Industrial Machinery Monitoring Device

Abstract

To make it possible to check a situation of occurrence of an abnormality of an industrial machine more accurately than checking it merely with control signals.SOLUTION: An industrial machine monitoring system includes: a controller 2 that controls a picking robot 100; a data logger 3 capable of storing over a certain period of time control signals inputted from the controller 2 to the picking robot 100; and one or more camera units 4 capable of imaging the picking robot 100 and storing image data over a certain period of time. When an abnormality detection signal representing an abnormality of the picking robot 100 is inputted, the controller 2 causes the data logger 3 to store control signals that are obtained over a period covering a time when the abnormality occurs, as occurrence time control signals, and causes the camera units 4 to store image data that are obtained over the period covering the time when the abnormality occurs, as abnormality occurrence time image data.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an industrial machine monitoring device.

Background Art

[0002] For example, in industrial facilities such as logistics facilities, various industrial machines are installed. Patent Document 1 discloses a depalletizing device, which is one of the industrial machines provided in a logistics facility. Such a depalletizing device performs depalletizing to unload workpieces from a pallet or the like on which a plurality of workpieces are stacked. Further, Patent Document 2 discloses a picking robot, which is one of the industrial machines provided in a logistics facility. Such a picking device picks up workpieces conveyed, for example, by a belt conveyor and stores them in a transportation container or the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in industrial facilities such as logistics facilities, a large number of industrial machines are arranged in a wide site. For this reason, each industrial machine generally does not operate directly by an operator, but operates comprehensively and automatically under the control of a control device. That is, each industrial machine operates in a state where it is not directly visible to the operator. The operation of each industrial machine is detected by a sensor. When an abnormality of the industrial machine is detected by the sensor, the industrial machine is automatically stopped or the like. At this time, an abnormality detection signal indicating the abnormality is input to the control device.

[0005] For example, when an abnormality detection signal is input, the control device causes the data logger to store the control signal for a period including the time of occurrence of the abnormality. As a result, an operator can, if necessary, check the control signal stored in the data logger and check the situation at the time of the occurrence of the abnormality. However, it may not be possible to check the situation at the time of the occurrence of the abnormality in detail only by checking the control signal. For example, when it is detected that a workpiece has fallen from an industrial machine, it is difficult to grasp the reason why the workpiece has fallen only from the control signal. For example, it is difficult to grasp only from the control signal whether the workpiece has fallen due to the slippery material of the packing box or due to the damage of the packing box. Therefore, it is desired to be able to check the situation at the time of the occurrence of the abnormality in an industrial machine in more detail.

[0006] The present invention has been made in view of the above-described problems, and an object thereof is to make it possible to more accurately check the situation at the time of the occurrence of an abnormality in an industrial machine than when checking only the control signal.

Means for Solving the Problems

[0007] As means for solving the above problems, the present invention adopts the following configuration.

[0008] A first aspect of the present invention is an industrial machine monitoring device, including a control device that controls an industrial machine, a control signal storage device that can store a control signal input from the control device to the industrial machine for a certain period, and an imaging device that images the industrial machine and can store the image for a certain period. When an abnormality detection signal indicating an abnormality of the industrial machine is input, the control device stores the control signal for a period including the time when the abnormality occurred as an abnormality-occurrence-time control signal in the control signal storage device, and stores the imaging data for a period including the time when the abnormality occurred as abnormality-occurrence-time imaging data in the imaging device.

[0009] A second aspect of the present invention, in the first aspect, adopts a configuration including a communication device connected to a network, and the communication device is connected to at least the imaging device.

[0010] A third aspect of the present invention adopts a configuration in which the communication device and the imaging device are wirelessly connected in the second aspect.

[0011] A fourth aspect of the present invention adopts a configuration including a plurality of the imaging devices in any one of the first to third aspects.

[0012] A fifth aspect of the present invention adopts a configuration in which, in the first or second aspect, the imaging device is connected to the control signal storage device and generates composite data in which control information indicating the content of the control signal at the time of abnormality obtained from the control signal storage device is superimposed on the image indicated by the imaging data at the time of abnormality in the first or second aspect.

