CN114263412A

CN114263412A - Door clamp detection device, railway door device, and storage medium

Info

Publication number: CN114263412A
Application number: CN202111080959.7A
Authority: CN
Inventors: 夏盈菁; 田边和男; 柳本裕右
Original assignee: Nabtesco Corp
Current assignee: Nabtesco Corp
Priority date: 2020-09-16
Filing date: 2021-09-15
Publication date: 2022-04-01
Also published as: JP2022049522A; EP3971379A1

Abstract

The invention provides a door clamp detection device, a railway door device and a storage medium. Whether a door clamp occurs is simply and accurately detected. A door clamp detection device for detecting a door clamp when a door is driven in a closing direction by a driving force of a motor includes: a position determination unit that determines whether or not the door has reached a predetermined position based on at least one of a moving speed, a moving distance, and a moving time of the door during a closing operation; and a door jam determining part which determines whether a door jam occurs on the basis of the current flowing through the motor during a period from when the door is determined to have reached the predetermined position until when the door reaches a fully closed position.

Description

Door clamp detection device, railway door device, and storage medium

Technical Field

One embodiment of the present invention relates to a door clamp detection device, a railway door device, and a storage medium.

Background

The automatic door device is provided with a door clamp detection device for detecting contact between a person or an object and a closed end of a door leaf. In a conventional door jam detecting device, there are a system of detecting a door jam based on a moving speed of a door and a system of detecting a door jam based on a current flowing through a motor (hereinafter, referred to as a motor current) that generates a driving force for moving the door.

When a door jam is detected based on the moving speed of the door, the moving speed of the door becomes zero when the door jam occurs, and therefore, if the moving speed becomes zero, it is determined that the door jam has occurred. In addition, when the door jam is detected based on the motor current, the motor current sharply increases when the door jam occurs, and therefore, when the motor current exceeds a predetermined threshold value, it is determined that the door jam has occurred.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2019-93901

Disclosure of Invention

Problems to be solved by the invention

A closed end rubber is installed at the closed end of the door leaf to soften the contact of a person or an object with the closed end, and even if the person or the object contacts the closed end rubber, the moving speed of the door leaf does not become zero at once, but the door leaf moves at a low speed within a range in which the closed end rubber can be contracted. Also, when fully closed, the door leaves move at a low speed for a while even if the closed end rubbers of the left and right door leaves contact each other. Therefore, if the door is moved only at a speed, it may not be possible to accurately determine whether the door jam has occurred.

On the other hand, the motor current is also liable to vary for various reasons, and even if the motor current is compared with a threshold value to detect a door jam, the door jam cannot be detected accurately in a situation where the motor current varies greatly.

Therefore, in one embodiment of the present invention, a door clamp detection device, a railroad door device, and a storage medium are provided that can easily and accurately detect whether a door clamp has occurred.

Means for solving the problems

In order to solve the above-described problems, according to one embodiment of the present invention, there is provided a door clamp detection device for detecting a door clamp when a door is driven in a closing direction by a driving force of a motor, the door clamp detection device including:

a position determination unit that determines whether or not the door has reached a predetermined position based on at least one of a moving speed, a moving distance, and a moving time of the door during a closing operation; and

and a door jam determining unit that determines whether or not a door jam has occurred in the door based on the current flowing through the motor during a period from when it is determined that the door has reached the predetermined position until when the door reaches a fully closed position.

The door jam determining unit may determine whether or not the door has a door jam based on a moving speed of the door in parallel with a door jam determination of the door based on a current flowing through the motor, during a period from when it is determined that the door has reached the predetermined position until when the door reaches a fully closed position.

The door object clamping determination unit may include:

a first door jam determining unit that determines whether or not the door jam has occurred, based on whether or not a moving speed of the door or a current value flowing through the motor satisfies a first condition, when it is determined that the door does not reach the predetermined position; and

and a second door jam determining part that determines whether or not the door jam has occurred, based on whether or not the current value satisfies a second condition different from the first condition, during a period from when it is determined that the door has reached the predetermined position until when the door reaches a fully closed position.

The second door jam determination unit may determine that the door jam has occurred when at least one of a case where it is determined that the current value satisfies the second condition and a case where it is determined that the door jam has occurred based on the speed of the door during a period from when it is determined that the door has reached the predetermined position until when the door reaches the fully closed position.

The present invention may further include:

a first acquisition unit that acquires a first current value flowing through the motor during a first period during a closing operation of the door;

a threshold value setting unit that sets a threshold value for determining that the door is jammed based on the acquired first current value; and

a second acquisition unit that acquires a second current value flowing through the motor during a second period in the closing operation of the door, the second period being a period subsequent to the first period,

wherein the second door jam determination unit determines whether or not the second condition is satisfied by comparing the acquired second current value with the set threshold value.

