WO2023026433A1 - Diagnostic device, and recording medium on which program is recorded - Google Patents

Diagnostic device, and recording medium on which program is recorded Download PDF

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Publication number
WO2023026433A1
WO2023026433A1 PCT/JP2021/031370 JP2021031370W WO2023026433A1 WO 2023026433 A1 WO2023026433 A1 WO 2023026433A1 JP 2021031370 W JP2021031370 W JP 2021031370W WO 2023026433 A1 WO2023026433 A1 WO 2023026433A1
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WIPO (PCT)
Prior art keywords
diagnostic
priority
processing
industrial machine
data
Prior art date
Application number
PCT/JP2021/031370
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French (fr)
Japanese (ja)
Inventor
和宏 佐藤
嘉孝 久保
Original Assignee
ファナック株式会社
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Publication date
Application filed by ファナック株式会社 filed Critical ファナック株式会社
Priority to PCT/JP2021/031370 priority Critical patent/WO2023026433A1/en
Priority to JP2023543578A priority patent/JPWO2023026433A1/ja
Publication of WO2023026433A1 publication Critical patent/WO2023026433A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/22—Detection or location of defective computer hardware by testing during standby operation or during idle time, e.g. start-up testing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
    • G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions

Definitions

  • the present invention relates to a diagnostic device and a recording medium recording a program.
  • Equipment for diagnosing the operational status of industrial machines can, for example, collect data such as the position, speed, and torque of motors detected by each industrial machine via a network, and sounds and images detected by sensors attached to industrial machines. and data related to the operating environment of the industrial machine, such as temperature, humidity, and external vibration. Diagnose.
  • Patent Literatures 1 and 2 disclose apparatuses for diagnosing the state of industrial machines.
  • the function of diagnosing the condition of industrial machines may be built on a general-purpose device that performs other functions in parallel.
  • the execution priority is often set to be low for the above-described diagnostic items that do not have a high priority.
  • always lowering the priority of diagnostic items can cause problems. For example, in a state where the degree of deterioration of a component has progressed, it is not surprising that a failure due to the deterioration of the component may occur at any time. Therefore, the calculation for diagnosing such a failure needs to be given a somewhat higher priority in a situation where the progress of deterioration has progressed.
  • the diagnostic device and the recording medium recording the program according to the present disclosure solve the above problems by adjusting the priority of calculation in the next diagnosis based on the information related to the operation of the industrial machine.
  • information related to the operation of the industrial machine include diagnostic results of the state of the industrial machine that has been diagnosed so far, the operating status of the industrial machine, the external environment in which the industrial machine operates, and the mechanical configuration of the industrial machine. .
  • One aspect of the present disclosure is a diagnostic device that diagnoses an industrial machine, comprising: a data acquisition unit that acquires data related to the operation of the industrial machine; a processing necessity determination unit that determines whether or not based on the priority of the diagnostic items; When the diagnosis unit that originally diagnoses the state of the industrial machine, the diagnosis result storage unit that stores the diagnosis result diagnosed by the diagnosis unit, and the processing necessity determination unit determine not to execute the diagnosis process at this time and a data storage unit that stores the data used in the suspended diagnostic process.
  • Another aspect of the present disclosure is a computer-readable recording medium recording a program for operating a diagnostic device for diagnosing an industrial machine, comprising: acquiring data relating to the operation of the industrial machine; a step of determining whether or not diagnostic processing relating to an item is to be executed at the present time based on the priority of the diagnostic item; a step of diagnosing the state of the industrial machine, a step of storing a diagnosis result diagnosed in the step of diagnosing, and a step of using the diagnostic processing that is suspended when it is determined not to execute the diagnostic processing at this time. and storing data.
  • the priority of diagnostic items can be adjusted according to the type of state to be diagnosed, the degree of progress of state change, and the operational status of the machine, so that computational resources can be efficiently distributed. become.
  • FIG. 1 is a schematic hardware configuration diagram of a control device according to an embodiment of the present invention
  • FIG. 3 is a block diagram showing schematic functions of a control device according to the first embodiment of the present invention
  • FIG. It is a figure which shows the example of a priority determination rule.
  • FIG. 10 is a diagram showing another example of priority order determination rules; It is a figure which shows the example of the conditions in necessity determination of a process.
  • FIG. 10 is a diagram showing another example of priority order determination rules;
  • FIG. 10 is a diagram showing another example of conditions for determining the necessity of processing; It is a display example of the priority of diagnostic items and the necessity determination of diagnostic processing.
  • FIG. 4 is a block diagram showing schematic functions of a control device according to another embodiment of the present invention.
  • FIG. 1 is a schematic hardware configuration diagram showing essential parts of a diagnostic apparatus according to one embodiment of the present invention.
  • the diagnostic device 1 of the present invention can be implemented, for example, as a control device that controls an industrial machine based on a control program.
  • the diagnostic device 1 of the present invention includes a personal computer attached to a control device for controlling an industrial machine based on a control program, a personal computer connected to the control device via a wired/wireless network, a cell computer, a fog lamp, and so on. It can be implemented on the computer 6 and the cloud server 7 .
  • This embodiment shows an example in which the diagnostic device 1 is implemented as a control device that controls an industrial machine based on a control program.
  • the CPU 11 included in the diagnostic device 1 is a processor that controls the diagnostic device 1 as a whole.
  • the CPU 11 reads out the system program stored in the ROM 12 via the bus 22 and controls the diagnostic apparatus 1 as a whole according to the system program.
  • the RAM 13 temporarily stores calculation data, display data, various data input from the outside, and the like.
  • the non-volatile memory 14 is composed of, for example, a memory backed up by a battery (not shown) or an SSD (Solid State Drive), and retains the memory state even when the diagnostic device 1 is powered off.
  • the nonvolatile memory 14 stores data acquired from the industrial machine 2, control programs and data read from the external device 72 via the interface 15, control programs and data input via the input device 71, network Control programs and data acquired from other devices via 5 are stored.
  • the control program and data stored in the nonvolatile memory 14 may be developed in the RAM 13 at the time of execution/use.
  • Various system programs such as a well-known analysis program are pre-written in the ROM 12 .
  • the interface 15 is an interface for connecting the CPU 11 of the diagnostic device 1 and an external device 72 such as a USB device. From the external device 72 side, for example, a control program and setting data used for controlling the industrial machine 2 are read. Control programs and setting data edited in the diagnostic apparatus 1 can be stored in the external storage means via the external device 72 .
  • a PMC (Programmable Machine Controller) 16 executes a ladder program to control the industrial machine 2 and peripheral devices of the industrial machine 2 (for example, a tool changer, an actuator such as a robot, and a temperature sensor attached to the industrial machine 2). and a plurality of sensors 3) such as a humidity sensor, etc., through the I/O unit 19 to control them. It also receives signals from various switches on an operation panel provided on the main body of the industrial machine 2 and signals from peripheral devices, and passes the signals to the CPU 11 after performing necessary signal processing.
  • the interface 20 is an interface for connecting the CPU of the diagnostic device 1 and the wired or wireless network 5 .
  • Other industrial machines 4 such as machine tools and electrical discharge machines, fog computers 6, cloud servers 7, and the like are connected to the network 5 to exchange data with the diagnostic device 1 .
  • each data read into the memory, data obtained as a result of executing the program, etc. are output via the interface 17 and displayed.
  • An input device 71 composed of a keyboard, a pointing device, etc., transfers commands, data, etc. based on operations by an operator to the CPU 11 via the interface 18 .
  • the axis control circuit 30 for controlling the axes provided in the industrial machine 2 receives the axis movement command amount from the CPU 11 and outputs the axis command to the servo amplifier 40 .
  • the servo amplifier 40 receives this command and drives the servo motor 50 that moves the axis of the machine tool.
  • the axis servomotor 50 incorporates a position/velocity detector, and feeds back a position/velocity feedback signal from this position/velocity detector to the axis control circuit 30 to perform position/velocity feedback control.
  • Only one axis control circuit 30, one servo amplifier 40, and one servo motor 50 are shown in the hardware configuration diagram of FIG. only available.
  • FIG. 2 is a schematic block diagram of the functions of the diagnostic device 1 according to the first embodiment of the present invention. Each function provided in the diagnostic device 1 according to the present embodiment is realized by the CPU 11 provided in the diagnostic device 1 shown in FIG.
  • the diagnostic device 1 of this embodiment includes a control unit 110 , a data acquisition unit 120 , a priority determination unit 130 , a processing necessity determination unit 140 and a diagnosis unit 150 .
  • the RAM 13 to non-volatile memory 14 of the diagnostic device 1 store in advance a control program 200 for controlling the servo motor 50 provided in the industrial machine 2, and store the data acquired by the data acquisition unit 120.
  • a data storage unit 210 as an area for performing diagnostic processing, a diagnostic result storage unit 220 as an area for storing the results of diagnostic processing, and a priority determination rule storage unit in which rules for determining the priority of diagnostic items are stored in advance. 230 are prepared in advance.
  • the control unit 110 executes a system program read from the ROM 12 by the CPU 11 of the diagnostic device 1 shown in FIG. , and input/output processing via the interface 18 are performed.
  • the control section 110 analyzes the blocks of the control program 200 and controls each section of the industrial machine 2 based on the analysis results. For example, when a block of the control program 200 commands to drive each axis of the industrial machine 2, the control unit 110 generates movement command data according to the block command and outputs it to the servo motor 50. do. For example, when a block of the control program 200 instructs to operate a peripheral device attached to the industrial machine 2, the control unit 110 generates a predetermined signal to operate the peripheral device. Output to PMC16.
  • control unit 110 can output commands necessary for controlling the industrial machine 2 to the industrial machine 2 .
  • control unit 110 acquires position feedback, speed feedback, and current feedback of the servomotor 50, and data detected by the sensors 3 such as temperature sensors, humidity sensors, and vibration sensors, and outputs the data to the data acquisition unit 120. .
  • the data acquisition unit 120 acquires feedback data such as position feedback, speed feedback, and current feedback acquired from the servomotor 50 during operation of the industrial machine 2 and data detected by the sensor 3 .
  • the data acquired by the data acquisition unit 120 may be a data value acquired at a predetermined timing, or may be time-series data that is a series of data acquired in a predetermined period.
  • the data acquisition unit 120 may acquire data input by the operator from the input device 71 or data input via the external device 72 .
  • the priority determination unit 130 calculates the priority of predetermined diagnostic items based on information related to the operation of the industrial machine 2 .
