# US 2021/0240144 A1 · Control system, control method, learning device, control device, learning method, and non-transitory computer-readable recording medium > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0240144 A1 - Document ID: US20210240144A1 - Status: Published application - Kind: A1 - Application number: 17/052,523 - Filed: 2019-03-13 - Published: 2021-08-05 - Earliest claimed: 2018-06-07 - Assignees: OMRON Corporation - Applicants: OMRON Corporation - Inventors: Yasuaki ABE; Yuki UEYAMA; Takashi FUJII; Kazuhiko IMATAKE - Web page: https://patentgrep.com/patent/US20210240144A1 ## CPC - G05B 13/0265: {the criterion being a learning criterion} - G05B 13/041: {in which a variable is automatically adjusted to optimise the performance} - G05B 13/048: {using a predictor} - G06N 3/09: Supervised learning - G06N 5/01: Dynamic search techniques; Heuristics; Dynamic trees; Branch-and-bound - G06N 20/00: Machine learning - G06N 3/08: Learning methods - G06N 20/10: using kernel methods, e.g. support vector machines [SVM] - 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) - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS ## Abstract A control system estimates a numerical value range within which a command value can fall from a distribution of second data relating to the command value in a learning data set used to construct a prediction model, and in such a manner that a first acceptable range prescribed by a preset first threshold value with respect to a command value for a subject device is extended, decides a second threshold value with respect to the command value for the subject device on the basis of the estimated numerical value range. Further, in an operational phase, on the basis of an output value from the prediction model, the control system decides a command value for the subject device within a second acceptable range prescribed by the decided second threshold value, and controls an operation of the subject device on the basis of the decided command value. ## Claims ### Claim 1 A control system comprising: a learning data acquiring unit configured to acquire a plurality of learning data sets of which each includes a combination of first data associated with a factor determining an operation of a subject device and second data associated with a command value for the subject device which is adapted to the factor indicated by the first data; a learning processing unit configured to construct a prediction model that outputs a value corresponding to the second data when the first data is input for each of the acquired plurality of learning data sets; an estimation unit configured to estimate a possible numerical value range of the command value from a distribution of the second data in the acquired plurality of learning data sets; a threshold value determining unit configured to determine a second threshold value for the command value for the subject device on the basis of the estimated numerical value range such that a first acceptable range which is defined by a first threshold value preset for the command value for the subject device is extended; an input data acquiring unit configured to acquire input data associated with the factor in an operational phase; a prediction operation unit configured to acquire an output value from the prediction model by inputting the acquired input data to the prediction model and to determine the command value for the subject device within a second acceptable range which is defined by the determined second threshold value on the basis of the acquired output value; and an operation control unit configured to control the operation of the subject device on the basis of the determined command value. ### Claim 2 (depends on 1) The control system according to claim 1, wherein the threshold value determining unit employs a limit value of the estimated numerical value range or a value between the first threshold value and the limit value as the second threshold value. ### Claim 3 (depends on 1) The control system according to claim 1, wherein the first threshold value is an upper limit value of the first acceptable range, and wherein the threshold value determining unit employs a value greater than the upper limit value as the second threshold value. ### Claim 4 (depends on 1) The control system according to claim 1, wherein the first threshold value is a lower limit value of the first acceptable range, and wherein the threshold value determining unit employs a value less than the lower limit value as the second threshold value. ### Claim 5 (depends on 1) The control system according to claim 1, wherein the threshold value determining unit determines the second threshold value such that a preset safety condition is satisfied. ### Claim 6 (depends on 1) The control system according to claim 1, wherein the second data includes a correction value for a reference value of the command value. ### Claim 7 (depends on 1) The control system according to claim 1, wherein the subject device is a production device that produces a product from a workpiece, and wherein each of the first data and the input data includes at least one of a feature value of the workpiece and an attribute value of an environment in which the product is produced. ### Claim 8 A control method which is performed by a computer, the control method comprising: a step of acquiring a plurality of learning data sets of which each includes a combination of first data associated with a factor determining an operation of a subject device and second data associated with a command value for the subject device which is adapted to the factor indicated by the first data; a step of constructing a prediction model that outputs a value corresponding to the second data when the first data is input for each of the acquired plurality of learning data sets; a step of estimating a possible numerical value range of the command value from a distribution of the second data in the acquired plurality of learning data sets; a step of determining a second threshold value for the command value for the subject device on the basis of the estimated numerical value range such that a first acceptable range which is defined by a first threshold value preset for the command value for the subject device is extended; a step of acquiring input