WO2024062652A1 - Height difference reducing device, platform, and user guidance assistance system - Google Patents

Abstract

[Problem] To provide a height difference reducing device, platform, and user guidance assistance system with an accurate failure prediction function that can be used for condition-based maintenance. [Solution] A height difference reducing device 100 is embedded in a platform 200 to reduce the gap and height difference between a train entrance and the platform 200 is provided, and comprises a pivotally supported pivotable surface 110, a vertical lifting mechanism that raises and lowers the pivotable surface 110 by an inverted V-shaped link mechanism 300, a detection sensor comprising a plurality of sensors provided on the pivotable surface 110 or an extendable surface 120, a control unit 500 that controls the vertical lifting mechanism and the detection sensor, and a failure prediction unit 570 that predicts a failure of the vertical lifting mechanism.

Description

Step clearing machine, platform, user guidance and assistance system

The present invention relates to a step remover, a platform, and a user guidance and assistance system.

For example, Patent Document 1 (Japanese Unexamined Patent Publication No. 2022-55909) describes a device in which a step protrudes from the underside of the vehicle to fill the gap between the vehicle and the platform. An ingress/egress assist device is disclosed that improves the case where changing gaps cannot be appropriately filled.

The getting on/off assisting device described in Patent Document 1 is a getting on/off assisting device that is placed under the underframe of a vehicle and fills the gap between the vehicle and the platform, and includes a top plate, a bellows type telescopic part fixed to the top plate, and a top plate. The vehicle has an air control section that moves air in and out of the bellows-type extensible section, and a guide section that restricts the movement of the top plate, and the length of the top plate changes depending on the gap between the vehicle and the platform.

For example, Patent Document 2 (Japanese Unexamined Patent Application Publication No. 2021-41827) describes a method for reducing gaps and steps that reduce gaps and steps even if there are variations in gaps and steps between the edge of a station platform and a vehicle entrance/exit. system is disclosed.

The gap/level difference reduction system described in Patent Document 2 is a gap/level difference reduction system for reducing the gap and level difference between the edge of a platform and the vehicle entrance/exit at a station. a detection unit for detecting the amount of gap and level difference between the two; a slide elevating unit provided at the edge of the platform corresponding to the door position of the vehicle stopping at the station; and a control unit that controls the movement of the slide elevating unit. The slide elevating part has an extended state in which it projects toward the vehicle side and the tip side is raised, and a stored state in which it does not project out, and the amount of extension in the extended state and the amount of rise of the tip side can be adjusted. The control unit adjusts the amount of overhang and the amount of rise in the overhang state based on the detected gap amount and step amount.

For example, Patent Document 3 (Japanese Unexamined Patent Publication No. 5-42869) discloses that when a passenger is positioned on a moving step member, or when a passenger is positioned on a step member and the drive unit breaks down, , a platform step device is disclosed to ensure the safety of customers.

The platform step device described in Patent Document 3 is a platform step device that closes a gap that occurs between a vehicle and the edge of the platform, and includes an in/out movement section that can move forward and backward in the horizontal direction on the underside of the platform, and an ingress and egress movement section that can move forward and backward in the horizontal direction. A slide table attached to the tip of the platform and an in/out drive part that moves the slide table forward and backward from the bottom of the platform to a position below the gap are provided. A step member is provided through the platform, and the elevating and lowering operation section is provided with an elevating and lowering drive section that moves the step member up and down between a height position corresponding to the upper surface of the platform and a position below the gap.

For example, Patent Document 4 (Japanese Unexamined Patent Application Publication No. 2002-104175) discloses that the device has a relatively simple configuration, easy installation work, can easily respond to changes in the device specifications, and also has a platform door. A boarding assistance device that can be integrated with a vehicle is disclosed.

The boarding/exiting assistance device described in Patent Document 4 is installed at a position corresponding to the boarding/exiting door of a stopped vehicle on a platform, and includes a platform door that opens and closes when the vehicle is stopped, and a door pocket that stores the platform door. A boarding/exiting assistance device applied to a door system, which is placed below the platform door on the platform corresponding to the boarding/exit of a stopped vehicle, installed so that the top surface is aligned with the platform surface, and the vehicle side end is placed below the platform door. A home step unit is supported so as to be tiltable so as to rise from the platform surface, and the home step unit is slidably installed within the home step unit, and moves forward toward the entrance when the vehicle is stopped, and when the vehicle is absent, the home step unit is supported so as to be tiltable. a step that retreats into the unit; a first drive mechanism provided in the homestep unit that advances/retracts the step; and a second drive mechanism that raises/lowers the vehicle side end of the homestep unit. The second driving mechanism is provided in the door pocket.

For example, Patent Document 5 (JP Patent Publication No. 2002-37055) discloses a boarding and alighting assistance device that has a relatively simple device configuration, is easy to install, can easily accommodate changes to the device's specifications, and can be integrated with platform doors.

The boarding/exiting assistance device described in Patent Document 5 is installed at a position corresponding to the boarding/exiting door of a stopped vehicle on a platform, and includes a platform door that opens and closes when the vehicle is stopped, and a door pocket that stores the platform door. A boarding/exiting assistance device applied to a door system, which is placed below the platform door on the platform corresponding to the boarding/exit of a stopped vehicle, installed so that the top surface is aligned with the platform surface, and the vehicle side end is placed below the platform door. A home step unit is supported so as to be tiltable so as to rise from the platform surface, and the home step unit is slidably installed within the home step unit, and moves forward toward the entrance when the vehicle is stopped, and when the vehicle is absent, the home step unit is supported so as to be tiltable. a step retracting into the unit; a first drive mechanism disposed within the homestep unit for advancing/retracting the step; and a first drive mechanism disposed below the homestep unit for driving the vehicle of the homestep unit. A second drive mechanism that raises/lowers the side edge, a control section that controls the first drive mechanism and the second drive mechanism, and the control section is provided in the door pocket. be.

For example, Patent Document 6 (JP Patent Publication No. 2005-225310) discloses a low-cost gap adjustment device between the platform and the vehicle that can close the gap between the platform and the vehicle while smoothly sloping the step between the vehicle's step surface and the platform top surface, and is easy to install, shortening the construction period.

The gap adjustment device described in Patent Document 6 is installed on a platform and is for adjusting the gap between a vehicle and the platform, and one end is rotatably supported by a machine frame installed on the platform. , and a step plate whose other end swings vertically in accordance with the floor position of the vehicle to adjust the gap between the vehicle and the platform, and a drive mechanism for swinging this step plate is provided on the machine frame. It is something.

For example, Patent Document 7 (Japanese Unexamined Patent Publication No. 9-20235) discloses a train boarding and alighting assistance device that allows a wheelchair user to easily and safely board and alight a train while moving in a wheelchair.

The train boarding and alighting assistance device described in Patent Document 7 includes a slope plate whose tip edge is located at the track side end of the platform corresponding to the boarding and alighting gate of a stopped vehicle and whose top surface is aligned with the top surface of the platform; A tilting device that tilts the tip edge so that it rises to the floor level of the entrance/exit, an advancement/retraction drive device that moves the slope plate to a position where the tip edge reaches the platform side edge of the floor of the entrance/exit, and this advancement/retraction drive. The device includes a shock absorber that is installed in the device and moves the slope plate forward and backward in accordance with the rocking of the vehicle.

Furthermore, Patent Document 8 (Japanese Patent No. 7170956) describes an abnormality diagnosis device and an abnormality diagnosis device that can analyze a huge amount of data including redundant data that has little relevance to the abnormality and do not reduce the accuracy of abnormality diagnosis. A method for diagnosing an abnormality is disclosed.

The abnormality diagnosis device described in Patent Document 8 includes a command generation unit that generates a command value that defines the operation of a motor or a drive machine driven by the motor, and a command generation unit that generates a command value that defines the operation of a motor or a drive machine driven by the motor, and a control unit that controls the operation of the motor or drive machine so that the operation of the motor or drive machine follows the command value. Select from time-series data indicating the state of the motor or drive machine based on the comparison result between the drive control unit that performs feedback control of the motor based on the gain, the control band determined by the control gain, and the threshold determined by the drive machine. and an abnormality determining section that determines an abnormal state of the motor or drive machine based on the selected time series data.

Further, Patent Document 9 (Japanese Unexamined Patent Publication No. 2021-022074) discloses a failure prediction system that can accurately predict failures of robots.

The failure prediction system of Patent Document 9 includes a torque value collection unit that collects the torque value of the drive shaft of a robot operating according to a given work program, and a torque value collection unit that collects the latest torque value from among the torque values collected by the torque value collection unit. an evaluation formula derivation unit that derives an evaluation formula that approximates the time change of A threshold setting unit that sets a failure threshold, which is a torque value that is determined by a prediction determination unit that determines whether or not a failure of the drive shaft is predicted.

Japanese Patent Application Publication No. 2022-55909 JP 2021-41827 Publication Japanese Patent Application Publication No. 5-42869 Japanese Patent Application Publication No. 2002-104175 JP 2002-37055 A JP 2005-225310 A Japanese Patent Application Publication No. 9-20235 Patent No. 7170956 JP 2021-022074 Publication

Regarding level difference removers that are buried in platforms and eliminate gaps and steps between train entrances and exits, in recent years, in reality, in order to eliminate steps, station staff carry a ramp platform to remove passengers in wheelchairs. Currently, various technologies are being released to the public, but there is a major problem in that there is no technology that can withstand the environment in which it is used and can be implemented.

The technique described in Patent Document 1 uses a bellows type, but the bellows type is difficult to return to the origin and is considered to have a high risk of failure. Further, the technique described in Patent Document 2 or Patent Document 3 employs a pandagraph type lifting system, but the problem remains that the operation is slow relative to the weight and failures increase when the speed is increased. Further, in the case of Patent Document 2, the gap is eliminated by sliding the entire slide elevating section, and as a result, there is also a problem that the load applied to the slide elevating section becomes heavy.
Further, in the technology of Patent Document 4 or Patent Document 5, the second drive mechanism appears on the platform or in the evacuation area under the platform, so it cannot be said to be user-friendly.
The technique disclosed in Patent Document 6 requires a first connecting rod and a second connecting rod, and requires a large power driving device. In addition, in the case of Patent Document 6, the step plate is rotatably fixed to the end of the platform, and there is also a problem that the end of the step plate can only be moved to a position a certain distance from the end of the platform. be. Similarly, the technique of Patent Document 7 requires a large power drive device.

