CN113646718B - 异常探测装置及异常探测方法 - Google Patents

异常探测装置及异常探测方法 Download PDF

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Publication number
CN113646718B
CN113646718B CN201980094849.0A CN201980094849A CN113646718B CN 113646718 B CN113646718 B CN 113646718B CN 201980094849 A CN201980094849 A CN 201980094849A CN 113646718 B CN113646718 B CN 113646718B
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time
abnormality detection
abnormality
value
series data
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CN113646718A (zh
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田中康裕
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
    • G05B23/0224—Process history based detection method, e.g. whereby history implies the availability of large amounts of data
    • G05B23/0227—Qualitative history assessment, whereby the type of data acted upon, e.g. waveforms, images or patterns, is not relevant, e.g. rule based assessment; if-then decisions
    • G05B23/0232—Qualitative history assessment, whereby the type of data acted upon, e.g. waveforms, images or patterns, is not relevant, e.g. rule based assessment; if-then decisions based on qualitative trend analysis, e.g. system evolution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Testing And Monitoring For Control Systems (AREA)
CN201980094849.0A 2019-03-27 2019-03-27 异常探测装置及异常探测方法 Active CN113646718B (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/013342 WO2020194597A1 (ja) 2019-03-27 2019-03-27 異常検知装置、及び異常検知方法

Publications (2)

Publication Number Publication Date
CN113646718A CN113646718A (zh) 2021-11-12
CN113646718B true CN113646718B (zh) 2024-04-30

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CN201980094849.0A Active CN113646718B (zh) 2019-03-27 2019-03-27 异常探测装置及异常探测方法

Country Status (5)

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US (1) US12257704B2 (https=)
EP (1) EP3951528B1 (https=)
JP (1) JP7268722B2 (https=)
CN (1) CN113646718B (https=)
WO (1) WO2020194597A1 (https=)

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TWI805978B (zh) * 2020-12-22 2023-06-21 達明機器人股份有限公司 雙迴路力矩感知系統及其感知方法
JP7772797B2 (ja) * 2021-07-28 2025-11-18 ファナック株式会社 ロボットシステム
DE102021126188B4 (de) * 2021-10-08 2024-10-10 Dürr Systems Ag Überwachungsverfahren für einen Roboter und zugehörige Roboteranlage
US20250162142A1 (en) * 2022-03-16 2025-05-22 Sony Interactive Entertainment Inc. Control apparatus, control method, and program
JP7688320B1 (ja) * 2023-07-24 2025-06-04 日本製鉄株式会社 異常検知装置、プラントシステム、特徴情報生成装置、異常検知方法、特徴情報生成方法、及び、プログラム

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JP2011095082A (ja) * 2009-10-29 2011-05-12 Casio Computer Co Ltd 時刻情報取得装置、および、電波時計
CN102354204A (zh) * 2007-03-22 2012-02-15 日本电气株式会社 诊断装置
WO2012099206A1 (ja) * 2011-01-20 2012-07-26 東京エレクトロン株式会社 処理装置の異常診断方法及びその異常診断システム
CN104156473A (zh) * 2014-08-25 2014-11-19 哈尔滨工业大学 一种基于ls-svm的传感器检测数据异常片段检测方法
CN105221132A (zh) * 2014-06-30 2016-01-06 中国石油化工股份有限公司 一种钻井工程参数状态检测方法
JP2016058010A (ja) * 2014-09-12 2016-04-21 株式会社日立ハイテクノロジーズ 異常傾向検出方法およびシステム
WO2018030033A1 (ja) * 2016-08-10 2018-02-15 三菱重工工作機械株式会社 工作機械の工具の異常検知装置及び方法
WO2018079075A1 (ja) * 2016-10-24 2018-05-03 パナソニックＩｐマネジメント株式会社 エンコーダの異常検出方法及び異常検出装置、並びにロボット制御システム
CN108695211A (zh) * 2017-04-05 2018-10-23 株式会社荏原制作所 半导体制造装置、故障预知方法、存储介质及管理系统
CN109213654A (zh) * 2018-07-05 2019-01-15 北京奇艺世纪科技有限公司 一种异常检测方法及装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0711472B2 (ja) * 1990-10-17 1995-02-08 旭化成工業株式会社 異常検出方法および装置
JP2003296851A (ja) * 2002-02-01 2003-10-17 Shimadzu System Solutions Co Ltd 遠隔異常監視システム
JP2008033532A (ja) * 2006-07-27 2008-02-14 Denso Corp 可動部を備えた設備の異常を検出する方法及び異常検出装置
CN102354204A (zh) * 2007-03-22 2012-02-15 日本电气株式会社 诊断装置
JP2010211440A (ja) * 2009-03-10 2010-09-24 Railway Technical Res Inst 異常予測装置、異常予測システム、異常予測方法、及びプログラム
JP2011095082A (ja) * 2009-10-29 2011-05-12 Casio Computer Co Ltd 時刻情報取得装置、および、電波時計
WO2012099206A1 (ja) * 2011-01-20 2012-07-26 東京エレクトロン株式会社 処理装置の異常診断方法及びその異常診断システム
CN105221132A (zh) * 2014-06-30 2016-01-06 中国石油化工股份有限公司 一种钻井工程参数状态检测方法
CN104156473A (zh) * 2014-08-25 2014-11-19 哈尔滨工业大学 一种基于ls-svm的传感器检测数据异常片段检测方法
JP2016058010A (ja) * 2014-09-12 2016-04-21 株式会社日立ハイテクノロジーズ 異常傾向検出方法およびシステム
WO2018030033A1 (ja) * 2016-08-10 2018-02-15 三菱重工工作機械株式会社 工作機械の工具の異常検知装置及び方法
WO2018079075A1 (ja) * 2016-10-24 2018-05-03 パナソニックＩｐマネジメント株式会社 エンコーダの異常検出方法及び異常検出装置、並びにロボット制御システム
CN108695211A (zh) * 2017-04-05 2018-10-23 株式会社荏原制作所 半导体制造装置、故障预知方法、存储介质及管理系统
CN109213654A (zh) * 2018-07-05 2019-01-15 北京奇艺世纪科技有限公司 一种异常检测方法及装置

Also Published As

Publication number Publication date
EP3951528B1 (en) 2023-09-06
CN113646718A (zh) 2021-11-12
US20220126461A1 (en) 2022-04-28
EP3951528A4 (en) 2022-03-23
JP7268722B2 (ja) 2023-05-08
US12257704B2 (en) 2025-03-25
EP3951528A1 (en) 2022-02-09
JPWO2020194597A1 (https=) 2020-10-01
WO2020194597A1 (ja) 2020-10-01

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