WO2019189950A1 - 설비의 원격 진단 방법, 시스템 및 프로그램 - Google Patents
설비의 원격 진단 방법, 시스템 및 프로그램 Download PDFInfo
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- WO2019189950A1 WO2019189950A1 PCT/KR2018/003587 KR2018003587W WO2019189950A1 WO 2019189950 A1 WO2019189950 A1 WO 2019189950A1 KR 2018003587 W KR2018003587 W KR 2018003587W WO 2019189950 A1 WO2019189950 A1 WO 2019189950A1
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
Definitions
- a remote diagnostic method, system, and program for a facility of the present invention is provided.
- facilities in charge of various processes of a factory include a rotating body such as a motor.
- Facilities equipped with such rotating bodies play a key role in factory automation, and the problems such as durability decrease with long use and problems occur. Can occur.
- vibration or noise may occur, which may lead to a large failure, a decrease in yield, or an accident.
- the present invention for solving the problems as described above is to generate and analyze the trend line through the vibration or noise information of the facility, and provide an alarm to the expert terminal based on the trend line to provide the diagnostic information or action information remotely Remote diagnostic methods, systems and programs of the facility may be provided.
- the server receives and stores the vibration information or noise information from the sensor device or a local server connected to the sensor device, every predetermined time unit Generating a trend line for vibration data or noise data, wherein the sensor device is installed in a facility to measure vibration or noise; Providing an alarm to an expert terminal based on a trend line of the vibration data or the noise data; And receiving, by the server, diagnostic information or action information about the facility from the expert terminal.
- the server monitors the trend line and provides an alarm to the expert terminal when the trend line slope of the vibration data or the noise data becomes greater than or equal to a preset angle.
- the method may further include: receiving, by the server, a question comment about an abnormal state corresponding to the alarm from the expert terminal, and providing the question comment to the person in charge; And a server receiving an answer comment on the question comment from the person in charge of the person in charge and providing the expert comment to the expert terminal, wherein the answer comment is stored in accordance with the abnormal state as information on the status of the facility. It further comprises ;.
- the method may further include forming, by the server, learning data by matching the noise data or the vibration data with the diagnosis information or the action information, wherein the learning data is used for learning a facility maintenance model. Is formed of a deep neural network.
- the server may further include transmitting a visit request message to the expert terminal when the server receives the visit request message from the manager.
- the server receives the vibration information or noise information from the sensor device to convert the vibration data or noise data; And generating, by the server, a trend line for the vibration data or the noise data every predetermined time unit.
- the server receives vibration information or noise information from the sensor device, removes noise included in the vibration information or noise information, and converts the vibration data or noise data into vibration data or noise data.
- the method may further include connecting the expert and the company by matching the expert information received from the expert terminal with the company information received from the company client, wherein the expert information includes the area in which the expert is available and the number of companies that are in charge. , At least one of the contract terms, and the company information includes information on the number of equipment possessed by the company or the contract period.
- the storage module for storing vibration information or noise information received from the sensor device installed in the facility to measure vibration or noise;
- Trend line generation module for generating a trend line for the vibration data or noise data;
- An alarm module for providing an alarm to an expert terminal based on a trend line for the vibration data or noise data;
- a comment module for receiving diagnostic information or action information about the facility from the expert terminal.
- the remote diagnostic program of a facility is combined with a computer which is hardware to execute the above-mentioned remote diagnosis method of the facility and is stored in a medium.
- the facility manager when an abnormal condition is expected to occur in the facility, by receiving a question comment about the abnormal condition from the expert, the facility manager provides information about the status of the facility, in addition to the abnormal state of the facility It is effective to minimize expert visits due to minor issues.
- the present invention provides an information about a contractable expert to conclude a contract, and has the effect of requesting a visit by an expert according to the remote diagnosis result.
- FIG. 1 and 2 are schematic views of a method for remote diagnosis of a facility according to an embodiment of the present invention.
- 3 and 4 are flowcharts of a method for remote diagnosis of a facility according to an embodiment of the present invention.
- FIG. 5 is an exemplary diagram illustrating remote diagnosis of a facility according to an embodiment of the present invention.
