JP2023075578A - Industrial machine monitoring system - Google Patents

Abstract

To make it possible to check a situation of occurrence of an abnormality of an industrial machine more accurately than checking it merely with control signals.SOLUTION: An industrial machine monitoring system includes: a controller 2 that controls a picking robot 100; a data logger 3 capable of storing over a certain period of time control signals inputted from the controller 2 to the picking robot 100; and one or more camera units 4 capable of imaging the picking robot 100 and storing image data over a certain period of time. When an abnormality detection signal representing an abnormality of the picking robot 100 is inputted, the controller 2 causes the data logger 3 to store control signals that are obtained over a period covering a time when the abnormality occurs, as occurrence time control signals, and causes the camera units 4 to store image data that are obtained over the period covering the time when the abnormality occurs, as abnormality occurrence time image data.SELECTED DRAWING: Figure 1

Description

The present invention relates to an industrial machine monitoring device.

For example, in industrial facilities such as distribution facilities, various industrial machines are installed. Patent Literature 1 discloses a depalletizing device, which is one of the industrial machines installed in distribution facilities. Such a depalletizing apparatus performs depalletizing by unloading works from a pallet or the like on which a plurality of works are stacked. Further, Patent Literature 2 discloses a picking robot, which is one of the industrial machines installed in distribution facilities. Such a picking device picks up a work conveyed by, for example, a belt conveyor and stores it in a shipping container or the like.

JP 2015-47681 A JP 2018-188308 A

By the way, in industrial facilities such as distribution facilities, a large number of industrial machines are arranged in a large site. For this reason, each industrial machine is generally not directly operated by a worker, but generally and automatically performs work under the control of the control device. In other words, each industrial machine operates without being directly viewed by workers. The motion of each industrial machine is detected by a sensor. When the sensor detects an abnormality in the industrial machine, the industrial machine is automatically stopped. At this time, an abnormality detection signal indicating an abnormality is input to the control device.

For example, when the anomaly detection signal is input, the control device causes the data logger to store the control signal for the period including the time when the anomaly occurred. As a result, the operator can check the control signal stored in the data logger as necessary to check the situation at the time of occurrence of the abnormality. However, it may not be possible to check the details of the situation at the time of occurrence of an abnormality only by checking the control signal. For example, when an industrial machine detects that a work has dropped, it is difficult to ascertain the reason why the work has dropped based on only the control signal. For example, it is difficult to determine whether the work is dropped because the packing box is made of a slippery material or because the packing box is damaged, using only the control signal. Therefore, it is desired to be able to confirm in more detail the situation when an abnormality occurs in an industrial machine.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and an object of the present invention is to make it possible to more accurately confirm the situation when an abnormality occurs in an industrial machine than when confirming the situation only with a control signal. .

The present invention employs the following configurations as means for solving the above problems.

A first aspect of the present invention is an industrial machine monitoring device comprising a control device for controlling an industrial machine, and a control signal storage device capable of storing control signals input from the control device to the industrial machine for a certain period of time. and an imaging device capable of capturing an image of the industrial machine and storing the image for a certain period of time, and including the time when the abnormality occurred when the control device receives an abnormality detection signal indicating an abnormality of the industrial machine. A configuration is adopted in which the control signal for a period is stored as an abnormality occurrence control signal in the control signal storage device, and the imaging data for a period including the time when the abnormality occurs is stored in the imaging device as anomaly occurrence imaging data. do.

According to a second aspect of the present invention, in the first aspect, a communication device connected to a network is provided, and the communication device is connected to at least the imaging device.

A third aspect of the present invention employs a configuration in which the communication device and the imaging device are wirelessly connected in the second aspect.

According to a fourth aspect of the present invention, in any one of the first to third aspects, a configuration including a plurality of imaging devices is employed.

According to a fifth aspect of the present invention, in the first or second aspect, the imaging device is connected to the control signal storage device, and stores the contents of the control signal at the time of abnormality acquired from the control signal storage device. A configuration is adopted in which synthesized data is generated by superimposing the indicated control information on the image indicated by the imaging data at the time of abnormality occurrence.

