Abnormality diagnosis apparatus, abnormality diagnosis program, and method for abnormality diagnosis

Abstract

To provide an abnormality diagnosis apparatus, an abnormality diagnosis program, and a method for diagnosing an abnormality capable of checking whether an abnormality diagnosis is appropriately performed in a specific operating state.SOLUTION: The abnormality diagnosis apparatus configured to perform diagnosis abnormalities in one of an actuator and a mechanical structure in a case where a state value indicating an operating state of a machine device with an actuator and a mechanical structure on which the output of the actuator acts is within a predetermined specific state range, includes a processing circuit. The processing circuit is configured to store, in a predetermined memory, timing at which the abnormality diagnosis is performed, to determine whether or not a time index value relating to a time elapsed from timing at which the abnormality diagnosis was performed last time exceeds a predetermined threshold value, and to output a no-diagnosis signal indicating that the abnormality diagnosis has not been performed when the time index value exceeds the threshold value.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to an abnormality diagnosis device, an abnormality diagnosis program, and an abnormality diagnosis method. [Background technology]

[0002] In mechanical devices equipped with actuators, it is important to perform abnormality diagnosis to check whether the actuators are operating normally. For example, Patent Document 1 listed below discloses a fault diagnosis system that measures the state quantities of each of multiple devices and, if an abnormality occurs, narrows down the cause of the abnormality from changes in the measured values ​​over time. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6469980 Summary of the Invention [Problem to be solved by the invention]

[0004] However, even when a machine is operating normally, there are some devices whose measurement values ​​change depending on changes in the machine's state due to factors such as external disturbances. In such cases, it is unclear whether the change in the measurement values ​​over time is due to an abnormality in the machine or a change in the machine's state. In such cases, it is conceivable to use only the measurement values ​​when the machine is in a specific state for abnormality diagnosis. However, if the machine is not in a specific state for a long period of time, abnormality diagnosis will not be performed and the abnormality will be overlooked.

[0005] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide an abnormality diagnosis device, an abnormality diagnosis program, and an abnormality diagnosis method that can confirm whether abnormality diagnosis is being performed appropriately in a specific operating state. [Means for solving the problem]

[0006] An abnormality diagnosis device according to one aspect of the present disclosure is an abnormality diagnosis device that performs an abnormality diagnosis on an actuator or a mechanical structure when a state value indicating the operating state of a mechanical device that includes an actuator and a mechanical structure on which the output of the actuator acts is within a predetermined specific state range, and is equipped with a processing circuit. The processing circuit stores the timing at which the abnormality diagnosis was performed in a predetermined memory, determines whether a time index value relating to the time from the timing at which the abnormality diagnosis was last performed exceeds a predetermined threshold value, and outputs a no-diagnosis signal indicating that the abnormality diagnosis has not been performed if the time index value exceeds the threshold value.

[0007] Another aspect of the present disclosure provides an abnormality diagnosis program that performs an abnormality diagnosis on an actuator or a mechanical structure when a state value indicating the operating state of a mechanical device that includes an actuator and a mechanical structure on which the output of the actuator acts is within a predetermined specific state range, and causes a computer to acquire data on the timing at which the abnormality diagnosis was performed, determine whether a time index value relating to the time from the timing at which the abnormality diagnosis was last performed exceeds a predetermined threshold value, and output a no-diagnosis signal indicating that the abnormality diagnosis has not been performed when the time index value exceeds the threshold value.

[0008] Another aspect of the present disclosure is an abnormality diagnosis method that performs an abnormality diagnosis on an actuator or a mechanical structure when a state value indicating the operating state of a mechanical device that includes an actuator and a mechanical structure on which the output of the actuator acts is within a predetermined specific state range, and obtains data on the timing at which the abnormality diagnosis was performed, and determines whether a time index value relating to the time from the timing at which the abnormality diagnosis was last performed exceeds a predetermined threshold value, and determines that the abnormality diagnosis was not performed appropriately if the time index value exceeds the threshold value. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to confirm whether abnormality diagnosis in a specific operating state is being performed appropriately. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a block diagram showing a schematic configuration of an abnormality diagnosis device for a mechanical device according to an embodiment of the present disclosure. [Figure 2] FIG. 2 is a flowchart showing an example of the flow of the abnormality diagnosis process in this embodiment. [Figure 3] FIG. 3 is an image diagram showing the expected range of each analysis index value when the state value is within a specific state range. [Figure 4] FIG. 4 is a flowchart showing the flow of the cause analysis process in this embodiment. [Figure 5] FIG. 5 is a diagram showing each case in the flowchart of FIG. [Figure 6] FIG. 6 is a flowchart showing the flow of the diagnostic control mode execution process in this embodiment. [Figure 7] FIG. 7 is a diagram showing an example of the correlation between the weighting coefficient and the load related to the equivalent operation time. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, an embodiment will be described in detail with reference to the drawings. In the following, the same or corresponding elements will be designated by the same reference numerals throughout the drawings, and redundant description thereof will be omitted.

[0012] [Configuration of the abnormality diagnosis device] 1 is a block diagram showing a schematic configuration of an abnormality diagnosis device for a mechanical device according to an embodiment of the present disclosure. A mechanical system 1 includes at least one mechanical device 10. The mechanical device 10 includes an actuator 11, a mechanical structure 14 on which the output of the actuator 11 acts, and a controller 13 that controls the actuator 11.

[0013] The mechanical structure 14 includes an operating device 12 that is operated by the output of the actuator 11, and a power transmission structure that transmits the output of the actuator 11 to the operating device 12. The power transmission structure may include, for example, a power transmission mechanism such as a reducer or a torque converter, and power transmission components such as gears, link mechanisms, shafts, and bearings. Note that while only one actuator 11 and one operating device 12 are shown in FIG. 1, the mechanical device 10 may include two or more actuators 11 and two or more operating devices 12. One operating device 12 may be operated by two or more actuators 11.

[0014] In the present disclosure, the actuator 11 is not limited to a device that generates a simple mechanical output such as expansion, contraction, bending, or rotation, but also includes a device that can continuously generate an output such as a motor or an engine.

[0015] The mechanical device 10 operates based on an operation input from an operating device 2 operated by a user. Note that, although Fig. 1 shows an example in which the operating device 2 is configured separately from the mechanical device 10, the mechanical device 10 may also be equipped with the operating device 2.

[0016] The controller 13 has a computer such as a microcontroller or a PLC (Programmable Logic Controller). The controller 13 generates a command value Pcom for the actuator 11 based on an operation command from the operation device 2 and transmits it to the actuator 11. The actuator 11 performs an output operation according to the command value Pcom. The operating device 12 operates by the mechanical output of the actuator 11.

