State monitoring device for automatic operational apparatus, state monitoring method for automatic operational apparatus

Abstract

To provide a state monitoring device for an automatic operational apparatus capable of accurately diagnosing the automatic operational apparatus even when a rotational speed of a target shaft system is low and vibration energy is small.SOLUTION: A state monitoring device for an automatic operational apparatus having a rotary shaft system including a speed increaser or a speed reducer comprises: a high-speed signal collection portion that collects vibration data of a high-speed shaft system on a high-speed side of the rotary shaft system; a low-speed signal collection portion that collects vibration data of a low-speed shaft system on a low-speed side of the rotary shaft system; a signal analysis portion that analyzes a frequency of the vibration data to obtain analysis data; a high-speed shaft speed estimation portion that estimates a rotational speed of the high-speed shaft system on the basis of the analysis data of the high-speed shaft system; a low-speed shaft speed calculation portion that calculates a rotational speed of the low-speed shaft system on the basis of a speed increasing ratio of the speed increaser or a speed reduction ratio of the speed reducer, and the rotational speed of the high-speed shaft system estimated by the high-speed shaft speed estimation portion; and a characteristic vibration extraction portion that extracts a characteristic vibration component from the analysis data of the low-speed shaft system using the rotational speed of the low-speed shaft system calculated by the low-speed shaft speed calculation portion.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a configuration of a state monitoring device that monitors the operating state of an automatically operated device and a state monitoring method thereof, and in particular to a technology that is effective when applied to state monitoring of an automatically operated device having a rotating shaft. [Background technology]

[0002] Among plant equipment whose operation is automatically controlled, there is some equipment that is operated almost unmanned. In such cases, there is a high need for measuring devices that can diagnose the health of the equipment in place of equipment inspectors.

[0003] For example, in a typical wind power plant, power generation operations are automatically controlled, so it is rare for an equipment inspector who also serves as an operator to stay in the machine room and continuously check the operating status of the equipment. In such cases, a measuring device is installed to evaluate the soundness of the equipment, the status of the equipment during operation is measured, and the measurement results are transmitted to a monitoring station away from the system to monitor whether the operation is normal.

[0004] In this type of condition monitoring device, for example, when the object to be monitored is a rolling bearing, the health of the bearing can be evaluated by measuring the vibration of the bearing using a vibration sensor installed near the target bearing, isolating and extracting frequency components specific to the bearing contained in the vibration signal, and recording and observing the changes over time.

[0005] The characteristic frequency components contained in the vibration signal are extracted by first determining the number of vibrations the bearing generates per rotation from the bearing specifications, etc., multiplying this by the bearing rotation speed at the time of measurement to determine the characteristic frequency, performing frequency analysis on the vibration signal to obtain the vibration frequency spectrum, and reading the vibration amplitude at the characteristic frequency of the spectrum.In other words, in order to diagnose the health of a monitored object, in addition to obtaining a vibration spectrum through frequency analysis, it is necessary to determine the number of characteristic vibrations the target shaft system generates per rotation and the shaft system's rotation speed.

[0006] The rotational speed of the shaft system is often measured using a rotation sensor attached to the rotating shaft and transmitted to the plant operation control device. When the condition monitoring device is connected to the plant operation control device, it is easy to determine the rotational speed of the shaft system through the plant operation control device.

[0007] On the other hand, there are cases where monitoring devices are retrofitted to monitored equipment some time after it has started operation. This occurs when the need for monitoring the condition of the equipment has been recognized through experience in the operation of the equipment. In such cases, it may not be possible to connect the monitoring device to the plant operation control device, and it may not be easy to grasp the rotation speed of the shaft system.

[0008] Background of this technical field is, for example, a technology as described in Patent Document 1. The condition monitoring device in Patent Document 1 includes a storage unit and a calculation unit, and the storage unit stores a plurality of results obtained from a plurality of divided data strings obtained by dividing a data string obtained by sampling a signal from a sensor installed in an equipment at equal time intervals. The calculation unit estimates a plurality of rotation speeds corresponding to the plurality of divided data strings from the plurality of results stored in the storage unit.