In addition, since the step clearing machine is installed on the platform where many passengers get on and off the train, confusion is expected if it breaks down. Conventionally, in such equipment, TBM (Time Based Maintenance) was performed to prevent breakdowns by performing maintenance such as replacing parts of the level difference remover at fixed "periods".
However, in the case of TBMs, maintenance work such as replacing parts that have been used for a certain period of time is performed during night work outside business hours, even if there is no failure, resulting in wasted costs due to part-time replacements.
To deal with this, there is a maintenance method using CBM (Condition Based Maintenance), which measures and monitors the "condition" of the step remover, detects signs of failure, and performs maintenance to prevent failures. However, in order to adopt CBM, it is necessary to reliably detect signs of failure.

The abnormality diagnosis device of Patent Document 8 is characterized in that the measured value used for abnormality detection is switched between the motor current and the control position according to the control band determined from the control gain, but the abnormality detection method itself is, for example, clustering, main It only states that component analysis, etc. are included.
In addition, the failure prediction system of Patent Document 9 derives an evaluation formula that approximates the temporal change in the most recent torque value, calculates an estimated value of the torque value when a prediction time preset in the evaluation formula has elapsed, It is determined whether a failure of the drive shaft is predicted within the predicted time by comparing the estimated value and the failure threshold. However, regarding the evaluation formula, it only states that a linear function such as Y(t)=at+b (a, b are constants) can be used, but in a real environment, in places with a lot of rain or snow, Depending on the environment of use, such as places with high or low temperatures, it may resemble an exponential function or a power function, so if it is limited to a linear function, the prediction accuracy will be low.

In addition, it is important for a level difference remover to be able to instantly return to its home position (stored state) in an emergency, such as when there is a risk of collision with a vehicle. Patent Document 6 describes a mechanism that, when a vehicle enters and comes into contact with a collision member, returns the step plate to the storage portion to prevent contact with the vehicle. However, in the structure of Patent Document 6, the edge of the step plate The problem is that the parts can only move a certain distance from the edge of the platform.

In view of these problems, a first object of the present invention is to provide a level difference eliminating machine, a platform, and a user guidance and assistance system that can easily eliminate level differences with a small amount of driving force.
A second object of the present invention is to provide a step clearing machine with an accurate failure prediction function that can be used for condition-based maintenance.
A third object of the present invention is to provide a level difference remover that can instantly return to its original position (stored state) in an emergency, such as when there is a risk of collision with a vehicle.

(1)
A step remover according to one aspect is a step remover that is embedded in a platform and eliminates gaps and steps between a train boarding and alighting entrance, and has an upper surface fixed to the height of the platform and a train boarding and alighting device on the upper surface. a rotating surface rotatably supported on the mouth side;
A telescopic surface that is slidably attached to the rotating surface, a vertical lifting mechanism that raises and lowers the rotating surface using an inverted V-shaped link mechanism, a sliding mechanism that slides the telescopic surface, and a rotating surface or telescopic surface. The inverted V-shaped link mechanism is fixed to the end on the train entrance side. A fixed shaft, a movable shaft located at the same height as the fixed shaft and whose distance from the fixed shaft can be controlled by a vertical lifting mechanism, and a link shaft located at the apex of the inverted V shape and supporting the rotating surface. The fixed axis, the movable axis, and the link axis are rotatable, and the control unit starts driving the vertical lifting mechanism according to information from at least one of the plurality of sensors of the detection sensor. , or while driving the slide mechanism.

In this case, since the end portion of the elevating portion is raised and lowered by an inverted V-shaped link mechanism, it can be driven with a small driving force. As a result, the number of rotations of the motor of the drive device can be reduced, making it possible to reduce costs.
In addition, in the conventional Pandagraph method, the points of action are connected, which makes adjustment complicated and requires the lift mechanism itself to move a large distance when performing an extension operation. There were many. Furthermore, since the parts that serve as the points of action are connected, there is also the problem that the applied load becomes large.
On the other hand, the level difference remover according to the present invention can reduce the load at the point of application using the inverted V-shaped link mechanism, and can perform an extension operation after the rotation operation, so the mechanism of the level difference remover itself can be reduced. It can be simplified.

(2)
In the level difference eliminating machine according to one aspect of the second invention, the distance between the movable shaft and the link shaft is 1.5 times or more and 2.5 times or less the distance between the fixed shaft and the link shaft. is preferred.

In this case, since the end of the rotating surface is raised and lowered by an inverted V-shaped link mechanism, it can be driven with a small driving force. As a result, the number of rotations of the motor of the drive device can be reduced, making it possible to reduce costs.
In addition, in the conventional Pandagraph method, the points of action are connected, which makes adjustment complicated and requires the lift mechanism itself to move a large distance when performing an extension operation. There were many. Furthermore, since the parts that serve as the points of action are connected, there is also the problem that the applied load becomes large.
On the other hand, the level difference remover according to the present invention can reduce the load at the point of application by the inverted V-shaped link mechanism, and can perform an extension operation after the rotation operation, so the mechanism of the level difference remover itself can be reduced. can be simplified.
Note that it is desirable that the level difference remover further include an upper surface fixed at the height of the platform, and that the rotating surface be rotatably pivoted toward the train entrance/exit side of the upper surface. The moving surface may be rotatably supported on the end of the level difference remover on the side facing the train entrance/exit.

In addition, the inverted V-shaped link mechanism of the level difference remover according to one aspect has a ratio of the distance between the movable axis and the link axis to the distance between the fixed axis and the link axis (hereinafter also referred to as link ratio) by 1.5 times. 2.5 times or less.
By setting the link ratio to 1.5 or more, the horizontal stroke of the movable shaft can be reduced, the vertical load on the movable shaft can be reduced, and the position of the link shaft can be rotated. This is because the effect of moving the moving surface closer to the tip side and bringing the point of application of the moment load closer to the tip can be obtained.
On the other hand, if the link ratio exceeds 2.5 times, problems arise such as the required thrust when the movable shaft is loaded with its own weight in the horizontal direction and the initial length of the entire inverted V-shaped link mechanism becomes long. do.
In addition, when limiting the drive speed of the movable axis to ensure safety in movable axis drive, the time required to adjust the height of the inverted V-shaped link (hereinafter also referred to as operating time) is the horizontal stroke of the movable axis and its own weight load. The operating time is shortest when the link ratio is around 1.5 times, as the horizontal stroke becomes smaller and the required thrust becomes larger when the link ratio is increased.
For this reason, it is desirable to set the link ratio to 1.5 times or more and 2.5 times or less.

(3)
A level difference eliminating machine according to a third aspect of the present invention is a level difference eliminating machine according to one aspect, in which the height of the tip of the telescoping surface is lower than the floor level of the train entrance upon arrival of the train, and the height of the tip of the telescopic surface is lowered for a predetermined time after the arrival of the train. The vertical elevating mechanism may be controlled so that it becomes higher than the floor level of the train entrance/exit after the elapse of time.

(4)
A level difference eliminating machine according to a fourth aspect of the present invention is a level difference eliminating machine according to one aspect, in which the vertical lifting mechanism further includes a maintenance mechanism, and the maintenance mechanism is capable of rotating a rotating surface by nearly 90 degrees in the case of maintenance. It may also include a rotation mechanism.

In this case, maintenance of the vertical elevating mechanism, slide mechanism, detection sensor, etc. of the level difference remover can be easily carried out.

(5)
In the level difference eliminating machine according to one aspect of the fifth aspect of the present invention, a trapezoidal screw or a ball screw may be used as the driving section of the vertical lifting mechanism and/or the sliding mechanism.

In this case, the level difference eliminating machine can be driven without causing abnormal wear. In particular, by using a trapezoidal screw of size TM20, the driving section can be driven reliably.
In particular, a trapezoidal screw may be used in the vertical lifting mechanism because the load is large, and a ball screw may be used in the slide mechanism because the load is light.

(6)
In a platform according to another aspect of the invention, a plurality of level difference removers according to one aspect are buried in parallel.

In this case, by arranging multiple level difference removers in parallel on the platform, it is possible to accommodate a variety of trains. Furthermore, an optimal number of level difference removers can be provided at required locations.

(7)
The level difference remover according to the second aspect is a level difference remover that is buried in a platform and eliminates gaps and steps between the train entrance and exit, and has a rotating surface that is rotatably supported, and a rotating surface that is rotatably supported. A vertical lifting mechanism that raises and lowers the surface, a detection sensor consisting of multiple sensors provided on the rotating surface, a control unit that controls the vertical lifting mechanism and the detection sensor, and a failure prediction unit that predicts failures of the vertical lifting mechanism. The vertical lifting mechanism is equipped with a drive conversion mechanism that converts the rotation of the motor into linear motion using a screw, and a torque sensor is attached to the rotating shaft of the drive conversion mechanism, and the failure prediction section measures the torque using the torque sensor. If the time change in torque is predicted based on torque, and the difference between the measured value and the predicted value or the ratio of the measured value to the predicted value exceeds a predetermined range, or the difference between the measured value and the initial value of torque in the time series Alternatively, if the ratio of the measured value to the initial value exceeds a predetermined range, it is determined that there is a high possibility that the vertical lifting mechanism will malfunction.

We perform maintenance such as replacing parts of the level difference remover at regular intervals to prevent breakdowns.From the TBM, we measure and monitor the ``status'' of the level difference remover to detect signs of failure and perform maintenance. In order to change to a CBM that prevents failures, failure prediction that predicts the possibility of failure in advance is important.
In the case of a step remover, the part most likely to fail is the vertical lifting mechanism, which is subject to a heavy load. In the level difference eliminating machine according to the third aspect, a torque sensor is provided on the rotating shaft of the drive conversion mechanism of the vertical lifting mechanism in order to predict a failure of the vertical lifting mechanism.
Immediately after maintenance of the vertical lifting mechanism, the torque of the torque sensor is small. The torque tends to increase as time passes. Immediately before the vertical lifting mechanism breaks down, the actual measured value of the torque often increases suddenly. Alternatively, there is a possibility that an unexpected phenomenon has occurred when the actual measured value of torque suddenly decreases. Further, even if the difference between the measured torque value and the predicted value is small, if the measured value is significantly larger than the initial value of the time-series torque, it may be a sign of failure.