According to a sixth aspect of the present invention, in any one of the first to fifth aspects, the image pickup device detects the next abnormality detection signal until a predetermined reception stop period elapses from the time when the abnormality occurs. A configuration is adopted in which storage of imaging data is stopped when an abnormality occurs.

According to a seventh aspect of the present invention, in the sixth aspect, the high-level abnormality is the abnormality detection signal indicating a degree of abnormality higher than the degree of abnormality indicated by the previous abnormality detection signal during the reception suspension period. When a detection signal is input, the imaging device employs a configuration in which imaged data at the time of abnormality based on the high-level abnormality detection signal is saved.

According to the present invention, the control signal for the period including the time when the abnormality occurred in the industrial machine is stored in the control signal storage device as the control signal at the time of abnormality occurrence. Further, according to the present invention, the imaging data of the period including the time when the abnormality occurred in the industrial machine is stored in the imaging device as the imaging data at the time of abnormality occurrence. Therefore, it is possible to confirm the situation at the time of occurrence of an abnormality by using the imaging data. Therefore, according to the present invention, it is possible to more accurately confirm the state of an industrial machine when an abnormality occurs, as compared with the case of confirming only the control signal.

1 is a block diagram that schematically shows a schematic configuration of an industrial machine monitoring device according to a first embodiment of the present invention; FIG. FIG. 4 is a schematic diagram of an image based on synthetic data created by a camera unit included in the industrial machine monitoring device according to the first embodiment of the present invention; 4 is a flow chart for explaining the operation of the industrial machine monitoring device according to the first embodiment of the present invention; 9 is a flow chart for explaining the operation of the industrial machine monitoring device according to the second embodiment of the present invention; It is a flow chart for explaining the operation of the industrial machine monitoring device in the third embodiment of the present invention. FIG. 11 is a block diagram schematically showing the schematic configuration of an industrial machine monitoring device according to a fourth embodiment of the present invention;

An embodiment of an industrial machine monitoring device according to the present invention will be described below with reference to the drawings.

(First embodiment)
FIG. 1 is a block diagram schematically showing the general configuration of an industrial machine monitoring device 1 of this embodiment. The industrial machine monitoring device 1 of this embodiment monitors the operating state of the picking robot 100 (industrial machine) and saves the situation when an abnormality occurs in the picking robot 100 . In addition, in this embodiment, the picking robot 100 will be described as an example of the industrial machine. However, the industrial machine is not limited to this, and can be general industrial machines used in distribution facilities, such as depalletizing robots and belt conveyors. Moreover, it is also possible to make an industrial machine used in a position other than the physical distribution posture the monitoring target of the industrial machine monitoring device 1 of the present embodiment.

As shown in FIG. 1, an industrial machine monitoring device 1 of this embodiment includes a control device 2, a data logger 3 (control signal storage device), a plurality of camera units 4 (imaging devices), and a communication device 5. I have it.

The control device 2 controls the picking robot 100 based on pre-stored programs and various data. In addition, when a plurality of industrial machines such as distribution facilities are provided, the control device 2 may control these industrial machines in an integrated manner. Such a control device 2 is formed by a computer device, and includes, for example, a storage section, an operation section, a communication section, a calculation section, and a display section.

The storage unit includes memory such as ROM (Read Only Memory) and RAM (Random Access Memory), and storage such as HDD (Hard Disk Drive) and SSD (Solid State Drive). The operation unit is an input device that receives operator's operation instructions, more specifically, a pointing device such as a keyboard or a mouse. The communication unit is a communication device that transmits and receives data to and from an external device via a predetermined communication line, and communicates with the picking robot 100 and the like using a communication protocol conforming to LAN (Local Area Network), for example.

The calculation unit performs calculations based on programs, data, and the like stored in the storage unit. This arithmetic unit is composed of hardware such as an interface circuit and a CPU (Central Processing Unit). The interface circuit is an electronic circuit that exchanges various signals with the storage section, operation section, communication section, and display section. A CPU is a central processing unit that executes programs. The display unit performs display based on the image data generated by the calculation unit. Note that the control device 2 does not necessarily have to include a display unit.

