Control device, automatic cutting device, cutting control method, learning method, and program

Abstract

To correctly control the quantity of liquid input after a start of liquid draining action, which is the quantity of liquid inputted into a second container after the start of liquid draining action of the first container, by appropriately carrying out liquid draining action.SOLUTION: A control model, when input data is entered, calculates output data based on a relationship among a flow rate-related quantity the flow rate-related quantity measuring section measures, an inclination angle of a first container an inclination sensor measured, a velocity of liquid draining action of the first container, and a quantity of liquid input after a start of liquid draining action, which is a quantity of liquid inputted into a second container after the start of liquid draining action of the first container. An action control section controls an actuator to carry out liquid draining action of the first actuator such that a quantity of liquid within the second container after a completion of liquid draining action becomes a target input quantity, based on a quantity of liquid contained in the second container and output data the control model outputted.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control device, an automatic segmentation device, a segmentation control method, a learning method, and a program. [Background technology]

[0002] In order to manufacture products such as food, cosmetics, and pharmaceuticals, it is necessary to add appropriate amounts of specific ingredients during the manufacturing process. In this case, to ensure good product quality, it is necessary to accurately measure the amount of ingredients added.

[0003] Among these materials, liquid materials are distributed in containers. That is, manufacturers procure materials in such containers and use them in the manufacturing process. Examples of containers used include one-gallon cans. One-gallon cans are metal containers with a roughly rectangular parallelepiped shape and a capacity of, for example, 18 liters. To prevent deterioration of the quality of the contents, one-gallon cans are often brought to manufacturers' factories in a sealed state. When materials in one-gallon cans are used at manufacturers' factories, the amount of the material is measured as follows: First, the lid on the top of the can is opened or a hole is drilled in one of the four corners of the top of the can. Then, a person (such as a manufacturing employee) lifts the one-gallon can and tilts it to release the contents (liquid) through the existing or drilled hole, and pours it into another container. The amount of the contents (liquid) poured into the other container is measured using a weighing device. The measured amount is, for example, the weight of the contents (liquid) in the container into which the liquid is poured (the other container). The weight of the liquid in the container can be measured using conventional technology. A person drains the liquid from the can by watching the measurement result (shown on a scale or numerical display, etc.) of the measuring device and performing an action such as returning the can to its original tilt just before the desired amount is reached.

[0004] As described above, the procedure of pouring a predetermined amount of content (liquid) from a container has been carried out by a person (skilled person).

[0005] Patent Document 1 describes an analysis system that uses machine learning to predict whether or not a device or the like has converged to an optimal solution. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2021-103448 Summary of the Invention [Problem to be solved by the invention]

[0007] It is desirable to mechanize the process of pouring a predetermined amount of content (liquid) from a container. By making this process possible for a machine to replace a human, it is expected that labor costs will be reduced and the desired amount of content will be dispensed from the container without relying on an expert.

[0008] However, pouring only a predetermined amount of contents from a container (such as a 18 liter can) was an action that relied on unique human know-how and was difficult to mechanize. The first factor was that handling the can to properly drain the liquid (which may have a predetermined viscosity) from the hole in the can required unique movements. Furthermore, the movements required for draining (how to move the can, etc.) varied slightly depending on the type of contents (liquid), and could not be performed in a uniform manner. The second factor was that simply measuring the amount of contents in the destination container (the aforementioned "other container") was insufficient to use the desired amount of contents (liquid). In other words, the amount of contents in the destination container continued to change between the start and end of the draining operation, so the timing to start the draining operation also required the know-how of an experienced person.

[0009] The technology described in Patent Document 1 is an analysis system technology for predicting the convergence of analysis result data of an evaluation target using machine learning. The analysis system described in Patent Document 1 can evaluate the amount of inflow or outflow of liquid. However, from a technical standpoint, it is inappropriate to apply the technology described in Patent Document 1 to the control of the discharge of liquid from a container. Furthermore, the spindle device used in the technology of Patent Document 1 (Figure 1 of Patent Document 1) is complex and expensive.

[0010] The present invention was made based on the recognition of the above-mentioned problems, and aims to provide a control device, an automatic dispensing device, a dispensing control method, a learning method, and a program that can pour a desired amount of contents from a first container into a second container without relying on the know-how of a person (such as an expert). [Means for solving the problem]

[0011] [1] In order to solve the above problem, a control device according to one aspect of the present invention includes a flow rate-related quantity measurement unit that measures a flow rate-related quantity that is a quantity related to the flow rate of liquid that falls from a first container and is transferred to a second container when the first container is tilted; a quantity measurement unit that measures the amount of the liquid in the second container; a tilt sensor that measures the angle of tilt of the first container; a control model that calculates output data when input data is input based on the relationship between the flow rate-related quantity measured by the flow rate-related quantity measurement unit, the angle of tilt of the first container measured by the tilt sensor, the speed of the liquid-draining operation of the first container, and the amount of liquid poured into the second container after the start of the liquid-draining operation; and an operation control unit that changes the state in which the liquid is falling from the first container due to the first container being tilted to a state in which the liquid is not falling from the first container by controlling the first container to perform a liquid draining operation, wherein the control model outputs the output data based at least on the flow rate-related quantity measured by the flow rate-related quantity measurement unit and the angle of tilt of the first container measured by the tilt sensor, and the operation control unit controls the first container to perform a liquid draining operation based on the amount of liquid in the second container and the output data output by the control model so that the amount of liquid in the second container after the liquid draining operation is completed will be a target input amount.