[0017] The mechanical system 1 includes a work detector 41, an output value detector 42, and a disturbance detector 43. The work detector 41 detects a work index value Pwork that indicates the work performed by the mechanical device 10. The output value detector 42 detects the output value Pout of the actuator 11. The disturbance detector 43 detects a disturbance value Pdis that indicates the magnitude of a disturbance from the ambient environment of the mechanical device 10 that may affect the output of the actuator 11.

[0018] For example, if the mechanical device 10 is a moving body such as a ship, vehicle, or aircraft, the mechanical device 10 includes a propulsion unit as the operating device 12. In this case, the work index value Pwork may include the moving speed of the moving body. Furthermore, the output value Pout of the actuator 11 may include the output torque of the actuator 11. Furthermore, the disturbance value Pdis may include tidal currents, wave height, etc. if the moving body is a ship, may include the tilt angle in the moving direction of the moving body and wind speed, etc. if the moving body is a vehicle, and may include altitude, wind speed, etc. if the moving body is an aircraft.

[0019] The controller 13 acquires a predetermined control index value and controls the acquired control index value so that it becomes a predetermined target value. For example, the control index value includes a work index value Pwork. Alternatively, the controller 13 may acquire an output value Pout of the actuator 11 as the control index value and control the actuator 11 using the output value Pout. Furthermore, the controller 13 may acquire a disturbance value Pdis and correct the command value Pcom using the disturbance value Pdis.

[0020] The mechanical system 1 also includes an abnormality diagnosis device 3. The abnormality diagnosis device 3 is configured to diagnose the presence or absence of an abnormality in a diagnosis target in the mechanical device 10 as described above. The diagnosis target includes an actuator 11 or a mechanical structure 14. The abnormality diagnosis device 3 in this embodiment executes an abnormality diagnosis of the actuator 11 when the mechanical device 10 is in a predetermined operating state. For this purpose, the mechanical system 1 includes a state value detector that detects a state value indicating the operating state of the mechanical device 10. In this embodiment, the operating state of the mechanical device 10 includes the output value Pout of the actuator 11. That is, the state value detector in this embodiment includes an output value detector 42.

[0021] The abnormality diagnosis device 3 acquires the actuator output value Pout detected by the output value detector 42, which is a state value detector, as a state value. The abnormality diagnosis device 3 performs abnormality diagnosis on the actuator 11 when the state value is within a predetermined specific state range. For example, if the mechanical device 10 is a moving object, the abnormality diagnosis device 3 determines that a state in which the torque output from the moving equipment 12 is within a predetermined range is a state in which the mechanical device 10 is moving at a constant speed with little torque fluctuation, and performs abnormality diagnosis processing during constant speed movement.

[0022] The mechanical system 1 includes a diagnostic index value detector 40 that detects a diagnostic index value used in the abnormality diagnosis process. In the abnormality diagnosis process, the abnormality diagnosis device 3 acquires a diagnostic index value for the mechanical device 10 and determines whether the diagnostic index value is within a normal range. For example, the diagnostic index value may include an operating current value or an operating voltage value for the actuator 11. Additionally or alternatively, the diagnostic index value may include vibration, acceleration, speed, displacement, and temperature at a predetermined location of the mechanical device 10. The diagnostic index value may also include the temperature, pressure, flow rate, moisture content, and amount of metal powder of lubricating oil at a predetermined location of the mechanical device 10. The diagnostic index value may also include the pressure, temperature, and flow rate of hydraulic oil in a predetermined operating device of the mechanical device 10. If the diagnostic index value is not within the normal range, the abnormality diagnosis device 3 issues a warning via a predetermined alarm. The alarm may include, for example, a display 21 provided on the operating device 2.

[0023] The abnormality diagnosis device 3 includes a processing circuit 31 that performs various types of signal processing. The processing circuit 31 includes a computer such as a microcontroller, a personal computer, or a PLC (Programmable Logic Controller). More specifically, the processing circuit 31 includes a processor 32, a memory 33, and a peripheral circuit 34. The processor 32 includes, for example, a CPU or an MPU. The memory 33 includes a ROM, a RAM, a register, a non-volatile storage, and the like. The peripheral circuit 34 includes an input / output interface, and the like. The abnormality diagnosis device 3 outputs the result of the abnormality diagnosis to the display 21 included in the controller 2. Alternatively, the abnormality diagnosis device 3 may include an alarm that notifies the result of the abnormality diagnosis. Furthermore, the abnormality diagnosis device 3 may include an input device, separate from the controller 2, for a user to input operations.

[0024] It should be noted that the functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, application-specific integrated circuits (ASICs), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this specification, a circuit, unit, means, or module is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where hardware is a processor, which is considered a type of circuit, the circuit, unit, or means is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0025] [Flow of abnormality diagnosis process] The memory 33 of the processing circuit 31 stores an abnormality diagnosis program for performing abnormality diagnosis processing. The processor 32 of the processing circuit 31 reads out the abnormality diagnosis program stored in the memory 33 and executes the abnormality diagnosis processing. Furthermore, the processing circuit 31 acquires the command value Pcom and the control index values ​​Pwork, Pout, and Pdis at a predetermined detection timing, and stores them in the memory 33 in association with the time. Furthermore, when the processing circuit 31 executes the abnormality diagnosis processing, it stores in the memory 33 the timing at which the abnormality diagnosis was performed along with the diagnosis result.

[0026] 2 is a flowchart showing an example of the flow of the abnormality diagnosis process in this embodiment. The processing circuit 31 determines whether or not to execute the abnormality diagnosis process at each predetermined timing. To this end, the processing circuit 31 executes the following process at each predetermined time period. The time period for executing this process may be the same as or different from the time period for detecting the command value Pcom and the control index value.

[0027] First, the processing circuit 31 reads the current time t (step S1). The processing circuit 31 acquires the output value Pout of the actuator 11 as the state value at the current time t. The processing circuit 31 determines whether the state value is within a specific state range set as a range within which abnormality diagnosis processing is to be executed (step S2). If the state value is within the specific state range (Yes in step S2), the processing circuit 31 executes abnormality diagnosis processing (step S3). By executing the abnormality diagnosis processing when the mechanical device 10 is in a specific operating state, it is possible to prevent the diagnosis result from being affected by changes in the state of the mechanical device 10. Therefore, abnormalities in the mechanical device 10 can be detected with high accuracy.

[0028] On the other hand, if the state value is not within the specific state range (No in step S2), the processing circuit 31 executes non-diagnosis detection processing (step S4). In the non-diagnosis detection processing, the processing circuit 31 reads the time td when the abnormality diagnosis processing was last executed (step S41). The processing circuit 31 calculates the elapsed time t-td from the time td when the abnormality diagnosis processing was last executed to the current time t, and compares the elapsed time t-td with a predetermined threshold value Δtc (step S42).

