Information processing device and information processing method

Abstract

The present invention provides an information processing device and an information processing method that can effectively suppress the loss of information. [Solution] The information processing device includes a first memory that stores operational information of the robot in real time for a certain period of time, a determination unit that determines whether or not a predetermined trigger condition has occurred, and a writing unit that, when the determination unit determines that the trigger condition has occurred, extracts specific operational information corresponding to the cause of the trigger condition from the operational information stored in the first memory and writes it to a second memory. The writing unit divides the specific operational information into a plurality of time-based pieces of information for predetermined unit time intervals and writes each of the plurality of time-based pieces of information to the second memory.

Description

Technical Field

[0001] The present invention relates to an information processing apparatus and an information processing method.

Background Art

[0002] [[ID=I12]]In recent years, due to the soaring labor costs and labor shortages in factories, the automation of operations using various robots and their peripheral devices has been accelerating. In such robots, it is known to store the operation information of the robot using a robot device as shown in Patent Document 1. Thereby, it is possible to analyze the operation information of the robot when an error occurs and identify the cause, degree, etc. of the error.

[0003] The information processing apparatus described in Patent Document 1 includes a temporary data recording unit that records operation information in real time for a certain period of time, a determination unit that determines whether a trigger condition has occurred, and a trigger-time data recording unit that extracts and records the operation information corresponding to an error among the operation information recorded in the temporary data recording unit when the trigger condition occurs. And, for example, when the trigger condition occurs at the n-th point in time of the temporary data recording unit, it waits for the data to be stored up to the (n + k)-th point after that time, and transfers it to the trigger-time data recording unit together with the data up to the (n - m)-th point in the past.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Thus, in the information processing device described in Patent Document 1, data from the (nm)th to the (n+k)th element is transferred to the trigger data recording unit all at once. However, if a problem occurs during the transfer, there is a risk that data from the (nm)th to the (n+k)th element may not be saved correctly. [Means for solving the problem]

[0006] The information processing device of the present invention includes a first memory that stores operational information of a robot in real time for a certain period of time, A determination unit that determines whether a predetermined trigger condition has occurred, The determination unit determines that the trigger condition has occurred, and the writing unit extracts specific operational information corresponding to the cause of the trigger condition from the operational information stored in the first memory and writes it to the second memory. The writing unit divides the specific operation information into multiple time-based pieces of information for each predetermined unit of time, and writes each of the multiple time-based pieces of information to the second memory.

[0007] The information processing device of the present invention includes a first memory that stores operational information of a robot in real time for a certain period of time, A determination unit that determines whether a predetermined trigger condition has occurred, The determination unit determines that the trigger condition has occurred, and the writing unit extracts specific operational information corresponding to the cause of the trigger condition from the operational information stored in the first memory and writes it to the second memory. The writing unit divides the specific operational information into multiple types of information according to data type, and writes each of the multiple types of information to the second memory.

[0008] The information processing method of the present invention includes an operation information storage step of storing operation information in real time in a first memory while the robot is operating, A determination step to determine whether a predetermined trigger condition has occurred, If it is determined in the determination step that the trigger condition has occurred, the determination step includes a specific operation information writing step which extracts specific operation information corresponding to the cause of the trigger condition from the operation information stored in the first memory and writes it to the second memory, In the specified operation information writing step, the specified operation information is divided into multiple time-based pieces of information for each predetermined unit of time, and each of the multiple time-based pieces of information is written to the second memory.

[0009] The information processing method of the present invention includes an operation information storage step of storing operation information in real time in a first memory while the robot is operating, A determination step to determine whether a predetermined trigger condition has occurred, If it is determined in the determination step that the trigger condition has occurred, the determination step includes a specific operation information writing step which extracts specific operation information corresponding to the cause of the trigger condition from the operation information stored in the first memory and writes it to the second memory, In the specified operation information writing step, the specified operation information is divided into multiple types of information according to data type, and each of the multiple types of information is written to the second memory. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 shows the overall configuration of the robot system according to the first embodiment. [Figure 2] Figure 2 is a schematic diagram illustrating how to write specific operational information to the second memory. [Figure 3] Figure 3 is a schematic diagram illustrating how to write specific operational information to the second memory. [Figure 4] Figure 4 is a schematic diagram illustrating how to write specific operational information to the second memory. [Figure 5] Figure 5 is a schematic diagram illustrating how to write specific operational information to the second memory. [Figure 6]FIG. 6 is a flowchart for explaining an example of an information processing method. [Figure 7] FIG. 7 is a schematic diagram for explaining a method by which an information processing apparatus according to the second embodiment writes specific operation information to a second memory. [Figure 8] FIG. 8 is a schematic diagram for explaining a method by which an information processing apparatus according to the second embodiment writes specific operation information to a second memory. [Figure 9] FIG. 9 is a schematic diagram for explaining a method by which an information processing apparatus according to the second embodiment writes specific operation information to a second memory. [Figure 10] FIG. 10 is a schematic diagram for explaining a method by which an information processing apparatus according to the second embodiment writes specific operation information to a second memory. [Figure 11] FIG. 11 is a schematic diagram for explaining a method by which an information processing apparatus according to the second embodiment writes specific operation information to a second memory. [Figure 12] FIG. 12 is a schematic diagram for explaining a method by which an information processing apparatus according to the second embodiment writes specific operation information to a second memory. [Figure 13] FIG. 13 is a flowchart for explaining an example of an information processing method.

Embodiments for Carrying Out the Invention

[0011] <00000…>Hereinafter, the information processing apparatus and information processing method of the present invention will be described in detail based on embodiments shown in the accompanying drawings. ]>

[0012] <First Embodiment> ]>FIG. 1 is a diagram showing the overall configuration of a robot system according to the first embodiment. FIGS. 2 to 5 are each a schematic diagram for explaining a method of writing specific operation information to a second memory. FIG. 6 is a flowchart for explaining an example of an information processing method.

[0013] As shown in Figure 1, the robot system 100 includes a robot 1, a control device 2 that controls the driving of the robot 1, and an information processing device 3 that acquires and processes operational information when the robot 1 is in operation.

[0014] The communication between the robot 1, the control device 2, and the information processing device 3 may be wired or wireless. In this embodiment, the control device 2 and the information processing device 3 are configured separately, but this is not limited to this configuration. For example, the information processing device 3 may also function as the control device 2. In other words, the information processing device 3 may control the drive of the robot 1 and acquire and process the operation information of the robot 1. In this embodiment, the information processing device 3 is connected to the robot 1 via the control device 2 and acquires operation information D via the control device 2, but this is not limited to this configuration. The information processing device 3 may be connected to the robot 1 and acquire operation information D from the robot 1. In this embodiment, the control device 2 and the information processing device 3 are located outside the robot 1, but this is not limited to this configuration. For example, at least one of them may be housed inside the robot 1, particularly inside the base 11 described later.

