WO2022196295A1 - 製造プロセスおよびサービスを自律制御する情報管理システム並びに方法 - Google Patents
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Definitions
- This application relates to information management systems and methods that autonomously control manufacturing processes and services, relates to productivity improvement and its automation and autonomous control, and more particularly relates to automation and autonomous control systems that utilize digital modeling.
- CPS cyber-physical system
- the first physical space information of the first manufacturing process and equipment operating in the physical space is taken into the cyberspace and accumulated as the first cyberspace information. Then, from the first cyberspace information, the first manufacturing process and equipment problems (for example, temperature rises too quickly), manufacturing efficiency (for example, there is a difference in processing time between upstream and downstream steps), etc. can be analyzed. Depending on the result of this analysis, for example, by incorporating an auxiliary support device into the first manufacturing process and equipment, problems can be solved, manufacturing efficiency can be improved, and the like.
- the first cyberspace information (including control parameters, process control software, etc.)
- the fine-tuned second cyberspace information can be transferred to second manufacturing processes and equipment.
- advanced technology in the first manufacturing process and equipment can be reflected in the second manufacturing process and equipment.
- the CPS described above is expected to be utilized in a wider variety of technologies and service fields.
- the embodiments aim to provide an information management system and method for autonomously controlling manufacturing processes, equipment, and services by diversifying the feedback loop (which may simply be referred to as a control loop) within the CPS.
- Another object of the present invention is to provide an information management system and method for autonomously controlling manufacturing processes, facilities, and services that can reflect advanced cyber technology data in various devices and equipment in other physical spaces.
- the embodiments aim to provide an information management system and method having an autonomous control function that is useful for conservation of the global environment and, by extension, excellent compatibility and affinity with humans.
- An information management system that autonomously performs operation control in manufacturing processes and services, comprising: a loop connection unit that connects a feedback loop of a cyber-physical system; and information acquisition that acquires specific information necessary for the manufacturing process from the feedback loop. an information analysis unit that analyzes the specific information; and an autonomous operation control unit that autonomously performs the operation control based on the analysis result obtained by the information analysis unit.
- FIG. 1A is an explanatory diagram conceptually showing environments of physical space and cyber space to which the embodiment of the present invention is applied.
- FIG. 1B is a conceptual diagram illustrating data paths such as sensor data and feedback data formed between physical space and cyber space to which the embodiment of the present invention is applied.
- FIG. 2A is an explanatory diagram showing system blocks of the globalized cyberspace E200.
- FIG. 2B shows an example of utilizing a globalized cyberspace E200 with a first feedback loop (which may be referred to as an enterprise loop) K503 and a second feedback loop (which may be referred to as a public loop) K510. It is an explanatory view explaining.
- FIG. 1A is an explanatory diagram conceptually showing environments of physical space and cyber space to which the embodiment of the present invention is applied.
- FIG. 1B is a conceptual diagram illustrating data paths such as sensor data and feedback data formed between physical space and cyber space to which the embodiment of the present invention is applied.
- FIG. 2A is an explanatory diagram showing system
- FIG. 2C is a diagram showing another example of the enterprise loop K503 and the public loop K510 in the globalized cyberspace E200.
- FIG. 2D is a diagram showing still another example of the enterprise loop K503 and the public loop K510.
- FIG. 2E is a diagram for explaining an example of connecting multiple feedback loops (which may also be referred to as cooperation or cooperation).
- FIG. 2F is a diagram showing an example of the hierarchical structure of cyberspace E200.
- FIG. 3A is a diagram explaining that the globalization of the cyberspace E200 can further diversify the feedback functions of the cyberspace.
- FIG. 3B is a diagram showing separately the manufacturing space achievement function M11 and the manufacturing space approach function M13 in order to explain an example of the effect that the present CPS can achieve in the cyber space E200.
- FIG. 4 is a diagram showing a physical space E100 (lower side of the drawing) and a cyber space E200 (upper side of the drawing) together with various more specific businesses.
- FIG. 5A explains the types of craftsman data F100 transmitted from the physical space E100 to the cyber space E200, their transmission paths, and the transmission paths of the device data F200 obtained from various sensors F224 arranged on the production line F221. It is a diagram.
- FIG. 5B is an explanatory diagram showing a classification of various craftsmanship data F100 that can be obtained from the craftsmanship E122.
- FIG. 6 is a data utilization block diagram for explaining various utilization/analysis methods of the data captured from the physical space E100 to the cyberspace E200 and the effects obtained by this utilization/analysis.
- FIG. 5A explains the types of craftsman data F100 transmitted from the physical space E100 to the cyber space E200, their transmission paths, and the transmission paths of the device data F200 obtained from various sensors F224 arranged on the production line F221. It is a diagram.
- FIG. 7A is a front view of an example of the spectacles-type eyeball rotation detection device according to the embodiment.
- FIG. 7B is a diagram of an example of the spectacles-type eyeball rotation detection device as viewed from the back and above.
- FIG. 7C is a view of a user wearing an example of a spectacles-type eyeball rotation detection device as viewed from the front right.
- FIG. 8 is a block diagram showing an example of the electrical configuration of the eyeball rotation detecting device.
- FIG. 9 is a diagram showing an example of EOG signal waveforms for various eye movements.
- FIG. 10 is a diagram showing another example of the wearable sensor.
- FIG. 11 is a diagram showing an example of the correlation between the finish quality of the product and changes in worker's emotions.
- FIG. 12A is a diagram showing an example of the case of suppressing the environmental load using the feedback loop in this CPS.
- FIG. 12B is a diagram showing another example of suppressing the environmental load using the feedback loop in this CPS.
- FIG. 12C is a diagram showing still another example of suppressing the environmental load using the feedback loop in this CPS.
- FIG. 13A is a diagram showing a basic usage example of a feedback loop between cyberspace E200 and physical space E100.
- FIG. 13B shows an example of a flow chart of a program executed by the autonomous control unit E500 in cyberspace E200.
- FIG. 14A is a diagram showing an example in which a first factory (or first section) G1 and a second factory (or second section) G2 exist in the physical space E100.
- FIG. 14B is a diagram showing an operation flow when the integrated control unit E504 receives information on programs (software) used in the second factory G2 from the control unit EB503 that manages the manufacturing process of the second factory G2.
- FIG. 14C is an operation flow when the integrated control unit E504 receives information on a different version of the program (software) used in the second factory G2 from the control unit EB503 that manages the manufacturing process of the second factory G2. It is a figure which shows.
- FIG. 15 is an explanatory diagram of the manufacturing process for explaining that the CPS is devised so as to contribute to the reduction of the environmental burden and the effective use of resources.
- FIG. 15 is an explanatory diagram of the manufacturing process for explaining that the CPS is devised so as to contribute to the reduction of the environmental burden and the effective use of resources.
- FIG. 16A is also a system diagram for explaining that the CPS is devised to contribute to the reduction of environmental load and the effective use of resources.
- FIG. 16B is also a flow chart for explaining that the CPS is devised to contribute to the reduction of environmental load and the effective use of resources.
- FIG. 17A is a diagram of a factory system for explaining that the CPS is devised to further contribute to the reduction of environmental loads and the effective use of resources.
- FIG. 17B is a diagram of another factory system for explaining that the CPS is devised to further contribute to the reduction of environmental load and effective use of resources.
- FIG. 18 is a flow chart explaining the functions of the CPS that effectively utilizes the factory system of FIGS. 17A and 17B.
- FIG. 19 is a diagram showing a basic configuration example of a power plant H100 capable of reducing the environmental load.
- FIG. 4 is an explanatory diagram showing an embodiment when a program (software) service is performed by the CPS in this embodiment;
- FIG. 21 is a diagram explaining that various equipment (autonomous robots, drones), etc. in the factory are ready to be dispatched when an accident or disaster occurs in the surrounding area (city, station, etc.).
- FIG. 22 shows the basic configuration of an automatic traveling robot, drone, or the like.
- FIG. 23 is an explanatory diagram showing an example of a management method for an edge computer (which may be called a gateway).
- FIG. 24 is also an explanatory diagram showing an example of the edge computer management method, and explains the continuation of FIG. FIG.
- FIG. 25 is an explanatory diagram shown for explaining an application example of the edge computer management system.
- FIG. 26 is an explanatory diagram shown for explaining another application example of the edge computer management system.
- FIG. 27A is an explanatory diagram showing an example of a sensor and/or edge computer management method.
- FIG. 27B is an explanatory diagram showing an example of a sensor and/or edge computer management table.
- FIG. 28A is an explanatory diagram showing an example of a control system for robots working in a factory in physical space.
- FIG. 28B is a flow chart showing the operation steps of the robot.
- FIG. 28C is an explanatory diagram showing an example of the data processing process of the feedback loop that controls the motion of the robot.
- FIG. 28D is an explanatory diagram showing an example of operations in the lower layers SH1 and SH2 of the process control program 3023 of FIG. 28C.
- FIG. 29 is an explanatory diagram showing how the robot feedback loop data is stored in the data storage unit of the cyberspace E200.
- FIG. 1A and 1B show outlines of a physical space (real world) E100 and a cyber space (virtual world) E200 to which the present embodiment is applied.
- Abundant business domain assets exist in the physical space E100.
- Various sensing data A1 in physical space are transmitted to cyber space E200 via a network.
- the cyberspace E200 recognizes and understands the sensing data A1, and generates analysis/prediction data and optimization/planning data based on this recognition/understanding. Based on the analysis/prediction data and the optimization/planning data, control data is generated and fed back to the physical space E100.
- the physical space E100 has a wealth of business domains to be monitored, controlled, and referenced.
- the sensing data path and the control data path are collectively referred to as a feedback loop.
- the cyberspace E200 appears to be constructed with an information system including, for example, a large server or a group of servers in which a plurality of servers aggregate and cooperate.
- the collective term “cooperation” refers to the communication and cooperation of multiple servers, multiple devices, or multiple feedback loops, for example, to perform control.
- multiple feedback loops are interconnected and may operate in parallel or in series. include.
- the feedback loop is not given a fixed name, but may be called a control loop, or may be called a main feedback loop or a local feedback loop depending on the purpose and location of the loop. good.
- Feedback loops may also be referred to as CPS loops, enterprise loops, and public loops.
- feedback loops there are various types of feedback loops described above, including those that are newly formed, those that bundle existing feedback loops, and those that bundle existing feedback and new feedback. Furthermore, some feedback loops, new or existing, involve human intervention (eg, skilled technicians, doctors, scientists, etc.) in the middle of the loop.
- sensing data A1 are transmitted from the physical space E100 to the cyber space E200.
- Control data generated in cyberspace E200 based on sensing data A1 is fed back through feedback loops A41 and A42 flowing between cyberspace E200 and physical space E100.
- feedback loop A411 that utilizes our own data (including sensing data)
- feedback loop A412 that utilizes data (including sensing data) of other companies other than our own. formed.
- the data of the company and other companies include, for example, adjustment values adopted by veteran engineers and materials used in manufacturing.
- the data of the feedback loops A411 and A412 can be used.
- the type of feedback loops A41, A42 and feedback loops A411, A412 described above may be referred to as a vertically integrated type. Part or all of the feedback loops A41, A42 and the feedback loops A411, A412 may employ quantum key distribution (QKD) technology.
- QKD quantum key distribution
- data distribution A420 (see FIG. 1B) is performed with various industries, and similarly, data distribution A430 (see FIG. 1B) is performed within the cyberspace E200.
- a type of control based on the data distribution A420 and the data distribution A430 may be called a horizontal integration type.
- Quantum cryptographic communication technology may be adopted for part or all of the data distribution A420 and the data distribution A430.
- FIG. 2A is an explanatory diagram showing system blocks of a system that constitutes the physical space E100 and the globalized cyber space E200.
- An edge computer (which may be referred to as a gateway) E900 in the physical space E100 includes a control unit (Control), and the control unit includes a communication function (Communication), an edge analysis function (Edge Analytics), a transformation function (Transformation), It has Sense and Actuation functions.
- Cyberspace E200 includes Platform K100 and Enterprise Service K200. It also has another domain K300 that cooperates with the Enterprise Service K200.
- a common service function K400 common to the edge computer E900, Platform K100, and Enterprise Service K200, security functions to obtain safety for communication and data, data and programs, etc.
- this common service is positioned as a connecting part that forms a feedback loop between physical space and cyber space.
- the platform K100 is roughly divided into a data unit (Data) K111, an analysis unit (Analytics) K112, and an operations unit (corresponding to the control unit E503) K113.
- a data section (Data) K111 includes master data (Master Data) and a data lake (Data lake) to facilitate data handling.
- Master data includes data collected from Edge, specifications of Edge and usage environment, blueprints, maintenance history, and other data.
- the Analytics K112 is called Statistics, Artificial Intelligence (AI) (machine learning, deep learning), optimal Includes Optimization.
- the operation section (Operations) K113 includes a monitor and diagnosis section (Monitoring & Diagnosis) and a management section (Management). That is, the operation unit (Operations) K113 performs feedback control to the side of the edge computer E400 according to the result of data analysis by AI, for example.
- the information for this control may be any information as long as it is information for changing the control state of the edge computer E400. Any information may be used as long as it causes the edge computer E400 to execute an instruction or the like.
- the above-described autonomous operation unit K113 may be referred to as autonomous operation control.
- the edge computer E900 transmits data collected from IoT devices and the like to the platform K100. It also receives feedback data and instruction data (control information) from the platform K100. Then, this control information is given to IoT devices and other devices to be controlled. By intermittently performing such operations, a feedback control loop based on time-series changes in sensor data collected from the IoT device is constructed.
- a feedback loop also referred to as a CPS loop
- the efficiency of various operations is improved, safety is improved, environmental load is reduced, can bring many advantages such as Also, by controlling the edge computers E900 of many businesses in the manner described above, the effect will spread throughout society.
- the Enterprise Service K200 includes a Service K211, a Business K212, and a System of Systems K213.
- the Service K211 has an Intelligent Heuristic Engine, an Application Program Interface (API) & User Interface (UI), and Logic & Workflow functions.
- Business K 212 includes functions related to CRM, ERP, PLM & EAM.
- the System of Systems K213 has an application interface & service (SoS API & Service) function between systems, and an integration function (Orchestrator) into a desired form.
- SoS API & Service application interface & service
- the entire System of Systems K213 or Orchestrator may also be referred to as an integration control unit or autonomous control unit or autonomous operation control unit.
- the above Enterprise Service K200 can communicate the data and analysis results accumulated in the platform to the person in charge of management.
- An administrator (which may be an expert) inspects the state of the CPS loop based on human detection, and manually changes, adjusts, or switches the state based on the inspection. be able to.
- the administrator inspects and audits the CPS loop based on human detection as an expert, and confirms whether the system is operating normally.
- the person in charge of management inspects and audits the CPS loop, and makes judgments based on the detection of abnormalities and attacks from the outside as experts.
- the person in charge of management detects an abnormality in the CPS loop, he/she may troubleshoot the CPS loop via the service section K211 or by other methods.
- the system of systems part K213 is a system part that can integrate, for example, a plurality of system groups with different life cycles. Each system included in a plurality of system groups may be designed independently in terms of management and operation methods. Each system may also be geographically distributed.
- the system of systems unit K213 can perform integrated control of the plurality of systems as described above. For example, multiple CPS loops that each system has can be identified and collectively recognized.
- the system of systems section K213 can build a new CPS loop as one system based on the data and analysis (analysis) accumulated in the platform K100.
- the system of systems unit K213 can, for example, receive work information from the edge computer E900 and feed back analysis information obtained as a result of the work to the edge computer E900 via a new CPS loop.
- the function in this case is effective, for example, when cooperating as an additional work system or a regular maintenance work system.
- the above system of systems unit K213 is flexible when handling multiple feedback loops.
- a second feedback loop can be added to the first feedback loop to bundle multiple feedback loops.
- the second feedback loop receives the first feedback as control data (e.g., a piece of software or a parameter) from a second CPS that is different from the first CPS constructing the first feedback loop. Can be added to the loop's control data.
- parallel control cooperation
- the first feedback loop and the second feedback loop may be continuously operated in parallel.
- the first feedback loop and the second feedback loop may be continuously operated in parallel. As an example, for example, if the temperature change is within a certain range, temperature control by the first feedback loop is sufficient, but if the temperature change exceeds the certain range, strong cooling control by the second feedback loop is required. This is the case for systems that operate.
- system of systems section K213 can also link the third and fourth feedback loops.
- a loop is constructed via another domain K300 (a hub to be described later).
- the edge computer E900 and platform K100 are connected, for example, via an IoT bus, and the platform and enterprise services are connected via a service bus.
- the system of systems unit K213 can construct a connection unit or a loop connection unit.
- the loop connection unit includes a loop cooperation control unit (software including AI), and has the function of constructing a new feedback loop, linking multiple feedback loops, and canceling a feedback loop. .
- FIG. 2B is an explanatory diagram showing an example of using the globalized cyberspace E200.
- the cyber space platform K100 has a program that analyzes the monitoring information from the robot K501 and controls the building environment (air conditioners, lighting, etc.), building equipment (escalators, elevators, doors, etc.), and even the robot K501 itself. is deployed.
- the adjustment parameters for controlling the monitoring function of the robot K501 may include craftsmanship data such as skilled security guards. This is because security guards who are well acquainted with the state of the building and the location to be monitored may set the monitoring spot, monitoring level, monitoring angle, lighting for monitoring, etc., originally.
- cyberspace E200 is globalized, building owners can request, for example, drone patrol/inspection service department K512 (contractor in another domain) from the sky. At this time, this building monitoring system may cooperate with another domain.
- materials K511 that describe the floor plans of buildings and plants and inspection points can be provided to the patrol/inspection service department (including drones) K512.
- the patrol/inspection service unit K512 sends a status report (analysis result) K513 to the edge computer E900, for example, when the patrol/inspection by the drone is completed.
- the analysis result may be, for example, data requesting addition of monitoring positions, or data requesting addition (or reduction) of monitoring robots or monitoring personnel.
- This circulation establishes a service loop (which may be called a public loop) K510.
- the work at this time is led by, for example, the system of systems section K213.
- This example is a building surveillance work, and shows an example of using a drone when surveillance is insufficient only with robots in the building.
- At least loop cooperative control with the first feedback loop and the second feedback loop is applied to a control system that manages building facilities.
- the technology for coordinating the first and second feedback loops can be effectively utilized. Expanded implementation means that, unlike regular inspections (inspections using IoT devices that are permanently installed on-site), inspections that are blind spots (or insufficient) are carried out in regular inspections. That is.
- the extended inspection may be carried out after a typhoon, at the change of season, or the like.
- the feedback loop (service loop or public loop) K510 shown here is an example, and the system enables various services.
- the passenger selects the insurance company, the date of subscription, the time of subscription, the insurance money, etc. in the designated information column described on the boarding pass, and attaches a subscription mark.
- the passenger's name and insurance details are automatically notified to the insurance company via a cyberspace loop, and the contract is concluded. It should be noted that it is necessary for the passenger and the insurance company to conclude a contract in advance for taking out such temporary insurance.
- Types of insurance include, for example, life insurance, accident insurance, and hospitalization insurance.
- FIG. 2C shows another example of a feedback loop (which may be referred to as an enterprise loop) K503 and a feedback loop (which may be referred to as a public loop) K510.
- This program is stored in the edge computer E900.Furthermore, the sound generated based on the operation of the robot K505 is detected by the acoustic sensor K506, and the acoustic detection signal is digitized by the A/D converter K507 and sent to the platform K100. It is analyzed by an analyzer (analyzer) and analysis data K121 is generated.
- an analyzer analyzer
- the analysis results are fed back to the edge computer E900 as control data through the feedback loop K503 and reflected in the autonomous control of the robot K500.
- the analysis data K121 of the analysis result is visualized and displayed by the visualization unit K221 of the enterprise service K200, and is evaluated by an expert (takumi) or an AI that has learned the empirical rules of the expert (takumi).
- an expert or Takumi AI determines that the robot K505 is outdated or is about to break down (judgment based on the expert's empirical rule)
- the expert or Takumi AI determines that the robot K505 sends an emergency control signal K510 to This prevents a sudden accident in the factory including the robot K505 itself and the robot K501.
- At least the first feedback loop and the loop cooperation control by the second feedback loop are applied to the control system that controls the robot.
- FIGS. 2B-2C shows an example in which a plurality of vertically integrated feedback loops described in FIGS. 1A and 1B are linked. That is, an edge device E900 in the physical space E100, a platform K100 in the cyber space E200, a service unit K200 in the cyber space E200, a first feedback loop K503 provided between the edge device and the platform, and a second feedback loop K510 provided between the edge device and the service unit.
- An information acquisition unit K111 that is provided in the platform and acquires specific information via the first feedback loop, an information analysis unit K112 that analyzes the specific information, and an analysis result analyzed by the information analysis unit.
- an autonomous operation unit K113 that autonomously performs operation control and/or services for devices in the physical space; a system of systems unit K213 that receives the analysis result information from the unit, and converts adjustment information adjusted based on the detection information and/or the analysis result information to the edge device via the second feedback loop; ing.
- FIG. 2D is a diagram showing another example of the first feedback loop (enterprise loop) K503 and the second feedback loop (public loop) K510.
- a monitor for example, is currently being manufactured in a factory in the physical space E100.
- a feedback loop K503 is constructed from the platform K100 in the cyber space E200 to the edge computer in the factory.
- the monitor shipped from the factory is used by the user after being sold, and the usage status is managed by the user domain K300.
- the usage status is uploaded, for example, as log data to the manufacturer's dedicated server (eg, user domain K300).
- the user domain K300 can cooperate with the enterprise service K200, and the user domain K300 transmits data K301 indicating, for example, the API and usage status to the enterprise service K200.
- action data K302 is sent from the enterprise service K200.
- the action data K302 includes a special monitor control method, a recovery command, and the like.
- the enterprise service K200 can aggregate data such as monitor functions requested by users. This data is fed back to the manufacturer's factory with the consent of the user. The route at this time is a feedback loop (public loop) K510. This feedback data can be the reference data for the monitor designer at the factory.
- the second feedback loop controls the product produced in the factory. It uses referral information from the user domain that uses it.
- FIG. 2E is another diagram for explaining an example of connection (which may be referred to as cooperation) of multiple feedback loops.
