WO2024062652A1 - Dispositif de réduction de différence de hauteur, plateforme, et système d'aide au guidage d'utilisateur - Google Patents

Dispositif de réduction de différence de hauteur, plateforme, et système d'aide au guidage d'utilisateur Download PDF

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Publication number
WO2024062652A1
WO2024062652A1 PCT/JP2023/009429 JP2023009429W WO2024062652A1 WO 2024062652 A1 WO2024062652 A1 WO 2024062652A1 JP 2023009429 W JP2023009429 W JP 2023009429W WO 2024062652 A1 WO2024062652 A1 WO 2024062652A1
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Prior art keywords
level difference
platform
vertical lifting
lifting mechanism
inverted
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PCT/JP2023/009429
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English (en)
Japanese (ja)
Inventor
強 加瀬部
浩明 福藤
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株式会社フォーステック
マシン・テクノロジー株式会社
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Priority claimed from JP2022150696A external-priority patent/JP7250295B1/ja
Priority claimed from JP2023020724A external-priority patent/JP2024115179A/ja
Priority claimed from JP2023020725A external-priority patent/JP2024115180A/ja
Priority claimed from JP2023020726A external-priority patent/JP2024115181A/ja
Application filed by 株式会社フォーステック, マシン・テクノロジー株式会社 filed Critical 株式会社フォーステック
Priority claimed from JP2023037824A external-priority patent/JP2024044978A/ja
Publication of WO2024062652A1 publication Critical patent/WO2024062652A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61B—RAILWAY SYSTEMS; EQUIPMENT THEREFOR NOT OTHERWISE PROVIDED FOR
    • B61B1/00—General arrangement of stations, platforms, or sidings; Railway networks; Rail vehicle marshalling systems
    • B61B1/02—General arrangement of stations and platforms including protection devices for the passengers
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F1/00—Construction of station or like platforms or refuge islands or like islands in traffic areas, e.g. intersection or filling-station islands; Kerbs specially adapted for islands in traffic areas