[0013] A sixth aspect of the present invention adopts a configuration in which, in any one of the first to fifth aspects, the imaging device stops storing imaging data at the time of abnormality based on the next abnormality detection signal until a predetermined reception stop period elapses from the time when the abnormality occurs.

[0014] A seventh aspect of the present invention adopts a configuration in which, in the sixth aspect, when a high-level abnormality detection signal, which is the abnormality detection signal indicating a higher degree of abnormality than the degree of abnormality indicated by the previous abnormality detection signal, is input during the reception stop period, the imaging device stores imaging data at the time of abnormality based on the high-level abnormality detection signal.

Advantages of the Invention

[0015] According to the present invention, the control signal during the period including the time of occurrence of an abnormality in the industrial machine is stored in the control signal storage device as the control signal at the time of abnormality. Further, according to the present invention, the imaging data during the period including the time of occurrence of an abnormality in the industrial machine is stored in the imaging device as the imaging data at the time of abnormality. Therefore, it becomes possible to confirm the situation at the time of abnormality with the imaging data. Therefore, according to the present invention, it becomes possible to confirm more accurately than when confirming the situation at the time of abnormality in the industrial machine only with the control signal.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Modes for Carrying Out the Invention

[0017] Hereinafter, with reference to the drawings, an embodiment of the industrial machine monitoring device according to the present invention will be described.

[0018] (First Embodiment) FIG. 1 is a block diagram schematically showing the schematic configuration of the industrial machine monitoring device 1 of the present embodiment. The industrial machine monitoring device 1 of the present embodiment monitors the operating state of the picking robot 100 (industrial machine) and stores the situation when an abnormality occurs in the picking robot 100. In the present embodiment, the picking robot 100 is described as an example of an industrial machine. However, the industrial machine is not limited to this, and it is possible to include all industrial machines used in logistics facilities such as depalletizing robots and belt conveyors. Also, it is possible to make industrial machines used in other than the logistics posture the monitoring target of the industrial machine monitoring device 1 of the present embodiment.

[0019] As shown in FIG. 1, the industrial machine monitoring device 1 of the present embodiment includes a control device 2, a data logger 3 (control signal storage device), a plurality of camera units 4 (imaging devices), and a communication device 5.

[0020] The control device 2 controls the picking robot 100 based on a program and various data stored in advance. When a plurality of industrial machines such as a logistics facility are provided, the control device 2 may comprehensively control these industrial machines. Such a control device 2 is formed by a computer device and includes, for example, a storage unit, an operation unit, a communication unit, an arithmetic unit, and a display unit.

[0021] The storage unit consists of memories such as ROM (Read Only Memory) and RAM (Random Access Memory), and storage devices such as HDD (Hard Disk Drive) and SSD (Solid State Drive). The operation unit is an input device that receives operation instructions from an operator, and more specifically, is a pointing device such as a keyboard or a mouse. The communication unit is a communication device that transmits and receives data to and from an external device via a predetermined communication line, and communicates with the picking robot 100 or the like using a communication protocol compliant with, for example, LAN (Local Area Network).

[0022] The arithmetic unit performs arithmetic operations based on programs and data stored in the storage unit. This arithmetic unit consists of hardware such as an interface circuit and a CPU (Central Processing Unit). The interface circuit is an electronic circuit that exchanges various signals with the storage unit, the operation unit, the communication unit, and the display unit. The CPU is a central processing unit that executes programs. The display unit performs display based on the image data generated by the arithmetic unit. Note that the control device 2 does not necessarily need to include a display unit.

[0023] The control device 2 outputs a control signal for instructing the operation of the picking robot 100. Also, the control device 2 outputs a control signal toward the picking robot 100 and also outputs a control signal toward the data logger 3. That is, the control signal output from the control device 2 is input to the picking robot 100 and the data logger 3.