The threshold setting unit may set the threshold based on at least one of an average value, a median value, a mode value, and an integrated value of current values flowing through the motor in the first period.

The door control device may further include a storage unit that stores a correspondence relationship between a measured value and a reference threshold value based on the measured value, the measured value being at least one of an average value, a median value, a mode value, and an integrated value of current values flowing through the motor when the door is driven in the closing direction and no door jam occurs,

the threshold setting unit sets the threshold based on at least one of an average value, a median value, a mode value, and an integral value of current values flowing through the motor in the first period, and the correspondence stored in the storage unit.

The threshold setting unit may set the threshold based on a driving voltage of the motor during the first period.

In another aspect of the present invention, there is provided a railway door apparatus including:

a door provided to the railway vehicle;

a motor that opens and closes the door;

a door opening/closing control unit that controls the motor; and

a door clamp detecting device for detecting a door clamp when the door is driven in a closing direction by the driving force of the motor,

in the door device for a railway, a door is provided,

the door clip detection device comprises:

a position determination unit that determines whether or not the door has reached a predetermined position based on at least one of a moving speed, a moving distance, and a moving time of the door in a closing direction during a closing operation of the door;

In another aspect of the present invention, there is provided a computer-readable storage medium storing a computer program for detecting a door jam when a door is driven in a closing direction by a driving force of a motor, the computer program, when executed by a processor, causing the processor to perform:

determining whether the door has reached a predetermined position based on at least one of a moving speed, a moving distance, and a moving time of the door in a closing direction during a closing operation of the door;

determining whether the door jam occurs according to whether a moving speed of the door or a current value flowing through the motor satisfies a first condition when it is determined that the door does not reach the predetermined position; and

determining whether or not the door jam has occurred based on whether or not the current value satisfies a second condition different from the first condition during a period from when it is determined that the door has reached the predetermined position until when the door reaches a fully closed position.

According to another aspect of the present invention, there is provided a railway door apparatus including:

a door;

a motor that opens and closes the door;

a door opening/closing control unit that controls the motor; and

in the door device for a railway, a door is provided,

the door clip detection device comprises:

and a second door jam determining unit that determines whether or not the door jam has occurred, based on whether or not the current value satisfies a second condition different from the first condition, when it is determined that the door has reached the predetermined position.

According to one aspect of the present invention, there is provided a computer-readable storage medium storing a program for detecting a door jam when a door is driven in a closing direction by a driving force of a motor, the computer-readable storage medium having a processor that executes the program to perform:

when it is determined that the door has reached the predetermined position, it is determined whether or not the door jam has occurred, based on whether or not the current value satisfies a second condition different from the first condition.

ADVANTAGEOUS EFFECTS OF INVENTION

According to one embodiment of the present invention, it is possible to easily and accurately detect whether or not a door clamp has occurred.

Drawings

Fig. 1 is an external view of an automatic door device incorporating a door clamp detection device according to a first embodiment.

Fig. 2 is a diagram showing more specifically the configuration of the periphery of the motor.

Fig. 3 is a block diagram showing a schematic configuration of a control system of the automatic gate apparatus of fig. 1.

Fig. 4 is a block diagram showing an internal configuration of the door check device of the first embodiment.

Fig. 5 is a graph showing changes in stroke, moving speed, and motor current.

Fig. 6 is a flowchart showing a processing procedure of the door check device of the first embodiment.

Fig. 7 is a flowchart showing a processing procedure of the door check device of the second embodiment.

Fig. 8 is a block diagram showing an internal configuration of a door clamp detection device of the third embodiment.

Description of the reference numerals

1: a door clamp detection device; 2: an electric door device; 3R, 3L: a door leaf; 4: a guide rail; 5R, 5L: a door suspension device; 6: a pulley; 7: a closed end rubber; 8R, 8L: a rack; 9R, 9L: a bracket; 10: a pinion gear; 11: a motor; 12: a rotating shaft; 13: a sun gear; 14: a planetary gear; 15: a controller; 16: a power supply unit; 17: a motor monitor section; 18: a door opening/closing control section; 19: an instruction unit; 21: a power supply voltage detection unit; 22: a PWM control unit; 23: a motor drive section; 24: a Hall signal detector; 25: a Hall element; 26: a motor current detector; 27: a motor voltage detector; 31: a door clamp object determination part; 31 a: a first door object clamping determination part; 31 b: a second door clamping judgment part; 32: a position determination unit; 33: a speed detector; 34: a door close detector; 35: a stroke detector; 36: a first acquisition unit; 37: a threshold setting unit; 38: a second acquisition unit; 39: a storage section.

Detailed Description

Embodiments of a door clamp detection device, a railroad door device, and a program will be described below with reference to the drawings. The following description will be made mainly of the main components of the door clamp detection device, the railroad door device, and the program, but the door clamp detection device, the railroad door device, and the program may have components and functions not shown or described. The following description does not exclude constituent elements and functions not shown or described.