The failure prediction unit of the step-eliminating device according to the second aspect determines that there is a high possibility of failure of the up-down lifting mechanism when the difference between the actual torque value and the predicted torque value or the ratio of the actual torque value to the predicted torque value exceeds a predetermined range, or when the difference between the actual torque value and the initial torque value in a time series or the ratio of the actual torque value to the initial torque value exceeds a predetermined range.

(8)
A level difference eliminating machine according to an eighth aspect of the present invention is a level difference eliminating machine according to the second aspect, in which the failure prediction unit determines that the average value of the ratio of the actual value to the predicted value (actual value/predicted value) over a predetermined number of days in the past is 1. An alarm may be issued when the average value is 0.05 times or more or 0.95 times or less, and an inspection may be instructed when the average value is 1.1 times or more.

The actual torque value may fluctuate due to noise rather than failure. On the other hand, if it is truly a sign of a failure, the actual measured value will naturally continue to fluctuate the next day, so by making a judgment based on the average ratio of the actual measured value to the predicted value over a predetermined number of days in the past, Misjudgments due to noise contamination can be avoided. The predetermined number of days is preferably 2 to 10 days, and most preferably 5 days.

(9)
A level difference eliminating machine according to a ninth aspect of the present invention is a level difference eliminating machine according to the second aspect, in which a time change in torque is predicted using a LSTM (Long Short Term Memory), and a measured time series torque value is input into the LSTM. It may be done by

As a method of predicting the temporal change in torque value based on the time-series torque value measured by a torque sensor, for example, it is assumed that the temporal change in torque value Y is a linear function,
The optimal a and b may be determined from the time-series torque values (t1, Y1)...(tn, Yn) by setting Y(t)=a×t+b.
However, the change in torque value over time is not necessarily a linear function, and depending on the usage environment, for example, in areas with a lot of rain or snow, or areas with high or low average temperatures, it may be closer to an exponential function, a power function, or a logarithmic function. There may also be cases. If you individually consider which function the temporal change in torque value is closest to, and then select the closest function to find its coefficient, processing time is required, and it is not always possible to select the optimal function. There is also. In particular, when the temporal change in torque value tends to be the sum of two or more functions (for example, the sum of a linear function and a periodic function), it is difficult to select the optimal function.

In recent years, LSTM (Long Short Term Memory), an improved layer of RNN (Recurrent Neural Network) that considers time series, has come to be used as a method for predicting time changes based on time series data (for more information on LSTM, see Sepp Hochreiter and Jurgen Schmidhuber (1997). "Long short-term memory". Neural Computation 9 (8): 1735-1780.).
In the step smoother according to the ninth aspect of the present invention, the prediction of the time change in the torque value is performed by using the LSTM.

(10)
A step-eliminating device according to a third aspect is a step-eliminating device that is embedded in a platform and eliminates gaps and steps between the platform and train entrances and exits, and includes a rotating surface that is rotatably supported on a pivot axis, an expandable surface that is slidably attached to the rotating surface, an up-down lifting mechanism that raises and lowers the rotating surface by an inverted V-shaped link mechanism, a slide mechanism that slides the expandable surface, a detection sensor consisting of a plurality of sensors provided on the rotating surface or the expandable surface, and a control unit that controls the up-down lifting mechanism, the slide mechanism, and the detection sensor, and the up-down lifting mechanism and the slide mechanism each include a drive conversion mechanism that converts the rotation of a motor into linear motion by a screw, and an emergency origin return mechanism that normally transmits linear motion to the inverted V-shaped link mechanism or the expandable surface, and in an emergency releases the transmission of linear motion to the inverted V-shaped link mechanism or the expandable surface, returning the step-eliminating device to its stored state.

When installing a level difference remover, it is important that it be able to instantly return to its original position (stored state) in an emergency, such as when there is a risk of collision with a vehicle. In order to return to the origin, it is necessary to return the inverted V-shaped link mechanism to a flat state and return the expanded telescopic surface to its original state. That is, it is necessary to pull back the pusher that is pushing out the inverted V-shaped link mechanism and the pusher that is pushing out the telescopic surface.
One possible way to pull back the pusher is to move the entire base on which the motor that drives the vertical lift mechanism and slide mechanism is attached, but in this case, it is mechanically complex and it is necessary to ensure the strength of the fixed parts. It will be a large-scale organization.
In the level difference remover according to the third aspect, an emergency origin return mechanism is provided between the drive conversion mechanism and the inverted V-shaped link mechanism or the telescopic surface, and in an emergency, the inverted V-shaped link of the linear movement of the drive conversion mechanism is provided. By canceling the transmission to the mechanism or the telescopic surface, the inverted V-shaped link and the telescopic surface return to their origin with a relatively simple structure.

(11)
The level difference eliminating machine according to the eleventh invention is the level difference eliminating machine according to the third aspect, in which the emergency origin return mechanism includes a columnar pusher having a semicircular recess that is perpendicular to the longitudinal direction and a columnar pusher that is perpendicular to the longitudinal direction of the pusher. a cylindrical pusher drive member, the pusher drive member has a semicircular cross section, and the linear movement of the pusher drive member is achieved by engaging the semicircular portion of the pusher drive member with the recess. may be transmitted to the inverted V-shaped link mechanism or the telescopic surface via the pusher, and in an emergency, the engagement of the pusher with the recess may be released by rotating the pusher drive member.

In this case, the pusher drive member is fixed to the drive conversion mechanism, and usually a semicircular portion of the pusher drive member is engaged with a recessed portion of the pusher, thereby converting the linear movement of the drive conversion mechanism into an inverted V-shaped link mechanism. Alternatively, the pressure can be transmitted to the telescopic surface, and in an emergency, by rotating the pusher drive member approximately 180 degrees, the pusher drive member can be disengaged from the recess and the level difference remover can be returned to the stored state.

(12)
A level difference eliminating machine according to a fourth aspect is a level difference eliminating machine that is buried in a platform and eliminates a gap and a level difference between the platform and the train entrance. a telescoping surface slidably attached to the movable surface, a vertical lifting mechanism that raises and lowers the rotary surface using an inverted V-shaped link mechanism, a slide mechanism that slides the telescoping surface, and the rotary surface or A detection sensor including a plurality of sensors provided on the extensible surface, and a control unit that controls the vertical lifting mechanism, the slide mechanism, and the detection sensor, and the detection sensor includes an ultrasonic distance sensor. , the distance sensor has a temperature correction function.

(13)
The user guidance and assistance system according to the thirteenth invention includes a step remover according to the first aspect or the fourth aspect, a photographing section provided at a station ticket gate, and a user accompanied by a wheelchair or baby stroller based on the image of the photographing section. An identification unit that identifies a user who requires a level difference remover; and a guide unit that guides the identified user to an area where the level difference remover is placed using audio and/or display equipment. It is something that

(14)
The user guidance and assistance system according to the fourteenth invention includes a step eliminating machine that is embedded in a platform and eliminates gaps and steps between the platform and the train entrance; a photographing section provided at a station ticket gate; An identification unit that identifies a user who is accompanied by a wheelchair or baby stroller and requires a step remover from the video, and an identification unit that identifies a user who is in need of a step remover with a wheelchair or a baby stroller; A user guidance/assistance system comprising: a guide section for guiding the user to the user; a telescoping surface, a vertical lifting mechanism for vertically raising and lowering the rotating surface using an inverted V-shaped link mechanism, a slide mechanism for slidingly moving the telescoping surface, and a plurality of structures provided on the rotating surface or the telescoping surface. The device includes a detection sensor consisting of a sensor, and a control section that controls the vertical elevating mechanism, the slide mechanism, and the detection sensor.

(A)
The level difference eliminating machine according to the Ath invention is the level difference eliminating machine according to the second to ninth inventions, which includes: a telescopic surface slidably attached to the rotating surface; and a slide mechanism for slidingly moving the telescopic surface. , the control unit controls a slide mechanism, and the slide mechanism includes a drive conversion mechanism that converts the rotation of the motor into linear motion using a screw, and a torque sensor is also attached to the rotating shaft of the drive conversion mechanism to prevent failure. The prediction unit predicts the temporal change in the torque value based on the time-series torque values measured by the torque sensor, and when the difference between the actual measurement value and the predicted value or the ratio of the actual measurement value to the predicted value exceeds a predetermined range, Alternatively, it may be determined that there is a high possibility that the slide mechanism will fail if the difference between the time-series measured torque value and the initial value or the ratio of the measured value to the initial value exceeds a predetermined range.

The level difference eliminating machine according to the Ath invention further adds a telescopic surface and a slide mechanism to the level difference eliminating machine according to the second aspect, and has a torque sensor attached to the rotating shaft of the sliding mechanism, and is similar to the vertical lifting mechanism. This method predicts the failure of the slide mechanism.
In predicting failures of the slide mechanism, LSTM may also be used to predict temporal changes in torque values.

(B)
The level difference eliminating machine according to invention B is a level difference eliminating machine that is buried in a platform and eliminates gaps and level differences between the platform and the train boarding/exit, and the level difference eliminating machine has a rotating surface that is rotatably supported, A telescopic surface that is slidably attached to the moving surface, a vertical lifting mechanism that raises and lowers the rotating surface using an inverted V-shaped link mechanism, a sliding mechanism that slides the telescopic surface, and a A failure prediction unit includes a detection sensor consisting of a plurality of sensors provided, a control unit that controls the up/down mechanism, the slide mechanism, and the detection sensor, and a failure prediction unit that predicts a failure of the up/down mechanism and the slide mechanism. records the amount of deviation from the indicated value of the height and extension distance detected by the detection sensor, and if the average value or standard deviation value of each deviation amount over a predetermined number of days in the past exceeds a predetermined value, the vertical lifting mechanism It is determined that there is a high possibility of failure.