- Loop connection in this embodiment includes the meaning of constructing a new feedback loop and connecting or linking a plurality of feedback loops. Therefore, the autonomy (intelligentization) of loop connections will realize the autonomy of operation control in manufacturing processes/services.
- a loop connection includes a function of bundling loop groups, and a hub exists as a connection boundary between loop groups.
- the loop connecting section includes a loop cooperation control section.
- factory management control that performs lighting management of production lines, elevator management, production line operation status management, floor cleaning robot management, product quality management, etc.
- a device exists.
- the sensor data acquired by this factory management control device is transmitted to the platform K100 in the cyberspace E200 via the edge computer.
- Various data (analysis results, etc.) within the platform K100 are also notified to the enterprise service K200.
- the platform K100 constructs a feedback loop K503 as a result of data analysis and causes the floor cleaning robot to clean the floor.
- the analysis unit of the autonomous operation control unit of platform K100 uses AI to analyze the amount of water in puddles, weather information just before, etc., and determines that it is necessary to inspect the outside of factory K541, for example. Then, determination information is sent from the platform K100 to the enterprise service K200.
- the service department K211 of the enterprise service K200 causes the drone K543, for example, to inspect the windows of the factory via the system of systems K213 based on the contents of the determination information.
- a second feedback loop K510 for flying a camera-mounted drone 543 is constructed. In other words, this construction means that the loop cooperation control part forming the loop connection part worked.
- This windowpane breakage information is obtained by analyzing the captured image from the drone K543 by the autonomous operation control unit of the platform K100.
- platform K100 sends "window repair required" information to enterprise service K200.
- the service department K211 of the enterprise service K200 constructs third and fourth feedback loops K515 and K516 for notifying the transport vehicle K545 and the window glass store K546 based on the "window repair required" information.
- This construction means that the loop cooperation control part of the loop connection part worked more.
- the previous second feedback loop K510 is canceled. That is, the loop cooperation control unit also has a function of canceling a feedback loop that has achieved its purpose.
- this system can connect or link multiple feedback loops. Its operation realizes autonomy of operation control in manufacturing processes/services.
- a loop connection includes a function of bundling loop groups, and a hub exists as a connection boundary between loop groups.
- a feedback loop is also established to notify the plumber K547 if materials such as drain pipes are needed, if necessary.
- the feedback loops K510, K515, and K516 described above are automatically canceled when the original purpose is achieved.
- the feedback loop K510 for the inspection by the drone K543 ends, for example, when the scenery of a predetermined route (for example, the data of the shooting area provided by the factory K541) has been captured.
- the feedback loops K515 and K516 constructed to procure window glass, piping, etc. end when, for example, the carrier K545 arrives at the factory K541.
- the edge computer of the store K546 is notified of "start” and "end”, thereby ending the feedback loops K515 and K516.
- this CPS has the flexibility to autonomously link various feedback loops.
- the above-mentioned "hub” in this CPS is explained as a system that mediates (or links) connections between feedback loops (or between feedback loop groups). Therefore, what has the role of "connecting" feedback loops (or feedback loop groups) in a timely and appropriate manner can be called a “hub”.
- Each feedback loop that uses this hub also has an independent lifecycle and a running loop. Also, the concept of boundaries where different loops are connected (or constructed) is called a "connection boundary" or a "boundary region".
- a hub of a network device also plays a similar role of connecting and mediating a plurality of networks in the network world, but in this CPS, the network functions as a feedback loop.
- the second feedback loop, third feedback loop, and fourth feedback loop mentioned above may go through overseas hubs.
- factories that use imported equipment can receive such services from overseas manufacturers.
- When ordering manufactured parts from a domestic manufacturing plant there are cases where an order is placed with an overseas manufacturer. Therefore, it is desirable to use the unified world time in cyberspace, but the unified world time and the domestic time may be used together. Satellite communication means are sometimes used in exchanging information with foreign countries.
- the information analysis section and the autonomous operation control section construct a first feedback loop as a first control loop for controlling a first controlled object, which is a manufacturing process.
- the information analysis section and the loop cooperation control section may construct a second feedback loop as a second control loop for further controlling the first controlled object.
- the information analysis unit and the autonomous operation control unit construct the first feedback loop as a first control loop for controlling the first controlled object, which is the manufacturing process.
- the information analysis unit and the loop cooperative control unit may construct a second feedback loop as a second control loop that further controls the second controlled object.
- the information analysis unit and the autonomous operation control unit can bundle the second control loop of the second feedback loop together with the first control loop of the first feedback loop to continue.
- the information analysis unit and the autonomous operation control unit temporarily bundle the second control loop of the second feedback loop together with the first control loop of the first feedback loop to continue, It is also possible to release the second control loop of the second feedback loop under a predetermined condition.
- FIG. 2F is an explanatory diagram showing an example of construction of cyberspace E200.
- the cyberspace E200 is hierarchically configured to facilitate overall control.
- This cyberspace E200 has an autonomous control unit E500 that controls, for example, a work robot in a distribution center.
- This autonomous control unit E500 includes a hierarchical first control unit E521, a second control unit E522, and a third control unit E523.
- the first control unit E521 uses feedback loops C11 and C12 (the vertically integrated type described in FIG. 1B) to exchange information with a large number of robots existing in the physical space E100, thereby efficiently performing logistics operations. I do.
- Robots include, for example, an unloading robot K521 that unloads from a truck or shelf, a car transport robot K522 that transports the unloaded cargo, a shelf storage robot K523 that stores the transported cargo on a shelf, and an unloading robot K523 that stores the cargo on the shelf.
- the information analysis unit and the autonomous operation control unit construct multiple feedback loops as multiple control loops for controlling multiple controlled objects in the manufacturing process. It is that you are.
- the second control unit E522 receives a report C12 of the operating status of the robot from the first control unit E521. Then, it outputs control data C10 for optimizing the device (robot) operation.
- the cargo K53 entering the distribution center includes large and small items, various shapes, various weights, hard items, and soft items. Therefore, the second control unit E522 recognizes the package with an image, a bar code, a two-dimensional code, or a wireless sensor using a camera, optical sensor, RFID, or the like.
- the second control unit E522 allocates a robot to a heavy load or a load that requires simple work as a load to be handled by the robot K532. Also, a package that is difficult to handle by a robot is determined as a package for an experienced worker K532 or a package for a new worker K533. These determination results are notified to the first control unit E521 as control data C10. As a result, the unloading robot K521 proceeds to acquire the cargo K532.
- the second control unit E522 notifies the work record C15 to the third control unit E523.
- the work record C15 is the processing status of the packages brought into the distribution center (indicating the number of packages processed, the weight of the packages, etc.).
- the third control unit E523 performs inventory management and warehousing/shipping management within the distribution center according to the work record C15.
- the third control unit E523 analyzes the work record C15 and determines that the sorting work is progressing as planned, it instructs the second control unit E522 to perform work such as warehousing and shipping according to the work procedure. It is notified by the control data C14 that it should be incorporated into it. For example, it is possible to place many unloading robots in the unloading area, and it is also possible to notify trucks, etc. waiting to enter the distribution center that they are permitted to enter the warehouse (permission to enter the warehouse) by telephone. It is possible.
- the first control unit E521 performs unloading, transportation of goods, storage of goods, retrieval of goods, retrieval of goods from edge computers arranged in the physical space. receive data indicating the control state of each robot that performs each task of loading, and provide feedback so that each robot functions according to the set robot control program.
- the second control unit E522 identifies packages suitable for robot operation from among the packages stored in the distribution center, and notifies the robot control program of information for executing the unloading.
- the third control unit E523 receives work performance information via the notification data C15 from the first control unit E521 and the second control unit E522.
- Information for warehousing and warehousing management is fed back to the second control unit E522 in order to manage the inventory of the goods.
- efficient sorting, warehousing, and warehousing processing are performed at the distribution center, and as a result, efficient use of electric power (reduction of environmental load) can be obtained.
- the feedback loop is mainly constructed using the loop connection part.
- the loop splicer may include or cooperate with a loop cooperation controller.
- the loop cooperation control unit constructs feedback loops K503, K510, and the like.
- the loop cooperation control unit utilizes various elements in cyberspace E200.
- the platform K100 is a building element of the feedback loop K503, and the platform K100 and the enterprise service department K200 are building elements of the feedback loop K510.
- the platform K100 is a building element of feedback loop K503, and the platform K100, user domain K300, and enterprise service unit K200 are building elements of feedback loop K510.
- the loop connection parts that construct the feedback loops K503, K510, etc. have the following functions and meanings.
- the loop connection section can construct a new loop for feedback between the cyber space and the physical space together with the operation of the autonomous control section.
- the loop cooperation control section of the loop connection section can connect a plurality of loops for feedback. That is, as shown in FIGS. 2C, 2D, and 2E, multiple loops can be connected via the edge computer E900.
- the loop cooperation control unit of the loop connection unit bundles a plurality of loops (loop groups) and allows the existence of a hub that serves as a connection boundary between the loop groups.
- the hub corresponds to the system of systems section K200 in the examples of FIGS. 2A and 2B, and the system of systems section K200 and the user domain K300 in the example of FIG. 2D.
- loops in this CPS including those that are newly formed, those that bundle existing feedback loops, and those that bundle existing feedback and new feedback.
- some feedback loops, new or existing involve human intervention (eg, skilled technicians, doctors, scientists, etc.) in the middle of the loop. For example, when there is a person near the controlled device, from the perspective of safety, when the action of confirming the person is detected and the controlled device is operated, etc., the environment and situation of the controlled device A feedback loop is constructed that optimizes processing and timing that also considers relationships.
- the present CPS has at its disposal various feedback loops.
- the present CPS includes a feedback loop manager.
- the feedback loop management unit may be set in the data of the information acquisition unit K111 in the cyberspace E200, or may be arranged in the information analysis unit K112. Furthermore, the feedback loop management section may be arranged on an external server or a predetermined edge computer.
- the feedback loop management section stores multiple pieces of feedback loop information.
- Each feedback loop information has a header and has labeling data (loop identification information) in the header.
- Labeling data is data for identifying feedback loops.
- device information used to form the loop device identification information of the controlled device to be controlled, parameters necessary for the loop to control the controlled device, control target Device identification information, loop life cycle information, owner information and rights related information on data in the loop, permission information on data usage, presence or absence of personal information, confidentiality level information of industrial data, etc. are stored. If it is possible to cooperate with a feedback loop, it has the labeling data of that feedback loop.
- the feedback manager can also receive and manage newly formed feedback loop information. Furthermore, after the feedback loop is utilized, the utilization record data may be managed by the feedback management unit.
- the feedback loop information may be input by a person (craftsman).
- Data for identifying the above-mentioned feedback loop, device information used to form the loop, device identification information of the controlled device to be controlled, parameters necessary for the loop to control the controlled device, control Target device identification information, information that can be linked with other feedback loops, and the like may be referred to as feedback loop attribute information.
- this CPS can autonomously adapt to a wide variety of controlled devices and devices. Therefore, in this CPS system, the loop cooperation control section is formed in the loop path, and this loop cooperation control section is constructed by the cooperation of the loop connection section and the autonomous operation control section. , can form new feedback loops in response to new analysis results.
- Information on existing feedback loops may be used for the new feedback loop, or a new feedback loop may be formed.
- a new upper-layer feedback loop is formed by bundling existing feedback loops and new feedback loops as a group.
- multiple existing feedback loops may be formed in bundles.
- the loop connection section and the autonomous operation control section are equipped with a loop search function that searches for feedback loop information.
- the loop search function detects, for example, sensing data from a sensor and refers to a preset loop table.
- the loop table preliminarily describes loop identification information corresponding to sensors that have sent sensing data. For example, in the example illustrated in FIG. 2E, the feedback loops required for drone visits are nominated corresponding to the water leak detection sensors.
- This loop table may be created in advance by the user, or may be provided in advance by the administrator of the cyberspace E200.
- cyberspace E200 has made it possible to provide various services to a wide range of social sectors, and mobile objects used in the manufacturing process can be effectively used. It shows an example of what can be done in cyberspace.
- the operational status (operational status) of the aircraft L101 is always monitored in real time by the remote monitoring system L102.
- the remote monitoring system L102 notifies the connected factory (which may be referred to as the factory at any time) L103 in the country where the airplane L101 is manufactured. Also, the status of the aircraft L101 is notified from the pilot to the control tower.
- the pilot (captain) is informed that it is possible to fly to the destination (local) airfield in the current state.
- the control room shall also be permitted to do so.
- the pilot and the control room also refer to information from the weather prediction system L112.
- the remote monitoring system L102 sends to the connected factory L103 whether there is a factory or a store for the design parts necessary for repair or the replacement manufactured parts (for example, composite parts) near the destination (local) airport. make an inquiry.
- the connected factory L103 makes an inquiry to the local product factory L104 that designs and the product factory L105 that carries out manufacturing.
- the local product factory L104 refers to the E-BOM (Engineering-BOM), and the product factory L105 checks the inventory status based on the M-BOM (Manufacturing-BOM) data, and repairs. It autonomously notifies the connected factory L103 of the existence or lack of parts or replacement manufacturing parts (composite parts).
- the product factory L104 is mainly engaged in designing, and always monitors whether there are design flaws or shortages in the parts of the final product, and manufactures them.
- the product factory L105 mainly manufactures and assembles, and also manufactures products designed by the product factory L104.
- connected factory L103 can, for example, instruct local product factory L104 to deliver parts to local product factory L105.
- the product factory L105 may be a type of factory that autonomously builds a production line according to the parts or composite parts to be manufactured. This type of product factory L105 may be referred to as a convenience store factory (or anywhere factory).
- the connected factory L103 can also effectively utilize the shared factory (anyone can call it a factory) L106 for custom manufacturing.
- Sharing factory L106 can manufacture custom-made parts and owns 3D printers.
- the connected factory L103 takes the following measures when the quantity of manufactured parts from the product factory L105 is insufficient, or when some parts cannot be manufactured in time for the arrival of the airplane. That is, the connected factory L103 temporarily places an order with the sharing factory L106, and instructs it to deliver the part to the product factory L105. Manufacturing with a 3D printer reflects the craftsmanship that will be explained later.
- the above sharing factory L106 can demonstrate convenient functions for local residents. Local residents L121 can feed back their evaluations of the devices and products they use to the designer level.
- the sharing factory L106 enables customization, so even if there is a request to change the design level of the product, the change request can be reflected in the design level of the product.
- Consumers can also send additive-free information about cosmetics to the sharing factory L106 via Internet information, SNS, and the like. In addition, consumers can send information about food allergens and veganism to the sharing factory L106. Consumers can also utilize the sharing factory L106 when they want to produce custom products (when they have personal needs).
- the management unit L122 can analyze the inventory fluctuation L2a of parts and predict the demand. If there is a shortage of inventory, for example, an order L2b for parts that may be in short supply can be automatically placed with the connected factory L103.
- the CFS (Container Freight Station) work vehicle can receive the notification from the emergency patient occurrence area L123 and supply the necessary supplies (L3b).
- a surveillance camera installed in an automatic guided vehicle (AGV) or a robot traveling in the city detects an emergency patient.
- An infrared sensor, microphone, and camera mounted on the robot acquire images of the patient's behavior and how they fall, and the diagnosis device mounted on the robot performs an emergency diagnosis.
- the diagnostic device notifies the emergency diagnostic data, for example, to the autonomous control unit E500 in the cyberspace E200.
- control unit E503 for feedback in the cyber space E200 determines an abnormal state in the area L123, it can notify the connected factory L103 of the location and situation, for example.
- the connected factory L103 receives the notification L3b from the area L123 and can supply L3a supplies (for example, supplies for relief, medical equipment for first aid, AED, etc.).
- the sensors, microphones, cameras, and diagnostic devices may be arranged at fixed positions at multiple locations in the city.
- the diagnostic device may also communicate with a telemedicine facility L124.
- the on-site staff can receive advice from a doctor belonging to the remote medical institution L124 when treating an emergency patient.
- the on-site staff can receive advice from a doctor belonging to the remote medical institution L124 using, for example, a VR (Virtual Reality) device or an AR (Augmented Reality) device.
- the VR and AR may be supplied from the connected factory L103, for example.
- typical examples of the operation function M13 include a five senses information sensing function M131, an indoor environment comfort function M132, and a manufacturing environment autonomous control function M133.
- the five senses information sensing function M131 refers to information from the worker's wearable sensor, worker's operation information, temperature adjustment information, and the like.
- the comfort function M132 is a function that adjusts, for example, an air conditioner, a blower, a humidity control device, etc. by autonomous control or operator's operation.
- the manufacturing environment autonomous control function M133 performs automatic autonomous control to maintain the work space in a comfortable state according to the information based on the worker's five senses and the worker's operation.
- autonomous control does not simply respond to information based on the five senses of the worker or information based on the operation of the worker, but performs autonomous control that satisfies various requirements of the purpose achievement function M11.
- the goal achievement function M11 includes a function M112 aimed at minimizing the environmental load, a productivity optimization function M113, a worker experience/knowledge reference function M114, and a human resources matching function M115. It also has an energy consumption calculation function (which may be a carbon dioxide emission measurement function) M116, a manufacturing cost estimation function M117, and a productivity/profit estimation function M118.
- the purpose achievement function M11 Autonomous control is performed to meet various requirements.
- FIG. 4 shows a physical space E100 (lower side of the drawing) and a cyber space E200 (upper side of the drawing) together with more specific elements (various businesses).
- the elements shown here are also representative and do not represent all that are present.
- the business includes an energy (power generation) business E11.
- Business E11 includes, for example, battery manufacturing related business, nuclear power generation related business, hydroelectric power generation related business, wind power generation related business (including offshore wind power generation related business), thermal power generation related business, marine power generation related business, geothermal power generation related business, autonomous hydrogen energy business , including solar power generation related.
- the related business within this specification shall also include the related business of development, experimentation, and equipment installation related to the business. It may also include a prototype company (or a prototype division).
- the information/communications business E13 includes related businesses such as long-distance and short-distance transmitters and receivers, antennas, satellite communications, and broadcasting.
- transportation business E14 trucks, railroads, aviation, ships, warehouses, work vehicles, bulldozers, tractors, agricultural machinery and related businesses, etc.
- building management business E15 elevated business, office lighting, escalator, building multi-air conditioner business, etc.
- material procurement business E16 advanced medical and preventive medical business E17, robot E19, infrastructure business E20
- aging countermeasure business E21 device storage business E22 (in-vehicle/industrial power device, in-vehicle digital IC, hard disk related, semiconductor manufacturing equipment, fine ceramics, etc.), agriculture E23, forestry E24, fishery E25, recycling E26, mining (petroleum) , coal, minerals) E27, and related businesses.
- This business E29 includes, for example, service implementation business, logistics, sales business, hotel business, school business, financial business, travel planning business, commercial, notification and publication business, and related business that function in connection with the implementation of various businesses and so on. It also has a battery business.
- the physical space E100 when an expert (sometimes referred to as a craftsman) is involved in various businesses, the skill (technique) of the craftsman E10 is effectively utilized. . In addition, even in the aspect related to the service business, it becomes possible to effectively utilize the response measures by the skilled person for the implementation of support to the community, rescue of people, and rescue.
- the physical space E100 described above stores sensor data obtained from sensors at various business sites, data such as programs (software) used in various businesses and control parameters used, and data on the skills of craftsmen. It is transmitted to space E200 to construct a so-called digital twin.
- the cyberspace E200 has a data storage unit E310 that stores various data and programs (software).
- the cyberspace E200 receives various data from the physical space E100 from the network via the connection unit E700 (including IoT bus, Servis bus, common service K400, etc.).
- Quantum key encryption technology may be used for part or all of the data transmission path in the network. In particular, it is desirable to use quantum key encryption technology for medical service businesses, financial service businesses, and public service businesses.
- Cyberspace E200 includes AI (or it may be called a system control unit) E300.
- AI (E300) utilizes the data in data storage E310.
- the cyber space E200 represents the feedback loops for each business (the figure shows feedback loops between cyber physicals (hereinafter referred to as Cy-Ph FB loops) E201, 202, E203, E204... ). Note that one project is not limited to one feedback loop, and multiple feedback loops may be provided.
- Cy-Ph FB loops E201, 202, E203, E204, .
- the AI (E300) needs to correct, add, or change the program or control parameters of the control system of a certain project. If so, such corrections, additions, changes, etc. can be implemented through the Cy-Ph FB loop of the applicable business. AI (E300) can also autonomously execute the correction, addition, and change as described later.
- the AI (E300) includes a simulation area E400, an autonomous control unit E500, a variation information acquisition unit E601, and a research information acquisition unit E602.
- the AI (E300) is sometimes called a system controller or artificial intelligence.
- the AI (E300) includes more processing functions (various processing units E800). For example, there are functions for service business, space business correspondence processing, functions for connection processing with other domains, and functions for extending cooperation between control loops and feedback loops.
- a product manufacturing program (equivalent to a design drawing) received from the physical space E100 via AI (E300) and material information for manufacturing (including environmental information) are used as data for virtual prototyping.
- material information for manufacturing including environmental information
- virtual 3D printers can be used to build virtual virtual prototypes.
- the virtual prototype is, for example, digital image data.
- a cyberspace administrator can observe digital image data on an image display device, a CAD system, or the like. The administrator can also distribute the digital image data of the virtual prototype to any desired user.
- the trial production company (or the trial production division) can manufacture an actual trial product using the 3D printer or manufacturing equipment that it owns and data for trial production of the actual product. Then, the trial production company (or the trial production division) can also conduct inspections, experiments, etc. on the actual trial product.
- the administrator of cyberspace E200 can also distribute the actual prototype data to desired users, such as research institutions or business development applicants.
- data is exchanged between the cyber space E200 and the physical space E100.
- the business identification data of the business division, company, etc.
- the type of the prototype data design drawing
- charges for each data may also be included. This table is created by the administrator of the cyberspace E200, and the administrator makes a contract (confidentiality, usage fee, etc.) with the user who uses the table to create the table.
- the virtual prototyping data and actual prototyping data provided by the simulation area E400 may include skill data generated by the craftsman's involvement in product manufacturing.
- the AI (E300) prepares first prototype data including craftsmanship data and second prototype data not included as virtual prototype data or actual prototype data, The experimenter may be able to compare the performance or quality of the first and second virtual prototypes or the first and second physical prototypes.
