JP6816206B2 - Noise source monitoring device and noise source monitoring method - Google Patents

Description

The present invention relates to a noise source monitoring device and a noise source monitoring method for monitoring a noise source of noise generated in a control device for controlling an industrial machine.

Patent Document 1 discloses a logging device that captures the operating status of monitored equipment (manufacturing line, manufacturing apparatus, etc.) with a camera, records the data of the captured image, and displays the recording result on a display. ..

Japanese Unexamined Patent Publication No. 2000-276222

By the way, due to the operation of the monitored equipment, noise may be radiated from at least one part of the monitored equipment and transmitted (generated) to the control device that controls the industrial machines around the monitored equipment. is there.

However, the logging device of Patent Document 1 has a problem that it is not possible to provide the operator with information for estimating the noise source of the noise generated in the control device.

Therefore, an object of the present invention is to provide a noise source monitoring device and a noise source monitoring method that can provide an operator with information for estimating a noise source of noise generated in a control device.

A first aspect of the present invention is a plurality of switch units that are arranged around a control device that controls an industrial machine and that switch on / off a drive unit for driving a plurality of devices different from the industrial machine. A first storage unit that stores the captured image and the captured image data in which the imaging time is recorded, and a second storage unit that stores the observation waveform data of the oscilloscope connected to the control device and the observation waveform data in which the observation time is recorded. A processing unit that calculates the degree of correlation between the generation of noise generated in the control device and the operation of the switch unit for each switch unit based on the captured image data and the observation waveform data, and the correlation degree. This is a noise source monitoring device including a display control unit that displays information indicating the above on the display unit.

A second aspect of the present invention is a plurality of switch units that are arranged around a control device that controls an industrial machine and that switch on / off a drive unit for driving a plurality of devices different from the industrial machine. The step of reading the captured image data from the first storage unit in which the captured image and the captured image data are recorded, and the observation in which the observation waveform and the observation time of the oscilloscope connected to the control device are recorded. The step of reading the observed waveform data from the second storage unit in which the waveform data is stored, and the generation of noise generated in the control device for each switch unit based on the captured image data and the observed waveform data, and the above. This is a noise source monitoring method including a correlation degree calculation step for calculating the correlation degree with the operation of the switch unit and a display control step for displaying information indicating the correlation degree on the display unit.

According to the present invention, it is possible to provide the operator with information for estimating the noise source of the noise generated in the control device.

It is a figure which shows the schematic structure of the monitoring object of the noise source monitoring apparatus which concerns on embodiment of this invention. It is a control block diagram of the noise source monitoring apparatus which concerns on embodiment of this invention. FIG. 3A is a table showing the presence or absence of operation of each switch unit for each noise generation time. FIG. 3B is a diagram showing 10 noise generation times, 10 time zones, and an operation time of the nth switch unit in the kth time zone on the time axis. It is a partially enlarged view which shows by extracting the display image of the display part connected to a noise source monitoring device. It is a flowchart which shows the noise source monitoring process 1. It is a flowchart which shows the noise source monitoring process 2. It is a figure which shows the structural example of the switchboard of the modification 3. It is a partially enlarged view which shows by extracting the display image of the display part connected to a noise source monitoring device. It is a figure which shows the schematic structure of the noise source monitoring apparatus and the like which concerns on modification 15.

The noise source monitoring device and the noise source monitoring method according to the present invention will be described in detail below with reference to the accompanying drawings, with reference to preferred embodiments.

[Embodiment]
FIG. 1 shows a schematic configuration of a monitoring target and the like of the noise source monitoring device 10 which is an example of the noise source monitoring device of the present invention.

The noise source monitoring device 10 is a device that monitors the noise source of noise generated in the control device 22 that controls the robot 20 as an industrial machine shown in FIG. Details of the noise source monitoring device 10 will be described later.

Around the robot 20 and the control device 22, a plurality of (for example, five) drive units 14 (first drive unit 14a, second drive unit 14b, third drive unit 14c, fourth drive unit 14d, fifth drive unit) 14e) is arranged. Each drive unit 14 is a drive source for a device such as a conveyor. Each drive unit 14 is connected to the first power supply 18 via the switchboard 16 as needed. Each drive unit 14 is, for example, a motor, a solenoid, or the like having a built-in coil.

The switchboard 16 individually corresponds to a plurality of (for example, five) drive units 14, and includes a plurality of (for example, five) switch units 17 for switching connection / disconnection between the corresponding drive units 14 and the first power supply 18. .. Here, the switch unit 17 corresponding to the first drive unit 14a is referred to as the first switch unit 17a, the switch unit 17 corresponding to the second drive unit 14b is referred to as the second switch unit 17b, and the switch corresponding to the third drive unit 14c is used. The unit 17 is the third switch unit 17c, the switch unit 17 corresponding to the fourth drive unit 14d is the fourth switch unit 17d, and the switch unit 17 corresponding to the fifth drive unit 14e is the fifth switch unit 17e.

Each switch portion 17 includes a housing 13, switches such as relays and contactors housed in the housing 13, and a notch portion provided on the front wall (front wall toward FIG. 1) of the housing 13. It has a lever 28 arranged in. The switch has a fixed contact and a movable contact that moves by the magnetic force of an electromagnet. The lever 28 moves up and down in the notch in conjunction with the movement of the movable contact. Here, in the display in the notch portion of each switch portion 17 of FIG. 1, the black portion indicates the lever 28. When the lever 28 of each switch portion 17 is located above the notch portion, the switch corresponding to the lever 28 is on. When the lever 28 of each switch portion 17 is located below the notch portion, the switch corresponding to the lever 28 is off.

