State monitoring device, state abnormality determination method, and state abnormality determination program

A state monitoring device that monitors a state of an industrial robot capable of playing back a predetermined operation comprising:

• a time-series data acquirer that acquires time-series data of state signals for a period of time from the timing of an acquisition start signal indicating a start of acquisition of a state signal reflecting a state of the robot to the timing of an acquisition end signal indicating an end of acquisition of the state signal;
• a storage that stores time-series data acquired by the time-series data acquirer in association with timing information indicating when the time-series data was acquired and playback identification information identifying a playback operation of the robot when the time-series data was acquired;
• a dissimilarity calculator that calculates dissimilarity between reference data based on the time-series data acquired in at least one playback operation and comparison data based on the time-series data acquired in the same playback operation performed after the acquisition of the time-series data pertaining to the reference data;
• and
• a robot state evaluator that uses the dissimilarity calculated by the dissimilarity calculator as an evaluation quantity for evaluating the state of the robot, wherein
• the robot state evaluator generates trend line data representing a trend in which the dissimilarity calculated by the dissimilarity calculator changes over time, and
• the robot state evaluator calculates a residual life based on the trend line.

A state monitoring method that monitors a state of an industrial robot capable of playing back a predetermined operation, the state monitoring method comprising:

• a time-series data acquisition process of acquiring time-series data of state signals for a period of time from the timing of an acquisition start signal indicating a start of acquisition of a state signal reflecting a state of the robot to the timing of an acquisition end signal indicating an end of acquisition of the state signal;
• a storage process of storing time-series data acquired in the time-series data acquisition process in association with timing information indicating when the time-series data was acquired and playback identification information identifying a playback operation of the robot when the time-series data was acquired;
• a dissimilarity calculation process of calculating dissimilarity between reference data based on the time-series data acquired in at least one playback operation and comparison data based on the time-series data acquired in the same playback operation performed after the acquisition time of the time-series data pertaining to the reference data;
• and
• a robot state evaluation process of evaluating a state of the robot by using the dissimilarity calculated in the dissimilarity calculation process as an evaluation quantity, wherein
• in the robot state evaluation process, trend line data representing a trend in which the dissimilarity calculated by the dissimilarity calculator changes over time is generated, and
• in the robot state evaluation process, a residual life is calculated based on the trend line.

A state monitoring program configured to monitor a state of an industrial robot capable of playing back a predetermined operation, the program causing a computer to execute the following steps:

• a time-series data acquisition step of acquiring time-series data of state signals for a period of time from the timing of an acquisition start signal indicating a start of acquisition of a state signal reflecting a state of the robot to the timing of an acquisition end signal indicating an end of acquisition of the state signal;
• a storage step of storing time-series data acquired in the time-series data acquisition step in association with timing information indicating when the time-series data was acquired and playback identification information identifying a playback operation of the robot when the time-series data was acquired;
• a dissimilarity calculation step of calculating dissimilarity between reference data based on the time-series data acquired in at least one playback operation and comparison data based on the time-series data acquired in the same playback operation performed after the acquisition of the time-series data pertaining to the reference data;
• and
• a robot state evaluation step of evaluating a state of the robot using the dissimilarity calculated in the dissimilarity calculation step as an evaluation quantity, wherein
• in the robot state evaluation step, trend line data representing a trend in which the dissimilarity calculated by the dissimilarity calculator changes over time is generated, and
• in the robot state evaluation step, a residual life is calculated based on the trend line.