N). Each training sample includes an input sample and an output sample. Each input sample includes current value feature quantities 1 to 9 and velocity value feature quantities 1 to 9. The feature quantities are calculated by another device equipped with a feature calculation unit (a feature calculation unit having the same function as feature calculation unit 40), but the model generation device 100 may also be equipped with a feature calculation unit and calculate the feature quantities. Each output sample is the training data (ground truth label) corresponding to the respective input sample.

[0167] The model generation unit 103 generates a trained model 1000A using the training dataset 900A stored in the memory unit 102. For example, when generating a trained model 1000A that is a decision tree model, the model generation unit 103 generates the trained model 1000A by selecting explanatory variables (features) and thresholds (thresholds compared to the features) that minimize impurity before and after branching (i.e., maximize the information gain due to branching), and by performing a process to determine an evaluation function for multiple nodes of the decision tree. Alternatively, when generating a trained model 1000A that is a neural network model, the model generation unit 103 generates the trained model 1000A by updating the transfer function of each neuron, for example by backpropagation, so that the error between the output value when each input sample is input and the output sample corresponding to each input sample is minimized.

[0168] The model generation unit 103 stores the generated trained model 1000A in the storage unit 102. The output unit 104 outputs the trained model 1000A stored in the storage unit 102 to the outside. The output unit 104 may output the trained model 1000A to the outside using a storage medium, or it may output the trained model 1000A to the outside via communication. In other words, the trained model 1000A should ultimately be stored in the storage unit 43 of the determination device 1A shown in Figure 19.

[0169] (Modified example 3 of the determination device 1B according to the second embodiment) Figure 23 is a block diagram showing an example configuration of Modification 3 of the determination device 1B according to the second embodiment. Figure 24 is a conceptual diagram illustrating the trained model 1000B of Modification 3 of the second embodiment. The determination device 1B of Modification 3 inputs the characteristic quantities of the current value into the trained model 1000B and determines whether or not a pull-in or pressurization has occurred.

[0170] As shown in Figure 23, the determination device 1B of the modified example 3 comprises a current value acquisition unit 31, a feature quantity calculation unit 41, a storage unit 44, and a determination unit 49B. The current value acquisition unit 31 shown in Figure 23 is the same as the current value acquisition unit 31 shown in Figure 6.

[0171] The feature calculation unit 41 calculates feature quantities of the current value obtained from the current value acquisition unit 31. For example, the feature calculation unit 41 calculates feature quantities 1 to 9 of the current value.

[0172] The memory unit 44 stores the trained model 1000B. The trained model 1000B is a decision tree model. The trained model 1000B may be a trained model generated using an ensemble learning method as a machine learning technique.

[0173] The pre-trained decision tree model 1000B, for example as shown in Figure 24(A), takes features (current value feature 1, current value feature 2, ..., current value feature 9) as input and outputs one of the following as a determination result: information indicating that a pull-in occurred, information indicating that a pressure increase occurred, or information indicating that neither a pull-in nor a pressure increase occurred.

[0174] The determination unit 49B inputs the feature quantities calculated by the feature quantity calculation unit 41 into the trained model 1000B stored in the memory unit 44 and determines whether or not pull-in or pressurization has occurred. If the determination unit 49B determines that pull-in has occurred, it outputs a message to the transmission unit 29 indicating that pull-in has occurred.

[0175] Note that the pre-trained model 1000B is not limited to a decision tree model. For example, the pre-trained model 1000B may be a neural network model.

[0176] The trained neural network model 1000B, for example as shown in Figure 24(B), takes features (current value feature 1, current value feature 2, ..., current value feature 9) as input and outputs the probability that pull-in occurred, the probability that pressure increased, and the probability that neither pull-in nor pressure increased as a determination result. The determination unit 49B identifies the one with the highest probability and determines whether pull-in or pressure increased or not.

[0177] The generation of pre-trained model 1000B is basically the same as the generation of pre-trained model 1000A (the only difference being that pre-trained model 1000B uses current and velocity values, while pre-trained model 1000A uses current values ​​but not velocity values), so the explanation will be omitted.