The control device 2 outputs a control signal that instructs the operation of the picking robot 100 . Further, the control device 2 outputs a control signal to the picking robot 100 and also outputs a control signal to the data logger 3 . That is, the control signal output from the control device 2 is input to the picking robot 100 and the data logger 3 .

Furthermore, the control device 2 is connected to an abnormality detection sensor 200 for detecting an abnormality of the picking robot 100 . The abnormality detection sensor 200 is a sensor that detects an abnormality of the picking robot 100 . A plurality of abnormality detection sensors 200 may be provided. For example, the abnormality detection sensor 200 can be a sensor that detects that the picking robot 100 has dropped a workpiece. Further, for example, the abnormality detection sensor 200 can be a sensor that detects that an object has entered a no-entry area set around the picking robot 100 . Also, for example, the abnormality detection sensor 200 can be a sensor that detects that the size of the work supplied to the picking robot 100 exceeds an allowable value. Such an abnormality detection sensor 200 may be built in the picking robot 100 .

The controller 2 outputs a save command to the data logger 3 when a signal (abnormality detection signal) indicating an abnormality of the picking robot 100 is input from the abnormality detection sensor 200 . Note that the save command output from the control device 2 is also input to the camera unit 4 via the data logger 3 and communication device 5 . This save command is a signal instructing the data logger 3 to save the control signal for a period (for example, about several minutes) including the time when the abnormality detection signal is received. The save command is a signal that instructs the camera unit 4 to save captured data for a period (for example, about several minutes) including the time when the abnormality detection signal is received.

The data logger 3 is a storage device that stores control signals input from the control device 2 . Such a data logger 3 is formed by, for example, a computer device, and includes a storage section, an operation section, a communication section, a calculation section, and a display section.

The storage unit includes memory such as ROM and RAM, and storage such as HDD and SSD. The operation unit is an input device that receives operator's operation instructions, more specifically, a pointing device such as a keyboard or a mouse. The communication unit is a communication device that transmits and receives data to and from an external device via a predetermined communication line, and communicates with the control device 2 and the communication device 5 using, for example, a LAN-compliant communication protocol.

The calculation unit performs calculations based on programs, data, and the like stored in the storage unit. This arithmetic unit is composed of hardware such as an interface circuit and a CPU. The interface circuit is an electronic circuit that exchanges various signals with the storage section, operation section, communication section, and display section. A CPU is a central processing unit that executes programs. The display unit performs display based on the image data generated by the calculation unit. Note that the data logger 3 does not necessarily have to have a display unit.

Such a data logger 3 can store control signals for a predetermined period of time. The data logger 3 stores the control signal input from the control device 2 for a predetermined period (control signal storage period). When the save command is input during this control signal storage period, the data logger 3 saves the control signal for the period including the time indicated by the save command as the control signal at the time of abnormality occurrence. The data logger 3 retains the control signal when an abnormality occurs even after the control signal storage period has passed. On the other hand, the control signals other than the control signal at the time of occurrence of abnormality are erased when the control signal storage period has passed. This reduces the storage capacity of the data logger 3 .

The camera unit 4 is an imaging device capable of capturing images of the picking robot 100 and storing them for a certain period of time. Such a camera unit 4 is formed by, for example, a computer device having an imaging element, and is provided with an imaging element, a storage section, an operation section, a communication section, a calculation section, and a display section.

The imaging device is an imaging device that generates imaging data including the picking robot 100, and is composed of, for example, a CMOS image sensor or a CCD image sensor. The storage unit includes memory such as ROM and RAM, and storage such as HDD and SSD. The operation unit is an input device that receives operator's operation instructions, more specifically, a pointing device such as a keyboard or a mouse. The communication unit is a communication device that transmits and receives data to and from an external device via a predetermined communication line, and communicates with the communication device 5 using, for example, a LAN-compliant communication protocol.