[0015] The robot 1, control device 2, and information processing device 3 that make up the robot system 100 will be described in order below.

[0016] -Robot 1- As shown in Figure 1, the robot 1 is a 6-axis vertical articulated robot having 6 drive axes, and comprises a base 11 fixed to the floor, a robot arm 12 rotatably connected to the base 11, and an end effector 13 attached to the tip of the robot arm 12.

[0017] The robot arm 12 includes a first arm 121 rotatably connected to the base 11 around a first rotation axis J1, a second arm 122 rotatably connected to the first arm 121 around a second rotation axis J2, a third arm 123 rotatably connected to the second arm 122 around a third rotation axis J3, a fourth arm 124 rotatably connected to the third arm 123 around a fourth rotation axis J4, a fifth arm 125 rotatably connected to the fourth arm 124 around a fifth rotation axis J5, and a sixth arm 126 rotatably connected to the fifth arm 125 around a sixth rotation axis J6.

[0018] Furthermore, the robot arm 12 includes a first drive unit 141 that rotates the first arm 121 around the first rotation axis J1 relative to the base 11, a second drive unit 142 that rotates the second arm 122 around the second rotation axis J2 relative to the first arm 121, a third drive unit 143 that rotates the third arm 123 around the third rotation axis J3 relative to the second arm 122, a fourth drive unit 144 that rotates the fourth arm 124 around the fourth rotation axis J4 relative to the third arm 123, a fifth drive unit 145 that rotates the fifth arm 125 around the fifth rotation axis J5 relative to the fourth arm 124, and a sixth drive unit 146 that rotates the sixth arm 126 around the sixth rotation axis J6 relative to the fifth arm 125.

[0019] Each drive unit 141 to 146 includes, for example, a motor M, a reduction gear G that reduces the rotation of the motor M and increases the torque output, and an encoder E that detects the amount of rotation of the motor M. The control device 2 then independently drives each motor M based on a program for operating the robot 1, so that the TCP (Tool Center Point) set at the tip of the robot arm 12 moves to the target position in the desired posture and speed.

[0020] The end effector 13 is attached to the tip of the robot arm 12, that is, to the sixth arm 126. The end effector 13 is not particularly limited, and one is attached as appropriate depending on the task to be performed by the robot 1.

[0021] Furthermore, the robot 1 has at least one sensor 15. In this embodiment, the robot 1 has a force sensor 151 as the sensor 15, which is positioned between the end effector 13 and the sixth arm 126 and detects the stress applied to the end effector 13. The force sensor 151 has three mutually orthogonal detection axes and can independently detect translational force, i.e., axial force, along each detection axis and rotational force, i.e., torque, around each detection axis. The robot 1 also has the aforementioned encoders E provided in each drive unit 141 to 146 as sensors 15.

[0022] The above describes robot 1, but robot 1 is not particularly limited. For example, it may be a horizontal articulated robot (SCARA robot), or a dual-arm robot equipped with two robot arms 12.

[0023] [Control device 2] The control device 2 independently controls the drive of each motor M of the drive units 141 to 146, and also controls the drive of the end effector 13, thereby causing the robot arm 12 and the end effector 13 to perform predetermined movements and the robot 1 to perform predetermined tasks. The control device 2 is, for example, a computer and is equipped with a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory) which stores a program for operating the robot 1 (hereinafter also referred to as the "operation program"). The CPU reads the operation program stored in the ROM and executes it, thereby achieving the function of the control device 2 in controlling the drive of the robot 1.

[0024] [Information Processing Device 3] As shown in Figure 1, the information processing device 3 acquires and processes operational information D when the robot 1 is operating. The information processing device 3 is, for example, a computer and is equipped with a CPU, RAM, ROM in which a program for executing the information processing method of the present invention (hereinafter also referred to as the "information processing program") is stored. The CPU reads and executes the information processing program stored in the ROM, thereby achieving the function of the information processing device 3. However, it is not limited to this, and the information processing program may be stored in a device other than the information processing device 3, such as a server.

[0025] In this embodiment, the operation information D includes at least stress information D1, which is information about the stress applied to the end effector 13; speed information D2, which is information about the speed of the robot arm 12; and operation history information D3, which is information about the execution history of the operation program. In other words, the operation information D includes stress information D1 and speed information D2, which are the detection results of the sensor 15.

[0026] Of these, stress information D1 is obtained based on the detection value of the force sensor 151 (sensor 15). On the other hand, velocity information D2 is specifically the speed of TCP and is obtained based on the output values ​​from the encoders E of each drive unit 141 to 146. Operation history information D3 is information that shows how the robot 1 actually operated in relation to the operation program and is obtained, for example, based on the output values ​​from the encoders E of each drive unit 141 to 146. However, the methods for acquiring stress information D1, velocity information D2, and operation history information D3 are not particularly limited.

[0027] Furthermore, the information included in the operational information D is not limited to stress information D1, velocity information D2, and operational history information D3; it may include only one of these, or it may include other information. Examples of this "other information" include, for example, information regarding the internal temperature of the robot 1 detected by a temperature sensor placed inside the robot arm 12 as sensor 15, information regarding vibrations of the robot arm 12 detected by an inertial sensor placed on the robot arm 12 as sensor 15, and information regarding the presence or absence of intruders within the movable area of ​​the robot 1, obtained by a camera that images the area around the robot 1 as sensor 15.

[0028] As shown in Figure 1, the information processing device 3 includes an operational information acquisition unit 31, a writing unit 32, a determination unit 33, a first memory 34, a second memory 35, and a third memory 36. These functions are realized by the hardware configuration described above.

[0029] The operation information acquisition unit 31 acquires the above-mentioned operation information D from the robot 1 in real time via the control device 2 when the robot 1 is in operation.

[0030] The writing unit 32 has the function of writing the operation information D acquired by the operation information acquisition unit 31 to the first memory 34 (hereinafter also referred to as the "operation information writing function") and the function of writing specific operation information Ds extracted from the operation information D to the second memory 35 (hereinafter also referred to as the "specific operation information writing function"). These functions may be performed by a single processor or by multiple different processors. When performed by multiple different processors, each processor is collectively referred to as the writing unit 32. Furthermore, each function may be configured to use a data transfer method such as DMA (Direct Memory Access).

[0031] When the writing unit 32 "writes" the operation information D to the first memory 34, it means that the first memory 34 stores the operation information D as data in a predetermined format. In this case, the writing unit 32 may either copy the operation information D from its original storage location and write it to the first memory 34, or it may delete the operation information D from its original storage location and then write it to the first memory 34. The same applies when the writing unit 32 writes specific operation information Ds to the second memory 35, and when the writing unit 32 writes specific operation information Ds to the third memory 36.