[0009] According to Patent Document 1, even if the rotation speed fluctuates during measurement, this can be grasped, thereby enabling analysis of the rotating equipment with high accuracy.

[0010] Furthermore, Patent Document 2 discloses a drum-type washing machine that "forcibly achieves balance by injecting water from a spray unit toward an eccentric load eliminating position while rotating the drum in the opposite direction to the eccentric load position, and has a judgment unit that judges whether the balance has been accurately achieved based on motor current detection and a drum position detection unit, and an adjustment unit that adjusts the spray amount from the spray unit based on the judgment value from the judgment unit, thereby reliably eliminating the eccentric load and ensuring immediate dewatering at high speed."

[0011] According to Patent Document 2, this eliminates imbalance within the drum when starting the dehydration process, quickly passing the resonance rotation speed and increasing the rotation speed to a steady state, thereby preventing vibration, noise, and breakdowns. [Prior art documents] [Patent documents]

[0012] [Patent Document 1] JP 2018-36124 A [Patent Document 2] JP 2012-143428 A Summary of the Invention [Problem to be solved by the invention]

[0013] Meanwhile, for example, in a typical wind power plant, the shaft system close to the generator rotates at high speed and therefore has large vibration energy, and it is possible to estimate the rotational speed of the shaft system from the measured vibration data; however, the shaft system close to the wind turbine shaft rotates at a low speed and therefore has small vibration energy, and it may be difficult to estimate the rotational speed of the shaft system from the measured vibration data.

[0014] The above-mentioned Patent Documents 1 and 2 make no mention of estimating the rotational speed of a shaft system rotating at a low speed from such vibration data.

[0015] Therefore, an object of the present invention is to provide a status monitoring device for an autonomous driving device that monitors the operating state of an autonomous driving device having a rotating shaft, and a status monitoring method thereof that can accurately diagnose the autonomous driving equipment even when the rotational speed of the target shaft system is low and the vibration energy is small. [Means for solving the problem]

[0016] In order to solve the above problems, the present invention is a status monitoring device for an automatic driving equipment having a rotating shaft system including a speed increaser or a reducer, comprising a high-speed signal collection unit that collects vibration data of a high-speed shaft system on the high-speed side of the rotating shaft system, a low-speed signal collection unit that collects vibration data of a low-speed shaft system on the low-speed side of the rotating shaft system, a signal analysis unit that performs frequency analysis of the vibration data to obtain analysis data, a high-speed shaft speed estimation unit that estimates the rotational speed of the high-speed shaft system based on the analysis data of the high-speed shaft system, a low-speed shaft speed calculation unit that calculates the rotational speed of the low-speed shaft system based on the speed-up ratio of the speed increaser or the reduction ratio of the reducer and the rotational speed of the high-speed shaft system estimated by the high-speed shaft speed estimation unit, and a characteristic vibration extraction unit that extracts a characteristic vibration component from the analysis data of the low-speed shaft system using the rotational speed of the low-speed shaft system calculated by the low-speed shaft speed calculation unit.

[0017] The present invention also provides a status monitoring method for an automatic driving device having a rotating shaft system including a speed increaser or a speed reducer, comprising the steps of: (a) collecting vibration data of a high-speed shaft system on the high-speed side of the rotating shaft system and vibration data of a low-speed shaft system on the low-speed side of the rotating shaft system; (b) performing frequency analysis of the vibration data collected in step (a) to obtain analysis data; (c) estimating the rotational speed of the high-speed shaft system based on the analysis data of the high-speed shaft system obtained in step (b); (d) calculating the rotational speed of the low-speed shaft system based on the speed-up ratio of the speed increaser or the reduction ratio of the speed reducer and the rotational speed of the high-speed shaft system estimated in step (c); and (e) extracting characteristic vibration components from the analysis data of the low-speed shaft system using the rotational speed of the low-speed shaft system calculated in step (d). Effect of the Invention

[0018] According to the present invention, in a status monitoring device that monitors the operating state of an autonomous driving device having a rotating shaft, it is possible to realize a status monitoring device and a status monitoring method for autonomous driving equipment that can accurately diagnose the autonomous driving equipment even when the rotational speed of the target shaft system is low and the vibration energy is small.