  • the priority determination unit 130 may calculate the priority of predetermined diagnostic items based on the operational status of the industrial machine 2 determined based on data acquired from the industrial machine 2, for example.
  • a priority order of predetermined diagnostic items may be determined.
  • the priority order determination unit 130 according to the present embodiment is provided with a priority order determination rule storage unit 230 in which priority order determination rules, which are rules related to determination of priority regarding predetermined diagnostic items, are stored in advance. .
  • the priority determination unit 130 may determine the priority of predetermined diagnostic items according to the priority determination rule stored in the priority determination rule storage unit 230 .
  • the processing necessity determination unit 140 determines whether or not diagnostic processing for a predetermined diagnostic item should be executed at this time, based on the priority of the diagnostic item.
  • the processing necessity determining unit 140 determines, for example, the priority of the diagnostic items calculated by the priority determining unit 130 and other execution processes currently being executed on the diagnostic apparatus 1 (for example, control program analysis processing, interpolation processing, etc.). processing, display processing, etc.). Then, when the priority of the diagnostic item is higher, it may be determined to execute the diagnostic process.
  • the processing necessity determination unit 140 acquires, for example, the current load state of the CPU 11 of the diagnostic device 1, and the allowable priority that is preset in association with the range of the additional state, and the priority determination unit 130 The priority of the diagnostic items calculated may be compared, and it may be determined to execute the diagnostic process according to the comparison result. Furthermore, the processing necessity determination unit 140 compares the allowable priority set in advance for the schedule such as date and time, day of the week, and time slot with the priority of the diagnostic items calculated by the priority determination unit 130, It may be determined to execute the diagnostic process according to the comparison result.
  • the processing necessity determination unit 140 determines that diagnostic processing regarding a predetermined diagnostic item is to be executed at this time, it outputs data necessary for the diagnostic processing to the diagnostic unit 150 .
  • the data necessary for the diagnosis process is stored in the data storage unit 210 while the execution of the diagnosis process is suspended at the present time.
  • the processing necessity determination unit 140 may determine whether or not to perform diagnostic processing on the suspended diagnostic items at a predetermined cycle. In addition, the processing necessity determination unit 140 executes diagnostic processing for the suspended diagnostic items at the timing when the processing execution status on the diagnostic device 1, the load status of the CPU 11, the date and time, the day of the week, and the time zone change. It may be determined whether or not to execute. In this case, the process necessity determination unit 140 instructs the priority determination unit 130 to determine the priority of the diagnostic process, and as a result, the diagnostic process is performed based on the determined priority of the diagnostic item. Determine whether to execute or not. As a result, when it is determined to execute diagnostic processing related to a predetermined diagnostic item, data necessary for the diagnostic processing is extracted from the data storage unit 210 and output to the diagnostic unit 150 .
  • the diagnosis unit 150 diagnoses the state of the industrial machine 2 based on the data input from the processing necessity determination unit 140.
  • the diagnostic processing for the predetermined diagnostic items performed by the diagnostic unit 150 may be any method as long as it can diagnose that the industrial machine 2 is in a predetermined state based on the input data. Examples include statistical analysis methods such as regression analysis, decision trees, and k-means, and well-known processing such as neural networks and support vector machines.
  • the result of diagnosis by the diagnosis unit 150 may be displayed on the display device 70 .
  • the data may be stored in an external storage device via the external device 72 , or may be transmitted to the fog computer 6 or the cloud server 7 via the network 5 . Further, the result of the predetermined diagnostic process diagnosed by the diagnostic unit 150 is stored in the diagnostic result storage unit 220 .
  • diagnostic processing for diagnosing a failure state of a bearing of a motor that drives the industrial machine 2 is performed. It is assumed that the bearing failure diagnosis priority is determined based on the vibration acceleration detected by the vibration sensor attached to the industrial machine 2 . Also, it is assumed that the priority order determination rule illustrated in FIG. 3 is stored in advance in the priority order determination rule storage unit 230 . In the example of FIG. 3, for each type of industrial machine and the type of motor that drives the industrial machine, the range of vibration acceleration detected by the vibration sensor is associated with the priority of fault diagnosis of bearings. The priority in the example of FIG. 3 is 1, which is the highest priority, and the higher the numerical value, the lower the priority.
  • the diagnostic device 1 is controlling the machine tool A in which the motor A is built in such a state.
  • the sensor 3 that detects the state of vibration of the machine tool A detects the vibration acceleration A1 (0 or more and less than a1) at each timing when the failure diagnosis of the bearing is performed at each predetermined cycle.
  • the priority determination unit 130 determines 10 as the priority of the bearing fault diagnosis according to the priority determination rule of FIG.
  • the process necessity determination unit 140 determines that the bearing failure diagnosis process is to be executed at this time. According to this determination, the diagnosis unit 150 executes bearing failure diagnosis processing based on the data acquired by the data acquisition unit 120 . On the other hand, if an execution process with a priority higher than 10 (priorities 1 to 9) is being executed at that timing, the processing necessity determination unit 140 determines that the bearing failure diagnosis processing is not to be executed at this time. . Then, the processing necessity determination unit 140 stores the data used for the bearing failure diagnosis processing in the data storage unit 210, and suspends the execution of the bearing failure diagnosis processing. The pending bearing failure diagnosis process is performed at a predetermined timing determined by the process necessity determination unit 140 to be executed thereafter.
  • the priority may be determined according to the number of revolutions of the motor at the timing of diagnosis, or the priority may be determined according to the time during which the motor rotates at a predetermined number of revolutions or more.
  • data such as resonance frequency detected at the driving part may be used. In this way, it is preferable to determine the priority of diagnostic items based on data affecting the diagnostic items (for example, bearing failures are affected by rotation speed, continuous operating time, etc.).
  • the priority of diagnostic items for the thermal displacement state is determined based on the continuous operating time of the industrial machine 2 and the environmental temperature. Also, it is assumed that the priority order determination rule illustrated in FIG. 4 is stored in advance in the priority order determination rule storage unit 230 . In the example of FIG. 4, for each type of industrial machine, the continuous operation time since the previous thermal deformation state diagnosis processing was executed and the environmental temperature range are associated with the priorities of the thermal deformation state diagnosis items. It is The priority in the example of FIG. 4 is 1, which is the highest priority, and the higher the numerical value, the lower the priority. In addition, as illustrated in FIG.
  • the processing necessity determining unit 140 is assumed to have a priority order of diagnostic items determined to be executed for a predetermined CPU load state range. Assume that the diagnostic device 1 controls the machine tool A in such a state. Assume that at a certain timing at which the thermal displacement diagnosis process is performed at predetermined intervals, the continuous operation time of the machine tool A since the previous thermal displacement diagnosis process is 1 hour and 10 minutes, and the environmental temperature is 25°C. . At this time, the priority determination unit 130 determines 5 as the priority of the diagnostic item of the thermal displacement state according to the priority determination rule of FIG.
  • the processing necessity determination unit 140 determines that the thermal displacement state diagnostic processing is to be executed at this time. According to this determination, the diagnosis unit 150 executes the thermal displacement state diagnosis process based on the data acquired by the data acquisition unit 120 . On the other hand, if the load state of the CPU is 65% at that timing (executable diagnostic items have a priority of 2 or higher), the process necessity determining unit 140 determines not to execute the thermal displacement state diagnostic process at this time. Then, the processing necessity determination unit 140 stores the data used for the thermal displacement state diagnosis processing in the data storage unit 210, and suspends the execution of the thermal displacement state diagnosis processing. The pending diagnostic processing of the thermal displacement state is performed at a predetermined timing determined by the processing necessity determination unit 140 to be executed thereafter.
  • diagnostic processing for diagnosing a failure state of a bearing of a motor that drives the industrial machine 2 is performed. It is assumed that the priority of bearing failure diagnosis is determined based on the degree of abnormality obtained as a result of the previous bearing failure diagnosis processing. This degree of abnormality is an index indicating the degree of progress of deterioration of the bearing. Also, it is assumed that the priority order determination rule illustrated in FIG. 6 is stored in advance in the priority order determination rule storage unit 230 . In the example of FIG.
  • the range of the degree of abnormality (taking a value of 0 to 1) obtained as a result of the previous bearing failure diagnosis processing is There is an associated bearing fault diagnosis priority.
  • the priority in the example of FIG. 6 is 1, which is the highest priority, and the higher the numerical value, the lower the priority.
  • the processing necessity determination unit 140 is assumed to have a priority order of diagnostic items determined to be executed within a predetermined time period. This is done by setting a high priority for diagnostic items that can be executed during times when there is a high possibility that the operator will perform some kind of operation, such as immediately after the start of work or after lunch break, and setting priority for diagnostic items that can be executed during other time periods.
  • the diagnostic device 1 is controlling the machine tool A in which the motor A is built in such a state. Then, assume that an abnormality degree of 0.4 is detected as a result of the previous bearing failure diagnosis at each timing of performing bearing failure diagnosis at predetermined intervals.
  • the priority determination unit 130 determines 7 as the priority of the bearing failure diagnosis items according to the priority determination rule of FIG. Then, if the time is 11:00 at that timing (the priority of executable diagnostic items is 10 or higher), the processing necessity determination unit 140 determines that the bearing failure diagnosis processing is to be performed at this time. According to this determination, the diagnosis unit 150 executes bearing failure diagnosis processing based on the data acquired by the data acquisition unit 120 .
  • the processing necessity determination unit 140 determines that the bearing failure diagnosis processing is not to be executed at this time. Then, the processing necessity determination unit 140 stores the data used for the bearing failure diagnosis processing in the data storage unit 210, and suspends the execution of the bearing failure diagnosis processing. The pending bearing failure diagnosis process is performed at a predetermined timing determined by the process necessity determination unit 140 to be executed thereafter.
  • the result of the previous diagnostic processing is used to determine the priority order of the diagnostic items. You can decide your rank. For example, the priority may be determined based on the number of times or the period of time when the value of the diagnostic result is above a certain level, the number of times of duration, or the length of the duration. In addition, the priority may be determined based on the rate of change in diagnostic result values.
  • the diagnostic device 1 having the above configuration can adjust the priority of diagnostic items according to the type of state to be diagnosed, the degree of progress of state change, and the operating state of the machine, so that computational resources can be efficiently distributed. will be able to By determining whether or not to execute diagnostic processing at the timing when the execution status of processing on the diagnostic device 1, the load status of the CPU 11, the date and time, the day of the week, and the time zone change, the diagnostic items can be determined. It is possible to flexibly determine the necessity of diagnostic processing in consideration of not only the order of priority but also the execution environment of the current diagnostic processing.