A sign of failure is observed as an increase in the torque of the rotating shaft of the drive mechanism when the control gain is high, but is observed as a deviation of the measured value from the indicated value when the control gain is relatively low. In the level difference removing machine according to the B aspect of the invention, a failure is predicted by focusing on the amount of deviation from the indicated value of the height and extension distance detected by the detection sensor.
Specifically, if the average value or standard deviation value of the detected deviation amount of the height and extension distance over a predetermined number of days in the past exceeds a predetermined value, it is determined that there is a high possibility that the vertical lifting mechanism will malfunction. The predetermined number of days is preferably 2 to 10 days, and most preferably 5 days.
In addition, it is desirable that the predetermined value of the average value is -5% to 5% of the initial average value, and the predetermined value of the standard deviation is -10% to 10% of the initial standard deviation 1σ. is desirable.
The reason for focusing on the standard deviation of the amount of deviation is that when the control becomes unstable, the amount of deviation from the instruction value often varies each time the level difference remover is started.

In this case, the control unit of the level difference remover can achieve optimal driving in the shortest time through AI learning. Further, for example, it is possible to realize a setting operation with plenty of time to spare within the time when the train doors are opened, for example, within a maximum of 5 seconds during the stop time.

FIG. 1 is a schematic diagram showing an example of a platform equipped with a level difference eliminating machine according to the first embodiment. FIG. 2 is a schematic plan view showing an example of the internal mechanism of the level difference removing machine according to the first embodiment. It is a schematic diagram which shows an example of the state before a step elimination machine is driven. It is a schematic diagram which shows an example of the driving state of the 1st stage of a level|step difference elimination machine. It is a schematic diagram which shows an example of the driving state of the 2nd stage of a level|step difference elimination machine. It is a schematic diagram which shows an example of the detail of a link mechanism. FIG. 3 is a schematic diagram showing an example of a mechanism model of a link mechanism. It is a graph showing an example of the relationship between the link height, the required thrust under self-weight loading, and the allowable sliding speed. FIG. 3 is a schematic explanatory diagram showing an example of the relationship between the contact surface pressure of a screw and the sliding speed. It is a graph showing the link ratio dependence of the required thrust under self-weight load and the vertical load. It is a graph showing link ratio dependence of initial length and horizontal stroke. It is a graph showing link ratio dependence of operating time. FIG. 13(a) is a schematic diagram showing an example of the driving state of the second stage of the level difference eliminating machine when the link ratio is 1.5, and FIG. 13(b) is a schematic diagram showing an example of the driving state of the level difference eliminating machine when the link ratio is 1.0. FIG. 3 is a schematic diagram showing an example of a second stage driving state. It is a typical block diagram showing an example of control of the control part of the step elimination machine concerning a 1st embodiment. 3 is a flowchart illustrating an example of control by a control unit. FIG. 2 is a schematic explanatory diagram showing an example of a maintenance rotation mechanism of the step-eliminating machine. It is a typical explanatory view showing the structure of the step elimination machine of a modification. It is a schematic block diagram which shows an example of control of the control part of the step removal machine of 2nd Embodiment. It is a typical top view which shows the structure of the drive part of the up-and-down lifting mechanism of the level|level difference elimination machine of 2nd Embodiment. FIG. 3 is a schematic diagram illustrating an example of the relationship between an actual measurement value and a predicted value of a temporal change in torque. 13 is a graph showing the relationship between actual measured values and predicted values in the case of a linear function. It is a graph showing the relationship between actually measured values and predicted values in the case of a quadratic function. FIG. 13 is a schematic block diagram showing an example of control by a control unit of the step eliminating device of the third embodiment. It is a typical top view showing the structure of the drive part of the up-and-down raising and lowering mechanism of the step elimination machine of a 3rd embodiment. 25 is a schematic explanatory diagram showing the cross-sectional structure and operation of the emergency origin return mechanism corresponding to the A-A' portion of Figure 24.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following description, the same parts are given the same reference numerals. Their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated.

[First embodiment]
Fig. 1 is a schematic diagram showing an example of a platform 200 equipped with a step eliminating device 100 according to a first embodiment. Fig. 1(a) is a schematic plan view of the platform 200, and Fig. 1(b) is a schematic side view of the platform 200.

(Platform 200)
As shown in FIG. 1, a recess G200 is formed in a part of the platform 200, and three level difference removers 100 are arranged in parallel. In this embodiment, the level difference remover 100 is fixed to the recess G200 with an anchor bolt (not shown).
In addition, in the present invention, a plurality of level difference removers 100 may be lined up in a train arriving at the platform 200, depending on the width of the wheelchair-accessible area.
Further, as shown in FIG. 1(b), one or more grooves G10 are formed in the lower surface of the recess G200. The groove G10 is formed so that water such as rain can flow toward the track side.

In addition, around the step remover 100, a metal plate or mortar with a thickness of several millimeters is placed so that the difference in level between the end surface PH of the platform 200 and the upper surface 130 (see FIG. 3) of the step remover 100 is 5 mm or less. A matching portion 290 such as a slope portion may be provided.

(Step clearing machine 100)
FIG. 2 is a schematic plan view showing an example of the internal mechanism of the level difference eliminating machine 100 according to the present embodiment.

As shown in FIG. 2, the level difference remover 100 includes a rotating surface 110, a telescopic surface 120, an upper surface 130 (see FIG. 3), an inverted V-shaped link mechanism 300, a contact sensor 520, a distance sensor 530, and two sensors. drive unit 540, pusher 565, rotating housing 546, one slide drive unit 550, telescopic pusher 555, and roller 600. Note that details of the vertical lifting mechanism including the drive unit 540 and the pusher 565 will be explained in the second embodiment using FIG. 19.

In this embodiment, the rotating surface 110 is made of a stainless steel member with a thickness of about 6 mm. The telescopic surface 120 is made of a stainless steel member with a thickness of about 6 mm. The upper surface 130 is made of a stainless steel member with a thickness of about 4 mm.

Details of the inverted V-shaped link mechanism 300 will be described later. The contact sensor 520 is provided on the entire end of the expandable surface 120. Note that the contact sensor 520 only needs to be located on the track side of the platform 200, and does not necessarily have to be provided on the entire surface.
The contact sensor 520 is preferably waterproof, and may be of either a differential transformer (LVDT) type or a scale type.
A proximity switch for detecting the distance from the train may be built in, either integrally with or separately from the contact sensor 520. By providing a proximity switch, the step overcome 100 can be stopped safely without coming into contact with the train. It is preferable to select a sensor for this proximity switch that operates when the distance is 5 mm ±10% or more.

Conventionally, as an interlock function, a tape switch or a contact type sensor, which detects when the tip comes into contact with a train, has been mainly used to prevent the level difference remover 100 from coming into contact with the train. However, in this case, it cannot be detected unless it definitely comes into contact with the train, so the body of the train shakes in the direction of the step remover 100 due to the movement of the passenger, etc., and the event that the train body comes into contact with the step remover 100 occurs. Alternatively, problems such as scratches on the train body have occurred, which has led to damage to the level difference remover 100 and the like.
On the other hand, by incorporating a proximity switch, the telescopic surface 120 can be stopped with a gap of at least 1 mm to 3 mm relative to the train. That is, it is possible to prevent the telescopic surface 120 from coming into contact with the train, and to prevent damage to the train body and/or the level difference remover 100.

Next, two distance sensors 530 in this embodiment are provided at the end of the rotating surface 110 at a predetermined interval. The distance sensor 530 is provided so as to rotate along with the operation of the rotation surface 110, which will be described later.
It is desirable that the distance sensor 530 has a waterproof structure, and may be of any one of a lidar type, a millimeter wave type, an ultrasonic type, and a stereo camera type.

Next, the two drive units 540 are composed of motors. Similarly, the slide drive section 550 is composed of a motor.
Further, the drive conversion mechanism 547 (see FIG. 19) used in the present invention is formed from a D screw having a trapezoidal screw (TM) size TM18 or more. The reason for this will be described later. However, since the drive conversion mechanism 547 of the slide drive unit 550 has a light load, a ball screw may be used.

Next, a plurality of rollers 600 are provided, and as will be described later, the rollers 600 are provided to support the telescopic surface 120 when it is protruded from the rotating surface 110 or to be retracted, and to allow the telescopic surface 120 to move smoothly. It is being

(Outline of operation of level difference removing machine 100)
FIG. 3 is a schematic diagram showing an example of a state before the level difference eliminating machine 100 is driven, FIG. 4 is a schematic diagram showing an example of a first stage driving state of the level difference eliminating machine 100, and FIG. FIG. 2 is a schematic diagram showing an example of a second stage driving state of the level difference removing machine 100.

As shown in FIG. 3, the level difference removing machine 100 has a rotating surface 110 and an upper surface 130 arranged horizontally. Further, a frame 190 is formed as a frame body at the lower part of the step eliminating machine 100, and the frame 190 is provided with leg portions 195. As a result, the influence of rainwater etc. can be suppressed by the total height of the groove G10 and the leg portion 195 shown in FIG. Further, although the frame 190 is shown separated in FIG. 3, the frame 190 is not limited to this, and may be formed as one piece.

Next, as shown in FIG. 4, the drive unit 540 operates, the pusher 565 is pushed out, and the tip of the rotation surface 110 is rotated in the direction of arrow R10 by the inverted V-shaped link mechanism 300. That is, the rotation surface 110 is pivoted on the upper surface 130 side so as to be rotatable in the direction of arrow R10. In this embodiment, the rotation angle is preferably from 1 degree to 15 degrees, and the maximum rotation angle in this embodiment is 8 degrees. In this case, since the distance sensor 530 is provided at the tip of the rotating surface 110, it moves in the same manner as the rotating surface 110.

Next, as shown in FIG. 5, the slide drive unit 550 operates, and the expandable surface 120 extends toward the train entrance, that is, in the direction of arrow S10. In this embodiment, the extension distance is preferably 100 mm or more and 500 mm or less, and the maximum extension distance in this embodiment is 300 mm. This extension distance is determined according to the measurement results of a distance sensor 530, which will be described later.

Through the operations shown in FIGS. 3 to 5 above, the difference in level between the floor of the train and the top surface or end surface PH of the platform 200 is removed by the step removal machine 100, and after a predetermined time, Depending on the order, the step removing machine 100 performs a storage operation.
As described above, the level difference eliminating machine 100 according to the present embodiment has the advantage that it has a simple structure and can easily ensure strength due to the extension operation and rotation operation.
In this embodiment, although FIGS. 4 and 5 are disclosed as separate operations, the present invention is not limited to this, and even if the rotation operation of FIG. 4 is performed and the extension operation of FIG. 5 is performed. good. As a result, the level difference can be eliminated in a short time.

