JP7275546B2 - Abnormality display device and abnormality display method - Google Patents

Description

The present invention relates to an abnormality display device and an abnormality display method for displaying an abnormality of an apparatus.

Patent Literature 1 describes detection of signals output from each device mounted on a semiconductor manufacturing apparatus, and based on the detected signals, determination results of abnormalities, a list of contribution rates by eigenvalues, and plotting of signals in feature space. and plot legends of signals, and displaying characteristic waveforms on a display or the like. The operator can see these displays to confirm the occurrence of an abnormality and the characteristics of the waveform included in the signal at that time.

JP 2013-138121 A

However, in the conventional technology disclosed in Patent Document 1, the data indicating the state of the device and the analysis result of the abnormality are not displayed in association with each other. In addition, Patent Document 1 does not describe correspondence between data that fluctuates over time and analysis results of anomalies. However, after a long period of time, the update erases the signal associated with the anomaly detection. Therefore, there is a problem that the operator cannot intuitively recognize the relationship between the data indicating the state of the apparatus and the analysis result of the abnormality.

The present invention has been made to solve such conventional problems, and the purpose thereof is to provide an operator with information indicating the relationship between the data indicating the state of the apparatus and the analysis result of the abnormalities of this data. To provide an abnormality display device and an abnormality display method capable of intuitively recognizing

In order to achieve the above object, the present invention provides time-series data consisting of time-series state data indicating the state of an apparatus, an acquisition unit for acquiring a feature value as an index for determining an abnormality, the time-series data, and and a display control unit for simultaneously displaying the feature amount on the display unit. The display control unit associates and displays the abnormality signal of the feature amount with the state data when the abnormality occurs in the time-series data, and stops the display of the feature amount when predetermined operation information is input. Further, the display control unit displays the time-series data in the predetermined display period, updates the time-series data in the predetermined display period as time elapses, does not input the predetermined operation information, and displays the time-series data in the predetermined display period. When the occurrence time of an abnormality is no longer included in the predetermined display period due to updating of the time-series data of the display period, the predetermined display period is changed so that the occurrence time of the abnormality is included in the predetermined display period.

According to the present invention, the operator can intuitively recognize the relationship between the data indicating the state of the apparatus and the analysis result of the abnormality of this data.

FIG. 1 is a block diagram showing the configuration of an abnormality display device and its peripherals according to an embodiment of the present invention. FIG. 2A is an explanatory diagram showing an abnormality in the acceleration of the speed reducer, in which (a) is the acceleration detected by the sensor, (b) is the normal frequency spectrum, and (c) is the frequency spectrum calculated based on the acceleration. , (d) denotes the residual sum of squares. FIG. 2B is an explanatory diagram showing an abnormality in the disturbance torque of the speed reducer, in which (a) is the disturbance torque, (b) is the probability density distribution during normal operation, and (c) is the probability density distribution calculated based on the disturbance torque. , (d) indicates the probability density ratio. FIG. 3A is an explanatory diagram showing a display example of an image displayed on the display unit when no abnormality has occurred in the working robot. FIG. 3B is an explanatory diagram showing a display example of an image displayed on the display unit when an abnormality has occurred in the work robot. FIG. 4A is an explanatory diagram showing a display example of an image displayed on the display unit when an abnormality in disturbance torque has occurred in the work robot, and shows an image displayed immediately after the occurrence of the abnormality. FIG. 4B is an explanatory diagram showing a display example of an image displayed on the display unit when an abnormality of the disturbance torque has occurred in the work robot, and is displayed after some time has passed since the occurrence of the abnormality. Show the image. FIG. 4C is an explanatory view showing a display example of an image displayed on the display unit when an abnormality of the disturbance torque has occurred in the work robot, which is displayed immediately before the time T2 has passed after the occurrence of the abnormality. shows an image that FIG. 4D is an explanatory diagram showing a display example of an image displayed on the display unit when a disturbance torque abnormality occurs in the work robot, and time T21 (>T2) has elapsed since the abnormality occurred. Shows the image that appears when FIG. 4E is an explanatory diagram showing a display example of an image displayed on the display unit when a disturbance torque abnormality occurs in the working robot, and time T22 (>T21) has elapsed since the abnormality occurred. Shows the image that appears when FIG. 4F is an explanatory view showing a display example of an image displayed on the display unit when an abnormality in disturbance torque has occurred in the work robot. Shows the image that appears when FIG. 5 is a flow chart showing processing procedures by the abnormality display device and the abnormality detection unit according to the first embodiment of the present invention. FIG. 6 is an explanatory diagram showing an example in which images showing abnormalities with high importance are displayed large and images showing abnormalities with low importance are displayed small, according to the second embodiment of the present invention. FIG. 7A is the first part of the flowchart showing the processing procedure by the abnormality display device and the abnormality detection unit according to the second embodiment of the present invention. FIG. 7B is a second part of the flowchart showing the processing procedure by the abnormality display device and the abnormality detection unit according to the second embodiment of the present invention. FIG. 8A is an explanatory diagram showing an example of grouping and displaying images showing abnormalities that have occurred at sites close to each other, according to the third embodiment of the present invention. FIG. 8B is an explanatory diagram showing an example of grouping and displaying images showing abnormalities of the same function according to the third embodiment of the present invention. FIG. 9A is the first part of the flowchart showing the processing procedure by the abnormality display device and the abnormality detection unit according to the third embodiment of the present invention. FIG. 9B is a second part of the flowchart showing the processing procedure by the abnormality display device and the abnormality detection unit according to the third embodiment of the present invention. FIG. 10 is an explanatory diagram showing the configuration of a working robot whose abnormality is to be detected.

Embodiments will be described with reference to the drawings. In the description of the drawings, the same parts are denoted by the same reference numerals, and the description thereof is omitted.
The abnormality display device according to the embodiment is a device that detects an abnormality occurring in a device that performs a predetermined work and displays the detection result. ) is displayed when an error occurs. Before explaining the abnormality display device, the working robot 200 that is subject to the occurrence of an abnormality will be described with reference to FIG.

[Explanation of working robot]
As shown in FIG. 10, the work robot 200 includes a plurality of (three are shown in the figure) motor drive systems as joint axes 201 that are motion axes. The working robot 200 is driven by a servomotor 221 (abbreviated as motor) via a speed reducer 222 . The motor 221 is attached with a pulse coder (pulse generator or encoder) for detecting the rotational angular position and rotational speed. Various tools can be exchangeably attached to the tip of the robot arm via a changer. Examples of tools include spot welders and laser welders as working parts for welding, and work hands as working parts for gripping work objects. Therefore, in this case, the "predetermined work" is the welding work and the gripping work.

A sensor 223 that detects acceleration is arranged at a portion near the speed reducer 222 . The sensor 223 samples the acceleration representing the vibration of the part where the sensor 223 is arranged at a predetermined sampling period. Sampled acceleration is an example of state data indicating the state of the device. Acceleration data is output to the data input unit 1 shown in FIG.

The work robot 200 is controlled by a robot control section (not shown) so as to perform a predetermined work. The robot control unit is composed of a general-purpose microcontroller having a CPU (central processing unit), memory, and input/output unit. The robot control unit stores and outputs the magnitude, time, timing, etc. of the current flowing through the motor during operation so that the work robot 200 performs a predetermined work, and controls the motor 221 . The robot controller rotates (moves) the motor 221 according to the command values of the rotation speed and torque. As the motor 221 moves, the speed reducer 222 also moves. Then, the robot control unit calculates the disturbance torque from the current flowing through the motor 221 . The disturbance torque is the difference between the torque value of the motor 221 and the control value of the motor 221 . The disturbance torque is an example of state data indicating the state of the device. The disturbance torque is output to the data input section 1 shown in FIG. The abnormality display device 101 is connected to the working robot 200 through a wired or wireless communication line. The abnormality display device 101 may be placed in the same site or facility as the working robot 200 , or may be placed in a remote location away from the working robot 200 .