  • the data acquisition unit 120 may change the acquisition frequency of data used for diagnostic processing of a predetermined diagnostic item according to the priority of the diagnostic item. . For example, as the priority of a predetermined diagnostic item becomes higher, the frequency of acquisition of data used in the diagnostic processing of the diagnostic item is changed higher, or as the priority of the predetermined diagnostic item becomes lower, the diagnostic processing of the diagnostic item is changed. The acquisition frequency of the data used for this may be changed to a lower frequency. Along with this, the frequency at which the processing necessity determining unit 140 determines whether or not to execute diagnostic processing for a predetermined diagnostic item also changes. By changing the frequency of data acquisition according to the priority, unnecessary data acquisition processing can be suppressed, and the load related to the operation of the diagnostic apparatus 1 can be reduced.
  • the processing necessity determining unit 140 displays the priority of the diagnostic items and whether or not diagnostic processing has been executed on the display device 70. good too.
  • FIG. 8 is a display example of the priority of diagnostic items and the necessity of executing diagnostic processing. As illustrated in FIG. 8, the priority of each diagnostic item to be performed may be displayed as a list. Further, whether or not diagnostic processing has been performed for a predetermined diagnostic item, and if not, the reason may be displayed to prompt the operator to make a decision.
  • the present invention is not limited to the above-described examples of the embodiments, and can be implemented in various modes by adding appropriate modifications.
  • the processing necessity determination unit 140 determines that the diagnostic processing for a predetermined diagnostic item is not to be executed at this time, the data necessary for the diagnostic processing for the diagnostic item is stored in the data storage unit 210. are doing.
  • the processing necessity determination unit 140 determines that the diagnostic processing of the diagnostic item is not performed, and Data may be deleted without being stored in the data storage unit 210 .
  • the diagnostic device 1 is mounted on a control device that controls the industrial machine 2 .
  • Data may be acquired from the industrial machine 4 and diagnostic processing may be performed based on the acquired data.
  • a higher-level computer such as the fog computer 6 is provided with a high-performance diagnostic unit 610 and a diagnostic result storage unit 620.
  • the diagnostic unit 610 of the host computer may determine whether to execute.
  • diagnostic device 2 industrial machine 3 sensor 4 industrial machine 5 network 6 fog computer 7 cloud server 11
  • CPU 12 ROMs 13 RAM 14 nonvolatile memory 15, 17, 18, 20 interface 22 bus 70 display device 71 input device 72 external device 110 control unit 120 data acquisition unit 130 priority determination unit 140 processing necessity determination unit 150 diagnosis unit 200 control program 210 data Storage unit 220 Diagnosis result storage unit 230 Priority determination rule storage unit 610 Diagnosis unit 620 Diagnosis result storage unit

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Abstract

A diagnostic device according to the present disclosure is a diagnostic device for performing a diagnosis on an industrial machine, the device comprising: a data acquisition unit that acquires data relating to operation of the industrial machine; a processing necessity determination unit that determined whether or not to execute diagnostic processing relating to a prescribed diagnostic item at the present time on the basis of the priority of the diagnostic item; a diagnostic unit that, if the processing necessity determination unit has determined to execute the diagnostic processing at the present time, diagnoses the state of the industrial machine on the basis of the data acquired by the data acquisition unit; a diagnostic results saving unit that saves diagnostic results produced by the diagnosis by the diagnostic unit; and a data storage unit that, if the processing necessity determination unit has determined not to execute the diagnostic processing at the present time, stores the data that is to be used in the suspended diagnostic processing.

Description

診断装置、及びプログラムを記録した記録媒体Diagnostic device and recording medium recording the program
　本発明は、診断装置、及びプログラムを記録した記録媒体に関する。 The present invention relates to a diagnostic device and a recording medium recording a program.
　工場等の製造現場では、製造ラインに設置されるロボットや工作機械等の産業機械の動作状態を監視し、製造ラインが停止しないように、また、製造ラインが停止した場合には速やかに復旧できるように、産業機械の動作状態を診断する装置が導入されている。 At manufacturing sites such as factories, it monitors the operating status of industrial machines such as robots and machine tools installed on the production line to prevent the production line from stopping, and to quickly restore the production line if it stops. Thus, a device for diagnosing the operational state of industrial machines has been introduced.
　産業機械の動作状態を診断する装置は、例えばネットワークを介してそれぞれの産業機械で検出されたモータの位置、速度、トルクなどのデータや、産業機械に取り付けられたセンサで検出された音や画像などのデータ、温度や湿度、外部からの振動等の産業機械の動作環境に係るデータなどを監視し、そのデータに所定の状態を示す傾向がある場合に、産業機械が所定の状態になったと診断する。例えば、特許文献１，２などには、産業機械の状態を診断する装置が開示される。 Equipment for diagnosing the operational status of industrial machines can, for example, collect data such as the position, speed, and torque of motors detected by each industrial machine via a network, and sounds and images detected by sensors attached to industrial machines. and data related to the operating environment of the industrial machine, such as temperature, humidity, and external vibration. Diagnose. For example, Patent Literatures 1 and 2 disclose apparatuses for diagnosing the state of industrial machines.
　産業機械の状態を診断する場合において、診断処理にリアルタイム性が求められないことがある。例えば産業機械を構成する部品には、その劣化が急激には進まないものがある。そのような劣化に係る故障状態の診断処理は、劣化状態が進んでいない時期はそれほど優先度が高いわけではない。 　When diagnosing the state of industrial machinery, there are times when diagnostic processing does not require real-time performance. For example, there are parts that make up industrial machinery that do not rapidly deteriorate. Diagnosis processing of such a failure state related to deterioration does not have a high priority when the deterioration state is not progressing.
特開２０１８－０８１５２３号公報JP 2018-081523 A 特開２０１８－１５１３１７号公報JP 2018-151317 A
　産業機械の状態を診断する機能は、他の機能を並列して実行する汎用的な装置上に構築される場合がある。そのような場合に、上記した優先度が高くない診断項目については、その実行優先順位も低く設定されることが多い。しかしながら、診断項目の優先順位を常に低くしておくと問題が生じる場合がある。例えば部品の劣化の進行度合いが進んだ状態では、当該部品の劣化に基づく故障がいつ発生してもおかしくない。そのため、このような故障を診断する計算は、劣化の進行度合いが進んだ状況では優先順位をある程度高く設定する必要がある。また、産業機械の動作が、所定の状態変化を起こしにくい動作をしている場合には、そのような状態の変化を診断する計算の優先順位は低く設定していても問題ない。一方で、所定の状態変化を起こしやすい動作をしている場合、その状態の変化を診断する計算の優先順位は高く設定する必要がある。このように、診断する状態の種類や状態変化の進行度合い、機械の動作状況によって、診断項目の優先順位は異なってくる。
　そこで、状況に応じて産業機器の状態を診断する診断項目の優先順位を動的に変更する技術が望まれている。 The function of diagnosing the condition of industrial machines may be built on a general-purpose device that performs other functions in parallel. In such a case, the execution priority is often set to be low for the above-described diagnostic items that do not have a high priority. However, always lowering the priority of diagnostic items can cause problems. For example, in a state where the degree of deterioration of a component has progressed, it is not surprising that a failure due to the deterioration of the component may occur at any time. Therefore, the calculation for diagnosing such a failure needs to be given a somewhat higher priority in a situation where the progress of deterioration has progressed. Further, when the industrial machine operates in a manner that is unlikely to cause a predetermined state change, there is no problem even if the priority of the calculation for diagnosing such a state change is set low. On the other hand, when the robot is performing an action that is likely to cause a predetermined state change, it is necessary to set a high priority for the calculation for diagnosing the state change. In this way, the priority of diagnostic items differs depending on the type of state to be diagnosed, the degree of progress of state change, and the operating state of the machine.
Therefore, there is a demand for a technique for dynamically changing the priority of diagnostic items for diagnosing the state of industrial equipment according to the situation.
　本開示による診断装置、プログラムを記録した記録媒体は、産業機械の動作に係る情報に基づいて、次の診断における計算の優先順位を調整することにより、上記課題を解決する。産業機械の動作に係る情報としては、これまでに診断してきた産業機械の状態の診断結果や、産業機械の動作状況、産業機械が動作する外部の環境、産業機械の機械構成などが例示される。 The diagnostic device and the recording medium recording the program according to the present disclosure solve the above problems by adjusting the priority of calculation in the next diagnosis based on the information related to the operation of the industrial machine. Examples of information related to the operation of the industrial machine include diagnostic results of the state of the industrial machine that has been diagnosed so far, the operating status of the industrial machine, the external environment in which the industrial machine operates, and the mechanical configuration of the industrial machine. .
　そして、本開示の一態様は、産業機械の診断を行う診断装置であって、前記産業機械の動作に係るデータを取得するデータ取得部と、所定の診断項目に関する診断処理を現時点で実行するかどうかの判定を、該診断項目の優先順位に基づいて行う処理要否判定部と、　前記処理要否判定部が前記診断処理を現時点で実行すると判定した場合、前記データ取得部が取得したデータをもとに前記産業機械の状態を診断する診断部と、前記診断部が診断した診断結果を保存する診断結果保存部と、前記処理要否判定部が前記診断処理を現時点で実行しない判定した場合、保留された前記診断処理に用いる前記データを保管するデータ保管部と、を備えた診断装置である。 One aspect of the present disclosure is a diagnostic device that diagnoses an industrial machine, comprising: a data acquisition unit that acquires data related to the operation of the industrial machine; a processing necessity determination unit that determines whether or not based on the priority of the diagnostic items; When the diagnosis unit that originally diagnoses the state of the industrial machine, the diagnosis result storage unit that stores the diagnosis result diagnosed by the diagnosis unit, and the processing necessity determination unit determine not to execute the diagnosis process at this time and a data storage unit that stores the data used in the suspended diagnostic process.