[0029] When the elapsed time t-td exceeds the threshold value Δtc, the processing circuit 31 executes non-diagnosis processing (step S43). As non-diagnosis processing, the processing circuit 31 outputs a non-diagnosis signal So indicating that an abnormality diagnosis has not been performed. In this embodiment, the non-diagnosis signal So is input to the controller 2. When the controller 2 receives the non-diagnosis signal So, it causes the display 21 to display a warning to notify the user that an abnormality diagnosis has not been performed for a predetermined period of time. When the abnormality diagnosis device 3 is equipped with an alarm such as a display, the processing circuit 31 may input the non-diagnosis signal So to the alarm of the abnormality diagnosis device 3, and cause the alarm of the abnormality diagnosis device 3 to issue a warning.

[0030] According to the above configuration, the no-diagnosis signal So is output when a period during which no abnormality diagnosis has been performed exceeds a predetermined period. Therefore, the no-diagnosis signal So can be used to notify the user that no abnormality diagnosis has been performed. This allows the user to confirm whether abnormality diagnosis has been performed appropriately in a specific operating state. This prevents a state in which no abnormality diagnosis is performed from continuing for a long period of time. As a result, the possibility of an abnormality in the mechanical device 10 being overlooked due to no abnormality diagnosis being performed can be reduced.

[0031] The threshold value Δtc may be a fixed value or may vary depending on the amount of time elapsed since a predetermined reference time. For example, if the mechanical device 10 is brand new or has just been overhauled, a large threshold value Δtc results in a low risk. On the other hand, the risk of an abnormality increases the longer the time elapsed since the brand new state or overhaul. Therefore, the processing circuit 31 may set the threshold value Δtc to a smaller value the longer the time elapsed since the predetermined reference time. For example, the predetermined reference time may be set to when the mechanical device 10 is brand new, when it has undergone an overhaul, when it has undergone maintenance, or a combination thereof. If it is considered that an abnormality is more likely to occur as the time elapsed since the reference time increases, a no-diagnosis signal may be output even if the period during which an abnormality diagnosis has not been performed is short, thereby reducing the possibility of an abnormality being overlooked due to the absence of an abnormality diagnosis.

[0032] [Cause analysis processing] Furthermore, in this embodiment, the processing circuitry 31 performs processing for analyzing the cause of no abnormality diagnosis being performed for a predetermined period of time as processing during no diagnosis. To this end, the processing circuitry 31 acquires analysis index values ​​that may affect the operating state at each predetermined detection timing. In this embodiment, the analysis index values ​​include a command value Pcom for the actuator 11, a disturbance value Pdis that indicates a disturbance to the mechanical device 10, and a work index value Pwork that indicates the work performed by the mechanical device 10.

[0033] The memory 33 stores the expected range of each analysis index value when the state value is within the specific state range. FIG. 3 is an image diagram showing the expected range of each analysis index value when the state value is within the specific state range. In this embodiment, the state value is the output value Pout of the actuator 11. As described above, the processing circuit 31 executes abnormality diagnosis processing when the output value Pout is within the specific state range Qo. The specific state range Qo is set as a range in which the output value Pout is equal to or greater than a predetermined lower limit value Pol and equal to or less than a predetermined upper limit value Poh.

[0034] When the output value Pout is within the specific state range Qo, the command value Pcom for the actuator 11, which is one of the analysis index values, is assumed to be within a predetermined first assumed range Qc. The first assumed range Qc is set as a range in which the command value Pcom is equal to or greater than a predetermined lower limit value Pcl and equal to or less than a predetermined upper limit value Pch. Similarly, when the output value Pout is within the specific state range Qo, the disturbance value Pdis, which is one of the analysis index values, is assumed to be within a predetermined second assumed range Qd. The second assumed range Qd is set as a range in which the disturbance value Pdis is equal to or greater than a predetermined lower limit value Pdl and equal to or less than a predetermined upper limit value Pdh. Similarly, when the output value Pout is within the specific state range Qo, the work index value Pwork, which is one of the analysis index values, is assumed to be within a predetermined third assumed range Qw. The third assumed range Qw is set as a range in which the work index value Pwork is equal to or greater than a predetermined lower limit value Pwl and equal to or less than a predetermined upper limit value Pwh.

[0035] The storage device 33 stores data D1 of specific state ranges for state values ​​and data D2 of assumed ranges for each analytical index value assumed corresponding to the specific state ranges, in association with each other.

[0036] In this way, when the output value Pout of the actuator 11 set as a state value is within the specific state range Qo, it is assumed that each analysis index value will be within the corresponding expected range. In other words, when any analysis index value is outside the expected range, it is considered that the output value Pout of the actuator 11 will not be within the specific state range Qo.

[0037] Therefore, in the non-diagnostic processing, the processing circuit 31 determines whether the analysis index values ​​Pcom, Pdis, and Pwork at a predetermined analysis timing after the time td when the abnormality diagnosis processing was last executed are within the expected ranges Qc, Qd, and Qw that are expected when the output value Pout of the actuator 11 is within the specific state range Qo. For example, the analysis timing includes the above-mentioned detection timing in the period from the time td to the current time t.

[0038] The processing circuitry 31 outputs an analysis content according to whether the analysis index values ​​Pcom, Pdis, and Pwork are within the corresponding assumed ranges Qc, Qd, and Qw. More specifically, the processing circuitry 31 outputs an analysis content according to a combination of whether the command value Pcom is within the first assumed range Qc, whether the disturbance value Pdis is within the second assumed range Qd, and whether the work index value Pwork is within the third assumed range Qw.

[0039] Fig. 4 is a flowchart showing the flow of cause analysis processing in this embodiment. Fig. 5 is a diagram showing each case in the flowchart of Fig. 4. In Fig. 5, cases where the analysis index value is within the expected range at the analysis timing are indicated by a circle, and cases where it is outside the expected range are indicated by an x.

[0040] In this embodiment, the processing circuit 31 determines whether or not the current situation corresponds to Case 1 (step SB1). The processing circuit 31 determines that the current situation corresponds to Case 1 when the command value Pcom at the analysis timing is outside the first expected range Qc (Yes in step SB1). When multiple analysis timings are included between the time td when the abnormality diagnosis process was executed and the current time t, the processing circuit 31 determines that the current situation corresponds to Case 1 when the analysis index value Pcom is outside the first expected range Qc at any of the multiple analysis timings. However, the manner in which the current situation corresponds to Case 1 based on multiple analysis timings is not limited to this. For example, the processing circuit 31 may determine that the current situation corresponds to Case 1 when the number of times at which the analysis index value Pcom is outside the first expected range Qc out of the multiple analysis timings is greater than the number of times at which the analysis index value Pcom is within the first expected range Qc. This improves the accuracy of the analysis as to whether or not the output value Pout of the actuator 11, which is a state value, does not fall within the specific state range Qo because the analysis index values ​​Pcom, Pdis, and Pwork are not within their expected ranges. The same applies to the determination of other cases described later.