[0024] Furthermore, the control device 2 is connected to an abnormality detection sensor 200 for detecting an abnormality of the picking robot 100. The abnormality detection sensor 200 is a sensor for detecting an abnormality of the picking robot 100. Note that a plurality of abnormality detection sensors 200 may be provided. For example, the abnormality detection sensor 200 can be a sensor for detecting that the picking robot 100 has dropped a workpiece. Also, for example, the abnormality detection sensor 200 can be a sensor for detecting that an object has entered a prohibited entry area set around the picking robot 100. Also, for example, the abnormality detection sensor 200 can be a sensor for detecting that the size of the workpiece supplied to the picking robot 100 exceeds an allowable value. Such an abnormality detection sensor 200 may be built into the picking robot 100.

[0025] When a signal (abnormality detection signal) indicating an abnormality of the picking robot 100 is input from the abnormality detection sensor 200 to the control device 2, the control device 2 outputs a save command toward the data logger 3. Note that the save command output from the control device 2 is also input to the camera unit 4 via the data logger 3 and the communication device 5. This save command is a signal for instructing the data logger 3 to save the control signal for a period (for example, about several minutes) including the time when the abnormality detection signal was received. Also, the save command is a signal for instructing the camera unit 4 to save the imaging data for a period (for example, about several minutes) including the time when the abnormality detection signal was received.

[0026] The data logger 3 is a storage device that stores the control signals input from the control device 2. Such a data logger 3 is formed by, for example, a computer device and includes a storage unit, an operation unit, a communication unit, an arithmetic unit, and a display unit.

[0027] The storage unit consists of memories such as ROM and RAM, and storage devices such as HDDs and SSDs. The operation unit is an input device that receives operation instructions from an operator, and more specifically, is a pointing device such as a keyboard or a mouse. The communication unit is a communication device that transmits and receives data to and from external devices via a predetermined communication line, and communicates with the control device 2 and the communication device 5 using, for example, a communication protocol compliant with LAN.

[0028] The arithmetic unit performs calculations based on programs, data, etc. stored in the storage unit. This arithmetic unit consists of hardware such as an interface circuit and a CPU. The interface circuit is an electronic circuit that exchanges various signals with the storage unit, the operation unit, the communication unit, and the display unit. The CPU is a central processing unit that executes programs. The display unit performs display based on the image data generated by the arithmetic unit. Note that the data logger 3 does not necessarily need to be equipped with a display unit.

[0029] Such a data logger 3 can store control signals for a predetermined fixed period. The data logger 3 stores the control signals input from the control device 2 for a predetermined fixed period (control signal storage period). When a save command is input during this control signal storage period, the data logger 3 stores the control signals for the period including the time indicated by the save command as control signals at the time of abnormality occurrence. For the control signals at the time of abnormality occurrence, the data logger 3 keeps them stored even after exceeding the control signal storage period. On the other hand, for control signals other than the control signals at the time of abnormality occurrence, they are erased when the control signal storage period has elapsed. This reduces the capacity stored in the data logger 3.

[0030] The camera unit 4 is an imaging device that can image the picking robot 100 and store the images for a certain period of time. Such a camera unit 4 is formed, for example, by a computer device having an imaging element, and in addition to the imaging element, it includes a storage unit, an operation unit, a communication unit, an arithmetic unit, and a display unit.

[0031] The imaging element is an imaging device that generates imaging data including the picking robot 100, and is composed of, for example, a CMOS image sensor or a CCD image sensor. The storage unit consists of memories such as ROM and RAM, and storage devices such as HDDs and SSDs. The operation unit is an input device that receives operation instructions from an operator, and more specifically, is a pointing device such as a keyboard or a mouse. The communication unit is a communication device that transmits and receives data to and from external devices via a predetermined communication line, and communicates with the communication device 5 using, for example, a communication protocol compliant with LAN.

[0032] The arithmetic unit performs arithmetic operations based on programs, data, etc. stored in the storage unit. This arithmetic unit consists of hardware such as an interface circuit and a CPU. The interface circuit is an electronic circuit that exchanges various signals with the storage unit, the operation unit, the communication unit, and the display unit. The CPU is a central processing unit that executes programs. The display unit performs display based on the image data generated by the arithmetic unit. Note that the camera unit 4 does not necessarily need to be equipped with a display unit.