- simulation area E400 for example, in the inspection of the prototype described above, it is also possible to calculate the strength and measure the position of the center of gravity.
- an image (image data) of a turbine used in the power generation business as a prototype with digital data, calculate its strength, and measure the position of the center of gravity.
- the skill data of the craftsman is also sent along with the data sent from the physical space. Then, with the skills of the craftsman, adjustment control parameters such as the distribution ratio of multiple metal materials, weight, fine adjustment of the shape, pressure during processing, temperature, etc. are corrected, making it possible to create a high-quality turbine.
- the autonomous control unit E500 includes, for example, an information acquisition unit E501 that acquires specific information (condition: IF) necessary for the manufacturing process from the Cy-Ph FB loop, an information analysis unit E502 that analyzes the specific information, and an information analysis unit E502. It includes an autonomous operation control unit E503 (execution: THEN) that autonomously performs operation control based on the analysis result acquired by the unit.
- an information acquisition unit E501 that acquires specific information (condition: IF) necessary for the manufacturing process from the Cy-Ph FB loop
- an information analysis unit E502 that analyzes the specific information
- the above specific information can include human sense information and/or emotional information.
- the specific information may be generated by analyzing data obtained from a biosensor worn by a person. Furthermore, the specific information may include at least one of renewable energy production information, consumption information, and environmental load information.
- renewable energy production information received from the outside it is also possible to adjust the power consumption of the equipment in the company's factories. For example, if the amount of external renewable energy production increases, there will be a margin in the power consumption of the company's equipment, and it is possible to control the increase in production. can be adjusted to control production reduction.
- the information that impacts the environment (environmental impact information)
- environmental impact information information that impacts the environment
- feedback control such as writing a message on the disposal method for the parts or materials, or writing or marking the waste collection destination. It becomes possible.
- the waste collection destination is, for example, a company that specializes in handling plastic products.
- this system can also control the trade-off between environmental load information (e.g., carbon dioxide emissions, predicted emissions) and environmental information (temperature, humidity, air pressure, etc.) of factory workers (or craftsmen). It becomes possible. For example, when the temperature and humidity are high, factory workers make adjustments to power up the operation of air conditioners and the like. However, when the amount of power used by an air conditioner or the like increases, the amount of generated energy increases and the amount of carbon dioxide emissions increases. Therefore, in this system, it is possible to check the five senses of workers and craftsmen, maintain an environment where workers can spend comfortably, and perform feedback control that can minimize power consumption.
- environmental load information e.g., carbon dioxide emissions, predicted emissions
- environmental information e.g., temperature, humidity, air pressure, etc.
- the multiple feedback loops described above may be related to a digital twin (digital double) constructed from personal information.
- a digital twin digital double
- special control is possible for individual factories and workshops, or individual small factories and workshops.
- unique product creation for example, work such as adding artistic carvings and moldings to manufactured products
- feedback control is also possible. In this case as well, data on craftsmanship is effectively used.
- a user who uses this loop can create a part of an original (or basic) manufacturing program in a physical space (the above-mentioned individual factories and workshops, or individual small factories and workshops). For example, a processing step for marking the surface and a parameter (coloring) are added to the steps. Then, changes in the processing steps are recognized by AI in cyberspace, and feedback control is performed on manufacturing machines (for example, 3D printers) in physical space to engrave and color the surface of the manufactured product.
- manufacturing machines for example, 3D printers
- multiple feedback loops can provide not only feedback (control and information provision) to the factory, but also feedback (information provision) to the designers of equipment, parts, and materials.
- feedback information it is possible to feed back to the designer personal information for using the device or product, such as ease of maintenance or repair of the device, or ease of part replacement.
- routes for acquiring personal information from the outside include, for example, Internet information responding to commercials and information such as SNS.
- service centers and dealers that handle the devices and parts.
- the cyberspace E200 includes external information acquisition units E601 and E602.
- This external information acquisition unit E601 acquires change data such as domestic weather, overseas weather, economy, disasters, accidents, satellites, laws, and policies.
- the external information acquisition unit E601 may have a function of acquiring information on the Internet, SNS, etc., as information on elements in the related physical space.
- the external information acquisition unit E602 acquires data such as published papers and academic papers of research institutes, for example.
- Change data such as domestic weather, overseas weather, economy, disasters, accidents, satellites, laws, and policies can be used, for example, as follows. It is possible to build a feedback loop that autonomously performs program (software) switching/adjustment, control parameter change/adjustment, etc. for the production line affected by changes in data from these items. For example, based on notification data such as earthquakes and strong winds, in a factory that manufactures precision parts such as semiconductors, the level of airtightness adjustment, temporary suspension of production, and product sorting (defective products) discrimination levels are switched. may be
- data such as published papers and academic papers of research institutes can be used, for example, as follows.
- a feedback loop can be used to change the instruction to use the old type of adhesive to the instruction to use the new type of adhesive.
- suitability usage environment, adhesive strength, etc.
- medical information can also be referred to in medical institutions.
- FIG. 5A shows the type of craftsmanship data F100 transmitted from the physical space E100 to the cyber space E200 and its transmission path, and the transmission system of the device data F200 obtained from various sensors F224 arranged in the device (manufacturing line) F221. showing the road.
- the master data F100 is managed by the master management unit F120
- the device data F200 is managed by the device management unit F220.
- the master management section F120 and the device management section F220 are a kind of unit computer (or gateway) that cooperates with the edge computer F900. Inside each unit computer, data handled by the computer and functions controlled by the computer are illustrated.
- the equipment data F200 includes operation data indicating the operation status of various equipment and devices on the manufacturing line, and measurement/inspection data indicating the finished state of the manufactured items (materials/parts/products, equipment, etc.).
- the operational data that indicates the operational status includes identification data for equipment, devices, parts, etc., movement position, movement speed, rotation position, rotation speed, rotation angle of arms, measured temperature, measured pressure, power consumption, remaining fuel, etc. of compressors, etc. quantity, shooting monitoring data, etc.
- quantity, weight, characteristic data, etc. of materials used for manufacturing includes measurement data such as size, thickness, length, and weight, test data obtained by testing the movement of the product, image data of the product, and the like.
- F225 indicates a feedback loop in which physical control is repeatedly performed from cyber space E200 to manufacturing line F221 in physical space E100.
- the data of the feedback loop F225 is received by the feedback processing unit F223 integrated with the production line F221 and reflected in the control device F222.
- the production line F221 normally exchanges data with the controller F222 to control the production of products or control the operation of the system.
- a local (or dedicated) feedback loop operates between the production line F221 and the controller F222.
- the controller F222 When the controller F222 is initialized, it has default programs, control parameters, etc. in its memory, and the programs are executed under the control of the CPU. However, the feedback loop F225 may finely adjust the control details in the manufacturing process by adjusting the processing steps of the program, changing or adjusting the control parameters to be used, and the like. This makes it possible to improve product quality, adjust product production volume, suspend production, improve production efficiency, and make changes.
- a craftsman (sometimes referred to as a worker) F122 enters an operation room F121 in the factory, and reads self information (craftsman identification data F123, basic data F124 (Science data of the craftsman (that is, data indicating the production lines and equipment that the craftsman has operated so far) can be set, for example, in the memory of the action input section F130.
- a reliability coefficient operated by Takumi F 122 may be given as a reference, and this reliability coefficient is updated to a highly reliable reliability coefficient by operating this facility and accumulating operational results. For example, it is information that accumulates correlation information between multiple workers (from inexperienced workers to highly experienced workers) and the evaluation value of the quality of the product manufactured under the operation of each worker. .
- image data indicating the operating state is acquired from multiple locations on the production line F221 and displayed on multiple monitors F131.
- the craftsman F122 operates the operators (buttons, levers, handles) of the action input section F130 as necessary while looking at the monitor F131 (or glasses with a display function).
- This allows craftsmanship to be reflected in the manufacturing process. For example, there are temperature adjustment, stop position adjustment of conveyed parts, spray amount adjustment of liquid (for example, paint, cleaning liquid, etc.), material adjustment, conveyance speed adjustment, and the like.
- These action data F132 are transmitted to the cyber space E200 as the craft data F100.
- the craftsmanship data F100 may include the aforementioned reliability coefficient.
- various sensors F224 on the production line detect various device states and product states according to the behavior data F131. This detection data is transmitted to cyber space E200 as device data F200.
- temperature measurement As various sensors F224, temperature measurement, pressure measurement, measurement of the position of the operating arm (rotational position, movement position, vertical position, etc.), vibration measurement, liquid amount detection, weight measurement, amount measurement, color detection, image detection , velocity, acceleration, etc. are used.
- the craftsmanship data F100 also includes five senses data (may be referred to as five senses information) F101 and emotion data (may be referred to as emotion information) F106.
- five senses data F101 for example, sensor outputs that can be obtained by an odor sensor are used. is input, and odor data is identified and collected based on the input data.
- Wearable sensors, microphones, glasses having sensors, and the like are used to collect the five senses data F101 and the emotion data F106.
- FIG. 5B classifies and shows various craftsmanship data that can be obtained from the craftsmanship E122.
- Emotion data F106 is acquired from, for example, a microphone, a camera, a glasses sensor, or the like.
- the microphone sends Takumi E122's speech to the speech analyzer.
- the utterance analyzer analyzes the utterance, and analyzes the emotions of Takumi E122 according to the contents of the utterance.
- the utterance analyzer interprets, for example, "I can't do it", “Oh, I failed", etc. as negative utterances, and for example, ... etc. are interpreted as positive utterances. This makes it possible to distinguish whether Takumi E122 is in a negative mood or in a positive mood.
- the emotional data described above correlates with the quality of the product manufactured during the time period in which the emotional data was generated, or the quality of the characteristics of the product.
- the five senses data F101 includes olfactory, auditory, tactile, visual, and gustatory. Touch operation of buttons (buttons corresponding to sensations). Furthermore, it is possible to speak through a microphone, interpret this speech with a speech recognition device, and create five sense data. This makes it possible to acquire the five senses data of the craftsman E122.
- Bacillus genus exists as a bacterium that suppresses such odors. Bacillus excretes bacteriolytic enzymes and antibiotics, and has the effect of stopping the action of sulfate-reducing bacteria, so it is possible to suppress excess sludge and odor.
- the craftsman when the craftsman is sensitive to the odor of the sludge tank of the water treatment equipment, the craftsman may put an activator into the tank to activate and multiply the bacillus. Also, at this time, the craftsman operates, for example, the "smell present" operation button.
- the button operation information and the input amount of the activator may be used as craftsmanship data (data of the input amount of the activator and the operation button with odor) and transmitted to the cyber space.
- the temperature of the sludge substance at this time, the ambient temperature, the humidity, and the number of spores contained in the sludge substance may be transmitted to the cyber space together with the measured data.
- craftsman E122 may contact the operating machine with an ultrasonic generator or a vibration generator, collect the reflected sound with a microphone, and analyze it with an analyzer.
- the analyzer can detect loose screws, cracks in the body and steel frame, scratches, etc. according to the characteristics of the reflected sound.
- images captured by a super-resolution camera may also be used. Therefore, in the room where Takumi E122 is present, there may also be an operating device such as an ultrasonic generator or a vibration generator.
- the craftsman data F100 also includes action data F102 representing the actions of the craftsman.
- the action data F102 is, for example, the input data F1021 when the craftsman 122 directly operates the working machine.
- the identification data of the corresponding operating machine, the state data of the switch, the time of operation, etc. are set and treated as one unit of action data.
- the identification data of the corresponding operating machine, temperature set value data or speed set value data, time at the time of operation, etc. are set and handled as one unit of action data.
- the craftsman data F100 also includes biometric data F103 representing the biometric state of the craftsman.
- the biometric data F103 is obtained, for example, from the wearable sensor F1031.
- the wearable sensor F1031 includes glasses type, wristwatch type (including blood pressure monitor, heart rate monitor, thermometer, microphone, etc.), weight scale, perspiration meter, and the like. Based on the biometric data F103 from this biosensor, it is possible to know the physical condition of the craftsman and to change/set duty time.
- the craftsmanship data F100 also includes recognition model data F104 and technique/knowledge/knowledge data F105. These data are the craftsman's own data, as explained earlier.
- This self-data includes craftsman identification data F123, craftsman's career data, that is, data indicating the model name of the production line and equipment that the craftsman has operated so far, training history, specialized field, teaching experience, and working on them. It is data such as the number of years.
- grade data (corresponding to the reliability coefficient) may be added to the craftsman.
- the quality of the product may vary. In particular, products manufactured when the craftsman has a negative emotion often show a marked difference in quality depending on the difference in the grade of the craftsman.
- the skill/knowledge/knowledge data F105 may be employed when switching programs or when switching parameter tables used in programs based on the experience of a craftsman.
- the craftsman may change the program and/or the parameter table to be used based on his/her accumulated experience and achievements.
- FIG. 6 is a data utilization block diagram for explaining various utilization methods of the data captured from the physical space E100 to the cyberspace E200 and the effects obtained by this utilization.
- the craft data F100 and the device data F200 are transmitted to the cyber space E200. Furthermore, in cyberspace E200, acquired data F300 other than craftsmanship data F100 and device data F200 also exists. Of course, as described above, there is also acquired data acquired by the variation information acquisition unit E601 and the research information acquisition unit E602. Therefore, for example, the fluctuation information acquisition unit E601 may acquire the acquired data F300.
- the types of acquired data F300 are, for example, environmental data F301, weather data F302, supply chain data F303, data indicating regional activity F304, and reuse/recycling related data F305.
- the environmental data F301 is, for example, data on the environment (temperature, humidity, dust density, number of workers, role of each worker, etc.) in the factory where the production line exists.
- the weather data F302 includes, for example, weather changes in the region where the factory exists, weather changes (earthquake information ) and so on.
- the supply chain data F303 is the quantity of parts materials, procurement, delivery, sales, consumption, etc., and status data such as inventory, shipped, and in transit.
- the data F304 indicating regional activity is data such as increase/decrease in regional population, distribution of age groups, momentum of commerce (store sales and tax payment status), and activity budgets put into the region from government offices.
- the reuse/recycle-related data F305 is information obtained, for example, from sensors in the dismantling industry in the physical space E100.
- various types of equipment are classified by parts and products (composite parts), and each part or product has its identification data, along with markings such as reusable or recyclable, etc.
- These pieces of information are read by a laser or an image recognition sensor and transmitted to the cyberspace E200 as reuse/recycle related data F305.
- AI (E300) includes the above-described craft data F100, device data F200, and acquired data F300, and by combining and analyzing part of these data, analysis data F400 can be obtained.
- This analysis data F400 can be reflected in analysis/prediction data and optimization/planning data.
- the analysis data F400 can be utilized as future prediction data F401, autonomous control data F402, human support data F403, personnel training data F404, and automation/efficiency data F405.
- This utilization processing is performed by AI (E300).
- AI (E300) constantly monitors craftsmanship data F100, device data F200, acquired data F300, etc., and performs data utilization and control when predetermined conditions are met. It can run autonomously.
- ⁇ Utilization as data F401 for future prediction can be considered as follows. For example, suppose that it is found that the craftsman's action data F102 changes according to weather data, and as a result, the characteristics and quality of the manufactured product are affected. Then, by monitoring the correlation between the weather data F302 and the craftsman's behavior data F102, the characteristics and quality of the product can be predicted. Depending on this prediction, the autonomous control unit can perform feedback control on the quality ranking process of the products on the production line or the sorting of the products on the production line.
- the autonomous control data F402 also includes data indicating the correlation between the weather data F302 and the craftsman's action data F102.
- the regional activation status data F304 it is possible to instruct the allocation of replacement workers to factories. Furthermore, it is also possible to refer to the number of personnel and personnel allocation data included in the environmental data F301, and to instruct and propose the allocation of replacement workers to factories in appropriate areas (areas where commuting is easy).
- craft data is stored in the data storage unit E310 in cyberspace.
- the AI (E300) can determine the identification information of this Takumi data, the specialty field of the Takumi, and the like.
- the designer of the factory can input the blueprint from the commercial business E29 into the cyber space.
- the AI (E300) can also predict the factories that require craftsmen, the required number of workers, and so on.
- the AI (E300) can also determine the aging (retirement age) of the craftsman from the number of experiences and age of the craftsmanship data accumulated in the data accumulation unit E310. Based on these judgments and the above predictions, AI (E300) predicts the number of craftsmen that will be required in the future, and for example, notifies each factory, company, and educational industry of a request for training of craftsmen. is also possible.
- AI (E300) is capable of comparing and monitoring the manufacturing processes of multiple similar factories, comparing and monitoring similar processing processes, and comparing and monitoring production volumes. To this end, the AI (E300) can determine: For example, in the second factory, there is a processing process in which the product is assembled manually, which requires a large number of workers and is less efficient. and good production efficiency. In such a case, if a robot is introduced into the product assembly process at the second factory, the robot control program can be autonomously provided to the second factory via a feedback loop. It is also possible to register surplus personnel in the human support data F403. Further, in the future prediction data F401, since the product production efficiency of the second factory is improved, it is possible to provide future prediction data to the product transport industry (distribution).
- AI can utilize data from various businesses in cyberspace to create a highly productive and efficient manufacturing process environment.
- FIG. 7A, 7B, and 7C show an example of a wearable sensor that obtains specific information of a craftsman, and here shows an example of eyeglasses.
- the diameter of an adult eyeball is approximately 25 mm. It is about 17 mm after birth and increases in size as it grows.
- An adult male has an interpupillary distance of about 65 mm. For this reason, most commercially available stereo cameras are made with an interval of 65 mm.
- the interpupillary distance of an adult female is several millimeters shorter than that of a male.
- the electrooculogram is several tens of mV.
- the eyeball has a positive potential on the cornea side and a negative potential on the retina side. When this is measured on the surface of the skin, it appears as a potential difference of several hundred ⁇ V (called electrooculography).
- the rotation range of the eyeballs (in the case of a general adult) is 50° or less in the horizontal direction (also referred to as the horizontal direction), 50° or less in the right direction, and 50° or less in the vertical direction (also referred to as the vertical direction). Downward: 50° or less, Upward: 30° or less.
- the vertical angle range that can be moved by one's will is narrow in the upward direction. This is because when the eyes are closed, the eyeballs move upwards due to the "Bell phenomenon", and when the eyes are closed, the eyeball movement range in the vertical direction shifts upward.
- the angle of convergence (the angle at which the line-of-sight directions of the left and right eyeballs intersect) is 20° or less.
- FIGS. 7A, 7B, and 7C An example of the configuration of the eyeball rotation detection device will be described with reference to FIGS. 7A, 7B, and 7C.
- the eye rotation detection device in the form of eyewear is shown here.
- eyewear there are goggles, eyeglasses (sunglasses are equivalent to eyeglasses), etc.
- an eyeglass-type eyeball rotation detection device will be described.
- FIG. 7A is a front view of an example of a spectacles-type eyeball rotation detection device
- FIG. 7B is a view of an example of a spectacles-type eyeball rotation detection device as seen from the back and above.
- FIG. 7C is a view of a user wearing an example of a spectacles-type eyeball rotation detection device, viewed from the front right.
- Types of eyeball rotation include up-down rotation and left-right rotation.
- Vertical rotation includes eye blinking, eye closing, winking, and the like.
- Right-left rotation refers to slow eye movement (Slow Eye M ovement), gaze movement in which the left and right eyeballs consciously rotate in the same direction, and convergence/divergence in which the left and right eyeballs rotate in opposite directions.
- Convergence is the intersection of the line-of-sight directions of the left and right eyeballs
- divergence is the divergence of the line-of-sight directions of the left and right eyeballs.
- Eyeball rotation is detected based on changes in electrooculography. The electro-oculography can be detected from the difference in voltage from a pair of electrodes sandwiching the eyeball.
- the direction in which the eyeballs are sandwiched may be left, right, up and down, front and back, or may be oblique.
- a blink, a closed eye, a wink, or the like can be detected from the electro-oculogram detected by the electrode pair arranged to sandwich the eyeball from above and below.
- Eye blinks, closed eyes, winks, slow movements, and gaze movements can be detected from electro-oculograms detected by electrode pairs arranged to sandwich the eyeball from above and below, and from left and right.
- Gradual movement, gaze movement, and convergence/divergence can be detected from electro-oculography detected by electrode pairs arranged to sandwich the eyeball from the front, back, left and right.
- the glasses include a right frame 12, a left frame 14, and a bridge 26 connecting both frames 12,14. If the user does not wear spectacles regularly, simple glasses may be fitted in the right frame 12 and the left frame 14 . In the case of constructing a product that detects line-of-sight movement or convergence angle change from the electro-oculogram, and applies the detection result, for example, a glasses-type wearable device capable of AR display, the right frame 12, A liquid crystal panel or an organic EL panel for AR display may be fitted in at least part of the left frame 14 .
- the front and rear positions that are in phase (same vector) for the left and right eyeballs, and the opposite phase (opposite vector) for the left and right eyeballs are arranged so as to sandwich the eyeball from the left and right positions that become the vector).
- a right temple electrode 32 is provided on the right side of the right eyeball ER, and a right temple electrode 32 is provided on the surface of the right nose pad 22 on the left side of the right eyeball ER that contacts the nose.
- a nose pad electrode 42 is provided.
- the right temple electrode 32 and the right nose pad electrode 42 are arranged so that a line connecting the right temple electrode 32 and the right nose pad electrode 42 passes through the right eyeball ER. ing.
- the right temple electrode 32 is provided on the left side of the right eyeball ER, and the right nose pad electrode 42 is provided on the right side of the right eyeball ER.
- the right temple electrode 32 and the right nose pad electrode 42 are arranged such that a line connecting the right temple electrode 32 and the right nose pad electrode 42 passes through the right eyeball ER.
- the right nose pad electrode 42 is provided slightly above the right temple electrode 32 .
- the right temple electrode 32 is provided behind the right eyeball ER, that is, on the left side of the right eyeball ER in the right side view and on the right side of the right eyeball ER in the left side view, and the right nose pad electrode 42 is provided on the right eyeball ER. It is provided on the front side, that is, on the right side of the right eyeball ER in the right side view and on the left side of the right eyeball ER in the left side view.
- the right temple electrode 32 and the right nose pad electrode 42 are arranged such that a line connecting the right temple electrode 32 and the right nose pad electrode 42 passes through the right eyeball ER.