[0032] Furthermore, the first memory 34 is a storage device provided in the information processing device 3 and is composed of volatile memory such as a ring buffer. Therefore, the first memory 34 stores the operation information D written by the writing unit 32 in real time for a certain period of time, and after a certain period of time has elapsed, it overwrites the oldest operation information D with the latest operation information D. With this configuration, it is possible to effectively suppress the increase in size of the first memory 34, the increase in memory capacity, and the increase in cost. The "certain period of time" is not particularly limited, but for example it can be 30 seconds.

[0033] Furthermore, the second memory 35 is a storage device that is detachably connected to the information processing device 3. For example, the second memory 35 can be an external SSD (solid-state drive), HDD (hard disk drive), SD card, CD-ROM, USB memory, etc. By making the second memory 35 detachable from the information processing device 3, the second memory 35 containing the operational information D can be connected to another device, allowing the operational information D to be replayed and analyzed by that device. In this embodiment, the second memory 35 is a component of the information processing device 3, but it is not limited to this, and it does not have to be a component of the information processing device 3.

[0034] Furthermore, the third memory 36 is a storage device provided in the information processing device 3. Such a third memory 36 may be a volatile memory or a non-volatile memory. However, the third memory 36 is not limited to these, and may be a storage device detachably connected to the information processing device 3, as described above for the second memory 35. In this embodiment, the third memory 36 is a component of the information processing device 3, but it is not limited to this, and may not be a component of the information processing device 3.

[0035] The determination unit 33 determines whether a predetermined trigger condition has occurred. "A predetermined trigger condition has occurred" means that the conditions for the writing unit 32 to perform the specific operation information writing function have been satisfied. The trigger condition is not particularly limited, but examples include: (a) the stress applied to the end effector 13 exceeds a predetermined value; (b) the speed of the robot arm 12 exceeds a predetermined value; (c) the robot 1 stops due to some cause such as a power outage, a collision with an intruder, or an emergency stop by pressing the emergency stop switch; or (d) an unusual symptom that would not normally occur appears.

[0036] Furthermore, the trigger conditions have multiple levels of importance. For example, in this embodiment, (a) and (b) are set as "low importance" trigger conditions, (d) is set as "medium importance" trigger conditions, and (c) is set as "high importance" trigger conditions. In other words, the importance levels are (a)=(b)<(d)<(c). The content of the trigger conditions and which trigger conditions are assigned to which importance levels can be appropriately set by the user depending on the type of sensor 15 that the robot 1 has, the type of work to be performed by the robot 1, etc. Also, the number of importance levels for trigger conditions is not limited to the three levels of "low," "medium," and "high" as described above; there may be two, or four or more. Furthermore, it is not necessary to set levels for importance.

[0037] Next, the aforementioned specific operation information writing function will be explained. When the determination unit 33 determines that "a trigger condition has occurred," the writing unit 32 extracts specific operation information Ds corresponding to the cause of the trigger condition from the operation information D stored in the first memory 34 and writes it to the second memory 35. At this time, the writing unit 32 performs compression processing (compression encoding processing) of the specific operation information Ds before writing it to the second memory 35. As a result, the second memory 35 can store a sufficient amount of specific operation information Ds. However, it is not limited to this, and the writing unit 32 may write to the second memory 35 without performing compression processing of the specific operation information Ds.

[0038] For example, if the trigger condition described in (a) above occurs, the information including the operation history information D3 and stress information D1 from the operation information D stored in the first memory 34 is stored in the second memory 35 as specific operation information Ds. Also, for example, if the trigger condition described in (b) above occurs, the information including the operation history information D3 and speed information D2 from the operation information D stored in the first memory 34 is stored in the second memory 35 as specific operation information Ds. Also, for example, if the trigger conditions described in (c) and (d) above occur, the information including the operation history information D3, speed information D2 and stress information D1 from the operation information D stored in the first memory 34 is stored in the second memory 35 as specific operation information Ds.

[0039] In other words, the type of data included in the specific operation information Ds differs depending on the type of trigger condition that occurs. With this configuration, only the necessary data can be included in the specific operation information Ds for each type of trigger condition that occurs, thus keeping the amount of data in the specific operation information Ds small. As a result, writing the specific operation information Ds to the second memory 35 is completed in a shorter time. It is also possible to keep the capacity of the second memory 35 small. However, this is not limited to this, and the type of data included in the specific operation information Ds may be the same regardless of the type of trigger condition. For example, in the case of this embodiment, information including operation history information D3, speed information D2, and stress information D1 may be stored in the second memory 35 as specific operation information Ds regardless of which of the above trigger conditions (a), (b), (c), or (d) occurs.

[0040] Figure 2 shows an image diagram of the operation information D stored in the first memory 34 and the specific operation information Ds written to the second memory 35. In this image diagram, information is written to the first memory 34 sequentially from the top, and conversely, information is written to the second memory 35 sequentially from the bottom. As shown in the figure, if the time when the trigger condition occurs is T, the specific operation information Ds includes information for a predetermined time ΔTb before time T and information for a predetermined time ΔTa after time T. In other words, the specific operation information Ds is information from time (T-ΔTb) to time (T+ΔTa). In this way, by including information before and after time T in the specific operation information Ds, the state of robot 1 before and after time T can be accurately grasped.

[0041] The predetermined times ΔTb and ΔTa are not particularly limited, but for example, they can be 1 second or more and 10 seconds or less, respectively. Furthermore, the predetermined times ΔTb and ΔTa can be varied depending on the type of trigger condition. In particular, for the analysis of the behavior of robot 1, the behavior of robot 1 before time T is more important than the behavior of robot 1 after time T, so it is preferable that ΔTb > ΔTa. For the sake of explanation below, in the trigger conditions (a), (b), and (c) above, ΔTb = 8 seconds and ΔTa = 2 seconds, and in the trigger condition (d) above, ΔTb = ∞ seconds and ΔTa = 0 seconds.

[0042] If the entire set of specific operational information Ds is written to the second memory 35 as a single piece of information (file), the amount of data in that information becomes large, and the processing time required to write to the second memory 35 increases. Therefore, the risk of write errors (hereinafter also simply referred to as "write errors") occurring during writing increases due to errors, power outages causing the device to shut down, or device malfunctions. If a write error occurs during writing, the entire set of specific operational information Ds may be corrupted, or the writing to the second memory 35 may fail, potentially resulting in the loss of the specific operational information Ds.