- FIG. 6 is an exemplary diagram illustrating a question comment and an answer comment according to an embodiment of the present invention.
- FIG. 7 is an exemplary diagram illustrating that a server according to an embodiment of the present invention connects a contract between a company and an administrator.
- FIG. 8 is a block diagram of a remote diagnostic server of a facility according to an embodiment of the invention.
- Facilities Means devices that can generate vibrations or noise, including motors, turbines, and rotating devices (motors, turbines) such as machines, instruments, and robots.
- Person in charge A person on the company's side who is in charge of the facility such as employees, managers, researchers and engineers.
- FIG. 1 and 2 are schematic diagrams of a remote diagnosis method of a facility according to an embodiment of the present invention.
- the sensor device 910 is installed in various facilities 900 installed in power plants, substations, factories, etc. to sense vibration, noise or temperature of the facility 900, and transmits the sensed information to the server 100. .
- the server 100 generates a trend line for vibration data, noise data, or temperature data at predetermined time units through the information received from the sensor device 910 or the local server 930 connected to the sensor device 910, and generates a trend line. Monitor and analyze in real time.
- the server 100 detects an abnormal state through the trend line, it provides an alarm to the expert terminal 500, the expert and the person in charge for the facility 900 through the comment module 150 of the server 100 Communication will be carried out, and the expert will provide action or diagnostic information.
- the manager terminal refers to a terminal possessed by the manager, and the person in charge of the manager means a terminal possessed by the person in charge of the facility, and an application and a program provided by the server may be installed and driven.
- the manager terminal 500 and the contact person terminal 300 uses the same application, but may recognize the login information to provide information by separating the administrator and the contact person, the manager terminal 500 and the contact person terminal 300 Different applications may be installed to provide information.
- the remote diagnosis of such a facility will be described by taking a motor of a factory facility as an example.
- the facility expert for the process is an expert for the process and the facility, but often does not know the motor itself.
- the company side of the person in charge of the terminal 300 according to an embodiment of the present invention means that the experts in the above two fields are subject to remote check according to the situation.
- the company receives the vibration information or noise information from the sensor devices provided in the equipment possessed and stored in the local server 930 of the company side, and transmits the information stored in the local server 930 to the server 100 do. Then, the trend line is generated and analyzed through the information received from the server 100 to perform remote diagnosis of the facility.
- the server 100 may receive and store the vibration information or the noise information from the sensor device 910 installed in the facility as shown in FIG. 1 to measure vibration or noise, or the vibration from the local server 930 as shown in FIG. 2. It can also receive and store information or noise information.
- FIG. 3 is a flow chart of a remote diagnostic method of a facility 900 in accordance with an embodiment of the present invention.
- the server 100 receives and stores the vibration information or the noise information from the sensor device 910 or the local server 930 connected to the sensor device 910, and a trend line for the vibration data or the noise data for each predetermined time unit. Create (Step S510)
- the sensor device 910 is installed in the facility 900 means a device for measuring vibration or noise.
- the sensor device 910 may measure at least one or more of vibration, noise, and temperature generated from the facility 900, and may be provided with a vibration sensor, a noise sensor, and a temperature sensor, respectively.
- the sensor device 910 may be connected by wire to transmit information to the server 100 through a repeater provided in the field, or may be wirelessly connected to transmit information to the server 100 through a repeater. Information may be directly transmitted to the server 100.
- any method that can transmit information from the sensor device 910 to the server 100 is applicable.
- the sensor device 910 may be additionally provided with a function or a device capable of checking a communication state, and may provide communication failure information to the person in charge terminal 300 when the communication state is poor.
- the server 100 may further include converting the information into data in order to utilize the information received from the sensor device 910 as data.
- the server 100 receives vibration information or noise information from the sensor device 910 and converts the vibration data or noise data into vibration data or noise data, and the server 100 trends the vibration data or the noise data every unit of time. It may further comprise the step of generating.
- the server 100 receives the vibration information or noise information from the sensor device 910, removes the noise included in the vibration information or the noise information, and converts the vibration data or the noise data.