Here, the housing 13 of the first switch portion 17a is referred to as the first housing 13a, the housing 13 of the second switch portion 17b is referred to as the second housing 13b, and the housing 13 of the third switch portion 17c is referred to as the third housing. The body 13c, the housing 13 of the fourth switch unit 17d is the fourth housing 13d, and the housing 13 of the fifth switch unit 17e is the fifth housing 13e. The switch of the first switch unit 17a is the first switch, the switch of the second switch unit 17b is the second switch, the switch of the third switch unit 17c is the third switch, and the switch of the fourth switch unit 17d is the fourth switch. Then, the switch of the fifth switch unit 17e is referred to as the fifth switch. The lever 28 of the first switch portion 17a is the first lever 28a, the lever 28 of the second switch portion 17b is the second lever 28b, the lever 28 of the third switch portion 17c is the third lever 28c, and the fourth switch portion 17d. The lever 28 of the above is the fourth lever 28d, and the lever 28 of the fifth switch portion 17e is the fifth lever 28e.

One of the fixed contact and the movable contact of each switch is connected to the first power supply 18 via the power cable 21, and the other is connected to the drive unit 14 via the drive cable 23. More specifically, one of the fixed contact and the movable contact of the first switch is connected to the first power supply 18 via the first power cable 21a, and the other is connected to the first drive unit 14a via the first drive cable 23a. It is connected. One of the fixed contact and the movable contact of the second switch is connected to the first power supply 18 via the second power cable 21b, and the other is connected to the second drive unit 14b via the second drive cable 23b. .. One of the fixed contact and the movable contact of the third switch is connected to the first power supply 18 via the third power cable 21c, and the other is connected to the third drive unit 14c via the third drive cable 23c. .. One of the fixed contact and the movable contact of the fourth switch is connected to the first power supply 18 via the fourth power cable 21d, and the other is connected to the fourth drive unit 14d via the fourth drive cable 23d. There is. One of the fixed contact and the movable contact of the fifth switch is connected to the first power supply 18 via the fifth power cable 21e, and the other is connected to the fifth drive unit 14e via the fifth drive cable 23e. ..

When each switch unit 17 is off, the drive unit 14 corresponding to the switch unit 17 and the first power supply 18 are in a non-conducting state. When each switch unit 17 is switched from off to on, the drive unit 14 corresponding to the switch unit 17 and the first power supply 18 are in a conductive state.

The timing at which each switch unit 17 is switched on / off is predetermined based on a control program for operating the plurality of drive units 14. Each switch unit is driven by, for example, a PLC (Programmable Logical Controller).

The robot 20 is, for example, an industrial robot having a plurality of movable joints driven by a motor, and is connected to the control device 22 via a control cable 25.

The control device 22 is connected to the second power supply 24 (AC power supply) via the power cable 27. The control device 22 is a signal generation circuit that generates a control signal according to a control program for operating the robot 20, a converter (not shown) that converts an alternating current from the second power supply 24 into a direct current, and a converter from the converter. It includes a current output circuit that outputs a direct current to the motor of the robot 20 at a timing corresponding to a control signal. The control device 22 is realized by, for example, a CPU (Central Processing Unit) or an FPGA (Field Programmable Gate Array).

Here, the connection between the nth drive unit 14 (n = 1 to 5) corresponding to the nth switch unit 17 and the first power supply 18 as the nth switch unit 17 (n = 1 to 5) is turned on / off. / When the non-connection is switched, the nth drive cable 23 (n = 1 to 5) connecting the nth switch unit 17, the nth drive unit 14, the nth switch unit 17 and the nth drive unit 14 and Radiation noise may be generated from at least one of the nth power cable 21 (n = 1 to 5) connecting the nth switch unit 17 and the first power supply 18. For example, when the nth switch unit 17 is switched from on to off, the surplus energy stored in the coil of the nth drive unit 14 corresponding to the nth switch unit 17 loses its place, so that radiation noise is likely to occur. When this radiation noise is transmitted to the control device 22, the waveform of the control signal is disturbed, and the normal operation of the robot 20 is hindered.

Therefore, the control device 22 monitors the waveform of the generated control signal, and when the waveform of the control signal is disturbed and radiation noise is mixed in the control signal to prevent normal operation, an error is made and the robot 20 is operated. To stop. Of course, noise other than radiation noise (for example, conduction noise) may be mixed in the control signal, but here, we will focus on "radiation noise". Here, the electric system including the first switch unit 17a, the first drive unit 14a, and the first power supply 18 is referred to as the first electric system. The electric system including the second switch unit 17b, the second drive unit 14b, and the first power supply 18 is defined as the second electric system. The electric system including the third switch unit 17c, the third drive unit 14c, and the first power supply 18 is referred to as the third electric system. The electric system including the fourth switch unit 17d, the fourth drive unit 14d, and the first power supply 18 is referred to as the fourth electric system. The electric system including the fifth switch unit 17e, the fifth drive unit 14e, and the first power supply 18 is defined as the fifth electric system.

In order to resume the operation of the stopped robot 20, the operator OP estimates which of the above-mentioned first to fifth electric systems is the source of the radiation noise, and the radiation noise with respect to the estimated electric system. Measures to suppress radiation (for example, installation of electromagnetic shield) or measures to reduce the influence of radiation noise (for example, control cable 25, at least one drive cable 23, at least one power cable 21, etc.) are changed. It is necessary to take measures).

Therefore, the inventors have developed the noise source monitoring device 10 of the present embodiment so that the operator OP can estimate the source of the radiation noise.

As shown in FIG. 2, the noise source monitoring device 10 includes a first storage unit 33, a second storage unit 35, a processing unit 37, and a display control unit 40. The processing unit 37 and the display control unit 40 are realized by a computer including, for example, a CPU (Central Processing Unit) or the like.

The first storage unit 33 stores the captured images of the plurality of switch units 17 and the captured image data IIDs in which the imaging times are recorded. More specifically, the image captured image for each frame of the plurality of switch units 17 captured by the camera 30 (see FIG. 1) and the captured image data IID in which the imaging time is recorded are stored in the first storage unit 33. As the first storage unit 33, for example, a storage medium such as a non-volatile memory or a hard disk can be used.