- FIG. 7C shows how the line connecting the right temple electrode 32 and the right nose pad electrode 42 passes through the right eyeball ER in the front view, plan view, and side view of the head.
- the line connecting the two electrodes is not limited to the center of the right eyeball ER, and may pass through any part of the eyeball. The same is true for the left eyeball, although it is hidden by the face in FIG. 7C.
- the right temple electrode 32 and the right nose pad electrode 42 for detecting the electro-oculogram of the right eyeball ER are shown on the right in any of the plan view, front view, and side view. Although it is arranged to pass through the eyeball ER, in at least one of the plan view, the front view and the side view, the line connecting the right temple electrode 32 and the right nose pad electrode 42 passes through the right eyeball ER. It is sufficient if it is arranged.
- the left nose pad 24 is attached to the right side of the left eyeball EL in plan view, for example, near the connection point between the left frame 14 and the bridge 16.
- a left nose pad electrode 44 is provided on the surface in contact with the nose of the left eyeball EL
- a left temple electrode 36 is provided on the left side of the left eyeball EL, for example, a portion of the left temple 20 over the ear.
- Left nose pad electrode 4 4 and the left temple electrode 36 are arranged so that a line connecting the left nose pad electrode 44 and the left temple electrode 36 passes through the left eyeball EL.
- the right temple electrode 32 and the left temple electrode 36 are symmetrical with respect to a straight line perpendicular to the midpoint of the straight line connecting the right frame 12 and the left frame 14 (for example, a straight line extending from the center of the nose to the back of the head).
- the left nose pad electrode 44 is provided on the left side of the left eyeball EL, and the left temple electrode 36 is provided on the right side of the left eyeball EL.
- the left nose pad electrode 44 and the left temple electrode 36 are arranged so that a line connecting the left nose pad electrode 44 and the left temple electrode 36 passes through the left eyeball EL.
- the left nose pad electrode 44 is provided slightly above the second left electrode 42 .
- the left nose pad electrode 44 is provided on the front side of the left eyeball EL, that is, on the right side of the left eyeball EL in the right side view and on the left side of the left eyeball EL in the left side view
- the left temple electrode 36 is provided behind the left eyeball EL.
- side that is, on the left side of the left eyeball EL in the right side view, and on the right side of the left eyeball EL in the left side view.
- the left nose pad electrode 44 and the left temple electrode 36 are arranged so that a line connecting the left nose pad electrode 44 and the left temple electrode 36 passes through the left eyeball EL.
- the right temple electrode 32 is provided over the side surface (in contact with the temporal region) and the lower surface (in contact with the root of the ear) of the right temple 18, and when the eyeglasses are worn on the face, the weight of the temple 18 causes the right temple electrode 32 is adapted to contact the hairless area at the base of the ear.
- the left temple electrode 36 is provided over the side surface (in contact with the temporal region) and the lower surface (in contact with the root of the ear) of the left temple 20. When the spectacles are worn on the face, the weight of the temple 20 causes the left temple electrode 36 is adapted to contact the hairless area at the base of the ear. As a result, the right temple electrode 32 and the left temple electrode 36 are in close contact with the user's skin, and the electrooculogram can be sensed accurately.
- the left nose pad electrode 44 and the left temple electrode 36 for detecting the electro-oculogram of the left eyeball EL also connect the left nose pad electrode 44 and the left temple electrode 36 in at least one of the plan view, front view and side view. It is sufficient if the line is arranged so as to pass through the left eyeball EL.
- a forehead pad 26 is provided inside the bridge 16 to contact the forehead, and a neutral electrode 46 is provided on the surface of the forehead pad 26 that contacts the forehead.
- the neutral electrode 46 is an electrode for securing a neutral potential for electrooculogram detection, and is in contact with the skin, for example, the forehead.
- the distance between the neutral electrode 46 and the right temple electrode 32 and the distance between the neutral electrode 46 and the left temple electrode 36 are equal, and the distance between the neutral electrode 46 and the right nose pad electrode 42 and the neutral electrode are equal.
- the electrodes 46 and the left nose pad electrode 44 are arranged so that the distances between them are equal. The reason why the neutral electrode 46 is arranged at such a position is for the detection of the convergence angle, which will be described later.
- the angle of convergence is detected based on the results of detection of left-right symmetrical eyeball rotation when viewed from the front for each of the left and right eyeballs.
- a neutral potential is taken at a part of the body where the influence of eyeball rotation is negligible, such as the end of the right leg.
- the neutral electrode equalizes the influence of the electrooculography received from the left and right eyeballs. can do.
- the right temple electrode 32, the right nose pad electrode 42, the left nose pad electrode 44, the left temple electrode 36, and the neutral electrode 46 are metal foils such as copper, small metal pieces, metal balls such as stainless steel, or conductive silicon rubber sheets. including. These electrodes 32, 42, 44, and 36 are electrodes for detecting electrooculography as described later, and are therefore also called EOG electrodes.
- a processing unit 30 for detecting electro-oculography is built in or externally attached to one temple, for example, a portion of the right temple 18 near the frame 12 .
- the other temple For example, a battery 34 for the processing unit 30 is built in or externally attached to a portion of the left temple 20 near the frame 12 .
- the processing unit 30 may perform not only electro-oculogram detection but also display control in a glasses-type wearable device capable of AR display.
- the processing unit 30 may be provided outside the glasses instead of being built in the glasses, and the glasses and the processing unit 30 may be connected wirelessly or with a wire. In that case, the battery 34 can be incorporated in the processing unit 30 and provided outside the glasses.
- the function of the processing unit 30 is divided into two, and only the first processing unit that senses the signal from the electrode is provided in the glasses, and the second processing that detects the electrooculography from the sense signal and controls according to the detection result. You may provide a part in the exterior of spectacles.
- a mobile terminal such as a smart phone can be used as the second processing unit.
- the second processing unit is not limited to a mobile terminal or the like directly connected to the glasses, but also includes a server or the like connected via a network.
- a signal from the right temple electrode 32 is input to the - terminal of the first analog/digital (A/D) converter 62, and a signal from the second left electrode 36 is input to the + terminal of the first A/D converter 62. and the first EOG signal ADC Ch0, which is a differential signal, is output. Since the right temple electrode 32 and the left temple electrode 36 sandwich the eyeball from the left and right, the first EOG signal ADC C h0 indicates left and right rotation of the left and right eyeballs.
- the signal from the right temple electrode 32 is input to the - terminal of the second A/D converter 64, the signal from the right nose pad electrode 42 is input to the + terminal of the second A/D converter 64, and the difference signal is A certain second EOG signal ADC Ch1 is output. Since the right eyeball is sandwiched between the right temple electrode 32 and the right nose pad electrode 42, the second EOG signal ADC C h1 indicates left-right rotation and up-down rotation of the right eyeball.
- the signal from the left nose pad electrode 44 is input to the + terminal of the third A/D converter 66, the signal from the left temple electrode 36 is input to the - terminal of the second A/D converter 66, and the difference signal is A certain third EOG signal ADC Ch2 is output. Since the left nose pad electrode 44 and the left temple electrode 36 sandwich the left eyeball from above and below and from the left and right, the third EOG signal ADC Ch2 indicates left and right rotation and up and down rotation of the left eyeball.
- the second From the waveforms of the EOG signal ADC Ch1 and the third EOG signal ADC Ch2 it can be detected whether the left and right eyeballs are rotating in the same direction or in the opposite direction.
- resistors R1 and R2 are of equal value, eg 1 M ⁇ .
- the A/D converters 62, 64, 66 can detect analog voltages from 0 V (ground) to the reference analog voltage Vcc, and the midpoint of the detectable range, for example, half the voltage of 3.3 V (midpoint voltage ) in the range of 0V to 3.3V, and converts the input analog voltage into a digital value. Since the junction of resistors R1 and R2 is connected to the midpoint voltage terminal, and the neutral electrode 46 is connected to the junction of resistors R1 and R2, the midpoint voltage of A/D converters 62, 64, 66 is the voltage of the human body. voltage will be the same.
- the midpoint voltage of the A/D converters 62, 64, 66 fluctuates in conjunction with the voltage of the human body, and the noise mixed in the voltage signals from the EOG electrodes 32, 42, 44, 36 causes the A/D converter to The digital values output from 62, 64 and 66 are not mixed. As a result, the S/N of electro-oculography detection can be improved.
- FIG. 8 is a block diagram showing an example of the electrical configuration of the eyeball rotation detecting device.
- Processing unit 30 may include A/D converters 62, 64, 66, and A/D converters 62, 64, 6 6 may be externally attached to the processing unit 30 .
- the signal from the right temple electrode 32 is input to the - terminal of the first A/D converter 62, the signal from the left temple electrode 36 is input to the + terminal of the first A/D converter 62, and the EOG signal ADC Ch0 is obtained.
- the signal from the right temple electrode 32 is input to the - terminal of the second A/D converter 64, the signal from the right nose pad electrode 42 is input to the + terminal of the second A/D converter 64, and the second channel of EOG signal ADC Ch1 is obtained.
- the signal from the left nose pad electrode 44 is input to the + terminal of the third A/D converter 66, the signal from the left temple electrode 36 is input to the - terminal of the second A/D converter 66, and the third channel of EOG signal ADC Ch2 is obtained.
- a signal from the neutral electrode 46 is supplied to the midpoint voltage terminal of the A/D converters 62, 64, 66, and the midpoint voltage of the A/D converters 62, 64, 66 is detected by the neutral electrode 46 of the human body. voltage.
- the EOG signals output from the A/D converters 62, 64, and 66 are input to an eye movement detector 75 that detects eyeball rotation (hereinafter also referred to as eye movement).
- the eye movement detector 75 may be configured from hardware, or may be configured from software. In the latter case, the CPU 74, ROM 76 and RAM 78 are connected to the bus line, and the eye movement detector 75 is also connected to the bus line.
- the eye movement detector 75 is implemented by the CPU 74 executing a program stored in the ROM 76 .
- a wireless LAN device 80 is also connected to the bus line, and the processing unit 30 is connected to a mobile terminal 84 such as a smart phone via the wireless LAN device 80 .
- the mobile terminal 84 may be connected to a server 88 via a network 86 such as the Internet.
- the eye movement detection unit 75 detects electro-oculography based on the EOG signals output from the A/D converters 62 and 64, and from the detected electro-oculography, left-right rotation (convergence/divergence) of each of the left and right eyeballs and left-right rotation of the eyeballs. (line-of-sight movement) and vertical rotation (blinking, eye closing) can be detected. Furthermore, the eye movement detection unit 75 detects the user's various states (for example, lack of concentration, restless state, concentrated state, tense and mentally stressed state, fatigued state, etc.) based on the detected eye movement. It is possible to estimate the state where it is difficult to concentrate on work or work). Which type of eyeball rotation is detected and which type of state is estimated can be changed by changing the program executed by the CPU 74 . This change instruction may be given from the mobile terminal 84 .
- a communication device using a communication method such as ZigBee (registered trademark), Bluetooth (registered trademark) Low Energy, or Wi-Fi (registered trademark) may be used.
- the detection result (eye movement detection result, state estimation result) of the eye movement detection unit 75 may be temporarily stored in the RAM 78 and then sent to the mobile terminal 84 via a communication device such as the wireless LAN device 80. .
- the detection result of the eye movement detector 75 may be sent to the mobile terminal 84 in real time.
- the portable terminal 84 may store the detection result of the eye movement detector 75 in an internal memory (not shown), or may transfer the detection result to the server 88 via the network 86 .
- the mobile terminal 84 may start some processing according to the detection result of the eye movement detection unit 75, store the processing result in the internal memory, or send the processing result to the server 88 via the network 86. can be transferred to The server 88 may aggregate detection results from many eye movement detectors 75 and processing results from many mobile terminals 84 to perform so-called big data analysis.
- FIG. 9 is an electrooculogram (EOG) for explaining an example of the relationship between various eye movements of the user and the EOG signals ADC Ch0, ADC Ch1, and ADC Ch2 obtained from the A/D converters 62, 64, and 66.
- the vertical axis indicates sample values of A/D converters 62, 64, 66 (eg, 3.3V, 24-bit A/D converters), and the horizontal axis indicates time.
- FIG. 10 shows a wristwatch type wearable sensor 90 .
- the main body of the wristwatch contains a thermometer, a heart rate monitor, and a blood pressure monitor.
- the names of the current user's (takumi) body temperature 91, heart rate 92, and blood pressure 93, and the measurement results thereof are displayed in bars next to the names.
- the wearable sensor 90 may be provided with a microphone 94 .
- the wearable sensor 90 also has a wireless communication function, and its input data is managed by the master management unit F120.
- Figure 11 shows the quality Q based on the quality inspection results of a product manufactured when a craftsman's emotions are stable and the quality inspection results of a product manufactured when a craftsman's emotions become unstable.
- the distribution PGQ is shown.
- the product In the region EL1 where the craftsman's emotion is stable, the product has a quality exceeding the quality acceptance line Qr, and in the region EL2 where the craftsman's emotion is unstable, the product has a quality below the quality acceptance line Qr. become more.
- the above work is, for example, a case where a worker (or a craftsman) operates a welding robot to weld and attach an arm to a moving housing. When inspecting the joint strength between the housing and the arm, the joint strength of the arm manufactured when the worker (or craftsman) was emotionally unstable was weak.
- FIG. 12A shows an example of using a feedback loop to make the working environment of an office or production line comfortable, and to suppress the environmental load.
- operation data, biometric data, etc. associated with the actions of the worker (or craftsman) F122 are transmitted to the cyber space E200.
- the operator can enter the operation room F121 and operate selection buttons such as cold, hot, and just right (comfortable) at the work site.
- the ambient temperature F521 is measured by a thermometer, and the ambient humidity F522 is measured by a hygrometer.
- the airflow and the air blowing state (air volume/air velocity) F523, lighting color F524, etc. at the work site F530 are also measured.
- the amount of exercise (which may be referred to as calorie consumption) F525 and the perspiration state (humidity) F526 of the worker F122 are also measured by wearable sensors.
- the above measurement data is always read by the autonomous control unit E500 in the cyberspace E200 and used as elements for creating control data (adjustment data) for air conditioners, fans, lighting equipment, etc.
- Autonomous control unit E500 also stores default data and constraint data sent from work site F530.
- the default data is, for example, data indicating the values specified by the person in charge at the site when the production line is constructed, such as ambient temperature, ambient humidity, airflow state (air volume/air velocity), lighting color, and the like.
- Constraint condition data is data that the person in charge places constraints on, for example, the ambient temperature, the ambient humidity, the airflow state (air volume and wind speed), the upper and lower limits of changes in illumination color, and the hue. This is because there are various restrictions depending on the products manufactured on the manufacturing line.
- the autonomous control unit E500 not only simply gives temperature control commands to the air conditioner via the edge computer at the work site, but also executes intelligent control by blowing air and adjusting humidity as follows. For example, even if the air conditioner is not controlled to lower the temperature, the worker may not feel hot if air is blown or the humidity is lowered. Also, even if the illumination color is changed from orange to white or blue, workers may not feel hot. Therefore, the autonomous control unit E500 can perform the following judgment and control.
- the autonomous control unit E500 sets the control state E5031 that minimizes the total power consumption. That is, when the worker F122 operates the instruction button for lowering the temperature, the autonomous control unit E500 transmits a command for controlling the blower and/or the humidity regulator to the site.
- this system contributes to the reduction of the environmental load.
- FIG. 12B shows another example of using a feedback loop to make the working environment of a business or manufacturing line comfortable, or to suppress the environmental load.
- at least one of renewable energy production information F601 (information on wind power generation, solar power generation, etc.), consumption information (power consumption in factories and offices) F602, and environmental load information (carbon dioxide emissions, etc.) F603 is It is sent to cyberspace E200 as specific information.
- Energy production information F604 is also sent from the energy business E11. Each information is sent through the edge computer of each business.
- the autonomous control unit E500 uses the overall actual power consumption and the actual produced power to calculate the best power usage (a state where production and consumption are balanced at a certain rate).
- the environmental load calculator E5021 can request each business to increase or decrease the percentage of renewable energy used so that the overall environmental load can be reduced as much as possible (renewable energy is utilized as much as possible).
- image data provides a graph of overall actual power consumption, a graph of actual power production, and a graph of best power consumption.
- the renewable energy usage ratio of the business entity will be presented in the graph of the power consumption of the business entity itself. If it is acceptable to further increase the renewable energy usage ratio of the business entity, the increase in the usage ratio is recommended. Such information is fed back as cooperation request information F610.
- Cyberspace E200 makes it possible to comprehensively reduce the environmental impact.
- FIG. 12C shows still another example in which a feedback loop is used to control, for example, the power usage environment of an electric power business and suppress the environmental load.
- a first power transmission/distribution facility F711 In the first area of the physical space E100, there are a first power transmission/distribution facility F711, a first power management device F721, and an edge computer F731 that notifies the cyberspace E200 of the usage status of the first power.
- the second area of the physical space E100 there are a second power transmission/distribution facility F712, a second power management device F722, and an edge computer F732 that notifies the cyber space E200 of the usage status of the second power.
- first power transmission/distribution facility F711 and the second power transmission/distribution facility F712 have a power adapter F740 that is used when power is interchanged between them.
- Power adapter F740 may convert power at a first frequency to power at a second frequency, for example, where the first power is at a first frequency and the second power is at a second frequency. and vice versa to convert power at the second frequency to power at the first frequency.
- voltage and current values can also be converted from each other.
- the first autonomous control unit EA500 in the cyberspace E200 analyzes the first power usage status analysis unit EA502, the analysis result of the first power usage status analysis unit EA502 Based on this, the controller EA503 generates feedback data to the edge computer F731 via the loop KA500.
- the second autonomous control unit EB500 in the cyberspace E200 analyzes the second power usage status analysis unit EB502, and the second power usage status analysis unit EB502 analyzes the Based on this, a control unit EB503 is provided that uses a loop KB503 to generate feedback data to the edge computer F732.
- control units EA503 and EB503 can control the power adapter F740 to provide the first power to the second area and the second power to the first area. It becomes possible. For example, if the power capacity of one side is insufficient, it is possible to control the system so that the surplus power can be received. At this time, control loops KA510 and KB510 are utilized. In addition, it is possible to control the use of renewable energy as much as possible according to the state of use of the renewable energy, thereby reducing the burden on the environment. In the above example, an embodiment using the first and second electric powers has been described. is possible.
- the loop control unit in cyberspace may have a loop cooperative control unit that constructs or cancels a new feedback loop in response to a new analysis result of the autonomous operation control unit.
- FIG. 13A shows a simple example in which one factory uses a feedback loop between cyberspace E200 and physical space E100.
- the first factory G1 exists in the physical space E100. As described with reference to FIGS. 5A and 5B, the first factory G1 has the craftsmanship management section F120, from which the craftsmanship data F100 is obtained.
- the craftsmanship data F100 is effective data for, for example, controlling the environmental load or improving production efficiency and product quality in the first factory G1.
- This craftsman data F100 (for example, self-information of workers in the first factory G1) and the device data E200 of the first factory G1 are transmitted to the cyber space E200 and analyzed. In this analysis, it is determined whether or not there is data to be fed back to the device in the physical space E100. For example, it is determined whether or not the quality of the product is improved when the craftsman makes adjustments to the control parameters that have been given to the device.
- Production efficiency is, for example, a judgment as to whether or not the number of products produced per day is improving. In such a case, an analysis is made as to whether or not the craft data contributes to quality improvement and production efficiency, and whether or not the control parameters in the factory data at that time have changed.
- control unit E503 determines that the changed new control parameters are suitable for the factory, and changes the existing control parameters in the factory (or default control parameters) to new control parameters. Or modify existing control parameters and change to new control parameters.
- FIG. 13B shows a flowchart of the program executed by the autonomous control unit E500 of the cyberspace E200 described above.
- the autonomous control unit E500 acquires the craft data F100 and the device data F200 (SA1) and analyzes them (SA2). As a result of the analysis, if it is determined that there is feedback data (YES at SA3), it is determined whether the physical space permits the reception of feedback data (SA4), and if permitted (YES at SA4), Send feedback data to the control unit in the physical space (SA5). On the other hand, if it is determined that there is no feedback data as a result of the analysis (NO in SA), the process is terminated. Also, as a result of the analysis, if it is determined that there is feedback data (YES at SA3), but the physical space does not permit reception (NO at SA4), the process is similarly terminated.
- FIG. 14A is an example in which, for example, a first factory (or may be called a first section) G1 and a second factory (or may be called a second section) G2 exist in the physical space E100. is shown.
- the artisan data F100 and device data F200 of the first factory G1 and the artisan data F100 and device data F200 of the second factory G2 are transmitted to the cyber space E200 and analyzed.
- the cyberspace E200 has a feedback data creation function for the first factory G1 and a feedback data creation function for the second factory G2, as described above.
- the autonomous control unit E500 of the cyberspace E200 has an integrated control unit E504 between the control unit E503A for the first factory G1 and the control unit E503B for the second factory G2.
- the integrated control unit E504 corresponds to or includes a loop cooperation control unit formed by the loop connection unit (specifically, System of Systems K213) described in FIGS. 2A to 2E, 3A, and 3B. .
- the integrated control unit E504 can automatically detect mutually linked controls and related controls between the first factory G1 and the second factory G2.
- the integrated controller E504 periodically exchanges information with the controllers E503A and E503B.
- the integrated control unit E504 detects mutually linked control or related control between the control unit E503A and the control unit EB503, the integrated control unit E504 instructs the control unit E503A and/or the control unit E503B to , for example for feedback control.
- the content of feedback control varies, and the content of control differs depending on the relationship between the first factory G1 and the second factory G2. For example, parts procurement information and worker information are exchanged, and operating speed control of production lines, switching control of operating parts, etc. are performed. Of course, it is possible to deal with cases similar to those described with reference to FIGS. 2B-2F. That is, the loop control unit in cyberspace has a loop cooperation control unit that constructs or cancels a new feedback loop in response to a new analysis result of the autonomous operation control unit. For example, to realize cooperative control such as instructing one factory to purchase new software from a software development office, or instructing a parts company to purchase appropriate parts for a production line. is also possible.
- FIG. 14B shows the operation flow when the integrated control unit E504 receives information on the program (software) used in the second factory G2 from the control unit E503B managing the manufacturing process of the second factory G2. ing.