Note that data indicating the state of the device, such as acceleration and disturbance torque, is hereinafter referred to as "state data". State data output from the work robot 200, which is an example of a device that performs a predetermined work, is not limited to acceleration and disturbance torque. In addition, all signals that indicate the state of the working device, such as the value of the current flowing through the motor, and that are useful for determining an abnormality are included.

[Description of the first embodiment]
The configurations of the abnormality display device and its peripheral devices according to the first embodiment will be described with reference to FIG. A data input section 1 is connected to the working robot 200 shown in FIG. The abnormality detection unit 2 is connected to the storage unit 3 and the abnormality display device 101 .

State data output from the working robot 200 is input to the data input unit 1 . As the state data, the acceleration detected by the sensor 223 provided in the work robot 200 and the disturbance torque calculated by the robot control unit can be mentioned as described above. The data input section 1 also outputs the status data to the abnormality detection section 2 and the abnormality display device 101 .

The storage unit 3 stores state data such as acceleration and disturbance torque for each of a plurality of driving systems mounted on the working robot 200 when the working robot 200 is operating normally, and state data for a predetermined period. At least one of time series data consisting of time series, frequency spectrum calculated from the time series data, or probability density distribution (hereinafter referred to as "characteristic value") is stored.

For example, if the state data is the acceleration occurring in the reducer, the acceleration data, the acceleration time-series data (see q1 in FIG. 2A(a)), and the acceleration time-series data during normal operation of the work robot 200 At least one of the frequency spectrum (see q2 in FIG. 2A(b)) calculated from is stored in the storage unit 3 .
When the state data is the disturbance torque of the reduction gear, the disturbance torque, the time-series data of the disturbance torque (see q5 in FIG. 2B(a)), and the time At least one of the probability density distribution (see q6 in FIG. 2B) calculated from the series data is stored in the storage unit 3 .

The above-described state data (acceleration, disturbance torque), time-series data, and characteristic values (frequency spectrum, probability density distribution) during normal operation are, for example, acceleration in each drive system during normal operation of the work robot 200, and The disturbance torque can be obtained and pre-calculated from these data.

Based on at least one of the state data input by the data input unit 1 and the state data, time-series data, and characteristic values during normal operation stored in the storage unit 3, the abnormality detection unit 2 Then, the abnormality of the working robot 200 is determined at any time or at an appropriate timing.
For example, when state data (acceleration, disturbance torque) of each movable part is input from the data input unit 1, the abnormality detection unit 2 detects characteristic values (frequency spectrum, probability density distribution) is calculated, and the calculated characteristic value is compared with the characteristic value during normal operation to detect an abnormality of the work robot 200 by an abnormality detection method to be described later. Furthermore, the abnormality detection unit 2 outputs the abnormality detection result to the abnormality display device 101 . The abnormality detection section 2 can be implemented using a microcomputer having a CPU (Central Processing Unit), a memory, and an input/output section.

(Description of anomaly detection method by the anomaly detector 2)
Next, the abnormality detection unit 2 detects an abnormality occurring in the working robot 200 based on state data such as the acceleration of the reduction gear detected by the sensor mounted on the working robot 200 or the disturbance torque of the reduction gear. A method for doing so will now be described with reference to two examples shown in FIGS. 2A and 2B.

FIG. 2A is an explanatory diagram showing a procedure for judging abnormal acceleration of an arbitrary speed reducer (this is referred to as a speed reducer Mp1) provided in the working robot 200. FIG. FIG. 2A (a) shows time-series data of acceleration (state data) detected by the sensor, (b) shows the frequency spectrum (characteristic value) during normal operation stored in the storage unit 3, and (c ) shows the frequency spectrum (characteristic value) calculated by frequency analysis of the time-series data shown in (a), and (d) shows each frequency spectrum shown in FIGS. 2A (b) and (c) Residual sum of squares (feature quantity) is shown.

As shown in FIG. 2A(a), the abnormality detection unit 2 detects the acceleration of the speed reducer Mp1 in a time period preceding the current time t0 by a predetermined period T1 (predetermined display period) (that is, the most recent predetermined period T1). Get data. For example, acceleration data q1 shown in FIG. 2A(a) is obtained. The acceleration data q1 within the predetermined period T1 is updated as time passes. Therefore, the acceleration data q1 in the most recent predetermined period T1 can always be obtained.

Then, the abnormality detection unit 2 reads from the storage unit 3 the data of the frequency spectrum q2 of the acceleration during normal operation of the speed reducer Mp1 (see FIG. 2A(b)). When acceleration data during normal operation or time-series data of acceleration is stored in the storage unit 3, this data is frequency-analyzed by a method such as FFT (fast Fourier transform) to determine the acceleration during normal operation. may be the frequency spectrum of
Furthermore, the abnormality detection unit 2 performs frequency analysis of the acceleration data q1 within the predetermined period T1 by FFT or the like to calculate a frequency spectrum q3 (see FIG. 2A(c)).

The abnormality detection unit 2 calculates the frequency spectrum q3 calculated from the time-series data and the residual sum of squares q4 of the frequency spectrum q2 during normal operation as an example of the feature amount (see FIG. 2A (d)), and calculates the calculated residual It is determined whether or not the sum of squared differences q4 exceeds a preset first threshold Qth1. As is well known, the "residual sum of squares" is the sum of squares of differences between the frequency spectrum q3 shown in FIG. 2A(c) and the frequency spectrum q2 shown in FIG. 2A(b). When the residual sum of squares q4 shown in FIG. 2A exceeds the first threshold value Qth1, it is determined that the acceleration occurring in the speed reducer Mp1 is abnormal. That is, the "residual sum of squares" is a feature amount calculated from time-series data, and is an example of a feature amount that serves as an index for determining abnormality. In the example shown in FIG. 2A(d), the waveform a1 exceeds the first threshold Qth1. That is, the waveform a1 is an example of an "abnormal signal" which is a part of the residual sum of squares (feature quantity) that indicates the occurrence of an abnormality.

FIG. 2B is an explanatory diagram showing a procedure for judging abnormality of disturbance torque of an arbitrary speed reducer provided in the working robot 200 (this will be referred to as speed reducer Mp2). FIG. 2B (a) shows the disturbance torque of the speed reducer Mp2, (b) shows the probability density distribution (characteristic value) during normal operation of the working robot 200 stored in the storage unit 3, and (c) shows ( (a) shows the probability density distribution calculated based on the time-series data of the disturbance torque shown, (d) shows the probability density ratio (characteristic value ).

As shown in FIG. 2B(a), the abnormality detection unit 2 detects the disturbance torque of the speed reducer Mp2 in a time period preceding the current time t0 by a predetermined period T2 (predetermined display period) (that is, the most recent period T2). to get For example, the disturbance torque q5 shown in FIG. 2B(a) is obtained. The disturbance torque q5 for the predetermined period T2 is updated as time elapses. Therefore, the time-series data of the disturbance torque q5 in the most recent predetermined period T2 can always be obtained.

Then, the abnormality detection unit 2 reads from the storage unit 3 data of the probability density distribution q6 (see FIG. 2B(b)), which is the probability density distribution of the disturbance torque during normal operation of the speed reducer Mp2. If the storage unit 3 stores disturbance torque data during normal operation or time-series data of the disturbance torque, the probability density distribution q6 during normal operation may be calculated based on these data. good.
Furthermore, the abnormality detection unit 2 calculates a probability density distribution q7 using a well-known calculation method based on the time-series data of the disturbance torque q5 measured within the predetermined period T2 (see FIG. 2B(c)).