(Inverted V-shaped link mechanism 300)
Next, FIG. 6 is a schematic diagram showing an example of details of the inverted V-shaped link mechanism 300, and FIG. 7 is a schematic diagram showing an example of a mechanical model of the inverted V-shaped link mechanism 300.

As shown in FIG. 6, the inverted V-shaped link mechanism 300 includes a first link 310, a second link 320, a fixed shaft 315, a link shaft 325, and a movable shaft 335.
As shown in FIG. 6, when the drive unit 540 is not operating, the rotation surface 110 is approximately parallel to the frame 190 (recess G200).
Next, when the drive unit 540 operates, the pusher 565 advances in the direction of the inverted V-shaped link mechanism 300. As a result, since the movable shaft 335 is pushed out and the fixed shaft 315 is fixed, the link shaft 325 moves upward. As a result, the rotation surface 110 is rotated in the direction of arrow R10 (see FIG. 4) due to the rise of the link shaft 325.

FIG. 7 is a schematic diagram showing an example of a mechanical model of the inverted V-shaped link mechanism 300. As shown in FIG. 7, the distance of the first link 310 is L31, the distance of the second link 320 is L32, the distance between the fixed shaft 315 and the movable shaft 335 is Ln, and the link axis is measured from the horizontal plane of the fixed shaft 315 and the movable shaft 335. 325 (hereinafter also referred to as link height h) is assumed to be h. Further, the angle from the vertical direction of the straight line connecting the fixed shaft 315 and the link shaft 325 is θ1, and the angle from the vertical direction of the straight line connecting the movable shaft 335 and the link shaft 325 is θ2. Furthermore, the distance Ln when the drive unit 540 does not operate and the rotation surface 110 is horizontal is set as Ln1, and the link height h is set as h1.
Then, as shown in FIG. 7B, when the drive unit 540 operates and the rotating surface 110 moves, the distance Ln'(Ln1>Ln') between the fixed shaft 315 and the movable shaft 335, The vertical distance from the horizontal plane of the movable shaft 335 to the link shaft 325 is h2 (h2>h1).
In this case, it can be considered that the fixed shaft 315 becomes the fulcrum, the link shaft 325 becomes the point of action, and the movable shaft 335 becomes the point of effort.
Further, in FIG. 7, the ratio L32/L31 (hereinafter also referred to as link ratio b) between the distance L32 of the second link 320 and the distance L31 of the first link 310 is 1.5.

(Study of link ratio b of inverted V-shaped link)
When considering the link ratio b of the inverted V-shaped link, the required thrust F2 (F2 in FIG. 7) of the movable shaft 335 under its own weight (F2 in FIG. 7), the vertical load F3 (F3 in FIG. 7), the up/down time of the link shaft 325, and The maximum length of the inverted V-shaped link must be considered. In addition, the vertical lifting time corresponds to the ratio of the horizontal stroke St of the movable shaft 335 (corresponding to Ln1-Ln' in FIG. 7) and the allowable sliding speed V, and the maximum length of the inverted V-shaped link is This corresponds to distance Ln1 (hereinafter also referred to as initial length) when 110 is horizontal.
First, the required thrust F2 and the vertical load F3 when the movable shaft 335 is loaded with its own weight will be considered.
Now, if θ1 and θ2 are defined as shown in FIG. 7, the link height h is
h=L31×cos(θ1)=L32×cos(θ2)
Furthermore, when the dead weight load F0 is applied to the link shaft 325 in the vertical direction, the required thrust F2 and the vertical load F3 of the movable shaft 335 under the dead weight load are as follows.
F2=F0×(sin(θ1))/sin(θ1+θ2)×cos(90−θ2)
F3=F0×(sin(θ1))/sin(θ1+θ2)×sin(90−θ2).
FIG. 8 shows a graph of the link height h and the required thrust force F2 under horizontal self-weight loading in the range of link height h from 31 mm to 111.8 mm. In addition, in FIG. 8, the magnitude of dead weight load F0 is 350.4 kg.

(Safety of D screw used in drive conversion mechanism 547)
FIG. 9 is a schematic explanatory diagram showing an example of the relationship between the contact surface pressure P of the screw and the sliding speed V.

The method for calculating the maximum allowable PV value for the screw of the drive conversion mechanism 547 will be described below. Note that details of the drive conversion mechanism 547 will be explained in the second embodiment using FIG. 19.
Figure 9 shows the case of a D screw made of steel and brass using lubricating oil for the drive conversion mechanism 547 (dotted chain line in the figure), and the case of a D screw made of steel and resin without lubrication (dry). A standard safety line related to contact surface pressure P (N/mm2) and sliding speed V (m/min) for preventing abnormal wear of the threaded portion is shown in the case (three-dot chain line in the figure). In FIG. 9, the area on the lower left side of each line is the safe area.
In the level difference remover 100 according to the present invention, PV = 15 is set as the allowable safety line so that it is further to the lower left than the above-mentioned safety line, and when the PV product exceeds 15, the motor rotation speed is intentionally reduced. Added controls to prevent entering the danger zone.
Note that the trapezoidal screw nut with a shaft diameter of 18 m is used.

Next, based on the concept of the above-mentioned maximum allowable PV value, the actual allowable sliding speed V will be considered. The movable shaft 335 of the inverted V-shaped link is driven by sliding transmission such as a trapezoidal screw. In this case, in order to prevent abnormal wear of the threaded portion, the PV value, which is the product of contact surface pressure P (N/mm ² ) and sliding speed V (m/min), is used as a guideline to determine whether or not it is possible to use it.
If the trapezoidal screw is made of steel and a brass bearing is used, generally the standard for use is PV = 25 or less, but in this embodiment, the PV value of the usage area is specified as PV = 15 or less for safety reasons. If the speed exceeds this range, the motor rotation speed is intentionally reduced to prevent it from entering the dangerous range.
Therefore, the allowable sliding speed V is V=15/P, and since P is proportional to the required thrust F2 when loaded with dead weight, the allowable sliding speed V is inversely proportional to the required thrust F2 when loaded with dead weight.
FIG. 8 also shows the relationship between the link height h and the allowable sliding speed V.
In Fig. 8, the maximum value is important for the required thrust F2 under self-weight load, and the minimum value is important for the allowable slip velocity V. Therefore, when considering the link ratio b of the inverted V-shaped link, the link height h What is necessary is to consider the thrust force F2 required under the load of its own weight when the height difference eliminating machine 100 is at a minimum, that is, when the level difference eliminating machine 100 is in a substantially flat state.
FIG. 10 shows a graph of the dependence of the required thrust F2 and the vertical load F3 on the link ratio b when the movable shaft 335 is loaded with its own weight when the link height h is the minimum.

In addition, the vertical lifting time is proportional to the horizontal stroke St (corresponding to Ln1-Ln') of the movable shaft 335, and the maximum length of the inverted V-shaped link corresponds to the initial length Ln1, so the horizontal stroke St and the initial length The dependence of Ln1 on the link ratio b was investigated.
Now, when the link height h is the minimum (corresponding to Fig. 7(a)), the height is h1, the length between the link shaft and the fixed shaft is L31, and the length between the link shaft and the movable shaft. If the length is L32=b×L31,
The initial length Ln1 is

In addition, the horizontal stroke St is calculated by assuming the height when the link height is maximum (corresponding to Fig. 7(b)) as h2.

becomes.
A graph of the dependence of the initial length Ln and the horizontal stroke St on the link ratio b is shown in FIG. 11.
Further, FIG. 12 shows a graph of the dependence of the operating time Tt (relative value) corresponding to the ratio of the horizontal stroke St to the allowable sliding speed V on the link ratio b.

10 to 12, by increasing the link ratio b, (a) the vertical load F3 of the movable shaft 335 decreases, but the thrust force F2 required under the load of its own weight increases.
(b) The initial length of the entire inverted V-shaped link increases, but the horizontal stroke St decreases.
(c) The operating time Tt, which corresponds to the ratio of the thrust force F2 required under self-weight load to the horizontal stroke St, is minimum when the link ratio b is in the vicinity of 1.5 and increases whether the ratio is smaller or larger than 1.5.
There is a tendency for this to happen.

On the other hand, the link ratio b also affects the dead weight load F0 applied to the link shaft 325.
FIG. 13 is a schematic diagram showing an example of the second stage driving state of the level difference eliminating machine 100 in the case (a) when the link ratio b=1.5 and the case (b) when the link ratio b=1.0.
As can be seen by comparing FIG. 13(a) and FIG. 13(b), by setting b=1.5, the position of the link shaft 325 moves to the tip side of the rotation surface 110, and the moment load is applied. The point of action of is close to the tip. As the point of action of the moment load approaches the tip, Lb in Fig. 13(a) becomes longer than Lb' in Fig. 13(b), and the self-weight load F0 in (a) becomes longer than F0' in (b). Can be made smaller.
Therefore, by increasing the link ratio b, the required thrust force F2 under dead weight load and the vertical load F3 can be decreased, and as a result, the operating time Tt can be decreased.

From the above results, from the viewpoint of shortening the operating time Tt, it is desirable that the link ratio b is around 1.5, but by increasing the link ratio b, the vertical load F3 of the movable shaft 335 decreases, and the dead weight load F0 On the other hand, if the link ratio b is too large, the required thrust F2 when loaded with self-weight becomes too large, and it is necessary to increase the axial strength of the inverted V-shaped link. Since the maximum length becomes too long, the link ratio b is set to 1.5 or more and 2.5 or less.

In addition, in the conventional Pandagraph method, the points of action are connected, which makes adjustment complicated and requires the lift mechanism itself to move a large distance when performing an extension operation. There were many. Furthermore, since the parts that serve as the points of action are connected, there is also the problem that the applied load becomes large.
On the other hand, the level difference remover 100 according to the present invention can reduce the load at the point of application and can perform an extension operation after the rotation operation, so the mechanism of the level difference remover 100 itself can be simplified. can.

(Control unit 500)
Next, FIG. 14 is a schematic block diagram showing an example of control of the control unit 500 of the level difference eliminating machine 100 according to the first embodiment.