The calculation unit performs calculations based on programs, data, and the like stored in the storage unit. This arithmetic unit is composed of hardware such as an interface circuit and a CPU. The interface circuit is an electronic circuit that exchanges various signals with the storage section, operation section, communication section, and display section. A CPU is a central processing unit that executes programs. The display unit performs display based on the image data generated by the calculation unit. Note that the camera unit 4 does not necessarily have to include a display section.

Such a camera unit 4 can store imaging data for a predetermined period of time. The camera unit 4 stores the image data continuously created in time series for a predetermined period (image data storage period). When a save command is input during this image data storage period, the data logger 3 saves the image data of the period including the time indicated by the save command as the image data at the time of abnormality occurrence. The camera unit 4 retains the imaging data at the time of abnormality even after the imaging data storage period has passed. On the other hand, the imaging data other than the imaging data at the time of occurrence of abnormality are erased when the imaging data storage period has elapsed. This reduces the storage capacity of the camera unit 4 .

FIG. 2 is a schematic diagram of an image based on synthetic data created by the camera unit 4. As shown in FIG. In this embodiment, the camera unit 4 generates synthetic data in which the character information J is superimposed on the image G indicated by the imaging data at the time of abnormality occurrence. This character information J includes, for example, an imaging time J1, an error code J2, and control information J3. The imaging time J1 indicates the time when the image G was captured.

The error code J2 is a code indicating the type of abnormality that has occurred in the picking robot 100 . For example, when a plurality of abnormality detection sensors 200 are provided to detect different types of abnormality, an error code can be assigned to each abnormality detection sensor 200 . For this reason, the control device 2 identifies from which abnormality detection sensor 200 the abnormality detection signal is input, and the error code assigned to the abnormality detection sensor 200 that has output the abnormality detection signal is sent to the data logger 3 and the communication device. 5 to the camera unit 4 . Camera unit 4 generates synthetic data containing this error code. The data logger 3 or the camera unit 4 can also perform the process of identifying from which abnormality detection sensor 200 the abnormality detection signal is input.

The control information J3 is character information that visualizes the control signal. The control information J<b>3 is generated based on the abnormality control signal acquired by the camera unit 4 from the data logger 3 . That is, as the control information J3, the control signal when the picking robot 100 malfunctions is visualized and displayed.

Such character information J is preferably arranged at a position that does not overlap the picking robot 100 or the workpiece in the combined data, as shown in FIG. 2, for example. Therefore, the camera unit 4 generates synthetic data in which the character information J is arranged at a position that does not overlap the picking robot 100 or the work.

It should be noted that the camera unit 4 can generate the above-described synthesized data for each of the saved imaging data at the time of abnormality in accordance with the timing at which the imaging data at the time of abnormality is saved. In addition, the camera unit 4 may generate the above-described synthesized data for each of the stored image data at the time of abnormality in synchronization with the timing when an instruction to transmit image data at the time of abnormality is input from the outside. This synthesized data includes information on the imaging data at the time of abnormality occurrence and the control signal at the time of abnormality occurrence. Therefore, if the combined data is transmitted, the imaging data at the time of abnormality occurrence and the control signal at the time of abnormality occurrence are transmitted.

As shown in FIG. 1, in the present embodiment, a plurality of camera units 4 are provided in order to capture images of the picking robot 100 at a plurality of angles. However, the number of installed camera units 4 can be changed. For example, it is possible to install only one camera unit 4 for the picking robot 100 . It is also possible to install three or more camera units 4 for the picking robot 100 .

The communication device 5 is connectable to an external network N (for example, the Internet) and can communicate with external devices via the network N. FIG. The communication device 5 is also connected to the data logger 3 and relays communication between the data logger 3 and external devices. Also, the communication device 5 is connected to each of the camera units 4 and relays communication between the camera units 4 and external devices.

In this embodiment, the communication device 5 and each camera unit 4 are connected by wireless communication. 2. Description of the Related Art In a distribution facility or the like, a large site is dotted with a plurality of industrial devices. Therefore, by wirelessly connecting the camera unit 4 for imaging the industrial equipment and the communication device 5, the number of long cables to be installed can be reduced, and the structure of the industrial machine monitoring device 1 can be simplified.