[0043] Therefore, in this embodiment, as shown in Figure 2, the writing unit 32 divides the specific operation information Ds into multiple time-specific information Dss for each predetermined unit time ft, and writes each of the multiple time-specific information Dss to the second memory 35 one by one in sequence. For example, in this embodiment, the predetermined unit time ft is set to 1 second, and the specific operation information Ds for a total of 10 seconds from time (T-8 seconds) to time (T+2 seconds) is divided into a total of 10 time-specific information Dss for each 1 second. In other words, specific operational information Ds is divided into time-based information Dss1 from time (T-8 seconds) to time (T-7 seconds), time-based information Dss2 from time (T-7 seconds) to time (T-6 seconds), time-based information Dss3 from time (T-6 seconds) to time (T-5 seconds), time-based information Ds4 from time (T-5 seconds) to time (T-4 seconds), and time from time (T-4 seconds) to time (T-3 seconds). The data is divided into separate information Dss5, time-based information Dss6 from time (T-3 seconds) to time (T-2 seconds), time-based information Dss7 from time (T-2 seconds) to time (T-1 second), time-based information Dss8 from time (T-1 second) to time T, time-based information Dss9 from time T to time (T+1 seconds), and time-based information Dss10 from time (T+1 seconds) to time (T+2 seconds).

[0044] Then, these time-based information Dss1 to Dss10 are written one by one to the second memory 35 in a predetermined order. This writing method allows the amount of data for each time-based information Dss to be kept small. Therefore, even if a write error occurs while specific operational information Ds is being written to the second memory 35, at least the time-based information Dss that have been written up to that point will be properly stored in the second memory 35. In other words, the possibility of storing at least a part of the specific operational information Ds in the second memory 35 is increased, and the risk of losing all of the specific operational information Ds is reduced. It should be noted that although multiple time-based information Dss are written one by one to the second memory 35, for example, one time-based information Dss may contain time-based information Dss1 from time (T-8 seconds) to time (T-7 seconds), and time-based information Dss2 from time (T-7 seconds) to time (T-6 seconds).

[0045] In this embodiment, among the time-based information Dss1 to Dss10, time-based information Dss8 is the "first time-based information," time-based information Dss9 is the "second time-based information," and time-based information Dss7 is the "third time-based information."

[0046] The order in which the time-based information Dss1 to Dss10 are written to the second memory 35 is not particularly limited. For example, as shown in Figure 2, they may simply be written in order from the past to the future. That is, they may be written one by one to the second memory 35 in the order of time-based information Dss1, time-based information Dss2, time-based information Dss3, time-based information Dss4, time-based information Dss5, time-based information Dss6, time-based information Dss7, time-based information Dss8, time-based information Dss9, and time-based information Dss10.

[0047] However, it is preferable to write the information to the second memory 35 in order of importance, rather than in the simple order described above. The importance level varies depending on the type of trigger condition, the type of data the user wishes to acquire, etc., and can be set as appropriate by the user.

[0048] For example, when the trigger conditions (a) and (b) above occur, the data prior to the time T in which the trigger condition occurred, in particular the data immediately preceding time T, is important. Therefore, it is preferable for the writing unit 32 to write sequentially from time T to the past, as shown in Figure 3, and then sequentially from time T to the future, to the second memory 35. In other words, it is preferable to write the time-specific information Dss8, Dss7, Dss6, Dss5, Dss4, Dss3, Dss2, Dss1, Dss9, and Dss10 to the second memory 35 one by one in that order. With this writing order, even if a write error occurs while specific operational information Ds is being written to the second memory 35, there is a higher probability that at least the time-specific information Dss of high importance will be properly stored in the second memory 35.

[0049] Furthermore, for example, when the trigger condition described in (c) above occurs, data from a time close to the time T in which the trigger condition occurred is important. Therefore, it is preferable for the writing unit 32 to write to the second memory 35 in order of decreasing time difference from time T, as shown in Figure 4, for example. In other words, it is preferable to write to the second memory 35 one by one in the following order: time-specific information Dss8, time-specific information Dss9, time-specific information Dss7, time-specific information Dss10, time-specific information Dss6, time-specific information Dss5, time-specific information Dss4, time-specific information Dss3, time-specific information Dss2, and time-specific information Dss1. With this writing order, even if a write error occurs while specific operation information Ds is being written to the second memory 35, there is a higher probability that at least the time-specific information Dss of high importance will be properly stored in the second memory 35.

[0050] Furthermore, for example, if the trigger condition described in (d) above occurs, the data prior to time T when the trigger condition occurred is important. Also, for analysis purposes, it is necessary to obtain information going further back in time. Therefore, it is preferable for the writing unit 32 to write the time-specific information Dss from the oldest time-specific information Dss stored in the first memory 34 up to time T to the second memory 35 in chronological order, as shown in Figure 5, for example. With such a writing order, even if a write error occurs while specific operational information Ds is being written to the second memory 35, there is a higher probability that at least the time-specific information Dss of high importance will be properly stored in the second memory 35.

[0051] The method for writing specific operation information Ds to the second memory 35 by the writing unit 32 has been described above. Now, we will explain how to handle the case where, while the writing unit 32 is writing specific operation information Ds to the second memory 35 in response to a certain trigger condition (hereinafter referred to as the "first trigger condition" for the sake of explanation), another trigger condition (hereinafter referred to as the "second trigger condition" for the sake of explanation) occurs.

[0052] If the second trigger condition is of lower importance than the first trigger condition, or if it is of the same importance as the first trigger condition, the writing of the specific operational information Ds corresponding to the first trigger condition to the second memory 35 will begin only after the writing of the specific operational information Ds corresponding to the first trigger condition to the second memory 35 is completed.

[0053] In contrast, if the second trigger condition is of higher importance than the first trigger condition, the writing of the specific operational information Ds corresponding to the first trigger condition to the second memory 35 is temporarily stopped, and the writing of the specific operational information Ds corresponding to the second trigger condition to the second memory 35 is started. With this writing method, the specific operational information Ds corresponding to the more important trigger condition can be preferentially written to the second memory 35, and the more important data can be stored in the second memory 35 more reliably.

[0054] In this case, the writing unit 32 writes the time-specific information Dss corresponding to the first trigger condition that has not yet been written to the second memory 35 to the third memory 36, and saves it from the first memory 34. For example, in the example shown in Figure 3, if a second trigger condition of higher importance occurs while time-specific information Dss1 is being written, the writing unit 32 writes the time-specific information Dss1, Dss9, and Dss10 that have not yet been written to the second memory 35 to the third memory 36, and saves them from the first memory 34. This prevents the time-specific information Dss from being overwritten and erased.

[0055] Then, after the writing unit 32 has finished writing the specific operational information Ds corresponding to the second trigger condition to the second memory 35, it writes the time-specific information Dss (the remaining portion) that was written to the third memory 36 to the second memory 35. This allows all of the specific operational information Ds corresponding to the first trigger condition to be written to the second memory 35. However, this is not the only way; time-specific information Dss from the specific operational information Ds corresponding to the first trigger condition that has not yet been written to the second memory 35 does not need to be written to the second memory 35. This is because, depending on the time the second trigger condition occurs, it is highly likely that important of the 10 pieces of time-specific information Dss included in the specific operational information Ds have already been written to the second memory 35.

[0056] The specific operation information writing function has been described above. Next, an example of the information processing method of the present invention will be explained using the flowchart shown in Figure 6.