(first embodiment)

Fig. 1 is an external view of an electric door device 2 incorporating a door clamp detection device 1 according to a first embodiment. The electric door device 2 of fig. 1 is mounted on a railway vehicle. The electric door device 2 according to the present embodiment can be widely used for applications other than railway vehicles. For example, the electric door device 2 according to the present embodiment can be applied to an automatic door device for vehicles, buildings, and facilities, and can also be applied to a door of a house, and the like. In the following, the description will be given mainly of an electric door device 2 mounted on a railway vehicle.

The electric door device 2 of fig. 1 includes a pair of

doors

3R and 3L as sliding doors. The

doors

3R and 3L are provided to be movable in the left and right direction in the figure. Above the

doors

3R and 3L, a guide rail 4, a door suspension device 5R supporting the right door 3R, and a door suspension device 5L supporting the left door 3L are arranged.

The door suspension device 5R and the door 3R are provided so as to be movable integrally along the guide rail 4. The door suspension device 5L and the door 3L are provided so as to be movable integrally along the guide rail 4. In the present specification, at least one of the pair of

doors

3R and 3L may be referred to as a door.

As shown by broken lines in fig. 1, a plurality of pulleys 6 are provided inside the

door suspensions

5R and 5L. Each pulley 6 rolls in contact with the upper surface or the lower surface of the guide rail 4.

A closed end rubber 7 made of a soft synthetic rubber material is attached to the closed end of each of the

doors

3R and 3L. When the pair of door leaves 3R and 3L are completely closed, the closed end rubbers 7 contact each other, and after the closed end rubbers 7 contract to a certain extent in a state of contacting each other, the door leaves 3R and 3L stop.

A right rack 8R and a left rack 8L are provided above the guide rail 4 along the direction in which the guide rail 4 extends. A right bracket 9R is coupled to the right rack 8R, and when the right rack 8R moves left and right, the right bracket 9R moves left and right in accordance with the movement. Similarly, a left bracket 9L is coupled to the left rack 8L, and when the left rack 8L moves left and right, the left bracket 9L moves left and right in accordance with the movement. The door suspension device 5R is connected to the right bracket 9R, and the door suspension device 5R and the door 3R move in the lateral direction in unison with the lateral movement of the right bracket 9R. The left bracket 9L is connected to a door suspension device 5L, and the door suspension device 5L and the door 3L move in a lateral direction integrally in accordance with the lateral movement of the left bracket 9L.

The right rack 8R and the left rack 8L are engaged with the pinion 10, and function to convert the rotational motion of the pinion 10 into linear motion. The pinion 10 is rotated by the driving force of the motor 11.

Fig. 2 is a diagram showing more specifically the configuration of the periphery of the motor 11. A sun gear 13 attached to a rotating shaft 12 of the motor 11, a plurality of planetary gears 14 arranged around the sun gear 13 and meshing with the sun gear 13, and a pinion gear 10, the pinion gear 10 being an external gear arranged outside the plurality of planetary gears 14 and meshing with the plurality of planetary gears 14, are provided.

As described above, when the motor 11 rotates, the rotational force thereof is transmitted to the

racks

8R and 8L via the pinion 10, and when the

racks

8R and 8L move left and right according to the rotation of the motor 11, the pair of

doors

3R and 3L move left and right along the guide rail 4 via the right bracket 9R and the left bracket 9L. The motor 11 is driven by a motor driving unit 23 in the controller 15 shown in fig. 3.

The opening and closing method of the electric door device 2 need not necessarily be the rack and pinion method described above, and may be any other method (for example, a belt type, a screw type, a linear motor type, or the like).

Fig. 3 is a block diagram showing a schematic configuration of a control system of the electric gate device 2 shown in fig. 1. The control system of the electric door device 2 according to the present embodiment includes a controller 15 incorporating the door jam detecting device 1, a power supply unit 16, and a motor monitor unit 17.

The power supply unit 16 incorporates a power supply device for converting an ac voltage supplied from a power line to a dc voltage. The controller 15 includes a door opening/closing control unit 18 and a command unit 19. The command unit 19 outputs a command signal for opening and closing the

doors

3R and 3L to the door opening/closing control unit 18. The door opening/closing control unit 18 controls opening and closing of the

doors

3R and 3L based on the command signal.

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, and a hall signal detector 24.

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 for driving the motor 11 based on the voltage level of the dc voltage detected by the power supply voltage detection unit 21 and the command signal from the command unit 19. More specifically, the PWM control unit 22 generates a PWM signal for controlling the duty ratio of the voltage supplied to the motor 11 based on the reference voltage command pattern corresponding to the command signal and the voltage level of the dc signal detected by the power supply voltage detection unit 21.

The motor driving unit 23 controls on/off of a transistor for driving the motor 11 based on the PWM signal. For example, when the motor 11 is a three-phase motor 11, the motor driving unit 23 generates gate signals for turning on or off the transistors of the U-phase, the V-phase, and the W-phase.