Here, a method for acquiring the captured image data IID will be briefly described. First, the operator OP holds, for example, a stand, a tripod, or the like so that the camera 30 can capture the operating status of the plurality of levers 28 of the switchboard 16, that is, the operating status of the plurality of switch units 17 (switching status of on / off). It is held by the tool HD (see FIG. 1). Next, the operator OP selects the moving image mode in the camera 30. When the moving image mode is selected, the camera 30 takes a moving image of the plurality of switch units 17. The moving image data obtained by this moving image imaging is the captured image data IID. The captured image data IID thus acquired is stored in the first storage unit 33 of the noise source monitoring device 10 by wireless or wired communication. Further, the operator OP may store the data in the first storage unit 33 via a storage medium such as a memory card.

If the door of the box accommodating the switchboard 16 is not transparent, the operator OP can open the door to expose the plurality of switch units 17, so that the plurality of switch units 17 can be imaged by the camera 30. On the other hand, when the door of the box accommodating the switchboard 16 is transparent, a plurality of switch units 17 can be imaged by the camera 30 with the door closed.

The second storage unit 35 stores the observation waveform data OWD in which the observation waveform and the observation time of the oscilloscope 26 (see FIG. 1) connected to the control device 22 are recorded. More specifically, the oscilloscope 26 observes the voltage waveform of the control signal while the camera 30 captures a moving image of the plurality of switch units 17, and the observation waveform data OWD in which the observation waveform and the observation time are recorded is stored in the second storage unit. It is stored in 35. As the second storage unit 35, for example, a storage medium such as a non-volatile memory or a hard disk can be used. The observed waveform data OWD acquired from the oscilloscope 26 is also stored in the second storage unit 35 of the noise source monitoring device 10 by wireless or wired communication. Further, the operator OP may store the data in the second storage unit 35 via a storage medium such as a memory card.

That is, the captured image data IID and the observed waveform data OWD are data generated in parallel in time. It should be noted that the captured image data IID and the observed waveform data OWD do not necessarily have to have completely the same generation time, in short, at least a part of the generation time may overlap with each other.

The processing unit 37 calculates the degree of correlation between the generation of radiation noise generated in the control device 22 and the operation of the switch unit 17 for each switch unit 17 based on the captured image data IID and the observed waveform data OWD. The processing unit 37 includes a correlation switch unit specifying unit (specific unit) 34, an occurrence time acquisition unit 36, and a correlation degree calculation unit 38.

The generation time acquisition unit 36 analyzes the observation waveform data OWD and acquires the generation time of the radiation noise generated in the control device 22 (hereinafter, also referred to as “noise generation time NT”). Specifically, the generation time acquisition unit 36 reads the observed waveform data OWD from the second storage unit 35, and the time when the voltage waveform of the control signal is disturbed in the observed waveform data OWD (for example, a high frequency is added to the voltage waveform). Time) is acquired as the noise generation time NT. The generation time acquisition unit 36 sends the acquired noise generation time NT to the correlation switch unit identification unit 34. Further, the generation time acquisition unit 36 transmits an acquisition signal to the correlation degree calculation unit 38 each time the noise generation time NT is acquired.

The correlation switch unit identification unit 34 analyzes the captured image data IID to identify the switch unit 17 that operates in each of the plurality of time zones (predetermined time zones) TZ including the plurality of noise generation time NTs that are different from each other. Here, it is considered that the switch unit 17 that operates within a predetermined time range with respect to the noise generation time NT has a correlation with the generation of radiation noise. Therefore, the correlation switch unit identification unit 34 reads out the captured image data IID from the first storage unit 33, and a plurality of images captured in a plurality of time zones TZ including a plurality of noise generation time NTs different from each other in the captured image data IID. Compare the data of the captured images of. As a result, the correlation switch unit identification unit 34 identifies the switch unit 17 that operates in each of the plurality of time zones TZ (the operation time MT is included in the time zone TZ). The correlation switch unit identification unit 34 sends information indicating the switch unit 17 specified for each time zone TZ to the correlation degree calculation unit 38. The operation time MT is obtained based on, for example, the time t1 at which the captured image immediately before the start of operation of each switch unit 17 is captured and the time t2 at which the captured image immediately after the end of operation of the switch unit 17 is captured. be able to. The operating time MT can be, for example, an intermediate time between t1 and t2.

The correlation degree calculation unit 38 calculates so that the switch unit 17 having a larger number of times specified by the correlation switch unit identification unit 34 (hereinafter, also referred to as “specific number of times”) has a higher correlation degree. Specifically, the correlation degree calculation unit 38 determines the specific number of times each switch unit 17 is received as the number of acquisition signals received (the number of times the noise generation time NT is acquired by the generation time acquisition unit 36, and below, the number of times the noise generation time is acquired. The value divided by (also referred to as) is calculated as the degree of correlation of the switch unit 17.

A specific example of the method of calculating the degree of correlation by the processing unit 37 will be described below.

In FIG. 3A, as an example, when the generation time acquisition unit 36 acquires the noise generation time NT 10 times, the correlation switch unit identification unit 34 has a plurality of time zones TZ including a plurality of noise generation time NTs different from each other. The result of identifying the switch unit 17 (including the operation time MT) that operated in each is shown. That is, FIG. 3A shows in a table whether or not each switch unit 17 operates in each time zone TZ. In FIG. 3B, the operating time of the nth switch unit 17 in the 10 noise generation time NT, the corresponding 10 time zone TZ, and the kth time zone TZ (k is at least one of 1 to 10). MTni (n = 1-5, i = a, b, c ...) Is shown on the time axis. Here, the ten time zones TZ are referred to as the first time zone TZ1, the second time zone TZ2, the third time zone TZ3, the fourth time zone TZ4, the fifth time zone TZ5, the sixth time zone TZ6, and the seventh time. The band TZ7, the eighth time zone TZ8, the ninth time zone TZ9, and the tenth time zone TZ10 are used. The 10 noise generation times NT are the noise generation time NT1, the noise generation time NT2, the noise generation time NT3, the noise generation time NT4, the noise generation time NT5, the noise generation time NT6, the noise generation time NT7, the noise generation time NT8, and the noise. The generation time is NT9 and the noise generation time is NT10. Here, the time width of each time zone TZ of the first time zone TZ1 to the tenth time zone TZ10 is constant (same).