- the integrated control unit E504 inquires of the control unit E503B whether the devices and programs used in the manufacturing process of the second factory are the same as those of the first factory G1 (SB2).
- SB2 receives notification of the program version (first version) from the control unit E503B and determines that it is different from its own version (second version for the first factory G1) (NO in SB2)
- This is notified to the control unit E503B.
- the control unit E503B notifies the administrator of the second factory G2 that no usable program is found, and waits for the next instruction (SB5).
- step SB2 if it is determined that the version of the program used in the second factory G2 is the same as the version of the program used in the first factory G1 (second version) (YES in SB2), automatically Then, the program is transferred to the control unit E503B (SB3). Then, the control unit E503B transfers the program (second version) to the control device of the second factory G2. At this time, if there is craft data (various parameters, etc.) to be used in the program, the craft data is also transferred (SB4).
- 3 is a flowchart showing the processing of .
- the manager of the second factory G2 responds that it is not necessary (YES in SC2), the process ends.
- the third version is specified (YES in SC3), the third It is determined whether the version is owned by itself (database for first factory G1) (SC4).
- the program and the control parameters are sent to the server control unit of the second factory. (SC5).
- SC5 the server control unit of the second factory.
- FIGS. 14A to 14C The technique of FIGS. 14A to 14C is based on the following considerations. Namely
- This system has an edge device E900 in physical space E100, a platform K100 in cyber space E200, and a first feedback loop provided between the edge device and the platform. Furthermore, the first information acquisition unit K111 acquires the first specific information through the first feedback loop. A first information analysis unit K112 analyzes the first specific information. A first autonomous operation unit K113 autonomously performs operation control and/or service for the first device in the physical space based on the first analysis result analyzed by the information analysis unit.
- the relationship between the first factory and the second factory has been explained, but the same way of thinking is applied even if there are a third factory and a fourth factory.
- the system also has a second feedback loop similar to that described above, a second information acquisition unit K111, a second information analysis unit K112, and a second autonomous operation unit K113.
- the integrated control unit E504 cooperates the first and second autonomous control units to determine the difference between the first analysis result and the second analysis result, and sets according to the difference. get the control data to be This control data is reflected in the first device or the second device via the first or second feedback loop.
- Control data are control data and/or parameters relating to a program used by the first device or the second device. Furthermore, as described below, the control data may be data relating to reused materials or parts or devices, recycled materials or parts or devices.
- the integrated control unit E504 cooperates the first and second autonomous control units, and uses part or all of the first analysis result as the second analysis result, and the second feedback loop may be reflected in the second device via .
- Figures 15, 16A, and 16B are diagrams for explaining that the CPS described above is devised to further contribute to the reduction of the environmental load.
- the third factory G3 is a factory that manufactures composite parts using materials and raw materials.
- the manufacturing process has, for example, the following steps. Carrying in of materials/materials G31, processing of materials/materials G32, molding/cutting of processed products G33, manufacturing of parts G34. The manufacturing process may then take the steps of procurement of multiple parts G35, assembly of multiple parts G36, and configuration of decoding parts G37. There may also be a packaging step (not shown).
- the additional information G110 of this single part and/or composite part is tabulated and transmitted to and stored in the data storage unit E310 of the cyber space E200.
- the table shows an example of the information format of single parts GA, GB, and composite parts GC.
- Identification data G111, reuse information G112, and recycle information G113 are given as a set to each part.
- An example of a tabulated information format is ⁇ Individual parts GA are provided with identification data A-ID, non-reusable and recyclable information.
- ⁇ The single part GB is given identification data B-ID, reusable and recyclable information
- ⁇ The composite part GC is provided with identification data C-ID, non-reusable and recyclable information.
- ⁇ Items (including materials) are given identification data D-ID and complete incineration information. However, items classified here release carbon dioxide when incinerated, but do not emit harmful substances. Therefore, the material becomes a carbon material after incineration.
- the additional information G110 is given as described above, when the dismantling company dismantles the equipment including the parts as described above, the following additional information G110 is used to effectively utilize the earth's resources without wasting them. It is possible to obtain a reduction in the environmental load that can be achieved.
- Fig. 16A shows the relationship between the fourth factory (dismantling business) E30 and its cyberspace E200, and the fifth factory G5 and its cyberspace E200.
- the cyber space E500 includes an information acquisition unit E501A that acquires specific information necessary for the demolition process from a feedback loop, an information analysis unit EA502 that analyzes the specific information, an information An autonomous operation control unit EA503 that autonomously performs operation control based on the analysis result obtained by the analysis unit is provided.
- a feedback loop is used, and for example, the control unit E503A notifies the workers of the skeleton information of the device or building to be dismantled, as well as the convenient dismantling order, for example, via AR or VR.
- Equipment and building skeleton information, as well as convenient dismantling sequences, are provided as supplemental data by the manufacturer.
- additional information G110 stamped or printed on the parts is read by optical readers such as cameras, laser beams, and infrared rays.
- optical readers such as cameras, laser beams, and infrared rays.
- each part is classified by the belt conveyor group and stored in the form of reuse part or recycle part.
- Information on reused parts and recycled parts is stored in the form of a table in the data storage unit E310 of the cyber space E200.
- the fifth factory G5 is manufacturing a device that can use the parts produced by the dismantling work of the fourth factory G4.
- the cyberspace E500 includes an information acquisition unit E501B that acquires specific information necessary for the manufacturing process from a feedback loop, an information analysis unit EB502 and B that analyzes the specific information, and an information analysis unit E502B. and an autonomous operation control unit EB503 that autonomously performs operation control based on the analysis result acquired in .
- the information acquisition unit E501B also acquires the parts information used in the fifth factory G5. Therefore, the analysis unit E502B can determine whether or not there is part information corresponding to the identification data of the reuse parts and the recycle parts described in the table above. This determination is possible because, for example, the control unit EB503 can refer to the table in the data storage unit E310 via the integrated control unit E504 and the control unit EA503.
- the control unit EB503 asks the person in charge (or worker) of the fifth factory G5 for instructions on whether to use reused parts and/or recycled parts. If the person in charge (or worker) has set in advance to use reused parts and/or recycled parts, there is no need to ask for instructions. In this case, the person in charge of the fifth factory G5 is notified of the names, prices, quantities, etc. of reused parts and/or recycled parts. If necessary, the person in charge specifies the type and quantity of reused parts and/or recycled parts to be used and replies to cyberspace, or notifies that they will not be used. Once the types and quantities of reused parts and/or recycled parts are determined, the control unit E503B can automatically place an order to, for example, a dismantling company.
- the loop control unit in cyberspace has a loop cooperation control unit that constructs or cancels a new feedback loop (second feedback loop) in response to a new analysis result of the autonomous operation control unit. .
- FIG. 16B is a flowchart showing an operation example of the control unit E503B that manages the fifth factory G5.
- SD1 recycled parts or reused parts can be used for devices or composite parts to be manufactured in the future
- SD2 the management office of the factory is notified of the identification data of the recycled or reused part (SD2). If it cannot be used (NO in SD1), it is incinerated without being reused.
- the person in charge permits the use of recycled or reused parts (YES in SD3), it autonomously places an order for parts to the fourth factory G4 (SD4).
- SD4 fourth factory G4
- the person in charge (administrator or craftsman) denies the use of recycled parts or reused parts (NO in SD3), they are not reused and are incinerated as they are.
- FIG. 17A simply shows the manufacturing process of the sixth factory G6.
- This factory G6 has a plurality of manufacturing steps from upstream to downstream of the manufacturing line.
- the production line is controlled by the control section so that the intermediate product at any stage of the production step can be received at the production step suitable for each intermediate product.
- Each robot placed at each manufacturing step is controlled by a first feedback loop. However, when receiving an intermediate product on the way, it is controlled by the second feedback loop.
- the target product Q11 to be manufactured is captured by the first capturing device G201 and placed on the belt conveyor G200.
- the first part is attached by the first robot G211, and then the second part is attached by the second robot G212.
- the target product Q11 has the third part attached by the third robot G213 and then the fourth part attached by the fourth robot G214.
- the target product Q11 having the first to fourth parts is packed by the packing robot G215.
- the above production line has a second take-in device G202.
- This second take-in device G202 moves to any of the positions of a plurality of processes in the manufacturing line (second robot G212, third robot G213, and fourth robot G214) until parts are attached halfway. It is possible to put the target product (intermediate product) into the production line.
- the second take-in device G202 is located at the position of the third robot G213, from which the semi-finished target product Q12 can be input to the production line G200.
- the sixth factory G6 can process the target product Q12 from any process up to the packaging process.
- the autonomous control unit E500 intervenes to operate the other similar factories. It becomes possible to support production. This stabilizes the supply of products to society. In addition, the product production efficiency of society as a whole is improved, which in turn contributes to the reduction of the environmental load.
- FIG. 17B simply shows the manufacturing process of the seventh factory G7.
- the seventh factory G7 has two production lines G400 and G500.
- Production lines G400 and G500 are arranged in parallel. That is, the factory has a first production line and a second production line, and a control section that controls the production lines controls each production process via a first feedback loop.
- the control unit further performs control for allocating the first product and the second product conveyed on the common conveying path to the first production line and the second production line.
- This product take-in device G45 can selectively introduce, for example, an object to be processed or an object to be assembled into either one of the production lines G400 or G500.
- Work robots G411, G412, G413 and G414 are arranged in order on the production line G400, and work robots G511, G512 and G513 are arranged in order in the production line G500.
- the work robots G411, G412, G413, and G414 are robots that perform cleaning G411, color paint spraying G412, drying G413, and packing G414, respectively.
- work robots G511, G512, and G513 are robots that perform stamping G511, cleaning G512, and packing G513, respectively.
- FIG. 18 shows an example of a support program possessed by the autonomous control unit E500 in the cyberspace E200.
- This support program refers to a database in which supportable work information is received from various factories in advance and accumulated.
- support request information from various factories accumulated in the database.
- the supportable work information and the support request information include information such as date and time when support is possible or support is requested, or information such as date and time zone, factory area, work content, and the like.
- the support program analyzes information from each factory (SF1). For example, it is determined whether or not there is information of "request for assistance" regarding manufacturing of parts (SF2).
- the request is, for example, "parts procurement request” (SF3), “worker request” (SF5), “manufacturing line request” (SF7), “manufacturing robot repair parts request”. (SF9).
- the support program determines the stock information of the relevant part manufacturing factory or dealer and notifies the manager of the requesting factory or company (SF4). If it is a "worker request” (SF5), the support program will notify the person who has experience in manufacturing the part in question or the person who has similar work experience in another factory (in this case, to the person close to the requesting factory priority notification). If it is "manufacturing line request” (SF7), notify the manager of other factories that have the same production line as the requesting factory's production line, and also notify the requesting factory manager. (SF8). If it is a manufacturing robot repair part request" (SF9), the company that sells or manufactures the repair parts is notified, and the manager of the factory that has the same manufacturing robot is also notified (SF10).
- SF5 the stock information of the relevant part manufacturing factory or dealer and notifies the manager of the requesting factory or company
- SF5 the support program will notify the person who has experience in manufacturing the part in question or the person who has similar work experience in another factory (in this case
- the information management system shown in FIGS. 17A, 17B, and 18 is an information management system for a manufacturing line in which a plurality of robots are sequentially arranged in the manufacturing process.
- a first control unit determines support request information related to product manufacturing from edge computers in a plurality of factories.
- the second control unit determines that the content of the first control unit is at least one of parts procurement, worker request, manufacturing line request, and manufacturing robot repair parts request.
- the third control unit notifies the manager of another factory having the same production line as the production line of the requesting factory of the request, and Also notify the manager of the requesting factory.
- FIGS. 17A, 17B, and 18 described above can be handled in the same manner as the cases described in FIGS. 2B to 2F. That is, it means that the loop control unit in cyberspace is performing a loop cooperation control unit that constructs or cancels a new feedback loop in response to a new analysis result of the autonomous operation control unit.
- FIG. 19 shows a basic configuration example of a power plant H100 that does not emit nitrogen oxides, uses part of carbon dioxide CO 2 cyclically, and can reduce the environmental load.
- H101 is the oxidant supply source
- H102 is the fuel supply source.
- the oxidizing agent Fo and the fuel Ff are supplied to the combustor H104 after adjusting the supply amount by the nozzle H103.
- the oxidant Fo is, for example, supercritical oxygen.
- the fuel Ff is, for example, a supercritical mixture containing natural gas and carbon dioxide.
- the nozzle is also supplied with a working fluid Fw, for example, supercritical carbon dioxide.
- the fuel Ff may be other hydrocarbons such as methane or coal gasification gas.
- the combustor H104 burns the oxidant Fo and fuel Ff adjusted by the nozzle H103.
- the flow rates of the oxidant Fo and the fuel Ff are adjusted so as to achieve a stoichiometric mixture ratio when they are completely mixed.
- adjustment of the mixing amount of the oxidizing agent Fo and the fuel Ff may be performed by a craftsman (skilled worker or worker). While watching the combustion state in the combustion chamber, the craftsman may use his five senses, such as sight and hearing, to adjust the amount of mixture.
- the combustor H104 vigorously discharges the combustion gas Fc.
- the combustion gas Fc1 contains carbon dioxide and water vapor produced by combustion, and carbon dioxide as the working fluid Fw.
- This combustion gas Fc1 is introduced into the turbine device H105 to rotate the turbine. The rotation of the turbine drives the generator H106 through the rotating shaft. Electricity generated by the generator H106 is used for various purposes.
- the combustion gas Fc2 that has expanded and done work contains carbon dioxide and moisture.
- the combustion gas Fc2 passes through the first heat exchanger H107.
- the combustion gas Fc2 the temperature of which has been lowered by the first heat exchanger H107, is further lowered by the first heat exchanger H108 and introduced into the moisture separator H109, where the water H110 is separated. be done.
- Carbon dioxide is discharged from the moisture separator H109, and this carbon dioxide is guided to the compressor H111.
- Compressor H111 outputs high pressure carbon dioxide (dried combustion gas). This high-pressure carbon dioxide is recovered, for example, in a recovery device. Also, high-pressure carbon dioxide is used as the working fluid Fw.
- the above power generation system may involve craftsmanship for its combustion control.
- small-sized, medium-sized, and large-sized ones may be constructed.
- the loop connection unit in cyberspace may have a loop cooperation control unit that constructs or cancels a new feedback loop in response to a new analysis result of the autonomous operation control unit.
- FIG. 20 is an explanatory diagram showing an embodiment when a program (software) service is provided by this CPS.
- a program (software) service is provided by this CPS.
- the integrated control unit E504 is provided with a plurality of types of management units J10, J11, J30, J20, and J21.
- the control program ⁇ management unit J10> and the car navigation system ⁇ management unit J11) are used for the cars J101-J104 until they are loaded onto the ship J110 in the country J201.
- country J202 a control program ⁇ management unit J20> and a car navigation system ⁇ management unit J21> are downloaded from cyber space E200 to cars J101-J104. This processing is performed autonomously.
- control program for driving is configured to maintain the vehicle's speed limit
- the control program when the vehicle is in country J201, the control program operates to comply with country J201 regulations.
- the car navigation system J11 executes road guidance adapted to the country J201.
- the program for operation control may be a program of a level capable of realizing the minimum functions of unloading from a ship or vehicle until the cargo arrives at the export destination country J202.
- cars J101-J104 are transported by ship J110, but even if they are transported by freight trains or large trucks, they will be handled in the same way as the above example. is possible.
- the loop cooperation control unit of the loop connection unit in the cyberspace E200 can work on cars and home electric appliances as well.
- the loop cooperation control section can control internal programs. For example, it is possible to put the built-in programs of cars and home appliances into a dormant state during transportation, and activate them when sales are decided.
- the CPS in this embodiment can be easily applied not only to the manufacturing process but also to various service businesses (export industry, transportation industry, demolition industry, etc.).
- the same technique as the technique explained with reference to FIG. 20 can be applied to composite parts, for example, if a local control program is installed.
- a local control program is installed.
- the first control program management unit is an information management system for devices to be exported and imported, is located in cyberspace, and receives location information and Information on a control program used in the device is received, and a first control program is set in the device.
- FIG. 21 is a diagram explaining that various equipment (automatic driving robots, drones), etc. in the factory are ready to be dispatched when an accident or disaster occurs in the surrounding area (city, station, etc.). The state of physical space is managed and watched in cyberspace.
- automatic traveling robots P311, P312, P313, and P314 are used to transport materials and parts. Drones P315 and P316 may also be used. Autonomous robots P311, P312, P313, P314, drones P315, P316, etc. are prepared to be dispatched and contribute to the surrounding area in the event of an injury or disaster in the surrounding area P100. Autonomous robots P311, P312, P313, P314, drones P315, P316, etc. are obliged to pass through the disinfection/cleaning gate P320 when leaving the factory premises or returning from outside.
- a peripheral area P100 includes a department store P101, a school P102, a supermarket P103, a private house, and the like.
- This situation is notified to the cyberspace by edge computers installed in department stores P101, schools P102, supermarkets P103, private houses, or IoT equipment such as surveillance cameras, and the police station P201, fire station P202, and hospital P203 is automatically notified.
- This notification may be sent directly from the edge computer to the police station P201, fire station P202, and hospital P203, or may be sent via cyber space.
- Emergency response manuals are set in advance. , Secure a lead line (road) for the rescue team to rush to the scene. Such emergency information is notified to the police headquarters and automatically transmitted to cyberspace. The emergency information is then analyzed by the autonomous control unit E500 and notified to the fire station P202 and hospital P203, as well as to the edge computer of the local factory P310.
- the above emergency information issued by police officers can be said to be equivalent to so-called craftsmanship data (five senses data) if it is information by experienced police officers. In other words, in some cases, even more ingenuity is made to the information provided in the manual, and in many cases, ingenuity is made.
- the factory P310 can preset automatic traveling robots P311, P312, P313, P314 and drones P315, P316 that can be used in an emergency.
- a work order is sent from cyberspace to the autonomous driving robots P311, P312, P313, P314 and the drones P315, P316 via feedback loops.
- parameters such as map information of the emergency site and road information of the conductor secured by the police are also notified to the robot or drone, and transported goods (food, water, medical equipment, etc.), shooting of the scene , TV relay, etc. can also be assigned.
- workers in the factory can accompany the robot if necessary.
- the autonomous control unit E500 in cyberspace E200 uses a feedback loop to dispatch a rescue boat or the like. It is also possible to command.
- the camera-equipped drones P315 and P316 can monitor, for example, the frozen state of the roads in their area of jurisdiction.
- the autonomous control unit E500 constantly acquires weather forecast information and can predict the weather in manageable areas. is.
- the above functions can be easily deployed not only in the regional area P100, but also, for example, in the station premises when multiple passengers suddenly become ill.
- the cyberspace control unit has a function to grasp the usage status of AEDs in a predetermined area (inside the station), and if it is determined that there is a shortage, the local factory P310 automatically switches to the AED. Feedback can be used to command replenishment.
- a drone may be used as a means of transportation from the factory P310 to the predetermined area (inside the station).
- the station staff can also communicate with the telemedicine institution L124, as explained above. Through this communication, the on-site station staff can receive advice from a doctor belonging to the remote medical institution L124 when treating an emergency patient.
- This self-driving robot can, for example, communicate with a traveler's mobile terminal.
- the traveler registers the device identification data of the mobile terminal in the control unit of the autonomous driving robot and presses the "carry" command button from the mobile terminal
- the autonomous driving robot moves behind the traveler holding the mobile terminal. can be tracked. Therefore, by placing heavy luggage on the automatic traveling robot, the traveler can move around the station without having to carry luggage.
- the self-driving robot can automatically return to the waiting area.
- Such control can be realized by cooperation between the edge computer in the station and the control unit E500 in cyber space.
- the luggage mentioned above may be a stroller.
- the self-driving robot has a camera and person recognition function.
- the autonomous driving robot captures and recognizes the traveler's whole body posture, clothing shape and color, face, shoes, etc. with a camera. can do.
- the self-driving robot constantly checks the traveler's whole body posture, clothing shape and color, face, shoes, etc. It is also equipped with a microphone and speaker, and when the traveler tells the track number, train name, vehicle number, etc., it refers to the map data and guides the traveler to the desired track (platform). is also possible.
- cyberspace can autonomously implement countermeasures against such events.
- information provision eg, accident status, scale of disaster, etc.
- the autonomous control unit in cyberspace can manage the reservation and reservation of accommodation facilities such as hotels in order to make the victims evacuated according to the situation of the victims.
- FIG. 22 shows the basic configuration of an autonomous vehicle and drone (hereinafter simply referred to as a robot) P500.
- a rechargeable battery for example, a secondary battery
- the control unit P510 supervises the overall operation.
- the control part P510 reads the program of the program part P511 and controls the whole according to the program procedure.
- the control unit P510 controls, for example, the video camera P513, stores captured video data in the memory P512, and/or transmits the data to the administrator of the cyber space and/or the robot via the transmitter/receiver P516. It also transmits information such as the remaining amount of the battery P501 and the estimated future work time to the cyber space and/or the administrator.
- Transceiver P516 also has near field communication capabilities, Wi-Fi®, and beacon wireless communication capabilities. Therefore, this robot can also communicate with mobile terminals.
- control unit P510 receives a signal from the GPS function P571 and grasps its own running position or flying position. This location information is also transmitted to the cyber space and/or the administrator, for example, at intervals of 5 seconds to 10 seconds.
- the control unit P510 controls the first drive circuit P522 and controls the movement/rotation mechanism (engine) P524. With this control, the robot P500 can move freely according to a program or by autonomous judgment.
- Autonomous judgment is, for example, that a temperature sensor (not shown) determines that if the surrounding temperature becomes abnormally high and the robot itself is in danger, it will move away from the danger area.
- Such actions based on autonomous judgment are stored in advance in the program section P511 as a basic program (which may be referred to as a reflex-type program).
- a basic program which may be referred to as a reflex-type program.
- the execution program (which may be called a thinking program) for causing the robot P500 to perform activities according to its purpose is in the program part P511, but it is rewritable.
- an execution program for performing assigned work is installed in the program section P511, and when going out (when dispatched), an execution program corresponding to the dispatch purpose is installed in the program section P511.
- an execution program such as monitoring the surroundings and directing traffic, delivering medical supplies to the injured, or delivering life-saving tools to the victims, or a combination of these programs It is installed in the part P511.