　本開示の他の態様は、産業機械の診断を行う診断装置を動作させるプログラムを記録したコンピュータ読み取り可能な記録媒体であって、前記産業機械の動作に係るデータを取得するステップと、所定の診断項目に関する診断処理を現時点で実行するかどうかの判定を、該診断項目の優先順位に基づいて行うステップと、前記診断処理を現時点で実行すると判定した場合、前記取得するステップで取得したデータをもとに前記産業機械の状態を診断するステップと、前記診断するステップで診断された診断結果を保存するステップと、前記診断処理を現時点で実行しない判定した場合、保留された前記診断処理に用いる前記データを保管するステップと、を前記診断装置に実行させるプログラムを記録したコンピュータ読み取り可能な記録媒体である。 Another aspect of the present disclosure is a computer-readable recording medium recording a program for operating a diagnostic device for diagnosing an industrial machine, comprising: acquiring data relating to the operation of the industrial machine; a step of determining whether or not diagnostic processing relating to an item is to be executed at the present time based on the priority of the diagnostic item; a step of diagnosing the state of the industrial machine, a step of storing a diagnosis result diagnosed in the step of diagnosing, and a step of using the diagnostic processing that is suspended when it is determined not to execute the diagnostic processing at this time. and storing data.
　本開示の一態様により、診断する状態の種類や状態変化の進行度合い、機械の動作状況に合わせて診断項目の優先順位を調整することができるので、効率よく計算資源を配分することができるようになる。 According to one aspect of the present disclosure, the priority of diagnostic items can be adjusted according to the type of state to be diagnosed, the degree of progress of state change, and the operational status of the machine, so that computational resources can be efficiently distributed. become.
本発明の一実施形態による制御装置の概略的なハードウェア構成図である。1 is a schematic hardware configuration diagram of a control device according to an embodiment of the present invention; FIG. 本発明の第１実施形態による制御装置の概略的な機能を示すブロック図である。3 is a block diagram showing schematic functions of a control device according to the first embodiment of the present invention; FIG. 優先順位決定ルールの例を示す図である。It is a figure which shows the example of a priority determination rule. 優先順位決定ルールの他の例を示す図である。FIG. 10 is a diagram showing another example of priority order determination rules; 処理要否判定における条件の例を示す図である。It is a figure which shows the example of the conditions in necessity determination of a process. 優先順位決定ルールの他の例を示す図である。FIG. 10 is a diagram showing another example of priority order determination rules; 処理要否判定における条件の他の例を示す図である。FIG. 10 is a diagram showing another example of conditions for determining the necessity of processing; 診断項目の優先度、及び診断処理の要否判定の表示例である。It is a display example of the priority of diagnostic items and the necessity determination of diagnostic processing. 本発明の他の実施形態による制御装置の概略的な機能を示すブロック図である。FIG. 4 is a block diagram showing schematic functions of a control device according to another embodiment of the present invention;
　以下、本発明の実施形態を図面と共に説明する。
　図１は本発明の一実施形態による診断装置の要部を示す概略的なハードウェア構成図である。本発明の診断装置１は、例えば制御用プログラムに基づいて産業機械を制御する制御装置として実装することができる。また、本発明の診断装置１は、制御用プログラムに基づいて産業機械を制御する制御装置に併設されたパソコンや、有線／無線のネットワークを介して制御装置と接続されたパソコン、セルコンピュータ、フォグコンピュータ６、クラウドサーバ７の上に実装することができる。本実施形態では、診断装置１を、制御用プログラムに基づいて産業機械を制御する制御装置として実装した例を示す。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic hardware configuration diagram showing essential parts of a diagnostic apparatus according to one embodiment of the present invention. The diagnostic device 1 of the present invention can be implemented, for example, as a control device that controls an industrial machine based on a control program. Further, the diagnostic device 1 of the present invention includes a personal computer attached to a control device for controlling an industrial machine based on a control program, a personal computer connected to the control device via a wired/wireless network, a cell computer, a fog lamp, and so on. It can be implemented on the computer 6 and the cloud server 7 . This embodiment shows an example in which the diagnostic device 1 is implemented as a control device that controls an industrial machine based on a control program.
　本実施形態による診断装置１が備えるＣＰＵ１１は、診断装置１を全体的に制御するプロセッサである。ＣＰＵ１１は、バス２２を介してＲＯＭ１２に格納されたシステム・プログラムを読み出し、該システム・プログラムに従って診断装置１全体を制御する。ＲＡＭ１３には一時的な計算データや表示データ、及び外部から入力された各種データ等が一時的に格納される。 The CPU 11 included in the diagnostic device 1 according to this embodiment is a processor that controls the diagnostic device 1 as a whole. The CPU 11 reads out the system program stored in the ROM 12 via the bus 22 and controls the diagnostic apparatus 1 as a whole according to the system program. The RAM 13 temporarily stores calculation data, display data, various data input from the outside, and the like.
　不揮発性メモリ１４は、例えば図示しないバッテリでバックアップされたメモリやＳＳＤ（Ｓｏｌｉｄ　Ｓｔａｔｅ　Ｄｒｉｖｅ）等で構成され、診断装置１の電源がオフされても記憶状態が保持される。不揮発性メモリ１４には、産業機械２から取得されたデータ、インタフェース１５を介して外部機器７２から読み込まれた制御用プログラムやデータ、入力装置７１を介して入力された制御用プログラムやデータ、ネットワーク５を介して他の装置から取得された制御用プログラムやデータ等が記憶される。不揮発性メモリ１４に記憶された制御用プログラムやデータは、実行時／利用時にはＲＡＭ１３に展開されても良い。また、ＲＯＭ１２には、公知の解析プログラムなどの各種システム・プログラムがあらかじめ書き込まれている。 The non-volatile memory 14 is composed of, for example, a memory backed up by a battery (not shown) or an SSD (Solid State Drive), and retains the memory state even when the diagnostic device 1 is powered off. The nonvolatile memory 14 stores data acquired from the industrial machine 2, control programs and data read from the external device 72 via the interface 15, control programs and data input via the input device 71, network Control programs and data acquired from other devices via 5 are stored. The control program and data stored in the nonvolatile memory 14 may be developed in the RAM 13 at the time of execution/use. Various system programs such as a well-known analysis program are pre-written in the ROM 12 .
　インタフェース１５は、診断装置１のＣＰＵ１１とＵＳＢ装置等の外部機器７２と接続するためのインタフェースである。外部機器７２側からは、例えば産業機械２の制御に用いられる制御用プログラムや設定データ等が読み込まれる。また、診断装置１内で編集した制御用プログラムや設定データ等は、外部機器７２を介して外部記憶手段に記憶させることができる。ＰＭＣ（プログラマブル・マシン・コントローラ）１６は、ラダープログラムを実行して産業機械２及び産業機械２の周辺装置（例えば、工具交換装置や、ロボット等のアクチュエータ、産業機械２に取付けられている温度センサや湿度センサ等の複数のセンサ３）にＩ／Ｏユニット１９を介して信号を出力し制御する。また、産業機械２の本体に配備された操作盤の各種スイッチや周辺装置等の信号を受け、必要な信号処理をした後、ＣＰＵ１１に渡す。 The interface 15 is an interface for connecting the CPU 11 of the diagnostic device 1 and an external device 72 such as a USB device. From the external device 72 side, for example, a control program and setting data used for controlling the industrial machine 2 are read. Control programs and setting data edited in the diagnostic apparatus 1 can be stored in the external storage means via the external device 72 . A PMC (Programmable Machine Controller) 16 executes a ladder program to control the industrial machine 2 and peripheral devices of the industrial machine 2 (for example, a tool changer, an actuator such as a robot, and a temperature sensor attached to the industrial machine 2). and a plurality of sensors 3) such as a humidity sensor, etc., through the I/O unit 19 to control them. It also receives signals from various switches on an operation panel provided on the main body of the industrial machine 2 and signals from peripheral devices, and passes the signals to the CPU 11 after performing necessary signal processing.
　インタフェース２０は、診断装置１のＣＰＵと有線乃至無線のネットワーク５とを接続するためのインタフェースである。ネットワーク５には、工作機械や放電加工機などの他の産業機械４やフォグコンピュータ６、クラウドサーバ７等が接続され、診断装置１との間で相互にデータのやり取りを行っている。 The interface 20 is an interface for connecting the CPU of the diagnostic device 1 and the wired or wireless network 5 . Other industrial machines 4 such as machine tools and electrical discharge machines, fog computers 6, cloud servers 7, and the like are connected to the network 5 to exchange data with the diagnostic device 1 .
　表示装置７０には、メモリ上に読み込まれた各データ、プログラム等が実行された結果として得られたデータ等がインタフェース１７を介して出力されて表示される。また、キーボードやポインティングデバイス等から構成される入力装置７１は、オペレータによる操作に基づく指令，データ等をインタフェース１８を介してＣＰＵ１１に渡す。 On the display device 70, each data read into the memory, data obtained as a result of executing the program, etc. are output via the interface 17 and displayed. An input device 71 composed of a keyboard, a pointing device, etc., transfers commands, data, etc. based on operations by an operator to the CPU 11 via the interface 18 .
　産業機械２が備える軸を制御するための軸制御回路３０はＣＰＵ１１からの軸の移動指令量を受けて、軸の指令をサーボアンプ４０に出力する。サーボアンプ４０はこの指令を受けて、工作機械が備える軸を移動させるサーボモータ５０を駆動する。軸のサーボモータ５０は位置・速度検出器を内蔵し、この位置・速度検出器からの位置・速度フィードバック信号を軸制御回路３０にフィードバックし、位置・速度のフィードバック制御を行う。なお、図１のハードウェア構成図では軸制御回路３０、サーボアンプ４０、サーボモータ５０は１つずつしか示されていないが、実際には制御対象となる産業機械２に備えられた軸の数だけ用意される。 The axis control circuit 30 for controlling the axes provided in the industrial machine 2 receives the axis movement command amount from the CPU 11 and outputs the axis command to the servo amplifier 40 . The servo amplifier 40 receives this command and drives the servo motor 50 that moves the axis of the machine tool. The axis servomotor 50 incorporates a position/velocity detector, and feeds back a position/velocity feedback signal from this position/velocity detector to the axis control circuit 30 to perform position/velocity feedback control. Although only one axis control circuit 30, one servo amplifier 40, and one servo motor 50 are shown in the hardware configuration diagram of FIG. only available.
　図２は、本発明の第１実施形態による診断装置１が備える機能を概略的なブロック図として示したものである。本実施形態による診断装置１が備える各機能は、図１に示した診断装置１が備えるＣＰＵ１１がシステム・プログラムを実行し、診断装置１の各部の動作を制御することにより実現される。 FIG. 2 is a schematic block diagram of the functions of the diagnostic device 1 according to the first embodiment of the present invention. Each function provided in the diagnostic device 1 according to the present embodiment is realized by the CPU 11 provided in the diagnostic device 1 shown in FIG.