A hall element 25 is attached near the rotating shaft 12 of the motor 11, and the number of revolutions of the motor 11 is detected by the hall element 25. Further, a motor monitor unit 17 is provided in the vicinity of the motor 11. The motor monitor unit 17 includes a motor current detector 26 for detecting a motor current and a motor voltage detector 27 for detecting an applied voltage to the motor 11, in addition to the hall element 25 described above.

The hall signal detector 24 detects the number of rotations of the motor 11 based on the detection signal of the hall element 25. The motor driving unit 23 can perform feedback control of the control timing of turning on or off the transistors of the drive motor 11 based on the number of revolutions of the motor 11 detected by the hall signal detector 24.

When the

doors

3R and 3L are driven in the closing direction by the driving force of the motor 11, the door clamp detection device 1 detects that a door clamp has occurred at the closed ends of the

doors

3R and 3L.

The electric door device 2 according to the present embodiment may include a transmission unit 28. When the door jam detection device 1 detects a door jam, the transmission unit 28 notifies a management device, not shown, or a mobile terminal held by a maintenance worker, that a door jam has occurred.

Fig. 4 is a block diagram showing an internal configuration of the door clamp detection device 1 of the first embodiment. As shown in fig. 4, the door clamp detection device 1 includes a door clamp determination unit 31.

The door jam determining unit 31 determines whether or not a door jam has occurred on the basis of at least one of the moving speed, the moving distance, and the moving time during the closing operation of the

doors

3R and 3L, and the current flowing through the motor. In parallel with the door jam determination of the

doors

3R and 3L based on the current flowing through the motor, the door jam determination unit 31 may continue the process of determining whether or not the doors have a door jam based on the moving speed of the

doors

3R and 3L until the

doors

3R and 3L reach the fully closed position after the

doors

3R and 3L start moving in the closing direction.

In this manner, the door clamp determination unit 31 can more accurately detect the door clamp by using both the door clamp determination based on the motor current and the door clamp determination based on the movement speed of the

doors

3R and 3L.

The door clamp detection device 1 of the present embodiment includes a position determination unit 32. The position determination unit 32 determines whether or not the

doors

3R and 3L have reached a predetermined position based on at least one of the moving speed and the moving distance of the

doors

3R and 3L and the moving time of the doors moving in the closing direction during the closing operation of the

doors

3R and 3L. The position determination unit 32 determines whether or not the

doors

3R and 3L are located at positions close to the fully closed position, and the predetermined position is set to a position of about several centimeters before the fully closed position, for example. The door jam determination unit 31 determines whether or not the

door

3R or 3L has a door jam based on the current flowing through the motor 11 during a period from when it is determined that the

door

3R or 3L has reached the predetermined position until the

door

3R or 3L reaches the fully closed position. In this way, when the

doors

3R and 3L have moved to positions close to the fully closed position, the door clamp determination unit 31 determines whether or not a door clamp has occurred based on the motor current.

The door clamp determining unit 31 may switch the method of determining the door clamp according to whether or not the

doors

3R and 3L have reached a predetermined position. For example, as shown in fig. 4, the door jam determining unit 31 may include a first door jam determining unit 31a and a second door jam determining unit 31 b.

When determining that the

doors

3R and 3L have not reached the predetermined positions, the first door jam determining unit 31a determines whether or not a door jam has occurred based on whether or not the moving speed of the

doors

3R and 3L or the current value flowing through the motor satisfies a first condition.

The second door clamp determining unit 31b determines whether or not a door clamp has occurred, based on whether or not the current value satisfies a second condition different from the first condition, during a period from when it is determined that the

doors

3R and 3L have reached the predetermined positions until when the

doors

3R and 3L have reached the fully closed positions. The second door jam determining unit 31b may determine that a door jam has occurred when it is determined that the current value satisfies at least one of the second condition and the

door

3R or 3L has occurred based on the speed of the

door

3R or 3L during a period from when it is determined that the

door

3R or 3L has reached the predetermined position until the

door

3R or 3L reaches the fully closed position.

In addition, the door jam determination unit 31 of the present embodiment may further include a speed detector 33 that detects the moving speed of the

doors

3R and 3L. The door jam determination unit 31 of the present embodiment may further include a door closing detector 34 that detects that the pair of

doors

3R and 3L are completely closed. The door clamp determination unit 31 of the present embodiment may further include a stroke detector 35 that detects the movement position (stroke) of the

doors

3R and 3L.

Fig. 5 is a graph showing changes in the stroke w1, the moving speed w2, and the motor currents w3a, w3b of the

doors

3R, 3L during the movement of the

doors

3R, 3L from the fully open position to the fully closed position.