- the movement/rotation mechanism P524 is, for example, a wheel for automatic driving, a foot for walking, or a caterpillar, and there are various types. Therefore, the type of the moving/rotating mechanism P524 can be changed according to the work site.
- an adapter mechanism P523 is used between the robot body and the moving/rotating machine P524.
- the control unit P510 can also control the work machine P528 via the second drive circuit P525.
- the work machine P528 also has various types depending on the type of work, so measures are taken to enable replacement.
- an adapter mechanism P527 is used between the robot body and the work machine P528.
- FIGS 23 and 24 show an example of an edge computer management method.
- Various data are uploaded to the cyber space E200 from many edge computers in the physical space E100. For this reason, in cyberspace E200, it is necessary to manage edge computers and appropriately manage the source of data or the destination of feedback data.
- the globe R100 is divided into the northern hemisphere and the southern hemisphere with the equator as the boundary.
- the surface of the globe R100 is two-dimensionally divided into horizontal lines (latitude lines R101) and vertical lines (longitude lines R102).
- the North Pole P part is set as country (government) P.
- the South Pole S portion is set as a human brain.
- a portion corresponding to the equator is set as a household (person) Q14.
- a plurality of latitude lines from the equator to the North Pole P country (government) Q11
- a plurality of stepwise regions such as home (person) Q14, population (region (community)) Q13, city Q12, and country Q11.
- tiered areas such as human history, sex, age, human body skin, arms, legs, muscles, bones, organs, and brain.
- This type of information can be personal information and is treated as confidential information.
- a plurality of areas divided by a plurality of meridians are the information sources of the various industries described above (craftsmanship E10, energy business E11, information and communication Business E13, transportation business E14, building management business E15, advanced medical and preventive medicine business (including precision medicine) E17, infrastructure business (including roads and bridges) E20, agriculture E25, commerce (including logistics) ) business E29, factory-related business E30, etc.).
- this CPS can be effectively used for various service businesses.
- Fig. 25 is an explanatory diagram of a system that links a large number of cyberspace data.
- Edge computers were used in the above business classifications. For this reason, even if a large number of cyberspaces are created, it is easy to link the data of many cyberspaces.
- cyberspace is formed in units of factories, regions, and countries. When multiple cyberspaces are created in this way, a super integrated control unit that mediates between cyberspaces and other cyberspaces is required.
- a super integrated control unit E550 for integrating cyberspaces E2001, E2002, E2003, E2004, . . . is installed.
- Cyberspace E2001, E2002, E2003, E2004, . . . manage edge computers E9001, E9002, E9003, .
- the super integrated control unit E550 is positioned further above the cyber space, and integrates the edge computers E9001, E9002, E9003... managed in the cyber space E2001, E2002, E2003, E2004,... and manage.
- the super integrated control unit E550 controls the environmental It is possible to search for factories with excellent load control. For example, the eighth factory and the ninth factory have almost the same production efficiency. In the case of factory No. 9), the environmental load is not effectively controlled.
- the super integrated control unit E550 controls the program and its parameters used for the manufacturing process in the excellent factory (the eighth factory) and the programs and the parameters of the other factories (the factory where the control of the environmental load is inferior (the ninth factory)). Programs and their parameters can be compared to detect different elements. Then, the different elements can be notified to the ninth factory, and reduction of the environmental load can be requested.
- FIG. 26 is an explanatory diagram shown to explain another application example of the edge computer management system.
- the super integrated control unit E550 and the local integrated control unit E504 belonging to the local cyberspace identify and manage industry-specific edge computers.
- the power consumption of each industry is classified as an aspect (or axis)
- the related number of workers is classified as an aspect (or axis)
- the related region is classified as an aspect (or axis). can do.
- FIG. 26 it is possible to visualize and show, for example, the amount of power consumption for each business type, for example, using an image diagram of the northern hemisphere.
- power consumption T14 and T15 are shown.
- the transportation business E14 and the building management business E15 consumes more power. Become. It is also possible to compare power consumption between businesses on a local or global scale. Furthermore, by devising the use of the integrated control unit, power consumption can be calculated for each of a plurality of phased areas such as home (people) Q14, people (regional (community)) Q13, city Q12, and country Q11. It is also possible to observe the distribution. Note that the super integrated control unit E550 and the local integrated control unit E504 may be integrated. Alternatively, there may be a control unit for industry-specific energy information processing.
- the system is an information management system that manages a plurality of cyberspaces and edge computers in physical spaces connected to the respective cyberspaces, wherein the first control unit classifies the edge computers is used as a classification division that identifies the industry to which the edge computer belongs. Further, the second control unit performs data processing for identifying the power consumption information sent from the edge computer according to the industry.
- the above is for observing the amount of energy used, but it is also possible to estimate the distribution of capital by referring to the distribution of the number of workers, the distribution of occupied areas (areas), and external information.
- the above idea is also applicable to the relationship between a single cyberspace and multiple edge computers.
- FIG. 27A is an explanatory diagram showing an example of a sensor and/or edge computer management method.
- Edge computers E9001, E9002, and E9003 in the physical space E1001 each transmit information from sensors (IoT devices) to the cyber space E2001.
- the identification information of the sensor (IoT device) is also transmitted. Therefore, the local integrated control unit E504 in the cyberspace E2001 can grasp what kind of sensors are used in the physical space E1001, and can classify and manage the sensors for each edge computer.
- FIG. 27B shows an example of a table TA1 in which, for example, the local integrated control unit E504 manages sensors used in the physical space E1001.
- the local integrated control unit E504 can use this table TA1 to detect when a new edge computer is added or when an edge computer is removed. Also, the local integrated control unit E504 can easily manage when a sensor controlled by the edge computer is removed or when a new sensor is added.
- the edge computer may disappear from the management information, and when the urban area is restored, a new edge computer may be added to the management information. .
- the edge computer may disappear from the management information, and when the urban area is restored, a new edge computer may be added to the management information. .
- manufacturing and sales information for products for example, sensors
- environmental load information it is possible to manage
- the feedback loop manager is provided in the cyberspace platform K100 (FIG. 2A) (in the system control unit E300 in FIG. 4).
- robots are the targets for which feedback loops are most utilized.
- Feedback loops are employed in robot servomechanisms.
- the performance of robots affects product manufacturing and assembly efficiency, product quality, and worker safety.
- the performance of robots ie, feedback loop aggregates
- the performance of feedback loops used in mobiles such as unmanned vehicles and drones used in the service field affects the stability, safety, and accuracy of control of mobiles.
- the following description specifically describes a feedback loop manager that can evaluate the performance of feedback loops and select competent feedback loops.
- the feedback manager can use the data generated and used in the feedback loop to evaluate the feedback loop.
- the data generated in the feedback loop includes various sensor output data used in the feedback loop, and control data generated based on the sensor output data and the target value (for example, the difference between the target value and the sensor output data). value), etc. Also, the data used in the feedback loop includes the target value.
- FIG. 28A shows how the robot 3111 attaches screws to the substrates 3003 and 3004 conveyed by the belt conveyor 3002 .
- Various sensors are arranged around the robot 3111 to control the attitude of the robot 3111 .
- a movement position sensor 3011, an angle sensor 3012, a rotation position sensor 3013, a temperature sensor 3014, a humidity sensor 3015, a sound sensor 3016, an odor sensor 3017, and a Co2 sensor 3018 are shown as examples.
- a condition monitoring sensor (eg camera) 3019 is also provided.
- the movement position sensor 3011 detects, for example, the standing position of the entire robot 3111, and detects whether the robot 3111 is positioned at a predetermined movement position marked on the floor, for example.
- position detecting means such as camera-based mark detection, GPS, beacon, Wi-Fi (registered trademark), PDR (Pedestrian Dead Reconing), IMES (Indoor Messaging System), ultrasonic waves, etc. is used. be done.
- the angle sensors 3012 are arranged on the robot's head, arms, legs, torso, etc., and are used to detect angles indicating the direction of the head (face) (up and down, left and right, front), bending angles of each joint of fingers, wrists, arms and legs, It is used to detect the bending angle of the torso.
- the rotational position sensor 3013 is used to detect the rotational angles of the wrist, arm, and leg joints, the rotational angle of the body, and the like.
- the temperature sensor 3014 and humidity sensor 3015 are used to detect the temperature and humidity around the robot, the temperature and humidity in the working room, and the temperature around the motors used in the robot.
- the sound sensor 3016 is used to pick up spatial sounds in the workplace around the robot 3111 and sounds generated near the parts controlled by each feedback loop. Odor sensors 3017 are utilized to detect odors generated in the workspace space around robot 3111 and near components controlled by each feedback loop.
- the detection output from the sensor is transmitted to the robot control section 3030 via the sensor output detection circuit 3010 .
- the sensor output detection circuit 3010 and the control unit 3030 are connected by wire or wirelessly.
- the control unit 3030 has a process control program processing unit 3032 and a target value memory 3031.
- the process control program 3032 sets the behavior procedure of the robot 3111 .
- the control unit 3030 controls the motor group 3050 equipped on the robot 3111 via the power controller 3041 .
- Rotation of the motor group 3050 is converted into power in a desired direction by the power converter group 3051 respectively.
- Power converter group 3051 thus includes gears, belts, arms, cams, and the like.
- the converted power is transmitted to a group of driven machines 3053 (hand joint mechanism, arm joint mechanism, ankle joint mechanism, torso of the robot) via a power transmission device group 3052 (arm, belt, pulley, wire, hinge, etc.). rotation mechanism, torso bending mechanism, moving wheels).
- the process control program 3032 processes the feedback data from the sensors that detect its state.
- the process control program 3032 reads the target value of each sensor from the target value memory 3031, compares it with the feedback data (sensor output), and obtains the value of the difference. If the value of the difference is within the allowable value, it means that the target attitude has been controlled. However, if the difference value exceeds the allowable value, the motor group 3050, the power converter group 3051, and the power transmission device group 3052 are controlled so that the difference value is within the allowable value. Continue (control the feedback loop group).
- control unit 3030 Various data handled by the control unit 3030 are transmitted to the cyberspace E200 via the network NET.
- FIG. 28B is a flowchart shown to explain the basic behavior of the robot 3111.
- SG1 When the process control program 3032 starts, the robot 3111 is first set to its basic posture (initial posture). For this purpose, the process control program 3032 reads the target values from the target value memory 3031, prepares them, compares the initial data of each sensor with the target values, and according to the difference value, controls the motor group 3050 and the power converter group. 3051, controls the power transmission device group 3052 so that the value of the difference is within the allowable value (performs feedback loop control). SG2: Next, the process control program 3023 performs control for changing the attitude control so that the robot 3111 faces the direction of the screw feeder (not shown).
- SG3 Next, the process control program 3023 performs control so that the robot 3111 grabs and retrieves a screw from a screw feeder (not shown).
- SG4 Next, the process control program 3023 controls the robot 3111 to return to the basic posture.
- SG5 Next, the process control program 3023 uses the camera mounted on the robot 3111 to execute processing for determining whether or not there is a substrate on the belt conveyor.
- SG6 When it is determined that there is a substrate on the belt conveyor, the process control program 3023 controls the posture of the robot 3111 in the direction of the belt conveyor, and extends its arm so that the hand is positioned near the substrate. , to perform robot state control.
- SG7 Next, the process control program 3023 rotates the arm of the robot 3111 to control screw tightening to the board.
- SG8 Next, the process control program 3023 controls the robot 3111 to return to its basic posture.
- SG9 Next, the process control program 3023 determines whether there is an end or stop command. If there is no end or stop command, the process returns to step SG2 and causes the robot 3111 to perform the next screw tightening operation. When there is an end or stop command, the screw tightening work of the robot 3111 ends.
- the end or stop command is designed to occur when the process control program 3032 receives input from the outside or when the substrate image from the camera cannot be acquired within a certain period of time.
- FIG. 28C shows operations in a further middle layer of the process control program 3032. In other words, it shows how a plurality of feedback loops operating based on the outputs of a plurality of sensors are operated in a plurality of steps.
- SH1 There is an operation start command, and the operation of the feedback loop group in the specified step (SG1 or SG2 or . . . SG9 in the previous example) is started. In order to control the robot, multiple feedback loops with various sensors are operated simultaneously or staggered.
- SH2 A determination is made whether the required feedback loop groups have been run in the current step. If the operation is not completed, SH1 and SH2 are repeated. The judgment at SH2 corresponds to, for example, whether or not the previous basic attitude has been set, or whether or not the attitude of the robot has been changed toward the screw feeder.
- SH3 If YES in SH2, the operation of each feedback loop in the feedback loop group in the next step is started. At this time, the time required for processing one of steps SG1, SG2, SG3, . . . SG9 is also measured and recorded.
- SH4 It is determined whether or not the operation of the feedback loop group in all steps (SG1, SG2, SG3, . . . , SG9) has been completed. . However, when the processing in the last step is completed (in the previous example, when the stop command is input at SG9), the operation is stopped.
- FIG. 28D shows operations in a lower layer of the process control program 3023. That is, it shows steps SH11 to SH20 included in the previous steps SH1 and SH2.
- SH11 Find the difference between the sensor output of the feedback loop currently being operated and its target value.
- SH12 If the value of the difference (D) is much larger than the allowable value ( ⁇ ) and is an abnormal value (if it deviates greatly from the target value), an abnormal (emergency) stop is made (SH20).
- SH13 If the difference value (D) is not an abnormal value but is greater than the allowable value ( ⁇ ), the processing of the loop of SH13, SH14, SH15, SH11, and SH12 is repeated in order to reach the allowable value ( ⁇ ). be done. However, when the set time for loop operation is exceeded (determined in SH14), abnormal stop occurs (SH20). The problem is that the feedback loop is malfunctioning.
- SH16 In SH13, if the difference value (D) is found to be smaller than the allowable value ( ⁇ ), reconfirm that it is within the allowable value ( ⁇ ).
- the permissible value ( ⁇ ) is not a fixed value, but a value with a certain degree of minute variation range (variation level), and various values within this minute variation range determine the loop performance and the state of the robot. is a value that can be used for SH17: If reconfirmation was obtained at SH16, establish the control state of the loop and save the difference value (D).
- SH18 Determine if there is a next feedback loop that needs to find the difference value, if so go to SH11.
- SH19 If the next feedback loop does not exist, at SH19 the operation of the feedback loop group in the next step (SG2 or . . . SG9) is started.
- the robot realizes the desired movement by executing the operation of the feedback group group for each step.
- FIG. 29 shows how feedback loop data is accumulated in the feedback loop data storage section 4001 of the data accumulation section E310 of the cyberspace E200 based on the robot control described above.
- the types of various feedback loops are indicated as FBL-S1, FBL-S2, FBL-S3, . Steps SG1-SG9 are shown.
- Feedback loop data (accumulated data, can be said to be specific information) includes the robot name, the robot's specialized work, age (years of use), address (location factory address and location within the factory), repair history, and inspection history. Further, the difference value (within the allowable value ⁇ specific values, abnormal values, etc.) are described.
- the arrow St in the figure indicates the direction of steps SG1 to SG9 in FIG. 28B, and the arrow Ct in the figure indicates the repetition of the basic motion of the robot (for example, the process of grasping a screw from the basic posture, attaching the screw to the substrate, and returning to the basic posture). repeat).
- the accumulated data includes information such as which feedback loop stopped abnormally in which step in which robot, which feedback loop exceeded the set time, what kind of sound occurred in which feedback loop, and so on. Including in which feedback loop the odor occurred.
- the “difference value” obtained in each feedback loop is also included in the accumulated data.
- the “difference value” is data at the time when it is detected to be within the allowable value ⁇ .
- the camera image 4002 of the robot, the target value 4003 described above, the abnormal stop history 4004, and the set time over history 4005 when the maximum time (set time) of loop operation is exceeded are also stored.
- steps SG1-SG9 the time required for processing one step is also recorded in the table.
- FIG. 29 shows the inside of the electronic brain E300 in a simplified manner for the sake of explanation.
- the feedback manager 4010 is provided in the platform in FIG. 2A and corresponds to an information acquisition unit K111 that acquires specific information via a feedback loop, an information analysis unit K112 that analyzes the specific information, and the like. In FIG. 4, it corresponds to an acquisition unit E501, an analysis unit E502, a control unit E503, etc. inside the autonomous control unit E500.
- the feedback loop manager 4010 reads the data in the storage unit 4001 and evaluates the feedback loop.
- the evaluation content and evaluation method differ depending on the purpose of using the results.
- the accumulated data described above is effective data for evaluating the feedback loop and, as a result, determining, for example, the characteristics of the robot.
- steps SG1-SG9 it can be judged that a robot with a short required time for one step has good work efficiency.
- the feedback manager 4010 of the electronic brain (system control unit) E300 includes a feedback loop evaluator 4011 and its evaluation data storage 4012 .
- the feedback loop evaluator 4011 refers to the data in the feedback loop data storage unit 4001 described above, evaluates the characteristics of each robot, and stores the evaluation data in the evaluation data storage 4012 .
- the characteristics of the robot can be evaluated, for example, according to the work content of the robot. In other words, the robot can be made to perform various tasks, and target values corresponding to the tasks can be prepared.
- the above accumulated data can also be used effectively when comparing robots of the same model.
- the target value for operating one robot is used as the target value for operating the other robot. Then, let the two robots do the same work. After that, the feedback loop data (accumulated data) of each robot is compared.
- the difference value of which feedback loop is causing the difference may be affected by the robot mechanism to which the feedback loop is concerned, for example in a second robot in which a feedback loop is deployed which causes a difference in the value of the difference. Therefore, when repairing or inspecting the second robot, the "difference in the value of the difference" becomes effective reference data. It can also be used as reference data when manufacturing the third robot.
- the Takumi may adjust the target value of the first robot's feedback loop.
- the adjusted target value may then be used as the target value of the second robot's feedback loop. This allows the craftsmanship to be transferred from the first robot to the second robot.
- the data used in the feedback loop (target value), the difference between the feedback loop sensor and the target value, the machine (robot) operation including the control of multiple feedback loops It is possible to evaluate at least one feedback loop by accumulating reference data such as the time required for one step.
- An information management system that autonomously controls operation in manufacturing processes and/or services, a loop connector that constructs a first feedback loop of the cyber-physical system; an information acquisition unit that acquires specific information necessary for the manufacturing process from the first feedback loop; an information analysis unit that analyzes the specific information; an autonomous operation control unit that autonomously performs the operation control based on the analysis result obtained by the information analysis unit; A loop cooperation control unit that is constructed by cooperation of the loop connection unit and the autonomous operation control unit and that forms a new second feedback loop in response to the new analysis result;
- An information management system comprising:
- the new second feedback loop may be a feedback loop that has existed but has not been used until now and has been activated again.
- the new second feedback loop may be a new feedback loop that has never existed before.
- the novel second feedback loop may be formed by bundling a plurality of feedback loops.
- the plurality of feedback loops is a bundle of either an existing feedback loop and a new feedback loop bundle, or a plurality of existing second feedback loop bundles, or a plurality of new feedback loop bundles. good too.
- the information analysis unit and the loop connection unit construct the first feedback as a first control loop for controlling a first controlled object that is a manufacturing process, and the information analysis unit and the loop
- A3 The information management system according to (A2), wherein the information analysis unit and the loop cooperation control unit cancel the second feedback loop when the control purpose of the second feedback loop is completed.
- the information analysis unit and the loop cooperation control unit analyze the control result of the second feedback loop, and further operate the third feedback loop according to the analysis content to the first control loop and the The information management system according to claim (A2) or (A3), constructed as a third control loop that controls a third controlled object different from the controlled object of the second control loop.
- A5) The information management system according to any one of (A1) to A4), wherein loop control by at least the first feedback loop and the second feedback loop is applied to a power generation control system of a power plant.
- the above specific information includes expert adjustment data obtained through experience and/or skill.
- the specific information includes information on the five human senses, or is generated by analyzing data obtained from a biosensor worn by a human, or includes at least one of renewable energy production information, consumption information, and environmental load information, or the feedback loop includes a digital twin (digital double) constructed of personal information; or
- the information analysis unit analyzes the specific information based on a craft data model that models human ability and experience, or
- the autonomous operation control unit selects the optimum production line for manufacturing the target product based on the analysis result, or
- the manufacturing line is equipped with at least 3D printing capabilities and manufactures products based on the specified information including at least a remote product manufacturing request, or
- the manufacturing process includes a first manufacturing process and a second manufacturing process, and the autonomous operation control unit feeds back first specific information obtained in the first manufacturing process to the second manufacturing process. Includes a means to reflect in a loop, or includes a combination of the above items.
- a method of forming a device that forms a cyberspace of a cyber-physical system comprising: a loop connection step of connecting a first feedback loop of the cyber-physical system; an information acquisition step acquired from the feedback loop of 1, an information analysis step of analyzing the specific information, and an autonomous operation control step of autonomously performing the operation control based on the analysis result acquired by the information analysis unit; and a loop cooperation control step included in the loop connection step and constructing a new second feedback loop in response to a new analysis result of the autonomous operation control step.
- a loop connection unit that connects the feedback loop of the cyber-physical system, an information acquisition unit that acquires specific information necessary for the manufacturing process of the factory or facility and/or the service industry from the feedback loop, and information that analyzes the specific information.
- An analysis unit and an autonomous operation control unit that autonomously performs operation control based on the analysis result obtained by the information analysis unit are provided.
- the integrated control unit of the autonomous operation control unit has a function of issuing a command to the robot waiting in the factory or facility to move out of the factory or facility.
- the integrated control unit of the autonomous operation control unit refers to information from the police, who are experts, as guidance information on the movement route of the dispatched robot.
- D1 It is a device that forms the cyberspace of the cyber-physical system.
- An integrated control unit is provided for detecting identity or difference between a first program obtained from an edge computer or gateway and a second program obtained from a second edge computer or gateway.
- D2) According to the difference, have a means to transfer the parameters of the program used on one edge computer side to the other edge computer side.
- D3) The porting is performed from the first power plant to the second power plant.
- the first and/or second power plants are plants that use nuclear power, thermal power, or renewable energy.
- E1 It is a device that forms the cyberspace of the cyber-physical system. It comprises a loop connection unit, an information acquisition unit, an information analysis unit, and an autonomous operation control unit, and the loop connection unit is connected to a plurality of edge computers or gateways in physical space.