　本実施形態の診断装置１は、制御部１１０、データ取得部１２０、優先順位決定部１３０、処理要否判定部１４０、診断部１５０を備える。診断装置１のＲＡＭ１３乃至不揮発性メモリ１４には、予め産業機械２が備えるサーボモータ５０などを制御するための制御用プログラム２００が記憶されており、また、データ取得部１２０が取得したデータを保管するための領域としてのデータ保管部２１０、診断処理の結果を記憶するための領域としての診断結果記憶部２２０、診断項目の優先順位を決定するルールが予め記憶されている優先順位決定ルール記憶部２３０が予め用意されている。 The diagnostic device 1 of this embodiment includes a control unit 110 , a data acquisition unit 120 , a priority determination unit 130 , a processing necessity determination unit 140 and a diagnosis unit 150 . The RAM 13 to non-volatile memory 14 of the diagnostic device 1 store in advance a control program 200 for controlling the servo motor 50 provided in the industrial machine 2, and store the data acquired by the data acquisition unit 120. A data storage unit 210 as an area for performing diagnostic processing, a diagnostic result storage unit 220 as an area for storing the results of diagnostic processing, and a priority determination rule storage unit in which rules for determining the priority of diagnostic items are stored in advance. 230 are prepared in advance.
　制御部１１０は、図１に示した診断装置１が備えるＣＰＵ１１がＲＯＭ１２から読み出したシステム・プログラムを実行し、主としてＣＰＵ１１によるＲＡＭ１３、不揮発性メモリ１４を用いた演算処理と、軸制御回路３０、ＰＭＣ１６を用いた産業機械２の各部の制御処理、インタフェース１８を介した入出力処理が行われることで実現される。制御部１１０は、制御用プログラム２００のブロックを解析し、その解析結果に基づいて産業機械２の各部を制御する。制御部１１０は、例えば制御用プログラム２００のブロックが産業機械２の各軸を駆動させるように指令している場合には、ブロックによる指令に従って移動指令データを生成してサーボモータ５０に対して出力する。また、制御部１１０は、例えば制御用プログラム２００のブロックが産業機械２に取り付けられた周辺装置を動作させるように指令している場合には、該周辺装置を動作させる所定の信号を生成してＰＭＣ１６に出力する。その他にも、制御部１１０は、産業機械２の制御に必要な指令を産業機械２に対して出力することができる。一方で、制御部１１０は、サーボモータ５０の位置フィードバック、速度フィードバック、電流フィードバックや、温度センサや湿度センサ、振動センサなどのセンサ３が検出したデータを取得し、データ取得部１２０へと出力する。 The control unit 110 executes a system program read from the ROM 12 by the CPU 11 of the diagnostic device 1 shown in FIG. , and input/output processing via the interface 18 are performed. The control section 110 analyzes the blocks of the control program 200 and controls each section of the industrial machine 2 based on the analysis results. For example, when a block of the control program 200 commands to drive each axis of the industrial machine 2, the control unit 110 generates movement command data according to the block command and outputs it to the servo motor 50. do. For example, when a block of the control program 200 instructs to operate a peripheral device attached to the industrial machine 2, the control unit 110 generates a predetermined signal to operate the peripheral device. Output to PMC16. In addition, the control unit 110 can output commands necessary for controlling the industrial machine 2 to the industrial machine 2 . On the other hand, the control unit 110 acquires position feedback, speed feedback, and current feedback of the servomotor 50, and data detected by the sensors 3 such as temperature sensors, humidity sensors, and vibration sensors, and outputs the data to the data acquisition unit 120. .
　データ取得部１２０は、産業機械２の動作時においてサーボモータ５０から取得される位置フィードバック、速度フィードバック、電流フィードバックなどのフィードバックデータや、センサ３が検出したデータを取得する。データ取得部１２０が取得するデータは、所定のタイミングで取得されるデータ値であってよいし、所定の期間において取得されるデータの系列である時系列データであってよい。なお、データ取得部１２０は、オペレータが入力装置７１から入力したデータや、外部機器７２を介して入力されたデータを取得するようにしてもよい。 The data acquisition unit 120 acquires feedback data such as position feedback, speed feedback, and current feedback acquired from the servomotor 50 during operation of the industrial machine 2 and data detected by the sensor 3 . The data acquired by the data acquisition unit 120 may be a data value acquired at a predetermined timing, or may be time-series data that is a series of data acquired in a predetermined period. The data acquisition unit 120 may acquire data input by the operator from the input device 71 or data input via the external device 72 .
　優先順位決定部１３０は、所定の診断項目について、産業機械２の動作に係る情報に基づいて優先順位を計算する。優先順位決定部１３０は、例えば産業機械２から取得されたデータに基づいて判断される産業機械２の動作状況に基づいて所定の診断項目の優先順位を計算してもよい。また、例えばモータの種類や工具、工具径などの産業機械２の構成や、産業機械２が動作する外部の環境に係る情報、過去に診断部１５０が行った診断結果の履歴などに基づいて、所定の診断項目の優先順位を決定してもよい。本実施形態による優先順位決定部１３０は、一例として、所定の診断項目に関する優先順位の決定に係るルールである優先順位決定ルールが予め記憶された優先順位決定ルール記憶部２３０があらかじめ用意されている。優先順位決定部１３０は、優先順位決定ルール記憶部２３０に記憶される優先順位決定ルールに従って所定の診断項目に関する優先順位を決定するようにしてよい。 The priority determination unit 130 calculates the priority of predetermined diagnostic items based on information related to the operation of the industrial machine 2 . The priority determination unit 130 may calculate the priority of predetermined diagnostic items based on the operational status of the industrial machine 2 determined based on data acquired from the industrial machine 2, for example. In addition, based on the configuration of the industrial machine 2 such as the type of motor, tool, and tool diameter, information related to the external environment in which the industrial machine 2 operates, and the history of diagnostic results performed by the diagnostic unit 150 in the past, A priority order of predetermined diagnostic items may be determined. As an example, the priority order determination unit 130 according to the present embodiment is provided with a priority order determination rule storage unit 230 in which priority order determination rules, which are rules related to determination of priority regarding predetermined diagnostic items, are stored in advance. . The priority determination unit 130 may determine the priority of predetermined diagnostic items according to the priority determination rule stored in the priority determination rule storage unit 230 .
　処理要否判定部１４０は、所定の診断項目に関する診断処理を現時点で実行するかどうかの判定を、該診断項目の優先順位に基づいて行う。処理要否判定部１４０は、例えば優先順位決定部１３０が計算した診断項目の優先順位と、現在診断装置１の上で実行されている他の実行プロセス（例えば、制御用プログラムの解析処理、補間処理、表示処理など）の優先順位とを比較する。そして、診断項目の優先順位が上回る場合に、当該診断処理を実行すると判定してよい。また、処理要否判定部１４０は、例えば診断装置１のＣＰＵ１１の現在の負荷状態を取得し、該付加状態の範囲に対応付けて予め設定されている許容優先順位と、優先順位決定部１３０が計算した診断項目の優先順位とを比較し、その比較結果に応じて当該診断処理を実行すると判定してよい。更に、処理要否判定部１４０は、例えば予め日時や曜日、時間帯などのスケジュールに対して設定された許容優先順位と、優先順位決定部１３０が計算した診断項目の優先順位とを比較し、その比較結果に応じて当該診断処理を実行すると判定してよい。 The processing necessity determination unit 140 determines whether or not diagnostic processing for a predetermined diagnostic item should be executed at this time, based on the priority of the diagnostic item. The processing necessity determining unit 140 determines, for example, the priority of the diagnostic items calculated by the priority determining unit 130 and other execution processes currently being executed on the diagnostic apparatus 1 (for example, control program analysis processing, interpolation processing, etc.). processing, display processing, etc.). Then, when the priority of the diagnostic item is higher, it may be determined to execute the diagnostic process. Further, the processing necessity determination unit 140 acquires, for example, the current load state of the CPU 11 of the diagnostic device 1, and the allowable priority that is preset in association with the range of the additional state, and the priority determination unit 130 The priority of the diagnostic items calculated may be compared, and it may be determined to execute the diagnostic process according to the comparison result. Furthermore, the processing necessity determination unit 140 compares the allowable priority set in advance for the schedule such as date and time, day of the week, and time slot with the priority of the diagnostic items calculated by the priority determination unit 130, It may be determined to execute the diagnostic process according to the comparison result.
　処理要否判定部１４０は、所定の診断項目に関する診断処理を現時点で実行すると判定した場合、その診断処理に必要なデータを診断部１５０に対して出力する。一方、所定の診断項目に関する診断処理を現時点で実行しないと判定した場合、現時点では当該診断処理の実行を保留した上で、診断処理に必要なデータをデータ保管部２１０に保管する。 When the processing necessity determination unit 140 determines that diagnostic processing regarding a predetermined diagnostic item is to be executed at this time, it outputs data necessary for the diagnostic processing to the diagnostic unit 150 . On the other hand, if it is determined not to execute the diagnosis process related to the predetermined diagnosis item at the present time, the data necessary for the diagnosis process is stored in the data storage unit 210 while the execution of the diagnosis process is suspended at the present time.
　処理要否判定部１４０は、保留にした診断項目について、所定の周期で診断処理を実行するか否かの判定を行うようにしてよい。また、処理要否判定部１４０は、保留にした診断項目について、診断装置１の上での処理の実行状況やＣＰＵ１１の負荷状況、日時や曜日、時間帯の変化が起きたタイミングで診断処理を実行するか否かの判定を行うようにしてよい。この場合、処理要否判定部１４０は、該診断処理に関する優先順位を決定するように優先順位決定部１３０に指令し、その結果、決定された該診断項目の優先順位に基づいて、診断処理を実行するか否かの判定を行う。その結果、所定の診断項目に関する診断処理を実行すると判定した場合、その診断処理に必要なデータをデータ保管部２１０から取り出して診断部１５０に対して出力する。 The processing necessity determination unit 140 may determine whether or not to perform diagnostic processing on the suspended diagnostic items at a predetermined cycle. In addition, the processing necessity determination unit 140 executes diagnostic processing for the suspended diagnostic items at the timing when the processing execution status on the diagnostic device 1, the load status of the CPU 11, the date and time, the day of the week, and the time zone change. It may be determined whether or not to execute. In this case, the process necessity determination unit 140 instructs the priority determination unit 130 to determine the priority of the diagnostic process, and as a result, the diagnostic process is performed based on the determined priority of the diagnostic item. Determine whether to execute or not. As a result, when it is determined to execute diagnostic processing related to a predetermined diagnostic item, data necessary for the diagnostic processing is extracted from the data storage unit 210 and output to the diagnostic unit 150 .