Next, the operation of such an industrial machine monitoring device 1 (monitoring method of the picking robot 100) will be described with reference to the flowchart of FIG.

First, the control device 2 determines whether or not an abnormality has been detected in the picking robot 100 (step S1). The control device 2 determines that an abnormality has been detected in the picking robot 100 when an abnormality detection signal is input from the abnormality detection sensor 200 . On the other hand, when no abnormality detection signal is input from the abnormality detection sensor 200, the control device 2 determines that no abnormality has been detected in the picking robot 100, and repeats step S1.

Further, the control device 2 outputs control signals to the picking robot 100 and the data logger 3 while repeating step S1. The control signal output from the control device 2 and input to the data logger 3 is stored in the data logger 3 for the control signal storage period. erased. Note that the control device 2 controls the picking robot 100 separately from this process.

At the same time when the data logger 3 stores the control signal, each camera unit 4 continuously captures the image of the picking robot 100 . The imaged data created by each camera unit 4 is stored in each camera unit 4 for the imaged data storage period, and is deleted from the camera unit 4 after the imaged data storage period has elapsed unless an abnormality occurs in the picking robot 100. .

Note that the storage of the control signal in the data logger 3 during the control signal storage period and the storage of the captured data during the captured data storage period in each camera unit 4 are always performed regardless of the processing shown in the flowchart of FIG. there is

When it is determined in step S<b>1 that an abnormality has been detected in the picking robot 100 , the control device 2 outputs a save command to the data logger 3 . When a save command is input to the data logger 3, the data logger 3 saves the control signal when an abnormality occurs (step S2). A save command output from the control device 2 to the data logger 3 is input to each camera unit 4 via the communication device 5 . When a save command is input to the camera unit 4, the camera unit 4 saves the imaging data at the time of abnormality occurrence (step S3).

Subsequently, the data logger 3 and camera unit 4 determine whether or not a transmission instruction has been input (step S4). A transmission instruction is input from the communication device 5 to the data logger 3 and the camera unit 4 via the network N. FIG. The data logger 3 and the camera unit 4 enter a transmission standby state when it is determined that the transmission instruction has not been input. The data logger 3 in the transmission standby state stores the control signal input from the control device 2 again. In addition, the camera unit 4 in the transmission standby state stores the imaging data again.

If it is determined in step S4 that no transmission instruction has been input to the data logger 3 and camera unit 4, the process returns to step S1. Then, when the picking robot 100 malfunctions again, the data logger 3 saves the second control signal at the time of malfunction. In addition, each camera unit 4 saves the second imaging data at the time of occurrence of an abnormality.

On the other hand, if it is determined in step S4 that a transmission instruction has been input to the data logger 3 and the camera unit 4, at least the camera unit 4 outputs image data at the time of abnormality occurrence (step S5). The imaging data at the time of abnormality output from the camera unit 4 is transmitted from the communication device 5 via the network N to the external device. In other words, the worker can display an image of the picking robot 100 in the event of an abnormality at a distance from the industrial machine monitoring device 1 by displaying the imaging data at the time of abnormality transmitted via the network N on an external device. It is possible to check with

Note that the camera unit 4 may output the above synthesized data in step S5. Since the combined data includes the imaging data at the time of abnormality occurrence, outputting the stiffness data means outputting the imaging data at the time of abnormality occurrence. In such a case, since the control information J3 is included in the synthesized data, it is possible not to output the control signal at the time of abnormality from the data logger 3 . In addition, the data logger 3 may output an abnormality control signal in parallel with the output of the camera unit 4 imaging data when an abnormality occurs.

When step S5 is completed, the process returns to step S1. In addition, when step S5 is completed and the process returns to step S1, the data logger 3 may erase the abnormality control signal. Further, when step S5 is completed and the process returns to step S1, each camera unit 4 may erase the imaging data at the time of occurrence of an abnormality.