[0012] [2] Furthermore, one aspect of the present invention is that in the above-mentioned control device, the flow rate-related quantity measuring unit is a liquid width measuring unit that measures, at a predetermined position, the liquid width of the liquid that falls from the first container when the first container is tilted and is transferred to the second container as the flow rate-related quantity.

[0013] [3] Another aspect of the present invention is that in the above-mentioned control device, the flow rate-related quantity measurement unit measures the amount of change per time in the amount of liquid measured by the quantity measurement unit as the flow rate-related quantity.

[0014] [4] Furthermore, in one aspect of the present invention, in the above-mentioned control device, the data on the speed of the liquid-draining operation is data on the speed of at least one of the multiple movement components of the first container that constitute the liquid-draining operation: a linear movement of the first container that has the effect of moving the liquid in the first container away from the spout of the first container, and a rotational movement of the first container that eliminates the tilt of the first container.

[0015] [5] In another aspect of the present invention, in the above-mentioned control device, the control model outputs the speed of the liquid draining operation as the output data based at least on the flow rate-related quantity input as the input data, the angle of inclination of the first container, and the amount of liquid added after the start of the liquid draining operation, and the operation control unit controls the liquid draining operation of the first container to be performed at the speed of the liquid draining operation output by the control model based on the timing at which the amount of liquid in the second container measured by the amount measurement unit becomes the target amount minus the amount added after the start of the liquid draining operation.

[0016] [6] Furthermore, in one aspect of the present invention, in the above-mentioned control device, the control model outputs the input amount after the start of the liquid draining operation as the output data based at least on the flow rate-related quantity input as the input data, the angle of inclination of the first container, and the speed of the liquid draining operation of the first container, and the operation control unit controls the liquid draining operation of the first container at the speed of the liquid draining operation input to the control model based on the timing at which the amount obtained by subtracting the input amount after the start of the liquid draining operation is reached from the target input amount.

[0017] [7] In one aspect of the present invention, in the above-mentioned control device, the control model further uses a liquid type, which is information for identifying the type of liquid, as the input data, and calculates the output data based on the liquid type as well. This allows the control model to calculate output data for each of a plurality of liquid types based on the input / output relationship.

[0018] [8] In one aspect of the present invention, in the above-mentioned control device, the control model further uses the height (h) from the liquid level of the liquid in the second container to the spout of the liquid from the first container as the input data, and calculates the output data based on the height as well. This allows the control model to calculate output data based on the input / output relationship in accordance with the height (h).

[0019] [9] In one aspect of the present invention, in the control device, the control model further uses a measured temperature as the input data and determines the output data based on the temperature as well. This allows the control model to calculate output data based on the input / output relationship in accordance with temperature (environmental temperature, or the temperature of the liquid in the first container, etc.).

[0020]

[10] In one aspect of the present invention, in the control device, the control model further uses measured humidity as the input data and determines the output data based on the humidity as well. This allows the control model to calculate output data based on the input / output relationship in response to the measured humidity.

[0021]

[11] Furthermore, an automatic dispensing device according to one aspect of the present invention comprises a control device described in any one of [1] to [9] above, and an actuator that changes at least the position and inclination of the first container based on control from the operation control unit possessed by the control device.

[0022]

[12] In addition, in a method for controlling dispensing according to one aspect of the present invention, a flow rate-related quantity measurement unit measures a flow rate-related quantity that is a quantity related to the flow rate of liquid that falls from a first container and is transferred to a second container when the first container is tilted, a quantity measurement unit measures the amount of the liquid in the second container, and a tilt sensor measures the angle of tilt of the tilted first container, and a control model calculates output data when input data is input based on information regarding the relationship between the flow rate-related quantity measured by the flow rate-related quantity measurement unit, the angle of tilt of the first container measured by the tilt sensor, a speed of the liquid-draining operation of the first container, and an input amount after start of liquid-draining operation that is the amount of liquid poured into the second container after start of liquid-draining operation of the first container, and The operation control unit changes the state in which the liquid is falling from the first container due to the first container being tilted to a state in which the liquid is not falling from the first container by controlling the first container to perform a liquid draining operation, the control model outputs the output data based at least on the flow rate related quantity measured by the flow rate related quantity measurement unit and the angle of tilt of the first container measured by the tilt sensor, and the operation control unit controls the first container to perform a liquid draining operation based on the amount of liquid in the second container and the output data output by the control model so that the amount of liquid in the second container after the liquid draining operation is completed will be a target input amount.

[0023]

[13] Furthermore, a learning method according to one aspect of the present invention is a learning method that uses learning data representing the relationship between a flow rate-related quantity measured by a flow rate-related quantity measuring unit, the angle of tilt of the first container measured by a tilt sensor, the speed of the draining operation of the first container, and the amount of liquid poured into the second container after the draining operation of the first container has started, to learn a control model that outputs the speed of the draining operation as output data based at least on the liquid width, the angle of tilt of the first container, and the amount of liquid poured into the second container after the draining operation of the first container has started, or that learns a control model that outputs the amount of liquid poured into the second container after the draining operation has started as output data based at least on the flow rate-related quantity, the angle of tilt of the first container, and the speed of the draining operation of the first container.