[0019] Problems, configurations and effects other than those described above will become apparent from the following description of the embodiments. [Brief description of the drawings]

[0020] [Figure 1] 1 is a diagram showing a schematic configuration of an equipment state monitoring device according to a first embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram illustrating a vibration spectrum in a high speed shaft system. [Diagram 3] FIG. 13 is a diagram illustrating a vibration spectrum in a low speed shaft system. [Figure 4] FIG. 11 is a diagram showing a schematic configuration of a wind turbine farm according to a second embodiment of the present invention. [Diagram 5] FIG. 11 is a diagram showing a schematic configuration of a wind turbine farm according to a third embodiment of the present invention. [Figure 6] 3 is a flowchart showing an equipment state monitoring method according to the first embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the drawings, the same components are designated by the same reference numerals, and detailed description of overlapping parts will be omitted. EXAMPLES

[0022] First Embodiment A state monitoring device and a state monitoring method for an autonomous driving device according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 3 and 6. FIG.

[0023] Fig. 1 is a diagram showing a schematic configuration of an equipment state monitoring device of this embodiment. Fig. 2 is a diagram showing a vibration spectrum in a high speed shaft system. Fig. 3 is a diagram showing a vibration spectrum in a low speed shaft system. Fig. 6 is a flowchart showing an equipment state monitoring method of this embodiment.

[0024] The equipment status monitoring device of this embodiment is suitable for use in monitoring the status of rotating parts such as bearings and gears associated with a rotating shaft system in automatically operated plant machinery such as a wind power generation plant.

[0025] As shown in Figure 1, the equipment status monitoring device of this embodiment mainly comprises a plurality of vibration sensors 21-24 installed in the autonomous driving equipment to be monitored, a signal collection device 60 that acquires information regarding the operating state of the autonomous driving equipment via the vibration sensors 21-24, and a signal analysis device 70 that analyzes the information acquired by the signal collection device 60.

[0026] In the rotating shaft system of a typical wind power plant shown in Fig. 1, a generator 31 is connected to a gearbox 33 by a high-speed shaft coupling 32, the gearbox 33 is connected to a main shaft 36 by a main shaft coupling 34, and the main shaft 36 is rotatably supported by a main bearing 35. The main shaft 36 rotates at a relatively low speed of about 15 to 20 revolutions per minute due to an external force such as wind force, and the rotation speed is increased several tens of times in the gearbox 33, so that the generator 31 rotates at a high speed of several hundred to about 2000 revolutions per minute.

[0027] In the rotating shaft system described above, rotating parts such as the main bearing 35 and the gears (not shown) inside the gearbox 33 are subject to condition monitoring, and a vibration sensor 21 for the generator, a high-speed vibration sensor 22 for the gearbox, a low-speed vibration sensor 23 for the gearbox and a vibration sensor 24 for the main bearing are each attached to the casing surface of each device.

[0028] Specific examples of the vibration sensors 21 to 24 include acceleration sensors and acoustic emission sensors.

[0029] Note that, here, an example of an autonomous driving device having a rotating shaft system including a gearbox 33 will be described; however, depending on the type and application of the autonomous driving device, a reducer may be installed instead of the gearbox 33, and the present invention can also be applied to autonomous driving devices having a rotating shaft system including a reducer.

[0030] The generator vibration sensor 21 and the gearbox high-speed vibration sensor 22, which are vibration sensors intended for the high-speed shaft system, are connected to the high-speed signal collection unit 11, and the gearbox low-speed vibration sensor 23 and the main bearing vibration sensor 24, which are vibration sensors intended for the low-speed shaft system, are connected to the low-speed signal collection unit 12, and together they form a signal collection device 60.