Definitions

  • the present invention relates to a step remover, a platform, and a user guidance and assistance system.
  • 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.
  • 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.
  • 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.
  • 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.
  • the second driving mechanism is provided in the door pocket.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • Patent Document 9 Japanese Unexamined Patent Publication No. 2021-0220764 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • Patent Document 6 requires a first connecting rod and a second connecting rod, and requires a large power driving device.
  • 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.
  • the technique of Patent Document 7 requires a large power drive device.
  • 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.
  • 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.
  • 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.
  • the edge of the step plate The problem is that the parts can only move a certain distance from the edge of the platform.
  • 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.
  • a step remover 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.
  • 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.
  • 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.
  • the number of rotations of the motor of the drive device can be reduced, making it possible to reduce costs.
  • 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.
  • the parts that serve as the points of action are connected, there is also the problem that the applied load becomes large.
  • 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.
  • 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.
  • 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.
  • 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.
  • the inverted V-shaped link mechanism of the level difference remover 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.
  • link ratio a ratio of the distance between the movable axis and the link axis to the distance between the fixed axis and the link axis
  • 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.
  • 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.
  • a level difference eliminating machine 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.
  • a level difference eliminating machine 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.
  • a trapezoidal screw or a ball screw may be used as the driving section of the vertical lifting mechanism and/or the sliding mechanism.
  • the level difference eliminating machine can be driven without causing abnormal wear.
  • a trapezoidal screw of size TM20 the driving section can be driven reliably.
  • 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.
  • a plurality of level difference removers according to one aspect are buried in parallel.
  • 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.
  • 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.
  • 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.
  • the failure prediction unit of the step-eliminating device 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.
  • a level difference eliminating machine 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.
  • 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.
  • a level difference eliminating machine 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
  • the temporal change in torque value Y is a linear function
  • 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.
  • LSTM Long Short Term Memory
  • RNN Recurrent Neural Network
  • a step-eliminating device 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
  • 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.
  • the level difference eliminating machine 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.
  • 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.
  • 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.
  • 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.
  • a level difference eliminating machine 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.
  • the user guidance and assistance system 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
  • the user guidance and assistance system 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.
  • 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
  • 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.
  • LSTM may also be used to predict temporal changes in torque values.
  • 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.
  • 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.
  • 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.
  • the predetermined value of the average value is -5% to 5% of the initial average value
  • the predetermined value of the standard deviation is -10% to 10% of the initial standard deviation 1 ⁇ . 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.
  • 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
  • FIG. 3 is a schematic diagram showing an example of a mechanism model of a link mechanism.
  • 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
  • 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
  • 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
  • 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.
  • 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
  • Fig. 1(b) is a schematic side view of the platform 200.
  • a recess G200 is formed in a part of the platform 200, and three level difference removers 100 are arranged in parallel.
  • the level difference remover 100 is fixed to the recess G200 with an anchor bolt (not shown).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • problems such as scratches on the train body have occurred, which has led to damage to the level difference remover 100 and the like.
  • 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.
  • 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.
  • the two drive units 540 are composed of motors.
  • the slide drive section 550 is composed of a motor.
  • 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.
  • 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
  • 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
  • FIG. FIG. 2 is a schematic diagram showing an example of a second stage driving state of the level difference removing machine 100.
  • the level difference removing machine 100 has a rotating surface 110 and an upper surface 130 arranged horizontally.
  • 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.
  • the influence of rainwater etc. can be suppressed by the total height of the groove G10 and the leg portion 195 shown in FIG.
  • the frame 190 is shown separated in FIG. 3, the frame 190 is not limited to this, and may be formed as one piece.
  • 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.
  • the rotation angle is preferably from 1 degree to 15 degrees, and the maximum rotation angle in this embodiment is 8 degrees.
  • 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.
  • the slide drive unit 550 operates, and the expandable surface 120 extends toward the train entrance, that is, in the direction of arrow S10.
  • 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.
  • the step removal machine 100 performs a storage operation.
  • the level difference eliminating machine 100 has the advantage that it has a simple structure and can easily ensure strength due to the extension operation and rotation operation.
  • 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.
  • FIG. 6 is a schematic diagram showing an example of details of the inverted V-shaped link mechanism 300
  • FIG. 7 is a schematic diagram showing an example of a mechanical model of the inverted V-shaped link mechanism 300.