[0041] If it is determined that Case 1 applies, the processing circuitry 31 causes the display 21 of the controller 2 to display a first message M1 as the analysis result (step SB2). Note that the determination of whether Case 1 applies does not include a determination of whether the other analysis index values, the disturbance value Pdis and the work index value Pwork, are within the corresponding expected ranges.

[0042] The first message M1 includes a display of the result of inferring the cause of the abnormality diagnosis process not being executed, i.e., the cause of the output value Pout of the actuator 11, which is a state value, not falling within the specific state range Qo, and a display of measures to prevent recurrence. For example, the processing circuit 31 generates the first message M1 that includes a display that the operating method of the mechanical device 10 has changed as a result of the cause inference, and a display urging the user to reconsider the operating state in which the abnormality diagnosis is to be performed as a measure to prevent recurrence, i.e., the specific state range Qo.

[0043] If the processing circuitry 31 determines that the situation does not fall under Case 1 (No in step SB1), it determines whether or not the situation falls under Case 2 (step SB3). If the command value Pcom at the analysis timing is within the first expected range Qc, the disturbance value Pdis is outside the second expected range Qd, and the work index value Pwork is outside the third expected range Qw, the processing circuitry 31 determines that the situation falls under Case 2 (Yes in step SB3). If the processing circuitry 31 determines that the situation falls under Case 2, it displays a second message M2 as the analysis result on the display 21 of the controller 2 (step SB4).

[0044] Like the first message M1, the second message M2 also includes a display of the cause estimation result and a display of measures to prevent recurrence. For example, the processing circuit 31 generates the second message M2 that includes a display that indicates a change in the surrounding environment as a result of the cause estimation, and a display that prompts the user to reconsider the second expected range Qd for the disturbance value Pdis.

[0045] If the processing circuitry 31 determines that the case does not fall under Case 2 (No in step SB3), it determines whether or not Case 3 falls under Case 3 (step SB5). If the command value Pcom at the analysis timing is within the first expected range Qc, the disturbance value Pdis is outside the second expected range Qd, and the work index value Pwork is within the third expected range Qw, the processing circuitry 31 determines that Case 3 falls under Case 3 (Yes in step SB5). If the processing circuitry 31 determines that Case 3 falls under Case 3, it causes the display 21 of the controller 2 to display a third message M3 as the analysis result (step SB6).

[0046] Like the first message M1, the third message M3 also includes an indication of the cause estimation result and an indication of measures to prevent recurrence. For example, the processing circuit 31 generates the third message M3 that includes an indication that the surrounding environment or the state of the mechanical device 10 has changed as a result of the cause estimation, and an indication to reconsider the second expected range Qd for the disturbance value Pdis and to investigate the state of the mechanical device 10. Changes in the state of the mechanical device 10 include aging, dirt, etc.

[0047] If the processing circuitry 31 determines that the case does not fall under Case 3 (No in step SB5), it determines whether or not Case 4 falls under Case 4 (step SB7). If the command value Pcom at the analysis timing is within the first expected range Qc, the disturbance value Pdis is within the second expected range Qd, and the work index value Pwork is outside the third expected range Qw, the processing circuitry 31 determines that Case 4 falls under Case 4 (Yes in step SB7). If the processing circuitry 31 determines that Case 4 falls under Case 4, it causes the display 21 of the controller 2 to display a fourth message M4 as the analysis result (step SB8).

[0048] Like the first message M1, the fourth message M4 also includes an indication of the cause estimation result and an indication of measures to prevent recurrence. For example, the processing circuit 31 generates the fourth message M4 that includes an indication that the state of the mechanical device 10 has changed as a result of the cause estimation result and an indication that prompts the user to investigate the state of the mechanical device 10.

[0049] If the processing circuit 31 determines that the case does not fall under Case 4 (No in step SB7), it determines that the case falls under Case 5, and causes the display 21 of the controller 2 to display a fifth message M5 as the analysis result (step SB9). Case 5 is a case where the command value Pcom at the analysis timing is within the first expected range Qc, the disturbance value Pdis is within the second expected range Qd, and the work index value Pwork is within the third expected range Qw.

[0050] Like the first message M1, the fifth message M5 also includes a display of the cause estimation result and a display of measures to prevent recurrence. For example, the processing circuitry 31 generates the fifth message M5 including a display indicating that there is an error in the expected ranges Qc, Qd, and Qw for the analysis index values ​​Pcom, Pdis, and Pwork as the cause estimation result, and a display urging the user to reset the expected ranges Qc, Qd, and Qw or reset the specific state range Qo for the state value.

[0051] According to the above configuration, an analysis result as to why the state value does not fall within the specific state range is output depending on whether the analysis index values ​​Pcom, Pdis, and Pwork between the time td when the abnormality diagnosis process was last executed and the current time t are within the corresponding expected ranges Qc, Qd, and Qw. In particular, according to this embodiment, an analysis result according to the combination of the three analysis index values ​​Pcom, Pdis, and Pwork is output. Therefore, it is possible to easily provide the user with the cause of the abnormality diagnosis process not being executed or a countermeasure. This makes it possible to prevent a recurrence of a state in which the abnormality diagnosis process is not executed for a predetermined period of time or longer.

[0052] Although the present embodiment illustrates an example in which a message including a cause estimation result and a recurrence prevention measure is generated as an analysis result, the content of the analysis result is not limited to this. For example, only either the cause estimation result or the recurrence prevention measure may be generated as an analysis result.

[0053] Furthermore, an analysis index value that falls outside the expected range among the multiple analysis index values ​​may be output as an analysis result. For example, the analysis result display screen may display whether each of the multiple analysis index values ​​is within the expected range with a circle or an x, or the like. Furthermore, for example, the analysis result display screen may display the multiple analysis index values ​​in different display modes, such as by using different colors for analysis index values ​​that are within the expected range and analysis index values ​​that are outside the expected range. Furthermore, content indicating what kind of operation the machine 10 should be in to bring the state value into the specific state range may be output as an analysis result.

[0054] Furthermore, the analysis result may output a possibility of the mechanical device 10 being broken or the need for maintenance. For example, if the analysis index value is outside the expected range, the processing circuitry 31 may calculate the degree of risk based on the extent to which the analysis index value deviates from the expected range, or whether the analysis index value deviates above or below the expected range. Then, the processing circuitry 31 may output the possibility of the mechanical device 10 being broken or the need for maintenance based on a combination of the type of analysis index value and the degree of risk. The possibility of the mechanical device 10 being broken or the need for maintenance may be indicated in stages using sound, color, or the like, or a message indicating the possibility of failure or the need for maintenance may be displayed.