[0024]

[14] Also, one aspect of the present invention includes a flow rate related quantity measurement unit that measures a flow rate related quantity that is a quantity related to the flow rate of liquid that falls from a first container and is transferred to a second container when the first container is tilted; a quantity measurement unit that measures the amount of the liquid in the second container; a tilt sensor that measures the angle of tilt of the first container; a control model that calculates output data when input data is input based on the relationship between the liquid width measured by the liquid width measurement unit, the angle of tilt of the first container measured by the tilt sensor, a speed of the liquid draining operation of the first container, and an input amount after start of draining operation that is the amount of liquid that is poured into the second container after the start of the liquid draining operation of the first container; and an operation control unit that changes the state in which the liquid is dropping from the first container to a state in which the liquid is not dropping from the first container by controlling the first container to perform a liquid-draining operation, wherein the control model outputs the output data based at least on the flow-rate-related quantity measured by the flow-rate-related quantity measurement unit and the angle of tilt of the first container measured by the tilt sensor, and the operation control unit controls the first container to perform a liquid-draining operation so that the amount of liquid in the second container after the liquid-draining operation is a target input amount, based on the amount of liquid in the second container and the output data output by the control model. [Effects of the Invention]

[0025] According to the present invention, the control model calculates output data based on the relationship between a flow rate-related quantity (such as liquid width) measured by a flow rate-related quantity measurement unit (liquid width measurement unit), the angle of tilt of the first container measured by the tilt sensor, the speed of the draining operation of the first container, and the amount of liquid poured into the second container after the draining operation of the first container has started (the post-draining operation input amount).The operation control unit can control the draining operation of the first container based on the calculated output data so that the amount of liquid in the second container after the draining operation is completed is the target input amount. [Brief explanation of the drawings]

[0026] [Figure 1] 1 is a block diagram showing a schematic functional configuration of a control device according to an embodiment of the present invention; [Figure 2] 1 is a schematic side view of the arrangement of a first container (for example, a can with a spout) and a second container, which are main objects handled by the automatic dispensing device according to the embodiment. [Figure 3] 1A and 1B are three-view diagrams (plan view, front view, and side view (right side view)) showing the shape of a first container that is an object to be handled by the automatic dispensing device according to the embodiment. [Figure 4] 10 is a schematic diagram showing a state in which a first container to be handled by the automatic dispensing device according to the embodiment is tilted, as viewed from the spout side of the first container. FIG. [Figure 5] 2 is a schematic diagram showing the arrangement of main elements other than a control device of the automatic cutting device according to the embodiment. FIG. [Figure 6] 4 is a schematic diagram for explaining the liquid draining operation of the first container that is the object of the automatic dispensing device according to the embodiment. FIG. [Figure 7] 10 is a schematic diagram showing an example of the relationship between a one-dimensional line image captured by a line sensor camera included in the automatic cutting device according to the embodiment and a falling liquid. [Figure 8] 10 is another example of a schematic diagram showing the relationship between a one-dimensional line image captured by a line sensor camera included in the automatic cutting device according to the embodiment and a falling liquid. [Figure 9] 10 is an example of a graph showing the relationship between the flow rate of liquid poured from a tilted first container and the passage of time in the same embodiment. [Figure 10] FIG. 2 is a block diagram showing an example of the internal configuration of a computer for realizing the control device according to the embodiment. [Figure 11] FIG. 10 is a block diagram showing a schematic functional configuration of a control device according to a second modification of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0027] Next, an embodiment of the present invention will be described with reference to the drawings. In the following embodiment, it is assumed that the contents (liquid) of a container such as a can are poured into another container by tilting the container. In the following embodiment, the amount of poured contents (liquid) is appropriately controlled by performing an operation to return the container to its original tilt (draining). The automatic dispensing device 1 in the following embodiment has at least a mechanism for tilting a container such as a can, and the movement of the container using this mechanism is controlled by a control device 100. The operation of moving the container to drain the liquid is referred to as a "draining operation." The draining operation may also be referred to as a "stopping operation." As described below, the draining operation includes a linear motion component and a rotational motion component of the container containing the liquid. "Draining" refers to transferring a target amount of contents (liquid) from a container to another location (e.g., a second container) by a method including the draining operation.

[0028] FIG. 1 is a block diagram illustrating the schematic functional configuration of a control device according to this embodiment. The control device 100 is a part of the automatic dispensing device 1. As illustrated, the control device 100 includes a sensor 101, a weighing unit 102, a liquid width measurement unit 103, a liquid type selection unit 104, a control model 111, a parameter value storage unit 112, and an operation control unit 121. The control device 100 thus configured outputs a control signal to the actuator 77. In other words, the control device 100 executes a dispensing control method. Each functional unit constituting the control device 100 can be implemented, for example, by a computer and a program. Each functional unit also includes a storage unit as needed. The storage unit is, for example, a program variable or memory allocated by program execution. Nonvolatile storage units such as a magnetic hard disk drive or a solid-state drive (SSD) may also be used as needed. At least some of the functions of each functional unit may be implemented as a dedicated electronic circuit rather than a program.

[0029] As will be explained later with reference to another diagram, the container from which the liquid is poured is called the "first container." An example of a first container is a 18L can. An 18L can is a roughly rectangular metal can with a capacity of about 18 liters. The container that receives the liquid poured from the first container is called the "second container."