As can be seen from FIG. 3B, the first time zone TZ1 does not include the operation time MT of any of the switch units 17 (neither of the switch units 17 is operating). The second time zone TZ2 includes the operation time MT2a of the second switch unit 17b (the second switch unit 17b is operating). The third time zone TZ3 includes the operation time MT5a of the fifth switch unit 17e (the fifth switch unit 17e is operating). The fourth time zone TZ4 includes the operation time MT2b of the second switch unit 17b (the second switch unit 17b is operating). The fifth time zone TZ5 includes the operation time MT5b of the fifth switch unit 17e (the fifth switch unit 17e is operating). The sixth time zone TZ6 includes the operation time MT1a of the first switch unit 17a (the first switch unit 17a is operating). The seventh time zone TZ7 includes the operation time MT5c of the fifth switch unit 17e (the fifth switch unit 17e is operating). The eighth time zone TZ8 includes the operation time MT5d of the fifth switch unit 17e (the fifth switch unit 17e is operating). The ninth time zone TZ9 includes the operation time MT2c of the second switch unit 17b (the second switch unit 17b is operating). The tenth time zone TZ10 includes the operation time MT5e of the fifth switch unit 17e (the fifth switch unit 17e is operating).

In FIG. 3A, "Yes" indicates that the operation time MT of the switch unit 17 is included in the time zone TZ, that is, "There is operation of the switch unit 17", and "None" indicates that the switch unit is in the time zone TZ. It indicates that the operation time MT of 17 is not included, that is, “the switch unit 17 does not operate”. The correlation degree calculation unit 38 calculates the ratio of the number of “yes” to the number of time zone TZs (here, 10) for each switch unit 17 shown in FIG. 3A as the “correlation degree”. For example, the correlation degree of the first switch unit 17a is 1/10, the correlation degree of the second switch unit 17b is 3/10, the correlation degree of the third switch unit 17c is 0, and the correlation degree of the fourth switch unit 17d. The degree of correlation is 0, and the degree of correlation of the fifth switch unit 17e is 1/2. Hereinafter, the integrated number of “yes” for each switch unit 17 in FIG. 3A is also referred to as “noise correlation operation count number”. At this time, the "noise correlation operation count number / noise occurrence time acquisition count" for each switch unit 17 becomes the "correlation degree" for each switch unit 17. The center of each time zone TZ does not necessarily have to coincide with the noise generation time NT, and may deviate from the noise generation time NT. The method of calculating the degree of correlation by the processing unit 37 is not limited to the above calculation method, and can be changed as appropriate.

The display control unit 40 causes the display unit 32 to display information indicating the degree of correlation calculated by the correlation degree calculation unit 38. Specifically, the display control unit 40 acquires the data of the captured images of the plurality of switch units 17 from the captured image data IID, causes the display unit 32 to display the plurality of switch units 17, and at least one switch unit 17. Overlay the color on. At this time, the display control unit 40 changes the color superimposed on the switch unit 17 according to the high degree of correlation of each switch unit 17. For example, the display control unit 40 changes the color so that the switch unit 17 having a higher correlation degree becomes a more conspicuous color (dark color or flashy color) (partial enlargement showing the display image of the display unit 32 in FIG. 4). See figure). Here, the "dark color" means a "dark color" among similar colors. "Flashy color" means a color with good coloring regardless of whether it is a similar color or a different color. For example, the display control unit 40 may superimpose similar colors (for example, dark red, light red, dark pink, light pink, etc.) on the plurality of switch units 17 according to the high degree of correlation. Further, for example, the display control unit 40 may superimpose different colors (for example, red, blue, yellow, green, black, etc.) having different colors depending on the high degree of correlation on the plurality of switch units 17. ..

In the case of FIGS. 3A and 3B, the display control unit 40 sets the fifth switch unit 17e, which has the highest correlation, as the darkest color or the flashy color, and the second switch unit 17b, which has the second highest correlation. Is the second darkest color or flashy color, and the first switch unit 17a having the third highest correlation is the third darkest color or flashy color (see the display image of the display unit 32 in FIG. 4). Here, the display control unit 40 does not superimpose colors on the third switch unit 17c and the fourth switch unit 17d having a degree of correlation of 0.

(Noise source monitoring process 1)
The noise source monitoring process 1 performed by the noise source monitoring device 10 will be described with reference to the flowchart of FIG. Here, it is assumed that the captured image data IID and the observed waveform data OWD are stored in the second storage unit 35 prior to the noise source monitoring process 1.

In the first step S1, the generation time acquisition unit 36 reads the observed waveform data OWD from the second storage unit 35.

In the next step S2, the generation time acquisition unit 36 analyzes the observation waveform data OWD and acquires the noise generation time NT.

In the next step S3, the correlation switch unit identification unit 34 reads the captured image data IID from the first storage unit 33.

In the next step S4, the correlation switch unit identification unit 34 analyzes the captured image data IID to identify each switch unit 17 that operates in each of the plurality of time zone TZs including the plurality of noise generation time NTs that are different from each other. ..

In the next step S5, the correlation degree calculation unit 38 calculates the correlation degree for each switch unit 17.

In the next step S6, the display control unit 40 displays captured images of the plurality of switch units 17, and superimposes colors on at least one switch unit 17.