[0033] Such a camera unit 4 can store imaging data for a predetermined period of time. The camera unit 4 stores the imaging data created continuously in time series for a predetermined period of time (imaging data storage period). When a save command is input during this imaging data storage period, the data logger 3 saves the imaging data for the period including the time indicated by the save command as imaging data at the time of abnormality. The camera unit 4 keeps the imaging data at the time of abnormality stored even if it exceeds the imaging data storage period. On the other hand, for imaging data other than the imaging data at the time of abnormality, it is erased when the imaging data storage period has elapsed. This reduces the capacity stored in the camera unit 4.

[0034] FIG. 2 is a schematic diagram of an image based on the composite data created by the camera unit 4. In the present embodiment, the camera unit 4 generates composite data in which character information J is superimposed on an image G shown by imaging data at the time of occurrence of an abnormality. This character information J includes, for example, an imaging time J1, an error code J2, and control information J3. The imaging time J1 indicates the time when the image G was captured.

[0035] The error code J2 is a code indicating the type of abnormality that has occurred in the picking robot 100. For example, when a plurality of abnormality detection sensors 200 for detecting different types of abnormalities are provided, an error code can be assigned to each abnormality detection sensor 200. Therefore, the control device 2 can identify from which abnormality detection sensor 200 the abnormality detection signal has been input, and the error code assigned to the abnormality detection sensor 200 that has output the abnormality detection signal can be input to the camera unit 4 via the data logger 3 and the communication device 5. The camera unit 4 generates composite data including this error code. Note that the process of identifying from which abnormality detection sensor 200 the abnormality detection signal has been input can also be performed by the data logger 3 or the camera unit 4.

[0036] The control information J3 is character information obtained by visualizing a control signal. The control information J3 is generated based on the control signal at the time of occurrence of an abnormality that the camera unit 4 has acquired from the data logger 3. That is, as the control information J3, the control signal at the time when an abnormality has occurred in the picking robot 100 is visualized and displayed.

[0037] Such character information J is preferably arranged, for example, as shown in FIG. 2, at a position that does not overlap the picking robot 100 or the workpiece in the composite data. Therefore, the camera unit 4 generates composite data in which the character information J is arranged at a position that does not overlap the picking robot 100 or the workpiece.

[0038] In addition, the camera unit 4 can generate the above-described composite data for each piece of imaging data saved at the timing of abnormal occurrence, in accordance with the timing of saving the imaging data at the time of abnormal occurrence. Further, the camera unit 4 may generate the above-described composite data for each piece of imaging data saved at the timing when a transmission instruction of the imaging data at the time of abnormal occurrence is input from the outside. This composite data includes information on the imaging data at the time of abnormal occurrence and the control signal at the time of abnormal occurrence. Therefore, if the composite data is transmitted, it means that the imaging data at the time of abnormal occurrence and the control signal at the time of abnormal occurrence have been transmitted.

[0039] As shown in FIG. 1, in the present embodiment, in order to enable the picking robot 100 to be imaged at a plurality of angles, a plurality of camera units 4 are provided. However, the number of installed camera units 4 can be changed. For example, it is also possible to install only one camera unit 4 with respect to the picking robot 100. Further, it is also possible to install three or more camera units 4 with respect to the picking robot 100.

[0040] The communication device 5 can be connected to an external network N (for example, the Internet) and can communicate with an external device via the network N. Further, the communication device 5 is connected to the data logger 3 and relays communication between the data logger 3 and the external device. Further, the communication device 5 is connected to each of the camera units 4 and relays communication between the camera unit 4 and the external device.

[0041] In the present embodiment, the communication device 5 and each camera unit 4 are connected by wireless communication. In a logistics facility or the like, a plurality of industrial devices are scattered and installed on a large site. Therefore, by wirelessly connecting the camera unit 4 that images the industrial device and the communication device 5, the number of installed long cables can be reduced, and the structure of the industrial machine monitoring device 1 can be simplified.

[0042] Next, the operation of such an industrial machine monitoring device 1 (monitoring method of the picking robot 100) will be described with reference to the flowchart of FIG. 3.