[0030] The sensor 101 grasps (measures) various conditions in the operating environment of the automatic dispensing device 1 and passes this information to the control model 111. Specifically, the sensor 101 passes the following information to the control model 111: The sensor 101 grasps the position and orientation of the first container 21 and passes this information to the control model 111. The sensor 101 includes a tilt sensor. The tilt sensor particularly grasps the angle of tilt (θ in FIG. 2) of the first container 21 when it is tilted to pour out the contents (liquid), and passes this information to the control model 111. The sensor 101 also grasps the position (height) of the liquid level in the second container 22 and the height (h in FIG. 2) from the liquid level to the spout of the first container 21, and passes this information to the control model 111. The sensor 101 also grasps the temperature and humidity in the environment in which the automatic dispensing device 1 is set and passes this information to the control model 111. Furthermore, the sensor 101 may grasp the temperature (liquid temperature) of the liquid in the first container 21 and pass that information to the control model 111. The information grasped by these sensors 101 is an element that affects the control of the amount of liquid when the liquid drops from the first container 21 and enters the second container 22 (particularly, the amount of liquid poured in after the start of the liquid draining operation, which will be described later).

[0031] The weighing unit 102 measures the amount of liquid contained in the second container 22. The weighing unit 102 continuously measures the mass (weight) of the content (liquid) in the second container and passes information on the measurement results to the control model 111. Note that the weighing unit 102 may also measure the mass (weight) of the content (liquid) in the first container in addition to the liquid in the second container. The weighing unit 102 is also called the "amount measurement unit."

[0032] The liquid width measurement unit 103 measures the width of the liquid falling from the first container 21 to the second container 22 at a predetermined position (height). More specifically, the liquid width measurement unit 103 measures the width of the liquid falling from the first container 21 to the second container 22 when the first container 21 is tilted at a predetermined position. The liquid width measurement unit 103 is a type of flow-related quantity measurement unit. The liquid width is a type of flow-related quantity that is related to the flow rate of the liquid poured into the second container. The liquid width measurement unit 103, for example, uses one or more line sensor cameras to acquire one-dimensional line images of the falling liquid captured by each line sensor camera. The liquid width measurement unit 103 then calculates the liquid width of the falling liquid based on the acquired one-dimensional line images. The liquid width is expressed as a numerical value in millimeters (mm), for example. The liquid width measurement unit 103 calculates the liquid width based on, for example, a numerical value of the ratio (scale) of the correspondence relationship, which indicates how much length one pixel in the one-dimensional line image corresponds to in real space. When multiple line sensor cameras are used, each of the line sensor cameras acquires a one-dimensional line image, for example, captured from a different direction at the same height. The liquid width measurement unit 103 will be further described later with reference to another figure.

[0033] The liquid type selection unit 104 selects the type of liquid to be poured from the first container to the second container and passes information representing that type to the control model 111. The liquid type selection unit 104 determines the liquid type, for example, by having a person (operator) look at a screen and make a selection. Alternatively, the liquid type selection unit 104 may determine the liquid type by reading predetermined identification information. The identification information read here may be, for example, optically readable code information (a barcode, a two-dimensional code, etc.) attached to the first container or the like. Note that each liquid type has different specific gravity (mass per unit volume), viscosity, and other properties. In addition to the information representing the liquid type, the liquid type selection unit 104 may also pass data representing those properties to the control model 111.

[0034] The control model 111 performs a predetermined calculation based on the input data and outputs the resulting data. Examples of input and output data for the control model 111 will be described later.

[0035] The control model 111 is configured to perform machine learning on the relationship between input and output data based on samples of input and output data (learning data). As an example, the control model 111 can be realized using a neural network. The neural network itself can be configured using existing technology. The control model 111 reads and writes parameter values ​​stored in the neural network from and to the parameter value storage unit 112. The control model 111 can operate in either a learning mode or a control execution mode. In the learning mode, the control model 111 performs learning using the learning data and updates the values ​​of the internal parameters of the neural network. During learning, the weight parameters of each node included in the neural network can be updated using the backpropagation method. In the control execution mode, the control model 111 calculates output data corresponding to input data using the internal parameter values ​​of the trained neural network and controls the operation of the automatic segmentation device 1. The control model 111 may also calculate output data based on input data using a machine learning method other than a neural network.

[0036] Specifically, the control model 111 calculates output data when input data is input based on the relationship between the liquid width measured by the liquid width measurement unit 103, the angle of tilt of the first container 21 measured by the tilt sensor (sensor 101), the speed of the draining operation of the first container, and the amount of liquid poured after the start of the draining operation, which is the amount of liquid poured into the second container 22 after the draining operation of the first container 21 starts. The control model 111 can acquire the relationship between these pieces of data through machine learning. More specifically, the control model 111 outputs output data based at least on the liquid width measured by the liquid width measurement unit 103 and the angle of tilt of the first container 21 measured by the tilt sensor.

[0037] Of the data handled by the control model 111, the data on the speed of the draining operation is data on the speed of at least one of the linear motion of the first container 21 (motion A in FIG. 6, which will be described later) that moves the liquid in the first container 21 away from the spout of the first container 21, and the rotational motion of the first container (motion B in FIG. 6, which will be described later) that corrects the tilt of the first container, among the multiple movement components of the first container 21 that make up the draining operation. Either one of these two may be a fixed value. The speed of the rotational motion is the rotational angular velocity.

[0038] The parameter value storage unit 112 stores the values ​​of the internal parameters of the neural network of the control model 111. The values ​​of these parameters are updated when the control model 111 performs machine learning.