The abnormality detection unit 2 uses the ratio of the probability density distribution q6 during normal operation and the probability density distribution q7 (characteristic value) calculated based on the time-series data of the disturbance torque q5 as another example of the feature quantity. A density ratio q8 is calculated (see FIG. 2B(d)), and it is determined whether or not the calculated probability density ratio q8 exceeds a preset second threshold Qth2.
The higher the degree of matching between the probability density distribution shown in FIG. 2B(c) and the probability density distribution shown in FIG. 2B(b), the smaller the probability density ratio. Conversely, the lower the degree of matching, the larger the probability density ratio. When the probability density ratio q8 shown in FIG. 2B(d) exceeds the second threshold value Qth2, it is determined that the disturbance torque is abnormal in the speed reducer Mp2. In the example shown in FIG. 2B(d), the waveforms a2 and a3 exceed the second threshold Qth2. That is, the waveforms a2 and a3 are an example of an "abnormal signal" that indicates the occurrence of an abnormality in the probability density ratio (feature quantity). Note that the above-described first threshold Qth1 and second threshold Qth2 can also be set and adjusted in advance using machine learning or the like.

As described above, the "feature amount" is calculated from characteristic values (frequency spectrum, probability density distribution) calculated from time-series data consisting of time-series state data, and determines an abnormality occurring in the work robot 200. is an indicator. In the example shown in FIG. 2A described above, an example has been described in which the "acceleration of the speed reducer" is used as the state data and the "residual sum of squares" is used as the feature amount. Also, in the example shown in FIG. 2B, an example has been described in which the "disturbance torque of the reduction gear" is used as the state data and the "probability density ratio" is used as the feature amount. However, the present invention is not limited to this.

Returning to FIG. 1 , the abnormality display device 101 includes a data acquisition section 21 (acquisition section) and a display control section 22 . The abnormality display device 101 is connected to the abnormality detection unit 2 via a wired or wireless communication line. The error display device 101 may be placed in the same production site as the work robot 200, or may be placed in a remote location outside the production site. Moreover, it may be arranged at a place away from the abnormality detection section 2 .

The data acquisition unit 21 acquires, from the data input unit 1, time series data consisting of time series of state data (for example, acceleration, disturbance torque) indicating the state of the working robot 200 (apparatus). Further, data of characteristic values (frequency spectrum, probability density distribution) calculated by the abnormality detection unit 2 described above, data of feature amounts (residual sum of squares, probability density ratio), and normality data stored in the storage unit 3 Acquire state data, time-series data, and characteristic value data during operation.

The display control unit 22 performs control to display data related to the abnormality on the display unit 4 when the abnormality detection unit 2 detects an abnormality in the work robot 200 . Specifically, time-series data consisting of time-series state data (for example, acceleration, disturbance torque) indicating the state of the work robot 200 (apparatus), and feature amounts ( For example, the residual sum of squares and the probability density ratio) are simultaneously displayed on the display unit 4 .

At this time, as will be described later, control is performed to change the display form so that the time-series data and the feature amount displayed on the display unit 4 can be easily viewed by the user (operator). Further, control is performed to change the display mode according to the importance of the abnormality occurring in the work robot 200 .

The display unit 4 can use, for example, a user interface (UI) integrated with an operation unit that can be operated by the user. As an example of the user interface, a tablet-type terminal device having a touch-panel display can be used.

The display control unit 22 described above can be realized using a microcomputer including a CPU (central processing unit), which is an example of a controller, a memory (main storage unit), and an input/output unit. A computer program (display control program) for causing the microcomputer to function as the display control unit 22 is installed in the microcomputer and executed. Thereby, the CPU of the microcomputer functions as an information processing section included in the display control section 22 . Here, an example in which the display control unit 22 is realized by software is shown, but of course, it is possible to configure the display control unit 22 by preparing dedicated hardware for executing each information processing. . Specialized hardware includes devices such as application specific integrated circuits (ASICs) and conventional circuitry arranged to perform the functions described in the embodiments. The display control unit 22 is connected to an auxiliary storage device (storage unit 3) such as a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, etc., and the display unit 4 through a wired or wireless communication line.

(Description of display example)
Next, display examples in which various data are displayed on the display unit 4 under the control of the display control unit 22 will be described with reference to FIGS. 3A, 3B, and 4A to 4F. In this embodiment, an example in which a touch panel type display device is adopted as the display unit 4 will be described. A touch panel is an electronic component that combines a display device such as a liquid crystal panel and a position input device such as a touch pad, and has a display function and an input function by pressing the display on the screen. That is, the display unit 4 also functions as an operation unit for performing input operations to the display control unit 22 .

As shown in FIGS. 3A and 3B, the display screen D of the display unit 4 has an ID display area D1, a data display area D2, a message display area D3, and a determination result display area D4. Furthermore, icons of operation switches F1 to F6 for various operation inputs are set.

The ID display area D1 is an area for displaying data unique to the working robot such as the ID of the working robot 200 and data such as the date on which the work is being performed.
The data display area D2 is an area for displaying various types of information related to the working robot 200, as will be described later.

The message display area D3 is an area for displaying information regarding the operation of the working robot 200. FIG. For example, the content of the work (welding, pressing, etc.) currently being performed by the work robot 200 is displayed.

The determination result display area D4 displays details of related data such as the cause of an abnormality that has occurred in the work robot 200. FIG.

The operation switches F1 to F6 are icons that can be operated by the operator to perform desired input operations.

An example of display when the work robot 200 is operating normally (example of display when normal), an example of display when an error occurs in the work robot 200 (example of display when an error occurs), and an occurrence of an error will be described below. A display example after a predetermined period of time has passed (a display example after the predetermined period of time has passed) will be described later in detail.

<Example of normal display>
FIG. 3A is an explanatory diagram showing a display example of an image displayed on the display screen D when the work robot 200 is operating normally (when no abnormality has occurred). When the working robot 200 is operating normally, the data display area D2 displays time-series data indicating state data within the most recent predetermined period. FIG. 3A shows an example of displaying time-series data of acceleration, which is an example of state data.

As another display example, time-series data of disturbance torque, which is an example of state data, may be displayed. Alternatively, time-series data of either or both of the acceleration and the disturbance torque may be displayed by pressing a display selection switch set to one of the operation switches F1 to F6. For example, the operation switch F1 may be set as an icon for setting "disturbance torque display", and the acceleration display may be switched to the disturbance torque display when the operation switch F1 is operated.
Therefore, the user can confirm in real time the acceleration of each speed reducer mounted on the working robot 200 or the change in the disturbance torque. In this embodiment, an example of displaying time-series data for the most recent predetermined period will be described. It is a concept that includes a certain period of time.

<Display example when an error occurs>
FIG. 3B is an explanatory diagram showing a display example of an image displayed on the display screen D of the display unit 4 when an abnormality occurs in the working robot 200. As shown in FIG. When an abnormality occurs in the acceleration of the reducer mounted on the work robot 200 or when an abnormality occurs in the disturbance torque of the reducer, various data related to the abnormality are displayed in the data display area D2 and the judgment result display area D4. information is displayed. FIG. 3B shows, as an example, a display example when an abnormality has occurred in the acceleration of the speed reducer Mp1 and an abnormality has occurred in the disturbance torque of the speed reducer Mp2.

In the data display area D2 shown in FIG. 3B, time-series data of the acceleration data q1 (state data) of the speed reducer Mp1 mounted on the work robot 200 during the predetermined period T1 is shown as shown in FIG. 2A. A graph is displayed. Furthermore, a graph showing the residual sum of squares q4 (feature quantity) between the frequency spectrum obtained by frequency-analyzing the acceleration data within the predetermined period T1 by a technique such as FFT and the frequency spectrum obtained by frequency-analyzing the acceleration data during normal operation is shown. Is displayed. At this time, both graphs (q1 and q4) are associated and displayed.

