Title:
STATE MONITORING DEVICE, STATE ABNORMALITY DETERMINATION METHOD, AND STATE ABNORMALITY DETERMINATION PROGRAM
Document Type and Number:
WIPO Patent Application WO/2022/024946
Kind Code:
A1
Abstract:
This state monitoring device monitors the state of a robot which is capable of reproducing predetermined movements. A time series data acquisition unit acquires time series data for a state signal reflecting the state of the robot for the period of time from the timing of an acquisition start signal indicating the start of acquisition of the state signal until the timing of an acquisition end signal indicating the end of acquisition of the state signal. Time information indicating an acquisition period and reproduction identification information specifying a movement to be reproduced by the robot are associated and stored in the time series data. A dissimilarity calculation unit determines the dissimilarity between reference data based on the time series data acquired during at least one instance of operation and comparison data based on the time series data acquired during an operation subsequent to the time of acquisition of the time series data associated with the reference data. A robot state evaluation unit uses the dissimilarity as an evaluation value for evaluating the state of the robot.
Inventors:
KAWAI MAKOTO
NAGAHAMA YASUHIDE
NAGAHAMA YASUHIDE
Application Number:
PCT/JP2021/027426
Publication Date:
February 03, 2022
Filing Date:
July 21, 2021
Export Citation:
Assignee:
KAWASAKI HEAVY IND LTD (JP)
International Classes:
B25J19/06
Domestic Patent References:
| WO2013051101A1 | 2013-04-11 |
Foreign References:
| JP2020102001A | 2020-07-02 | |||
| JP2011059790A | 2011-03-24 | |||
| JP2016117148A | 2016-06-30 |
Attorney, Agent or Firm:
KATSURAGAWA, Naoki (JP)
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