[0039] The operation control unit 121 controls the operation of the automatic dispensing device 1 based on the data output by the control model 111. The operation control unit 121 controls the amount of content (liquid) poured from the first container, particularly by controlling movements such as tilting the first container. One of the controls performed by the operation control unit 121 is control of the draining operation to stop the flow of content (liquid) flowing out of the first container. The draining operation will be explained later. The operation control unit 121 controls the automatic dispensing device 1 so that the draining operation is performed at an appropriate timing and at an appropriate speed. This makes it possible to accurately control the amount of liquid transferred from the first container to the second container.

[0040] Specifically, at the stage of stopping the outflow of liquid from first container 21 and adjusting the amount of liquid to be added, operation control unit 121 changes the state in which liquid is falling from first container 21 due to the tilt of first container 21 to a state in which liquid is not falling from first container 21 by controlling first container 21 to perform a liquid draining operation. Based on the amount of liquid in second container 22 and the output data output by control model 111, operation control unit 121 controls the liquid draining operation of first container 21 so that the amount of liquid in the second container after the liquid draining operation is completed becomes the target amount to be added.

[0041] Here, a number of modes of input / output data in the control model 111 and the operation of the operation control unit 121 in each mode will be described.

[0042] In a first mode, the control model 111 outputs the speed of the draining operation as output data based on at least the liquid width, the tilt angle of the first container 21, and the amount of liquid added after the draining operation started, which are input as input data. In this case, the operation control unit 121 controls the draining operation of the first container at the speed of the draining operation output by the control model 111, based on the timing at which the amount of liquid in the second container 22 measured by the weighing unit 102 (amount measurement unit) becomes the target amount minus the amount added after the draining operation started. In other words, the operation control unit 121 controls the actuator 77.

[0043] In a second aspect, the control model 111 outputs the amount of liquid to be poured after the start of the draining operation as output data, based at least on the liquid width input as input data, the angle of inclination of the first container 21, and the speed of the draining operation of the first container 21. In this case, the operation control unit 121 controls the actuator 77 to perform the draining operation of the first container at the speed of the draining operation input to the control model 111, based on the timing at which the amount of liquid to be poured after the start of the draining operation is subtracted from the target amount of liquid to be poured.

[0044] The control model 111 may further receive, as input data, the liquid type, which is information for identifying the type of liquid, and determine output data based on the liquid type as well. The liquid type is information passed from the liquid type selection unit 104 to the control model 111.

[0045] Furthermore, the control model 111 may further use the height (h, see also FIG. 2 etc.) from the liquid level in the second container 22 to the spout of the liquid from the first container 21 as input data, and may determine output data based on this height as well. If the height (h) is variable, the control model 111 can perform calculations based on the height (h) at that time.

[0046] Furthermore, the control model 111 may further use the measured temperature as input data and calculate output data based on the temperature as well. The control model 111 can perform calculations based on the temperature (the temperature in the environment in which the automatic dispensing device 1 is set or the temperature of the liquid in the first container 21).

[0047] Furthermore, the control model 111 may further use the measured humidity as input data and determine output data based on the humidity as well. The control model 111 can perform calculations based on the humidity as well.

[0048] The actuator 77 is one of the components that make up the automatic dispensing device 1. The actuator controls an electric motor to change the position, movement, and tilt angle of the first container based on a signal received from the operation control unit 121. However, the power for moving the first container may include a source other than an electric motor. The actuator 77 changes at least the position and tilt of the first container 21 based on control from the operation control unit 121 of the control device 100. The movement of the first container by the actuator 77 will be described further below.

[0049] FIG. 2 is a schematic side view of the arrangement of the main elements handled by the automatic cutting device 1. The figure is viewed from the negative side to the positive side of the Y axis in a three-dimensional Cartesian coordinate system. The directions of the X and Z axes are indicated in the figure. The negative side of the X axis is on the left side of the figure, and the positive side is on the right side. The Z axis is the vertical axis, with the negative side being the downward side and the positive side being the upward side.

[0050] In FIG. 2, 21 denotes a first container. The first container 21 is stationary in an inclined position. The inclination angle of the first container 21 is θ. 22 denotes a second container. Because the first container 21 is inclined, its contents (liquid) are poured out from a hole (spout) opened on one surface (top surface) of the first container 21, fall, and are collected in the second container 22. In other words, the liquid comes out of the spout of the first container 21 to the negative side of the X-axis direction, falls by gravity, and is poured into the second container 22. 51 denotes the liquid that is falling. The second container 22 containing the liquid is placed on a weight measuring device 71. The weight measuring device 71 is a part of the weighing unit 102 described above. The weight measuring device 71 measures the sum of the weight of the second container 22 itself and the weight of the liquid contained in the second container 22. The weight measuring device 71 continuously measures the weight at predetermined time intervals (for example, every 0.1 seconds). The weight data measured by the weight measuring device 71 is passed to the control model 111 (FIG. 1) each time. Because the weight of the second container 22 itself is constant, the control model 111 can repeatedly receive data on the amount of liquid itself by subtracting that weight. Note that the weight measuring device 71 can only measure the weight of a container that has already fallen into the second container 22. The weight measured by the weight measuring device 71 does not include the weight of the liquid 51 being dropped.