[0031] The high-speed signal collecting unit 11 and the low-speed signal collecting unit 12 are each connected to a signal analyzing unit 13, and the high-speed shaft speed estimating unit 14 connected to the signal analyzing unit 13 is connected to a low-speed shaft speed calculating unit 15. The signal analyzing unit 13, the high-speed shaft speed estimating unit 14, and the low-speed shaft speed calculating unit 15 are all connected to a characteristic vibration extracting unit 16, and together they constitute a signal analyzing device 70.

[0032] The high-speed signal collecting unit 11 and the low-speed signal collecting unit 12 each collect vibration waveforms of a certain length at a preset time interval and send them to the signal analyzing unit 13. The signal analyzing unit 13 performs a Fourier transform on the vibration waveform and outputs a vibration spectrum converted into a vibration amplitude form corresponding to the vibration frequency.

[0033] An example of a spectrum of high-speed shaft-system vibration obtained by Fourier transforming the vibration waveform of the high-speed shaft-system is shown in Figure 2. In a spectrum 41 of the high-speed shaft-system vibration, the horizontal axis represents the vibration frequency and the vertical axis represents the vibration amplitude, and compared to the noise level 42 of the high-speed shaft-system vibration, a characteristic frequency component 43 of the high-speed shaft-system vibration is observed as a prominent peak.

[0034] For example, in the case of bearings, this is known as the rolling element passing frequency, and in the case of gears, this is known as the meshing frequency; these rotating parts generate vibrations at a frequency specific to each part during one rotation of the shaft. Therefore, by reading the frequency of prominent peaks in the vibration spectrum and comparing it with characteristic frequencies such as the rolling element passing frequency and meshing frequency, it is possible to estimate the rotational speed of the shaft. Because the rotational speed of high-speed shaft systems is high and the vibration energy is large, these characteristic frequency components are large and it is not difficult to detect them as peaks.

[0035] On the other hand, as shown in the example of Fig. 3, when the rotation speed of the rotating shaft system is low and the vibration energy is not large, in the spectrum 44 of the low-speed shaft system vibration, the characteristic frequency component 46 of the low-speed shaft system vibration may not be particularly large compared to the noise level 45 of the low-speed shaft system vibration. In such a case, it is difficult to clearly detect this as a peak, and as a result, it becomes difficult to accurately estimate the rotation speed of the shaft system.

[0036] Therefore, in the equipment status monitoring device of this embodiment, with the configuration shown in Figure 1, the time axis waveform sampled in the high speed shaft system is Fourier transformed in the signal analysis unit 13, the high speed shaft speed is estimated by detecting the peak of the characteristic frequency component in the high speed shaft speed estimation unit 14, and the rotation speed of the low speed shaft system is calculated in the low speed shaft speed calculation unit 15 based on the preset speed ratio of the rotating shaft system.

[0037] Furthermore, in the characteristic vibration extraction unit 16, the estimated high speed shaft speed is used to extract the characteristic frequency components of the high speed shaft system from the vibration spectrum of the high speed shaft system, and the calculated low speed shaft speed is used to extract the characteristic frequency components of the low speed shaft system from the vibration spectrum of the low speed shaft system, thereby accurately diagnosing the soundness of rotating parts such as bearings and gears.

[0038] The device state monitoring method of this embodiment is shown in the flowchart of FIG.

[0039] First, in step S1, the high-speed signal collector 11 collects vibration data of the high-speed shaft system on the high-speed side of the rotating shaft system, and the low-speed signal collector 12 collects vibration data of the low-speed shaft system on the low-speed side of the rotating shaft system.

[0040] Next, in step S2, the collected vibration data of the high speed shaft system and the low speed shaft system are frequency-analyzed by the signal analysis unit 13 to obtain analysis data.

[0041] Next, in step S3, the rotational speed of the high speed shaft system is estimated by the high speed shaft speed estimator 14 based on the analysis data of the high speed shaft system.

[0042] Next, in step S4, the rotation speed of the low speed shaft system is calculated by the low speed shaft speed calculation unit 15 based on the speed-up ratio of the speed increaser or the speed reduction ratio of the reducer and the rotation speed of the high speed shaft system.