[0178] (Modified example 3 of the determination device 1 according to the third embodiment) Figure 25 is a block diagram showing an example configuration of Modification 3 of the determination device 1C according to the third embodiment. Figure 26 is a conceptual diagram illustrating the trained model 1000C of Modification 3 of the third embodiment. The determination device 1C inputs the velocity value feature quantities into the trained model 1000C and determines whether or not retraction or pressurization has occurred.

[0179] As shown in Figure 26, the determination device 1C of the modified example 3 comprises a velocity value acquisition unit 32, a feature quantity calculation unit 42, a storage unit 45, and a determination unit 49C. Note that the velocity value acquisition unit 32 shown in Figure 25 is the same as the velocity value acquisition unit 32 shown in Figure 6.

[0180] The feature calculation unit 42 calculates the feature quantities of the velocity values ​​obtained from the velocity value acquisition unit 32. For example, the feature calculation unit 42 calculates velocity value feature quantities 1 to 9.

[0181] The memory unit 45 stores the trained model 1000C. The trained model 1000C is a decision tree model. The trained model 1000C may be a trained model generated using an ensemble learning method as a machine learning technique.

[0182] The pre-trained decision tree model 1000C, for example as shown in Figure 26(A), takes features (feature 1 for velocity value, feature 2 for velocity value, ..., feature 9 for velocity value) as input and outputs one of the following as a judgment result: information indicating that pull-in occurred, information indicating that pressure occurred, or information indicating that neither pull-in nor pressure occurred.

[0183] The determination unit 49C inputs the feature quantities calculated by the feature quantity calculation unit 42 into the trained model 1000C stored in the memory unit 45, and determines whether or not pull-in or pressurization has occurred. If the determination unit 49C determines that pull-in has occurred, it outputs a message to the transmission unit 29 indicating that pull-in has occurred.

[0184] Note that the pre-trained model 1000C is not limited to a decision tree model. For example, the pre-trained model 1000C may be a neural network model.

[0185] The trained neural network model 1000C, for example as shown in Figure 26(B), takes features (feature 1 for velocity value, feature 2 for velocity value, ..., feature 9 for velocity value) as input and outputs the probability that pull-in occurred, the probability that pressure occurred, and the probability that neither pull-in nor pressure occurred as a determination result. The determination unit 49C identifies the one with the highest probability and determines whether pull-in or pressure occurred.

[0186] The generation of the trained model 1000C is basically the same as the generation of the trained model 1000A (the only difference being that the generation of trained model 1000C uses the speed value but not the current value, whereas the generation of trained model 1000A uses the current value and speed value), so the explanation will be omitted.

[0187] In the modified example 3 of the first embodiment, there may be multiple intervals for calculating the feature quantities. For example, interval 1 may be from position P1 to Pa, interval 2 from position Pa to position P2, and interval 3 from position P2 to position P3. In this case, the feature quantity calculation unit 40 calculates feature quantities 1 to 9 for the current value and velocity value for each interval (intervals 1 to 3). The same applies to the modified example 3 of the second embodiment and the modified example 3 of the third embodiment.

[0188] Furthermore, in Modification 3 according to the First Embodiment, one or more features including at least one of features 1 to 9 may be used. The same applies to Modification 3 according to the Second Embodiment and Modification 3 according to the Third Embodiment.

[0189] (Other processing after the determination by the determination unit) As explained above, if the determination unit 39A (and similarly the determination units 39B, 39C, 49A, 49B, and 49C) determines that a pull-in has occurred, it outputs to the transmission unit 29 that a pull-in has occurred, and the transmission unit 29 transmits warning information to the outside based on that output. In addition to the above, if the determination unit 39A (and similarly the determination units 39B, 39C, 49A, 49B, and 49C) determines that a pressurization has occurred, it outputs to the command unit 19 that a pressurization has occurred, and the command unit 19 may change the drive command based on that output.