- the trend line represents a trend of vibration or noise in a straight line, and refers to data indicating a trend of a frequency or waveform of vibration or noise in a line at a predetermined unit time.
- the server 100 provides an alarm to the expert terminal 500 based on the trend line for the vibration data or the noise data. (Step S540)
- the server 100 monitors the trend line and the slope of the trend line becomes more than a predetermined angle, the server 100 provides an alarm to the expert terminal 500 to suspect that an abnormal state of the facility 900 is requested. it means.
- the server 100 receives diagnostic information or action information about the facility 900 from the expert terminal 500. (Step S570)
- the expert checks the alarm received by the expert terminal 500, checks the trend line for the vibration data or the noise data of the facility 900, and inputs the diagnostic information or the action information according to the symptom to be transmitted to the server 100. it means.
- FIG. 4 is a flowchart of a method for remotely diagnosing a facility according to an embodiment of the present invention.
- FIG. 3 An embodiment added in FIG. 3 will be described with reference to FIG. 4.
- the server 100 receives and stores vibration information or noise information from the sensor device 910, and the server 100 generates a trend line for the vibration information or noise information received from the sensor device 910. (Step S510)
- the server 100 monitors the facility 900 in real time through the trend line. (Step S520)
- the server 100 detects an abnormal condition of the facility 900 during the trend line monitoring. (Step S530)
- the server 100 monitors the trend line, but when the trend line slope of the vibration data or noise data becomes more than a predetermined angle, it is determined that the abnormal state is detected.
- the server 100 provides an alarm for detecting an abnormal state to the expert terminal 500. (Step S540)
- the server 100 receives a question comment about an abnormal state corresponding to an alarm from the expert terminal 500 and provides it to the person in charge of the terminal 300. (Step S550)
- the question comment refers to a question about the status of the facility 900 input to the expert terminal 500.
- the expert checks the trend line of the vibration data or the noise data of the facility 900 through the expert terminal 500, it is determined that an abnormal condition is found, and asks the person in charge what the current situation of the facility 900 is. I mean.
- the server 100 receives an answer comment from the person in charge of the terminal 300 and provides it to the expert terminal 500. (Step S560)
- the answer comment is information on the status of the facility 900 status, which means that it is stored in accordance with the question comment.
- the server 100 receives diagnostic information or action information for the facility 900 from the expert terminal 500. (Step S570)
- the diagnostic information or action information for the facility 900 means that the expert examines the trend line for the vibration data or the noise data of the facility 900 and the response comments received from the person in charge of the device 300 to perform the diagnosis or action. do.
- action information may be action information or diagnostic information such as "Please stop the operation of the equipment”, “No abnormal condition of the equipment”, “Need visit inspection”.
- the server 100 may further include transmitting a visit request message to the expert terminal 500.
- the manager may be in charge of one company or may be in charge of a plurality of companies. Therefore, since the manager may be checking the facility 900 of the other company, the server 100 checks the schedule of the manager inputted to the expert terminal 500 and schedules a visit to the manager at the available time of visit and requests a visit. You can send a message.
- the server 100 may further include forming learning data by matching noise data or vibration data with diagnosis information or action information.
- the training data is used to learn the facility maintenance model
- the facility maintenance model is formed of a deep neural network.
- the alarm module 140 may provide an alarm to the expert terminal 500 by itself. You can judge whether or not the situation.
- FIG. 5 is an exemplary diagram illustrating a remote diagnosis of a facility according to an embodiment of the present invention
- Figure 6 is an exemplary diagram illustrating a question comment and an answer comment according to an embodiment of the present invention.
- a device list in which a sensor device 910 is installed is displayed through a UI of an application, and a sensing list is displayed.
- a motor facility is selected from the device list, and a trend line for vibration data is displayed.
- the server 100 provides information on the device list, the sensing list, the trend line, and the comment to the expert terminal 500 so that the administrator can remotely check the facility 900.
- the comment module 150 displays a question comment and an answer comment.