[0055] [Application example 1] The following describes an example of the analysis content when the above-described cause analysis process is applied to a ship when the mechanical device 10 is a ship. In this example, the actuator 11 is a drive source such as a motor or engine, and the operating equipment 12 driven by the actuator 11 is a propulsion unit such as a propeller. The mechanical structure 14 includes a power transmission mechanism such as a reducer. The output value Pout of the actuator 11, which is a state value, corresponds to the output torque of the drive source. Furthermore, the command value Pcom, disturbance value Pdis, and work index value Pwork, which are analysis index values, correspond to the propulsion unit output command value, tidal current, and ship speed, respectively.

[0056] In this example, too, the processing circuitry 31 determines which of cases 1 to 5 shown in Fig. 5 applies. If case 1 applies, the processing circuitry 31 generates a first message M1 that includes a message indicating that the way the ship is used has changed as a result of the cause estimation, and a message urging the operator to reconsider the operating status and perform abnormality diagnosis processing as a measure to prevent recurrence.

[0057] If case 2 applies, the processing circuit 31 generates a second message M2 that includes a display indicating that the tidal current has changed as a result of the cause estimation, and a display urging the user to reset the second expected range Qd for the disturbance value Pdis indicating the tidal current as a measure to prevent recurrence.If case 3 applies, the processing circuit 31 generates a third message M3 that includes a display indicating that the hull or propeller has been fouled or the tidal current has changed as a result of the cause estimation, and a display urging the user to inspect the hull or reset the second expected range Qd for the disturbance value Pdis indicating the tidal current as a measure to prevent recurrence.

[0058] If case 4 applies, the processing circuit 31 generates a fourth message M4 that includes a display indicating that the hull or propeller has been fouled as a result of the cause estimation, and a display urging the user to inspect the hull as a measure to prevent recurrence.If case 5 applies, the processing circuit 31 generates a fifth message M5 that includes a display indicating that the prediction of the tidal current and ship speed at the desired output torque of the actuator 11 is inappropriate as a result of the cause estimation, and a display urging the user to reset the expected range for the tidal current and ship speed or the specific state range for the output torque as a measure to prevent recurrence.

[0059] [Application example 2] The following describes an example of the analysis content when the above-described cause analysis process is applied to a case where the mechanical device 10 is a vehicle. In this example, the actuator 11 is a drive source such as a motor or an engine, and the operating equipment 12 driven by the actuator 11 are drive wheels. The mechanical structure 14 includes a power transmission mechanism such as a transmission. The output value Pout of the actuator 11, which is a state value, corresponds to the output torque of the drive source. Furthermore, the command value Pcom, disturbance value Pdis, and work index value Pwork, which are analysis index values, correspond to the accelerator opening, road gradient, and driving speed, respectively.

[0060] In this example, too, the processing circuitry 31 determines which of cases 1 to 5 shown in Fig. 5 applies. If case 1 applies, the processing circuitry 31 generates a first message M1 that includes a message indicating that the way the vehicle is used has changed as a result of the cause estimation, and a message urging the driver to reconsider the driving state and perform abnormality diagnosis processing as a measure to prevent recurrence.

[0061] If case 2 applies, the processing circuit 31 generates a second message M2 that includes a display indicating that a slope with a gradient greater than predicted continues as a result of the cause estimation, and a display urging the driver to reset the second expected range Qd for the disturbance value Pdis indicating the gradient of the travel route as a measure to prevent recurrence.If case 3 applies, the processing circuit 31 generates a third message M3 that includes a display indicating that a slope with a gradient greater than predicted continues as a result of the cause estimation or that mechanical loss has increased due to lubricant deterioration, and a display urging the driver to investigate the vehicle condition or reset the second expected range Qd for the disturbance value Pdis indicating the gradient of the travel route as a measure to prevent recurrence.

[0062] If case 4 applies, the processing circuit 31 generates a fourth message M4 that includes a display indicating that mechanical loss has increased due to lubricant deterioration as a cause estimation result, and a display urging the driver to investigate the vehicle condition as a measure to prevent recurrence.If case 5 applies, the processing circuit 31 generates a fifth message M5 that includes a display indicating that the prediction of the gradient and traveling speed at the desired engine output torque is inappropriate as a cause estimation result, and a display urging the driver to reset the expected range for the gradient and traveling speed or the specific state range for the output torque as a measure to prevent recurrence.

[0063] In the actual machine 10 as described above, the disturbance value Pdis is in an upper region Nd + and the lower region Nd that is smaller than the lower limit Pdl of the second assumed range Qd. -The situation in the machine 10 may be different depending on whether the current is included in the upper region Nd or not. For example, the current indicated by the disturbance value Pdis in a ship includes a current in the same direction as the ship's traveling direction, i.e., a following current, and a current in the opposite direction to the ship's traveling direction, i.e., a head current. In the case of a following current, the disturbance value Pdis is included in the upper region Nd + In the case of an opposing tide, the disturbance value Pdis is included in the lower region Nd - The disturbance value Pdis is included in the upper region Nd + Is it included in the lower region Nd - The situation of a ship varies greatly depending on whether it is included in the upper range Nw, which is larger than the upper limit Pwh of the third assumed range Qw. + and the lower region Nw that is smaller than the lower limit Pwl of the third assumed range Qw. - The situation in the machine 10 may be different when the machine 10 is included in the

[0064] Therefore, the processing circuit 31 determines whether the disturbance value Pdis is in the upper region Nd + or the lower region Nd - Similarly, for the work index value Pwork, the processing circuitry 31 may output different analysis results depending on whether the work index value Pwork is in the upper region Nw + Is included in the lower region Nw - If the assumed range includes 0, the upper region is defined as a positive region and the lower region is defined as a negative region. The same applies to the command value Pcom. The processing circuit 31 also determines whether the output value Pout of the actuator 11, which is a state value, is in the upper region No. + Is included in the lower area No - Different analysis results may be output depending on whether the target object is included in the target object.

[0065] [Diagnostic Control Mode] Furthermore, in this embodiment, the processing circuit 31 performs a diagnostic control mode execution process as a non-diagnostic process, which transitions the controller 13 to a diagnostic control mode. The diagnostic control mode is a control mode in which the actuator 11 is controlled so that the state value falls within a specific state range.

[0066] 6 is a flowchart showing the flow of the diagnostic control mode execution process in this embodiment. The processing circuitry 31 generates a diagnostic command value according to an analysis index value at a predetermined analysis timing after the time td when the abnormality diagnosis process was last executed (step SC1). The analysis index value used to generate the diagnostic command value may be the same as or different from the analysis index value used in the cause analysis process. For example, the processing circuitry 31 may generate the diagnostic command value using some of the analysis index values ​​used in the cause analysis process.

[0067] For example, the command value Pcom at the analysis timing is in the lower region Nc - If the command value Pcom at the analysis timing is in the upper region Nc + If the value Pout of the output of the actuator 11 is included in the range of 0 to 1000, the processing circuit 31 generates a diagnostic command value that reduces the output value Pout of the actuator 11.