As shown in FIG. 14, the control unit 500 of the level difference remover 100 according to the first embodiment communicates with each of the recording unit 510, contact sensor 520, distance sensor 530, drive unit 540, and slide drive unit 550. conduct. Although communication is preferably wired, it may be wireless.
Further, the control unit 500 according to the first embodiment has an AI learning function, determines the optimal operation of the level difference removing machine 100 from the past data of the recording unit 510, and drives the control unit 500. The contents of detailed data in the recording section 510 will be described later.

The control unit 500 in the first embodiment does not need to be built inside the level difference removing machine 100. The control unit 500 may be built-in as long as it can communicate with each of the recording unit 510, the contact sensor 520, the distance sensor 530, the drive unit 540, and the slide drive unit 550, or may be provided separately outside. Good too.
Further, as shown in FIG. 1, the level difference eliminating machines 100 may be arranged in parallel, so the control unit 500 of each of the level difference eliminating machines 100 arranged in parallel may be provided as one, and each of the level difference eliminating machines 100 may be arranged in parallel. If provided, it is desirable that the control units 500 be able to communicate with each other.
For example, in the event of maintenance or failure in one of the level difference removers 100 arranged in parallel, it is desirable to stop driving the other level difference removers 100.

The recording section 510 contains information including the type of train, the train timetable, the height of the train floor, the height of the platform 200, the platform door, month, day, day of the week, time, climate, weather, etc.
In addition, data from surveillance cameras installed inside the station can be processed using machine learning, deep learning, deep learning, YOLO, R-CNN, HOG, DETR (End-to-End Object Detection with Transformers), and SSD. (Single Shot MultiBox Detector), DCN, etc. may be used to calculate the number of people and may include information on estimating the congestion situation of the train and the congestion situation of each vehicle. Furthermore, the information may include information such as the number of people, congestion status, and current floor height of the train at the station in front of the platform 200 equipped with the step clearing device 100, that is, the station located upstream from the train.

The platform height also depends on the type of train, the height of the train floor, the condition of the track, whether the platform is curved or not, whether a large number of people will be getting off from a crowded train, and whether a large number of people will be boarding the train. It also includes information such as whether there is a person getting on the vehicle using the level difference eliminating machine 100 or whether there is a person getting off using the level difference eliminating machine 100.
When boarding, it is preferable that the height be the same as or several millimeters higher than the floor height of the train, and when getting off, it is preferable that the height be the same as or several millimeters lower than the floor height of the train.
Therefore, when a train arrives, many people get off the train, so the floor height is set at the same level as the train floor or a few millimeters lower than that. Subtle control may be performed so that the height is the same as or a few millimeters higher than the floor level.

The recording unit 510 also records the type, operation, drive time, opening/closing timing, etc. of the platform door installed to prevent passengers from falling from the platform 200. This is data necessary for the control unit 500 to operate the step remover 100 so as not to interfere with the operation of the platform door.
Furthermore, the month, date, day of the week, time, climate, weather, etc. recorded in the recording unit 510 are linked with information such as changes in the number of people, congestion status, etc. Further, although not shown, the degree of crowding in department stores, commercial facilities, event venues, restaurants, etc. near the station building may be linked to the number of fixed cameras or mobile GPS devices. Thereby, congestion information etc. can be estimated according to the movement of people. Furthermore, it acquires the history of people who use not only wheelchairs but also manual or electric baby strollers, and obtains information from frequently used stations to visited stations, and from upstream step remover 100 to downstream visited destinations. The information may also be transmitted to the level difference removing machine 100.
Furthermore, in the first embodiment, although not added, an alarm device is provided to issue a voice warning, or to ask the driver to get on the vehicle safely or to get off the vehicle safely. etc. may be notified.

(Example of operation of control unit 500)
FIG. 15 is a flowchart showing an example of control by the control unit 500.

First, the control unit 500 acquires train information and the like based on information from the recording unit 510 (step S1). Next, the control unit 500 acquires platform door information such as whether the platform door is driven (step S2).
Subsequently, the control unit 500 obtains sensor detection from the contact sensor 520 and/or the distance sensor 530 (step S3).
Here, the control unit 500 may perform temperature correction depending on the type of sensor. That is, it is desirable that a sensor having outdoor temperature characteristics undergo temperature correction.
The control unit 500 checks whether there is any contact history in the contact sensor 520 and determines whether the distance data from the distance sensor 530 matches the train information in the recording unit 510.

Next, the control unit 500 starts driving the drive unit 540 (step S4). Then, the control unit 500 drives the slide drive unit 550 to start sliding (step S5). Here, passengers in wheelchairs can get on and off smoothly.
Next, when the platform door starts to close and the train door starts to close, the slide drive section 550 is driven to start slide storage. Note that sliding storage may be started before the platform doors begin to close or before the train doors begin to close.
Finally, the control unit 500 drives the drive unit 540 to house the level difference eliminating machine 100 (step S7).

(Description of the maintenance rotation mechanism of the level difference remover 100)
FIG. 16 is a schematic explanatory diagram showing an example of a maintenance rotation mechanism of the level difference eliminating machine 100.

As shown in FIG. 16, in the case of maintenance of the level difference remover 100, by disconnecting the inverted V-shaped link mechanism 300, the rotation surface 110 is moved in the direction of the arrow R20, and the rotation axis 115 It can be rotated around a large axis.
As a result, inspection, maintenance, repair, etc. of the drive unit 540 or the slide drive unit 550, the contact sensor 520, the distance sensor 530, the pusher 565, the rotary housing 546, the telescopic pusher 555, the roller 600, etc. can be carried out. In particular, the large rotation of the rotating surface 110 makes it easier to carry out maintenance and the like.

(Structure of a modified example of level difference eliminating machine 100a)
FIG. 17 shows the structure of a modified example of a level difference eliminating machine 100a.
The level difference remover 100 shown in FIG. 5 includes an upper surface 130 fixed at the height of the platform 200 and a rotating surface 110 on the train entrance/exit side of the upper surface 130, and a boundary between the upper surface 130 and the rotating surface 110. However, in the modified example of the level difference eliminating machine 100a shown in FIG. It is being
In this case, the dead weight load F0 on the link shaft 325 is reduced due to the lever principle, but on the other hand, the length of the rotating surface 110 becomes longer, so it is necessary to increase the strength of the rotating surface 110.

[Second embodiment]
The level difference remover 100b of the second embodiment is the same as the level difference remover 100 or 100a of the first embodiment with a failure prediction function added. Therefore, the drawings of FIGS. 1 to 13 and 15 to 17 and the related descriptions also apply to the step clearing machine 100b of the second embodiment.
However, in the step remover 100 or 100a of the first embodiment, an inverted V-shaped link mechanism 300 is used for the vertical lifting mechanism, but in the step remover 100b of the second embodiment, the rotation of the motor is linear. The inverted V-shaped link mechanism 300 may not be used as long as it is converted into motion and moves up and down on the rotation surface 110. Further, the level difference eliminating machine 100 or the level difference eliminating machine 100a of the first embodiment is provided with a slide mechanism that slides the telescopic surface 120, but in the level difference eliminating machine 100b of the second embodiment, the telescopic surface 120 and the slide mechanism are provided. The rotating surface 110 itself may be moved in the direction of the train entrance without providing a mechanism.

Fig. 18 is a schematic block diagram showing an example of control by the control unit 500 of the step-eliminating device 100b of the second embodiment. In the block diagram of Fig. 18, a failure prediction unit 570 and a torque sensor 575 are added to the block diagram of the step-eliminating device 100 of the first embodiment of Fig. 14.
19 is a schematic top view showing the structure of the drive part of the up-down lifting mechanism of the step-eliminating device 100b of the second embodiment. The drive unit 540 rotates the rotary shaft 545, and the drive conversion mechanism 547 (D screw) converts the rotation into linear motion. The drive conversion mechanism 547, the frame bodies 548a and 548b, the pusher drive member 562, and the pusher 565 are connected to each other, and the linear motion of the drive conversion mechanism 547 is transmitted directly to the pusher 565. The pusher 565 passes through the bearings 564a and 564b, and the bearings 564a and 564b support the linear motion of the pusher 565.
A torque sensor 575 is attached to the rotating shaft 545 , and the measured value of the torque applied to the rotating shaft 545 is transmitted to the control unit 500 .

Since the level difference remover 100b is installed on a platform where many passengers get on and off the train, confusion is expected if it breaks down. Conventionally, in such equipment, TBM (Time Based Maintenance) has been performed to prevent breakdowns by performing maintenance such as replacing parts of the level difference remover 100b at fixed "periods".
However, in the case of TBMs, maintenance work such as replacing parts that have been used for a certain period of time is performed during night work outside business hours, even if there is no failure, resulting in wasted costs due to part-time replacements.
In contrast, CBM (Condition Based Maintenance) is used to prevent failures by measuring and/or monitoring the "state" of the step clearing machine 100b, detecting signs of failure, and performing maintenance. There are methods, but in order to adopt CBM, it is necessary to reliably detect signs of failure.

(Failure prediction based on torque value)
Feedback control is performed in the vertical lifting mechanism of the level difference remover 100b, in which the driving unit 540 drives the vertical lifting mechanism based on the measured value of the distance sensor 530. When the feedback control is performed normally, the measured value of the distance sensor 530 is often normal even if a sign of failure occurs inside the vertical lifting mechanism. In such a case, a precursor to failure can be detected more reliably by measuring the temporal change in the torque of the rotating shaft 545 of the drive unit 540 that drives the vertical lifting mechanism.

FIG. 20 is a schematic diagram showing an example of an actual measured value (row_data) and a predicted value (predict_data) of a temporal change in torque. Note that the numerical values are relative values.
In FIG. 20, the measured value of torque increases with time. In the case of FIG. 20, it increases almost as a linear function of time, and the predicted value represents this tendency.
However, when the time exceeds 170, the actual measured value rapidly increases and the deviation from the predicted value becomes large. In such a case, there is a possibility that signs of failure are progressing, such as rapid wear starting in the drive conversion mechanism 547 (D screw).
In the level difference remover 100b of the second embodiment, the temporal change in torque is predicted based on the time-series torque measured by the torque sensor 575, and the difference between the actual measured value and the predicted value or the ratio of the actual measured value to the predicted value is If it exceeds a predetermined range, it is determined that there is a high possibility that the vertical elevating mechanism will malfunction, and an alarm is issued or an inspection is ordered.
The relationship between the magnitude of the deviation between the actual measured value and the predicted value and the alarm or inspection instruction varies depending on the design of the level difference remover 100b, the strength of feedback control, etc.; If the average value of the ratio is 1.05 times or more or 0.95 times or less, a warning may be issued, and if the average value is 1.1 times or more, an inspection may be instructed. In this case, the predetermined number of days is preferably from 2 to 10 days, and most preferably 5 days.
Furthermore, even if the deviation between the actual measured value and the predicted value is small, if the difference or ratio between the actual measured torque value and the initial value exceeds a predetermined range, an alarm may be issued or an inspection may be instructed. The predetermined range in this case is, for example, -20% to +100%.

