Patent ID: 11971709
Assignee: OMRON CORPORATION
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 8:
9. A control system comprising:
a learning device comprising:
a first processor, configured to:
acquire a plurality of first learning data sets, each of which is constituted by a combination of simulation data generated by simulating an actual sensor that monitors an environment where a task of a robot device is executed and first environmental information related to the environment where the task indicated by the simulation data is executed;
acquire a plurality of second learning data sets, each of which is constituted by a combination of actual data obtained by the actual sensor and second environmental information related to an environment where the task indicated by the actual data is executed;
acquire a plurality of third learning data sets, each of which is constituted by a combination of third environmental information related to the environment where the task is executed, state information related to a state of the robot device when the task is executed, and a control command for causing the robot device to execute the task under conditions indicated by the third environmental information and the state information;
perform machine learning of an extractor using the first learning data sets and the second learning data sets; and
perform machine learning of a controller using the third learning data sets,

wherein the performing of the machine learning of the extractor includes
a first training step of training the extractor such that environmental information that conforms to the corresponding first environmental information is extracted from the simulation data for each of the first learning data sets, and
a second training step of training the extractor such that environmental information that conforms to the corresponding second environmental information is extracted from the actual data for each of the second learning data sets after executing the first training step, and

the performing of the machine learning of the controller includes a training step of training the controller such that if the third environmental information and the state information are input, an output control command that conforms to the corresponding control command is output and
a control device that controls operations of the robot device, the control device comprising:
a second processor, configured to:
acquire sensor data obtained by the actual sensor that monitors a current environment where a current task of the robot device is executed and current state information related to a current state of the robot device when the current task is executed;
extract, from the sensor data, current environmental information related to the current environment where the current task is executed, using the extractor after machine learning, which is constructed by the learning device;
determine a current output control command for causing the robot device to execute the current task under conditions indicated by the current environmental information and the current state information, using the controller after machine learning, which is constructed by the learning device; and
control operations of the robot device based on the determined current output control command.