Specifically, as indicated by symbol z2 in FIG. 3B, the waveform a1 in the graph of the residual sum of squares q4 (feature quantity) exceeds the first threshold value Qth1, and this waveform a1 indicates an abnormality in the speed reducer Mp1. Abnormal signal. In this case, an arrow y1 is displayed that associates the abnormal signal a1 with the time period x1 including the occurrence time of the abnormal signal in the time-series data indicating the acceleration data q1 indicated by symbol z1.

Further, in the data display area D2, as shown in FIG. 2B described above, a graph showing time-series data of the disturbance torque q5 (state data) of the speed reducer Mp2 mounted on the work robot 200 within the predetermined period T2. is displayed. Also, a graph showing a probability density ratio q8, which is the ratio between the probability density distribution calculated from the detected disturbance torque and the probability density distribution in the normal state, is displayed in association.

Specifically, as indicated by symbol z4 in FIG. 3B, waveforms a2 and a3 in the graph of the probability density ratio q8 (feature quantity) exceed the second threshold value Qth2, and the waveforms a2 and a3 indicate an abnormality. is a signal. In this case, an arrow y2 is displayed that associates the abnormal signals a2 and a3 with the time period x2 including the occurrence time of the abnormal signal in the time-series data indicating the disturbance torque q5 indicated by symbol z3.
That is, the display control unit 22 associates and displays the abnormality signal, which is a portion indicating the occurrence of an abnormality in the feature amount, and the state data when the abnormality occurs in the time-series data.

By displaying the state data and the feature values in the display mode as described above, the user can detect an abnormality when an abnormality in acceleration or disturbance torque occurs in a motor drive system such as a speed reducer of the work robot 200. It becomes possible to intuitively recognize the relationship between the feature quantity (residual sum of squares, probability density ratio) indicating that a has occurred and the state data (acceleration, disturbance torque).

Further, when an abnormality occurs in the motor drive system of the working robot 200, an icon for accepting an input operation is displayed on the display screen D to indicate that maintenance has been performed for this abnormality. Then, when the icon is operated by the user, the display of the feature amount is stopped.

For example, the operation switch F4 shown in FIG. 3B is set to an icon of "handled". After the user confirms the content of the abnormality and completes the maintenance work for this abnormality, when the user operates the "solved" icon (operation switch F4) (when predetermined operation information is input) , the display of the feature quantity is stopped. Then, as shown in FIG. 3A, the display screen D is returned to the normal display. In other words, the icon "handled" is an example of an operation unit for inputting predetermined operation information indicating that a predetermined operation has been performed on an abnormality determined based on a feature amount.

In this way, after the occurrence of an abnormality, the user performs maintenance for the abnormality, and when the icon "handled" is operated, the display of the feature amount is stopped, and the user is informed that the maintenance for the abnormality has already been performed. can be recognized.

<Display example after the specified period of time has elapsed>
In FIG. 3B described above, when an abnormality occurs in the acceleration of the speed reducer Mp1, the waveform a1 indicating the abnormality of the residual sum of squares q4 and the time period x1 including the generation time of the abnormality signal included in the predetermined period T1 are displayed. The data indicating the anomaly was displayed in association. Further, when an abnormality occurs in the disturbance torque of the reduction gear Mp2, the waveforms a2 and a3 indicating the abnormality of the probability density ratio q8 are associated with the time zone x2 including the time of occurrence of the abnormality signal included in the predetermined period T2. Displayed data indicating anomalies.

However, if a predetermined period of time elapses without the user taking any action such as maintenance despite the occurrence of an abnormality, the acceleration or disturbance torque data at the time of the occurrence of the abnormality (time period shown in FIG. 3B) will be displayed. x1 and x2 waveforms) are updated, are no longer included in the predetermined period T1 or T2, and are no longer displayed in the data display area D2.

In this embodiment, when the user does not operate the icon (operation switch F4) indicating "handled" during the predetermined period T1 or T2 (predetermined display period), that is, when the predetermined operation information is not input. In this case, the length of time indicated by the entire time axis displaying the time-series data of the state data (acceleration, disturbance torque) (hereinafter referred to as "time width") is enlarged and displayed. That is, the predetermined display period is changed. Then, erasing of the waveform of the state data when an abnormality occurs is avoided. A detailed description will be given below with reference to FIGS. 4A to 4F.

4A to 4F are explanatory diagrams showing time-series data and feature values displayed on the display screen D when an abnormality occurs in the disturbance torque of the speed reducer Mp2 as an example of an abnormality that occurs in the work robot 200. FIG. be. Time elapses in the order of FIGS. 4A, 4B, 4C, 4D, 4E, and 4F.

FIG. 4A shows the time-series data (q5) and the residual sum of squares (q8) immediately after the occurrence of an abnormality in the disturbance torque, and FIG. 4B shows the time-series data (q5) and the residual FIG. 4C shows the time-series data (q5) and the residual sum of squares (q8) immediately before the predetermined period T2 elapses. In the example shown in FIGS. 4A to 4C, the predetermined period T2 has not passed since the disturbance torque abnormality occurred, so the time width of the graph showing the disturbance torque q5 is not changed. Accordingly, the time period x2 including the time of occurrence of the abnormal signal is displayed by moving to the left in the figure as time elapses.

FIG. 4D shows a display example when the user does not operate the "handled" icon (operation switch F4 in FIG. 3B) even after the predetermined period T2 has passed. In FIG. 4D, the predetermined period T2 is changed so that the disturbance torque waveform is not erased when an abnormality occurs. Specifically, the time width for displaying the disturbance torque is expanded. That is, the time width of the disturbance torque shown in FIGS. 4A to 4C is a predetermined period T2, but the time width of the disturbance torque shown in FIG. display period) is changed from T2 to T21. Therefore, the time period x2 including the occurrence time of the abnormal signal is not deleted.

FIG. 4E shows a display example in the case where the user does not operate the "handled" icon even after a certain amount of time has passed after the predetermined period T2 has passed. The time width of the disturbance torque shown in FIG. 4E is set to a predetermined period T22 (>T21), and the predetermined period is changed to T22.

FIG. 4F shows a display example when the user does not operate the "handled" icon even after a further period of time has elapsed since the state shown in FIG. 4E. The time width of the disturbance torque shown in FIG. 4F is set to a predetermined period T23 (>T22). In this way, when predetermined operation information is not input by the user and the time-series data is updated so that it is not included in the predetermined period (predetermined display period), data indicating an abnormality is included in the predetermined period. is changed, erasure of the time period x2 including the occurrence time of the abnormal signal is avoided.

That is, the display control unit 22 displays the time-series data for a predetermined period (predetermined display period), and updates the time-series data for the predetermined period as time elapses. Then, when predetermined operation information is not input and when the time-series data of the predetermined period is updated so that the abnormality occurrence time is not included in the predetermined period, a predetermined time period is set so that the abnormality occurrence time is included in the predetermined period. Control to change the period.

In FIGS. 4A to 4F, an example of a case where an abnormality occurs in the disturbance torque has been described. Similarly, when an abnormality occurs in the acceleration of the speed reducer, for example, by changing the predetermined display period, , it is possible to avoid erasing the waveform when an abnormality occurs.

In addition to lengthening the time width for displaying the disturbance torque, the area of the display area for displaying the disturbance torque may be increased to lengthen the entire display time. By increasing the area of the display area, it is possible to prevent the waveform from being erased when an abnormality occurs. Also, since the scale of the graph does not change, visibility can be improved.

