# US 10,503,146 B2 · Control system, control device, and control method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,503,146 B2 - Document ID: US10503146B2 - Status: Granted - Kind: B2 - Application number: 15/871,104 - Filed: 2018-01-15 - Published: 2018-09-27 - Granted: 2019-12-10 - Earliest claimed: 2017-03-22 - Assignees: OMRON Corporation - Applicants: OMRON Corporation - Inventors: Atsushi Kitamura; Takahiro Toku - Web page: https://patentgrep.com/patent/US10503146B2 ## CPC - G05B 19/4184: {characterised by fault tolerance, reliability of production system} - B25J 9/163: {learning, adaptive, model based, rule based expert control} - B25J 9/1653: {parameters identification, estimation, stiffness, accuracy, error analysis} - G05B 15/02: electric - G05B 19/058: {Safety, monitoring} - G05B 19/404: characterised by control arrangements for compensation, e.g. for backlash, overshoot, tool offset, tool wear, temperature, machine construction errors, load, inertia (G05B19/19, G05B19/41 take precedence) - G05B 19/4067: Restoring data or position after power failure or other interruption - G05B 23/02: Electric testing or monitoring - G05B 23/0297: {Reconfiguration of monitoring system, e.g. use of virtual sensors; change monitoring method as a response to monitoring results} - G06F 18/22: Matching criteria, e.g. proximity measures - G06F 18/2413: based on distances to training or reference patterns - G06F 18/2433: Single-class perspective, e.g. one-against-all classification; Novelty detection; Outlier detection - G06V 10/761: {Proximity, similarity or dissimilarity measures} - G06V 10/764: using classification, e.g. of video objects - G05B 2219/32182: If state of tool, product deviates from standard, adjust system, feedback - Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract A control system that can adjust a period required for detecting an abnormality occurring in a control object is provided. The control system includes: feature quantity creating means that creates a feature quantity from data which is acquired from the control object based on a first parameter associated with elements defining the feature quantity; deviation acquiring means that acquires a degree of deviation between the feature quantity created by the feature quantity creating means and a group of feature quantities stored by a storage means based on a second parameter associated with a range in the group of feature quantities; abnormality detecting means that detects an abnormality occurring in the control object based on the degree of deviation acquired by the deviation acquiring means and a threshold value; and instruction means that instructs the deviation acquiring means to start execution based on an execution cycle of the deviation acquiring means. ## Claims ### Claim 1 A control system comprising: a control device that controls a control object; storage device that stores a group of feature quantities which are generated from data acquired from the control object and which are defined by one or more elements, wherein the control device comprises a processor which is configured to execute programs to implement a control method, wherein the processor creates a feature quantity from data which is acquired from the control object on the basis of a first parameter associated with the number of elements defining the feature quantity, wherein the processor acquires a degree of deviation between the created feature quantity and the group of feature quantities stored by the storage device on the basis of a second parameter associated with a range in the group of feature quantities which is used to acquire the degree of deviation, wherein the processor detects an abnormality occurring in the control object on the basis of the acquired degree of deviation and a threshold value, wherein the processor instructs to start an execution of the operation of acquiring the degree of deviation on the basis of an execution cycle of the operation of acquiring the degree of deviation, wherein a value of at least one of the first parameter and the second parameter is changeable, wherein the processor outputs a period of time required for the operation of acquiring the degree of deviation, wherein the processor outputs one or more candidates, which are able to shorten the period of time required for the operation of acquiring the degree of deviation, from the value of at least one of the first parameter and the second parameter. ### Claim 2 (depends on 1) The control system according to claim 1, wherein the processor instructs to start the execution of the operation of acquiring the degree of deviation on the basis of a third parameter associated with the execution cycle of the operation of acquiring the degree of deviation, and wherein a value of the third parameter is changeable. ### Claim 3 (depends on 2) The control system according to claim 2, wherein the processor determines, from the value of at least one of the first parameter and the second parameter, the one or more candidates with which the period of time required for the operation of acquiring the degree of deviation enters the execution cycle of the operation of acquiring the degree of deviation. ### Claim 4 (depends on 2) The control system according to claim 2, wherein a user program that defines the operation of creating the feature quantity, the operation of detecting the abnormality occurring in the control object, and the operation of instructing to start the execution of the operation of acquiring the degree of deviation is repeatedly executed for each predetermined system cycle, and wherein a machine program that defines the operation of acquiring the degree of deviation is executed in a period of time in which the user program is not executed. ### Claim 5 (depends on 2) The control system according to claim 2, wherein the processor stores the group of feature quantities of data which is acquired from the control object in the storage device in advance before the degree of deviation is acquired. ### Claim 6 (depends on 1) The control system according to claim 1, wherein the processor outputs the one or more candidates, which are able to shorten the period of time required for the operation of acquiring the degree of deviation, according to a priority order based on at least a period of time in which the degree of deviation is acquired. ### Claim 