Granted Patent B2

US 12,427,668 · App. 17/972,550 · Granted Sep 30, 2025

Inventors: Jung Won Lee (Seoul, KR); Ye Seul Park (Incheon, KR); Dong Yeon Yoo (Suwon-si, KR); Jin Se Kim (Anyang-si, KR)

Assignee: AJOU UNIVERSITY INDUSTRY-ACADEMIC COOPERATION

B25J9/1674B25J9/1653B25J13/006

Abstract

Claims (39)

1. A method for monitoring health of a robot, the robot comprising a joint, a memory, and a controller programmed to control the robot to perform tasks in connection with humans, the method comprising:

performing a first test for the joint based on a test program under a predefined control condition, the test program designed for the joint;

performing a second test for the joint multiple times under the same predefined control condition;

generating test data comprising sensing data multiple times, each set of test data corresponding to the first test and the second test;

generating a data monitoring graph based on a temporal change in the sensing data; and

displaying the data monitoring graph;

wherein the predefined control condition comprises a data condition, an action condition, a load condition, an operating condition, and an environmental condition,

wherein the data condition is configured to acquire the information sensing data using a prescribed sensor,

wherein the action condition is configured to acquire the sensing data when the robot performs a prescribed operation,

wherein the load condition is configured to acquire the sensing data when the robot operates with a prescribed load and a motion pattern,

wherein the operating condition is configured to acquire the sensing data while the robot operates at a prescribed run time, and

wherein the environmental condition is configured to acquire the sensing data in a prescribed temperature and prescribed humidity.

2. The method of claim 1 , wherein the data monitoring graph comprises prediction of sensing data after a monitoring period, the monitoring period being a period in which the sensing data is acquired.

3. The method of claim 1 , further comprising:

predicting when the predicted sensing data reaches a health reference value.

4. A system for monitoring health of a robot, the robot comprising a joint, a memory, and a controller programmed to control the robot to perform tasks in connection with humans, the system comprising at least one processor configured to:

perform a first test for the joint based on a test program under a predefined control condition, the test program designed for the joint;

perform a second test for the joint multiple times under the same predefined control condition;

generate test data comprising sensing data multiple times, each set of test data corresponding to the first test and the second test;

generate a data monitoring graph based on a temporal change in the sensing data; and

display the data monitoring graph;

wherein the predefined control condition comprises a data condition, an action condition, a load condition, an operating condition, and an environmental condition,

wherein the data condition is configured to acquire the sensing data using a prescribed sensor,

wherein the action condition is configured to acquire the sensing data when the robot performs a prescribed operation,

wherein the load condition is configured to acquire the sensing data when the robot operates with a prescribed load and a motion pattern,

wherein the operating condition is configured to acquire the sensing data while the robot operates at a prescribed run time, and

wherein the environmental condition is configured to acquire the sensing data in a prescribed temperature and prescribed humidity.

5. At least one processor readable medium comprising processor readable instructions, such that when executed, causes at least one processor to monitor health of a robot, the robot comprising a joint, a memory, and a controller programmed to control the robot to perform tasks in connection with humans, the at least one processor is caused to:

perform a first test for the joint based on a test program under a predefined control condition, the test program designed for the joint;

perform a second test for the joint multiple times under the same predefined control condition;

generate test data comprising sensing data multiple times, each set of test data corresponding to the first test and the second test;

generate a data monitoring graph based on a temporal change in the sensing data; and

display the data monitoring graph;

wherein the predefined control condition comprises a data condition, an action condition, a load condition, an operating condition, and an environmental condition,

wherein the data condition is configured to acquire the sensing data using a prescribed sensor,

wherein the action condition is configured to acquire the sensing data when the robot performs a prescribed operation,

wherein the load condition is configured to acquire the sensing data when the robot operates with a prescribed load and a motion pattern,

wherein the operating condition is configured to acquire the sensing data while the robot operates at a prescribed run time, and

wherein the environmental condition is configured to acquire the sensing data in a prescribed temperature and prescribed humidity.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (13)