In addition, if the user does not operate the "Completed" icon after setting the upper limit value of the time width and reaching the upper limit value by expanding the time width, the time width will not be increased beyond this. Do not expand. In this case, the time width is returned to the original time width, that is, the time width shown in FIGS. 4A to 4C. Let the user know what you have done. As a result, it is possible to prevent the time width of the disturbance torque from expanding without limit.

(Description of the operation of the first embodiment)
Next, a processing procedure by the abnormality display device 101 and the abnormality detection unit 2 according to the first embodiment will be described with reference to the flowchart shown in FIG. First, at step S11 in FIG. 5, the data input unit 1 acquires state data output from the work robot 200 (apparatus). For example, the acceleration of the speed reducer and the disturbance torque of the speed reducer are obtained from sensors mounted on the work robot 200 as state data.

The anomaly detection unit 2 acquires the state data within the latest predetermined period from among the state data acquired by the data input unit 1, and generates time-series data consisting of the time series of the state data within the predetermined period. For example, the abnormality detection unit 2 generates acceleration data q1 within a predetermined period T1, as shown in FIG. 2A(a). Further, when new acceleration data is acquired with the passage of time, the acceleration data within the predetermined period T1 is updated to the latest data. Therefore, acceleration data for the most recent predetermined period T1 can always be obtained.

Similarly, as shown in FIG. 2B(a), the abnormality detection unit 2 generates time-series data of the disturbance torque within the predetermined period T2. Further, when a new disturbance torque is acquired with the lapse of time, the disturbance torque within the predetermined period T2 is updated to the latest disturbance torque. Therefore, the disturbance torque for the most recent predetermined period T2 is always obtained.

In step S12, the abnormality detection unit 2 calculates the feature amount of the state data. When the state data is acceleration, the residual sum of squares q4 (feature quantity) of the frequency spectrum is calculated as shown in FIG. 2A(d). When the state data is the disturbance torque, the probability density ratio q8 (feature quantity) is calculated as shown in FIG. 2B(d).

In step S13, the abnormality detection unit 2 determines whether or not the feature amount (residual sum of squares, probability density ratio) exceeds a threshold. As shown in FIG. 2A(d), when the residual sum of squares q4 exceeds the first threshold value Qth1, it is determined that the acceleration is abnormal. Also, as shown in FIG. 2B, when the probability density ratio q8 exceeds the second threshold value Qth2, it is determined that an abnormality has occurred in the disturbance torque.

When the feature amount does not exceed the threshold (S13; NO), in step S14, the display control unit 22 displays the normal image as shown in FIG. 3A. On the other hand, if the feature amount exceeds the threshold (S13; YES), the abnormality detection unit 2 determines that the work robot 200 has an abnormality in step S15.

In step S16, the display control unit 22 displays time-series data indicating state data for a predetermined period. Furthermore, in step S17, the display control unit 22 displays the feature amount calculated in the process of step S12 in association with the time-series data indicating the state data.

For example, as shown in FIG. 3B, when an abnormality occurs in the acceleration of the speed reducer Mp1, the data display area D2 displays the acceleration data q1 (state data) and the residual sum of squares q4 (feature amount) and display them at the same time. Further, the waveform a1 in which the residual sum of squares q4 exceeds the first threshold value Qth1 and the time period x1 including the occurrence time of the abnormal signal in the graph of the acceleration data q1 are associated with each other by an arrow y1 and displayed. By looking at this display, the user can intuitively recognize the speed reducer where the abnormality occurred in acceleration, the position of the speed reducer, and the time when the abnormality occurred.

On the other hand, as shown in FIG. 3B, when an abnormality occurs in the disturbance torque of the speed reducer Mp2, the data display area D2 displays the disturbance torque q5 (state data) and the probability density ratio q8 (feature amount) and display them at the same time. Furthermore, the waveforms a2 and a3 in which the probability density ratio q8 exceeds the second threshold value Qth2 and the time period x2 including the occurrence time of the abnormal signal in the graph of the disturbance torque q5 are displayed in association with an arrow y2. By viewing this display, the user can intuitively recognize the speed reducer where the disturbance torque abnormality occurred, the position of the speed reducer, and the time when the abnormality occurred.

In step S18 of FIG. 5, the display control unit 22 displays, on the display screen D, an icon of an operation switch that accepts an input indicating that maintenance has been performed for the abnormality that has occurred, that is, an icon for performing an operation of "solved". . Specifically, the operation switch F4 shown in FIG. 3B is set to the icon of "completed".

In step S<b>19 , the display control unit 22 determines whether or not the “handled” icon has been operated. If the icon has been operated (S19; YES), in step S20, the display control unit 22 erases the icon and terminates the display of the data indicating the abnormality. In other words, the fact that the operation switch F1, which is an icon indicating "solved", has been operated means that maintenance work has been carried out by the user in response to the abnormality in the work robot 200, and the abnormality has been avoided. There is no need to display the data indicating the above abnormality. Therefore, the display of the data indicating the abnormality and the display of the icon are ended.

On the other hand, when the icon of "solved" is not operated (S19; NO), in step S21, the display control unit 22 determines whether or not a predetermined period of time has passed since the abnormality occurred. In other words, the waveforms representing the time zones x1 and x2 including the abnormal signal generation time included in the time-series data (q1 and q5 shown in FIG. 3B) representing the state data are included in the predetermined period (T1 or T2). Determine whether or not it will disappear. For example, as shown in FIG. 2B(a), when an abnormality occurs in the disturbance torque of the speed reducer Mp2, it is determined whether or not a predetermined period of time T2 has elapsed since the occurrence of the abnormality. If it is determined to be included (S21; NO), the process returns to step S19.

If it is determined that it will not be included (S21; YES), in step S22, it is determined whether or not the enlargement rate of the time width for displaying the time-series data indicating the state data is the upper limit. Initially, the time width is not expanded, so the expansion rate has not reached the upper limit, so the "NO determination" is made, and the process proceeds to step S23.

In step S23, the display control unit 22 expands the time width of the time-series data indicating the state data. Specifically, as shown in FIGS. 4D, 4E, and 4F described above, the time width of the time-series data is expanded (by changing the predetermined display period), and the time period including the occurrence time of the abnormal signal is Avoid x2 not being included in the time series data. After that, the process returns to step S19.

After that, when the icon is not operated further, the processing of S21 to S23 is repeated with the lapse of time, and the time width is gradually expanded. When the enlargement rate reaches the upper limit (S22; YES), in step S24, the display control unit 22 does not enlarge the duration any more. Then, a message indicating the occurrence of an abnormality, such as "abnormality in disturbance torque has occurred", is displayed in the judgment result display area D4 shown in FIG. 3B. Further, among the operation switches F1 to F6, for example, the operation switch F5 is set as an icon for displaying an abnormality. When this icon (F5) is operated, disturbance torque data at the time of occurrence of an abnormality is displayed. As a result, even if a long time has passed since the occurrence of an abnormality, the user can recognize detailed contents such as the device in which the abnormality occurred and the time when the abnormality occurred.

(Description of the effects of the first embodiment)
As described above, the abnormality display device according to the first embodiment can achieve the following effects.
When an abnormality is detected by the abnormality detection unit 2, the display control unit 22 adds a feature amount (for example, residual sum of squares , probability density ratio) are associated with each other and displayed on the display unit 4 . Therefore, the user can intuitively recognize the relative relationship between the status data output from the working robot 200 (apparatus) and the analysis result of the abnormality, and can quickly perform maintenance and other countermeasures. becomes possible.

In addition, if a long time has passed since the occurrence of an abnormality and the signal indicating the abnormality of the status data is no longer included in the time-series data for a predetermined period (predetermined display period), the predetermined period of the time-series data is changed. This prevents the signal indicating the abnormality from not being included in the data within the predetermined period. Therefore, it is possible to avoid problems such as the user forgetting to see the occurrence of an abnormality.