In the case of FIG. 20, the torque increases rapidly from around the time when it exceeds 170, but until then, the torque increases linearly with respect to time. However, under normal conditions, torque does not always increase linearly. For example, depending on the usage environment, in places where there is a lot of rain and/or snow, or where the average temperature is high or low, the torque may increase quadratically or exponentially. In such a case, it is first necessary to consider what kind of function should approximate the time-series changes in the actually measured torque, and then determine the coefficients to calculate the time-series changes in the predicted value.
However, the task of considering what kind of function should be used to approximate the time-series changes in actually measured torque, determining coefficients, and then calculating the time-series changes in the predicted value is complicated, and it is not always possible to obtain accurate results. is not limited.

As a method for predicting changes in actual measured values over time, for example, LSTM (Long Short Term Memory), which is an improved layer of RNN (Recurrent Neural Network) that considers time series, has come to be used. (See Sepp Hochreiter; Jurgen Schmidhuber (1997). “Long short-term memory”. Neural Computation 9 (8): 1735-1780.).
In LSTM, by inputting time-series data and performing learning, it is possible to output predicted values of changes over time regardless of whether the data is linear or quadratic.

Fig. 21 shows a graph of the relationship between the actual measured value (row_data) and the predicted value (predict_data) in the case of a linear function, and Fig. 22 shows a graph of the relationship between the actual measured value (row_data) and the predicted value (predict_data) in the case of a quadratic function.
In each figure, the LSTM calculates a predicted value for time 25 based on the actual measured values from times 0 to 24, then calculates a predicted value for time 26 based on the actual measured values from times 1 to 25, and so on up to time 200.
It has been found that LSTM can make highly accurate predictions not only of simple quadratic functions, but also of sum functions of quadratic functions and periodic functions such as sine wave functions, and by using LSTM to predict the time change in torque of the step-eliminating device 100b of the second embodiment, efficient and accurate fault prediction can be made.

The above explanation is about failure prediction of the vertical lifting mechanism, but if the level difference remover 100b is equipped with the telescopic surface 120 and the slide mechanism, a torque sensor 575 is also added to the rotating shaft 545a of the slide mechanism. However, when the time-series change in torque is predicted based on the time-series torque measured by the torque sensor 575, and the difference between the actual measured value and the predicted value or the ratio of the actual measured value to the predicted value exceeds a predetermined range, or when the time-series If the difference between the measured torque value and the initial value or the ratio of the measured torque value to the initial value exceeds a predetermined range, it may be determined that the slide mechanism is likely to fail.

(Failure prediction based on distance sensor measurements)
The above is an embodiment in which failure prediction is performed based on time-series torque values measured by the torque sensor 575. However, if the control gain of the vertical lifting mechanism or sliding mechanism is relatively low, the temporal change in torque value In some cases, a sign of failure may appear in the change in the measured value of the distance sensor over time.
In this case, the amount of deviation from the indicated value of the height and extension distance detected by the detection sensor is recorded, and if the average value or standard deviation value of each deviation amount over a predetermined number of days in the past exceeds a predetermined value, It is desirable to determine that there is a high possibility that the vertical lifting mechanism will malfunction.
Specifically, if the average value or standard deviation value of the detected deviation amount of the height and extension distance over a predetermined number of days in the past exceeds a predetermined value, it is determined that there is a high possibility that the vertical lifting mechanism will malfunction. The predetermined number of days is preferably 2 to 10 days, and most preferably 5 days.
The reason for focusing on the standard deviation of the amount of deviation is that when the control becomes unstable, the amount of deviation from the instruction value often varies each time the level difference remover 100b is started.

By predicting failures based on the time-series actual measured values of the torque sensor and distance sensor as described above and performing inspections in accordance with warnings or inspection instructions, it is possible to eliminate operation stoppages due to sudden failures and to detect failures when they are not in failure mode. Regular maintenance can reduce maintenance labor costs and replacement parts costs. Further, the level difference removing machine 100 itself can request inspection via communication before a failure occurs, and can perform preventive maintenance such as supplying lubricating oil, replacing parts, cleaning the detection sensor, and cleaning the lens. In particular, it is preferable that the time period in which the level difference remover 100 requests inspection by itself is not during the operating hours of the passenger business, but rather during the night time from the end of the business until the start of the business. As a result, replacement parts or replacement workers can be arranged in advance, maintenance can be performed at the optimal timing and with the minimum number of parts replaced, and while realizing stable operation of the step clearing machine 100, it contributes to reducing maintenance costs. It is possible to improve safety and stable operation.

[Third embodiment]
The level difference eliminating machine 100c of the third embodiment is the same as the level difference eliminating machine 100 or 100a of the first embodiment with an emergency origin return mechanism 560 added thereto. Therefore, the drawings of FIGS. 1 to 13 and 15 to 17 and the related descriptions also apply to the third embodiment of the step clearing machine 100c.
However, in the step remover 100 or step remover 100a of the first embodiment, an inverted V-shaped link mechanism 300 is used for the vertical lifting mechanism, but in the step remover 100c of the third embodiment, the motor The inverted V-shaped link mechanism 300 may not be used as long as the rotating surface 110 is moved up and down by converting rotation into linear motion. Further, the level difference removing machine 100 or 100a of the first embodiment is equipped with a slide mechanism that slides the telescopic surface 120, but the level difference removing machine 100c of the third embodiment is equipped with the telescopic surface 120 and a sliding mechanism. First, the rotating surface itself may be moved in the direction of the train entrance/exit.

Fig. 23 is a schematic block diagram showing an example of control by the control unit 500 of the step-eliminating device 100c of the third embodiment. In the block diagram of Fig. 23, an emergency origin return mechanism 560 is added to the block diagram of the step-eliminating device 100 of the first embodiment of Fig. 14.
Figure 24 is a schematic top view showing the structure of the drive part of the up and down lifting mechanism of the step-eliminating device 100b of the third embodiment, and Figure 25 is a schematic explanatory diagram showing the cross-sectional structure and operation of the emergency origin return mechanism 560 corresponding to the AA' portion of Figure 24.
In Fig. 24, an emergency return-to-origin mechanism 560 is added to Fig. 19 which shows the structure of the drive part of the up-down lifting mechanism of the step-eliminating device 100b of the second embodiment. Although the torque sensor 575 is not provided in Fig. 24, it is possible to provide the step-eliminating device 100c of the third embodiment with the torque sensor 575 and a failure prediction unit 570 to add a failure prediction function.
In Fig. 19, the drive conversion mechanism 547, the frames 548a and 548b, the pusher drive member 562, and the pusher 565 are connected to one another, and the linear motion of the drive conversion mechanism 547 is transmitted directly to the pusher 565. However, in the step eliminating device 100b of the third embodiment shown in Fig. 24, the pusher drive member 562 is cylindrical and passes through the frames 548a and 548b, and is capable of rotation.

Further, in the level difference remover 100c of the third embodiment, the pusher 565 is provided with a semicircular recess 563 orthogonal to the longitudinal direction at the portion of the emergency home return mechanism 560 that intersects with the pusher drive member 562 (Fig. 25 reference).
On the other hand, the pusher drive member 562 has a semicircular cross section in the vicinity of the emergency origin return mechanism 560 in a plane orthogonal to the longitudinal direction. In a normal state, by engaging the semicircular portion of the pusher drive member 562 with the recess 563 of the pusher 565, the linear movement of the pusher drive member 562 is controlled via the pusher 565 to the inverted V-shaped link mechanism 300 or This is transmitted to the telescopic surface 120 of the slide mechanism (see FIG. 25(a)).
In an emergency, the control unit 500 drives an actuator (not shown) to rotate the pusher drive member 562 by 180 degrees (see FIG. 25(b)). Then, the engagement between the pusher driving member 562 and the pusher 565 is disengaged, the pusher 565 is moved backward, and the rotating surface 110 is lowered to a horizontal position. As a result, the level difference remover 100c returns to the stored state (see FIG. 25(c)).
Note that a maximum load of about 1000 kg is applied to the emergency home return mechanism 560. Therefore, it is necessary to use materials with high hardness for the pusher 565 and the pusher drive member 562 of the emergency home return mechanism 560. Specifically, it is desirable to use SUS440C that is hardened and tempered to have a Rockwell C scale hardness (HRC) of 58 or more and 60 or less.
It is also possible to use steel materials such as SKD (alloy tool steel) or SUJ (high carbon chromium bearing steel) that have been hardened to the same hardness, but it is better to use SUS material (SUS440C) to prevent rust from rainwater, etc. good.

The above is an explanation of the operation when the emergency origin return mechanism 560 is added to the drive part of the vertical lifting mechanism. Even when the member 562, pusher 565, and emergency origin return mechanism 560 are added, the pusher 565 is moved back by rotating the pusher drive member 562 by 180 degrees, and the telescopic surface 120 is housed in the rotation surface 110.
In addition, when the emergency return-to-origin mechanism 560 is added to the drive part of the vertical lifting mechanism, and when the emergency return-to-origin mechanism 560 is added to the slide drive section 550, the moving speed at the time of emergency return to origin does not affect the surroundings. Speed is desirable.

