Abnormality detection device and abnormality detection method

An abnormality detection device of detecting an abnormality of a movable apparatus which executes an operation on a target object, the device comprising a controller including a signal input unit to which a detection signal is input, the detection signal being obtained when a state of the movable apparatus is detected by a sensor, so that the controller detects the abnormality of the movable apparatus in accordance with the detection signal,

• the controller being configured to:
• output a control signal to the movable apparatus so as to execute an integrated action in which a necessary action necessary for detecting the abnormality is added to a predetermined action in which the operation is not executed on the target object;
• and
• detect the abnormality of the movable apparatus in accordance with the detection signal detected when the integrated action is executed.