  • 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.
  • the rotation surface 110 is approximately parallel to the frame 190 (recess G200).
  • the pusher 565 advances in the direction of the inverted V-shaped link mechanism 300.
  • the link shaft 325 moves upward.
  • 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.
  • 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
  • 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.
  • link height h is assumed to be h.
  • the angle from the vertical direction of the straight line connecting the fixed shaft 315 and the link shaft 325 is ⁇ 1
  • the angle from the vertical direction of the straight line connecting the movable shaft 335 and the link shaft 325 is ⁇ 2.
  • the distance Ln when the drive unit 540 does not operate and the rotation surface 110 is horizontal is set as Ln1
  • the link height h is set as h1.
  • the distance Ln'(Ln1>Ln') between the fixed shaft 315 and the movable shaft 335 is h2 (h2>h1).
  • the fixed shaft 315 becomes the fulcrum
  • the link shaft 325 becomes the point of action
  • the movable shaft 335 becomes the point of effort.
  • 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.
  • 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.
  • the magnitude of dead weight load F0 is 350.4 kg.
  • 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.
  • 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).
  • the area on the lower left side of each line is the safe area.
  • 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.
  • FIG. 8 also shows the relationship between the link height h and the allowable sliding speed V.
  • 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.
  • 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.
  • 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
  • Ln1 the link height
  • 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
  • the initial length Ln1 is
  • the horizontal stroke St is calculated by assuming the height when the link height is maximum (corresponding to Fig. 7(b)) as h2. becomes.
  • FIG. 11 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.
  • 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.
  • the level difference remover 100 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.
  • 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.
  • the control unit 500 of the level difference remover 100 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 15 is a flowchart showing an example of control by the control unit 500.
  • control unit 500 acquires train information and the like based on information from the recording unit 510 (step S1).
  • the control unit 500 acquires platform door information such as whether the platform door is driven (step S2).
  • the control unit 500 obtains sensor detection from the contact sensor 520 and/or the distance sensor 530 (step S3).
  • 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.
  • control unit 500 starts driving the drive unit 540 (step S4).
  • control unit 500 drives the slide drive unit 550 to start sliding (step S5).
  • 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.
  • control unit 500 drives the drive unit 540 to house the level difference eliminating machine 100 (step S7).
  • FIG. 16 is a schematic explanatory diagram showing an example of a maintenance rotation mechanism of the level difference eliminating machine 100.
  • 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.
  • 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.
  • the large rotation of the rotating surface 110 makes it easier to carry out maintenance and the like.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • TBM Time Based Maintenance
  • CBM Consumer Based Maintenance
  • 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.
  • 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.
  • 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).
  • 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.
  • 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%.
  • the torque increases rapidly from around the time when it exceeds 170, but until then, the torque increases linearly with respect to time.
  • torque does not always increase linearly.
  • the torque may increase quadratically or exponentially.
  • 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.
  • LSTM Long Short Term Memory
  • RNN Recurrent Neural Network
  • 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
  • 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.
  • 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.
  • 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.
  • a torque sensor 575 is also added to the rotating shaft 545a of the slide mechanism.
  • 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 is performed based on time-series torque values measured by the torque sensor 575.
  • the control gain of the vertical lifting mechanism or sliding mechanism is relatively low, the temporal change in torque value
  • a sign of failure may appear in the change in the measured value of the distance sensor over time.
  • 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.
  • 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.
  • 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.
  • preventive maintenance such as supplying lubricating oil, replacing parts, cleaning the detection sensor, and cleaning the lens.
  • 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.
  • 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.
  • 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.
  • the level difference removing machine 100 or 100a of the first embodiment is equipped with a slide mechanism that slides the telescopic surface 120
  • the level difference removing machine 100c of the third embodiment is equipped with the telescopic surface 120 and a sliding mechanism.
  • 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.
  • 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
  • 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.
  • an emergency return-to-origin mechanism 560 is added to Fig.
  • 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.
  • 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.
  • 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.
  • the pusher drive member 562 is cylindrical and passes through the frames 548a and 548b, and is capable of rotation.
  • 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).
  • 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.
  • 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)).
  • 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.
  • the level difference remover 100c returns to the stored state (see FIG. 25(c)).
  • 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.
  • HRC Rockwell C scale hardness
  • 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.
  • the work of station staff can be reduced and passengers can be provided with appropriate services.
  • great effects can be obtained at stations with a large number of passengers or at major stations.
  • an authentication algorithm that makes a comprehensive judgment is generated to determine the maintenance time. or provide guidance services.
  • 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”
  • 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”
  • 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”
  • 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”
  • the drive conversion mechanism 547 corresponds to a “maintenance rotating 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”
  • the mechanism 560 corresponds to an "emergency home return mechanism”
  • the pusher 565 corresponds to a "pusher”
  • the pusher drive member 562 corresponds to a "pusher drive member.”