- a control unit is provided that can autonomously provide different programs to the edge computers or gateways according to the movement positions of the plurality of edge computers or gateways.
- the plurality of edge computers are installed in devices that are exported or imported, respectively.
- F1 A device that forms the cyberspace of a cyber-physical system. It comprises a loop connection section, an information acquisition section, an information analysis section, and an autonomous operation control section, and the hoop connection section is connected to a plurality of edge computers in the physical space. It has an integrated control unit that classifies and manages the plurality of edge computers according to the industry to which they belong. F2) The integrated control unit creates visualization data for comparing power consumption amounts transmitted from the plurality of edge computers. F3) The integrated control unit receives sensor identification data uploaded from the plurality of edge computers, and combines the identification data of the plurality of edge computers with the identification data of the sensors managed by the plurality of edge computers. are placed in a table and the identification data is monitored to determine plug-in or plug-out.
- G1 A device that forms the cyberspace of a cyber-physical system. It comprises a loop connection section, an information acquisition section, an information analysis section, and an autonomous operation control section, and the hoop connection section is connected to a plurality of edge computers in the physical space. It has an integrated control unit that classifies and manages the plurality of edge computers according to the industry to which they belong. Furthermore, it is equipped with means for calculating the amount of energy used for each business type and performing control for visualization.
- FIG. 2A an edge device E900 in the physical space (E100); Cyber space (E200) platform K100, a feedback loop provided between the edge device and the platform; an information acquisition unit K111 that is provided in the platform and acquires specific information via the feedback loop; and an information analysis unit K112 that analyzes the specific information; an autonomous operation unit K113 that autonomously performs operation control and/or service for the device in the physical space based on the analysis result analyzed by the information analysis unit; Information management system with
- J2 (0065) (Reduce environmental load)
- the data obtained from the analysis result is data that reduces the environmental load caused by the operation of the device, and data that controls any or a combination of air volume, temperature, and humidity in the surrounding environment of the device. is. J3) (Fig. 12A) (Reducing environmental load)
- the data obtained from the analysis result is data for reducing the environmental load caused by the operation of the device, and the power consumption of the device. Data that controls usage.
- J4 (Fig. 12B) (Reducing environmental load)
- the data obtained from the analysis results are used to control the total power consumption caused by the operation of the above-mentioned device and devices different from the above-mentioned device. , data for requesting the different devices to cooperate in reducing power consumption.
- J5 (Fig. 2C) (using five senses information)
- the data obtained from the analysis results are Data for maintaining the quality of the product manufactured by the device and/or for controlling the stable operation of the device, and data reflecting a part of the five senses information of the operator who operates the device. be.
- J6 (Flexibility (including use of five senses information and reduction of environmental load))
- the data obtained from the analysis result is data for switching the program used in the device.
- J7 (FIGS. 2C, 5B)
- the five sense information of the worker is one or a combination of at least visual, auditory, tactile and olfactory information.
- an information analysis unit K112 an information analysis unit K112; an autonomous operation unit K113 that autonomously performs operation control and/or service for devices in the physical space based on the analysis results analyzed by the information analysis unit; receives detection information from the edge device and/or information of the analysis result from the autonomous control unit, and sends adjustment information adjusted based on the detection information and/or the information of the analysis result to the second feedback loop. and a system of systems unit K213 for returning to the edge device via.
- K2 Any one or a combination of J2 to J7 above can be applied to K1 above.
- K3 (FIG. 2D)
- the second feedback loop K510 includes a user domain (K300) and a service unit (K200) on its way, and the adjustment information is received from the user domain (K300). Affected by the data entered.
- FIG. 14A-14C an edge device E900 in the physical space E100; Platform K100 in cyber space E200, a first feedback loop between the edge device and the platform; a first information acquisition unit K111 provided in the platform for acquiring first specific information via the first feedback loop; a first information analysis unit K112 for analyzing the first specific information; a first autonomous operation unit K113 that autonomously performs operation control and/or service for the first device in the physical space based on the first analysis result analyzed by the information analysis unit; a second feedback loop between the edge device and the platform; a second information acquisition unit K111 provided in the platform for acquiring second specific information via the second feedback loop; a second information analysis unit K112 for analyzing the second specific information; a second autonomous operation unit K113 that autonomously performs operation control and/or service for the second device in the physical space based on the second analysis result analyzed by the information analysis unit; By linking the first and second autonomous control units, the difference between the first analysis
- the control data are control data and/or parameters relating to a program used by the first device or the second device.
- L3) Reduction of environmental load
- the control data is data relating to reused materials, parts or devices, or recycled materials, parts or devices.
- L4) (FIGS. 17A, 17B, and 18) When the integrated control unit further receives information on a support request regarding manufacturing of a product from the second device, the integrated control unit determines the content of the information on the support request, and It outputs control data for controlling the manufacturing process of the manufacturing line configured by the second device.
- L5 (FIG.
- the integrated control unit When the integrated control unit further receives information on a support request regarding manufacturing of products from the second device, the information on the support request is changed from "request for procurement of parts" to "request for worker". ", “request for control of manufacturing process of manufacturing line”, and “request for manufacturing robot repair parts”.
- the analyzed first analysis result is data that reduces the environmental load caused by the operation of the device, and is any of the air volume, temperature, and humidity of the ambient environment of the first device. Alternatively, it is data that controls the combination.
- the analyzed first analysis result is data for maintaining the quality of the product manufactured by the first device, and the operating sound of the first device and/or the first It is data reflecting a part of five sense information of the operator who operates the device No.1.
- the first specific information is the first program and the first parameter used in the program
- the second specific information is the second program and the second parameter used in the program.
- An information management system for a power plant located in cyberspace, a first control unit that receives first information about a control program for a first power plant and second information about a control program for a second power plant from respective edge computers; Autonomy that analyzes the first information and the second information, and autonomously feeds back adjustment data regarding the control program to the edge computer of the second power plant according to the analysis results.
- an information management system comprising: a second control unit for controlling;
- FIG. 2F An information management system for logistics management of a logistics center, which is located in cyber space, From the edge computer located in the physical space, it receives data indicating the control state of each robot that performs each task of unloading, transporting, storing, retrieving, and loading the cargo, and a first control unit E521 that provides feedback so that the robot functions according to the set robot control program; a second control unit E522 that identifies a package suitable for robot work from among the packages that have entered the distribution center and notifies the robot control program of information for executing the unloading; Through the notification data C15 from the first control unit E521 and the second control unit E522, information on the work performance is received, and according to the work performance, inventory management, warehousing, and shipping management of packages in the distribution center are managed. A third control unit E523 that feeds back information for to the second control unit E522.
- FIG. 20 An information management system for exporting and importing equipment, located in cyberspace, a first control program management unit that receives position information and control program information used in the device from an edge computer of the device placed in the physical space and sets a first control program in the device; and a second control program management section for setting a second control program different from the first control program in the device when the device arrives at a destination of import.
- FIGS. 17A, 17B, 18 An information management system for a manufacturing line in which a plurality of robots are sequentially arranged in the manufacturing process, which is located in cyberspace, a first control unit that determines support request information regarding manufacturing of a product from edge computers in a plurality of factories; a second control unit that determines that the content of the first control unit is at least one of parts procurement, worker request, manufacturing line request, and manufacturing robot repair parts request; When the judgment is the production line request, notifying the manager of another factory having the same production line as the production line of the requesting factory of the request, and managing the requesting factory. and a third control unit that also notifies the person.
- FIG. 25 An information management system for managing a plurality of cyberspaces and edge computers in physical spaces connected to the respective cyberspaces, a first control unit that classifies the edge computer into classification categories that identify the industry to which the edge computer belongs; and a second control unit that performs data processing for identifying the power consumption information sent from the edge computer according to the industry.
- FAE 300 in cyberspace E 200 includes a loop connection unit, an information acquisition unit, an information analysis unit that analyzes specific information, an autonomous operation control unit that autonomously performs operation control based on the analysis results, and the above
- a loop cooperation control section may be configured by software in which the loop connection section and the autonomous operation control section cooperate to establish a new second feedback loop in response to the new analysis result.
- These pieces of software may be stored in a recording medium (memory).
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Abstract
Description
製造プロセスおよびサービスにおける稼働制御を自律的に行う情報管理システムであって、サイバーフィジカルシステムのフィードバックループを接続するループ接続部と、前記製造プロセスに必要な特定情報を前記フィードバックループから取得する情報取得部と、前記特定情報を解析する情報解析部と、前記情報解析部で取得した解析結果に基づき、前記稼働制御を自律的に行わせる自律稼働制御部と、を備える情報管理システム、が提供される。
図1Aと図1Bは、本実施形態が適用されるフィジカル空間(実世界)E100と、サイバー空間(仮想世界)E200の概要を示す。フィジカル空間E100には、豊富な事業ドメイン資産が存在する。フィジカル空間の各種センシングデータA1は、サイバー空間E200にネットワークを介して送信される。サイバー空間E200は、センシングデータA1を認識・理解し、この認識・理解に基づいて、分析・予測データ、最適化・計画データを生成する。そして、分析・予測データ、最適化・計画データに基づいて、制御データを生成して、フィジカル空間E100にフィードバックしている。
データ部(Data)K111は、マスターデータ(Master Data)、データレイク(Data lake)を含み、データの取り扱いを容易にしている。マスターデータ(Master Data)は、エッジから収集されたデータ、エッジおよび使用環境の仕様、設計図、メンテナンス履歴などのデータを含む。
(API)&ユーザーインターフェース(UI)、ロジック(Logic)&ワークフロー(Workflow)機能を備える。ビジネス部(Business)K212は、CRM、ERP、PLM&EAMとの関連機能を備える。システムオブシステムズ部(System of Systems)K213は、システム間のアプリケーションインターフェース&サービス(SoS API& Service)機能、望ましい形への統合機能(Orchestrator)を備える。システムオブシステムズ部(System of Systems)K213全体或はOrchestratorも、統合(integration)制御部または自律制御部あるは自律稼働制御部と称してもよい。
このときは、パイロットおよび管制室は、気象予測システムL112からの情報も参考にしている。
<フィジカル空間>
事業には、エネルギー(電力発電)の事業E11がある。事業E11は、例えば、電池製造関連事業、原子力発電関連事業、水力発電関連事業、風力発電関連(洋上風力発電関連も含む)、火力発電関連、海洋発電関連、地熱発電関連、自律型水素エネルギー事業、太陽光発電関連を含む。ここで、本明細書内での関連事業は、事業に関する開発、実験、設備設置の関連事業も含むものとする。また、試作事業者(或は試作事業部)を含んでもよい。
<サイバー空間>
上記のフィジカル空間E100は、各種の事業現場のセンサから得られるセンサデータと、各種の事業で用いられるプログラム(ソフトウエア)および使用される制御パラメータなどのデータと、匠の技能のデータとをサイバー空間E200に送信して、いわゆるデジタルツインを構築している。サイバー空間E200は、種々のデータやプログラム(ソフトウエア)を格納するデータ蓄積部E310を有する。
<匠データ・装置データ>
図5Aは、フィジカル空間E100からサイバー空間E200へ送信される匠データF100の種類とその送信系路と、装置(製造ライン)F221に配置されている各種センサF224から取得した装置データF200の送信系路を示している。以下、匠データF100を匠管理部F120が管理し、装置データF200を装置管理部F220が管理するものとして説明する。匠管理部F120、装置管理部F220は、エッジコンピュータF900と連携している、ユニットコンピュータ(或はゲートウエイ)の一種である。そして各ユニットコンピュータの内部には、コンピュータが取り扱うデータやコンピュータが制御する機能をイメージ的に示している。
また技・知見・知識データF105は、匠の経験などにより、プログラムを切り替える場合や、プログラムにおいて使用されるパラメータのテーブルなどを切り替える場合に採用されてもよい。特に、プログラムのバージョンが複数存在する場合、制御対象となる機器(例えばロボットなど)とプログラムとの相性が存在することがある。そのような場合、匠はその経験や実績の積み重ねからプログラムおよびまたは使用するパラメータのテーブルを切り替えることもあり得る。また、装置が変更された場合、装置の周辺環境が変化した場合もプログラムを切り替える必要が生じる場合がある。さらにまた、環境負荷を軽減する目的で節電のためにプログラムやパラメータが切替られる場合もある。そしてこれらの切り替えの決断は、匠(熟練者)の五感に伴い実行されることがある。
<フィジカル空間での各種データの活用>
図6は、フィジカル空間E100からサイバー空間E200に、取り込んだデータの多様な活用方法と、この活用により得られる効果を説明するために示すデータ活用ブロック図である。
例えば、気象データに応じて匠の行動データF102が変化し、その結果、被製造物の特性や品質が影響を受けることが分かったとする。すると、気象データF302と匠の行動データF102の相関性を監視することで、被製造物の特性や品質を予測することができる。この予測に応じて、自律的な制御部は、製造ラインにおける被製造物の品質ランク付けの処理、或は、製造ラインにおける被製造物の仕分け作業に対してフィードバック制御を行うことができる。