[Modification example]
The configuration of the noise source monitoring device 10 described in the above embodiment can be changed as appropriate.

(Modification example 1)
In the above embodiment, the first storage unit 33 and the second storage unit 35 are two storage media that are different from each other, but they may be two storage regions that are different from each other in the same storage medium.

(Modification 2)
By the way, it is considered that the switch unit 17 whose operation time MT is included in a predetermined time range with respect to the noise generation time NT has a correlation with the generation of radiation noise. Therefore, the correlation switch unit identification unit 34 analyzes the captured image data IID to acquire the operation time MT (time when the on / off is switched) of each of the plurality of switch units 17, and generates a plurality of noises different from each other. Whether or not the operation time MT is included in each of the plurality of time zones TZ including the time NT may be determined for each switch unit 17, and the determination result may be sent to the correlation degree calculation unit 38. Then, the correlation degree calculation unit 38 may calculate so that the higher the number of times the switch unit 17 is determined to include the operation time MT, the higher the correlation degree. The correlation switch unit specifying unit 34 can acquire the operation time MT of each switch unit 17 by comparing the captured image data for each frame in the captured image data IID.

(Noise source monitoring process 2)
The noise source monitoring process 2 (noise source monitoring process of the modification 2) performed by the noise source monitoring device 10 will be described with reference to the flowchart of FIG. Here, it is assumed that the captured image data IID is stored in the first storage unit 33 and the observed waveform data OWD is stored in the second storage unit 35 prior to the noise source monitoring process 2.

In the first step S11, the correlation switch unit identification unit 34 reads the captured image data IID from the first storage unit 33.

In the next step S12, the correlation switch unit identification unit 34 analyzes the captured image data IID to acquire the operation time MT of each switch unit 17.

In the next step S13, the generation time acquisition unit 36 reads the observed waveform data OWD from the second storage unit 35.

In the next step S14, the generation time acquisition unit 36 acquires the noise generation time NT and sends it to the correlation switch unit identification unit 34.

In the next step S15, the correlation switch unit identification unit 34 determines for each switch unit whether or not the operation time MT is included in each of the plurality of time zone TZs including the plurality of noise generation time NTs that are different from each other. The determination result is sent to the correlation degree calculation unit 38.

In the next step S16, the correlation degree calculation unit 38 calculates the correlation degree for each switch unit 17.

In the next step S17, the display control unit 40 displays captured images of the plurality of switch units 17, and superimposes colors on at least one switch unit 17.

(Modification 3)
As in the switchboard 16A of the third modification shown in FIG. 7, instead of a plurality of (for example, five) levers 28, the lights / lights are turned on / off (on / off) in conjunction with the on / off switching of the corresponding switches. Multiple (for example, five) light sources to be switched (first light source 46a of the first switch unit, second light source 46b of the second switch unit, third light source 46c of the third switch unit, fourth light source of the fourth switch unit) 46d, the fifth light source 46e) of the fifth switch unit may be used. Here, when each switch unit is on, the light source 46 of the switch unit is lit (the display of the light source 46 of the switchboard 16A in FIG. 7 is white), and when each switch unit is off, the light source 46 corresponding to the switch unit is lit. It is assumed that the light is turned off (the display of the light source 46 of the switchboard 16A in FIG. 7 is black). In this case, the correlation switch unit specifying unit 34 analyzes the captured image data IID and recognizes the switching of turning on / off of each light source 46, thereby recognizing the operation of the switch unit including the light source 46. The display control unit 40 displays images captured by a plurality of (for example, five) light sources 46, and superimposes colors on at least one switch unit. More specifically, for example, the display control unit 40 superimposes the most prominent color (the darkest color or the most flashy color) on the fifth switch unit having the highest correlation degree, and has the second highest correlation degree. The second most noticeable color (second darkest color or second most flashy color) is superimposed on the second switch part, and the third most noticeable color (third darkest color) is superimposed on the first switch part with the third highest degree of correlation. A color or a third flashy color is superimposed (see a partially enlarged view showing an extracted display of the display unit 32 in FIG. 8). The display control unit 40 does not superimpose colors on the third switch unit and the fourth switch unit having a correlation degree of 0. As each light source 46, for example, an LED (light emitting diode) is used.

(Modification example 4)
In the switchboard, a plurality of sets (for example, 5 sets) of the lever 28 and the light source that are switched on / off at the same time in conjunction with the on / off switching of the corresponding switch may be used. Specifically, when each switch is on, the lever 28 corresponding to the switch is turned on, and when the light source corresponding to the switch is lit and each switch is off, the lever 28 corresponding to the switch is turned on. May be turned off and the light source corresponding to the switch may be turned off. The display control unit 40 displays images captured by a plurality of (for example, five) levers 28 and a plurality of (for example, five) light sources, and superimposes colors on at least one switch unit. The method of superimposing colors is the same as that of the above embodiment and each modification. As each light source, for example, an LED (light emitting diode) is used.

(Modification 5)
Needless to say, in the switchboard 16, the number of switch units 17 can be appropriately changed according to the number of drive units 14 used.

(Modification 6)
In the above-described embodiment and each modification, the robot 20 is used as the industrial machine, but the present invention is not limited to this. If it is an industrial machine controlled by the control device 22, for example, other industries such as a cutting machine for processing, a press machine for processing, a wire electric discharge machine, an injection molding machine, and a machine tool for processing an object to be machined using a tool. It may be a machine.

(Modification 7)
In the above embodiment and each modification, the display control unit 40 does not superimpose the color on the switch unit 17 corresponding to the switch having a correlation degree of 0, but an inconspicuous color (for example, white) may be superposed. ..

(Modification 8)
In the above-described embodiment and each modification, a plurality of colors (including achromatic colors) are used as information indicating the degree of correlation, but the present invention is not limited to this. Information indicating the degree of correlation includes a plurality of characters such as "highest", "high", "medium", "low", and "lowest", such as "1", "2", "3", and "4". , "5" or a plurality of letters such as "A", "B", "C", "D", "E". Further, the information indicating the degree of correlation may be the degree of correlation itself.