- the manager receives an alarm on an abnormal condition of the motor equipment occurred at 14:25 of March 22, 2018 through the expert terminal 500, and says "# motor equipment vibration occurs, check the equipment.” Input the question comment was sent to the server (100).
- the manager since the manager has received an answer from the person in charge that the motor equipment is being checked, the manager recognizes that the current abnormal condition is caused by the replacement of the parts of the motor equipment, and concludes that the equipment 900 does not have an error. Get off.
- the person in charge provides a comment "# motor equipment check completed” at 17:01, and the manager confirms that the inspection is completed, diagnoses the trend line of the equipment 900, and confirms that there is no abnormality. "Check Steady State”.
- the manager and the person in charge communicate with each other through the server 100 and the terminal, the number of unnecessary visit checks by the manager is reduced, so that the company can save a budget for the visit check.
- the manager side can reduce the number of visit inspections for reasons other than the failure of the facility 900, an efficient visit can be performed, and thus, more companies and the facility 900 can be in charge.
- FIG. 7 is an exemplary view illustrating that a server according to an embodiment of the present invention connects a contract between a company and an administrator.
- the server 100 may further include connecting the expert and the company by matching the expert information received from the expert terminal 500 with the company information received from the company client.
- the expert information includes at least one of the area where the expert can be in charge, the number of companies that can be in charge, and the contract terms.
- the server 100 stores a list of companies, and information on the number of equipment possessed by each company and the desired contract period is stored.
- the server 100 stores information on managers in charge of possible areas, the number of companies that can be in charge, the number of facilities that can be handled 900, the contract terms, and the like.
- the server 100 checks the location of the company and the location of the managers to determine the shortest distance or It is a good idea to connect managers with businesses located in the same area.
- the information is connected to the manager and the company.
- Company A has 10 facilities 900
- B Manager has 7 remaining available charge facilities 900
- C Manager has 10 remaining available charge facilities 900
- a company and C manager It means to make a contract by connecting.
- FIG. 8 is a block diagram of a remote diagnosis server of a facility according to an embodiment of the present invention.
- the remote diagnosis server 100 of the facility 900 may include a communication module 110, a storage module 120, a trend line generation module 130, an alarm module 140, It includes a comment module 150, a conversion module 160, the contract module 170 and the learning module 180.
- the communication module 110 receives the vibration information or the noise information from the sensor device 910 and stores it in the storage module 120.
- the conversion module 160 converts vibration information or noise information received from the sensor device 910 into vibration data or noise data.
- the conversion module 160 removes the noise included in the vibration information or the noise information received from the sensor device 910, and converts it into vibration data or noise data.
- the trend line generation module 130 generates a trend line for vibration data or noise data. More specifically, it means to generate the trend of the frequency or waveform of vibration or noise as the data of the line every unit of time.
- the alarm module 140 provides an alarm to the expert terminal 500 based on the trend line for the vibration data or the noise data.
- the alarm module 140 monitors the trend line of the vibration data or the noise data in real time, and when the slope of the trend line of the vibration data or the noise data becomes equal to or greater than a preset angle, an alarm is sent to the expert terminal 500. Provide it.
- the comment module 150 receives diagnostic information or action information about the facility 900 from the expert terminal 500.
- the comment module 150 receives a question comment about an abnormal state corresponding to an alarm from the expert terminal 500 and provides it to the person in charge of the terminal 300.
- the response to the question comments from the person in charge of the terminal 300 is provided to the expert terminal 500.
- the learning module 180 forms learning data by matching noise data or vibration data with diagnosis information or action information.
- the contract module 170 connects the expert and the company by matching the expert information received from the expert terminal 500 and the company information received from the company client.
- the remote diagnosis method of a facility according to an embodiment of the present invention described above may be implemented as a program (or an application) and stored in a medium to be executed in combination with a server which is hardware.
- the above-described program includes C, C ++, JAVA, machine language, etc. which can be read by the computer's processor (CPU) through the computer's device interface so that the computer reads the program and executes the methods implemented as the program.
- Code may be coded in the computer language of. Such code may include functional code associated with a function or the like that defines the necessary functions for executing the methods, and includes control procedures related to execution procedures necessary for the computer's processor to execute the functions according to a predetermined procedure. can do.