[0068] Alternatively, the processing circuit 31 determines whether the command value Pcom at the analysis timing is in the lower region Nc - If the command value Pcom at the analysis timing is within the upper region Nc + If the work index value Pwork is included in the above, a diagnostic command value may be generated that reduces the work index value Pwork.

[0069] The processing circuitry 31 causes a predetermined display, such as the display 21 of the operating device 2, to display a warning display for warning of the execution of the diagnostic control mode based on the diagnostic command value (step SC2). The warning display includes an indication that the diagnostic control mode will be executed after a predetermined grace period has elapsed, and the execution content of the diagnostic control mode. Furthermore, the processing circuitry 31 accepts a user operation input for canceling the execution of the diagnostic control mode while the warning display is being displayed (step SC3). If a user operation input for canceling the execution is received (Yes in step SC3), the processing circuitry 31 cancels the execution of the diagnostic control mode. Note that instead of canceling the execution, the grace period until the execution of the diagnostic control mode is started may be extended in response to the user operation input.

[0070] Unless there is a user operation input to stop execution (No in step SC3), the processing circuit 31 determines whether the grace period has elapsed since the start of the advance notice display (step SC4). If the processing circuit 31 determines that the grace period has elapsed (Yes in step SC4), it outputs a control command to the controller 13 to execute a diagnostic control mode in which the actuator 11 is controlled using a diagnostic command value. The controller 13 executes the diagnostic control mode in accordance with the control command (step SC5).

[0071] According to the above configuration, when a period during which an abnormality diagnosis has not been performed exceeds a predetermined period, a diagnostic command value is automatically generated so that the state value falls within a specific state range, and the actuator 11 of the mechanical device 10 is controlled based on the diagnostic command value. As a result, the state value falls within the specific state range, and abnormality diagnosis processing is executed. Therefore, it is possible to prevent a situation in which abnormality diagnosis processing is not executed for a long period of time.

[0072] The diagnostic command value generated by the processing circuitry 31 does not have to be the same as the command value output by the controller 13. For example, the diagnostic command value may be a correction value that indicates how much the command value output by the controller 13 should be changed.

[0073] Furthermore, when executing the diagnostic control mode, the processing circuitry 31 may change the specific state range that triggers the abnormality diagnosis of the actuator 11 in the diagnostic control mode. For example, the processing circuitry 31 may set the specific state range according to the generated diagnostic command value.

[0074] This allows the range of state values ​​expected in the diagnostic control mode to be set to a specific state range, thereby increasing the likelihood that the state value will fall within the specific state range when the diagnostic control mode is executed, and ensuring that the abnormality diagnosis process is executed while the diagnostic control mode is executed.

[0075] The processing circuitry 31 may execute a diagnostic control mode in which only the specific state range is changed instead of changing the diagnostic command value. For example, the processing circuitry 31 may change the specific state range in accordance with the analysis index value.

[0076] If the mechanical device 10 has already broken down or is in a state where maintenance is required, the output value Pout of the actuator 11 may not fall within the specific state range Qo even when the diagnostic control mode is executed. Therefore, if the output value Pout of the actuator 11 does not fall within the specific state range Qo even when the diagnostic control mode is executed, the processing circuit 31 may notify the mechanical device 10 that it may have broken down or that maintenance may be required. For example, the processing circuit 31 may repeatedly execute the diagnostic control mode a predetermined number of times, and if the output value Pout of the actuator 11 does not fall within the specific state range Qo even after the predetermined number of executions, the processing circuit 31 may display a message indicating that the mechanical device 10 may have broken down or that maintenance may be required, and then end the diagnostic control mode.

[0077] Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and various improvements, changes, and modifications are possible within the scope of the spirit of the present disclosure.

[0078] [Other embodiments] For example, in the above embodiment, the processing circuit 31 of the abnormality diagnosis device 3 performs both the abnormality diagnosis processing and the no-diagnosis detection processing, but the processing circuit that performs the abnormality diagnosis processing and the processing circuit that performs the no-diagnosis detection processing may be configured as separate processing circuits. For example, the processing circuit of a higher-level controller that controls the abnormality diagnosis device that performs the abnormality diagnosis processing may perform the no-diagnosis detection processing.

[0079] For example, the higher-level controller may be a main controller in a mobile body such as a ship, or may be a management device installed outside the mechanical device 10 and capable of communicating with the mechanical device 10 via a communication network. For example, the management device may be configured as a cloud server. Furthermore, the management device installed outside the mechanical device 10 may include a processing circuit that performs abnormality diagnosis processing. For example, the management device may include a processing circuit that performs both abnormality diagnosis processing and no-diagnosis detection processing. Furthermore, the processing circuit 31 that performs abnormality diagnosis processing or no-diagnosis detection processing may be a processing circuit of a smartphone or tablet terminal.

[0080] When a management device installed outside the mechanical device 10 performs no-diagnosis detection processing, the processing circuit of the management device may transmit a no-diagnosis signal to an alarm installed in the mechanical device 10. The alarm installed in the mechanical device 10 may include the display 21 of the controller 2 in the above embodiment. In this way, no-diagnosis detection processing can be performed outside the mechanical device 10, and the operator of the mechanical device 10 or the like can be notified that an abnormality diagnosis has not been performed.

[0081] The processing circuit of the management device may also transmit a no-diagnosis signal to a terminal of a manager who manages the machine 10. This allows, for example, when a no-diagnosis detection process is performed on a machine 10 that performs some of the processes in a machine system including multiple processes, and an abnormality diagnosis is not performed, to notify a process manager of the machine system, etc. This allows the process manager to, for example, revise the process plan for the machine 10, thereby realizing efficient operation of the machine system.

[0082] Furthermore, in the above embodiment, the processing circuit 31 of the abnormality diagnosis device 3 includes the storage device 33, but the storage device 33 may be configured separately from the processing circuit 31 of the abnormality diagnosis device 3. For example, the storage device 33 may be configured by a cloud server communicably connected to the processing circuit 31.

[0083] Furthermore, in the above embodiment, the determination in the no-diagnosis detection process is made based on whether the elapsed time t-td from the time td when the abnormality diagnosis process was last executed to the current time t exceeds a predetermined threshold value Δtc. However, the determination may be made using a time index value related to a time other than the elapsed time. Similarly, in the above embodiment, the threshold value Δtc may be a value that varies depending on the elapsed time from a predetermined reference time. However, the threshold value Δtc may be a value that varies based on a time index value from the predetermined reference time. For example, the time index value may be the operating time, which is the cumulative operating time of the machine 10. The operating time may be calculated by subtracting the period during which the machine 10 is stopped from the elapsed time.

[0084] Furthermore, for example, the time index value may be an equivalent operating time weighted according to the operating state of the machine 10. For example, a weighting coefficient according to the magnitude of the load on the machine 10 may be set for the equivalent operating time.