In fig. 5, the horizontal axis represents the position of the closed end of the

doors

3R and 3L, and the vertical axis represents the waveform w1 represents the stroke amount, the waveform w2 represents the moving speed, and the waveform w3 represents the motor current. The stroke amount indicates the distance moved by the

doors

3R and 3L. The waveform w3a when no door jam occurs and the waveform w3b when a door jam occurs are shown as the motor current.

As shown by the waveform w2, the moving speed of the

doors

3R and 3L is in the acceleration region immediately after the

doors

3R and 3L start moving, and the moving speed linearly increases with time. When the speed reaches a constant speed, the speed is shifted to a constant speed region in which the speed is maintained for a predetermined period, and then the speed is shifted to a deceleration region in which the moving speed decreases with time. In the deceleration region, the moving speed is gradually reduced. Since the moving speed changes, the stroke of the

door

3R, 3L changes in a nonlinear curve as shown by a waveform w 1.

Immediately after the

doors

3R and 3L start moving from the fully open position to the closing direction, the motor current greatly fluctuates due to the influence of external disturbance. Then, the motor current is gradually reduced, and when the moving speed of the door leaves 3R and 3L is shifted to the deceleration region, the motor current is gradually reduced after being temporarily largely varied. When the

doors

3R, 3L reach the fully closed vicinity, the motor current sharply increases because the closed end rubbers of the

doors

3R, 3L contact each other.

In addition, in the case where a door jam occurs in the vicinity of the completely closed door leaves 3R and 3L (waveform w3b) and the case where no door jam occurs (waveform w3a), the motor current is greatly different from each other, and in the case where a door jam occurs (waveform w3b), the motor current is much larger than that in the case where no door jam occurs (waveform w3 a).

The door jam detecting device 1 of the present embodiment detects the occurrence of a door jam by comparing the motor current with a predetermined threshold value in the vicinity of the complete closing of the

doors

3R and 3L based on the waveform shape of each waveform of fig. 5. For example, in fig. 5, the threshold value is set in the vicinity of the intermediate value between the peak value of the waveform w3a in the vicinity of the fully

closed doors

3R and 3L and the peak value of the waveform w3b in the vicinity of the fully

closed doors

3R and 3L.

Fig. 6 is a flowchart showing a processing procedure of the door check device 1 according to the first embodiment. The processing of the flowchart of fig. 6 is started when the

doors

3R and 3L start moving in the closing direction. First, it is determined whether the

doors

3R and 3L have reached the fully closed position (step S1). Whether or not the door leaves 3R, 3L have reached the fully closed position can be detected based on a signal from the stroke detector 35, for example. Since the moving distance of the

doors

3R and 3L can be detected based on the signal from the stroke detector 35, it can be determined whether or not the

doors

3R and 3L have reached the fully closed position. Alternatively, it may be determined whether or not the

doors

3R and 3L are moving based on the signal of the door closing detector 34. The door close detector 34 detects that the door leaves 3R, 3L have reached the fully closed position.

When it is determined in step S1 that the

doors

3R and 3L have reached the fully closed position, the process of fig. 6 is ended. When it is determined in step S1 that the

doors

3R and 3L have not reached the fully closed position, it is next determined whether the moving speeds of the

doors

3R and 3L are zero (step S2). For example, the moving speed of the

door

3R or 3L is detected by the speed detector 33. Alternatively, the moving speed of the

door

3R or 3L may be detected based on a signal detected by a hall signal detector.

When it is determined in step S2 that the moving speed of the

doors

3R and 3L is not zero, it is determined whether or not the

doors

3R and 3L have reached a predetermined position before the complete closing (step S3). The predetermined position before complete closing may be, for example, several centimeters or so.

If it is determined in step S3 that the predetermined position has not been reached, the process returns to step S2. When it is determined at step S3 that the predetermined position has been reached, it is determined whether or not the motor current is greater than a predetermined threshold value (step S4). When it is determined in step S4 that the motor current is greater than the threshold value, it is determined that a door jam has occurred, and the door jam is detected (step S5). In addition, in step S2, even if the

doors

3R and 3L do not reach the fully closed position, if the moving speeds of the

doors

3R and 3L become zero, the process proceeds to step S5, and a door jam is detected. The information indicating the presence of the door jam is transmitted to, for example, a management device or a mobile terminal of a maintenance worker, not shown, via the transmission unit 28.

In this way, in the first embodiment, it is determined that a door jam has occurred when the door speed becomes zero before the

doors

3R and 3L start moving in the closing direction and reach the fully closed position. When the

doors

3R and 3L reach the predetermined positions before the complete closing, the motor current is compared with a threshold value, and if the motor current exceeds the threshold value, it is determined that a door jam has occurred. As described above, the closed end rubber 7 is attached to the closed end of the

door

3R, 3L, and even if a person or an object touches the closed end rubber 7, the

door

3R, 3L continues to move while the closed end rubber 7 can be contracted. Therefore, it may not be possible to quickly and accurately detect a door jam if only the door speed is used. Therefore, in the present embodiment, the presence of the door jam can be detected quickly and accurately because the door jam is detected not only by the motor speed but also by the motor current.

