Robot Arm Sensor Diagnostics Using Simulation-Based State Estimation
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Solution Overview
Problem
Current diagnostic systems for equipment with movable parts face challenges in accurately estimating sensor detection results and determining sensor states, particularly in improving estimation accuracy and reliability.
Innovation Solution
A diagnostic system that includes an operating condition information acquisition unit, a detection result acquisition unit, a detection result estimation unit, and a sensor state estimation unit, which uses a simulation model to estimate sensor detection results and states by inputting operating condition information and detection results from multiple sensors, enhancing estimation accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensor detection results are estimated using only other sensor data, then the diagnostic system can operate, but the estimation accuracy is insufficient
Solution Approach 1:
The system performs preliminary acquisition and storage of operating condition information (such as equipment load, speed, temperature, humidity) before sensor estimation is needed. This pre-collected information is then integrated with sensor data in the estimation process, allowing the system to compensate for information loss and improve estimation accuracy without relying solely on other sensor readings.
2Reliability
If multiple sensors are used for detection, then measurement coverage is improved, but system complexity increases
Solution Approach 1:
The diagnostic system merges multiple information sources including operating condition information, sensor detection results, and simulation model outputs into a unified estimation framework. By combining these diverse data streams and processing them through an integrated sensor state estimation unit, the system achieves reliable sensor state estimation while managing complexity through consolidation rather than separate processing for each data type.
3Measurement precision
If simulation models are used for estimation, then theoretical accuracy improves, but computational requirements increase
Solution Approach 1:
The system applies simulation models selectively and partially - using them to estimate detection results for specific sensors when needed, rather than continuously running full simulations for all sensors. The sensor state estimation unit determines when simulation-based estimation is necessary by comparing simulation outputs with actual sensor readings, applying computational resources only where and when improvement is needed, thus balancing accuracy with energy consumption.
Data Source
AI summary
A diagnostic system acquires operating condition information capable of identifying an operating condition of a robot arm. The diagnostic system acquires detection results of a plurality of sensor apparatuses installed in the robot arm. The diagnostic system estimates, by inputting the operating condition information acquired at a first point of time and the detection results of the plurality of sensor apparatuses acquired at the first point of time to a simulation model, the detection result of a particular sensor apparatus of the plurality of sensor apparatuses at the second point of time. The diagnostic system estimates a state of the particular sensor apparatus by comparing the detection result of the particular sensor apparatus at the second point of time, which is estimated, with the detection result of the particular sensor apparatus acquired at the second point of time.