　診断部１５０は、処理要否判定部１４０から入力されたデータをもとに産業機械２の状態を診断する。診断部１５０が行う所定の診断項目に関する診断処理は、入力されたデータに基づいて、産業機械２が所定の状態にあることが診断できる手法であればどのようなものであってよい。例えば回帰分析、決定木、ｋ平均法などの統計的な解析手法や、ニューラルネットワーク、サポートベクターマシンなどの公知の処理が例示される。診断部１５０が診断した結果は、表示装置７０に表示出力してもよい。また、外部機器７２を介して外部の記憶装置に記憶するようにしてもよいし、ネットワーク５を介してフォグコンピュータ６やクラウドサーバ７に送信出力してもよい。また、診断部１５０が診断した所定の診断処理の結果は、診断結果記憶部２２０に記憶される。 The diagnosis unit 150 diagnoses the state of the industrial machine 2 based on the data input from the processing necessity determination unit 140. The diagnostic processing for the predetermined diagnostic items performed by the diagnostic unit 150 may be any method as long as it can diagnose that the industrial machine 2 is in a predetermined state based on the input data. Examples include statistical analysis methods such as regression analysis, decision trees, and k-means, and well-known processing such as neural networks and support vector machines. The result of diagnosis by the diagnosis unit 150 may be displayed on the display device 70 . Alternatively, the data may be stored in an external storage device via the external device 72 , or may be transmitted to the fog computer 6 or the cloud server 7 via the network 5 . Further, the result of the predetermined diagnostic process diagnosed by the diagnostic unit 150 is stored in the diagnostic result storage unit 220 .
　本実施形態による診断装置１の一実施例について説明する。本実施例では、産業機械２を駆動するモータのベアリングの故障状態を診断する診断処理を行う場合を考える。ベアリングの故障診断の優先順位は、産業機械２に取り付けられた振動センサが検出する振動加速度に基づいて決定されるものとする。また、優先順位決定ルール記憶部２３０には、予め図３に例示される優先順位決定ルールが記憶されているものとする。図３の例では、産業機械の種類と、該産業機械を駆動するモータの種類ごとに、振動センサが検出する振動加速度の範囲に対して、ベアリングの故障診断の優先順位が関連付けられている。図３の例における優先順位は、１で最も優先順位が高くなり、数値が大きくなるにつれて優先順位が低くなるものとする。また、診断装置１上で動作している制御用プログラムの解析処理、補間処理、表示処理などの他の実行プロセスにも、その優先度に応じた優先順位がつけられているものとする。このような状態で、モータＡが組み込まれた工作機械Ａを診断装置１が制御しているとする。そして、所定周期ごとにベアリングの故障診断を行うそれぞれのタイミングにおいて、工作機械Ａの振動の状態を検出するセンサ３が振動加速度Ａ１（０以上ａ１未満）を検出したとする。この時、優先順位決定部１３０は、図３の優先順位決定ルールに従って、ベアリングの故障診断の優先順位を１０に決定する。そして、そのタイミングにおいて優先順位が１０より大きい（優先順位が１～９）実行プロセスが実行されていない場合、処理要否判定部１４０はベアリングの故障診断処理を現時点で実行すると判定する。診断部１５０は、この決定に従って、データ取得部１２０が取得したデータに基づいてベアリングの故障診断処理を実行する。一方、そのタイミングにおいて優先順位が１０より大きい（優先順位が１～９）実行プロセスが実行されている場合には、処理要否判定部１４０はベアリングの故障診断処理を現時点で実行しないと判定する。そして、処理要否判定部１４０は、ベアリングの故障診断処理に用いるデータをデータ保管部２１０に保管して、ベアリングの故障診断処理の実行を保留する。保留したベアリングの故障診断処理は、その後の処理要否判定部１４０が実行をすると判定した所定のタイミングで行われる。 An example of the diagnostic device 1 according to this embodiment will be described. In this embodiment, it is assumed that diagnostic processing for diagnosing a failure state of a bearing of a motor that drives the industrial machine 2 is performed. It is assumed that the bearing failure diagnosis priority is determined based on the vibration acceleration detected by the vibration sensor attached to the industrial machine 2 . Also, it is assumed that the priority order determination rule illustrated in FIG. 3 is stored in advance in the priority order determination rule storage unit 230 . In the example of FIG. 3, for each type of industrial machine and the type of motor that drives the industrial machine, the range of vibration acceleration detected by the vibration sensor is associated with the priority of fault diagnosis of bearings. The priority in the example of FIG. 3 is 1, which is the highest priority, and the higher the numerical value, the lower the priority. It is also assumed that other execution processes such as analysis processing, interpolation processing, display processing, etc. of the control program running on the diagnostic device 1 are assigned priorities according to their priority. Assume that the diagnostic device 1 is controlling the machine tool A in which the motor A is built in such a state. Assume that the sensor 3 that detects the state of vibration of the machine tool A detects the vibration acceleration A1 (0 or more and less than a1) at each timing when the failure diagnosis of the bearing is performed at each predetermined cycle. At this time, the priority determination unit 130 determines 10 as the priority of the bearing fault diagnosis according to the priority determination rule of FIG. If an execution process with a priority higher than 10 (priorities 1 to 9) is not being executed at that timing, the process necessity determination unit 140 determines that the bearing failure diagnosis process is to be executed at this time. According to this determination, the diagnosis unit 150 executes bearing failure diagnosis processing based on the data acquired by the data acquisition unit 120 . On the other hand, if an execution process with a priority higher than 10 (priorities 1 to 9) is being executed at that timing, the processing necessity determination unit 140 determines that the bearing failure diagnosis processing is not to be executed at this time. . Then, the processing necessity determination unit 140 stores the data used for the bearing failure diagnosis processing in the data storage unit 210, and suspends the execution of the bearing failure diagnosis processing. The pending bearing failure diagnosis process is performed at a predetermined timing determined by the process necessity determination unit 140 to be executed thereafter.
　上記以外にも、例えば診断するタイミングにおけるモータの回転数に応じて優先順位を決定したり、所定以上の回転数で回転していた時間に応じて優先順位を決定したりするようにしてもよい。また、駆動部位で検出される共振周波数などのデータを用いてもよい。このように、診断項目に影響するデータ（例えば、ベアリングの故障は回転数や連続運転時間などの影響を受ける）に基づいて該診断項目の優先順位を決定すると好適である。 In addition to the above, for example, the priority may be determined according to the number of revolutions of the motor at the timing of diagnosis, or the priority may be determined according to the time during which the motor rotates at a predetermined number of revolutions or more. . Further, data such as resonance frequency detected at the driving part may be used. In this way, it is preferable to determine the priority of diagnostic items based on data affecting the diagnostic items (for example, bearing failures are affected by rotation speed, continuous operating time, etc.).
　本実施形態による診断装置１の他の実施例について説明する。本実施例では、産業機械２の熱変位状態を診断する診断処理を行う場合を考える。熱変位状態の診断項目の優先順位は、産業機械２の連続運転時間と環境温度に基づいて決定されるものとする。また、優先順位決定ルール記憶部２３０には、予め図４に例示される優先順位決定ルールが記憶されているものとする。図４の例では、産業機械の種類ごとに、前回熱変位状態の診断処理が実行されてからの連続運転時間と、環境温度の範囲に対して、熱変位状態の診断項目の優先順位が関連付けられている。図４の例における優先順位は、１で最も優先順位が高くなり、数値が大きくなるにつれて優先順位が低くなるものとする。また、処理要否判定部１４０は、図５に例示するように、所定のＣＰＵの負荷状態の範囲に対して、実行すると判定する診断項目の優先順位が定められているものとする。このような状態で、工作機械Ａを診断装置１が制御しているとする。そして、所定周期ごとに熱変位の診断処理を行うあるタイミングにおいて、前回熱変位診断処理を行ってからの工作機械Ａの連続運転時間が１時間１０分、環境温度が２５℃を検出したとする。この時、優先順位決定部１３０は、図４の優先順位決定ルールに従って、熱変位状態の診断項目の優先順位を５に決定する。そして、そのタイミングにおいてＣＰＵの負荷状態が１５％である場合（実行できる診断項目の優先順位が６以上）、処理要否判定部１４０は熱変位状態の診断処理を現時点で実行すると判定する。診断部１５０は、この決定に従って、データ取得部１２０が取得したデータに基づいて熱変位状態の診断処理を実行する。一方、そのタイミングにおいてＣＰＵの負荷状態が６５％である場合（実行できる診断項目の優先順位が２以上）、処理要否判定部１４０は熱変位状態の診断処理を現時点で実行しないと判定する。そして、処理要否判定部１４０は、熱変位状態の診断処理に用いるデータをデータ保管部２１０に保管して、熱変位状態の診断処理の実行を保留する。保留した熱変位状態の診断処理は、その後の処理要否判定部１４０が実行をすると判定した所定のタイミングで行われる。 Another example of the diagnostic device 1 according to this embodiment will be described. In this embodiment, the case of performing diagnostic processing for diagnosing the thermal displacement state of the industrial machine 2 is considered. The priority of diagnostic items for the thermal displacement state is determined based on the continuous operating time of the industrial machine 2 and the environmental temperature. Also, it is assumed that the priority order determination rule illustrated in FIG. 4 is stored in advance in the priority order determination rule storage unit 230 . In the example of FIG. 4, for each type of industrial machine, the continuous operation time since the previous thermal deformation state diagnosis processing was executed and the environmental temperature range are associated with the priorities of the thermal deformation state diagnosis items. It is The priority in the example of FIG. 4 is 1, which is the highest priority, and the higher the numerical value, the lower the priority. In addition, as illustrated in FIG. 5 , the processing necessity determining unit 140 is assumed to have a priority order of diagnostic items determined to be executed for a predetermined CPU load state range. Assume that the diagnostic device 1 controls the machine tool A in such a state. Assume that at a certain timing at which the thermal displacement diagnosis process is performed at predetermined intervals, the continuous operation time of the machine tool A since the previous thermal displacement diagnosis process is 1 hour and 10 minutes, and the environmental temperature is 25°C. . At this time, the priority determination unit 130 determines 5 as the priority of the diagnostic item of the thermal displacement state according to the priority determination rule of FIG. Then, if the load state of the CPU is 15% at that timing (the priority of the diagnostic items that can be executed is 6 or higher), the processing necessity determination unit 140 determines that the thermal displacement state diagnostic processing is to be executed at this time. According to this determination, the diagnosis unit 150 executes the thermal displacement state diagnosis process based on the data acquired by the data acquisition unit 120 . On the other hand, if the load state of the CPU is 65% at that timing (executable diagnostic items have a priority of 2 or higher), the process necessity determining unit 140 determines not to execute the thermal displacement state diagnostic process at this time. Then, the processing necessity determination unit 140 stores the data used for the thermal displacement state diagnosis processing in the data storage unit 210, and suspends the execution of the thermal displacement state diagnosis processing. The pending diagnostic processing of the thermal displacement state is performed at a predetermined timing determined by the processing necessity determination unit 140 to be executed thereafter.