[0085] FIG. 7 is a diagram showing an example of the correlation between the weighting coefficient and the load related to the equivalent operating time. In the example of FIG. 7, when the load on the machine 10 is 100%, the weighting coefficient is 1. At this time, the operating time and the equivalent operating time correspond to one to one. Furthermore, when the load on the machine 10 is 70%, the weighting coefficient is 0.5. At this time, the operating time and the equivalent operating time correspond to one to 0.5. In this case, when the machine 10 operates at 100% load for one hour, the equivalent operating time is also measured as one hour. On the other hand, when the machine 10 operates at 70% load for one hour, the equivalent operating time is measured as 0.5 hours.

[0086] Which time index value is used to make the judgment in the no-diagnosis detection process can be determined depending on the application of the mechanical device 10. For example, the elapsed time can be suitably applied to a mechanical device 10 that may deteriorate due to the surrounding environment, etc., regardless of the operating state of the mechanical device 10. For example, the no-diagnosis detection process using the elapsed time can be suitably applied to a ship's propulsion unit that is constantly exposed to seawater. Furthermore, for example, the operating time can be suitably applied to a mechanical device 10 that always operates under the same conditions during operation. For example, the no-diagnosis detection process using the operating time can be suitably applied to a lubricating oil pump, etc.

[0087] Furthermore, for example, the equivalent operating time can be suitably applied to a machine 10 whose operating conditions vary widely or whose frequency of abnormality occurrence varies greatly depending on the operating conditions. For example, the non-diagnostic detection process using the equivalent operating time is suitably applied to a gas turbine or the like. However, regardless of the above examples, any time index value may be used for various types of machine 10.

[0088] The threshold value Δtc used in the no-diagnosis detection process can be arbitrarily set by the user. The threshold value Δtc may be, for example, a value obtained by multiplying the actual value of the time index value from when a failure symptom is detected until a serious failure occurs by a safety factor, or a value obtained by multiplying the remaining life of the mechanical device 10 estimated from the change in the diagnostic index value over time by a safety factor. The threshold value Δtc may also be determined from a value stated in a manual, literature, or the like that specifies recommended inspection intervals. The threshold value Δtc may also be determined based on the results of a simulation performed by modeling the mechanical device 10 using a digital twin or the like.

[0089] In the above embodiment, an example has been shown in which the output value Pout of the actuator 11 is used as the state value, and the command value Pcom for the actuator 11, the disturbance value Pdis indicating a disturbance to the mechanical device 10, and the work index value Pwork indicating the work performed by the mechanical device 10 are used as the analysis index values, but this is not limiting. For example, the work index value Pwork may be used as the state value, and the command value Pcom, the disturbance value Pdis, and the output value Pout may be used as the analysis index values. Also, other index values ​​may be used as the state value or the analysis index value. The number of types of state values ​​may be two or more. The number of types of analysis index values ​​may be two or less or four or more.

[0090] In the above embodiment, examples of application of the abnormality diagnosis device 3 have been given in which the mechanical device 10 is a ship or a vehicle, but application to other moving bodies or mechanical devices 10 other than moving bodies is also possible.

[0091] The abnormality diagnosis program in the above embodiment may be configured as a program product that is provided by downloading from an external computer, or recorded on a non-transitory recording medium that is readable by a computer, or may be configured as a computer product in which the abnormality diagnosis program is pre-installed.

[0092] Summary of this disclosure [Item 1] An abnormality diagnosis device according to one aspect of the present disclosure is an abnormality diagnosis device that performs an abnormality diagnosis on an actuator or a mechanical structure when a state value indicating the operating state of a mechanical device that includes an actuator and a mechanical structure on which the output of the actuator acts is within a predetermined specific state range, and is equipped with a processing circuit. The processing circuit stores the timing at which the abnormality diagnosis was performed in a predetermined memory, determines whether a time index value relating to the time from the timing at which the abnormality diagnosis was last performed exceeds a predetermined threshold value, and outputs a no-diagnosis signal indicating that the abnormality diagnosis has not been performed if the time index value exceeds the threshold value.

[0093] According to the above configuration, a no-diagnosis signal is output when a period during which no abnormality diagnosis has been performed exceeds a predetermined period. Therefore, the no-diagnosis signal can be used to notify the user that no abnormality diagnosis has been performed. This allows the user to check whether abnormality diagnosis has been performed appropriately in a specific operating state. This prevents a state in which no abnormality diagnosis has been performed from continuing for a long period of time. As a result, the possibility of an abnormality in the mechanical device being overlooked due to no abnormality diagnosis being performed can be reduced.

[0094] [Item 2] In the abnormality diagnosis device of item 1, the processing circuit may acquire an analysis index value that may affect the operating state at each predetermined timing, and when the time index value exceeds the threshold value, determine whether or not the analysis index value at a predetermined analysis timing after the timing when the abnormality diagnosis was last performed is within an expected range that is expected when the state value is within the specific state range, and output an analysis content regarding why the state value is not within the specific state range depending on whether or not the analysis index value is within the expected range.

[0095] According to the above configuration, the analysis result of the state value not falling within the specific state range is output depending on whether the analysis index value between the time when the abnormality diagnosis process was last executed and the current time is within the corresponding expected range. Therefore, the cause of the abnormality diagnosis process not being executed and a countermeasure can be easily provided to the user. Therefore, it is possible to prevent the recurrence of the state in which the abnormality diagnosis process is not executed for a predetermined period of time or more.

[0096] [Item 3] In the abnormality diagnosis device of item 2, the analysis index value may include at least one of a command value for the actuator, a disturbance value indicating a disturbance to the mechanical device, a work index value indicating a work performed by the mechanical device, and an output value of the actuator.

[0097] [Item 4] In the abnormality diagnosis device of item 2, the state value includes an output value of the actuator, the analysis index value includes a command value for the actuator, a disturbance value indicating a disturbance to the mechanical device, and a work index value indicating a work performed by the mechanical device, the expected range includes a first expected range for the command value, a second expected range for the disturbance value, and a third expected range for the work index value, and the processing circuit may output an analysis content regarding why the output value of the actuator is not within the specific state range depending on a combination of whether or not the command value is within the first expected range, whether or not the disturbance value is within the second expected range, and whether or not the work index value is within the third expected range.

[0098] [Item 5] In the abnormality diagnosis device according to any one of items 2 to 4, the processing circuit may determine that the analysis index value is not within the expected range if, among a plurality of analysis timings, the number of timings at which the analysis index value is outside the expected range is greater than the number of timings at which the analysis index value is within the expected range. This improves the accuracy of analysis as to whether the reason the state value does not fall within the specific state range is because the analysis index value is not within the expected range.