Furthermore, when the icon indicating "handled" is operated, that is, predetermined operation information indicating that a predetermined operation has been performed on the abnormality determined based on the feature amount is input. In this case, the display of the feature amount including the abnormal signal is stopped. Therefore, it is possible to avoid the continuous display of the time-series data and the feature amount for which measures such as maintenance have already been performed.

[Description of Second Embodiment]
Next, a second embodiment of the invention will be described. The configuration of the apparatus is the same as that of FIG. 1 described in the first embodiment, so the description is omitted. In the second embodiment, the display mode of the image displayed on the display screen D of the display unit 4 is different from that in the first embodiment. The second embodiment differs from the above-described first embodiment in that, when multiple abnormalities occur in the work robot 200, the data display mode is changed according to the importance of the abnormalities.

In the second embodiment, when a plurality of anomalies are detected in the work robot 200, the display control unit 22 gives each of the plurality of anomalies an importance level indicating the importance of the anomaly. Further, the display control unit 22 performs control to change the display mode for displaying the time-series data indicating the state data and the feature amount on the display unit 4 according to the assigned importance.

For example, when a first anomaly and a second anomaly with a lower degree of importance than the first anomaly are detected as a plurality of anomalies, the time-series data and feature amount for the first anomaly are displayed. A graph is displayed in the first display area (D2a in FIG. 6 to be described later) set in the unit 4. FIG. On the other hand, the time-series data and feature amount data for the second abnormality are displayed using icons in a second display area (D2b shown in FIG. 6) narrower than the first display area set in the display unit 4. displayed. In this way, anomalies of higher importance are displayed in a manner that is easy for the user to recognize. Details of display examples will be described below.

(Description of a display example of the second embodiment)
FIG. 6 is an explanatory diagram showing a display example of the abnormality display device according to the second embodiment. FIG. 6 shows a display example when an abnormality occurs in the three speed reducers Mp1, Mp2, and Mp3 mounted on the working robot 200. In FIG. More specifically, it shows a display example when an acceleration abnormality occurs in the reduction gear Mp3, a disturbance torque abnormality occurs in the reduction gear Mp2, and an acceleration abnormality occurs in the reduction gear Mp1. It is also assumed that the order in which the abnormality occurred is the speed reducer Mp3, the speed reducer Mp2, and the speed reducer Mp1.

Since the display area of the display screen D is limited, when a large number of abnormalities occur at the same time, if the display area is evenly divided and displayed, the display area for displaying each abnormality becomes narrower, resulting in lower visibility. there is a risk of

In the second embodiment, the degree of importance is set for each abnormality based on conditions such as the part where the abnormality occurred, the function where the abnormality occurred, and the time when the abnormality occurred. Change the display mode of the data that indicates Specifically, anomalies with a high degree of importance are displayed in a more easily recognizable manner using graphs, and anomalies with a lesser degree of importance are displayed in a simplified manner using icons.

For example, when the later (closer to the present time) the occurrence of an abnormality is set, the higher the importance is set, as shown in FIG. be done. Therefore, the acceleration of the speed reducer Mp1 and the disturbance torque of the speed reducer Mp2 are displayed in a more visible manner. Specifically, as shown in FIG. 6, data indicating an abnormality in acceleration occurring in the speed reducer Mp1 (acceleration time-series data and residual sum of squares) and data indicating an abnormality in disturbance torque occurring in the speed reducer Mp2 (Time-series data and probability density ratio of disturbance torque) are displayed using graphs in the first display area D2a set in the data display area D2. Further, regarding the abnormality of the reduction gear Mp3, which is relatively less important than the abnormality of the reduction gears Mp1 and Mp2, the second display area D2b narrower than the first display area D2a indicates that the failure has occurred. icon u1 is displayed.

At this time, an icon indicating "detailed display" is set to an arbitrary operation switch (here, F2) among the operation switches F1 to F6. When this icon is operated by the user, the details of the abnormality occurring in the speed reducer Mp3 are displayed (not shown). As a result, anomalies of high importance to the user can be displayed in a more visually recognizable manner. Further, for anomalies of low importance, the details of the anomaly data can be displayed by operating the "detailed display" icon.

(Description of the operation of the second embodiment)
Next, processing procedures by the abnormality display device 101 and the abnormality detection unit 2 according to the second embodiment will be described with reference to the flowcharts shown in FIGS. 7A and 7B.
Since the processing of steps S31 to S35 shown in FIG. 7A is the same as the processing of steps S11 to S15 shown in FIG. 5, the description thereof is omitted. In step S35a shown in FIG. 7A, the abnormality detection unit 2 determines whether or not the number of determined abnormalities is 3 or more. If the number of abnormalities is less than 3 (S35a; NO), the process proceeds to step S36.

If the number of abnormalities is 3 or more, the process proceeds to step S351 shown in FIG. 7B. Here, as shown in FIG. 6, the case where an acceleration abnormality occurs in the reduction gear Mp1, a disturbance torque abnormality occurs in the reduction gear Mp2, and an acceleration abnormality occurs in the reduction gear Mp1 will be described. In this case, since the number of abnormalities is 3 or more, the process proceeds to step S351.

In step S351, the display control unit 22 sets the importance of each abnormality. As described above, the degree of importance can be set based on conditions such as the drive system in which the abnormality occurred, the function in which the abnormality occurred, and the time at which the abnormality occurred. Here, an example will be described in which the importance is set according to the time when the abnormality occurred. That is, the importance of anomalies that occur later is set higher.

In step S352, the display control unit 22 selects two abnormalities with high importance. Specifically, an abnormality occurring in the speed reducer Mp1 and the speed reducer Mp2 is selected.

In step S353, the display control unit 22 displays time-series data indicating state data of the two speed reducers Mp1 and Mp2 in a predetermined period. Furthermore, in step S354, the display control unit 22 displays the feature amount calculated in the process of S32 in association with the time-series data indicating the state data.

Specifically, since an abnormality has occurred in the acceleration (state data) of the speed reducer Mp1, as shown in FIG. Acceleration data q1 and residual sum of squares q4 (feature quantity) are associated and displayed. At this time, the waveform a1 in which the residual sum of squares q4 exceeds the first threshold value Qth1 and the time period x1 including the occurrence time of the abnormal signal in the graph of the acceleration data q1 are displayed in association with each other with an arrow. By looking at this display, the user can intuitively recognize the speed reducer in which the acceleration data has become abnormal, the position of the speed reducer in which the abnormality has occurred, and the time zone in which the abnormality has occurred.

In addition, since an abnormality has occurred in the disturbance torque (state data) of the speed reducer Mp2, the display control unit 22 displays the acceleration data q1 and the residual square Below the sum q4, the disturbance torque q5 and the probability density ratio q8 (feature quantity) within the predetermined period T2 are displayed in association with each other. At this time, the waveforms a2 and a3 in which the probability density ratio q8 exceeds the second threshold Qth2 and the time period x2 including the occurrence time of the abnormal signal in the graph of the disturbance torque q5 are displayed in association with an arrow. By viewing this display, the user can intuitively recognize the speed reducer in which the disturbance torque abnormality occurred, the function in which the abnormality occurred, and the time zone in which the abnormality occurred.

In step S355, the display control unit 22 displays other abnormalities as icons. Specifically, as shown in FIG. 6, the abnormality of the speed reducer Mp3 is displayed as an icon u1 in the second display area D2b set below the first display area D2a.
Further, the operation switch F2 is set to the "detailed display" icon. The user can know the details of the abnormality of the speed reducer Mp3 by operating the "detailed display" icon.