　本実施形態による診断装置１の他の実施例について説明する。本実施例では、産業機械２を駆動するモータのベアリングの故障状態を診断する診断処理を行う場合を考える。ベアリングの故障診断の優先順位は、前回行われたベアリングの故障診断処理の結果として得られた異常度に基づいて決定されるものとする。この異常度は、ベアリングの劣化の進行度合いを示す指標である。また、優先順位決定ルール記憶部２３０には、予め図６に例示される優先順位決定ルールが記憶されているものとする。図６の例では、産業機械の種類と、該産業機械を駆動するモータの種類ごとに、前回のベアリング故障診断処理の結果として得られた異常度（０～１の値を取る）の範囲に対して、ベアリングの故障診断の優先順位が関連付けられている。図６の例における優先順位は、１で最も優先順位が高くなり、数値が大きくなるにつれて優先順位が低くなるものとする。また、処理要否判定部１４０は、図７に例示するように、所定の時間帯の範囲に対して、実行すると判定する診断項目の優先順位が定められているものとする。これは、例えば始業直後や昼休み直後など、オペレータが何らかの操作を行う可能性が高い時間は実行できる診断項目の優先順位を高く設定しておき、その他の時間帯は実行できる診断項目の優先順位を低く設定したものである。このような状態で、モータＡが組み込まれた工作機械Ａを診断装置１が制御しているとする。そして、所定周期ごとにベアリングの故障診断を行うそれぞれのタイミングにおいて、前回のベアリングの故障診断の結果として異常度０．４を検出したとする。この時、優先順位決定部１３０は、図６の優先順位決定ルールに従って、ベアリングの故障診断項目の優先順位を７に決定する。そして、そのタイミングにおいて時刻が１１時である場合（実行できる診断項目の優先順位が１０以上）、処理要否判定部１４０はベアリングの故障診断処理を現時点で実行すると判定する。診断部１５０は、この決定に従って、データ取得部１２０が取得したデータに基づいてベアリングの故障診断処理を実行する。一方、そのタイミングにおいて時刻が１３時３０分である場合（実行できる診断項目の優先順位が１）、処理要否判定部１４０はベアリングの故障診断処理を現時点で実行しないと判定する。そして、処理要否判定部１４０は、ベアリングの故障診断処理に用いるデータをデータ保管部２１０に保管して、ベアリングの故障診断処理の実行を保留する。保留したベアリングの故障診断処理は、その後の処理要否判定部１４０が実行をすると判定した所定のタイミングで行われる。 Another example of the diagnostic device 1 according to this embodiment will be described. In this embodiment, it is assumed that diagnostic processing for diagnosing a failure state of a bearing of a motor that drives the industrial machine 2 is performed. It is assumed that the priority of bearing failure diagnosis is determined based on the degree of abnormality obtained as a result of the previous bearing failure diagnosis processing. This degree of abnormality is an index indicating the degree of progress of deterioration of the bearing. Also, it is assumed that the priority order determination rule illustrated in FIG. 6 is stored in advance in the priority order determination rule storage unit 230 . In the example of FIG. 6, for each type of industrial machine and the type of motor that drives the industrial machine, the range of the degree of abnormality (taking a value of 0 to 1) obtained as a result of the previous bearing failure diagnosis processing is There is an associated bearing fault diagnosis priority. The priority in the example of FIG. 6 is 1, which is the highest priority, and the higher the numerical value, the lower the priority. In addition, as illustrated in FIG. 7, the processing necessity determination unit 140 is assumed to have a priority order of diagnostic items determined to be executed within a predetermined time period. This is done by setting a high priority for diagnostic items that can be executed during times when there is a high possibility that the operator will perform some kind of operation, such as immediately after the start of work or after lunch break, and setting priority for diagnostic items that can be executed during other time periods. It is set low. Assume that the diagnostic device 1 is controlling the machine tool A in which the motor A is built in such a state. Then, assume that an abnormality degree of 0.4 is detected as a result of the previous bearing failure diagnosis at each timing of performing bearing failure diagnosis at predetermined intervals. At this time, the priority determination unit 130 determines 7 as the priority of the bearing failure diagnosis items according to the priority determination rule of FIG. Then, if the time is 11:00 at that timing (the priority of executable diagnostic items is 10 or higher), the processing necessity determination unit 140 determines that the bearing failure diagnosis processing is to be performed at this time. According to this determination, the diagnosis unit 150 executes bearing failure diagnosis processing based on the data acquired by the data acquisition unit 120 . On the other hand, if the time is 13:30 at that timing (the priority of the executable diagnosis item is 1), the processing necessity determination unit 140 determines that the bearing failure diagnosis processing is not to be executed at this time. Then, the processing necessity determination unit 140 stores the data used for the bearing failure diagnosis processing in the data storage unit 210, and suspends the execution of the bearing failure diagnosis processing. The pending bearing failure diagnosis process is performed at a predetermined timing determined by the process necessity determination unit 140 to be executed thereafter.
　なお、この実施例では、診断項目の優先順位の決定に前回の診断処理の結果を用いているが、該診断項目についてこれまでに行われた診断処理の結果の履歴を用いて診断項目の優先順位を決定してもよい。例えば、診断結果の値が一定以上になっている回数や期間の割合や、持続回数、持続期間の長さに基づいて優先順位を決定してもよい。また、診断結果の値の変化率の大きさに基づいて優先順位を決定してもよい。 In this embodiment, the result of the previous diagnostic processing is used to determine the priority order of the diagnostic items. You can decide your rank. For example, the priority may be determined based on the number of times or the period of time when the value of the diagnostic result is above a certain level, the number of times of duration, or the length of the duration. In addition, the priority may be determined based on the rate of change in diagnostic result values.
　上記構成を備えた診断装置１は、診断する状態の種類や状態変化の進行度合い、機械の動作状況に合わせて診断項目の優先順位を調整することができるので、効率よく計算資源を配分することができるようになる。診断装置１の上での処理の実行状況やＣＰＵ１１の負荷状況、日時や曜日、時間帯の変化が起きたタイミングで診断処理を実行するか否かの判定を行うようにすることで、診断項目優先順位だけでなく、現在の診断処理の実行環境を考慮した、柔軟な診断処理の要否判定を行うことが可能となる。 The diagnostic device 1 having the above configuration can adjust the priority of diagnostic items according to the type of state to be diagnosed, the degree of progress of state change, and the operating state of the machine, so that computational resources can be efficiently distributed. will be able to By determining whether or not to execute diagnostic processing at the timing when the execution status of processing on the diagnostic device 1, the load status of the CPU 11, the date and time, the day of the week, and the time zone change, the diagnostic items can be determined. It is possible to flexibly determine the necessity of diagnostic processing in consideration of not only the order of priority but also the execution environment of the current diagnostic processing.
　本実施形態による診断装置１の一変形例として、データ取得部１２０は、所定の診断項目の優先順位に応じて、該診断項目の診断処理に用いるデータの取得頻度を変化させるようにしてもよい。例えば、所定の診断項目の優先順位が高くなるにつれて、該診断項目の診断処理に用いるデータの取得頻度を高く変化させたり、所定の診断項目の優先順位が低くなるにつれて、該診断項目の診断処理に用いるデータの取得頻度を低く変化させたりしてよい。これに伴い、処理要否判定部１４０による所定の診断項目の診断処理を実行するかどうかを判定する頻度も変化する。データを取得する頻度を優先順位に応じて変化させることで、無駄なデータ取得処理を抑え、診断装置１の動作に係る負荷を下げることができる。 As a modified example of the diagnostic apparatus 1 according to the present embodiment, the data acquisition unit 120 may change the acquisition frequency of data used for diagnostic processing of a predetermined diagnostic item according to the priority of the diagnostic item. . For example, as the priority of a predetermined diagnostic item becomes higher, the frequency of acquisition of data used in the diagnostic processing of the diagnostic item is changed higher, or as the priority of the predetermined diagnostic item becomes lower, the diagnostic processing of the diagnostic item is changed. The acquisition frequency of the data used for this may be changed to a lower frequency. Along with this, the frequency at which the processing necessity determining unit 140 determines whether or not to execute diagnostic processing for a predetermined diagnostic item also changes. By changing the frequency of data acquisition according to the priority, unnecessary data acquisition processing can be suppressed, and the load related to the operation of the diagnostic apparatus 1 can be reduced.
　本実施形態による診断装置１の他の変形例として、処理要否判定部１４０は、診断項目の優先順位や、診断処理を実行したか否かの表示を表示装置７０に対して行うようにしてもよい。図８は、診断項目の優先順位及び診断処理の実行要否の表示例である。図８に例示するように、行われるべき各診断項目の優先順位をリストとして表示するようにしてもよい。また、所定の診断項目について、診断処理が実行されているか否か、実行されていない場合にはその理由などを表示して、オペレータに判断を促すようにしてもよい。 As another modified example of the diagnostic apparatus 1 according to the present embodiment, the processing necessity determining unit 140 displays the priority of the diagnostic items and whether or not diagnostic processing has been executed on the display device 70. good too. FIG. 8 is a display example of the priority of diagnostic items and the necessity of executing diagnostic processing. As illustrated in FIG. 8, the priority of each diagnostic item to be performed may be displayed as a list. Further, whether or not diagnostic processing has been performed for a predetermined diagnostic item, and if not, the reason may be displayed to prompt the operator to make a decision.