[0190] If the command unit 19 receives an output indicating that pressurization has occurred, it may, for example, change the drive command for the next opening operation (for example, the opening operation at the next station) (for example, change the drive command so that the time it takes to move from the fully closed position to the fully open position is shortened). This makes it possible to prevent disruption to the scheduled operation of the railway, for example, when the train is full at multiple stations. The period and threshold shown in Figures 4 and 5 may be stored in advance for each drive command pattern, and the determination device 1 (determination device 1A, determination device 1B, determination device 1C) may use the period and threshold corresponding to the changed drive command pattern to determine whether retraction or pressurization has occurred.

[0191] The details described in the above embodiments include, for example, the following configurations. (1) A determination device (determination device 1A shown in Figures 6, 9, 10, and 19) that includes a determination unit (determination unit 39A, determination unit 49A) that determines whether retraction or pressurization occurred during the door opening operation, based on operation information (current value acquired by current value acquisition unit 32 and speed value acquired by speed value acquisition unit 31) acquired during a specific period (a period in the high-speed range) when the door is receiving a drive command to move at a constant speed. (2) A determination device (determination device 1B shown in Figures 11, 13, 14, and 23) that determines whether retraction or pressurization occurred during the door opening operation, based on operation information (current values ​​acquired by the current value acquisition unit 32) acquired during a specific period (a period in the high-speed range) when the door is receiving a drive command to move at a constant speed. (3) A determination device (determination device 1A shown in Figures 15, 17, 18, and 25) that determines whether retraction or pressurization occurred during the door opening operation, based on operation information (speed values ​​acquired by the speed value acquisition unit 31) acquired during a specific period (a period in the high-speed range) when the door is receiving a drive command to move at a constant speed.

[0192] (4) The specified period is the period after the door has moved a predetermined distance (the distance to the predetermined position stored in the predetermined position storage unit 34 of the determination device 1A in Figure 6, determination device 1B in Figure 11, or determination device 1C in Figure 15) since receiving a drive command to move the door at a constant speed (for example, from position Pa to position P2). (5) The specified period is the period after a predetermined time has elapsed since the door received a drive command to move at a constant speed (the time stored in the predetermined time storage unit 35 of the determination device 1A in Figure 9, the determination device 1B in Figure 13, or the determination device 1C in Figure 17) (for example, from position Pa to position P2). (6) A specific period is determined based on the drive command (determination device 1A shown in Figures 9 and 10, determination device 1B shown in Figures 13 and 14, determination device 1C shown in Figures 17 and 18).

[0193] (7) The system includes a feature calculation unit (feature calculation unit 40) that calculates feature quantities from operation information at multiple points in time acquired during the door opening operation (current value acquired by the current value acquisition unit 32 and speed value acquired by the speed value acquisition unit 31), and a determination unit (determination unit 49A) that inputs the calculated feature quantities into a trained model (trained model 1000A shown in Figure 20) to determine whether or not retraction or pressurization occurred during the door opening operation (determination device 1A shown in Figure 19). (8) The door opening operation is accompanied by a feature calculation unit (feature calculation unit 41) which calculates feature quantities from operation information at multiple points in time (current values ​​acquired by the current value acquisition unit 32), and a determination unit (determination unit 49B) which inputs the calculated feature quantities into a trained model (trained model 1000B shown in Figure 24) to determine whether or not retraction or pressurization occurred during the door opening operation (determination device 1B shown in Figure 23). (9) The door opening operation is equipped with a feature calculation unit (feature calculation unit 42) that calculates feature quantities from operation information at multiple points in time (speed values ​​acquired by the speed value acquisition unit 31) acquired during the door opening operation, and a determination unit (determination unit 49C) inputs the calculated feature quantities into a trained model (trained model 1000C shown in Figure 26) to determine whether or not retraction or pressurization occurred during the door opening operation, and a determination device (determination device 1C shown in Figure 25).

[0194] (10) A determination device (determination device 1A, 1B, 1C) that includes a notification unit (transmitter 29) that notifies the outside (transmits warning information that a pull-in has occurred) if it is determined that a pull-in has occurred, and does not notify the outside if it is determined that pressurization has occurred. (11) If it is determined that pressure has been applied in the thickness direction, the determination device (determination device 1A, 1B, 1C) changes the drive command (determination unit 39A (determination units 39B, 39C, 49A, 49B, 49C) which determined that pressure has been applied outputs to the command unit 19 that pressure has been applied, and the command unit 19 changes the drive command based on said output).

