Work determination apparatus and work determination method

A work determination apparatus comprising:

• a sensor data output circuit to output state data with an output interval of an integral multiple of a control period with which a motion of an industrial machine is controlled, the state data representing a state of work of the industrial machine;
• and
• a determination circuit to determine a quality of the work of the industrial machine with the output interval for the state data by making an inference using a recurrent neural network with the output interval for the state data, based on the state data outputted from the sensor data output circuit, wherein
• the output interval is L times the control period, where L is an integer equal to or greater than 2,
• sensor data is inputted to the sensor data output circuit for each control period, the sensor data being a result of detecting the state of the work of the industrial machine, and
• the sensor data output circuit outputs, as the state data, an average value of the latest L pieces of the sensor data.

A work determination method in which a work determination apparatus determines a quality of work of an industrial machine, the method comprising:

• a data output step of outputting;
• state data with an output interval of an integral multiple of a control period with which a motion of the industrial machine is controlled, the state data representing a state of the work of the industrial machine;
• and
• a determination step of determining the quality of the work of the industrial machine with the output interval for the state data by making an inference using a recurrent neural network with the output interval for the state data, based on the state data outputted in the data output step,
• wherein the output interval is determined such that an amount of movement of the industrial machine is constant for each output interval.

A work determination apparatus comprising:

• a sensor data output circuit to output state data with an output interval of an integral multiple of a control period with which a motion of an industrial machine is controlled, the state data representing a state of work of the industrial machine;
• and
• a determination circuit to determine a quality of the work of the industrial machine by inference using a recurrent neural network, based on the state data outputted from the sensor data output circuit,
• wherein the output interval is determined such that an amount of movement of the industrial machine is constant for each output interval.

A work determination apparatus comprising:

• a sensor data output circuit to output state data with an output interval of an integral multiple of a control period with which a motion of an industrial machine is controlled, the state data representing a state of work of the industrial machine;
• a determination circuit to determine a quality of the work of the industrial machine with the output interval for the state data by making an inference using a recurrent neural network with the output interval for the state data, based on the state data outputted from the sensor data output circuit;
• and
• a motion correction circuit to perform control so as to correct the motion of the industrial machine based on a result of determination of the determination circuit, wherein
• the determination circuit further determines a type of anomaly in the work, and calculates a value representing an amount of misalignment of the industrial machine, and
• when the value representing the amount of misalignment is less than a specified value, the motion correction circuit performs control such that the motion of the industrial machine is not corrected in the work concerned, but the motion of the industrial machine is corrected in the next work of the industrial machine with use of the value representing the amount of misalignment so as to prevent misalignment.