# US 11,318,627 B2 · Sensor unit, control method, and recording medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,318,627 B2 - Document ID: US11318627B2 - Status: Granted - Kind: B2 - Application number: 16/190,153 - Filed: 2018-11-14 - Published: 2019-08-15 - Granted: 2022-05-03 - Earliest claimed: 2018-02-14 - Assignees: OMRON Corporation - Applicants: OMRON Corporation - Inventors: Hidekatsu Nogami - Web page: https://patentgrep.com/patent/US11318627B2 ## CPC - B25J 19/02: Sensing devices - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - G01P 15/08: with conversion into electric or magnetic values - G05B 23/0235: {based on a comparison with predetermined threshold or range, e.g. "classical methods", carried out during normal operation; threshold adaptation or choice; when or how to compare with the threshold} - G05B 23/0281: {Quantitative, e.g. mathematical distance; Clustering; Neural networks; Statistical analysis} - G06F 11/3058: {Monitoring arrangements for monitoring environmental properties or parameters of the computing system or of the computing system component, e.g. monitoring of power, currents, temperature, humidity, position, vibrations (thermal management in cooling arrangements of a computing system G06F1/206)} - G05B 2219/37001: Measuring problems - G05B 2219/37388: Acceleration or deceleration, inertial measurement - G05B 2219/39412: Diagnostic of robot, estimation of parameters - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G01P: MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT (measuring or recording blood flow A61B5/02, A61B8/06; monitoring speed or deceleration of electrically-propelled vehicles B60L3/00; vehicle lighting systems adapted to indicate speed B60Q1/54; determining position or course in navigation, measuring ground distance in geodesy or surveying G01C; combined measuring devices for measuring two or more variables of movement G01C23/00; measuring velocity of sound G01H; measuring velocity of light G01J7/00; measuring direction or velocity of solid objects by reception or emission of radiowaves or other waves and based on propagation effects, e.g. Doppler effect, propagation time, direction of propagation, G01S; measuring speed of nuclear radiation G01T; measuring acceleration of gravity G01V; {measuring or recording the speed of trains B61L23/00; speed indicators incorporated in motor vehicles B60K35/00; measuring frequency or phase G01R; traffic control G08G}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract A sensor unit, a control method, and a recording medium are provided for reducing data amount of failure diagnosis data while detecting a failure of a device performing work while moving more reliably. The disclosure includes an output limiting part outputting the failure diagnosis data only for a period in which an absolute value of the acceleration is equal to or less than a predetermined threshold. ## Claims ### Claim 1 A sensor unit, outputting failure diagnosis data for detecting a failure of a device performing work while moving, the sensor unit comprising: an acceleration sensor measuring acceleration related to the moving; a period specifying part specifying a period in which an absolute value of the acceleration is equal to or less than a predetermined threshold; and an output limiting part outputting the failure diagnosis data only in the period. ### Claim 2 (depends on 1) The sensor unit according to claim 1, wherein the period specifying part specifies the period according to a measurement result by the acceleration sensor. ### Claim 3 (depends on 2) The sensor unit according to claim 2, comprising: a data generation processing part generating the failure diagnosis data obtained through reducing a data amount of acquired data from the acceleration sensor. ### Claim 4 (depends on 3) The sensor unit according to claim 3, wherein the output limiting part stops the data generation processing part from generating the failure diagnosis data at a time of not outputting the failure diagnosis data. ### Claim 5 (depends on 1) The sensor unit according to claim 1, wherein the period specifying part specifies the period according to a predetermined schedule of the moving. ### Claim 6 (depends on 5) The sensor unit according to claim 5, comprising: a data generation processing part generating the failure diagnosis data obtained through reducing a data amount of acquired data from the acceleration sensor. ### Claim 7 (depends on 4) The sensor unit according to claim 4, wherein the output limiting part stops the data generation processing part from generating the failure diagnosis data at a time of not outputting the failure diagnosis data. ### Claim 8 (depends on 1) The sensor unit according to claim 1, comprising: a data generation processing part generating the failure diagnosis data obtained through reducing a data amount of acquired data from the acceleration sensor. ### Claim 9 (depends on 8) The sensor unit according to claim 8, wherein the output limiting part stops the data generation processing part from generating the failure diagnosis data at a time of not outputting the failure diagnosis data. ### Claim 10 A control method of a sensor unit comprising an acceleration sensor that measures acceleration related to moving of a device performing a task while moving, and outputting failure diagnosis data for detecting a failure of the device, the control method comprising: specifying a period in which an absolute value of the acceleration is less than or equal to a predetermined threshold; and outputting the failure diagnosis data only in the period. ### Claim 11 (depends on 10) A non-transitory computer-readable recording medium that records a program causing a computer to execute the control method according to claim 10.