(Modification 9)
In the above-described embodiment and each modification, at least one of the lever 28 and the light source 46, which are switched on / off in conjunction with the operation of the switch, is used. For example, a button that moves to and from the buried position may be used. In this case, it is necessary to take an image of the button with the camera 30 from the side where the button can be seen in the protruding position or the non-protruding position (for example, the upper side, the lower side, the right side, the left side of the button). In this case, the correlation switch unit specifying unit 34 analyzes the captured image data IID and recognizes the switching between protruding / non-protruding of each button, thereby recognizing the operation of the switch unit including the button.

(Modification example 10)
In the above-described embodiment and each modification, the oscilloscope 26 observes the control signal, and the generation time acquisition unit 36 acquires the time when the control signal is disturbed as the noise generation time NT, but the present invention is limited to this. Absent. For example, the oscilloscope 26 may observe the reference potential of the control device 22, and the generation time acquisition unit 36 may acquire the time when the reference potential is disturbed as the noise generation time NT.

(Modification 11)
The generation time acquisition unit 36 analyzes the observed waveform data OWD to acquire the magnitude of the radiation noise, and the correlation degree calculation unit 38 determines the degree of correlation between the generation of the radiation noise exceeding the threshold value and the operation of the switch unit. You may calculate. In this case, the radiation noise that does not affect the control signal or the reference potential can be excluded from the target of the correlation degree calculation. The threshold value is variable, and the correlation degree calculation unit 38 may calculate the correlation degree between the generation of radiation noise exceeding the threshold value selected by the operator OP and the operation of the switch unit. In this case, the degree of freedom in calculating the correlation degree by the correlation degree calculation unit 38 can be improved. Here, if the threshold value is too low, the degree of correlation tends to be high even for the switch portion that has a correlation with the radiation noise that does not affect the control signal. On the other hand, if the threshold value is too high, the degree of correlation tends to be low even for the switch portion that has a correlation with the radiation noise that affects the control signal.

(Modification 12)
In the above-described embodiment and each modification, the correlation degree calculation unit 38 has a higher correlation degree as the number of times specified by the correlation switch unit identification unit 34 (hereinafter, also referred to as “specific number of times”) increases. It is calculated, but it is not limited to this. For example, even if the correlation degree calculation unit 38 calculates so that the higher the specific number of times is the number of operations (the number of operations during the noise source monitoring process 1 or 2), the higher the correlation degree. good. However, in this case, the correlation switch unit specifying unit 34 counts the number of operations of each switch unit when analyzing the captured image data IID, and sends the count number (number of operations) to the correlation degree calculation unit 38. There is a need. In the above-described embodiment and each modification, when there are a plurality of switch units having the same specific number of times and different operation times, the correlation degree of the plurality of switch units has the same value. For example, when the number of noise generations is 5, there is a switch unit A having a specific number of times and an operation number of 10 times, and a switch unit B having a specific number of times and an operation number of 20 times. The degree of correlation between the part A and the switch part B is 1/5. On the other hand, in this modification, the correlation degree of the switch unit A is 1/10 and the correlation degree of the switch unit B is 1/20 by setting the correlation degree = the specific number of times / the number of operations. That is, in this modification, the number of operations can be reflected in the degree of correlation.

(Modification 13)
In the above-described embodiment and each modification, each drive unit 14 and the first power supply 18 are appropriately connected via a switch unit corresponding to the drive unit 14, but each drive unit 14 and the first power supply 18 are connected to each other as appropriate. An element or a group of elements connected to the power supply 18 may be appropriately connected via a switch unit corresponding to the drive unit 14.

(Modification 14)
In the above-described embodiment and each modification, the correlation switch unit specifying unit 34 specifies the switch unit 17 that operates in each of the plurality of time zone TZs including the plurality of noise generation time NTs that are different from each other. Not limited. In short, the correlation switch unit specifying unit 34 may detect a set of the noise generation time NT and the operation time MT of the switch unit 17 in a predetermined time range. For example, the above set may be detected by determining whether or not noise is generated in each of a plurality of predetermined time zones including a plurality of operation time MTs of each switch unit 17. Further, the above set may be detected by determining whether or not the noise generation time NT is included in each of the plurality of predetermined time zones including the plurality of operation time MTs of each switch unit 17. In these cases, the occurrence time acquisition unit 36 is not essential.

(Modification 15)
In the above-described embodiment and each modification, the noise source is other than the robot 20, but the operation of the robot 20 may be a noise source for the control signal of the robot 20. FIG. 9 is a diagram showing a schematic configuration of the noise source monitoring device 10 and the like according to the modified example 15. In FIG. 9, the noise source monitoring device 10 is added to FIG. The noise source monitoring device 10 is connected to the camera 30, the oscilloscope 26, and the control device 22, and can acquire information from each of them. The noise source monitoring device 10 acquires the operation information of the robot 20 from the control device 22. The motion information of the robot 20 is time-series data indicating what kind of motion the robot 20 is performing. Specific examples of the operation information of the robot 20 include the positions of all movable joints that define the posture and position of the robot 20 at each time, the execution location of the control program of the robot 20 executed by the control device 22 at each time, and the like. is there. The correlation degree calculation unit 38 of the noise source monitoring device 10 determines the degree of correlation between the generation of radiation noise and the operation of the robot 20 based on the time when the radiation noise is generated (noise generation time NT) and the operation information of the robot 20. calculate. The display control unit 40 causes the display unit 32 to display the calculated information indicating the degree of correlation on the screen (not shown) shown next to the screen of FIG.

(Modification 16)
Modifications 1 to 15 may be arbitrarily combined within a consistent range.