　以上、本発明の実施形態について説明したが、本発明は上述した実施の形態の例のみに限定されることなく、適宜の変更を加えることにより様々な態様で実施することができる。
　例えば、上記した実施形態では、処理要否判定部１４０は、所定の診断項目に関する診断処理を現時点で実行しないと判定した場合、該診断項目の診断処理に必要なデータをデータ保管部２１０に保管している。しかしながら、例えば該診断項目の優先順位が予め定めた所定の閾値以下である場合、処理要否判定部１４０は、該診断項目の診断処理は行わないこととして、該診断項目の診断処理に必要なデータをデータ保管部２１０に保管せずに削除するようにしてもよい。 Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described examples of the embodiments, and can be implemented in various modes by adding appropriate modifications.
For example, in the above-described embodiment, when the processing necessity determination unit 140 determines that the diagnostic processing for a predetermined diagnostic item is not to be executed at this time, the data necessary for the diagnostic processing for the diagnostic item is stored in the data storage unit 210. are doing. However, for example, when the priority of the diagnostic item is equal to or lower than a predetermined threshold value, the processing necessity determination unit 140 determines that the diagnostic processing of the diagnostic item is not performed, and Data may be deleted without being stored in the data storage unit 210 .
　また、上記した実施形態では、診断装置１を産業機械２を制御する制御装置上に実装した例を示しているが、例えばフォグコンピュータ６やクラウドサーバ７の上に実装し、ネットワーク５を介して産業機械４からデータを取得し、取得したデータに基づいて診断処理を行うようにしてもよい。また、例えば図９に例示するように、フォグコンピュータ６などの上位コンピュータに高性能な診断部６１０と診断結果記憶部６２０を設けておき、処理要否判定部１４０において、診断項目の優先順位、ローカルの診断装置１の処理状況や、上位のフォグコンピュータ６の処理状況に応じて、診断項目の診断処理の実行要否に加えて、更にローカルの診断装置１の診断部１５０で診断するか、または、上位コンピュータの診断部６１０で実行するかを判定するようにしてもよい。このように構成することで、例えば診断項目の優先度が高い場合、診断精度が高い上位コンピュータの診断部６１０に診断を依頼する、といった柔軟な運用をすることも可能である。また、上位コンピュータが複数の現場装置から診断を依頼される場合であっても、上位コンピュータの処理の混雑具合に応じて、適宜診断処理の振り分けを行うことも可能となる。 Further, in the above-described embodiment, an example in which the diagnostic device 1 is mounted on a control device that controls the industrial machine 2 is shown. Data may be acquired from the industrial machine 4 and diagnostic processing may be performed based on the acquired data. Further, for example, as shown in FIG. 9, a higher-level computer such as the fog computer 6 is provided with a high-performance diagnostic unit 610 and a diagnostic result storage unit 620. Depending on the processing status of the local diagnostic device 1 and the processing status of the high-level fog computer 6, in addition to the necessity of executing the diagnostic processing of the diagnostic item, whether the diagnostic unit 150 of the local diagnostic device 1 further diagnoses, Alternatively, the diagnostic unit 610 of the host computer may determine whether to execute. By configuring in this way, for example, when the priority of the diagnosis item is high, it is possible to perform a flexible operation such as requesting the diagnosis to the diagnosis unit 610 of the host computer having high diagnosis accuracy. Moreover, even when the host computer receives diagnosis requests from a plurality of on-site devices, it is possible to appropriately distribute diagnostic processing according to the degree of congestion in the processing of the host computer.
　　　１　診断装置
　　　２　産業機械
　　　３　センサ
　　　４　産業機械
　　　５　ネットワーク
　　　６　フォグコンピュータ
　　　７　クラウドサーバ
　　１１　ＣＰＵ
　　１２　ＲＯＭ
　　１３　ＲＡＭ
　　１４　不揮発性メモリ
　　１５，１７，１８，２０　インタフェース
　　２２　バス
　　７０　表示装置
　　７１　入力装置
　　７２　外部機器
　１１０　制御部
　１２０　データ取得部
　１３０　優先順位決定部
　１４０　処理要否判定部
　１５０　診断部
　２００　制御用プログラム
　２１０　データ保管部
　２２０　診断結果記憶部
　２３０　優先順位決定ルール記憶部
　６１０　診断部
　６２０　診断結果記憶部 1 diagnostic device 2 industrial machine 3 sensor 4 industrial machine 5 network 6 fog computer 7 cloud server 11 CPU
12 ROMs
13 RAM
14 nonvolatile memory 15, 17, 18, 20 interface 22 bus 70 display device 71 input device 72 external device 110 control unit 120 data acquisition unit 130 priority determination unit 140 processing necessity determination unit 150 diagnosis unit 200 control program 210 data Storage unit 220 Diagnosis result storage unit 230 Priority determination rule storage unit 610 Diagnosis unit 620 Diagnosis result storage unit

Claims (6)

  1. 　産業機械の診断を行う診断装置であって、
    　前記産業機械の動作に係るデータを取得するデータ取得部と、
    　所定の診断項目に関する診断処理を現時点で実行するかどうかの判定を、該診断項目の優先順位に基づいて行う処理要否判定部と、
    　前記処理要否判定部が前記診断処理を現時点で実行すると判定した場合、前記データ取得部が取得したデータをもとに前記産業機械の状態を診断する診断部と、
    　前記診断部が診断した診断結果を保存する診断結果保存部と、
    　前記処理要否判定部が前記診断処理を現時点で実行しない判定した場合、保留された前記診断処理に用いる前記データを保管するデータ保管部と、
    を備えた診断装置。     A diagnostic device for diagnosing an industrial machine,
    a data acquisition unit that acquires data relating to the operation of the industrial machine;
    a processing necessity determination unit that determines whether or not to execute diagnostic processing for a predetermined diagnostic item at this time based on the priority of the diagnostic item;
    a diagnosis unit that diagnoses the state of the industrial machine based on the data acquired by the data acquisition unit when the processing necessity determination unit determines that the diagnosis processing is to be executed at this time;
    a diagnosis result storage unit that stores a diagnosis result diagnosed by the diagnosis unit;
    a data storage unit that stores the data used for the suspended diagnostic process when the process necessity determination unit determines not to execute the diagnostic process at this time;
    A diagnostic device with
  2. 　前記産業機械の動作状況、前記産業機械の構成、前記産業機械が動作する外部環境、過去に行った診断の結果の少なくともいずれかに基づいて、所定の診断項目の優先順位を決定する優先順位決定部をさらに備え、
    　前記処理要否判定部は、前記優先順位決定部により決定された前記診断項目の優先順位に基づいて、該診断項目に関する診断処理を現時点で実行するかどうかの判定を行う
    請求項１に記載の診断装置。     Prioritization of predetermined diagnostic items based on at least one of the operational status of the industrial machine, the configuration of the industrial machine, the external environment in which the industrial machine operates, and the results of past diagnostics. further comprising the
    2. The process necessity determining unit according to claim 1, based on the priority of the diagnostic item determined by the priority determining unit, determines whether or not to execute the diagnostic process related to the diagnostic item at this time. diagnostic equipment.
  3. 　前記処理要否判定部は、前記診断項目の優先順位と、現在実行されている実行プロセスの優先順位とに基づいて、該診断項目を現時点で実行するかどうかの判定を行う、
    請求項１に記載の診断装置。     The processing necessity determination unit determines whether or not to execute the diagnostic item at the present time based on the priority of the diagnostic item and the priority of the execution process currently being executed.
    A diagnostic device according to claim 1 .
  4. 　前記処理要否判定部は、前記診断項目の優先順位と、ＣＰＵの負荷状態とに基づいて、該診断項目を現時点で実行するかどうかの判定を行う、
    請求項１に記載の診断装置。     The processing necessity determination unit determines whether or not to execute the diagnostic item at this time based on the priority of the diagnostic item and the load state of the CPU.
    A diagnostic device according to claim 1 .
  5. 　前記処理要否判定部は、前記診断項目の優先順位と、所定の時間範囲に対して実行可能な診断項目の優先順位が予め定められたスケジュール情報とに基づいて、該診断項目を現時点で実行するかどうかの判定を行う、
    請求項１に記載の診断装置。     The processing necessity determination unit executes the diagnostic item at the present time based on the priority of the diagnostic item and schedule information in which the priority of the diagnostic item that can be executed within a predetermined time range is predetermined. make a decision whether to
    A diagnostic device according to claim 1 .
  6. 　産業機械の診断を行う診断装置を動作させるプログラムを記録したコンピュータ読み取り可能な記録媒体であって、
    　前記産業機械の動作に係るデータを取得するステップと、
    　所定の診断項目に関する診断処理を現時点で実行するかどうかの判定を、該診断項目の優先順位に基づいて行うステップと、
    　前記診断処理を現時点で実行すると判定した場合、前記取得するステップで取得したデータをもとに前記産業機械の状態を診断するステップと、
    　前記診断するステップで診断された診断結果を保存するステップと、
    　前記診断処理を現時点で実行しない判定した場合、保留された前記診断処理に用いる前記データを保管するステップと、
    を前記診断装置に実行させるプログラムを記録したコンピュータ読み取り可能な記録媒体。     A computer-readable recording medium recording a program for operating a diagnostic device for diagnosing an industrial machine,
    obtaining data relating to the operation of the industrial machine;
    Determining whether or not diagnostic processing for a predetermined diagnostic item is to be executed at this time based on the priority of the diagnostic item;
    a step of diagnosing the state of the industrial machine based on the data acquired in the acquiring step when it is determined that the diagnostic process is to be executed at the present time;
    a step of storing a diagnosis result diagnosed in the step of diagnosing;
    a step of storing the data used for the suspended diagnostic process when it is determined not to execute the diagnostic process at this time;
    A computer-readable recording medium recording a program for causing the diagnostic device to execute the above.
PCT/JP2021/031370 2021-08-26 2021-08-26 Diagnostic device, and recording medium on which program is recorded WO2023026433A1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010170545A (en) * 2009-01-20 2010-08-05 Fisher Rosemount Syst Inc Method to provide distributed equipment arbitration in process control system
JP2017033346A (en) * 2015-08-03 2017-02-09 オークマ株式会社 Information acquisition device for machine tool
JP2019191880A (en) * 2018-04-24 2019-10-31 株式会社日立製作所 Equipment management support system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010170545A (en) * 2009-01-20 2010-08-05 Fisher Rosemount Syst Inc Method to provide distributed equipment arbitration in process control system
JP2017033346A (en) * 2015-08-03 2017-02-09 オークマ株式会社 Information acquisition device for machine tool
JP2019191880A (en) * 2018-04-24 2019-10-31 株式会社日立製作所 Equipment management support system

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