[0043] First, the control device 2 determines whether an abnormality has been detected in the picking robot 100 (step S1). When an abnormality detection signal is input from the abnormality detection sensor 200, the control device 2 determines that an abnormality has been detected in the picking robot 100. On the other hand, when no abnormality detection signal is input from the abnormality detection sensor 200, the control device 2 determines that no abnormality has been detected in the picking robot 100 and repeats step S1.

[0044] Also, while repeating step S1, the control device 2 outputs a control signal toward the picking robot 100 and the data logger 3. The control signal output from the control device 2 and input to the data logger 3 is stored in the data logger 3 for a control signal storage period, and is erased from the data logger 3 after the elapse of the control signal storage period if no abnormality occurs in the picking robot 100. Note that the control device 2 controls the picking robot 100 separately from this process.

[0045] Also, simultaneously with the storage of the control signal in the data logger 3, imaging of the picking robot 100 is continuously performed in each camera unit 4. The imaging data created by each camera unit 4 is stored in each camera unit 4 for an imaging data storage period, and is erased from the camera unit 4 after the elapse of the imaging data storage period if no abnormality occurs in the picking robot 100.

[0046] Note that the storage of the control signal in the control signal storage period in the data logger 3 and the storage of the imaging data in the imaging data storage period in each camera unit 4 are constantly performed regardless of the process shown in the flowchart of FIG. 3.

[0047] If it is determined in step S1 that an abnormality has been detected in the picking robot 100, the control device 2 outputs a save command to the data logger 3. When the save command is input to the data logger 3, the data logger 3 saves the control signal at the time of abnormality occurrence (step S2). Further, the save command output from the control device 2 to the data logger 3 is input to each camera unit 4 via the communication device 5. When the save command is input to the camera unit 4, the camera unit 4 saves the imaging data at the time of abnormality occurrence (step S3).

[0048] Subsequently, the data logger 3 and the camera unit 4 determine whether a transmission instruction has been input (step S4). The transmission instruction is input to the data logger 3 and the camera unit 4 from the communication device 5 via the network N. If the data logger 3 and the camera unit 4 determine that the transmission instruction has not been input, they enter a transmission standby state. The data logger 3 in the transmission standby state stores the control signal input again from the control device 2. Also, the camera unit 4 in the transmission standby state stores the imaging data again.

[0049] If it is determined in step S4 that the transmission instruction has not been input to the data logger 3 and the camera unit 4, the process returns to step S1 again. And if an abnormality occurs in the picking robot 100 again, the data logger 3 saves the control signal at the time of the second abnormality occurrence. Also, each camera unit 4 saves the imaging data at the time of the second abnormality occurrence.

[0050] On the other hand, in step S4, when it is determined that a transmission instruction has been input to the data logger 3 and the camera unit 4, at least imaging data at the time of abnormality occurrence is output from the camera unit 4 (step S5). The imaging data at the time of abnormality occurrence output from the camera unit 4 is transmitted from the communication device 5 to an external device via the network N. That is, the operator can confirm the state of the picking robot 100 at the time of abnormality occurrence in an image remotely from the industrial machine monitoring device 1 by causing the external device to display the imaging data at the time of abnormality occurrence transmitted via the network N.

[0051] Note that the camera unit 4 may output the above-described composite data in step S5. Since the composite data includes the imaging data at the time of abnormality occurrence, it is considered that the imaging data at the time of abnormality occurrence is output by outputting the rigidity data. In such a case, since the control information J3 is included in the composite data, it is also possible not to output the control signal at the time of abnormality occurrence from the data logger 3. Further, the data logger 3 may output the control signal at the time of abnormality occurrence in parallel with the output of the imaging data at the time of abnormality occurrence of the camera unit 4.

[0052] When step S5 is completed, the process returns to step S1 again. Note that when step S5 is completed and the process returns to step S1 again, the control signal at the time of abnormality occurrence may be erased in the data logger 3. Further, when step S5 is completed and the process returns to step S1 again, the imaging data at the time of abnormality occurrence may be erased in each camera unit 4.