例えば、サプライチェーンのデータに大きな変化があったとする。すると、サプライチェーンにより搬入される部品・資材の供給が遅れる、或は過剰になる工場が発生する。そこで、自律制御用のデータF402は、部品・資材の供給が遅れる、或は過剰になる工場に対して、製造ラインの減産、或は増産指令を与えることが可能である。勿論、自律制御用のデータF402は、先の気象データF302と匠の行動データF102の相関性を示すデータも含む。
眼球の基礎情報を説明する。成人の眼球の直径は約25mmである。生後は17mm程度で、成長に伴い大きくなる。成人男性の瞳孔間距離は約65mmである。そのため、一
般市販のステレオカメラは65mmの間隔で作られている物が多い。成人女性の瞳孔間距離は男性に比べて数mm短い。眼電位は数十mVである。眼球は角膜側にプラス、網膜側
にマイナスの電位を持つ。これを皮膚の表面で測定すると数百μVの電位差(眼電位と称する)として現れる。
向: 50°以下、上方向: 30°以下である。自分の意思で動かせる上下方向の角度範囲は、上方向は狭い。これは、閉眼すると眼球が上転する「ベル現象」があるため、閉眼すると
上下方向の眼球移動範囲は上方向にシフトするためである。なお、輻輳角(左右の眼球の視線方向が交差する角度)は20°以下である。
ovement)と、左右の眼球が同じ向きに意識的に回転する視線移動と、左右の眼球が反対向きに回転する動作に輻輳・開散に大別される。輻輳は左右眼球の視線方向が交差することであり、開散は左右眼球の視線方向が発散することである。眼球回転は眼電位の変化に基づいて検出される。眼電位は眼球を挟む一対の電極からの電圧の差分により検出できる。眼球を挟む方向は左右、上下、前後のいずれの方向でもよいし、斜めでもよい。眼球を上下から挟むように配置された電極対で検出される眼電位から瞬目、目瞑り、ウインク等が検出できる。眼球を上下および左右から挟むように配置された電極対で検出される眼電位から、瞬目、目瞑り、ウインク、緩徐運動および視線移動が検出できる。眼球を前後および左右から挟むように配置された電極対で検出される眼電位から、緩徐運動、視線移動および輻輳・開散が検出できる。
42を結ぶ線が右眼球ERを通過するように配置されているが、平面図、正面図および側面図の少なくともいずれかにおいて、右テンプル電極32と右ノーズパッド電極42とを
結ぶ線が右眼球ERを通過するように配置されていればよい。
の鼻に接する表面に左ノーズパッド電極44が設けられ、左眼球ELの左側、例えば左テンプル20の耳に掛かる部分に左テンプル電極36が設けられる。左ノーズパッド電極4
4と左テンプル電極36は、左ノーズパッド電極44と左テンプル電極36とを結ぶ線が左眼球ELを通過するように配置されている。
する)に亘って設けられ、メガネが顔に装着される際、テンプル20の自重により、左テンプル電極36が耳の付け根の硬毛が生えていない領域に接触するようになっている。これにより、右テンプル電極32と左テンプル電極36はユーザの皮膚に密着し、眼電位を正確にセンスすることができる。
るための電極であり、皮膚、例えば額に接触している。中性電極46は、中性電極46と右テンプル電極32との距離と中性電極46と左テンプル電極36との距離が等しく、中性電極46と右ノーズパッド電極42との距離と中性電極46と左ノーズパッド電極44との距離が等しくなるように配置される。中性電極46がこのような位置に配置される理
由は、後述する輻輳角検出のためである。輻輳角は、左右それぞれの眼球に対して正面から見て左右対称の眼球回転を検出した結果を基に検出されるからである。例えば、心電計
では、眼球回転の影響が無視できる体の部位、例えば、右足の末端で中性電位を取っている。眼球回転の影響を多少は受けるものの、左右の眼球から均等に影響を受ける場所、額の中央で中性電位を取ることにより、中性電極が左右それぞれの眼球から受ける眼電位の影響を均等化することができる。
<EOG信号>
図7Bに示すように、一方のテンプル、例えば右テンプル18のフレーム12に近い部分に眼電位の検出のための処理部30が内蔵或いは外付けされている。他方のテンプル、
例えば左テンプル20のフレーム12に近い部分に処理部30のためのバッテリ34が内蔵或いは外付けされている。処理部30は単に眼電位検出だけではなく、AR表示が可能なメガネ型ウェアラブル装置においては、表示制御も行ってもよい。処理部30はメガネに内蔵するのではなく、メガネの外部に設け、無線またはワイヤでメガネと処理部30と
を接続してもよい。その場合、バッテリ34は処理部30に内蔵してメガネの外部に設けることができる。また、処理部30の機能を2つに分けて、電極からの信号をセンスする第1処理部のみメガネに設け、センス信号から眼電位を検出したり、検出結果に応じて制御する第2処理部をメガネの外部に設たりしてもよい。スマートフォン等の携帯端末を第2処理部として使用することができる。第2処理部はメガネに直接接続される携帯端末等に限らず、ネットワークを介して接続されるサーバ等も含む。
h0は左右眼球の左右回転を示す。
分信号である第2のEOG信号ADC Ch1が出力される。右テンプル電極32と右ノーズパッド電極42は右眼球を上下および左右から挟むので、第2のEOG信号ADC C
h1は右眼球の左右回転と上下回転を示す。
分信号である第3のEOG信号ADC Ch2が出力される。左ノーズパッド電極44と左テンプル電極36は左眼球を上下および左右から挟むので、第3のEOG信号ADC Ch2は左眼球の左右回転と上下回転を示す。
セルするために、A/Dコンバータ62、64、66の基準アナログ電圧Vcc(=3.3Vまたは5.5V)とグランド(GND)との間に抵抗R1とR2の直列回路が接続され、抵抗R1とR2の接続点に中性電極46が接続される。抵抗R1、R2は等しい値、例えば1MΩである。A/Dコンバータ62、64、66は0V(グランド)から基準アナログ電圧Vccまでのアナログ電圧を検出可能であり、検出可能範囲の中点、例えば3.3Vの1/2の電圧(中点電圧と称する)を中心に0Vから3.3Vの範囲で入力アナログ電圧をデジタル値に変換する。抵抗R1とR2の接続点が中点電圧端に接続され、中性電極46が抵抗R1とR2の接続点に接続されるので、A/Dコンバータ62、64、66の中点電圧は人体の電圧と同じになる。その結果、人体の電圧に連動してA/Dコンバータ62、64、66の中点電圧が変動し、EOG電極32、42、44、36からの電圧信号に混入されたノイズがA/Dコンバータ62、64、66の出力であるデジタル値に混入することがない。これにより、眼電位の検出のS/Nを向上できる。
6は処理部30に外付けされてもよい。
ャネルのEOG信号ADC Ch0が得られる。右テンプル電極32からの信号が第2のA/Dコンバータ64の-端子に入力され、右ノーズパッド電極42からの信号が第2の
A/Dコンバータ64の+端子に入力され、第2チャネルのEOG信号ADC Ch1が得られる。左ノーズパッド電極44からの信号が第3のA/Dコンバータ66の+端子に入力され、左テンプル電極36からの信号が第2のA/Dコンバータ66の-端子に入力され、第3チャネルのEOG信号ADC Ch2が得られる。
ウェアラブルセンサ90には、マイク94が設けられてもよい。ウェアラブルセンサ90も無線通信機能を有し、その入力データが匠管理部F120で管理される。
本システムは、フィジカル空間E100のエッジ装置E900と、サイバー空間E200のプラットフォームK100と、前記エッジ装置と前記プラットフォームとの間に設けられた第1のフィードバックループとを有する。さらに、第1の情報取得部K111は、第1のフィードバックループを介して第1の特定情報を取得する。第1の情報解析部K112は、前記第1の特定情報を解析する。第1の自律的な操作部K113は、前記情報解析部で解析した第1の解析結果に基づき、前記フィジカル空間の第1の装置に対して稼働制御およびまたはサービスを自律的に行わせる。なお上記の説明では、第1の工場と第2の工場の関係を説明したが、第3の工場、第4の工場が存在しても同様な考え方が適用される。
また統合制御部E504は、前記第1と第2の自律的な制御部を連携させて、前記第1の解析結果の一部若しくは全部を前記第2の解析結果として、前記第2のフィードバックループを介して前記第2の装置に反映させる場合もある。
・単品部品GAは、識別データA-ID、リユース不可、リサイクル可能の情報が与えられており、
・単品部品GBは、識別データB-ID、リユース可能、リサイクル可能の情報が与えられており、
・複合部品GCは、識別データC-ID、リユース不可、リサイクル可能の情報が与えられており、
・物(材料含む)は、識別データD-ID、完全焼却可能の情報が与えられている。ただし、ここに分類された物は、焼却される時は二酸化炭素が放出されるが、有害物質は排出されないものである。したがって、物は、焼却後は炭素物となる。
要求があった場合(SF2のYES)、その要求は例えば「部品調達要求」(SF3)、「作業員要求」(SF5)、「製造ライン要求」(SF7)、「製造ロボットの修理部品要求」(SF9)であるかどうかを判断する。
支援プログラムは、「作業員要求」(SF5)であった場合、当該部品の製造の経験者または他の工場の同種の作業経験者に通知する(この場合、要求している工場に近い人へ優先的に通知する)。「製造ライン要求」(SF7)であった場合、要求している工場の製造ラインと同じ製造ラインを有する他の工場の管理者へ通知すると共に、要求している工場の管理者へも通知する(SF8)。製造ロボットの修理部品要求」(SF9)であった場合、修理部品の販売や製造を行っている会社に通知を行うと共に、同じ製造ロボットを有する工場の管理者へも通知する(SF10)。
即ち、第1の制御プログラム管理部が、輸出および輸入する装置に対する情報管理システムであって、サイバー空間に配置されており、フィジカル空間に配置されている前記輸装置のエッジコンピュータから、位置情報および前記装置で用いられる制御プログラムの情報を受け取り、第1の制御プログラムを前記装置に設定する。第2の制御プログラム管理部は、前記装置が目的の輸入先に到着したら、前記第1の制御プログラムとは異なる第2の制御プログラムを前記装置に設定する。
<非常時の地域貢献>
図21は、工場内の各種の設備(自動走行ロボット・ドローン)などが、周辺地域(街中、駅など)で事故、災害が生じたとき、出動できる体制にあることを説明する図である。フィジカル空間の状態が、サイバー空間で管理されウオッチングされている。
サイバー空間E2001、E2002、E2003、E2004、・・・・は、それぞれ担当分野において、業種で分類されているエッジコンピュータE9001,E9002,E9003・・・を管理している(図24参照)。
SG2:次に工程管理プログラム3023は、ロボット3111がねじ供給機(図示せず)の方向へ向くように姿勢制御変更のための制御を実施する。
SG3:次に工程管理プログラム3023は、ロボット3111がねじ供給機(図示せず)からねじを掴み取り出すように制御を実行する。
SG4:次に工程管理プログラム3023は、ロボット3111が基本姿勢に戻るように制御を実行する。
SG5:次に工程管理プログラム3023は、ロボット3111が搭載しているカメラを利用して、ベルトコンベア上に基板があるかどうかの判定を行う処理を実行する。
SG6:ベルトコンベア上に基板があることが判定された場合、工程管理プログラム3023は、ロボット3111をベルトコンベアの方向へ姿勢制御するとともに、そして腕をのばして基板の近くへ手が位置するように、ロボットの状態制御を実行する。
SG7:次に工程管理プログラム3023は、ロボット3111の腕を回転させて基板へのねじ締め付け制御を実行する。
SG8:次に工程管理プログラム3023は、ロボット3111が基本姿勢に戻るように制御を実行する。
SG9:次に工程管理プログラム3023は、終了又は停止コマンドがあるかどうかを判定する。終了又は停止コマンドが無い場合は、ステップSG2に戻り、次のねじ締め付け動作をロボット3111に実行させる。
終了又は停止コマンドがあった場合は、ロボット3111のねじ締め付け作業は終了する。終了又は停止コマンドは、工程管理プログラム3032が、外部からの入力を受け付ける、あるいは、カメラからの基板映像が一定時間内に取得できない場合に発生するように仕組まれている。
SH2:現在のステップにおいて必要なフィードバックループ群の運転が完了したかどうかの判定がなされる。運転が完了していない場合は、SH1,SH2が繰り替えされる。SH2での判定は、例えば先の基本姿勢がセットされたかどうか、或はねじ供給機の方向へロボットの姿勢が変更されたかどうか等の判定に相当する。
SH3: SH2でYESの場合は、次のステップにおけるフィードバックループ群の各フィードバックループの運転に移行する。
またこの時、ステップSG1、SG2、SG3・・・SG9の中の1つのステップの処理に要した所要時間も計測されており、記録される。
SH12:差の値(D)が許容値(α)より格段に大きく異常値の場合(目標値から大きくずれている場合)は、異常(非常)停止する(SH20)。
SH13:差の値(D)が、異常値ではないが、許容値(α)より大きい場合は、許容値(α)にすべく、SH13,SH14,SH15,SH11,SH12のループの処理が繰り替えされる。ただし、ループの動作の設定時間を超えた場合(SH14で判定)は、異常停止する(SH20)。当該フィードバックループが異常をきたしていることである。
SH17:SH16において再確認が得られた場合、ループの制御状態を確定し、差の値(D)を保存する。
SH18:差の値を求める必要がある、次のフィードバックループが存在するかどうかを判断し、存在する場合はSH11に移る。
SH19:次のフィードバックループが存在しない場合は、SH19にて、次のステップ(SG2又は・・・・SG9)におけるフィードバックループ群の運転が開始される。
上記の蓄積データは、フィードバックループの評価を行い、その結果、例えばロボットの特性を判断するのに有効なデータである。「差の値」が小さいほど、ロボットの制御精度(ロボットの動作位置が予定の位置に極めて近く)が高精度であり比較的安定していることになる。「差の値」が大きいほど、ロボットの制御がラフである、又は設定した目標値がずれている、又は、センサ出力値又はセンサ取り付け位置がずれている、ことを考慮する必要がある。また「差の値」が時間経過とともに、小から大に変化している場合は、ロボットの制御精度が高精度からラフに変化したことを考慮する必要がある。
サイバーフィジカルシステムの第1のフィードバックループを構築するループ接続部と、
前記製造プロセスに必要な特定情報を前記第1のフィードバックループから取得する情報取得部と
前記特定情報を解析する情報解析部と、
前記情報解析部で取得した解析結果に基づき、前記稼働制御を自律的に行わせる自律稼働制御部と、
前記ループ接続部と前記自律稼働制御部が協働して構築されるものであり、新たな前記解析結果に応答して新規な第2のフィードバックループを形成するループ連携制御部と、
を備えることを特徴とする情報管理システム。
再生エネルギー生産情報、消費情報、環境負荷情報の少なくとも1つを含むものであり、または、
前記フィードバックループは、パーソナルな情報で構築されるデジタルツイン(デジタルダブル)を含むものであり、または、
前記情報解析部は、人間の能力や経験をモデル化した匠データモデルに基づき前記特定情報の解析を行うものである、または、
前記自律稼働制御部は、前記解析結果に基づき、対象製品の製造に最適な製造ラインを選択するものであり、または、
製造ラインは、少なくとも3Dプリンティング機能を備え、リモートからの製品製造リクエストを少なくとも含む前記特定情報に基づき製品製造を行うものであり、または、
前記製造プロセスは、第1の製造プロセスと第2の製造プロセスを含み、前記自律稼働制御部は、前記第1の製造プロセスで得られた第1の特定情報を前記第2の製造プロセスのフィードバックループに反映させる手段を含む、または上記の項目を組み合わせたものを含むものである。
前記ループ接続ステップに含まれ、前記自律稼働制御ステップの新たな解析結果に応答して新規な第2のフィードバックループを構築するループ連携制御ステップと、を備える。
フィジカル空間(E100)のエッジ装置E900と、
サイバー空間(E200)のプラットフォームK100と、
前記エッジ装置と前記プラットフォームとの間に設けられたフィードバックループと、
前記プラットフォームに設けられ、前記フィードバックループを介して特定情報を取得する情報取得部K111と
前記特定情報を解析する情報解析部K112と、
前記情報解析部で解析した解析結果に基づき、前記フィジカル空間の装置に対して稼働制御およびまたはサービスを自律的に行わせる自律的な操作部K113と、
を有した情報管理システム。
上記のJ1において、前記解析結果により得られるデータは、前記装置が稼働することによる環境負荷を軽減するデータであり、前記装置の周囲環境の風量、温度、湿度のいずれか若しくは組み合わせを制御するデータである。 J3)(図12A)(環境負荷を軽減)上記のJ1において、前記解析結果により得られるデータは、前記装置が稼働することで生じる環境負荷を、軽減するためのデータであり、前記装置の電力使用量を制御するデータである。 J4)(図12B)(環境負荷を軽減)上記のJ1において、前記解析結果により得られるデータは、前記装置および前記装置とは異なる装置が稼働することで生じる総合使用電力を、抑制するために、前記異なる装置に対して電力使用量を低減することの協力要請を行うデータである。
上記のJ1において、前記解析結果により得られるデータは、
前記装置により製造される製品の品質を維持するため、およびまたは前記装置の動作の安定動作を制御するためデータであり、前記装置を操作する作業者の五感情報の一部が反映されたデータである。J6)(柔軟性(五感情報利用・環境負荷を軽減も含む))上記のJ1において、前記解析結果により得られるデータは、前記装置で使用されるプログラムの切り替えを実行させるためのデータである。J7)(図2C、図5B) 上記のJ5において、前記作業者の前記五感情報は、少なくとも視覚、聴覚、触覚、臭覚の情報のうちの1つまたは組み合わせである。
フィジカル空間E100のエッジ装置E900と、サイバー空間E200のプラットフォームK100と、前記サイバー空間E200のサービス部K200と、前記エッジ装置と前記プラットフォームとの間に設けられた第1のフィードバックループと、前記エッジ装置と前記サービス部との間に設けられた第2のフィードバックループと、前記プラットフォームに設けられ、前記第1のフィードバックループを介して特定情報を取得する情報取得部K111と、前記特定情報を解析する情報解析部K112と、前記情報解析部で解析した解析結果に基づき、前記フィジカル空間の装置に対して稼働制御およびまたはサービスを自律的に行わせる自律的な操作部K113と、前記サービス部に設けられ、前記エッジ装置からの検出情報およびまたは前記自律的な制御部から前記解析結果の情報を受け取り、前記検出情報およびまたは前記解析結果の情報に基づき調整された調整情報を前記第2のフィードバックループを介して前記エッジ装置へ返還するシステムオブシステムズ部K213と、を備える。
フィジカル空間E100のエッジ装置E900と、
サイバー空間E200のプラットフォームK100と、
前記エッジ装置と前記プラットフォームとの間に設けられた第1のフィードバックループと、
前記プラットフォームに設けられ、前記第1のフィードバックループを介して第1の特定情報を取得する第1の情報取得部K111と
前記第1の特定情報を解析する第1の情報解析部K112と、
前記情報解析部で解析した第1の解析結果に基づき、前記フィジカル空間の第1の装置に対して稼働制御およびまたはサービスを自律的に行わせる第1の自律的な操作部K113と、
前記エッジ装置と前記プラットフォームとの間に設けられた第2のフィードバックループと、
前記プラットフォームに設けられ、前記第2のフィードバックループを介して第2の特定情報を取得する第2の情報取得部K111と
前記第2の特定情報を解析する第2の情報解析部K112と、
前記情報解析部で解析した第2の解析結果に基づき、前記フィジカル空間の第2の装置に対して稼働制御およびまたはサービスを自律的に行わせる第2の自律的な操作部K113と、
前記第1と第2の自律的な制御部を連携させて、前記第1の解析結果と前記第2の解析結果の相違を判定し、前記相違に応じて設定される制御データを、前記第1または前記第2のフィードバックループを介して前記第1の装置または第2の装置に反映させる統合制御部E504、E505と、を有した情報管理システム。
第1の発電プラントの制御プログラムに関する第1の情報と、第2の発電プラントの制御プログラムに関する第2の情報をそれぞれのエッジコンピュータから受け取る第1の制御部と、前記第1の制御部により、前記第1の情報と前記第2の情報とを解析し、前記解析結果に応じて、前記第2の発電プラントの前記エッジコンピュータに対して、前記制御プログラムに関する調整データを自律的にフィードバックする自律制御する第2の制御部とを備える、情報管理システム。
フィジカル空間に配置されているエッジコンピュータから、荷下ろし、荷物の運搬、荷物の格納、荷物の取り出し、荷物の荷積みの各作業を行うそれぞれのロボットの制御状態を示すデータを受け取り、前記それぞれのロボットが、設定されているロボット制御プログラムに準じて機能するようフィードバックを行う、第1の制御部E521と、
前記物流センターに入庫した荷物の中からロボットの作業に適する荷物を識別し、前記荷下ろしを実行させるための情報を前記ロボット制御プログラムに通知する、第2の制御部E522と、
前記第1の制御部E521および第2の制御部E522からの通知データC15を介して、作業実績の情報を受け取り、前記作業実績に応じて前記物流センター内の荷物の在庫管理、入庫、出庫管理のための情報を、前記第2の制御部E522にフィードバックする第3の制御部E523を備える。
フィジカル空間に配置されている前記装置のエッジコンピュータから、位置情報および前記装置で用いられる制御プログラムの情報を受け取り、第1の制御プログラムを前記装置に設定する第1の制御プログラム管理部と、
前記装置が目的の輸入先に到着したら、前記第1の制御プログラムとは異なる第2の制御プログラムを前記装置に設定する第2の制御プログラム管理部と、を備える。
複数の工場のエッジコンピュータから製品の製造に関する支援要求情報を判断する第1の制御部と、
前記第1の制御部の内容が、部品調達、作業員要求、製造ライン要求、製造ロボットの修理部品要求の少なくともいずれかであることを判断する第2の制御部と、
前記判断が、前記製造ライン要求であった場合、前記要求している工場の製造ラインと同じ製造ラインを有する他の工場の管理者へ前記要求を通知するとともに、前記要求している工場の管理者へも通知する第3の制御部を備える。
前記工場とは異なる地域のエッジコンピュータから、支援要求があった場合、前記工場
の前記ロボットの制御プログラムを変更し、前記異なる地域に出動させる制御部を備える。
前記エッジコンピュータの分類を前記エッジコンピュータが所属する業種を識別した分類区分にしている第1の制御部と、
前記エッジコンピュータから送られてきた電力消費情報を、前記業種別に識別するデータ処理を行う第2の制御部と、を備える。
A420、A430・・・データ流通、E100・・・サイバー空間、E200・・・フィジカル空間、E900・・・エッジコンピュータ、K100・・・プラットフォーム、
K200・・・エンタープライズサービス、K111・・・データ部(Data)、
K112・・・解析部(Analytics)、K113・・・操作部(Operations)、
K211・・・サービス部(Service)、K212・・・ビジネス部(Business)、K213・・・システムオブシステムズ部(System of Systems)、K300・・・他のドメイン、K400・・・共通サービス機能、E300・・・電子頭脳(Artificial Intelligence;AI)、E310・・・データ蓄積部、E400・・・シミュレーションエリア、E500・・・自律的な制御部、E501・・・情報取得部、E502・・・情報解析部、E503・・・自律稼働制御部、E601・・・変動情報取得部、E602・・・研究情報取得部、E700・・・接続部、E800・・・各種処理部。
Claims (31)
- 製造プロセスおよびサービスにおける稼働制御を自律的に行う情報管理システムであって、
サイバーフィジカルシステムの第1のフィードバックループを構築するループ接続部と、
前記製造プロセスに必要な特定情報を前記第1のフィードバックループから取得する情報取得部と
前記特定情報を解析する情報解析部と、
前記情報解析部で取得した解析結果に基づき、前記稼働制御を自律的に行わせる自律稼働制御部と、
前記ループ接続部と前記自律稼働制御部が協働することで構築されるものであり、新たな前記解析結果に応答して新規な第2のフィードバックループを形成するループ連携制御部と、
を備えることを特徴とする情報管理システム。 - 前記新規な第2のフィードバックループは、今までに存在したが利用されていなかったフィードバックループが改めて起動されたものである、請求項1記載の情報管理システム。
- 前記新規な第2のフィードバックループは、今までに存在しなかった新しいフィードバックループが形成されたものである、請求項1記載の情報管理システム。
- 前記新規な第2のフィードバックループは、複数のフィードバックループが束ねられ形成されたものである、請求項1記載の情報管理システム。
- 前記複数のフィードバックループは、既存のフィードバックループと新しいフィードバックループの束、または複数の既存の第2のフィードバックループの束、または複数の新しいフィードバックループの束のいずれかの束である、請求項1記載の情報管理システム。
- 前記情報解析部と前記自律稼働制御部は、前記第1のフィードバックループを、製造プロセスである第1の制御対象を制御するための第1の制御ループとして構築し、前記情報解析部と前記ループ連携制御部は、前記第2のフィードバックループを、前記第1の制御対象をさらに制御する第2の制御ループとして構築する、
請求項1に記載の情報管理システム。 - 前記情報解析部と前記自律稼働制御部は、前記第1のフィードバックループを、製造プロセスである第1の制御対象を制御するための第1の制御ループとして構築し、前記情報解析部と前記ループ連携制御部は、前記第2のフィードバックループを、第2の制御対象をさらに制御する第2の制御ループとして構築する、
請求項6に記載の情報管理システム。 - 前記情報解析部と前記自律稼働制御部は、前記第2のフィードバックループの前記第2の制御ループを、前記第1のフィードバックループの前記第1の制御ループとともに束ねて継続させる、
請求項6に記載の情報管理システム。 - 前記情報解析部と前記自律稼働制御部は、前記第2のフィードバックループの前記第2の制御ループを、前記第1のフィードバックループの前記第1の制御ループとともに一時的に束ねて継続させ、所定の条件で前記第2のフィードバックループの前記第2の制御ループを解除する、
請求項6に記載の情報管理システム。 - 前記情報解析部と前記自律稼働制御部は、前記第1のフィードバックループを、製造プロセスである第1の制御対象を制御するための第1の制御ループとして構築し、前記情報解析部と前記ループ連携制御部は、前記第2のフィードバックループを、前記製造プロセスとは異なる第2の制御対象を制御する第2の制御ループとして構築する、
請求項6に記載の情報管理システム。 - 前記情報解析部と前記ループ連携制御部は、前記第2のフィードバックループの制御目的が完了した場合、前記第2のフィードバックループを解除する、請求項8に記載の情報管理システム。
- 前記情報解析部と前記ループ連携制御部は、前記第2のフィードバックループによる制御結果を解析し、解析内容に応じて、さらに、第3のフィードバックループを、前記第1の制御ループおよび前記第2の制御ループの制御対象とは異なる第3の制御対象を制御する第3の制御ループとして構築する、請求項1に記載の情報管理システム。
- 少なくとも前記第1のフィードバックループ、前記第2のフィードバックループによるループ連携制御は、ビルの設備管理を行う制御システムに適用されている請求項1に記載の情報管理システム。
- 少なくとも前記第1のフィードバックループ、前記第2のフィードバックループによるループ連携制御は、ロボットの制御を行う制御システムに適用されている請求項1に記載の情報管理システム。
- 少なくとも前記第1のフィードバックループ、前記第2のフィードバックループによるループ制御において、前記第2のフィードバックループは、工場で生産された製品を用いるユーザドメインからの情報を利用している、請求項1に記載の情報管理システム。
- 少なくとも前記第1のフィードバックループ、前記第2のフィードバックループによるループ連携制御は、物流センターにおける荷物の入庫、出庫、仕分け、搬送、パンニングを行うロボット制御システム適用されている請求項1に記載の情報管理システム。
- 少なくとも前記第1のフィードバックループ、前記第2のフィードバックループによるループ連携制御は、複数の事業体の使用電力を計算するとともに、前記使用電力の使用量の協力要請を行う制御システムに適用されている、請求項1に記載の情報管理システム。
- 少なくとも前記第1のフィードバックループ、前記第2のフィードバックループによるループ連携制御は、複数の電力送配電設備の制御システムに適用されている、請求項1に記載の情報管理システム。
- 少なくとも前記第1のフィードバックループ、前記第2のフィードバックループによるループ連携制御は、第1の工場と第2の工場とが使用するソフトウエアのバージョンの違いを検出する制御部においても適用されている、請求項1に記載の情報管理システム。
- 少なくとも前記第1のフィードバックループ、前記第2のフィードバックループによるループ連携制御は、製造工場においてリサイクル部品およびリユース部品の少なくともいずれかを使用するか否かを判断する制御部においても適用されている、請求項1に記載の情報管理システム。
- 少なくとも前記第1のフィードバックループ、前記第2のフィードバックループによるループ連携制御は、以下の制御部に適用されるものである、
製造工場の製造ラインが上流から下流に複数の製造ステップを有し、前記制御部は、いずれの製造ステップの段階の中間製品でもそれぞれに適した製造ステップで当該中間製品を受け入れることができるように制御を行う、
請求項1に記載の情報管理システム。 - 少なくとも前記第1のフィードバックループ、前記第2のフィードバックループによるループ連携制御は、第1の製造ラインと第2の製造ラインを有する工場で前記製造ラインを制御する制御部に適用されるものである、
前記制御部は、共通の搬送路で搬送されてきた第1の製品と第2の製品とを前記第1の製造ラインと前記第2の製造ラインに振り分ける制御を行う、
請求項1に記載の情報管理システム。 - 少なくとも前記第1のフィードバックループ、前記第2のフィードバックループによるループ連携制御は、発電プラントの発電制御システムに適用されている、請求項1に記載の情報管理システム。
- 少なくとも前記第1のフィードバックループ、前記第2のフィードバックループによるループ連携制御は、車または家電製品のいずれか1つの制御システムに適用されている、請求項1に記載の情報管理システム。
- 前記特定情報は、人間の五感情報を含むことを特徴とする請求項1に記載の情報管理システム。
- 前記特定情報は、人間に装着された生体センサから取得したデータを解析し生成することを特徴とする請求項1に記載の情報管理システム。
- 前記特定情報は、再生エネルギー生産情報、消費情報、環境負荷情報の少なくとも1つを含むことを特徴とする請求項1に記載の情報管理システム。
- 前記ループ接続部および前記ループ連携制御部の少なくともいずれかは、
制御対象となる装置のプログラムの構成を変更または前記プログラムを入れ替えすることを特徴とする請求項1に記載の情報管理システム。 - 前記制御対象となる装置は、発電プラントの制御装置または工場の制御装置または車または家電製品である、請求項28に記載の情報管理システム。
- 前記サイバーフィジカルシステムは、複数のサイバーフィジカルシステムを形成しており、
前記複数のサイバーフィジカルシステムは、それぞれが管轄する事業のエネルギー使用量を示すデータを把握しており、
統合制御部は、前記業種の種類毎の前記エネルギー使用量を示すデータを可視化した表示用データを生成する、請求項1に記載の情報管理システム。 - サイバーフィジカルシステムのサイバー空間を形成する装置の前記形成方法であって、
前記サイバーフィジカルシステムの第1のフィードバックループを接続するループ接続ステップと、
製造プロセスに必要な特定情報を前記第1のフィードバックループから取得する情報取得ステップと、
前記特定情報を解析する情報解析ステップと、
前記情報解析部で取得した解析結果に基づき、前記稼働制御を自律的に行わせる自律稼働制御ステップと、
前記ループ接続部と前記自律稼働制御部が協同し、新たな前記解析結果に応答して新規な第2のフィードバックループを構築するループ連携制御ステップと、
を備える情報管理方法。
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