The industrial machine monitoring device 1 of this embodiment as described above includes the control device 2 , the data logger 3 , and the camera unit 4 . The control device 2 controls the picking robot 100 . The data logger 3 can store control signals input from the control device 2 to the picking robot 100 for a certain period of time. The camera unit 4 can capture images of the picking robot 100 and store them for a certain period of time. Further, when an abnormality detection signal indicating an abnormality of the picking robot 100 is input, the control device 2 causes the data logger 3 to store a control signal for a period including the time when the abnormality occurred as a control signal at the time of abnormality occurrence. Further, when an abnormality detection signal indicating an abnormality of the picking robot 100 is input, the control device 2 causes the camera unit 4 to store image data during a period including the time when the abnormality occurred as image data at the time of abnormality occurrence.

According to the industrial machine monitoring device 1 of the present embodiment, the control signal for the period including the time when the picking robot 100 has an abnormality is stored in the data logger 3 as the control signal at the time of abnormality occurrence. Further, according to the industrial machine monitoring device 1 of the present embodiment, the imaging data of the period including the time when the abnormality occurred in the picking robot 100 is stored in the camera unit 4 as the imaging data at the time of abnormality occurrence. Therefore, it is possible to confirm the situation at the time of occurrence of an abnormality by using the imaging data. Therefore, according to the industrial machine monitoring device 1 of the present embodiment, it is possible to more accurately confirm the state of the picking robot 100 when an abnormality occurs, as compared with the case of confirming only the control signal.

Further, the industrial machine monitoring device 1 of this embodiment includes a communication device 5 connected to the network N. As shown in FIG. Also, the communication device 5 is connected to at least the camera unit 4 . According to the industrial machine monitoring device 1 of the present embodiment, it is possible to obtain image data at the time of abnormality occurrence via the network N from the outside. Therefore, it is possible to check the state of the picking robot 100 when an abnormality occurs at a distance from the industrial machine monitoring device 1 .

Further, in the industrial machine monitoring device 1 of the present embodiment, the communication device 5 and the camera unit 4 are wirelessly connected. Therefore, there is no need to connect the communication device 5 and the camera unit 4 with a cable. and the camera unit 4 can be easily connected.

Further, the industrial machine monitoring device 1 of this embodiment includes a plurality of camera units 4 . For example, by installing a plurality of camera units 4, it is possible to image one picking robot 100 from a plurality of directions. Also, by providing a plurality of camera units 4 for different picking robots 100, it is possible to confirm the state of each picking robot 100 by an image.

Further, in the industrial machine monitoring device 1 of this embodiment, the camera unit 4 is connected to the data logger 3 via the communication device 5 . In addition, the camera unit 4 generates composite data in which the control information J3 indicating the content of the control signal at the time of abnormality acquired from the data logger 3 is superimposed on the image G indicated by the imaging data at the time of the abnormality. Therefore, the operator can simultaneously confirm the control information J3 in the image at the time of occurrence of the abnormality.

(Second embodiment)
Next, a second embodiment of the invention will be described with reference to FIG. In the description of the present embodiment, the description of the same parts as those of the first embodiment will be omitted or simplified.

FIG. 4 is a flowchart for explaining the operation of the industrial machine monitoring device (monitoring method of the picking robot 100) of this embodiment. As shown in this figure, in the present embodiment, when it is determined in step S4 in the first embodiment that no transmission instruction has been input to the data logger 3 and the camera unit 4, the camera unit 4 accepts the transmission instruction. A determination is made as to whether or not the suspension period has ended (step S6).

The camera unit 4 repeats step S6 until the predetermined reception stop period is completed. That is, in the present embodiment, if it is determined in step S4 that no transmission instruction has been input to the data logger 3 and the camera unit 4, an abnormality based on the next abnormality detection signal is not detected until the reception stop period elapses. Stops saving the imaging data when it occurs.