[0057] First, in step S101, the information processing device 3 stores the operation information D of the robot 1 in real time in the first memory 34. That is, the operation information acquisition unit 31 acquires the operation information D from the robot 1, and the writing unit 32 writes the acquired operation information D to the first memory 34. This step S101 is the operation information storage step.

[0058] Next, in step S102, the determination unit 33 determines whether or not the trigger condition has occurred. This step S102 is the determination step.

[0059] In step S102, if the determination unit 33 determines that "a trigger condition has occurred," then in step S103, the writing unit 32 begins writing the specific operational information Ds corresponding to the trigger condition to the second memory 35. As described above, this writing process divides the specific operational information Ds into multiple time-based information Dss and writes each of the time-based information Dss to the second memory 35 one by one in a predetermined order. This step S103 is the specific operational information writing step.

[0060] Next, in step S104, the determination unit 33 determines whether or not a new trigger condition has occurred.

[0061] If the determination unit 33 determines in step S104 that "a trigger condition has occurred", then in step S105, the determination unit 33 determines whether or not the writing of the specific operational information Ds corresponding to the previously occurring trigger condition to the second memory 35 has been completed.

[0062] In step S105, if the determination unit 33 determines that "writing is complete," then in step S106, the writing unit 32 starts writing the specific operational information Ds corresponding to the newly generated trigger condition to the second memory 35. Then, the process returns to step S104.

[0063] On the other hand, if the determination unit 33 determines in step S105 that "writing is not yet complete", then in step S107, the determination unit 33 determines whether the importance of the newly generated trigger condition is higher than the importance of the previously generated trigger condition.

[0064] In step S107, if the determination unit 33 determines that the importance is low or the importance is the same, the process returns to step S105. In other words, the process waits until the writing of the specific operational information Ds corresponding to the previously occurring trigger condition to the second memory 35 is complete. After completion, the process moves to step S106 and begins writing the specific operational information Ds corresponding to the newly occurring trigger condition to the second memory 35.

[0065] On the other hand, if the determination unit 33 determines in step S107 that the condition is "high importance", then in step S108, the writing unit 32 stops writing the specific operational information Ds corresponding to the previously occurring trigger condition to the second memory 35, proceeds to step S106, and starts writing the specific operational information Ds corresponding to the newly occurring trigger condition to the second memory 35. Although not shown in the flowchart, if the process proceeds to step S106 via step S108, after the writing of the specific operational information Ds corresponding to the newly occurring trigger condition to the second memory 35 is completed, the writing of the remaining portion of the specific operational information Ds corresponding to the previously occurring trigger condition to the second memory 35 may be resumed.

[0066] With this information processing method, even if a write error occurs while specific operational information Ds is being written to the second memory 35, at least the time-based information Ds that has been written up to that point will be properly stored in the second memory 35. In other words, at least a portion of the specific operational information Ds can be stored in the second memory 35, reducing the risk of losing all of the specific operational information Ds.

[0067] The information processing device 3 and the information processing method using the information processing device 3 according to this embodiment have been described above. As mentioned above, the information processing device 3 includes a first memory 34 that stores operation information D of the robot 1 in real time for a certain period of time, a determination unit 33 that determines whether or not a predetermined trigger condition has occurred, and a writing unit 32 that, when the determination unit 33 determines that "a trigger condition has occurred", extracts specific operation information Ds corresponding to the cause of the trigger condition from the operation information D stored in the first memory 34 and writes it to the second memory 35. The writing unit 32 divides the specific operation information Ds into a plurality of time-specific information Dss for each predetermined unit time ft, and writes each of the plurality of time-specific information Dss to the second memory 35 one by one. With this configuration, even if a write error occurs while the specific operation information Ds is being written to the second memory 35, at least the time-specific information Ds that have been written up to that point will be properly stored in the second memory 35. In other words, the possibility of storing at least a portion of the specific operational information Ds in the second memory 35 increases, and the risk of losing all of the specific operational information Ds is reduced.

[0068] As mentioned above, the specific operational information Ds includes time-specific information Dss8 as first time-specific information, which is time-specific information Dss before time T when the trigger condition occurred, and time-specific information Dss9 as second time-specific information, which is time-specific information Dss after time T when the trigger condition occurred. The writing unit 32 writes time-specific information Dss8 to the second memory 35, and then writes time-specific information Dss9 to the second memory 35. In the analysis of the specific operational information Ds, the information before time T is particularly useful. Therefore, by using this configuration, the time-specific information Dss8, which is more important, can be written to the second memory 35 with priority. As a result, even if a write error occurs while the specific operational information Ds is being written to the second memory 35, there is a higher probability that at least the time-specific information Dss8, which is of higher importance, will be properly stored in the second memory 35.

[0069] Furthermore, as mentioned above, the specific operation information Ds includes time-specific information Dss7 as the third time-specific information, which is time-specific information Dss that precedes time-specific information Dss8. The writing unit 32 then writes time-specific information Dss7 to the second memory 35 after writing time-specific information Dss9 to the second memory 35. In the analysis of the specific operation information Ds, information before time T is valid, as is information close to time T. Therefore, with this configuration, information from the time immediately before and after time T can be preferentially written to the second memory 35. As a result, even if a write error occurs while the specific operation information Ds is being written to the second memory 35, there is a higher probability that at least the information from the time immediately before and after time T, which is of high importance, will be stored in the second memory 35.

[0070] As mentioned above, the information processing method by the information processing device 3 includes: step S101 as an operation information storage step in which operation information D when the robot 1 is operating is stored in the first memory 34 in real time; step S102 as a determination step in which it is determined whether or not a predetermined trigger condition has occurred; and step S103 as a specific operation information writing step in which, if it is determined in step S102 that "a trigger condition has occurred", specific operation information Ds corresponding to the cause of the trigger condition are extracted from the operation information D stored in the first memory 34 and written to the second memory 35. In step S103, the specific operation information Ds is divided into multiple time-based information Dss for each predetermined unit time ft, and each of the multiple time-based information Dss is written to the second memory 35 one by one. With this method, even if a write error occurs while the specific operation information Ds is being written to the second memory 35, at least the time-based information Ds that have been written up to that point will be properly stored in the second memory 35. In other words, the possibility of storing at least a portion of the specific operational information Ds in the second memory 35 increases, and the risk of losing all of the specific operational information Ds is reduced.

[0071] <Second Embodiment> Figures 7 to 12 are schematic diagrams illustrating how the information processing device according to the second embodiment writes specific operational information to the second memory. Figure 13 is a flowchart illustrating an example of the information processing method.

[0072] The information processing device 3 of this embodiment is the same as that of the first embodiment described above, except that the method of writing specific operational information Ds to the second memory 35 is different. In the following description, this embodiment will be described mainly in terms of the differences from the first embodiment described above, and similar matters will not be described. Also, in the figures of this embodiment, the same reference numerals are used for components that are the same as those in the previously described embodiment.