[0053] The industrial machine monitoring device 1 of the present embodiment as described above includes a control device 2, a data logger 3, and a camera unit 4. The control device 2 controls the picking robot 100. The data logger 3 can store the control signal input from the control device 2 to the picking robot 100 for a certain period. The camera unit 4 can image the picking robot 100 and store it for a certain period. Further, when an abnormality detection signal indicating an abnormality of the picking robot 100 is input, the control device 2 causes the data logger 3 to store the control signal for the period including the time when the abnormality occurred as the control signal at the time of abnormality occurrence. Further, when an abnormality detection signal indicating an abnormality of the picking robot 100 is input, the control device 2 causes the camera unit 4 to store the imaging data for the period including the time when the abnormality occurred as the imaging data at the time of abnormality occurrence.

[0054] According to the industrial machine monitoring device 1 of the present embodiment, the control signal for the period including the time when the abnormality of the picking robot 100 occurred is stored in the data logger 3 as the control signal at the time of abnormality occurrence. Further, according to the industrial machine monitoring device 1 of the present embodiment, the imaging data for the period including the time when the abnormality of the picking robot 100 occurred is stored in the camera unit 4 as the imaging data at the time of abnormality occurrence. Therefore, it becomes possible to confirm the situation at the time of abnormality occurrence with the imaging data. Therefore, according to the industrial machine monitoring device 1 of the present embodiment, it becomes possible to confirm more accurately than when confirming the situation at the time of abnormality occurrence of the picking robot 100 only with the control signal.

[0055] Further, the industrial machine monitoring device 1 of the present embodiment includes a communication device 5 connected to the network N. Further, the communication device 5 is connected to at least the camera unit 4. According to the industrial machine monitoring device 1 of the present embodiment configured as described above, it becomes possible to acquire the imaging data at the time of abnormality occurrence from the outside via the network N. Therefore, it becomes possible to confirm the state of the picking robot 100 at the time of abnormality occurrence remotely from the industrial machine monitoring device 1.

[0056] In the industrial machine monitoring device 1 of the present embodiment, the communication device 5 and the camera unit 4 are wirelessly connected. Therefore, there is no need to connect the communication device 5 and the camera unit 4 with a cable, and even when the picking robot 100 is far from the communication device 5 or when a large number of camera units 4 are provided, it is possible to easily connect the communication device 5 and the camera unit 4.

[0057] In the industrial machine monitoring device 1 of the present embodiment, a plurality of camera units 4 are provided. For example, by installing a plurality of camera units 4, it becomes possible to image one picking robot 100 from a plurality of directions. Further, by providing a plurality of camera units 4 for different picking robots 100, it becomes possible to confirm the state of each picking robot 100 in an image.

[0058] In the industrial machine monitoring device 1 of the present embodiment, the camera unit 4 is connected to the data logger 3 via the communication device 5. The camera unit 4 also generates composite data in which control information J3 indicating the content of the control signal at the time of abnormality occurrence acquired from the data logger 3 is superimposed on the image G indicated by the imaging data at the time of abnormality occurrence. Therefore, it becomes possible for an operator to simultaneously confirm the control information J3 in the image at the time of abnormality occurrence.

[0059] (Second Embodiment) Next, a second embodiment of the present invention will be described with reference to FIG. 4. In the description of the present embodiment, the description of the same parts as those in the first embodiment above will be omitted or simplified.

[0060] FIG. 4 is a flowchart for explaining the operation of the industrial machine monitoring device of the present embodiment (monitoring method for the picking robot 100). As shown in this figure, in the present embodiment, when it is determined in step S4 in the first embodiment that no transmission instruction has been input to the data logger 3 and the camera unit 4, it is determined whether or not the reception stop period has been completed in the camera unit 4 (step S6).

[0061] The camera unit 4 repeats step S6 until a predetermined reception stop period elapses. That is, in the present embodiment, when it is determined in step S4 that no transmission instruction has been input to the data logger 3 and the camera unit 4, the storage of imaging data at the time of occurrence of an abnormality based on the next abnormality detection signal is stopped until the reception stop period elapses.

[0062] Note that step S6 is also performed even after the output of imaging data at the time of occurrence of an abnormality (step S5) is completed. That is, when the output of imaging data at the time of occurrence of an abnormality is completed in step S5, the storage of imaging data at the time of occurrence of an abnormality based on the next abnormality detection signal is stopped until the reception stop period elapses.