It should be noted that step S6 is performed even after the output of imaging data at the time of abnormality (step S5) is completed. That is, when the output of the imaging data at the time of abnormality has been completed in step S5, the storage of the imaging data at the time of abnormality based on the next abnormality detection signal is stopped until the reception stop period elapses.

2. Description of the Related Art In distribution facilities and the like, it is necessary to continuously process various types of workpieces that are continuously supplied by industrial machines such as picking robots. For this reason, once an abnormality occurs, there is a possibility that similar anomalies will occur continuously. In other words, once the abnormality detection signal is output, there is a possibility that the abnormality detection signal will be output a plurality of times in succession. If an abnormality detection signal is input to the control device 2 a plurality of times in succession, the camera unit 4 will always repeat saving of the imaging data at the time of abnormality occurrence, which may result in insufficient storage capacity of the camera unit 4 and processing delays. have a nature.

On the other hand, in the industrial machine monitoring apparatus of the present embodiment, the camera unit 4 continues to capture images at the time of occurrence of an abnormality based on the following abnormality detection signal until a predetermined reception suspension period elapses from the time when the abnormality occurred. Stop saving data. For this reason, it is possible to prevent the camera unit 4 from always storing similar imaged data when an abnormality occurs, and reduce the possibility that the storage capacity of the camera unit 4 will be insufficient or the processing will be delayed.

Similarly, the data logger 3 may also determine whether or not the reception suspension period has ended (step S6). As a result, the data logger 3 stops storing the abnormality control signal based on the next abnormality detection signal until a predetermined reception suspension period has elapsed from the time when the abnormality occurred. For this reason, it is possible to prevent the similar abnormality occurrence control signal from being constantly stored in the data logger 3, and reduce the possibility that the storage capacity of the data logger 3 will be insufficient or the processing will be delayed.

Further, when the reception suspension period has passed and it is determined in step S6 that the reception suspension period has ended, the process returns to step S1 again. Note that the control device 2 as well as the camera unit 4 counts the time from the start of the reception stop period, for example. The camera unit 4 and the control device 2 determine that the reception suspension period is completed when the counting time exceeds the reception suspension period.

(Third Embodiment)
Next, a third embodiment of the invention will be described with reference to FIG. In the description of this embodiment, the description of the same parts as those of the first embodiment or the second embodiment will be omitted or simplified.

FIG. 5 is a flowchart for explaining the operation of the industrial machine monitoring device (monitoring method of the picking robot 100) of this embodiment. As shown in this figure, in the present embodiment, when it is determined in step S4 in the first embodiment that no transmission instruction has been input to the data logger 3 and the camera unit 4, the camera unit 4 accepts the transmission instruction. A determination is made as to whether or not the suspension period has ended (step S6).

Furthermore, in the present embodiment, when it is determined in step S6 that the reception suspension period has not been completed, it is determined whether or not an abnormality of a higher level than the abnormality detected in step S1 has been detected. is performed (step S7).

For example, the degree of urgency is set in advance for each type of abnormality detection signal. An abnormality indicated by an abnormality detection signal with a high degree of urgency is regarded as a high level abnormality. That is, in step S7, it is determined whether or not an abnormality with a higher degree of urgency than the abnormality detected in step S1 has occurred. Such determination is performed by the control device 2, for example. When an anomaly detection signal is input, the control device 2 compares the urgency level indicated by the previously input anomaly detection signal with the urgency level indicated by the currently input anomaly detection signal. If the degree of urgency indicated by the currently input abnormality detection signal is higher than the degree of urgency indicated by the previously input abnormality detection signal, the control device 2 determines that a high-level abnormality has been detected (step S7).

In step S7, when the control device 2 detects a high-level abnormality, a signal indicating that effect (high-level abnormality detection signal) is input to the data logger 3 and the camera unit 4, and steps S2 and S3 are repeated. done. In other words, in the present embodiment, when a high-level abnormality is detected during the acceptance stop period, the control signal at the time of abnormality occurrence and the imaging data at the time of abnormality occurrence are saved. On the other hand, in step S7, if the control device 2 has not detected a high-level abnormality, the process returns to step S6.