(Other examples of control unit 500 and recording unit 510)
The control unit 500 of the step remover 100, the step remover 100a, the step remover 100b, and the step remover 100c according to the first to third embodiments is capable of identifying and/or facial recognition of the step remover user by AI analysis. An authentication/form authentication system may be adopted.
For example, at a station ticket gate, users of wheelchairs, baby strollers, etc. may be identified, and facial recognition may also be performed, especially for people who frequently use the system. In this case, these users can be guided to the elevator, and furthermore, automatically guided to the area where the step eliminating machine 100 is located. Guidance can be provided by audio and display devices (including LED displays, etc.) to guide the vehicle to the vehicle stop position in the area where the bump remover 100 is located, which is a safe boarding position.
As a result, the work of station staff can be reduced and passengers can be provided with appropriate services. Particularly, great effects can be obtained at stations with a large number of passengers or at major stations. As described above, in the control unit 500 of the level difference remover 100, level difference remover 100a, level difference remover 100b, and level difference remover 100c according to the present invention, an authentication algorithm that makes a comprehensive judgment is generated to determine the maintenance time. or provide guidance services.

In the present invention, the platform 200 corresponds to a "platform", the level difference removers 100, 100a, 100b, and 100c correspond to a "level difference remover", the rotating surface 110 corresponds to a "rotating surface", and the The surface 120 corresponds to an "expandable surface", the inverted V-shaped link mechanism 300 corresponds to an "inverted V-shaped link mechanism", and includes a drive unit 540, a rotating shaft 545, a drive conversion mechanism 547, a frame 548a, 548b, the pusher drive member 562, and the pusher 565 correspond to a "vertical elevating mechanism," the slide drive section 550 corresponds to a "slide mechanism," and the contact sensor 520 and/or distance sensor 530 and/or proximity switch correspond to a "detection" mechanism. The control unit 500 corresponds to a “control unit”, the fixed axis 315 corresponds to a “fixed axis”, the movable axis 335 corresponds to a “movable axis”, and the link axis 325 corresponds to a “link axis”. , the disconnection of the inverted V-shaped link mechanism 300 and the rotating surface 110 corresponds to a "maintenance mechanism," the rotating shaft 115 corresponds to a "maintenance rotating mechanism," and the drive conversion mechanism 547 corresponds to a "maintenance rotating mechanism." It corresponds to a "drive conversion mechanism", the failure prediction unit 570 corresponds to a "failure prediction unit", the rotating shaft 545 corresponds to a "rotating shaft", the torque sensor 575 corresponds to a "torque sensor", and the emergency home return The mechanism 560 corresponds to an "emergency home return mechanism," the pusher 565 corresponds to a "pusher," and the pusher drive member 562 corresponds to a "pusher drive member."

A preferred embodiment of the present invention is as described above, but the present invention is not limited thereto. It will be appreciated that various other embodiments may be made without departing from the spirit and scope of the invention. Further, in the first to third embodiments, the functions and effects of the configuration of the present invention are described, but these functions and effects are merely examples and do not limit the present invention.

100, 100a, 100b, 100c Level remover 110 Rotating surface 120 Telescopic surface 200 Platform 300 Inverted V-shaped link mechanism 315 Fixed shaft 325 Link shaft 335 Movable shaft 500 Control section 510 Recording section 520 Contact sensor 530 Distance sensor 540 Drive Parts 545, 545a Rotating shaft 547 Drive conversion mechanism 548a, 548b Frame body 550 Slide drive unit 562 Pusher drive member 565 Pusher 560 Emergency home return mechanism 570 Failure prediction unit 575 Torque sensor

Claims (14)

1. A level difference eliminating machine that is buried in a platform and eliminates the gap and level difference between the platform and the train entrance,
   an upper surface fixed at the height of the platform;
   a rotation surface rotatably supported on the train entrance/exit side of the upper surface;
   a telescoping surface slidably attached to the rotating surface;
   a vertical lifting mechanism that lifts and lowers the rotating surface using an inverted V-shaped link mechanism;
   a slide mechanism that slides the telescopic surface;
   a detection sensor consisting of a plurality of sensors provided on the rotation surface or the expansion and contraction surface;
   A control unit that controls the vertical lifting mechanism, the sliding mechanism, and the detection sensor,
   The inverted V-shaped link mechanism is located at the same height as a fixed shaft fixed to an end on the train entrance/exit side, and the distance from the fixed shaft is controlled by the vertical lifting mechanism. a movable shaft, and a link shaft located at the apex of an inverted V-shape and supporting the rotating surface, the fixed shaft, the movable shaft, and the link shaft being rotatable,
   The control unit includes:
   The level difference removing machine is configured to drive the slide mechanism after or while driving the vertical lifting mechanism according to information from at least one of the plurality of sensors of the detection sensor.
2. The step eliminating machine according to claim 1, wherein the distance between the movable shaft and the link shaft is 1.5 times or more and 2.5 times or less the distance between the fixed shaft and the link shaft.
3. The height of the tip of the extensible surface is adjusted so that the height of the tip of the extensible surface is lower than the floor height of the train entrance/exit when the train arrives, and becomes higher than the floor height of the train entrance/exit after a predetermined time has elapsed after the arrival of the train. The level difference removing machine according to claim 1, which controls a lifting mechanism.
4. The vertical lifting mechanism is
   further includes a maintenance mechanism;
   2. The level difference removing machine according to claim 1, wherein the maintenance mechanism includes a maintenance rotation mechanism that can rotate the rotation surface up to nearly 90 degrees in case of maintenance.
5. The level difference removing machine according to claim 1, wherein the driving section of the vertically raising and lowering mechanism and/or the sliding mechanism uses a trapezoidal screw or a ball screw.
6. A platform on which multiple step-eliminating devices according to claim 1 are buried in parallel.
7. A level difference eliminating machine that is buried in a platform and eliminates the gap and level difference between the platform and the train entrance,
   a rotation surface rotatably supported;
   a vertical lifting mechanism that lifts and lowers the rotating surface;
   a detection sensor consisting of a plurality of sensors provided on the rotating surface;
   a control unit that controls the vertical lifting mechanism and the detection sensor;
   a failure prediction unit that predicts a failure of the vertical lifting mechanism;
   The vertical elevating mechanism includes a drive conversion mechanism that converts rotation of a motor into linear motion using a screw, and a torque sensor is attached to a rotating shaft of the drive conversion mechanism,
   The failure prediction unit predicts the temporal change in torque based on the time-series torque measured by the torque sensor, and when the difference between the actual measurement value and the predicted value or the ratio of the actual measurement value to the predicted value exceeds a predetermined range, Alternatively, the level difference eliminating machine determines that the vertical lifting mechanism is likely to malfunction when the difference between the actual measured torque value and the initial value in the time series or the ratio of the actual measured value to the initial value exceeds a predetermined range.
8. The failure prediction unit issues an alarm when the average value of the ratio of the measured value to the predicted value over a predetermined number of days in the past is 1.05 times or more or 0.95 times or less, and when the average value is 1.1 times. The level difference removing machine according to claim 7, wherein an inspection is instructed in the above cases.
9. The level difference removing machine according to claim 7, wherein the prediction of the temporal change in the torque is performed by using a LSTM (Long Short Term Memory) and inputting the measured torque value in a time series to the LSTM.
10. A level difference eliminating machine that is buried in a platform and eliminates the gap and level difference between the platform and the train entrance,
    a rotation surface rotatably supported;
    a telescoping surface slidably attached to the rotating surface;
    a vertical lifting mechanism that lifts and lowers the rotating surface using an inverted V-shaped link mechanism;
    a slide mechanism that slides the telescopic surface;
    a detection sensor consisting of a plurality of sensors provided on the rotation surface or the expansion and contraction surface;
    A control unit that controls the vertical lifting mechanism, the sliding mechanism, and the detection sensor,
    The vertical lifting mechanism and the sliding mechanism each include a drive conversion mechanism that converts the rotation of a motor into linear motion using a screw, and a drive conversion mechanism that normally transmits the linear motion to the inverted V-shaped link mechanism or the telescopic surface. A level difference removing machine comprising an emergency origin return mechanism that sometimes releases the transmission of the linear motion to the inverted V-shaped link mechanism or the telescopic surface and returns the level difference removing machine to a stored state.
11. The emergency origin return mechanism includes a columnar pusher having a semicircular recess that is perpendicular to the longitudinal direction, and a columnar pusher drive member that is orthogonal to the longitudinal direction of the pusher, and the pusher drive member partially has a semicircular cross section,
    By engaging the semicircular portion of the pusher drive member with the recess, the linear motion of the pusher drive member is transmitted to the inverted V-shaped link mechanism or the telescopic surface via the pusher, and 11. The level difference removing machine according to claim 10, wherein the pusher drive member is sometimes disengaged from the recess by rotating the pusher drive member.
12. A level difference eliminating machine that is buried in a platform and eliminates the gap and level difference between the platform and the train entrance,
    a rotation surface rotatably supported;
    a telescoping surface slidably attached to the rotating surface;
    a vertical lifting mechanism that lifts and lowers the rotating surface using an inverted V-shaped link mechanism;
    a slide mechanism that slides the telescopic surface;
    a detection sensor consisting of a plurality of sensors provided on the rotation surface or the expansion and contraction surface;
    A control unit that controls the vertical lifting mechanism, the sliding mechanism, and the detection sensor,
    The detection sensor includes an ultrasonic distance sensor, and the distance sensor has a temperature correction function.
13. A step eliminating device according to claim 1 or 12,
    There is a photo booth at the station ticket gate,
    an identification unit that identifies a user who is in a wheelchair or a stroller and needs a step-lift from the image captured by the imaging unit;
    a guidance unit that guides the identified user to an area where the step-eliminating device is located by voice and/or a display device.
14. A level difference eliminating machine that is buried in the platform and eliminates the gap and level difference between the platform and the train entrance;
    A photography department set up at the station ticket gate,
    an identification unit that identifies a user who is accompanied by a wheelchair or baby stroller and who requires a step remover from the image taken by the imaging unit;
    A user guidance assistance system, comprising: a guidance unit that guides the identified user to the placement area of the step remover using audio and/or display equipment,
    The step removing machine is
    a rotation surface rotatably supported;
    a telescopic surface slidably attached to the rotating surface;
    a vertical lifting mechanism that lifts and lowers the rotating surface using an inverted V-shaped link mechanism;
    a slide mechanism that slides the telescopic surface;
    a detection sensor consisting of a plurality of sensors provided on the rotation surface or the expansion and contraction surface;
    A user guidance and assistance system, comprising: a control unit that controls the vertical lifting mechanism, the sliding mechanism, and the detection sensor.
    
    

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