(second embodiment)

The door check device 1 according to the second embodiment has the same module configuration as that of fig. 4, but the processing procedure of the door check device 1 is different from that of the first embodiment.

Fig. 7 is a flowchart showing a processing procedure of the door check device 1 according to the second embodiment. The processing in the flowchart of fig. 7 is started when the

doors

3R and 3L start moving in the closing direction.

First, it is determined whether the closed ends of the

doors

3R and 3L have reached a predetermined position (step S11). The predetermined position is, for example, a position of several centimeters before the complete closing, and the position can be set arbitrarily.

In step S11, when the closed end of the

door

3R, 3L has not reached the predetermined position, it is determined whether or not the moving speed of the

door

3R, 3L or the value of the current flowing through the motor satisfies the first condition (step S12). The first condition is, for example, a case where the moving speed of the

doors

3R and 3L or the value of the current flowing through the motor is equal to or greater than a predetermined threshold value.

Although the specific content of the first condition can be set arbitrarily, the threshold value of the motor current may be set slightly lower because the motor current greatly fluctuates as understood from the curves w3a and w3b in fig. 5 when the closed end of the

door

3R or 3L does not reach the predetermined position. Further, it is not possible to determine that a door jam has occurred only from the motor current, and it may be set as a condition that the moving speed of the

doors

3R and 3L becomes zero.

If the first condition is not satisfied in step S12, it is determined that no door jam has occurred, and the process of step S11 is performed again. During the period from when it is determined in step S11 that the closed ends of the

doors

3R and 3L have reached the predetermined position until the

doors

3R and 3L reach the fully closed position, it is determined whether or not the current value flowing through the motor satisfies the second condition (step S13). The second condition sets, for example, a threshold value for comparison with the motor current to a value larger than the threshold value in the first condition. More specifically, for example, the threshold value may be set near the middle of the peak value near full-off of the waveform w3a and the peak value near full-off of the waveform w3b in fig. 5. Further, the second condition may include a condition of the motor speed. The motor speed may be determined to be the occurrence of a door jam, for example, if the motor speed becomes zero, in either of the first condition and the second condition. The second condition is determined to be satisfied within a predetermined range (arrow line in fig. 5) before the complete shutdown, for example.

When it is determined in step S13 that the second condition is not satisfied, it is determined whether or not the door has reached the fully closed position (step S15), and if the door has not reached the fully closed position, the processing from step S11 onward is performed again. When the fully closed position is reached, the processing is ended.

When it is determined in step S12 that the first condition is satisfied or it is determined in step S13 that the second condition is satisfied, it is determined that a door jam has occurred (step S14), and the process of fig. 7 is terminated after a predetermined process is performed. The predetermined process is, for example, a process of notifying the management device or the maintenance worker of the occurrence of the door jam.

As described above, in the second embodiment, the criterion for determining the presence of the door jam is changed according to the positions of the

doors

3R and 3L during the period in which the

doors

3R and 3L are moving in the closing direction, and therefore the presence of the door jam can be determined quickly and accurately.

(third embodiment)

In the first and second embodiments described above, when the

doors

3R and 3L are located in the vicinity of the fully closed position, the motor current is compared with a threshold value to determine whether the door is jammed, and the threshold value is optimized in the third embodiment described below.

Fig. 8 is a block diagram showing an internal configuration of the door clamp detection device 1 of the third embodiment. The door check device 1 of fig. 8 includes a first acquisition unit 36, a threshold setting unit 37, and a second acquisition unit 38 in addition to the configuration of fig. 4.

The first acquisition unit 36 acquires a first current value flowing through the motor during a first period during the closing operation of the

doors

3R and 3L. The first period is, for example, a period in a constant speed region including the moving speed of the

doors

3R and 3L shown in fig. 5. As shown in fig. 5, the motor current is relatively stable during the period of the constant speed region, and by obtaining the motor current during this period, it is possible to obtain the motor current with less influence of the external disturbance.

The first period may be a period in an acceleration region after the door starts moving in the closing direction or a period in a constant velocity region after the door is shifted from the acceleration region. As shown in fig. 5, since the motor current immediately after the start of the acceleration region varies greatly, it is preferable that the motor current is not obtained immediately after the start of the acceleration region, and the variation of the motor current is small from the intermediate stage to the final stage of the acceleration region. Therefore, the first period may include a part of the period in the acceleration region. Similarly, when the moving speed is shifted from the constant speed region to the deceleration region, as shown in fig. 5, the variation in the motor current is small in a period immediately after the shift to the deceleration region, and therefore, the first period may include a part of the period within the deceleration region of the moving speed of the

door

3R or 3L.