data associated with the factor in an operational phase; a step of acquiring an output value from the prediction model by inputting the acquired input data to the prediction model; a step of determining the command value for the subject device within a second acceptable range which is defined by the determined second threshold value on the basis of the acquired output value; and a step of controlling the operation of the subject device on the basis of the determined command value. ### Claim 9 A learning device comprising: a learning data acquiring unit configured to acquire a plurality of learning data sets of which each includes a combination of first data associated with a factor determining an operation of a subject device and second data associated with a command value for the subject device which is adapted to the factor indicated by the first data; a learning processing unit configured to construct a prediction model that outputs a value corresponding to the second data when the first data is input for each of the acquired plurality of learning data sets; an estimation unit configured to estimate a possible numerical value range of the command value from a distribution of the second data in the acquired plurality of learning data sets; and a threshold value determining unit configured to determine a second threshold value for the command value for the subject device on the basis of the estimated numerical value range such that a first acceptable range which is defined by a first threshold value preset for the command value for the subject device is extended. ### Claim 10 (depends on 9) A control device comprising: an input data acquiring unit configured to acquire input data associated with a factor determining an operation of a subject device; a prediction operation unit configured to acquire an output value from a prediction model by inputting the acquired input data to the prediction model and to determine a command value for the subject device within a second acceptable range which is defined by a second threshold value which is determined by the learning device according to claim 9 on the basis of the acquired output value; and an operation control unit configured to control the operation of the subject device on the basis of the determined command value. ### Claim 11 A learning method which is performed by a computer, the learning method comprising: a learning data acquiring step of acquiring a plurality of learning data sets of which each includes a combination of first data associated with a factor determining an operation of a subject device and second data associated with a command value for the subject device which is adapted to the factor indicated by the first data; a learning processing step of constructing a prediction model that outputs a value corresponding to the second data when the first data is input for each of the acquired plurality of learning data sets; an estimation step of estimating a possible numerical value range of the command value from a distribution of the second data in the acquired plurality of learning data sets; and a threshold value determining step of determining a second threshold value for the command value for the subject device on the basis of the estimated numerical value range such that a first acceptable range which is defined by a first threshold value preset for the command value for the subject device is extended. ### Claim 12 A non-transitory computer-readable recording medium comprising a learning program causing a computer to perform: a learning data acquiring step of acquiring a plurality of learning data sets of which each includes a combination of first data associated with a factor determining an operation of a subject device and second data associated with a command value for the subject device which is adapted to the factor indicated by the first data; a learning processing step of constructing a prediction model that outputs a value corresponding to the second data when the first data is input for each of the acquired plurality of learning data sets; an estimation step of estimating a possible numerical value range of the command value from a distribution of the second data in the acquired plurality of learning data sets; and a threshold value determining step of determining a second threshold value for the command value for the subject device on the basis of the estimated numerical value range such that a first acceptable range which is defined by a first threshold value preset for the command value for the subject device is extended. ### Claim 13 (depends on 2) The control system according to claim 2, wherein the first threshold value is an upper limit value of the first acceptable range, and wherein the threshold value determining unit employs a value greater than the upper limit value as the second threshold value. ### Claim 14 (depends on 2) The control system according to claim 2, wherein the first threshold value is a lower limit value of the first acceptable range, and wherein the threshold value determining unit employs a value less than the lower limit value as the second threshold value. ### Claim 15 (depends on 2) The control system according to-claim 2, wherein the threshold value determining unit determines the second threshold value such that a preset safety condition is satisfied. ### Claim 16 (depends on 3) The control system according to-claim 3, wherein the threshold value determining unit determines the second threshold value such that a preset safety condition is satisfied. ### Claim 17 (depends on 4) The control system according to-claim 4, wherein the threshold value determining unit determines the second threshold value such that a preset safety condition is satisfied. ### Claim 18 (depends on 13) The control system according to-claim 13, wherein the threshold value determining unit determines the second threshold value such that a preset safety condition is satisfied. ### Claim 19 (depends on 14) The control system according to-claim 14, wherein the threshold value determining unit determines the second threshold value such that a preset safety condition is satisfied. ### Claim 20 (depends on 1) The control system according to claim 1, wherein the second data includes a correction value for a reference value of the command value.