[0043] Next, in step S5, the characteristic vibration extraction unit 16 extracts characteristic vibration components of the high speed shaft system and the low speed shaft system from the analysis data of the high speed shaft system and the low speed shaft system using the rotational speeds of the high speed shaft system and the low speed shaft system.

[0044] Finally, in step S6, the operating state of the rotating shaft system (automatic driving equipment) is diagnosed based on the rotation speeds and characteristic vibration components of the high-speed shaft system and the low-speed shaft system.

[0045] As described above, the status monitoring device for automatic driving equipment in this embodiment is a status monitoring device for automatic driving equipment having a rotating shaft system including a gearbox 33 (or reducer), and is equipped with a high-speed signal collection unit 11 that collects vibration data of the high-speed shaft system on the high-speed side of the rotating shaft system, a low-speed signal collection unit 12 that collects vibration data of the low-speed shaft system on the low-speed side of the rotating shaft system, a signal analysis unit 13 that performs frequency analysis of the vibration data to obtain analysis data, a high-speed shaft speed estimation unit 14 that estimates the rotational speed of the high-speed shaft system based on the analysis data of the high-speed shaft system, a low-speed shaft speed calculation unit 15 that calculates the rotational speed of the low-speed shaft system based on the speed-up ratio (or reduction ratio of the reducer) of the gearbox 33 and the rotational speed of the high-speed shaft system estimated by the high-speed shaft speed estimation unit 14, and a characteristic vibration extraction unit 16 that extracts characteristic vibration components from the analysis data of the low-speed shaft system using the rotational speed of the low-speed shaft system calculated by the low-speed shaft speed calculation unit 15.

[0046] This makes it possible to accurately diagnose automatic driving equipment even when the rotational speed of the symmetric shaft system is low and the vibration energy is small.

[0047] The rotating shaft system is automatically operated using an operation control device (not shown), but speed information of the rotating shaft system is not obtained from the operation control device. That is, the state monitoring device and operation control device of the automatically operated equipment in this embodiment do not have a speed sensor that obtains speed information of the rotating shaft system.

[0048] For example, it is possible to measure the rotational speed of the rotating shaft system by installing a light shield or gear on the rotating shaft and measuring the rotation number of the light shield or gear using an optical sensor, but if a monitoring device is installed as an add-on, installation space and cost become issues.

[0049] Therefore, as in this embodiment, the rotational speed of the high speed shaft system is estimated based on the analysis data of the high speed shaft system, and the rotational speed of the low speed shaft system is calculated from the estimated rotational speed of the high speed shaft system, thereby making it possible to obtain rotational speed information of the low speed shaft system without using a speed sensor. EXAMPLES

[0050] Second Embodiment A state monitoring device and a state monitoring method for an autonomous driving device according to a second embodiment of the present invention will be described with reference to FIG.

[0051] FIG. 4 is a diagram showing a schematic configuration of a wind turbine farm according to this embodiment.

[0052] As shown in Fig. 4, in this embodiment, three wind turbines, 51 to 53, are installed in a wind turbine farm 54, and each of them is equipped with a signal collector 61 to 63. All of the signal collectors 61 to 63 are connected to the Internet 71. An analysis site 74 installed far from the wind turbine farm 54 has an analysis site computer 72 connected to the Internet 71, and the functions of the signal analyzer are realized by software installed in the computer. The rest of the configuration is the same as in the first embodiment.

[0053] The vibration waveform data of the rotating shaft system collected at the wind turbine farm 54 is sent by signal collection devices 61-63 via the Internet 71 to an analysis site computer 72, and frequency analysis, estimation of the rotational speed of the high-speed shaft system, calculation of the rotational speed of the low-speed shaft system, and extraction of characteristic frequency components are performed on the computer to accurately diagnose the health of rotating parts such as bearings and gears.

[0054] 4 may be connected to the analysis site computer 72 via the Internet 71. Also, the function of the signal analysis device may be realized by using hardware instead of software.

[0055] As described above, in the state monitoring device for autonomous driving equipment of this embodiment, the signal analysis unit 13 is located at a site separated from the sites where the high-speed signal collection unit 11 and the low-speed signal collection unit 12 are located, and the high-speed signal collection unit 11 and the low-speed signal collection unit 12 are connected to the signal analysis unit 13 via the Internet 71.