The threshold setting unit 37 sets a threshold for determining the presence of a door jam based on the first current value acquired by the first acquisition unit 36. The threshold set by the threshold setting unit 37 is a threshold for comparison with the motor current in the flowcharts of fig. 6 and 7. The threshold is a threshold for comparison with the motor current when the door leaves 3R, 3L are located in the vicinity of the full close. In this manner, the threshold setting unit 37 sets the threshold of the motor current when the

doors

3R and 3L are located near the fully closed position, based on the actual value of the motor current in the state where the

doors

3R and 3L have not reached the fully closed position.

The reason why the threshold setting unit 37 is provided is as follows. Since the sliding resistance gradually changes or the driving force of the motor 11 decreases during the operation of the electric door, the motor currents are not necessarily the same even if the

doors

3R and 3L are moved at the same speed. Therefore, the threshold value of the motor current is set based on the actual value of the motor current.

When the threshold value is set by the threshold value setting unit 37, the sliding resistance can be changed in a simulated manner by moving the

doors

3R and 3L while the

door suspension devices

5R and 5L are being rotated with a plurality of weights having different weights attached thereto. The greater the weight of the weight, the greater the sliding resistance. As described above, the threshold setting unit 37 may set the threshold based on the result of acquiring the motor current in the first period while changing the sliding resistance of the

doors

3R and 3L a plurality of times.

The threshold setting unit 37 may set the threshold based on at least one of an average value, a median value, a mode value, and an integrated value of the current value flowing through the motor in the first period. For example, a value obtained by multiplying an average value of values obtained by cumulatively adding the motor currents in the first period by a predetermined coefficient may be used as the threshold value. The predetermined coefficient is a value larger than 0 and smaller than 1, and is set according to a past practical application of the electric gate device 2, for example. Alternatively, a value obtained by multiplying a median value of the motor current in the first period by a predetermined coefficient may be used as the threshold value. Alternatively, the current values of the motor currents in the first period may be sorted in order of frequency, and a value obtained by multiplying the motor current, which is a mode value, by a predetermined coefficient may be used as the threshold value. Alternatively, a value obtained by multiplying an integrated sum (integrated value) of the motor currents in the first period by a predetermined coefficient may be used as the threshold value. The coefficient in this case is a smaller value than the coefficient in the case of obtaining the threshold value from the average value.

The motor current varies depending on the sliding resistance of the

doors

3R and 3L or the driving force of the motor, and also varies depending on environmental conditions such as temperature and power supply voltage. Therefore, the threshold setting unit 37 may estimate the change of the motor current in the first period and determine the motor current to be compared with the threshold. For example, if the motor current does not vary greatly in a short time during the first period, the average value may be obtained. Conversely, when the motor current fluctuates greatly in a short time during the first period, the motor current is influenced by the short fluctuation of the motor current when the average value is taken. Therefore, in this case, it is desirable to take a median or mode value. In addition, when the motor current itself is small, the integrated value may be obtained.

When the power supply voltage supplied to the motor 11 fluctuates, the motor current may also be affected. Therefore, the threshold setting unit 37 may set the threshold in consideration of the power supply voltage detected by the motor voltage detector 27. That is, the threshold setting unit 37 may set the threshold based on the driving voltage of the motor 11 in the first period. In general, since the motor current is also increased as the driving voltage of the motor 11 is increased, it is desirable that the threshold setting unit 37 increase the threshold as the driving voltage is increased.

The second acquisition unit 38 acquires a second current value flowing through the motor 11 in a second period subsequent to the first period during the closing operation of the

doors

3R and 3L. For example, as shown in fig. 5, the second period is a period in which the door leaves 3R and 3L are located near the full close and the motor current sharply increases. Since the motor current increases abruptly differently for each of the electric door apparatuses 2 when the

door

3R, 3L is located at a position before the door is completely closed, it is desirable to set the second period for each of the electric door apparatuses 2 individually. The second period is, for example, a period in the range of several tens millimeters (mm) to several millimeters (mm) before full closure.

The first obtaining unit 36 may obtain the first current value in the first period each time the

doors

3R and 3L are moved from the fully open position to the closing direction. In this case, the threshold setting unit 37 may reset the threshold based on the first current value acquired by the first acquisition unit 36 every time the

doors

3R and 3L are moved from the fully open position to the closing direction. By resetting the threshold value every time the

doors

3R and 3L are moved from the fully open position to the closing direction in this manner, an optimum threshold value can be set without being affected by the aged deterioration of the electric door device 2.