[Inventions that can be grasped from the embodiments and modifications 1 to 16]
[First invention]
The first invention turns on a drive unit (14) that is arranged around a control device (22) that controls an industrial machine (20) and that drives a plurality of devices different from the industrial machine (20). The first storage unit (33) that stores the captured image and the captured image data (IID) in which the captured images and the imaging times of the plurality of switch units (17) that switch to / off are recorded, and the oscilloscope connected to the control device (22) ( The switch unit (OWD) is based on the second storage unit (35) that stores the observation waveform data (OWD) in which the observation waveform and the observation time of 26) are recorded, and the captured image data (IID) and the observation waveform data (OWD). For each 17), the processing unit (37) that calculates the degree of correlation between the generation of noise generated in the control device (22) and the operation of the switch unit (17), and the display unit (32) displays information indicating the degree of correlation. It is a noise source monitoring device (10) including a display control unit (40) for displaying.

As a result, information indicating the degree of correlation between the generation of noise and the operation of each switch unit (17) is displayed on the display unit (32).

That is, according to the first invention, it is possible to provide the operator (OP) with information for estimating the noise source of the noise generated in the control device (22) that controls the industrial machine (20).

The processing unit (37) analyzes the observation waveform data (OWD) and acquires the generation time (NT) of the noise generated in the control device (22). The generation time acquisition unit (36) and the captured image data (IID). ) Is analyzed to identify the switch unit 17 that operates in each of the plurality of predetermined time zones (TZ) including the generation times (NT) of the plurality of noises different from each other, and the plurality of switch units ( Each of 17) may include a correlation degree calculation unit (38) that calculates so that the degree of correlation increases as the number of times specified by the specific unit (34) increases. As a result, even if the noise generation time (NT) and the operation time (MT) of the switch unit (17) are different, it is erroneously determined that the switch unit (17) has no correlation with the noise generation. Can be suppressed.

The specific unit (34) analyzes the captured image data (IID), acquires the operation time (MT) of each of the plurality of switch units (17), and obtains the operation time (MT) and the occurrence time (NT). It may be used to specify the switch unit (17) that has operated in each of a plurality of predetermined time zones (TZ).

The correlation degree calculation unit (38) may be calculated so that the higher the number of times the switch unit (17) is specified by the specific unit (34), the higher the correlation degree. As a result, the relative degree of correlation between the plurality of switch units (17) can be calculated.

The correlation degree calculation unit (38) may calculate so that the number of times specified by the specific unit (34) is larger than the number of operations of the switch unit (17), the higher the correlation degree is. As a result, the correlation degree calculation unit (38) can reflect the number of operations of each switch unit (17) in the correlation degree of the switch unit (17).

The generation time acquisition unit (36) analyzes the observed waveform data (OWD) to acquire the magnitude of noise, and the correlation degree calculation unit (38) generates noise exceeding the threshold value and the switch unit (17). The degree of correlation with the operation of may be calculated. As a result, the correlation degree calculation unit (38) can exclude noises that do not affect the control of the industrial machine (20) by the control device (22) from the target of the correlation degree calculation.

The threshold value is variable, and the correlation degree calculation unit (38) may calculate the correlation degree between the generation of noise exceeding the threshold value selected by the operator (OP) and the operation of the switch unit (17). As a result, the degree of freedom in calculating the correlation degree by the correlation degree calculation unit (38) can be improved.

The display control unit (40) may display the captured images of the plurality of switch units (17) and superimpose the captured images on at least one switch unit (17) to display information indicating the degree of correlation. As a result, the operator (OP) can easily recognize the degree of correlation for each switch unit (17) by looking at the displayed image.

The information indicating the degree of correlation is a color, and the display control unit (40) may change the color according to the height of the degree of correlation. As a result, the operator (OP) can see at a glance the high degree of correlation for each switch unit (17).

[Second invention]
The second invention turns on a drive unit (14) that is arranged around a control device (22) that controls an industrial machine (20) and that drives a plurality of devices different from the industrial machine (20). A step of reading the captured image data (IID) from the first storage unit (33) in which the captured images of the plurality of switch units (17) and the captured image data (IID) in which the imaging times are recorded are stored. A step of reading the observed waveform data (OWD) from the second storage unit (35) in which the observed waveform data (OWD) in which the observed waveform and the observation time of the oscilloscope (26) connected to the control device (22) are recorded are stored. And, based on the captured image data (IID) and the observed waveform data (OWD), the degree of correlation between the generation of noise generated in the control device (22) and the operation of the switch unit (17) for each switch unit (17). This is a noise source monitoring method including a correlation degree calculation step for calculating the correlation degree and a display control step for displaying information indicating the correlation degree on the display unit (32).

As a result, information indicating the degree of correlation between the generation of noise and the on / off switching of each switch unit (17) is displayed on the display unit (32).

That is, according to the second invention, it is possible to provide the operator (OP) with information for estimating the noise source of the noise generated in the control device (22) that controls the industrial machine (20).

The correlation degree calculation step analyzes the observation waveform data (OWD) and analyzes the occurrence time acquisition step of acquiring the generation time (NT) of the noise generated in the control device (22) and the captured image data (IID). In the specific step of specifying the switch unit (17) that operated in each of the plurality of predetermined time zones (TZ) including the generation time (NT) of the plurality of noises different from each other, and in each of the plurality of switch units (17). , A calculation step for calculating so that the degree of correlation increases as the number of times specified by the specific step increases. As a result, even if the noise generation time (NT) and the operation time (MT) of the switch unit (17) are different, it is erroneously determined that the switch unit (17) has no correlation with the noise generation. Can be suppressed.

In the generation time acquisition step, the observed waveform data (OWD) is analyzed to acquire the magnitude of noise, and in the calculation step, the degree of correlation between the generation of noise exceeding the threshold value and the operation of the switch unit (17) is calculated. You may. As a result, in the calculation step, noise that does not affect the control of the industrial machine (20) by the control device (22) can be excluded from the target of the correlation degree calculation.

The threshold value is variable, and in the calculation step, the degree of correlation between the generation of noise exceeding the threshold value selected by the operator (OP) and the operation of the switch unit (17) may be calculated. As a result, the degree of freedom in calculating the degree of correlation by the calculation step can be improved.

In the display control step, the captured images of the plurality of switch units (17) may be displayed, and information indicating the degree of correlation may be displayed by superimposing the captured images on at least one switch unit (17). As a result, the operator (OP) can easily recognize the degree of correlation for each switch unit (17) by looking at the displayed image.

The information indicating the degree of correlation is a color, and in the display control step, the color may be changed according to the height of the degree of correlation. As a result, the operator (OP) can see at a glance the high degree of correlation for each switch unit (17).

10 ... Noise source monitoring device 14 ... Drive unit 17 ... Switch unit 18 ... First power supply (power supply)
20 ... Robot (industrial machine) 22 ... Control device 26 ... Oscilloscope 32 ... Display unit 33 ... First storage unit 34 ... Correlation switch unit Specific unit (specific unit)
35 ... Second storage unit 36 ... Occurrence time acquisition unit 37 ... Processing unit 38 ... Correlation degree calculation unit 40 ... Display control unit

Claims (15)

Captured images and imaging times of a plurality of switch units that are arranged around a control device that controls an industrial machine and that switch on / off a drive unit for driving a plurality of devices different from the industrial machine are recorded. The first storage unit that stores the captured image data and
A second storage unit that stores the observation waveform data of the oscilloscope connected to the control device and the observation time is recorded.
A processing unit that calculates the degree of correlation between the generation of noise generated in the control device and the operation of the switch unit for each switch unit based on the captured image data and the observed waveform data.
A display control unit that displays information indicating the degree of correlation on the display unit,
A noise source monitoring device. The noise source monitoring device according to claim 1.
The processing unit
A generation time acquisition unit that analyzes the observation waveform data and acquires the generation time of noise generated in the control device.
A specific unit that analyzes the captured image data and identifies the switch unit that operates in each of a plurality of predetermined time zones including a plurality of noise generation times that are different from each other.
In each of the plurality of switch units, a correlation degree calculation unit that calculates so that the correlation degree increases as the number of times specified by the specific unit increases.
Noise source monitoring equipment, including. The noise source monitoring device according to claim 2.
The specific unit analyzes the captured image data, acquires the operation time of each of the plurality of switch units, and operates in each of the plurality of predetermined time zones using the operation time and the occurrence time. A noise source monitoring device that identifies the switch unit. The noise source monitoring device according to claim 2 or 3.
The correlation degree calculation unit is a noise source monitoring device that calculates so that the higher the number of times the switch unit is specified by the specific unit, the higher the correlation degree. The noise source monitoring device according to claim 2 or 3.
The correlation degree calculation unit is a noise source monitoring device that calculates so that the number of times specified by the specific unit is larger than the number of operations, the higher the correlation degree is. The noise source monitoring device according to any one of claims 2 to 5.
The generation time acquisition unit analyzes the observation waveform data and acquires the magnitude of the noise.
The correlation degree calculation unit is a noise source monitoring device that calculates the correlation degree between the generation of the noise exceeding the threshold value and the operation of the switch unit. The noise source monitoring device according to claim 6.
The threshold is variable
The correlation degree calculation unit is a noise source monitoring device that calculates the degree of correlation between the generation of noise exceeding the threshold value selected by the operator and the operation of the switch unit. The noise source monitoring device according to any one of claims 1 to 7.
The display control unit is a noise source monitoring device that displays captured images of the plurality of switch units and superimposes them on at least one of the switch units to display information indicating the degree of correlation. The noise source monitoring device according to claim 8.
The information indicating the degree of correlation is color.
The display control unit is a noise source monitoring device that changes the color according to the high degree of correlation. Captured images and imaging times of a plurality of switch units that are arranged around a control device that controls an industrial machine and that switch on / off a drive unit for driving a plurality of devices different from the industrial machine are recorded. A step of reading the captured image data from the first storage unit in which the captured image data is stored, and
A step of reading out the observed waveform data from the second storage unit in which the observed waveform and the observed waveform data of the oscilloscope connected to the control device are recorded.
A correlation degree calculation step for calculating the correlation degree between the generation of noise generated in the control device and the operation of the switch unit for each switch unit based on the captured image data and the observed waveform data.
A display control step for displaying information indicating the degree of correlation on the display unit, and
Noise source monitoring methods, including. The noise source monitoring method according to claim 10.
The correlation degree calculation step is
A generation time acquisition step of analyzing the observed waveform data and acquiring the generation time of noise generated in the control device, and
A specific step of analyzing the captured image data to identify the switch unit that has operated in each of a plurality of predetermined time zones including a plurality of noise generation times different from each other.
In each of the plurality of switch units, a calculation step of calculating so that the degree of correlation increases as the number of times specified by the specific step increases.
Noise source monitoring methods, including. The noise source monitoring method according to claim 11.
In the generation time acquisition step, the observed waveform data is analyzed to acquire the magnitude of the noise.
In the calculation step, a noise source monitoring method for calculating the degree of correlation between the generation of the noise exceeding the threshold value and the operation of the switch unit. The noise source monitoring method according to claim 12.
The threshold is variable
In the calculation step, a noise source monitoring method for calculating the degree of correlation between the generation of the noise exceeding the threshold value selected by the operator and the operation of the switch unit. The noise source monitoring method according to any one of claims 10 to 13.
In the display control step, a noise source monitoring method in which captured images of the plurality of switch units are displayed and superimposed on at least one of the switch units to display information indicating the degree of correlation. The noise source monitoring method according to claim 14.
The information indicating the degree of correlation is color.
In the display control step, a noise source monitoring method that changes the color according to the high degree of correlation.

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