That is, the display control unit 22 causes the work robot 200 to detect the first abnormality (abnormality of the reduction gears Mp1 and Mp2) and the second abnormality (abnormality of the reduction gear Mp3), which is less important than the first abnormality. If it exists, the time-series data and feature amount of the first abnormality are displayed in the first display area D2a set in the display unit 4 using at least a graph. In addition, the time-series data and feature amount of the second abnormality are displayed in a second display area D2b narrower than the first display area D2a set in the display unit 4, using at least icons.

After that, the process proceeds to step S38 shown in FIG. 7A. It should be noted that the processing of steps S36 to S44 shown in FIG. 7A is the same as the processing of steps S16 to S24 shown in FIG. 5, so description thereof will be omitted.

Note that in the second embodiment, when three or more abnormalities occur, an importance level is set for each abnormality, and two abnormalities with a high degree of abnormality are preferentially displayed in a manner that is easy for the user to recognize. As described above, the present invention is not limited to this, and one, or three or more abnormalities with a high degree of abnormality may be displayed preferentially. The number of abnormalities to be preferentially displayed is appropriately set according to the size of the display screen D and the like.

In addition, in the second embodiment, an example of setting the "importance" according to the time when an abnormality occurred has been described, but when an abnormality occurs, the apparatus stops, and the like, such as "a serious situation is reached in a short time". The importance may be set according to the urgency of

(Description of effects of the second embodiment)
As described above, in the abnormality display device 101 according to the second embodiment, when a plurality of abnormalities are detected in the working robot 200, the importance of each abnormality is set, and an abnormality with a higher importance is It is displayed on the display screen D in a manner that is easy for the user to visually recognize. Therefore, it is possible to make the user pay attention to anomalies with a higher degree of importance, and to recognize the occurrence of anomalies requiring immediate maintenance in an easy-to-understand manner.

Further, when the first abnormality and the second abnormality having a lower importance than the first abnormality are detected, the time-series data and the feature amount for the first abnormality are displayed in the first display area, Display is performed using at least a graph, and time-series data and a feature amount of the second abnormality are displayed using at least an icon in a second display area that is narrower than the first display area. Therefore, it is possible to display the abnormal data of high importance in a manner that is easy for the user to visually recognize. Furthermore, as for abnormal data with a low degree of importance, it is possible to recognize the details of the abnormality by operating the "detailed display" icon.

[Description of the third embodiment]
Next, a third embodiment of the invention will be described. Since the device configuration is the same as that of the first embodiment described above, the description is omitted. In the third embodiment, the display mode displayed on the display screen D of the display unit 4 is different from that in the first embodiment. In the third embodiment, when a plurality of abnormalities occur in the working robot 200, the data indicating the abnormality is displayed in a display mode classified by the part where the abnormality occurred or by the function where the abnormality occurred. It differs from the first embodiment.

Specifically, when a plurality of abnormalities occur in the work robot 200 (apparatus), the display control unit 22 displays at least one of each abnormal part and the function in which the abnormality has occurred. Classify and display time-series data and feature values. Details of display examples will be described below.

(Explanation of display example of the third embodiment)
8A and 8B are explanatory diagrams showing display examples of the abnormality display device 101 according to the third embodiment. 8A and 8B show that an acceleration abnormality occurs in the reduction gear Mp1 mounted on the working robot 200, an abnormality in disturbance torque occurs in the three reduction gears Mp2, Mp3, and Mp4, and the reduction gears Mp1 and Mp2 are arranged close to each other. FIG. 8A shows a display example classified and displayed for each abnormal site, and FIG. 8B shows a display example classified and displayed for each abnormal function.

In the display example shown in FIG. 8A, since the speed reducers Mp1 and Mp2 are arranged close to each other, the time-series data and feature amounts indicating these abnormalities are grouped together and displayed by surrounding them with a peripheral frame B1. . Also, the data indicating the abnormality of the reduction gears Mp3 and Mp4 are individually displayed. By adopting such a display mode, the user can intuitively recognize that an abnormality has occurred in the two speed reducers Mp1 and Mp2 that are arranged close to each other.

On the other hand, in the display example shown in FIG. 8B, the time-series data and the feature quantity indicating the abnormality of the speed reducers Mp2, Mp3, and Mp4 in which the disturbance torque is abnormal are grouped and displayed by enclosing them in a surrounding frame B2. . Also, the speed reducer Mp1 in which an abnormality has occurred in the acceleration is displayed separately. By using such a display mode, the user can intuitively recognize that the same function of the three speed reducers Mp2, Mp3, and Mp4 is malfunctioning.

Furthermore, as shown in FIG. 8A, the operation switch F3 is set to the icon of "display by function", and as shown in FIG. 8B, the operation switch F6 is set to the icon of "display by part". When these icons are operated by the user, the display control unit 22 controls to switch the abnormal data displayed in the data display area D2 to display according to the function in which the abnormality has occurred, or display according to the part where the abnormality has occurred. control to switch to

That is, the user can appropriately change the display for each part and the display for each function by operating the icons displayed on the operation switches F3 and F6.

(Explanation of operation of the third embodiment)
Next, processing procedures by the abnormality display device 101 and the abnormality detection unit 2 according to the third embodiment will be described with reference to the flowcharts shown in FIGS. 9A and 9B.
Since the processing of steps S51 to S55 shown in FIG. 9A is the same as the processing of steps S11 to S15 shown in FIG. 5, the description thereof is omitted. In step S55a shown in FIG. 9A, the abnormality detection unit 2 determines whether or not the number of determined abnormalities is 3 or more. If the number of abnormalities is less than 2 (S55a; NO), the process proceeds to step S56. If the number of abnormalities is 3 or more, the process proceeds to step S551 shown in FIG. 9B.

Here, as shown in FIGS. 8A and 8B, an acceleration abnormality occurs in the speed reducer Mp1, a disturbance torque abnormality occurs in the three speed reducers Mp2, Mp3, and Mp4, and the speed reducers Mp1 and Mp2 are arranged close to each other. In this case, since the number of abnormalities is 3 or more, the process proceeds to step S551.

In step S<b>551 , the display control unit 22 classifies a plurality of abnormalities by each part where the device in which the abnormality occurred is installed and by each function in which the abnormality occurs. Specifically, in the work robot 200 shown in FIG. 10, when a plurality of abnormalities occur in the vicinity of the same joint axis, they are classified into adjacent parts. Also, when the function in which the abnormality occurs is the acceleration, the abnormality is classified into the same function. If the function in which the abnormality occurs is the disturbance torque, this abnormality is classified into the same function.

In step S552, the display control unit 22 displays icons for setting classification items on the display screen D. FIG. Specifically, an icon "display by function" is set to the operation switch F3 (see FIG. 8A), and an icon "display by region" is displayed on the operation switch F6 (see FIG. 8B). The user operates these icons to select and input display by region or by function.

In step S553, the display control unit 22 classifies a plurality of abnormalities according to the display items set by the user. Specifically, when the "partial display" is selected, among the above four abnormalities, the speed reducers Mp1 and Mp2 are arranged close to each other. Categorize into groups. After that, in step S56 shown in FIG. 9A, the display control unit 22 displays the data indicating the abnormality of the speed reducers Mp1 and Mp2 by enclosing them with the surrounding frame B1, as shown in FIG. 8A.

On the other hand, when the "display by function" is selected, since the functions of the three speed reducers Mp2 to Mp4 out of the four malfunctions are the same, the three speed reducers Mp2 to Mp4 are displayed in the same manner. Categorize into groups. Then, as shown in FIG. 8B described above, the data indicating the abnormality of each of the speed reducers Mp2, Mp3, and Mp4 is displayed surrounded by a surrounding frame B2.
After that, in the process of step S57 shown in FIG. 9A, the time-series data and the feature amount are associated and displayed. Since the processing of steps S57 to S64 is the same as the processing of steps S17 to S24 shown in FIG. 5, the description thereof is omitted.