The first obtaining unit 36 may obtain the first current value in the first period when the

doors

3R and 3L are driven in the closing direction immediately after the

doors

3R and 3L are activated. The threshold setting unit 37 may set the threshold based on the first current value acquired by the first acquisition unit 36 when the

doors

3R and 3L are driven in the closing direction immediately after the

doors

3R and 3L are started. In the case of the electric door apparatus 2 for a railway, since there are passengers who lean on the electric door and passengers who press the electric door due to congestion, the motor current is easily affected by external disturbances when the passengers are in a riding state. Therefore, the first acquisition unit 36 can acquire the motor current without being affected by the external disturbance by acquiring the motor current in a situation where the influence of the external disturbance is small immediately after the

door

3R or 3L is started.

The door clamp detection device 1 of fig. 8 may include a storage unit 39. The storage unit 39 stores a correspondence relationship between at least one of the measured values of the average value, the median value, the mode value, and the integrated value of the current value flowing through the motor 11 when the door is driven in the closing direction without the door jam occurring, and a reference threshold value based on the measured values. Since the current flowing through the motor 11 changes according to the sliding resistance of the

door

3R, 3L, the sliding resistance is changed in a simulated manner by, for example, turning a plurality of weights having different weights on the

door suspension devices

5R, 5L, and the correspondence relationship between the motor current and the reference threshold value is obtained in advance and stored in the storage unit 39. In this case, the threshold setting unit 37 sets the threshold based on at least one of the average value, the median value, the mode value, and the integral value of the current value flowing through the motor 11 in the first period, and the correspondence stored in the storage unit 39. By providing the storage unit 39 in this manner, it is not necessary to reset the threshold value every time the

doors

3R and 3L are closed, and the processing load of the door jam detecting device 1 can be reduced.

As described above, in the third embodiment, the threshold value is set based on the motor current acquired in the first period including the constant speed region in the period in which the

doors

3R and 3L are moved in the closing direction, and the set threshold value is compared with the motor current when the

doors

3R and 3L are located in the vicinity of the complete closing, thereby detecting whether or not the door jam has occurred. According to the third embodiment, the threshold value can be optimized in consideration of the sliding resistance of the

doors

3R and 3L, the change with time of the driving force of the motor 11, and the like, and therefore, the object sandwiched between the doors can be accurately detected.

At least a part of the door clamp detection device 1 and the railroad door device described in the above embodiments may be configured by hardware or software. In the case of software, a program for realizing at least a part of the functions of the door clamp detection device 1 and the railroad door device may be stored in a recording medium such as a flexible disk or a CD-ROM, and the program may be read and executed by a computer. The recording medium is not limited to a removable recording medium such as a magnetic disk or an optical disk, and may be a fixed recording medium such as a hard disk device or a memory.

Further, a program for realizing at least a part of the functions of the door clamp detection device 1 and the railroad door device may be distributed via a communication line (including wireless communication) such as the internet. The program may be distributed in an encrypted, modulated, or compressed state via a wired line such as the internet or a wireless line, or may be stored in a recording medium and distributed.

The embodiments of the present disclosure are not limited to the above-described embodiments, and include various modifications that can be made by those skilled in the art, and the effects of the present disclosure are not limited to the above-described ones. That is, various additions, modifications, and partial deletions can be made without departing from the concept and gist of the present disclosure derived from the contents and equivalents thereof defined in the claims.

Claims

1. A door clamp detection device for detecting a door clamp when a door is driven in a closing direction by a driving force of a motor, the door clamp detection device comprising:

2. The door check device of claim 1,

the door jam determining unit determines whether or not a door jam has occurred in the door based on the moving speed of the door, in parallel with the door jam determination of the door based on the current flowing through the motor, during a period from when it is determined that the door has reached the predetermined position until when the door reaches the fully closed position.

3. The door check device according to claim 1 or 2,

the door clamp object determination unit includes:

4. The door check device of claim 3,

the second door jam determining unit determines that a door jam has occurred when at least one of the case where the current value is determined to satisfy the second condition and the case where it is determined that the door jam has occurred based on the speed of the door during a period from when it is determined that the door has reached the predetermined position until the door reaches the fully closed position.

5. The door jam detecting device according to claim 3, further comprising:

6. The door check device of claim 5,

the threshold setting unit sets the threshold based on at least one of an average value, a median value, a mode value, and an integrated value of current values flowing through the motor in the first period.

7. The door check device of claim 5,

the door control device further includes a storage unit that stores a correspondence relationship between a measured value and a reference threshold value based on the measured value, the measured value being at least one of an average value, a median value, a mode value, and an integrated value of a value of current flowing through the motor when the door is driven in the closing direction without causing a door jam,

8. The door check device of claim 5,

the threshold setting unit sets the threshold based on a driving voltage of the motor in the first period.

9. A railway door device is provided with:

a door provided to the railway vehicle;

a motor that opens and closes the door;

a door opening/closing control unit that controls the motor; and

in the door device for a railway, a door is provided,

the door clip detection device comprises:

10. A computer-readable storage medium storing a computer program for detecting a door jam when a door is driven in a closing direction by a driving force of a motor, the storage medium being characterized in that the program, when executed by a processor, causes the processor to execute: