KR20230041416A - Control system for diagnosing and forcasting trouble of safety footboard - Google Patents

Abstract

Disclosed is a control system for diagnosing and predicting a defect in a safety footboard, which enables operators to remotely diagnose and predict a defect in a safety footboard. The control system comprises: a station control server connected, through an internal network, a motor control unit that controls a motor cylinder installed in correspondence with a safety footboard; a remote integrated control server connected to the station control server through a communication network including the Internet, 5G, and an LTE network; and a terminal capable of accessing the station control server and the integrated control server through the communication network. The motor control unit includes: a motor driver controlling the forward and reverse rotation and rotation speed of the motor of the motor cylinder according to set motion profiles; and a motor control unit controlling the motor driver so that the driving of the motor cylinder is controlled, and receiving feedback on the actual location of the motor cylinder from a position detection sensor.

Description

Safety footboard failure diagnosis and prediction control system {Control system for diagnosing and forcasting trouble of safety footboard}

The present invention relates to a failure diagnosis and predictive control system for safety scaffolds, and in particular, to a technology for remotely diagnosing and predicting failures of safety scaffolds.

Since an excessively wide gap is formed between the train and the platform, safety accidents occur in which passengers' feet fall into the gap when getting on and off, so safety footrests are applied as a facility to prevent this.

As an example of such a safety step, reference may be made to Registered Patent Nos. 2167171, 1614467, and 1668283 of the present applicant.

However, in the prior art, in order to check the operating state of the safety scaffold, personnel and equipment must be directly put into the field, and moreover, it is difficult to check the malfunction while the train is operating, and the working time is limited.

In addition, since it is difficult to analyze the failure type of the safety scaffold, reliability of the safety scaffold control system is not secured, and it takes a long time for maintenance of the scaffold.

Looking at the real-time monitoring system for the maintenance and repair of railroad vehicle safety scaffolds in Korean Registered Patent No. 1172735 presented as an alternative to this, when the safety scaffolds are determined to be out of order, field workers use mobile computers such as laptops or portable industrial computers equipped on the vehicle body. Connect the RS-232 cable or USB cable to the RS232C connection terminal or USB connection terminal, which is the extended interface of the access control device, and run the analysis program on the mobile computer to analyze the status of the safety footrest and foothold control device.

As a result, through the analysis program of the mobile computer, the status of information transmission and reception of the footrest control device, forward/reverse state of the safety footrest and driving current of the motor during forward/backward operation, vehicle power input value, opening/closing time, and safety footrest position, etc. Information can be checked in real time as digital and analog data.

However, the above system also has a disadvantage in that personnel and equipment must be put into the field and cannot be monitored remotely.

In addition, there is a disadvantage in that only the current state of the safety scaffold and the control device can be checked in real time through the analysis program, and failure cannot be predicted.

Accordingly, an object of the present invention is to provide a failure diagnosis and predictive control system for safety scaffolds capable of remotely diagnosing and predicting failures of safety scaffolds.

Another object of the present invention is to provide a failure diagnosis and predictive control system for safety scaffolds capable of minimizing the number of personnel and equipment put into the field and minimizing the time limit of failure diagnosis.

The above object is a failure diagnosis and predictive control system for safety scaffolding, comprising: a station control server connected through an internal network with a motor control unit that controls a motor cylinder installed in response to a safety scaffold; A remote integrated control server connected to the station control server through a communication network including the Internet, 5G and LTE networks; and a terminal capable of accessing the station control server and the integrated control server through the communication network, wherein the motor control unit controls forward and reverse rotation and rotation speed of the motor of the motor cylinder according to a predetermined motion profile. A motor driver; and a motor controller that controls the driving of the motor cylinder by controlling the motor driver and receives feedback of the actual position of the motor cylinder in real time from a position detection sensor, wherein the station control server includes a data server, and the data server Based on the unique identifier of each safety scaffold, parts information, motion profile according to the rise and fall of the scaffold, deviation data, and failure history information are stored, and an analysis program for failure diagnosis and prediction is installed in the station control server. It is achieved by the failure diagnosis and prediction control system of the safety scaffold, characterized in that for diagnosing and predicting failures in the operation of the safety scaffold using the actual position received from the position detection sensor.

Preferably, the analysis program includes: a position deviation calculation unit that calculates a position deviation Pe from the position Pc of the motor cylinder according to the motion profile and the actual position Pf of the motor cylinder detected by the position detection sensor; a maximum position deviation calculation unit that calculates a maximum position deviation Pem in a single operation section; a position deviation displacement calculator that calculates a position deviation displacement Pv generated in a single operation section; and a control unit that stores the detected or calculated deviation data for each motor control unit, diagnoses and predicts failure of the safety scaffold, and notifies the failure part by using the stored deviation data.

Preferably, the control unit, a) determines that the hinge part of the safety footrest is jammed when the maximum position deviation Pem is out of the range only with continuous torque without a torque inflection point, and b) the torque inflection point in the rising section of the safety footrest If it is found, it is determined that the driving connection part of the safety footrest is broken, and c) when the position deviation displacement Pv is generated when the lifting or lowering is completed, it is determined that the driving shaft connection part of the motor cylinder is broken.

Preferably, the position deviation Pe, the maximum position deviation Pem, the position deviation displacement Pv, and the change in torque and failure type are stored in the reverse control server, and failure patterns are analyzed and learned to generate failure diagnosis data. do.

Preferably, at the request of the station control server, the motor control unit controls zooming, panning, and tilting of the camera to take a picture of a part diagnosed as a failure or predicted to have a failure, and transmits it to the station control server, and the station control server transmits the transmitted image upon request from the terminal.

According to the present invention, it is possible to remotely check the state of the safety footrest as well as diagnose and predict failure of the safety footboard.

In addition, since failure analysis of various patterns can be performed in advance, it is possible to minimize personnel and equipment put into the field and time limitation of failure diagnosis.

In addition, through camera shooting, a manager can remotely monitor a part that is diagnosed as faulty or predicted to fail without approaching the site.

Figure 1 shows the network configuration of the failure diagnosis and predictive control system of the safety scaffold.
2 shows an example of a safety scaffold.
3 shows a functional configuration of an analysis program for fault diagnosis and prediction.
Figure 4 is a graph showing the motor speed and torque of the motor cylinder over time during the lifting operation of the scaffolding body.

It should be noted that technical terms used in the present invention are only used to describe specific embodiments and are not intended to limit the present invention. In addition, technical terms used in the present invention should be interpreted in terms commonly understood by those of ordinary skill in the art to which the present invention belongs, unless specifically defined otherwise in the present invention, and are excessively inclusive. It should not be interpreted in a positive sense or in an excessively reduced sense.

Hereinafter, a platform safety footrest device according to the present invention will be described in detail with reference to the accompanying drawings. Here, the accompanying drawings are provided to aid understanding of the present invention, and for convenience of description, some configurations may be shown somewhat exaggeratedly ignoring dimensions and the like.

Figure 1 shows the network configuration of the failure diagnosis and predictive control system of the safety scaffold, Figure 2 shows an example of the safety scaffold.

A platform screen door (not shown) and safety scaffolds 200 are installed in pairs at the platform corresponding to the entrance door of the train, and a motor control unit 100 is installed for each safety scaffold 200 to raise and descend the safety scaffold. to control

Referring briefly to the structure of the safety scaffold 200 with reference to FIG. 2, the frame unit 260 is fixedly installed on the front of the platform 10 to form a basic frame, and the hinge block 262 of the frame unit 260 The hinge 252 of the scaffolding body 250 is coupled to enable the scaffolding body 250 to rotate in the vertical direction.

A plurality of support arms 240 are rotatably coupled to the arm holder 245 coupled to the frame unit 260 via a bearing block (not shown), support the scaffolding body 250, and Each support arm 240 is connected to a moving bar 220 by an arm lever 230 so that the support arms 240 of the support arm 240 rotate simultaneously.

Here, each arm lever 230 is rotatably coupled to the moving bar 220 via a bearing block (not shown).

The motor cylinder 210 and the link member 212 are accommodated inside from the front of the platform 10 at the lower part of the frame unit 260, and the support arm 240 is connected to the link member 212 so that the motor cylinder 210 The linear motion of the support arm 240 is changed into a rotational motion of the support arm 240 by the link member 212, and the support arm 240 raises or lowers the scaffold body 250.

The motor cylinder 210 is a combination of a motor, a reducer, and a screw, and refers to a device that converts the rotational motion of the motor into linear motion through the reducer and the screw. In the following description, the control of the motor cylinder is ultimately the control of the motor. means

The motor control unit 100 is composed of a motor control unit 110 and a motor driver 120.

The motor driver 120 controls forward and reverse rotation and rotation speed of the motor according to a motion profile determined under the control of the motor control unit 110 .

The motor controller 110 controls the driving of the motor cylinder 210 by controlling the motor driver 120 and receives feedback of the actual rotational position of the motor from the position detection sensor 130 in real time.

Here, the position detection sensor 130 detects the actual rotational position of the motor constituting the motor cylinder 210 by applying, for example, an encoder.

In addition, the motor control unit 110 receives sensing data detected from a sensor unit including the position detection sensor 130 and receives image information from the camera 140 .

The motor control unit 110 is connected to the station control server 300 through the internal network 50 and transmits the information collected together with the unique identifier of the motor control unit 100 to the station control server 300 or the station control server 300. At the request of the server 300, it is possible to control a connected device, for example, a camera 140 or a warning lamp.

In addition to the position detection sensor 130, the sensor unit may include, for example, a sensor for detecting the rise and fall of the scaffolding body 250, a sensor for detecting an obstacle, and a sensor for detecting a collision.

In addition, the camera 140 can perform basic operations such as zooming, panning, and tilting by the motor control unit 110, and intensively zooms in, panning, and tilting a part diagnosed as a failure or predicted to have a failure. can be observed with

The station control server 300, for example, is installed at each station to diagnose or predict the failure of the safety scaffolding of the corresponding station, and has a unique identifier and is a remote integrated control server through a communication network 60 such as the Internet or 5G and LTE networks ( 400) is connected.

The integrated control server 400 includes an integrated data server 402 and stores all information collected from each station control server 300 based on a unique identifier of the station control server 300 .

An administrator authorized to access the station control server 300 accesses the station control server 300 through a wireless terminal 410 such as a mobile phone or a computer device 420 to check the operating state of the safety scaffold 200 in real time. can

Alternatively, the station control server 300 may transmit an alarm and failure information to the wireless terminal 410 of an authorized manager in a push method when a failure occurs, and commercial applications such as Telegram or KakaoTalk may be applied.

According to this configuration, it is possible to check a failure occurring while operating the safety footrest 200 in real time and to visually check a part related to the failure by photographing by the camera 140 . In addition, although no actual failure has occurred, failures that are likely to occur can be predicted by the analysis by the station control server 300 and the stored failure patterns, and the part where the failure is predicted is photographed with the camera 140 and viewed through a mobile phone. can be checked in real time.

This process can be equally applied to the integrated control server 400, and in this case, the operating status of the safety scaffolding of each station can be grasped in real time.

The station control server 300 includes a data server 302, and the data server 302 includes parts information based on a unique identifier for each safety scaffold 200, a motion profile according to the rising and falling of the scaffolding body, and deviation data. , and failure history information are stored.

An analysis program for diagnosing and predicting failures is installed in the station control server 300 and predicts failures in operation of the safety scaffold using data received from the sensor unit including the position detection sensor 130 .

3 shows a functional configuration of an analysis program for fault diagnosis and prediction.

As described above, the data server 302 stores a motion profile for controlling the elevation and descent of the scaffolding body 250, and the controller 310 controls the motor controller 110 so that the motor cylinder 210 moves. Make it work based on the profile.

In general, the motion profile creates a smooth curved trajectory for the stable elevation and descent of the scaffolding body 250 .

The position deviation calculation unit 320 calculates the position deviation from the position Pc of the motor cylinder 210 according to the motion profile and the position Pf of the actual motor cylinder 210 detected by the position detection sensor 130 such as an encoder.

Position deviation Pe = commanded position Pc - actual position Pf

Here, the position of the motor cylinder 210 may be the rotational position of the motor, the movement position of the screw by the rotation of the motor, or the rotational position of the safety foot plate, collectively referred to as the position of the motor cylinder 210. The position of the motor cylinder 210 can easily detect the rotational position of the motor using an encoder as a position detection sensor, for example.

The maximum position deviation calculation unit 330 calculates the maximum position deviation Pem in a single operation section.

The position deviation displacement calculating unit 340 calculates the displacement Pv of the position deviation generated in one operation section. Since the elevation and descent of the scaffold 250 is operated according to a predetermined motion profile, the position deviation displacement Pv also appears within the predetermined range, and it can be predicted that structural failure is occurring from the position deviation displacement Pv outside the predetermined range.

In addition, the speed difference calculator 350 calculates the speed difference Ve by differentially calculating the position difference.

The control unit 310 stores the detected or calculated deviation data for each motor control unit, diagnoses and predicts whether or not there is a failure using this, and notifies the failure part.

Hereinafter, a failure diagnosis and prediction process will be described in detail.

Figure 4 is a graph showing the motor speed and torque of the motor cylinder over time during the lifting operation of the scaffolding body.

As shown, it indicates that the scaffold body 250 exhibits the maximum speed in the middle part of the lifting operation and the lowest speed at the point when the lifting is completed.

The graph of the solid line is the graph according to the operation command, and the graph of the dotted line is the graph according to the actual operation. are showing

The positional deviation appears differently depending on the weight of the scaffolding body and the mechanical coupling characteristics of the safety scaffolding, and the positional deviation is converted into data and calculated as a quantitative value. can do.

The position difference calculation unit 320 obtains the position difference Pe from the command position Pc of the motor and the actual position Pf of the motor.

The position deviation Pe appears as a change of a certain amount, for example, the dotted line graph of FIG. 4 shows an inflection point at which the change in the value is considerably large.

The inflection point of the position deviation Pe represents an instantaneous change value, which is caused by the mechanical obstacle of the safety scaffold, and from the structure of the scaffold, the hinge part of the scaffold body, the link part of the motor cylinder, and the bearing connection part exist.

In addition, the position deviation Pe should always appear as 0 (zero) at the time when the raising or lowering of the scaffold is completed. That is, since the target position has been reached, the position deviation Pe cannot exist. If the position deviation Pe exists when the ascent or descent is completed, the operation of the motor is not smooth due to interference or deformation of the scaffolding structure. can be the cause of failure, and failure can be predicted through this.

In addition, the maximum position deviation calculation unit 330 obtains the maximum position deviation Pem generated during ascent from the thus obtained position deviation.

The maximum position deviation Pem obtained in this way maintains a constant value because the structure of the safety scaffold and the weight of the scaffold body do not change. Therefore, when the change range of the maximum position deviation Pem exceeds the prescribed value, it can be predicted that a structural problem occurs during operation of the safety scaffold.

The maximum position deviation Pem is equal to the amount of change in the motor load, so unless a specific jamming occurs, it can be characterized as the weight of the hinge and scaffolding body affecting the motor load.

For example, referring to FIG. 1 , the scaffold 250 is hinged to the frame unit 260 (dotted line circle a) and the bearing block (dotted line) couples the support arm 240 to the arm holder 245. Circle b), and the bearing block coupling the arm lever 230 to the moving bar 220 may all be obstacles, and if the range of change of the maximum position deviation Pem exceeds the prescribed value, the corresponding part is first need to check

The position deviation displacement calculation unit 340 calculates a change value Pv of the position deviation occurring in one operation section.

The position deviation displacement Pv represents the total load on the motor in the ascending section, and the load is constant without change unless there is a change in the load of the motor, that is, no change in the structure of the safety scaffold.

As described above, the pinching symptom in the hinge or bearing block appears as the total load continues to be biased to one side, and at this time, if the maximum position deviation Pem or position deviation displacement Pv is monitored and accumulated to learn, the change rate of the bearing and hinge is estimated. Thus, the failure phenomenon can be identified.

On the other hand, as described above, the actual speed deviation Ve of the motor can be calculated by differential operation processing of the position deviation Pe.

If the speed deviation Ve thus created is subjected to differential operation again, the change in torque generated by the motor can be measured, and the inflection point of the thus calculated speed deviation or torque inflection point (refer to the inflection point indicated in the torque graph of FIG. 4) and the actual motor With the position Pf, it is possible to predict and see the failure phenomenon according to the operating position of the scaffolding.

For example, if the maximum position deviation Pem is out of range only with continuous torque without a torque inflection point, it is possible to predict the jamming of the hinge portion (circle a in FIG. 1) of the scaffolding body 250, and the torque inflection point in the rising section of the scaffolding body If this is found, it is possible to predict the failure of the driving connection part (circle b in Fig. 1) of the scaffolding body, and if the position deviation displacement Pv occurs when the elevation or descent is completed, there is a problem with the connection part of the drive shaft of the motor cylinder (circle c in Fig. 1). can be predicted to occur.

The various values measured above, that is, the position deviation Pe, the maximum position deviation Pem, the speed deviation Ve, the position deviation displacement Pv, the change in torque and the failure history are stored in the control server 300, and the failure pattern is analyzed and learned through this. Fault diagnosis data can be generated.

On the other hand, at the request of the station control server 300, the motor control unit 110 controls zooming, panning, and tilting of the camera 140 to take a picture of a part diagnosed as a failure or predicted to have a failure, and send it to the station control server 300. In addition, the station control server 300 transmits the received image to the mobile phone at the request of the manager, so that the manager can remotely monitor the part diagnosed as faulty or predicted to fail without approaching the site.

Although the above has been described based on the embodiments of the present invention, it goes without saying that various changes can be made at the level of those skilled in the art. Therefore, the scope of the present invention should not be construed as being limited to the above-described embodiments, and should be interpreted by the claims described below.

100: motor control unit
110: motor control unit
120: motor drive
200: safety footrest
300: station control server
302, 402: database
410: mobile terminal
420: computer device
60: communication network
400: remote integrated control server

Claims (5)

As a failure diagnosis and predictive control system for safety scaffolding,
A station control server connected through an internal network with a motor control unit that controls a motor cylinder installed in response to a safety footrest;
A remote integrated control server connected to the station control server through a communication network including the Internet, 5G and LTE networks; and
It includes a terminal capable of accessing the station control server and the integrated control server through the communication network,
The motor control unit controls a motor driver for controlling forward and reverse rotation and rotational speed of the motor of the motor cylinder according to a predetermined motion profile, and controls driving of the motor cylinder by controlling the motor driver and detects the rotation of the motor cylinder in real time from a position detection sensor. It consists of a motor control unit receiving feedback of the actual position of the motor cylinder,
The station control server includes a data server, and in the data server, parts information based on the unique identifier of each safety scaffold, a motion profile according to the elevation and descent of the scaffold, deviation data, and failure history information are stored,
The reverse control server is installed with an analysis program for diagnosis and prediction of failures and diagnoses and predicts failures in the operation of the safety scaffolds using the actual location received from the position detection sensor. predictive control system. In claim 1,
The analysis program,
a position deviation calculator calculating a position deviation Pe from the position Pc of the motor cylinder according to the motion profile and the actual position Pf of the motor cylinder detected by the position detection sensor;
a maximum position deviation calculation unit that calculates a maximum position deviation Pem in a single operation section;
a position deviation displacement calculator that calculates a position deviation displacement Pv generated in a single operation section; and
Safety scaffold failure diagnosis and prediction control system, characterized in that it consists of a control unit that stores the detected or calculated deviation data for each motor control unit, diagnoses and predicts whether or not the safety scaffold fails, and notifies the failure part by using it . In claim 2,
The control unit,
a) When the maximum position deviation Pem is out of range only with continuous torque without a torque inflection point, it is determined that the hinge part of the safety footrest is jammed,
b) When a torque inflection point is found in the rising section of the safety footrest, it is determined that the driving connection part of the safety footboard has failed,
c) Failure diagnosis and predictive control system of the safety scaffold, characterized in that when the position deviation displacement Pv occurs when the elevation or descent is completed, it determines the failure of the connection part of the drive shaft of the motor cylinder. In claim 2,
The position deviation Pe, the maximum position deviation Pem, the position deviation displacement Pv, and the torque change and failure type are stored in the station control server, and a failure pattern is analyzed and learned to generate failure diagnosis data. Failure diagnosis and predictive control system of safety scaffolding. In claim 1,
At the request of the station control server, the motor control unit controls zooming, panning, and tilting of the camera to capture a portion diagnosed as a failure or predicted to have a failure and transmit it to the station control server,
The station control server is a failure diagnosis and predictive control system for safety scaffolds, characterized in that for transmitting the transmitted image by request from the terminal.

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