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  • Train Traffic Observation, Control, And Security (AREA)

Abstract

Le problème décrit par la présente invention est de fournir un dispositif de réduction de différence de hauteur, une plateforme, et un système d'aide au guidage d'utilisateur avec une fonction de prédiction de défaillance précise qui peut être utilisée pour une maintenance basée sur l'état. La solution selon l'invention porte sur un dispositif de réduction de différence de hauteur 100 qui est intégré dans une plateforme 200 pour réduire l'espace et la différence de hauteur entre une entrée de train et la plateforme 200 et comprend une surface pivotante supportée de manière pivotante 110, un mécanisme de levage vertical qui élève et abaisse la surface pivotante 110 par un mécanisme de liaison en forme de V inversé 300, un capteur de détection comprenant une pluralité de capteurs disposés sur la surface pivotante 110 ou une surface extensible 120, une unité de commande 500 qui commande le mécanisme de levage vertical et le capteur de détection et une unité de prédiction de défaillance 570 qui prédit une défaillance du mécanisme de levage vertical.
PCT/JP2023/009429 2022-09-21 2023-03-10 Dispositif de réduction de différence de hauteur, plateforme, et système d'aide au guidage d'utilisateur WO2024062652A1 (fr)

Applications Claiming Priority (10)

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JP2022150696A JP7250295B1 (ja) 2022-09-21 2022-09-21 段差解消機およびプラットホーム
JP2022-150696 2022-09-21
JP2023020724A JP2024115179A (ja) 2023-02-14 2023-02-14 段差解消機およびプラットホーム
JP2023-020724 2023-02-14
JP2023020725A JP2024115180A (ja) 2023-02-14 2023-02-14 段差解消機
JP2023-020725 2023-02-14
JP2023-020726 2023-02-14
JP2023020726A JP2024115181A (ja) 2023-02-14 2023-02-14 段差解消機
JP2023037824A JP2024044978A (ja) 2022-09-21 2023-03-10 段差解消機および利用者誘導介助システム
JP2023-037824 2023-03-10

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JPH0920235A (ja) * 1995-07-05 1997-01-21 East Japan Railway Co 列車乗降補助装置
JP2003200823A (ja) * 2001-12-28 2003-07-15 Shigekatsu Hanai 電車等の車椅子乗降補助装置
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KR101937137B1 (ko) * 2018-04-26 2019-01-11 (주)에이.티.아이 슬라이딩 인출 구조를 갖는 지하철 승강장용 안전발판
KR102000692B1 (ko) * 2019-02-25 2019-07-17 주식회사 씨디에이 비상시 안전발판의 강제 접힘을 가능하게 하는 승강장의 전동차 안전발판장치
JP2020131688A (ja) * 2019-02-26 2020-08-31 株式会社日本製鋼所 成形機の異常検出方法および成形機
JP2021022074A (ja) * 2019-07-25 2021-02-18 ファナック株式会社 故障予測システム
JP2021041827A (ja) * 2019-09-11 2021-03-18 西日本旅客鉄道株式会社 隙間段差低減システム
JP2021179802A (ja) * 2020-05-13 2021-11-18 日本信号株式会社 乗降支援案内システム

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0920235A (ja) * 1995-07-05 1997-01-21 East Japan Railway Co 列車乗降補助装置
JP2003200823A (ja) * 2001-12-28 2003-07-15 Shigekatsu Hanai 電車等の車椅子乗降補助装置
JP2005225310A (ja) * 2004-02-12 2005-08-25 Mitsubishi Heavy Ind Ltd 車両とホームの隙間調整装置
JP2008071181A (ja) * 2006-09-14 2008-03-27 Toshiba Corp 券売機、改札機、及び、駅務システム
JP2012185145A (ja) * 2011-02-15 2012-09-27 Shikoku Res Inst Inc 測定装置
JP2014045610A (ja) * 2012-08-28 2014-03-13 Chugoku Electric Power Co Inc:The 送電線着氷雪監視システム及び送電線着氷雪監視装置
KR101427712B1 (ko) * 2013-02-08 2014-08-08 현대엔지니어링 주식회사 승객 안전 차단 시스템을 구비한 대중 교통 시스템용 정거장의 승강 시설물
KR101937137B1 (ko) * 2018-04-26 2019-01-11 (주)에이.티.아이 슬라이딩 인출 구조를 갖는 지하철 승강장용 안전발판
KR102000692B1 (ko) * 2019-02-25 2019-07-17 주식회사 씨디에이 비상시 안전발판의 강제 접힘을 가능하게 하는 승강장의 전동차 안전발판장치
JP2020131688A (ja) * 2019-02-26 2020-08-31 株式会社日本製鋼所 成形機の異常検出方法および成形機
JP2021022074A (ja) * 2019-07-25 2021-02-18 ファナック株式会社 故障予測システム
JP2021041827A (ja) * 2019-09-11 2021-03-18 西日本旅客鉄道株式会社 隙間段差低減システム
JP2021179802A (ja) * 2020-05-13 2021-11-18 日本信号株式会社 乗降支援案内システム

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