[0099] [Item 6] In any one of the abnormality diagnosis devices of items 1 to 5, the processing circuit may acquire an analysis index value that may affect the operating state at each predetermined timing, and when the time index value exceeds the threshold value, generate a diagnostic command value according to the analysis index value at a predetermined analysis timing after the timing when the abnormality diagnosis was last performed, and output a control command to execute a diagnostic control mode in which the actuator is controlled using the diagnostic command value.

[0100] According to the above configuration, when a period during which an abnormality diagnosis has not been performed exceeds a predetermined period, a diagnostic command value is automatically generated so that the state value falls within a specific state range, and the actuator of the mechanical device is controlled based on the diagnostic command value. As a result, the state value falls within the specific state range, and abnormality diagnosis processing is executed. Therefore, it is possible to prevent a situation in which abnormality diagnosis processing is not executed for a long period of time.

[0101] [Item 7] In the abnormality diagnosis device of item 6, the processing circuit may change the specific state range that triggers the abnormality diagnosis of the actuator in the diagnostic control mode. This allows the range of state values ​​expected in the diagnostic control mode to be set to the specific state range. Therefore, it is possible to increase the possibility that the state value will be included in the specific state range when the diagnostic control mode is being executed, and to reliably execute the abnormality diagnosis process while the diagnostic control mode is being executed.

[0102] [Item 8] In the abnormality diagnosis device according to any one of items 1 to 7, the processing circuit may set the threshold value to a smaller value as the time index value from a predetermined reference time increases. If it is considered that the greater the time index value from the reference time, the more likely an abnormality is to occur, the greater the time index value from the reference time, and therefore the output of a no-diagnosis signal even if the period during which abnormality diagnosis has not been performed is shorter, thereby reducing the possibility of an abnormality being overlooked due to the absence of abnormality diagnosis.

[0103] [Item 9] Another aspect of the present disclosure provides an abnormality diagnosis program that performs an abnormality diagnosis on an actuator or a mechanical structure when a state value indicating the operating state of a mechanical device that includes an actuator and a mechanical structure on which the output of the actuator acts is within a predetermined specific state range, and causes a computer to acquire data on the timing at which the abnormality diagnosis was performed, determine whether a time index value relating to the time from the timing at which the abnormality diagnosis was last performed exceeds a predetermined threshold value, and output a no-diagnosis signal indicating that the abnormality diagnosis has not been performed when the time index value exceeds the threshold value.

[0104] [Item 10] Another aspect of the present disclosure is an abnormality diagnosis method that performs an abnormality diagnosis on an actuator or a mechanical structure when a state value indicating the operating state of a mechanical device that includes an actuator and a mechanical structure on which the output of the actuator acts is within a predetermined specific state range, and obtains data on the timing at which the abnormality diagnosis was performed, and determines whether a time index value relating to the time from the timing at which the abnormality diagnosis was last performed exceeds a predetermined threshold value, and determines that the abnormality diagnosis was not performed appropriately if the time index value exceeds the threshold value. [Explanation of symbols]

[0105] 3. Abnormality diagnosis device 10 Mechanical equipment 11 Actuator 31 Processing circuit 33 Memory device

Claims

1. 1. An abnormality diagnosis device that performs an abnormality diagnosis on a mechanical device including an actuator and a mechanical structure on which an output of the actuator acts, when a state value indicating an operating state of the actuator is within a predetermined specific state range, processing circuitry; The processing circuitry storing the timing of the abnormality diagnosis in a predetermined memory; determining whether a time index value relating to the time since the last time the abnormality diagnosis was performed exceeds a predetermined threshold value; When the time index value exceeds the threshold value, the abnormality diagnosis device outputs a no-diagnosis signal indicating that the abnormality diagnosis is not being performed.

2. The processing circuitry Acquire an analysis index value that may affect the operating state at each predetermined timing; When the time index value exceeds the threshold value, it is determined whether or not an analysis index value at a predetermined analysis timing after the timing when the abnormality diagnosis was last performed is within an expected range that is expected when the state value is within the specific state range, The abnormality diagnosis device according to claim 1 , further comprising: an analysis result indicating that the state value is not within the specific state range, the analysis result being output depending on whether the analysis index value is within the expected range or not.

3. 3. The abnormality diagnosis device according to claim 2, wherein the analysis index value includes at least one of a command value for the actuator, a disturbance value indicating a disturbance to the mechanical device, a work index value indicating a work performed by the mechanical device, and an output value of the actuator.

4. the state value includes an output value of the actuator; the analysis index values ​​include a command value for the actuator, a disturbance value indicating a disturbance to the mechanical device, and a work index value indicating a work performed by the mechanical device; the expected ranges include a first expected range for the command value, a second expected range for the disturbance value, and a third expected range for the work index value, 3. The abnormality diagnosis device according to claim 2, wherein the processing circuit outputs an analysis result as to why the output value of the actuator is not within the specific state range, depending on a combination of whether the command value is within the first expected range, whether the disturbance value is within the second expected range, and whether the work index value is within the third expected range.

5. 3. The abnormality diagnosis device according to claim 2, wherein the processing circuit determines that the analysis index value is not within the expected range when, among the plurality of analysis timings, the number of timings at which the analysis index value is outside the expected range is greater than the number of timings at which the analysis index value is within the expected range.

6. The processing circuitry Acquire an analysis index value that may affect the operating state at each predetermined timing; When the time index value exceeds the threshold value, a diagnostic command value is generated according to an analysis index value at a predetermined analysis timing after the timing when the abnormality diagnosis was last performed; 6. The abnormality diagnostic device according to claim 1, further comprising: a control command output for executing a diagnostic control mode in which the actuator is controlled using the diagnostic command value.

7. The processing circuitry The abnormality diagnosis device according to claim 6 , wherein the specific state range that triggers the abnormality diagnosis of the actuator in the diagnostic control mode is changed.

8. 6. The abnormality diagnosis device according to claim 1, wherein the processing circuit sets the threshold value to a smaller value as the time index value from a predetermined reference time increases.

9. 1. An abnormality diagnosis program for diagnosing an abnormality of an actuator when a state value indicating an operating state of a mechanical device equipped with an actuator is within a predetermined specific state range, Computer, Acquire data on the timing at which the abnormality diagnosis was performed, determining whether a time index value relating to the time since the last time the abnormality diagnosis was performed exceeds a predetermined threshold value; an abnormality diagnosis program that functions to output a no-diagnosis signal indicating that the abnormality diagnosis is not being performed when the time index value exceeds the threshold value;

10. 1. An abnormality diagnosis method for diagnosing an abnormality in a mechanical device including an actuator and a mechanical structure on which an output of the actuator acts, when a state value indicating an operating state of the actuator is within a predetermined specific state range, the method comprising: Acquire data on the timing at which the abnormality diagnosis was performed, determining whether a time index value relating to the time since the last time the abnormality diagnosis was performed exceeds a predetermined threshold value; When the time index value exceeds the threshold value, it is determined that the abnormality diagnosis is not being performed appropriately.

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