[0051] The first container 21 shown in FIG. 2 is tilted by the application of a rotational force (rotation of the arc indicated by the dashed arrow in the figure) in the XZ plane (or a plane parallel thereto) by the actuator 77 described above. The actuator 77 moves the first container 21 so that the position of the spout (the opening from which the liquid comes out) of the first container 21 remains constant. In other words, the height of the spout of the first container 21 is maintained at the height of the pouring reference position shown in the figure. As described above, information on the angle of tilt of the first container 21 is continuously and repeatedly passed from the sensor 101 (FIG. 1) to the control model 111 (FIG. 1). The height from the liquid level in the second container 22 to the pouring reference position is h. If changes in the position (height) of the liquid level in the second container 22 are ignored, h is approximately constant. If the position (height) of the liquid level in the second container 22 is measured using the sensor 101 or a photographed image, data on the height h can be passed from the sensor 101 to the control model 111 each time.

[0052] The liquid width measurement reference position shown in Fig. 2 is a reference position (height) for measuring the width of the falling liquid 51. The liquid width at the liquid width measurement reference position is measured by the liquid width measuring unit 103. By determining the reference position for measuring the liquid width, the measured liquid width data can become information that has a strong correlation with the flow rate of the falling liquid 51.

[0053] The liquid poured from the first container 21 to the second container 22 may be any liquid substance. In addition, it may be a viscous liquid. Here, the liquid may be, for example, water, various aqueous solutions, oil, seasonings such as sauce, vinegar, soy sauce, honey, starch syrup, jam, etc. Here, the liquid may be, for example, a food ingredient, a pharmaceutical ingredient, a cosmetic ingredient, etc.

[0054] FIG. 3 is a three-view diagram (plan view, front view, and side view (right side view)) showing the shape of the first container 21, which is the object to be handled by the automatic dispensing device 1. As shown in the figure, the first container 21 in this embodiment has a substantially cubic shape. In the figure, T is the top surface of the first container 21. The top surface T may be substantially square or substantially rectangular in shape. F is the front surface of the first container 21. The front surface F may be substantially rectangular in shape. S is the side surface (right side surface) of the first container 21. The right side surface S may be substantially rectangular in shape. The first container 21 is formed using a rigid body (e.g., metal).

[0055] A spout 29 is provided at one of the four corners of the top surface T. By tilting the first container 21, the liquid contained in the first container 21 can be poured out from the spout 29. To do so, for example, the first container 21 is rotated around a horizontal axis of rotation so that the position of the spout 29 is lowered. One example of such rotation is rotation along a plane that includes a diagonal line (the dashed dotted line in FIG. 3) on the top surface T of the first container 21 and is perpendicular to the top surface T. In other words, the actuator 77 (FIG. 1) tilts the first container 21 to pour out the liquid from the first container 21.

[0056] Fig. 4 is a schematic diagram of the first container 21 in a tilted state, as viewed from the spout 29 side of the first container 21. That is, Fig. 4 is a diagram of the first container 21 as viewed from the negative side of the X axis in Fig. 2. In other words, Fig. 4 is a diagram of the first container 21 as viewed from the spout 29 side, in the direction of the dashed dotted line shown in Fig. 3. Fig. 4 shows a state in which liquid is being poured out of the spout 29 of the first container 21 due to the tilt of the first container 21.

[0057] Fig. 5 is a schematic diagram showing the arrangement of main elements of the automatic cutting device 1 of this embodiment, other than the control device 100. Fig. 4, like Fig. 2, is a diagram showing the automatic cutting device 1 as viewed from the side (from the negative side of the Y axis in a three-dimensional orthogonal coordinate system). As shown in Fig. 4, the automatic cutting device 1 is configured to include a first container holding unit (side side) 11, a first container holding unit (bottom side) 12, a first support unit 31, a second support unit 32, a third support unit 33, a weight measuring device 71, and a line sensor camera 72.

[0058] The first container holder (side surface) 11 has a portion that contacts the side surface (such as surface F shown in FIG. 3 ) of the first container 21 and supports the first container 21 placed on it. The first container holder (bottom surface) 12 has a portion that contacts the bottom surface (the surface opposite surface T shown in FIG. 3 ) of the first container 21 and supports the first container 21 placed on it. The first container holder (side surface) 11 and the first container holder (bottom surface) 12 are fixed to each other. The first container holder (side surface) 11 and the first container holder (bottom surface) 12 can be moved and their orientations changed by an actuator 77 ( FIG. 1 ). In other words, the actuator 77 can change the position and orientation (tilt) of the first container 21 placed on the first container holder (side surface) 11 and the first container holder (bottom surface) 12. 5, first container holding portion (side surface) 11 and first container holding portion (bottom surface) 12 are tilted so that the inclination angle of first container 21 is θ. Note that the method of holding first container 21 described here (the method of placing first container 21 on first container holding portion (side surface) 11 and first container holding portion (bottom surface) 12) is merely an example. Automatic dispensing device 1 may hold and move first container 21 in other ways.

[0059] First support portion 31, second support portion 32, and third support portion 33 are structures that support the entire automatic dispensing device 1. First support portion 31, second support portion 32, and third support portion 33 support first container holding portion (side surface side) 11 and first container holding portion (bottom surface side) 12.

[0060] As already explained, the weight measuring device 71 measures the weight of the second container 22 and the liquid therein. In this embodiment, the weight measuring device 71 is installed on the first support part 31. However, in other aspects, the weight measuring device 71 may be installed in any location on the automatic dispensing device 1.