[0056] With this configuration, vibration waveform data can be aggregated at the analysis site, and there is no need to install a signal analysis device on each farm, thereby reducing the overall cost of the condition monitoring system. EXAMPLES

[0057] Third Embodiment With reference to FIG. 5, a state monitoring device and a state monitoring method for an autonomous driving device according to a third embodiment of the present invention will be described.

[0058] FIG. 5 is a diagram showing a schematic configuration of a wind turbine farm according to this embodiment.

[0059] As shown in Fig. 5, in this embodiment, three wind turbines, 51 to 53, are installed in a wind turbine farm 54, and each of them is equipped with a signal collector 61 to 63. The signal collectors 61 to 63 are connected to a wind turbine farm computer 64 installed in the wind turbine farm 54 via a local area network 65, and the function of the signal analyzer is realized by software installed in the computer. The wind turbine farm computer 64 is connected to the Internet 71, and a display terminal 73 is arranged at an analysis site 74 installed remotely from the wind turbine farm 54. The other configurations are the same as those of the second embodiment.

[0060] The vibration waveform data of the rotating shaft system collected at the wind turbine farm 54 is sent by the signal collection devices 61-63 via the local area network 65 to a wind turbine farm computer 64 installed in the wind turbine farm 54, where frequency analysis, estimation of the rotation speed of the high speed shaft system, calculation of the rotation speed of the low speed shaft system, and extraction of characteristic frequency components are performed on the computer, which then sends this data via the Internet 71 to a display terminal 73 at an analysis site 74. The display terminal 73 accurately diagnoses the soundness of rotating parts such as bearings and gears based on the received extracted data.

[0061] Here, the windmill farm computers 64 in the multiple windmill farms (not shown in Fig. 5) may be connected to the display terminal 73. The functions of the signal analysis device may be realized by using hardware instead of software. Furthermore, the signal analysis device may be integrated with the signal collection device, and the windmill farm computers 64 may be omitted, or the signal analysis device or the windmill farm computers 64 may not be connected to the Internet 71.

[0062] The wind turbine farm 54 may be located in a remote location such as a mountainous region, and communication with the analysis site 74 may be interrupted due to a deterioration in weather conditions such as snowfall. In such a case, by increasing the independence of the condition monitoring device as in this embodiment, it becomes possible for the farm to continue signal collection on its own even if communication with the analysis site 74 is interrupted. In this case, the collected signals are sent out after communication is restored, or the operator manually downloads the collected signals to a storage medium.

[0063] In addition, the configuration of this embodiment has the effect of reducing the amount of communication via the Internet 71, simplifying the communication means between the wind turbine farm 54 and the analysis site 74, and reducing the cost of installing equipment.

[0064] The present invention is not limited to the above-described embodiments, and includes various modified examples. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the configurations described. It is also possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is also possible to add, delete, or replace a part of the configuration of each embodiment with another configuration. [Explanation of symbols]

[0065] 11: High-speed signal acquisition section 12: Low-speed signal acquisition section 13: Signal analysis section 14: High-speed axis speed estimation part 15: Low speed axis speed calculation section 16: Feature vibration extraction unit 21: Vibration sensor for generators 22: High-speed vibration sensor for gearboxes 23: Low-speed vibration sensor for gearbox 24: Vibration sensor for main bearing 31: Generator 32: High speed shaft coupling 33: Gearbox 34: Main shaft coupling 35: Main bearing 36: Main shaft 41: Spectrum of high speed shaft vibration 42: Noise level of high speed shaft vibration 43: Characteristic frequency components of high-speed shaft vibration 44: Spectrum of low speed shaft vibration 45: Low speed shaft vibration noise level 46: Characteristic frequency components of low-speed shaft vibration 51: Windmill No. 1 52: Windmill No. 2 53: Windmill No. 3 54: Windmill Farm 60: Signal collection device 61: Signal collection device for wind turbine No. 1 62: Signal collection device for wind turbine No. 2 63: Signal collection device for wind turbine No. 3 64: Windmill farm computer 65: Local Area Network 70:Signal analyzer 71: Internet 72: Computer for analysis site 73: Display terminal 74:Analysis site.