[0063] In a logistics facility or the like, it is necessary to continuously process various types of work that are continuously supplied by an industrial machine such as a picking robot. For this reason, once an abnormality occurs, the same abnormality may occur continuously. That is, once an abnormality detection signal is output, a plurality of abnormality detection signals may be continuously output. When a plurality of abnormality detection signals are continuously input to the control device 2, the camera unit 4 always repeats the storage of imaging data at the time of occurrence of an abnormality, and there is a possibility that the storage capacity of the camera unit 4 becomes insufficient or the processing is delayed.

[0064] On the other hand, in the industrial machine monitoring device of the present embodiment, the camera unit 4 stops storing imaging data at the time of occurrence of an abnormality based on the next abnormality detection signal until a predetermined reception stop period elapses from the time when the abnormality occurs. Therefore, it is possible to prevent the same imaging data at the time of occurrence of an abnormality from always being stored in the camera unit 4, and to reduce the possibility of insufficient storage capacity or processing delay of the camera unit 4.

[0065] Also, in the data logger 3, it may be determined whether or not the reception stop period has been completed (step S6). As a result, the data logger 3 stops storing the abnormality occurrence control signal based on the next abnormality detection signal until the predetermined reception stop period elapses from the time when the abnormality occurred. For this reason, it is possible to prevent the same abnormality occurrence control signal from always being stored in the data logger 3, and to reduce the possibility of insufficient storage capacity or processing delay of the data logger 3.

[0066] Further, when the reception stop period has elapsed and it is determined in step S6 that the reception stop period has been completed, the process returns to step S1 again. Note that, regarding the time from the start of the reception stop period, for example, in addition to the camera unit 4, the control device 2 also performs counting. The camera unit 4 and the control device 2 determine that the reception stop period has been completed when the counted time exceeds the reception stop period.

[0067] (Third Embodiment) Next, a third embodiment of the present invention will be described with reference to FIG. 5. In the description of this embodiment, the description of the same parts as those in the first embodiment or the second embodiment will be omitted or simplified.

[0068] FIG. 5 is a flowchart for explaining the operation of the industrial machine monitoring device (monitoring method of the picking robot 100) of this embodiment. As shown in this figure, in this embodiment, when it is determined in step S4 in the first embodiment that no transmission instruction has been input to the data logger 3 and the camera unit 4, the camera unit 4 determines whether or not the reception stop period has been completed (step S6).

[0069] Furthermore, in this embodiment, when it is determined in step S6 that the reception stop period has not been completed, it is determined whether or not an abnormality at a level higher than the abnormality detected in step S1 has been detected (step S7).

[0070] For example, set the degree of urgency in advance for each type of abnormality detection signal. Consider the abnormality indicated by an abnormality detection signal with a high degree of urgency as a high-level abnormality. That is, in step S7, it is determined whether an abnormality with a higher degree of urgency than the abnormality detected in step S1 has occurred. Such a determination is made, for example, by the control device 2. When an abnormality detection signal is input, the control device 2 compares the degree of urgency indicated by the previously input abnormality detection signal with the degree of urgency indicated by the currently input abnormality detection signal. When the degree of urgency indicated by the currently input abnormality detection signal is higher than the degree of urgency indicated by the previously input abnormality detection signal, the control device 2 determines that a high-level abnormality has been detected (step S7).

[0071] In step S7, when the control device 2 detects a high-level abnormality, a signal indicating that fact (high-level abnormality detection signal) is input to the data logger 3 and the camera unit 4, and steps S2 and S3 are performed again. That is, in the present embodiment, when a high-level abnormality is detected during the reception stop period, the control signal at the time of abnormality occurrence and the imaging data at the time of abnormality occurrence are saved. On the other hand, in step S7, when the control device 2 does not detect a high-level abnormality, the process returns to step S6.