[0061] The line sensor camera 72 is a component of the liquid width measurement unit 103. The line sensor camera 72 includes an imaging element having, for example, a plurality of pixels arranged in a single row. It captures an image of the falling liquid (in this embodiment, a one-dimensional line image) at the liquid width measurement reference position (height). The line sensor camera 72 captures the one-dimensional line image of the falling liquid from a predetermined side. When the line sensor camera 72 captures the image of the falling liquid, the rows of pixels on the imaging element are arranged horizontally. In other words, the line sensor camera 72 captures a one-dimensional line image of the falling liquid in the width direction. Note that multiple line sensor cameras 72 may be provided to capture one one-dimensional line image of the falling liquid from multiple directions at the liquid width measurement reference position (height). Examples of one-dimensional line images obtained by the line sensor camera 72 will be described later with reference to FIGS. 7 and 8.

[0062] FIG. 6 is a schematic diagram illustrating the draining operation of the first container 21 pouring liquid. Similar to FIG. 2 and other figures, FIG. 6 is a view from the negative side to the positive side of the Y-axis in a three-dimensional Cartesian coordinate system. In the state shown in FIG. 6, the first container 21 is pouring liquid 51 while falling. Here, the automatic dispensing device 1 performs the draining operation of the first container by quickly moving the first container 21 in the direction in which the liquid is being poured (moving the first container 21 in the direction of arrow A in the figure) while maintaining the height of the spout of the first container 21 at the pouring reference position, and by rotating the first container 21 in a direction so that the liquid level in the first container 21 is lower than the position of the spout (rotating the first container 21 in the direction of arrow B (arc) in the figure). These two movements are elements of the draining operation.

[0063] When the first container 21 is moved in the direction of arrow A during the draining operation, the liquid in the first container 21 moves as a whole in a direction (lateral direction) away from the spout of the first container 21 due to inertial force. In other words, when viewed in a system based on the first container 21, the liquid inside the first container 21 moves in the direction opposite to the direction of arrow A. In other words, this movement creates an effect to quickly drain the liquid poured out of the first container 21. Furthermore, when the first container 21 is rotated in the direction of arrow B during the draining operation, the liquid in the first container 21 moves as a whole in a direction (downward) away from the spout of the first container 21 due to inertial force. In other words, when viewed in a system based on the first container 21, the liquid level inside the first container 21 moves below the spout. In other words, this movement also creates an effect to quickly drain the liquid poured out of the first container 21.

[0064] The linear movement in the direction A is a movement that moves the first container 21 from the positive side to the negative side of the X axis, and the rotational movement in the direction B is a rotational movement of the first container 21 within the XZ plane (or within a plane parallel to it) (rotation in the direction of the second quadrant ⇒ first quadrant ⇒ fourth quadrant ⇒ third quadrant within the XZ plane).

[0065] Actuator 77 can adjust the speed of each of the two types of movement described above, i.e., the speed of movement in direction A and the rotational angular velocity of rotational movement in direction B. In other words, operation control section 121 of control device 100 can control each of the speed of movement in direction A and the rotational angular velocity of rotational movement in direction B.

[0066] FIG. 7 is an example of a schematic diagram showing the relationship between the falling liquid and a one-dimensional line image captured by a line sensor camera 72. This figure shows one-dimensional line images captured by one line sensor camera 72. In this figure, one-dimensional line image L1 is an image of the falling liquid 51 captured by the line sensor camera 72 at the liquid width measurement reference position (see FIG. 6, etc.). This figure shows a cross section of the falling liquid 51 at the liquid width measurement reference position (height). The shape of the cross section of the falling liquid 51 at the liquid width measurement reference position may be, for example, a circle, an ellipse close to a perfect circle, or a shape similar to these, but is not limited to these. The one-dimensional line image L1 is an image of the falling liquid 51 captured in the direction D1 shown in the figure. In the one-dimensional line image L1, pixels are arranged in a row. The hatched portion of the one-dimensional line image L1 is an image of the falling liquid 51. Furthermore, W1 is the length of the area (corresponding to the liquid width) occupied by the falling liquid 51 on the one-dimensional line image L1. The liquid width measurement unit 103 calculates the liquid width (in units of millimeters, for example) when the falling liquid 51 is viewed in the direction D1, based on the liquid width W1 (expressed, for example, in pixels) on the one-dimensional line image L1.

[0067] FIG. 8 is another example of a schematic diagram showing the relationship between the falling liquid and one-dimensional line images captured by the line sensor cameras 72. This diagram shows one-dimensional line images L2 and L3 captured by two line sensor cameras 72. The one-dimensional line images L2 and L3 are images of the falling liquid 51 captured by the two line sensor cameras 72 at the liquid width measurement reference position (see FIG. 6, etc.). This diagram also shows a cross section of the falling liquid 51 at the liquid width measurement reference position (height). In this example, the cross-sectional shape of the falling liquid 51 at the liquid width measurement reference position may be, for example, an ellipse or a shape similar thereto, but is not limited thereto. The one-dimensional line image L2 is an image obtained by capturing the falling liquid 51 in the direction D1 shown in the figure. The one-dimensional line image L3 is an image obtained by capturing the falling liquid 51 in the direction D2 shown in the figure. In each of the one-dimensional line images L2 and L3, pixels are aligned in a row. The hatched portions in each of the one-dimensional line images L2 and L3 are images of the falling liquid 51. Furthermore, W2 is the length of the area occupied by the falling liquid 51 in the one-dimensional line image L2 (corresponding to the liquid width). Furthermore, W2 and W3 are the lengths of the area occupied by the falling liquid 51 in the one-dimensional line images L2 and L3 (corresponding to the liquid width), respectively. The liquid width measurement unit 103 calculates the liquid widths (units may be millimeters, for example) when the falling liquid 51 is viewed in the directions D1 and D2, respectively, based on the liquid width W2 on the one-dimensional line image L2 and the liquid width W3 on the one-dimensional line image L3 (W2 and W3 are expressed in terms of the number of pixels, for example).