As described above, in the industrial machine monitoring apparatus of the present embodiment, a high-level anomaly detection signal, which is an anomaly detection signal indicating a higher anomaly degree than that indicated by the previous anomaly detection signal, is input during the reception suspension period. In this case, the camera unit 4 stores image data at the time of abnormality based on the high-level abnormality detection signal. According to the industrial machine monitoring apparatus of the present embodiment, even during the reception stop period, if an abnormality of a high emergency level occurs, the imaging data at the time of abnormality occurrence and the control signal at the time of abnormality occurrence are saved. be able to.

(Fourth embodiment)
Next, a fourth embodiment of the invention will be described with reference to FIG. In the description of the present embodiment, the description of the same parts as those of the first embodiment will be omitted or simplified.

FIG. 6 is a block diagram schematically showing the general configuration of the industrial machine monitoring device 1A of this embodiment. In the industrial machine monitoring device 1A of this embodiment, the data logger 3 and the communication device 5 are not connected, but the data logger 3 and each camera unit 4 are connected. The data logger 3 and each camera unit 4 are wirelessly connected, for example.

According to the industrial machine monitoring device 1</b>A of this embodiment, signals can be transmitted from the data logger 3 to each camera unit 4 without using the communication device 5 . Therefore, the load on the communication device 5 can be reduced.

Further, in the industrial machine monitoring device 1A of the present embodiment, each camera unit 4 generates the above-described synthesized data, and transmits the synthesized data from the camera unit 4 to an external device via the communication device 5 and the network N. be able to. In such a case, by transmitting the combined data, it is not necessary to transmit only the abnormal control signal saved in the data logger 3 to the external device. Therefore, the need to connect the data logger 3 and the communication device 5 is reduced.

Although the preferred embodiments of the present invention have been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to the above embodiments. The various shapes, combinations, and the like of the constituent members shown in the above-described embodiment are merely examples, and can be variously changed based on design requirements and the like without departing from the gist of the present invention.

1... industrial machine monitoring device, 1A... industrial machine monitoring device, 2... control device, 3... data logger (control signal storage device), 4... camera unit (imaging device), 5... communication device, 100 Picking robot 200 Anomaly detection sensor J Character information J1 Imaging time J2 Error code J3 Control information N Network

Claims (7)

a control device for controlling an industrial machine;
a control signal storage device capable of storing control signals input from the control device to the industrial machine for a certain period of time;
an imaging device capable of capturing an image of the industrial machine and storing the image for a certain period of time;
When an anomaly detection signal indicating an anomaly of the industrial machine is input, the control device stores the control signal for a period including the time when the anomaly occurred as an anomaly occurrence control signal in the control signal storage device. 2. An industrial machine monitoring apparatus, characterized in that image data of a period including a time at which said abnormality occurs is stored as image data at the time of abnormality occurrence in said imaging device. Equipped with a communication device connected to a network,
The industrial machine monitoring device according to claim 1, wherein the communication device is connected to at least the imaging device. 3. The industrial machine monitoring apparatus according to claim 2, wherein said communication device and said imaging device are wirelessly connected. The industrial machine monitoring device according to any one of claims 1 to 3, comprising a plurality of said imaging devices. The imaging device is connected to the control signal storage device, and generates synthesized data in which control information indicating the content of the control signal at the time of abnormality acquired from the control signal storage device is superimposed on the image indicated by the imaging data at the time of abnormality occurrence. 3. The industrial machine monitoring device according to claim 1 or 2, wherein the industrial machine monitoring device generates. 6. The imaging device stops saving image data at the time of abnormality occurrence based on the next abnormality detection signal until a predetermined reception stop period elapses from the time when the abnormality occurs. An industrial machine monitor according to any one of the preceding claims. When the high-level anomaly detection signal, which is the anomaly detection signal indicating a higher anomaly degree than the previous anomaly detection signal, is input during the reception suspension period, the imaging device 7. The industrial machine monitoring device according to claim 6, wherein image data at the occurrence of abnormality based on the level abnormality detection signal is stored.

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