(Description of effects of the third embodiment)
As described above, in the anomaly display device according to the third embodiment, when a plurality of anomalies have occurred, the anomaly data are displayed by classifying them for each adjacent part or for each function in which an anomaly has occurred.
By classifying and displaying anomalies for each adjacent part, it is possible for the user to associate and recognize anomalies occurring at a plurality of locations due to the same cause. Therefore, the user can efficiently perform maintenance work.

In addition, by classifying and displaying anomalies for each function in which an anomaly has occurred, it is possible for the user to recognize in an easy-to-understand manner that an anomaly has occurred in the same function. Therefore, it is possible to formulate a plan for efficient maintenance work. Note that the classification of abnormalities is not limited to the classification of each part and the classification of each function, and other classification methods may be employed.

In addition to the display mode shown in the third embodiment, the display mode shown in the second embodiment can also be applied. In that case, by displaying the abnormal data of low importance with a simplified icon, it is possible to avoid the image displayed on the display screen D from becoming complicated.

Although embodiments of the present invention have been described above, the statements and drawings forming part of this disclosure should not be construed as limiting the present invention. Various alternative embodiments, implementations and operational techniques will become apparent to those skilled in the art from this disclosure.

REFERENCE SIGNS LIST 1 data input unit 2 abnormality detection unit 3 storage unit 4 display unit 21 data acquisition unit (acquisition unit)
22 Display control unit 101 Error display device 200 Work robot B1, B2 Surrounding frame D Display screen D1 ID display area D2 Data display area D2a First display area D2b Second display area D3 Message display area D4 Judgment result display area F1- F6 Operation switch Mp1, Mp2, Mp3, Mp4 Reducer

Claims (8)

An abnormality display device that displays an abnormality that occurs in a device that performs a predetermined work on a display unit,
an acquisition unit that acquires time-series data consisting of time-series state data indicating the state of the apparatus, and a feature amount that is calculated from the time-series data and serves as an index for determining the abnormality; ,
a display control unit that simultaneously displays the time-series data and the feature amount on the display unit;
The display control unit
displaying an anomaly signal, which is a portion of the feature amount indicating the occurrence of the anomaly, and the state data of the time-series data when the anomaly occurred, in association with each other;
stopping the display of the feature amount when predetermined operation information is input;
displaying the time-series data in a predetermined display period, and updating the time-series data in the predetermined display period as time elapses;
If the predetermined operation information is not input and the time of occurrence of the abnormality is not included in the predetermined display period due to updating of the time-series data of the predetermined display period, the time of occurrence of the abnormality is not included in the predetermined display period. changing the predetermined display period to be included in the predetermined display period;
When a plurality of abnormalities occur in the device, the plurality of abnormalities are classified into at least one of a part of the device in which the abnormality occurred and a function in which the abnormality occurred, and the plurality of abnormalities are classified. arranging and displaying a plurality of sets of the time-series data and the feature amount corresponding to the plurality of classifications of the anomaly
An abnormality display device characterized by: wherein, when a plurality of anomalies occur in the device, the display control unit assigns an importance level indicating importance of the anomaly to each of the plurality of anomalies;
The abnormality display device according to claim 1, wherein display modes of the time-series data and the feature amount are changed according to the degree of importance. An abnormality display device that displays an abnormality that occurs in a device that performs a predetermined work on a display unit,
an acquisition unit that acquires time-series data consisting of time-series state data indicating the state of the apparatus, and a feature amount that is calculated from the time-series data and serves as an index for determining the abnormality; ,
a display control unit that simultaneously displays the time-series data and the feature amount on the display unit;
The display control unit
displaying an anomaly signal, which is a portion of the feature amount indicating the occurrence of the anomaly, and the state data of the time-series data when the anomaly occurred, in association with each other;
stopping the display of the feature amount when predetermined operation information is input;
displaying the time-series data in a predetermined display period, and updating the time-series data in the predetermined display period as time elapses;
If the predetermined operation information is not input and the time of occurrence of the abnormality is not included in the predetermined display period due to updating of the time-series data of the predetermined display period, the time of occurrence of the abnormality is not included in the predetermined display period. changing the predetermined display period to be included in the predetermined display period;
when a plurality of the abnormalities occur in the device, giving each of the plurality of abnormalities a degree of importance indicating the importance of the abnormality;
making the degree of importance higher as the occurrence time of the abnormality is later,
An anomaly display device , wherein display modes of the time-series data and the feature amount are changed according to the degree of importance . The display control unit
when a plurality of anomalies occur in the device, the plurality of anomalies are classified into at least one of a portion of the device in which the anomaly occurred and a function in which the anomaly occurred, and the time series is obtained; 4. The abnormality display device according to claim 3 , wherein the data and the feature amount are displayed . The display control unit
If the device has a first anomaly and a second anomaly with a lower importance than the first anomaly ,
displaying the time-series data and the feature amount of the first abnormality in a first display area set in the display unit using at least a graph;
displaying the time-series data and the feature amount of the second abnormality in a second display area set in the display unit and narrower than the first display area, using at least icons. The abnormality display device according to any one of claims 1 to 4. 6. The method according to any one of claims 1 to 5, wherein the predetermined operation information is information indicating that a predetermined operation has been performed with respect to the abnormality determined based on the feature amount. An anomaly indicating device as described . An abnormality display method for displaying, on a display unit, an abnormality occurring in a device that performs a predetermined work,
Acquiring time series data consisting of a time series of state data indicating the state of the device, and a feature amount calculated from the time series data and serving as an index for determining the abnormality ,
Simultaneously displaying the time-series data and the feature amount on the display unit , and an anomaly signal indicating occurrence of the anomaly in the feature amount and the occurrence of the anomaly in the time-series data displaying the state data at the time in association with each other;
stopping the display of the feature amount when predetermined operation information is input;
displaying the time-series data in a predetermined display period, and updating the time-series data in the predetermined display period as time elapses;
If the predetermined operation information is not input and the time of occurrence of the abnormality is not included in the predetermined display period due to updating of the time-series data of the predetermined display period, the time of occurrence of the abnormality is not included in the predetermined display period. changing the predetermined display period to be included in the predetermined display period;
when a plurality of the abnormalities occur in the device, giving each of the plurality of abnormalities a degree of importance indicating the importance of the abnormality;
making the degree of importance higher as the occurrence time of the abnormality is later,
An anomaly display method, comprising changing a display mode of the time-series data and the feature value according to the degree of importance. An abnormality display method for displaying, on a display unit, an abnormality occurring in a device that performs a predetermined work,
Acquiring time series data consisting of a time series of state data indicating the state of the device, and a feature amount calculated from the time series data and serving as an index for determining the abnormality,
Simultaneously displaying the time-series data and the feature amount on the display unit, and an anomaly signal indicating occurrence of the anomaly in the feature amount and the occurrence of the anomaly in the time-series data displaying the state data at the time in association with each other;
stopping the display of the feature amount when predetermined operation information is input;
displaying the time-series data in a predetermined display period, and updating the time-series data in the predetermined display period as time elapses;
If the predetermined operation information is not input and the time of occurrence of the abnormality is not included in the predetermined display period due to updating of the time-series data of the predetermined display period, the time of occurrence of the abnormality is not included in the predetermined display period. changing the predetermined display period to be included in the predetermined display period;
When a plurality of abnormalities occur in the device, the plurality of abnormalities are classified into at least one of a part of the device in which the abnormality occurred and a function in which the abnormality occurred, and the plurality of abnormalities are classified. and displaying a plurality of sets of the time-series data and the feature amount corresponding to the plurality of types of anomalies arranged according to the plurality of the anomaly classifications .

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