[0195] (12) A railway door device (electric door device 2) comprising: an electric motor (motor 11) for opening and closing a door leaf; a control unit (PWM control unit 22, door opening / closing control unit 15, or controller 15) that sends a drive command to the motor and controls the opening and closing of the door leaf; an acquisition unit (current value acquisition unit 31, speed value acquisition unit 32) that acquires operation information indicating at least one of the current value flowing to the motor during the opening operation of the door leaf, or the speed value during the opening operation of the door leaf; and a determination unit (determination unit 39A, determination unit 39B, determination unit 39C, determination unit 49A, determination unit 49B, determination unit 49C) that determines whether retraction or pressurization occurred during the opening operation of the door based on the operation information acquired during a specific period when a drive command is sent to the motor so that the door leaf moves at a constant speed.

[0196] (13) The PWM control unit 22 generates a PWM signal to control the duty cycle of the voltage supplied to the electric motor.

[0197] Although embodiments of this invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments and includes designs and the like that do not depart from the spirit of this invention.

[0198] For example, in the embodiments disclosed herein, if multiple functions are provided in a distributed manner, some or all of those functions may be consolidated, and conversely, if multiple functions are consolidated, some or all of those functions may be distributed. Whether the functions are consolidated or distributed, the configuration should be such that the objective of the invention can be achieved.

[0199] The program for realizing the functions of the apparatus according to the above embodiment (for example, the determination device 1 and the electric door device 2) may be stored in a computer-readable storage medium, and the program stored in this storage medium may be loaded into a computer system and executed to perform the processing. The term "computer system" here may include an operating system (OS) or hardware such as peripheral devices. The term "computer-readable storage medium" refers to a writable non-volatile memory such as a flexible disk, magneto-optical disk, ROM (Read Only Memory), flash memory, a portable medium such as a DVD (Digital Versatile Disc), or a storage device such as a hard disk built into a computer system.

[0200] Furthermore, "computer-readable storage medium" includes volatile memory (e.g., DRAM (Dynamic Random Access Memory)) within an information processing device or client computer system that receives a program via a network such as the Internet or a communication line such as a telephone line, which holds the program for a certain period of time. The above program may also be transmitted from the computer system that stores the program in a storage device, etc., to another computer system via a transmission medium or by transmission waves within the transmission medium. Here, the "transmission medium" for transmitting the program refers to a medium that has the function of transmitting information, such as a network such as the Internet or a communication line such as a telephone line. Furthermore, the above program may be for the purpose of realizing a part of the aforementioned functions. Furthermore, the above program may be one that can realize the aforementioned functions in combination with a program already stored in the computer system, a so-called differential file (differential program). [Explanation of Symbols]

[0201] 1, 1A, 1B, 1C: Judgment device 2: Electric door device 3R, 3L: Door Leaf 4: Guide rail 5R, 5L: Door hanging device 6: Door roller 7: Door edge rubber 8R, 8L: Rack Gear 9R, 9L: Bracket 10: Pinion Gear 11: Motor 12: Rotation axis 13: Sangear 14: Planetary Gear 15: Controller 16: Power supply section 17: Motor monitoring unit 18: Door opening / closing control unit 19: Command Department, 21: Power supply voltage detection unit 22: PWM control unit 23: Motor drive unit 24: Hall signal detector 25: Speed ​​detection unit 26: Hall element 27: Motor current detector 31: Current value acquisition unit 32: Speed ​​value acquisition unit 33: Movement position detection unit 34: Predetermined position storage section 35: Predetermined time storage unit 36, 37, 38: Timing detection unit 39A, 39B, 39C: Judgment section 40, 41, 42: Feature calculation unit 43, 44, 45: Storage section 49A, 49B, 49C: Judgment section 100: Model Generator 101: Acquisition Department 102: Storage section 103: Model generation unit 104: Output section 900A: Training dataset 1000A, 1000B, 1000C: Pre-trained models