[0073] As described above, the writing unit 32 of the first embodiment divided the specific operation information Ds into a plurality of time-specific information Dss for each predetermined unit time ft, and wrote the plurality of time-specific information Dss one by one to the second memory 35 in sequence. In contrast, as shown in Figure 7, the writing unit 32 of this embodiment divides the specific operation information Ds into a plurality of type-specific information Dsd for each data type, and writes the plurality of type-specific information Dsd one by one to the second memory 35. This configuration can also achieve the same effects as the first embodiment described above. In other words, with this writing method, the amount of data for each type-specific information Dsd can be kept small. Therefore, even if a write error occurs while the specific operation information Ds is being written to the second memory 35, at least the type-specific information Dsd that have been written up to that point will be properly stored in the second memory 35. In other words, the possibility of storing at least a part of the specific operation information Ds in the second memory 35 is increased, and the risk of losing all of the specific operation information Ds is reduced.

[0074] The following describes the function of writing specific operational information by the writing unit 32. When the determination unit 33 determines that "a trigger condition has occurred," the writing unit 32 extracts specific operational information Ds corresponding to the cause of the trigger condition from the operational information D stored in the first memory 34 and writes it to the second memory 35. At this time, the writing unit 32 divides the specific operational information Ds into multiple type-specific information Dsd according to data type, and writes the multiple type-specific information Dsd one by one to the second memory 35 in sequence.

[0075] Here, the specific operational information Ds includes first type-specific information related to the first data type and second type-specific information related to a second data type different from the first data type. In this embodiment, the first data type is the detection result of the sensor 15, and the second data type is the execution history of the operational program. Therefore, the first type-specific information is stress information D1 and velocity information D2, and the second type-specific information is operational history information D3. However, the first and second data types are not particularly limited and can be set as appropriate according to the configuration of the robot 1, the work to be performed by the robot 1, etc.

[0076] For example, the specific operation information Ds corresponding to the trigger condition in (a) above includes operation history information D3 and stress information D1, as described above. In this case, as shown in Figure 8, the writing unit 32 divides the specific operation information Ds into type information Dsd3 which includes operation history information D3 and type information Dsd1 which includes stress information D1, and writes these two types of type information Dsd1 and Dsd3 one by one to the second memory 35 in sequence.

[0077] Furthermore, the specific operation information Ds corresponding to the trigger condition in (b) above includes operation history information D3 and speed information D2. In this case, as shown in Figure 9, the writing unit 32 divides the specific operation information Ds into type information Dsd3 which includes operation history information D3 and type information Dsd2 which includes speed information D2, and writes these two types of type information Dsd2 and Dsd3 one by one to the second memory 35 in sequence.

[0078] Furthermore, the specific operation information Ds corresponding to the trigger conditions in (c) and (d) above includes operation history information D3, speed information D2, and stress information D1. In this case, as shown in Figure 10, the writing unit 32 divides the specific operation information Ds into type information Dsd3 which includes operation history information D3, type information Dsd2 which includes speed information D2, and type information Dsd1 which includes stress information D1, and writes these three types of type information Dsd1, Dsd2, and Dsd3 one by one to the second memory 35 in order.

[0079] The order in which multiple types of information Dsd are written to the second memory 35 is not particularly limited, but in this embodiment, it is determined for each type of trigger condition. This is because the importance of the multiple types of information Dsd changes depending on the type of trigger condition that occurs.

[0080] For example, if the trigger condition described in (a) above occurs, an error in the sensor 15 system is likely, and therefore the stress information D1, which includes the detection result of the force sensor 151, becomes more important than the operation history information D3, which includes the execution history of the operating program. For this reason, as shown in Figure 8, the writing unit 32 writes the type information Dsd1 and then the type information Dsd3 to the second memory 35 in that order. With this writing order, even if a write error occurs while specific operation information Ds is being written to the second memory 35, there is a higher probability that the more important type information Dsd1 will be properly stored in the second memory 35.

[0081] Similarly, if the trigger condition described in (b) above occurs, an error in the sensor 15 system is possible, making the speed information D2, which includes the detection result of encoder E, more important than the operation history information D3, which includes the execution history of the operating program. Therefore, as shown in Figure 9, the writing unit 32 writes the type information Dsd2 and then the type information Dsd3 to the second memory 35 in that order. With this writing order, even if a write error occurs while specific operation information Ds is being written to the second memory 35, there is a higher probability that the more important type information Dsd2 will be properly stored in the second memory 35.

[0082] In contrast, if the trigger conditions described in (c) and (d) above occur, errors in the operating program are possible, and therefore, the operation history information D3, which includes the execution history of the operating program, becomes more important than the stress information D1 and speed information D2, which include the detection results of the sensor 15. For this reason, the writing unit 32 writes to the second memory 35 in the order of type information Dsd3, type information Dsd1, type information Dsd2, or type information Dsd3, type information Dsd2, type information Dsd1, as shown in Figure 10. With this writing order, even if a write error occurs while specific operation information Ds is being written to the second memory 35, there is a higher probability that the highly important type information Dsd3 will be properly stored in the second memory 35.

[0083] The above explains the writing order of type-specific information Dsd1, Dsd2, and Dsd3. Next, we will explain how to write each type-specific information Dsd1, Dsd2, and Dsd3.

[0084] First, the method for writing the type-specific information Dsd1, which includes stress information D1, will be explained. As shown in Figure 11, the writing unit 32 divides the type-specific information Dsd1 into a plurality of time-specific information Dss for each predetermined unit time ft, and writes each of the multiple time-specific information Dss to the second memory 35 one by one in sequence, similar to the first embodiment described above. Here, for the sake of explanation, similar to the first embodiment described above, the type-specific information Dsd1 for 10 seconds (ΔTb=8 seconds, ΔTa=2 seconds) is divided into 10 time-specific information Dss1 to Dss10, each with a predetermined time of 1 second. In the type-specific information Dsd1, the data before time T when the trigger condition occurred, in particular the data immediately before time T, is important. Therefore, it is preferable for the writing unit 32 to write sequentially from time T toward the past, and then sequentially from time T toward the future to the second memory 35. In other words, as shown in Figure 11, it is preferable to write the time-specific information Dss8, Dss7, Dss6, Dss5, Dss4, Dss3, Dss2, Dss1, Dss9, and Dss10 to the second memory 35 one by one in that order. With this writing order, even if a write error occurs while the type-specific information Dsd1 is being written to the second memory 35, there is a higher probability that at least the time-specific information Dss, which is of high importance, will be properly stored in the second memory 35.

[0085] The method for writing type information Dsd2, which includes speed information D2, is the same as the method for writing type information Dsd1 described above. Therefore, the explanation of how to write type information Dsd2 will be omitted.