Claims

1. A state monitoring device for an automatic operation device having a rotating shaft system including a speed increaser or a speed reducer, a high-speed signal collecting unit that collects vibration data of a high-speed shaft system on a high-speed side of the rotating shaft system; a low speed signal collecting unit that collects vibration data of a low speed shaft system on a low speed side of the rotating shaft system; a signal analysis unit that performs frequency analysis on the vibration data to obtain analysis data; a high speed shaft speed estimating unit that estimates a rotation speed of the high speed shaft system based on analysis data of the high speed shaft system; a low speed shaft speed calculation unit that calculates the rotation speed of the low speed shaft system based on the speed-up ratio of the speed-up gear or the speed-reduction ratio of the speed-reduction gear and the rotation speed of the high speed shaft system estimated by the high speed shaft speed estimation unit; a characteristic vibration extraction unit that extracts a characteristic vibration component from analysis data of the slow speed shaft system using the rotation speed of the slow speed shaft system calculated by the slow speed shaft speed calculation unit; A status monitoring device for autonomous driving equipment.

2. The state monitoring device for an automatic driving device according to claim 1, The rotating shaft system is automatically operated using an operation control device, A status monitoring device for an automatically operated equipment that does not obtain speed information of the rotating shaft system from the operation control device.

3. The state monitoring device for automatic operation equipment according to claim 2, A status monitoring device for an automatic driving equipment that does not have a speed sensor for acquiring speed information of the rotating shaft system.

4. The state monitoring device for an automatic driving device according to claim 1, the signal analysis unit is disposed at a site separated from a site at which the high-speed signal collection unit and the low-speed signal collection unit are disposed, The high-speed signal collection unit and the low-speed signal collection unit are connected to the signal analysis unit via the Internet.

5. The state monitoring device for an automatic driving device according to claim 1, the signal analysis unit is disposed at the same site as the high-speed signal collection unit and the low-speed signal collection unit; The high-speed signal collection unit and the low-speed signal collection unit are connected to the signal analysis unit via a local area network.

6. The state monitoring device for an automatic driving device according to claim 1, The high-speed signal collection unit and the low-speed signal collection unit are integrally configured with the signal analysis unit, in the status monitoring device for autonomous driving equipment.

7. The state monitoring device for an automatic driving device according to claim 1, The high-speed signal collecting unit and the low-speed signal collecting unit collect vibration data from a vibration sensor installed in the autonomous driving equipment, The vibration sensor is either an acceleration sensor or an acoustic emission sensor.

8. A state monitoring method for an automatic operation device having a rotating shaft system including a speed increaser or a speed reducer, comprising: (a) collecting vibration data of a high speed shaft system on a high speed side of the rotating shaft system and vibration data of a low speed shaft system on a low speed side of the rotating shaft system; (b) performing frequency analysis on the vibration data collected in the (a) step to obtain analysis data; (c) estimating a rotation speed of the high speed shaft system based on the analysis data of the high speed shaft system acquired in the (b) step; (d) calculating the rotational speed of the low speed shaft system based on the speed-up ratio of the speed-up gear or the speed-reduction ratio of the speed-reduction gear and the rotational speed of the high speed shaft system estimated in (c); (e) extracting a characteristic vibration component from the analysis data of the slow speed shaft system using the rotation speed of the slow speed shaft system calculated in the (d) step; A method for monitoring the status of an autonomous driving device.

9. The method for monitoring a state of an autonomous driving device according to claim 8, The rotating shaft system is automatically operated using an operation control device, A method for monitoring the status of an automatically operated device that does not obtain speed information of the rotating shaft system from the operation control device.

10. The method for monitoring a state of an autonomous driving device according to claim 9, A method for monitoring the status of an automatically operated device that does not use a speed sensor to obtain speed information of the rotating shaft system.

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