[0072] As described above, in the industrial machine monitoring device of the present embodiment, when a high-level abnormality detection signal, which is an abnormality detection signal indicating a higher degree of abnormality than the degree of abnormality indicated by the previous abnormality detection signal, is input during the reception stop period, the camera unit 4 saves the imaging data at the time of abnormality occurrence based on the high-level abnormality detection signal. According to such an industrial machine monitoring device of the present embodiment, even during the reception stop period, when an abnormality with a high emergency level occurs, the imaging data at the time of abnormality occurrence and the control signal at the time of abnormality occurrence can be saved.

[0073] (Fourth Embodiment) Next, a fourth embodiment of the present invention will be described with reference to FIG. 6. In the description of the present embodiment, the description of the same parts as those in the first embodiment described above will be omitted or simplified.

[0074] FIG. 6 is a block diagram schematically showing the schematic configuration of the industrial machine monitoring device 1A of the present embodiment. In the industrial machine monitoring device 1A of the present embodiment, the data logger 3 and the communication device 5 are not connected, and the data logger 3 and each camera unit 4 are connected. The data logger 3 and each camera unit 4 are, for example, wirelessly connected.

[0075] According to the industrial machine monitoring device 1A of such a present embodiment, signals can be transmitted from the data logger 3 to each camera unit 4 without passing through the communication device 5. Therefore, the load on the communication device 5 can be reduced.

[0076] Further, in the industrial machine monitoring device 1A of the present embodiment, the above-described composite data can be generated by each camera unit 4, and the composite data can be transmitted from the camera unit 4 to an external device via the communication device 5 and the network N. In such a case, by transmitting the composite data, it is not necessary to transmit only the control signal at the time of occurrence of an abnormality stored in the data logger 3 to the external device. Therefore, the necessity of connecting the data logger 3 and the communication device 5 is reduced.

[0077] As described above, the preferred embodiments of the present invention have been described with reference to the accompanying drawings. Needless to say, the present invention is not limited to the above embodiments. The various shapes, combinations, etc. of the constituent members shown in the above-described embodiments are examples, and various modifications can be made based on design requirements and the like without departing from the spirit of the present invention.

Explanation of Reference Numerals

[0078] 1... Industrial machine monitoring device, 1A... Industrial machine monitoring device, 2... Control device, 3... Data logger (control signal storage device), 4... Camera unit (imaging device), 5... Communication device, 100... Picking robot, 200... Abnormality detection sensor, J... Character information, J1... Imaging time, J2... Error code, J3... Control information, N... Network

Claims

1. A control device for controlling an industrial machine, a control signal storage device capable of storing a control signal input from the control device to the industrial machine for a certain period, and an imaging device capable of imaging the industrial machine and storing the image for a certain period are provided, wherein when an abnormality detection signal indicating an abnormality of the industrial machine is input, the control device stores the control signal during a period including the time when the abnormality occurred as an abnormality-occurrence-time control signal in the control signal storage device, and stores imaging data during a period including the time when the abnormality occurred as abnormality-occurrence-time imaging data in the imaging device, the imaging device is connected to the control signal storage device, and generates composite data in which control information indicating the content of the abnormality-occurrence-time control signal acquired from the control signal storage device is superimposed on the image indicated by the abnormality-occurrence-time imaging data, and the imaging device generates the composite data such that character information including the control information is arranged at a position not overlapping with the industrial machine characterizes an industrial machine monitoring device.

2. The industrial machine monitoring device according to claim 1, further comprising a communication device connected to a network, wherein the communication device is connected to at least the imaging device .

3. The industrial machine monitoring device according to claim 2, wherein the communication device and the imaging device are wirelessly connected .

4. The industrial machine monitoring device according to any one of claims 1 to 3, comprising a plurality of the imaging devices .

5. The industrial machine monitoring device according to any one of claims 1 to 4, wherein the imaging device stops storing abnormality-occurrence-time imaging data based on the next abnormality detection signal until a predetermined reception stop period elapses from the time when the abnormality occurred .

6. The industrial machine monitoring device according to claim 5, wherein when a high-level abnormality detection signal, which is an abnormality detection signal indicating a higher degree of abnormality than the degree of abnormality indicated by the previous abnormality detection signal, is input during the reception stop period, the imaging device stores the abnormality-occurrence-time imaging data based on the high-level abnormality detection signal .

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