[0086] Next, the method for writing type-specific information Dsd3, which includes operation history information D3, will be described. As shown in Figure 12, the writing unit 32 divides the type-specific information Dsd3 into a plurality of time-specific information Dss for predetermined unit time fts, and writes the plurality of time-specific information Dss one by one to the second memory 35, similar to the first embodiment described above. Here, for the sake of explanation, similar to the first embodiment described above, the type-specific information Dsd3 for 10 seconds (ΔTb=8 seconds, ΔTa=2 seconds) is divided into 10 time-specific information Dss1 to Dss10, each with a predetermined time of 1 second. In the type-specific information Dsd3, data from times close to the time T when the trigger condition occurred is important. Therefore, it is preferable for the writing unit 32 to write to the second memory 35 in order of smallest time difference from time T. In other words, as shown in Figure 12, it is preferable to write the time-specific information Dss8, Dss9, Dss7, Dss10, Dss6, Dss5, Dss4, Dss3, Dss2, and Dss1 to the second memory 35 one by one in that order. That is, it is preferable to write the type-specific information Dsd3 (time-specific information Dss8) for a predetermined unit time ft before time T to the second memory 35, and then write the type-specific information Dsd3 (time-specific information Dss9) for a predetermined unit time ft after time T to the second memory 35. With this writing order, even if a write error occurs while specific operation information Ds is being written to the second memory 35, there is a higher probability that at least the time-specific information Dss of high importance will be properly stored in the second memory 35.

[0087] The specific operation information writing function has been described above. Next, an example of the information processing method of the present invention will be explained using the flowchart shown in Figure 13.

[0088] First, in step S201, the information processing device 3 stores the operation information D of the robot 1 in real time in the first memory 34. That is, the operation information acquisition unit 31 acquires the operation information D from the robot 1, and the writing unit 32 writes the acquired operation information D to the first memory 34. This step S201 is the operation information storage step.

[0089] Next, in step S202, the determination unit 33 determines whether or not the trigger condition has occurred. This step S202 is the determination step.

[0090] In step S202, if the determination unit 33 determines that "a trigger condition has occurred," then in step S203, the writing unit 32 begins writing the specific operational information Ds corresponding to the trigger condition to the second memory 35. As described above, this writing process divides the specific operational information Ds into multiple types of information Dsd, and writes each of the multiple types of information Dsd to the second memory 35 in a predetermined order. This step S203 is the specific operational information writing step.

[0091] Next, in step S204, the determination unit 33 determines whether or not a new trigger condition has occurred.

[0092] If the determination unit 33 determines in step S204 that "a trigger condition has occurred", then in step S205, the determination unit 33 determines whether or not the writing of the specific operational information Ds corresponding to the previously occurring trigger condition to the second memory 35 has been completed.

[0093] In step S205, if the determination unit 33 determines that "writing is complete," then in step S206, the writing unit 32 starts writing the specific operational information Ds corresponding to the newly generated trigger condition to the second memory 35. Then, the process returns to step S204.

[0094] On the other hand, if the determination unit 33 determines in step S205 that "writing is not yet complete", then in step S207, the determination unit 33 determines whether the importance of the newly generated trigger condition is higher than the importance of the previously generated trigger condition.

[0095] In step S207, if the determination unit 33 determines that the importance is low or the importance is the same, the process returns to step S205. In other words, the process waits until the writing of the specific operational information Ds corresponding to the previously occurring trigger condition to the second memory 35 is complete. After completion, the process proceeds to step S206, where the writing of the specific operational information Ds corresponding to the newly occurring trigger condition to the second memory 35 begins.

[0096] On the other hand, if the determination unit 33 determines in step S207 that the condition is "high importance", then in step S208, the writing unit 32 stops writing the specific operational information Ds corresponding to the previously occurring trigger condition to the second memory 35, proceeds to step S206, and starts writing the specific operational information Ds corresponding to the newly occurring trigger condition to the second memory 35. Although not shown in the flowchart, if the process proceeds to step S206 via step S208, after the writing of the specific operational information Ds corresponding to the newly occurring trigger condition to the second memory 35 is completed, the writing of the remaining portion of the specific operational information Ds corresponding to the previously occurring trigger condition to the second memory 35 may be resumed.

[0097] With this information processing method, even if a write error occurs while specific operational information Ds is being written to the second memory 35, at least the type-specific information Dsd that has been written up to that point will be properly stored in the second memory 35. In other words, at least a portion of the specific operational information Ds can be stored in the second memory 35, reducing the risk of losing all of the specific operational information Ds.

[0098] As described above, the information processing device 3 of this embodiment includes a first memory 34 that stores operation information D of the robot 1 in real time for a certain period of time, a determination unit 33 that determines whether or not a predetermined trigger condition has occurred, and a writing unit 32 that, when the determination unit 33 determines that "a trigger condition has occurred", extracts specific operation information Ds corresponding to the cause of the trigger condition from the operation information D stored in the first memory 34 and writes it to the second memory 35. The writing unit 32 divides the specific operation information Ds into a plurality of type-specific information Dsd for each data type and writes each of the plurality of type-specific information Dsd to the second memory 35 one by one. With this configuration, even if a write error occurs while the specific operation information Ds is being written to the second memory 35, at least the type-specific information Dsd that have been written up to that point will be properly stored in the second memory 35. In other words, the possibility of being able to store at least a part of the specific operation information Ds in the second memory 35 is increased, and the risk of losing all of the specific operation information Ds is reduced.

[0099] As mentioned above, the specific operation information Ds includes stress information D1 and velocity information D2, which are first-category information related to the first data type, and operation history information D3, which is second-category information related to a second data type different from the first data type. The writing unit 32 then decides whether to write the first-category information or the second-category information to the second memory 35 first, based on the type of trigger condition that occurred. The importance of the first-category information and the second-category information changes depending on the type of trigger condition. Therefore, by deciding whether to write the first-category information or the second-category information to the second memory 35 first, based on the type of trigger condition, the information with higher importance can be written to the second memory 35 first. As a result, even if a write error occurs while the specific operation information Ds is being written to the second memory 35, the information with higher importance is more likely to be stored in the second memory 35.

[0100] As mentioned above, the first type of information, stress information D1 and velocity information D2, includes the detection results of the sensors 15 located on the robot 1. The writing unit 32 writes the stress information D1 and velocity information D2 to the second memory 35, working backward from the time T when the trigger condition occurred. When analyzing the detection results of the sensors 15, information from before time T, especially information immediately before time T, is particularly useful. Therefore, this configuration allows for prioritizing the writing of more important information to the second memory 35. As a result, even if a write error occurs while specific operational information Ds is being written to the second memory 35, there is a higher probability that at least the information of high importance will be properly stored in the second memory 35.