Claims

1. A current value acquisition unit that acquires the current value flowing to the electric motor during the opening operation of a door that opens and closes the entrance / exit of a railway vehicle using the driving force of the electric motor, A speed value acquisition unit that acquires the speed value during the opening operation of the aforementioned door, A determination unit determines, based on the current value obtained when the door is being driven to move at a constant speed, and the speed value obtained when the door is being driven to move at a constant speed, whether or not the pulling of an intervening object between the door and the door pocket, or the pressurization of the door in the thickness direction of the door, occurred during the opening operation of the door. A determination device equipped with the following features.

2. A current value acquisition unit that acquires the current value flowing to the electric motor during the opening operation of a door that opens and closes the entrance / exit of a railway vehicle using the driving force of the electric motor, A speed value acquisition unit that acquires the speed value during the opening operation of the aforementioned door, A determination unit determines, based on the current value obtained when the door is being driven to move at a constant speed and the speed value obtained when the door is being driven to gradually reduce its speed and stop, whether or not an intervening object was drawn between the door and the door pocket, or whether or not pressure was applied to the door in the thickness direction of the door, during the opening operation of the door. A determination device equipped with the following features.

3. A current value acquisition unit that acquires the current value flowing to the electric motor during the opening operation of a door that opens and closes the entrance / exit of a railway vehicle using the driving force of the electric motor, A determination unit determines, based on the current values ​​at two points in time obtained when the door is receiving a drive command to move at a constant speed, whether or not the pulling of an intervening object between the door and the door pocket, or the pressurization of the door in the thickness direction of the door, occurred during the opening operation of the door. A determination device equipped with the following features.

4. A speed value acquisition unit that acquires the speed value during the opening operation of a door that opens and closes the entrance / exit of a railway vehicle using the driving force of an electric motor, A determination unit determines, based on the speed value obtained when the door is being driven to move at a constant speed and the speed value obtained when the door is being driven to gradually decelerate and stop, whether or not an intervening object was drawn between the door and the door pocket, or whether or not pressure was applied to the door in the thickness direction of the door, during the opening operation of the door. A determination device equipped with the following features.

5. An acquisition unit that acquires operation information indicating at least one of the current value flowing to the electric motor or the speed value during the door opening operation, which opens and closes the entrance / exit door of a railway vehicle using the driving force of the electric motor, A feature calculation unit calculates feature quantities from the operation information at multiple points in time acquired during the opening operation of the door, A determination unit inputs the calculated feature quantities into a trained model to determine whether the intervening object was pulled in between the door and the door pocket, whether pressure was applied to the door in the thickness direction of the door, or whether neither the intervening object was pulled in nor the pressure was applied to the door in the thickness direction of the door. A determination device equipped with the following features.

6. The system includes a notification unit that notifies the outside if it is determined that the inclusion has been pulled in, and does not notify the outside if it is determined that pressure has been applied in the thickness direction. The determination device according to any one of claims 1 to 5.

7. If it is determined that pressure has been applied in the thickness direction, the drive command is modified to shorten the time it takes to move from the fully closed position to the fully open position. The determination device according to claim 6.

8. An electric motor that opens and closes the door leaf, A control unit that sends a drive command to the electric motor and controls the opening and closing of the door leaf, A current value acquisition unit that acquires the current value flowing to the electric motor during the opening operation of the door leaf, A speed value acquisition unit that acquires the speed value during the opening operation of the door leaf, A determination unit determines, based on the current value obtained when the drive command is sent to the motor so that the door leaf moves at a constant speed, and the speed value obtained when the drive command is sent to the motor so that the door leaf moves at a constant speed, whether or not an intervening object is drawn between the door leaf and the door pocket, or pressure is applied to the door leaf in the thickness direction of the door leaf, during the opening operation of the door leaf. A railway door device equipped with [a specific feature].

9. An electric motor that opens and closes the door leaf, A control unit that sends a drive command to the electric motor and controls the opening and closing of the door leaf, A current value acquisition unit that acquires the current value flowing to the electric motor during the opening operation of the door leaf, A speed value acquisition unit that acquires the speed value during the opening operation of the door leaf, A determination unit determines whether, based on the current value obtained when the drive command is sent to the motor so that the door leaf moves at a constant speed, and the speed value obtained when the drive command is sent to the motor so that the movement speed of the door leaf gradually decreases and stops, either an object is drawn into the space between the door leaf and the door pocket, or pressure is applied to the door leaf in the thickness direction of the door leaf, during the opening operation of the door leaf. A railway door device equipped with [a specific feature].

10. An electric motor that opens and closes the door leaf, A control unit that sends a drive command to the electric motor and controls the opening and closing of the door leaf, A current value acquisition unit that acquires the current value flowing to the electric motor during the opening operation of the door leaf, A determination unit determines, based on the current values ​​at two points in time obtained when the drive command is sent to the electric motor so that the door leaf moves at a constant speed, whether or not the pulling of an intervening object between the door leaf and the door pocket, or the pressurization of the door leaf in the thickness direction of the door leaf, occurred during the opening operation of the door leaf. A railway door device equipped with [a specific feature].

11. An electric motor that opens and closes the door leaf, A control unit that sends a drive command to the electric motor and controls the opening and closing of the door leaf, A speed value acquisition unit that acquires the speed value during the opening operation of the door leaf, A determination unit determines, based on the speed value obtained when the drive command is sent to the motor so that the door leaf moves at a constant speed, and the speed value obtained when the drive command is sent to the motor so that the movement speed of the door leaf gradually decreases and stops, whether or not an intervening object is drawn between the door leaf and the door pocket, or pressure is applied to the door leaf in the thickness direction of the door leaf, during the opening operation of the door leaf. A railway door device equipped with [a specific feature].

12. An electric motor that opens and closes the door leaf, A control unit that sends a drive command to the electric motor and controls the opening and closing of the door leaf, An acquisition unit that acquires operation information indicating at least one of the current value flowing to the electric motor during the opening operation of the door leaf, or the speed value during the opening operation of the door leaf, A feature calculation unit that calculates feature quantities from the operation information at multiple points in time acquired during the opening operation of the door leaf, A determination unit inputs the calculated feature quantities into a trained model to determine whether the intervening material is pulled in between the door leaf and the door pocket, whether pressure is applied to the door leaf in the thickness direction, or whether neither the intervening material is pulled in nor the pressure is applied to the door leaf in the thickness direction. A railway door device equipped with [a specific feature].

13. The drive command is a PWM signal for controlling the duty cycle of the voltage supplied to the electric motor. A railway door device according to any one of claims 8 to 12.

14. A current value acquisition step to acquire the current value flowing to the electric motor during the opening operation of a door that opens and closes the entrance / exit door of a railway vehicle using the driving force of the electric motor, A speed value acquisition step to acquire the speed value during the opening operation of the door, A determination step to determine whether, based on the current value obtained when the door is being driven to move at a constant speed, and the speed value obtained when the door is being driven to move at a constant speed, either an intervening object is drawn between the door and the door pocket, or pressure is applied to the door in the thickness direction of the door, occurred during the opening operation of the door. A determination method that includes this.

15. A current value acquisition step to acquire the current value flowing to the electric motor during the opening operation of a door that opens and closes the entrance / exit door of a railway vehicle using the driving force of the electric motor, A speed value acquisition step to acquire the speed value during the opening operation of the door, A determination step to determine whether, based on the current value obtained when the door is being driven to move at a constant speed and the speed value obtained when the door is being driven to gradually reduce its speed and stop, either an intervening object is drawn between the door and the door pocket, or pressure is applied to the door in the thickness direction of the door, occurred during the opening operation of the door. A determination method that includes this.

16. A current value acquisition step to acquire the current value flowing to the electric motor during the opening operation of a door that opens and closes the entrance / exit door of a railway vehicle using the driving force of the electric motor, A determination step is to determine, based on the current values ​​at two points in time obtained when the door is receiving a drive command to move at a constant speed, whether the pulling of an intervening object between the door and the door pocket, or the pressurization of the door in the thickness direction of the door, occurred during the opening operation of the door. A determination method that includes this.

17. A speed value acquisition step that acquires the speed value during the opening operation of a door that opens and closes the entrance / exit of a railway vehicle using the driving force of an electric motor, A determination step to determine whether, during the opening operation of the door, an intervening object was drawn between the door and the door pocket, or pressure was applied to the door in the thickness direction of the door, based on the speed value obtained when the door is being driven to move at a constant speed, and the speed value obtained when the door is being driven to gradually reduce its speed and stop. A determination method that includes this.

18. An acquisition step to acquire operation information indicating at least one of the current value flowing to the electric motor or the speed value during the door opening operation, which is used to open and close the entrance / exit door of a railway vehicle using the driving force of the electric motor, A feature calculation step which calculates feature quantities from the operation information at multiple points in time acquired during the opening operation of the door, A determination step in which the calculated feature quantities are input to a trained model to determine whether the intervening object was pulled in between the door and the door pocket, whether pressure was applied to the door in the thickness direction of the door, or whether neither the intervening object was pulled in nor the pressure was applied to the door in the thickness direction of the door occurred. A determination method that includes this.

19. In the computer of the control unit that controls the opening and closing of the doors that open and close the entrances and exits of railway vehicles using the driving force of an electric motor, A current value acquisition procedure for acquiring the current value flowing through the electric motor during the opening operation of the door, A procedure for obtaining a speed value to obtain the speed value during the opening operation of the aforementioned door, A determination procedure for determining whether, during the opening operation of the door, an intervening object was drawn between the door and the door pocket, or pressure was applied to the door in the thickness direction of the door, based on the current value obtained when the door was being driven to move at a constant speed, and the speed value obtained when the door was being driven to move at a constant speed. A program to execute.

20. In the computer of the control unit that controls the opening and closing of the doors that open and close the entrances and exits of railway vehicles using the driving force of an electric motor, A current value acquisition procedure for acquiring the current value flowing through the electric motor during the opening operation of the door, A procedure for obtaining a speed value to obtain the speed value during the opening operation of the aforementioned door, A determination procedure for determining whether, during the opening operation of the door, an intervening object was drawn between the door and the door pocket, or pressure was applied to the door in the thickness direction of the door, based on the current value obtained when the door is being driven to move at a constant speed, and the speed value obtained when the door is being driven to gradually reduce its speed and stop. A program to execute.

21. In the computer of the control unit that controls the opening and closing of the doors that open and close the entrances and exits of railway vehicles using the driving force of an electric motor, A current value acquisition procedure for acquiring the current value flowing through the electric motor during the opening operation of the door, A determination procedure for determining whether, based on the current values ​​obtained at two points in time while the door is receiving a drive command to move at a constant speed, an intervening object was drawn between the door and the door pocket, or pressure was applied to the door in the thickness direction of the door, during the opening operation of the door. A program to execute.

22. In the computer of the control unit that controls the opening and closing of the doors that open and close the entrances and exits of railway vehicles using the driving force of an electric motor, A procedure for obtaining a speed value to obtain the speed value during the opening operation of the aforementioned door, A determination procedure for determining whether, during the opening operation of the door, an intervening object was drawn between the door and the door pocket, or pressure was applied to the door in the thickness direction of the door, based on the speed value obtained when the door is being driven to move at a constant speed, and the speed value obtained when the door is being driven to gradually reduce its speed and stop. A program to execute.

23. In the computer of the control unit that controls the opening and closing of the doors that open and close the entrances and exits of railway vehicles using the driving force of an electric motor, A procedure for acquiring operational information that indicates at least one of the current value flowing to the electric motor during the opening operation of the door, or the speed value during the opening operation of the door, A feature calculation procedure for calculating feature quantities from the operation information at multiple points in time acquired during the opening operation of the door, A determination procedure in which the calculated feature quantities are input into a trained model to determine whether the pulling of an intervening object between the door and the door pocket, or the pressurization of the door in the thickness direction of the door, occurred during the opening operation of the door. A program to execute.

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