Abnormality determination apparatus, abnormality determination system, and abnormality determination method
AssigneeNissan Motor Co., Ltd.
InventorsSeiichi Kobayashi, Toru Takagi
Life of this patent
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Abstract
An abnormality determination apparatus of the present invention acquires state data from work equipment provided with an attaching part to which a plural kinds of work parts are attached in a replaceable manner, identifies the kind of a work part attached to the attaching part, sets, corresponding to the identified kind of the work part, abnormality determination data for determining an abnormality of the work equipment, acquires, from among state data acquired from the work equipment, state data of a time when the identified kind of the work part was being attached, and compares the acquired state data with the set abnormality determination data to determine an abnormality of the work equipment.
Claims13
An abnormality determination apparatus for determining an abnormality of a work equipment comprising an arm driven by a motor driving system and provided with an attaching part to which a plural kinds of work parts are attached in a replaceable manner, the apparatus comprising:
- a controller that acquires state data from the work equipment indicating a state of the work equipment and determines an abnormality of the work equipment, wherein the controller:
- acquires, as the state data, data on a disturbance torque applied to the motor driving system;
- identifies a kind of a work part attached to the attaching part;
- sets abnormality determination data corresponding to the identified kind of the work part, for determining the abnormality of the work equipment, by using the state data of a time when the identified kind of the work part was attached;
- acquires a latest state data of a time when the identified kind of the work part was being attached from among state data acquired from the work equipment;
- and
- compares the acquired latest state data with the set abnormality determination data to determine an abnormality of the work equipment.
An abnormality determination system comprising:
- a work equipment comprising an arm driven by a motor driving system and provided with an attaching part to which a plural kinds of work parts are attached in a replaceable manner;
- and
- an abnormality determination apparatus for acquiring state data from the work equipment indicating a state of the work equipment and determining an abnormality of the work equipment, wherein the abnormality determination apparatus:
- acquires, as the state data, data on a disturbance torque applied to the motor driving system;
- identifies a kind of a work part attached to the attaching part;
- sets abnormality determination data corresponding to the identified kind of the work part, for determining an abnormality of the work equipment, by using the state data of a time when the identified kind of the work part was attached;
- and
- acquires a latest state data of a time when the identified kind of the work part was being attached from among state data acquired from the work equipment and compares the acquired latest state data with the set abnormality determination data to determine an abnormality of the work equipment.
An abnormality determination method for determining an abnormality of a work equipment comprising an arm driven by a motor driving system and provided with an attaching part to which a plural kinds of work parts are attached in a replaceable manner, by acquiring state data from the work equipment indicating a state of the work equipment, the method comprising:
- acquiring, as the state data, data on a disturbance torque applied to the motor driving system;
- identifying the kind of a work part attached to the attaching part;
- setting abnormality determination data corresponding to the identified kind of the work part, for determining an abnormality of the work equipment, by using the state data of a time when the identified kind of the work part was attached;
- and
- acquiring a latest state data of a time when the identified kind of the work part was being attached from among state data acquired from the work equipment and comparing the acquired latest state data with the set abnormality determination data to determine an abnormality of the work equipment.
Dependencies are inferred from the claim text.