- the code may further include memory reference code for additional information or media required for the computer's processor to execute the functions at which location (address address) of the computer's internal or external memory should be referenced. have.
- the code can be used to communicate with any other computer or server remotely using the communication module of the computer. It may further include a communication related code for whether to communicate, what information or media should be transmitted and received during communication.
- the stored medium is not a medium for storing data for a short time such as a register, a cache, a memory, but semi-permanently, and means a medium that can be read by the device.
- examples of the storage medium include, but are not limited to, a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like. That is, the program may be stored in various recording media on various servers to which the computer can access or various recording media on the computer of the user. The media may also be distributed over network coupled computer systems so that the computer readable code is stored in a distributed fashion.
- the steps of a method or algorithm described in connection with an embodiment of the present invention may be implemented directly in hardware, in a software module executed by hardware, or by a combination thereof.
- the software module may include random access memory (RAM), read only memory (ROM), erasable programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, hard disk, removable disk, CD-ROM, or It may reside in any form of computer readable recording medium well known in the art.
- server 110 communication module
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Claims (10)
- 서버가 센서장치 또는 상기 센서장치와 연결된 로컬서버로부터 진동정보 또는 소음정보를 수신하여 저장하고, 일정시간 단위마다 진동데이터 또는 소음데이터에 대한 추세선을 생성하되, 상기 센서장치는 설비에 설치되어 진동 또는 소음을 계측하는, 추세선 생성 단계;서버가 상기 진동데이터 또는 소음데이터에 대한 추세선을 기반으로 전문가 단말기에 알람을 제공하는 단계; 및서버가 상기 전문가 단말기로부터 상기 설비에 대한 진단정보 또는 조치정보를 수신하는 단계;를 포함하는, 설비의 원격 진단 방법.
- 제1항에 있어서,상기 알람을 제공하는 단계는,서버가 상기 추세선을 모니터링하되, 상기 진동데이터 또는 소음데이터의 추세선 기울기가 기 설정된 각도 이상이 될 경우, 상기 전문가 단말기로 알람을 제공하는, 설비의 원격 진단 방법.
- 제1항에 있어서,서버가 상기 전문가 단말기로부터 상기 알람에 대응하는 이상상태에 대한 질문코멘트를 수신하여 담당자 단말기에 제공하는 단계; 및서버가 상기 담당자 단말기로부터 상기 질문코멘트에 대한 답변코멘트를 수신하여 상기 전문가 단말기로 제공하되, 상기 답변코멘트는 설비 상태 현황에 대한 정보로서, 상기 이상상태에 매칭되어 저장되는 것인, 답변코멘트 제공 단계;를 더 포함하는, 설비의 원격 진단 방법.
- 제1항에 있어서,서버가 상기 소음데이터 또는 진동데이터와 상기 진단정보 또는 조치정보를 매칭하여 학습데이터를 형성하는 단계;를 더 포함하고,상기 학습데이터는 설비보전 모델의 학습에 이용되는 것이고,상기 설비보전 모델은 심층신경망으로 형성되는 것인, 설비의 원격 진단 방법.
- 제1항에 있어서,서버가 담당자 단말기로부터 관리자의 방문 요청 메시지를 수신할 경우, 상기 전문가 단말기로 방문 요청 메시지를 전송하는 단계;를 더 포함하는, 설비의 원격 진단 방법.
- 제1항에 있어서,상기 추세선 생성 단계는,서버가 센서장치로부터 진동정보 또는 소음정보를 수신하여 진동데이터 또는 소음데이터로 변환하는 단계; 및서버가 일정시간 단위마다 상기 진동데이터 또는 소음데이터에 대한 추세선을 생성하는 단계;를 포함하는, 설비의 원격 진단 방법.
- 제6항에 있어서,상기 변환하는 단계는,서버가 센서장치로부터 진동정보 또는 소음정보를 수신하고, 상기 진동정보 또는 소음정보에 포함된 노이즈를 제거하고 진동데이터 또는 소음데이터로 변환하는, 설비의 원격 진단 방법.