7 (depends on 6) The control system according to claim 6, wherein the processor outputs the one or more candidates, which are able to shorten the period of time required for the operation of acquiring the degree of deviation, when the period of time required for the operation of acquiring the degree of deviation does not enter the execution cycle of the operation of acquiring the degree of deviation. ### Claim 8 (depends on 1) The control system according to claim 1, wherein the processor outputs the one or more candidates, which are able to shorten the period of time required for the operation of acquiring the degree of deviation, when the period of time required for the operation of acquiring the degree of deviation does not enter the execution cycle of the operation of acquiring the degree of deviation. ### Claim 9 (depends on 8) The control system according to claim 8, wherein the processor determines, from the value of at least one of the first parameter and the second parameter, the one or more candidates with which the period of time required for the operation of acquiring the degree of deviation to acquire the degree of deviation enters the execution cycle of the operation of acquiring the degree of deviation. ### Claim 10 (depends on 9) The control system according to claim 9, wherein a user program that defines the operation of creating the feature quantity, the operation of detecting the abnormality occurring in the control object, and operation of instructing to start the execution of the operation of acquiring the degree of deviation is repeatedly executed for each predetermined system cycle, and wherein a machine program that defines the operation of acquiring the degree of deviation is executed in a period of time in which the user program is not executed. ### Claim 11 (depends on 10) The control system according to claim 10, wherein the processor stores the group of feature quantities of data which is acquired from the control object in the storage device in advance before the degree of deviation is acquired. ### Claim 12 (depends on 1) The control system according to claim 1, wherein the processor determines, from the value of at least one of the first parameter and the second parameter, the one or more candidates with which the period of time required for the operation of acquiring the degree of deviation enters the execution cycle of the operation of acquiring the degree of deviation. ### Claim 13 (depends on 1) The control system according to claim 1, wherein a user program that defines the operation of creating the feature quantity, the operation of detecting the abnormality occurring in the control object, and the operation of instructing to start the execution of the operation of acquiring the degree of deviation is repeatedly executed for each predetermined system cycle, and wherein a machine program that defines the operation of acquiring the degree of deviation is executed in a period of time in which the user program is not executed. ### Claim 14 (depends on 1) The control system according to claim 1, wherein the processor stores the group of feature quantities of data which is acquired from the control object in the storage device in advance before the degree of deviation is acquired. ### Claim 15 A control device that controls a control object, the control device comprising: storage device that stores a group of feature quantities which are generated from data acquired from the control object and which are defined by one or more elements; and a processor, wherein the processor executes programs to implement a control method, wherein the processor creates a feature quantity from data which is acquired from the control object on the basis of a first parameter associated with the number of elements defining the feature quantity, wherein the processor acquires a degree of deviation between the created feature quantity and the group of feature quantities stored by the storage device on the basis of a second parameter associated with a range in the group of feature quantities which is used to acquire the degree of deviation, wherein the processor detects an abnormality occurring in the control object on the basis of the acquired degree of deviation and a threshold value, wherein the processor instructs to start an execution of the operation of acquiring the degree of deviation on the basis of an execution cycle of the operation of acquiring the degree of deviation, wherein a value of at least one of the first parameter and the second parameter is changeable, wherein the processor outputs a period of time required for the operation of acquiring the degree of deviation, wherein the processor outputs one or more candidates, which are able to shorten the period of time required for the operation of acquiring the degree of deviation, from the value of at least one of the first parameter and the second parameter. ### Claim 16 A control method for a control device to control a control object, wherein the control device comprises a processor executing programs to implement the control method, the control method comprising: creating, by the processor, a feature quantity from data which is acquired from the control object on the basis of a first parameter associated with the number of elements defining the feature quantity; acquiring, by the processor, a degree of deviation between the created feature quantity and a group of feature quantities which are stored by storage device on the basis of a second parameter associated with a range in the group of feature quantities which is used to acquire the degree of deviation; detecting, by the processor, an abnormality occurring in the control object on the basis of the acquired degree of deviation and a threshold value; starting, by the processor, an acquisition of the degree of deviation on the basis of an execution cycle of the acquisition of the degree of deviation, wherein a value of at least one of the first parameter and the second parameter is changeable; outputting, by the processor, a period of time required for the operation of acquiring the degree of deviation; and outputting, by the processor, one or more candidates, which are able to shorten the period of time required for the operation of acquiring the degree of deviation, from the value of at least one of the first parameter and the second parameter.