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US 10,974,383 B2Granted
Method and apparatus for abnormality detection
AssigneeSiemens Aktiengesellschaft
InventorsTao Hu, Li Ming Huang, Yue Zhuo
Life of this patent
Estimating the term…
Abstract
A method and apparatus are for abnormality detection. The method includes: acquiring an estimated value of a movement parameter of a mobile platform of a parallel robot. The estimated value is calculated based on sensing information about a sensor mounted on the mobile platform. Based on the estimated value and a designated value of the movement parameter, the method includes determining whether an abnormality occurs in the parallel robot. By way of the method and apparatus, abnormality of a parallel robot can be detected reliably.
Claims12
A method for abnormality detection, comprising:
- receiving information sensed by a sensor mounted on a mobile platform of a parallel robot;
- calculating an estimated value of a movement parameter of the mobile platform of the parallel robot based on the information sensed by the sensor;
- and
- determining whether an abnormality occurs to the parallel robot based on the estimated value acquired, a designated threshold, and a designated value of the movement parameter, wherein the designated value includes a target value, a maximum of the movement parameter, and a minimum of the movement parameter, the maximum of the movement parameter and the minimum of the movement parameter are pre-stored, and the determining includes confirming that the abnormality occurs to the parallel robot upon
- the estimated value acquired not being between the maximum of the movement parameter and the minimum of the movement parameter, and
- a difference between the estimated value acquired and the target value being greater than the designated threshold.
3 more elements
An apparatus for abnormality detection, comprising:
- memory storing computer-readable instructions;
- and
- one or more processors configured to execute the computer-readable instructions to cause the apparatus to:
- receive information sensed by a sensor mounted on a mobile platform of a parallel robot;
- calculate an estimated value of a movement parameter of the mobile platform of the parallel robot based on the information sensed by the sensor;
- and
- determine whether an abnormality occurs to the parallel robot based on the estimated value acquired, a designated threshold, and a designated value of the movement parameter, wherein the designated value includes a target value, a maximum of the movement parameter, and a minimum of the movement parameter, the maximum of the movement parameter and the minimum of the movement parameter are pre-stored, and the determining includes confirming that the abnormality occurs to the parallel robot upon
- the estimated value acquired not being between the maximum of the movement parameter and the minimum of the movement parameter, and
- a difference between the estimated value acquired and the target value being greater than the designated threshold.
6 more elements
A piece of equipment for abnormality detection, comprising:
- a storage, and
- a processor, coupled with the storage, to
- receive information sensed by a sensor mounted on a mobile platform of a parallel robot
- calculate an estimated value of a movement parameter of the mobile platform of the parallel robot based on the information sensed by the sensor;
- and
- determine whether an abnormality occurs to the parallel robot based on the estimated value, a designated threshold, and a designated value of the movement parameter, wherein the designated value includes a target value, a maximum of the movement parameter, and a minimum of the movement parameter, the maximum of the movement parameter and the minimum of the movement parameter are pre-stored, and the determining includes confirming that the abnormality occurs to the parallel robot upon
- the estimated value acquired not being between the maximum of the movement parameter and the minimum of the movement parameter, and
- a difference between the estimated value acquired and the target value being greater than the designated threshold.
5 more elements
A system for abnormality detection, comprising:
- a sensor mounted on a mobile platform of a parallel robot, and
- control equipment configured to
- receive information sensed by the sensor,
- calculate an estimated value of a movement parameter of the mobile platform of the parallel robot based on the information sensed by the sensor, and
- determine whether an abnormality occurs to the parallel robot based on the estimated value, a designated threshold, and a designated value of the movement parameter, wherein the designated value includes a target value, a maximum of the movement parameter, and a minimum of the movement parameter, the maximum of the movement parameter and the minimum of the movement parameter are pre-stored, and the determining includes confirming that the abnormality occurs to the parallel robot upon
- the estimated value acquired not being between the maximum of the movement parameter and the minimum of the movement parameter, and
- a difference between the estimated value acquired and the target value being greater than the designated threshold.
4 more elements
Dependencies are inferred from the claim text.