[0101] As mentioned above, the second type of information, operation history information D3, includes the execution history of the operation program, which is the program for operating robot 1. The writing unit 32 writes the time-specific information Dss8, which is the operation history information D3 for a predetermined unit time ft before time T when the trigger condition occurred, to the second memory 35, and then writes the time-specific information Dss9, which is the operation history information D3 for a predetermined unit time ft after time T when the trigger condition occurred, to the second memory 35. In the analysis of specific operation information Ds, information before time T is valid, as is information close to time T. Therefore, with this configuration, information from the time immediately before and after time T can be preferentially written to the second memory 35. As a result, even if a write error occurs while specific operation information Ds is being written to the second memory 35, there is a higher probability that at least the information from the time immediately before and after time T, which is of high importance, will be stored in the second memory 35.

[0102] Furthermore, as mentioned above, the information processing method by the information processing device 3 includes: step S201 as an operation information storage step in which operation information D when the robot 1 is operating is stored in the first memory 34 in real time; step S202 as a determination step in which it is determined whether or not a predetermined trigger condition has occurred; and step S203 as a specific operation information writing step in which, if it is determined in step S202 that "a trigger condition has occurred", specific operation information Ds corresponding to the cause of the trigger condition is extracted from the operation information D stored in the first memory 34 and written to the second memory 35. In step S203, the specific operation information Ds is divided into multiple type-specific information Dsd according to data type, and each of the multiple type-specific information Dsd is written to the second memory 35. With this method, even if a write error occurs while the specific operation information Ds is being written to the second memory 35, at least the type-specific information Dsd that have been written up to that point will be properly stored in the second memory 35. In other words, the possibility of storing at least a portion of the specific operational information Ds in the second memory 35 increases, and the risk of losing all of the specific operational information Ds is reduced.

[0103] This second embodiment can also achieve the same effects as the first embodiment described above.

[0104] Although the illustrated embodiments of the information processing apparatus and information processing method of the present invention have been described above, the present invention is not limited thereto. Furthermore, each part and each step of the information processing apparatus and information processing method of the present invention can be replaced with any structure and step that can perform similar functions. In addition, any structure and step may be added. [Explanation of Symbols]

[0105] 1...Robot, 100...Robot system, 2...Control device, 3...Information processing device, 11...Base, 12...Robot arm, 121...First arm, 122...Second arm, 123...Third arm, 124...Fourth arm, 125...Fifth arm, 126...Sixth arm, 13...End effector, 141...First drive unit, 142...Second drive unit, 143...Third drive unit, 144...Fourth drive unit, 145...Fifth drive Unit, 146...6th drive unit, 15...Sensor, 151...Force sensor, 31...Operation information acquisition unit, 32...Writing unit, 33...Decision unit, 34...1st memory, 35...2nd memory, 36...3rd memory, D...Operation information, D1...Stress information, D2...Speed ​​information, D3...Operation history information, Ds...Specific operation information, Dsd...Type-specific information, Dsd1...Type-specific information, Dsd2...Type-specific information, Dsd3...Type-specific information, Dss...Time-specific information Report, Dss1...Hourly information, Dss2...Hourly information, Dss3...Hourly information, Dss4...Hourly information, Dss5...Hourly information, Dss6...Hourly information, Dss7...Hourly information, Dss8...Hourly information, Dss9...Hourly information, Dss10...Hourly information, E...Encoder, G...Gear reducer, J1...First drive shaft, J2...Second drive shaft, J3...Third drive shaft, J4...Fourth drive shaft, J5...Fifth drive shaft, J6...Sixth drive shaft, M...Motor S101...step, S102...step, S103...step, S104...step, S105...step, S106...step, S107...step, S108...step, S201...step, S202...step, S203...step, S204...step, S205...step, S206...step, S207...step, S208...step, ft...predetermined unit time, ΔTa...predetermined time, ΔTb...predetermined time

Claims

1. A first memory that stores operational information of the robot in real time for a certain period of time, A determination unit that determines whether a predetermined trigger condition has occurred, The system includes a writing unit that, when the determination unit determines that the trigger condition has occurred, extracts specific operational information corresponding to the cause of the trigger condition from the operational information stored in the first memory and writes it to the second memory. The information processing apparatus is characterized in that the writing unit divides the specific operation information into a plurality of time-based pieces of information at predetermined time intervals, and writes each of the plurality of time-based pieces of information to the second memory.

2. The specified operational information includes first hourly information which is the hourly information before the time the trigger condition occurred and second hourly information which is the hourly information after the time the trigger condition occurred. The information processing apparatus according to claim 1, wherein the writing unit writes the first time-based information to the second memory, and then writes the second time-based information to the second memory.

3. The specified operational information includes the third hourly information, which is the hourly information prior to the first hourly information. The information processing apparatus according to claim 2, wherein the writing unit writes the second time-specific information to the second memory, and then writes the third time-specific information to the second memory.

4. A first memory that stores operational information of the robot in real time for a certain period of time, A determination unit that determines whether a predetermined trigger condition has occurred, The system includes a writing unit that, when the determination unit determines that the trigger condition has occurred, extracts specific operational information corresponding to the cause of the trigger condition from the operational information stored in the first memory and writes it to the second memory. The information processing apparatus is characterized in that the writing unit divides the specific operational information into multiple types of information according to the data type, and writes each of the multiple types of information to the second memory.

5. The specified operational information includes first type-specific information related to a first data type and second type-specific information related to a second data type different from the first data type. The information processing apparatus according to claim 4, wherein the writing unit determines, based on the type of trigger condition that has occurred, whether to write the first type of information or the second type of information to the second memory first.

6. The first type of information includes the detection results of sensors placed on the robot, The information processing apparatus according to claim 5, wherein the writing unit writes the first type of information to the second memory, going back in time from the time when the trigger condition occurred.

7. The second type of information includes the execution history of the program for operating the robot, The information processing apparatus according to claim 6, wherein the writing unit writes the second type of information for a predetermined unit time before the time the trigger condition occurred to the second memory, and then writes the second type of information for a predetermined unit time after the time the trigger condition occurred to the second memory.

8. The first memory includes an operation information storage step that stores operation information in real time while the robot is operating, A determination step to determine whether a predetermined trigger condition has occurred, If it is determined in the determination step that the trigger condition has occurred, the determination step includes a specific operation information writing step in which specific operation information corresponding to the cause of the trigger condition is extracted from the operation information stored in the first memory and written to the second memory, The information processing method is characterized in that, in the specific operation information writing step, the specific operation information is divided into multiple time-based pieces of information for each predetermined unit of time, and each of the multiple time-based pieces of information is written to the second memory.

9. The first memory includes an operation information storage step that stores operation information in real time while the robot is operating, A determination step to determine whether a predetermined trigger condition has occurred, If it is determined in the determination step that the trigger condition has occurred, the determination step includes a specific operation information writing step in which specific operation information corresponding to the cause of the trigger condition is extracted from the operation information stored in the first memory and written to the second memory, The information processing method is characterized in that, in the specific operation information writing step, the specific operation information is divided into multiple types of information according to data type, and each of the multiple types of information is written to the second memory.

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