Title:
ROBOT MALFUNCTION SIGN DETECTION DEVICE AND ROBOT MALFUNCTION SIGN DETECTION METHOD
Document Type and Number:
WIPO Patent Application WO/2022/210072
Kind Code:
A1
Abstract:
In this robot malfunction sign detection device, a behavioral time series data acquisition unit performs a process for acquiring behavioral time series data about a motor of a joint of the robot, from a robot motion, every data collection unit period. An evaluation value calculation unit calculates an evaluation value for the behavioral time series data. A representative evaluation value generation unit generates a representative evaluation value representing the evaluation value every data collection unit period. A sequence processing unit generates a sequence composed of representative evaluation values. A determination unit creates a determination model on the basis of an initial sequence, at an initial stage of operation of the robot. The determination unit, after the initial stage of operation, inputs determination data including data based on a robot motion after the initial stage of operation into the determination model to acquire the specificity of the determination data.
Inventors:
KAWAI MAKOTO
NAGAHAMA YASUHIDE
NAGAHAMA YASUHIDE
Application Number:
PCT/JP2022/013021
Publication Date:
October 06, 2022
Filing Date:
March 22, 2022
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J19/06; G01M99/00; G05B23/02
Domestic Patent References:
| WO2020031225A1 | 2020-02-13 |
Foreign References:
| JP2020102001A | 2020-07-02 | |||
| JP2021022290A | 2021-02-18 | |||
| JP2011059790A | 2011-03-24 |
Attorney, Agent or Firm:
KATSURAGAWA, Naoki (JP)
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