- 제1항에 있어서,서버가 전문가 단말기로부터 수신된 전문가 정보와 업체 클라이언트로부터 수신된 업체 정보를 매칭하여 상기 전문가와 업체를 연결하는 단계;를 더 포함하며,상기 전문가 정보는 전문가의 담당 가능 지역, 담당 가능 업체 개수, 계약 조건 중 적어도 하나를 포함하고,상기 업체 정보는 업체별 보유장비 개수 또는 계약 기간에 대한 정보를 포함하는, 설비의 원격 진단 방법.
- 설비에 설치되어 진동 또는 소음을 계측하는 센서장치로부터 수신된 진동정보 또는 소음정보를 저장하는 저장모듈;진동데이터 또는 소음데이터에 대한 추세선을 생성하는 추세선 생성모듈;상기 진동데이터 또는 소음데이터에 대한 추세선을 기반으로 전문가 단말기에 알람을 제공하는 알람모듈; 및상기 전문가 단말기로부터 상기 설비에 대한 진단정보 또는 조치정보를 수신하는 코멘트모듈;를 포함하는, 설비의 원격 진단 시스템.
- 하드웨어인 컴퓨터와 결합되어, 제1항 내지 제9항 중 어느 한 항의 방법을 실행시키기 위하여 매체에 저장된, 설비의 원격 진단 프로그램.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/KR2018/003587 WO2019189950A1 (ko) | 2018-03-27 | 2018-03-27 | 설비의 원격 진단 방법, 시스템 및 프로그램 |
| KR1020187008680A KR102054743B1 (ko) | 2018-03-27 | 2018-03-27 | 설비의 원격 진단 방법, 시스템 및 프로그램 |
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| Application Number | Priority Date | Filing Date | Title |
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| PCT/KR2018/003587 WO2019189950A1 (ko) | 2018-03-27 | 2018-03-27 | 설비의 원격 진단 방법, 시스템 및 프로그램 |
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| Publication Number | Publication Date |
|---|---|
| WO2019189950A1 true WO2019189950A1 (ko) | 2019-10-03 |
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| PCT/KR2018/003587 Ceased WO2019189950A1 (ko) | 2018-03-27 | 2018-03-27 | 설비의 원격 진단 방법, 시스템 및 프로그램 |
Country Status (2)
| Country | Link |
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| KR (1) | KR102054743B1 (ko) |
| WO (1) | WO2019189950A1 (ko) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021261614A1 (ko) * | 2020-06-24 | 2021-12-30 | 테크와이드 주식회사 | 설비의 진단 방법, 프로그램 및 시스템 |
| CN114244866A (zh) * | 2021-12-02 | 2022-03-25 | 浙商银行股份有限公司 | 一种基于物联网的生产设备监管系统 |
| CN116242476A (zh) * | 2023-01-10 | 2023-06-09 | 北京海泰科环科技有限公司 | 声波吹灰器的云检修诊断系统及其终端设备 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR102497586B1 (ko) * | 2020-07-24 | 2023-02-10 | 한국전자통신연구원 | 순차학습 기법에 기초하여 복수의 진단대상 장치의 이상 여부를 진단하는 방법 및 시스템 |
| KR102791583B1 (ko) * | 2022-10-17 | 2025-04-08 | (주)브이엠에스 | 진동 및 모션증폭 기반의 종합설비의 상태 진단 방법 및 그 시스템 |
| KR102846557B1 (ko) * | 2022-12-13 | 2025-08-18 | 세메스 주식회사 | 자동 이송 시스템 및 자동 이송 시스템 구동 방법 |
| KR102693332B1 (ko) * | 2023-06-29 | 2024-08-09 | 케이씨미래기술 주식회사 | 기계설비의 가동 감지를 위한 저전력 IoT 센서 모듈 |
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| CN116242476A (zh) * | 2023-01-10 | 2023-06-09 | 北京海泰科环科技有限公司 | 声波吹灰器的云检修诊断系统及其终端设备 |
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| KR102054743B1 (ko) | 2020-01-22 |
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