[0068] It is desirable that the imaging directions D1 and D2 are orthogonal to each other, but they do not necessarily have to be orthogonal.

[0069] Figure 9 is an example of a graph showing the relationship between the flow rate of the liquid poured out from the tilted first container 21 and the passage of time in this embodiment. The horizontal axis of this graph is the time t, and its unit is, for example, seconds. Also, the vertical axis is the flow rate of the liquid flowing out from the first container 21, and its unit is, for example, grams per second. The graph 75 represents the change in the flow rate. Here, while referring to the graph 75 in Figure 9, the relationship between the process in the automatic cutting device 1 and the flow rate of the liquid will be described.

[0070] In this graph, the flow rate is zero during the period t < T1. That is, during the period t < T1, for example, the first container 21 is not tilted, so no liquid flows out from the first container 21. At t = T1, the automatic cutting device 1 starts control to tilt the first container 21 (so that the pouring port 29 is at a position lower than the liquid level in the first container 21) so that the contents (liquid) come out from the first container 21. The period T1 < t < T2 is a transient period. That is, during the period T1 < t < T2, the automatic cutting device 1 gradually increases the tilt of the first container 21. As a result, the flow rate of the liquid from the first container 21 gradually increases.

[0071] At t = T2, the flow rate reaches R. After t > T2, the automatic cutting device 1 adjusts the tilt of the first container 21 so that the flow rate becomes approximately constant at R. When the amount of liquid in the first container 21 is sufficiently large with respect to the flow rate, by the automatic cutting device 1 maintaining the tilt of the first container 21 almost constant, the flow rate of the liquid from the first container 21 can be made almost constant near R. In other cases, the automatic cutting device 1 performs feedback control on the tilt of the first container 21 so that the liquid width measured by the liquid width measuring unit 103 is maintained constant, or performs feedback control on the tilt of the first container 21 so that the degree of change (time derivative) of the weight on the second container 22 side measured by the weighing unit 102 with respect to time is maintained constant. During the period T2 < t < T5, the flow rate of the liquid from the first container 21 is constant at R or approximately constant near R. In Figure 9, a part of the graph 75 during the period T3 < t < T4 is shown with an omission.

[0072] During the period of T1 < t < T5 up to this point, the automatic cut-off device 1 monitors the value of the weight measured by the weighing unit 102 while adjusting the inclination of the first container 21. That is, the automatic cut-off device 1 starts the liquid draining operation of the first container 21 at an appropriate timing so that the amount of liquid stored in the second container 22 becomes exactly the desired value (for example, the value specified by the operator who is the user of the automatic cut-off device 1). Here, t = T5 is the timing of starting the liquid draining operation.

[0073] During the period of T5 < t < T6, the automatic cut-off device 1 performs the liquid draining operation of the first container 21. The details of the liquid draining operation are as described while referring to FIG. 6. By the automatic cut-off device 1 performing the liquid draining operation of the first container 21, the flow rate decreases during the period of T5 < t < T6. The flow rate becomes zero at t = T6. The amount of liquid introduced into the second container 22 during the period of T5 < t < T6 is the "amount introduced after starting the liquid draining operation".

[0074] The flow rate represented by the graph 75 in FIG. 9 is a function f(t) of time t. When the amount of liquid in the second container 22 is zero at the initial state (at the time of t = T1), the amount of liquid in the second container 22 at time t0 (where T1 ≤ t0 ≤ T6) is expressed as the definite integral of f(t) in the interval [T1, t0]. The automatic cut-off device 1 performs the liquid draining operation at an appropriate timing so that finally, that is, at the time of t = T6, the amount of liquid in the second container 22 becomes the desired amount (target input amount). That is, by the control device 100 appropriately controlling the actuator 77, the amount of liquid in the second container 22 can finally be made the desired amount.

[0075] In other words, the control model 111 of the control device 100 generates appropriate output data according to the input data, thereby controlling the amount of liquid that ultimately enters the second container 22. Examples (multiple patterns) of combinations of input data and output data to achieve this are described below. Note that the input data described below may also be called "explanatory variables." Also, the output data may also be called "target variables."

[0076] [First pattern of input / output of control model] In the first pattern, the control model 111 receives as input data at least the amount of liquid (received amount, M) poured into the second container after the start of the draining operation, the tilt angle (θ) of the first container 21 before the start of the draining operation, and the width of the liquid being dropped. The control model 111 also receives as output data the speed of the linear movement (movement A in FIG. 6) in the draining operation and the angular velocity of the rotational movement (movement B in FIG. 6) in the draining operation. However, among this output data, at least one of the speed of the linear movement (movement A in FIG. 6) and the angular velocity of the rotational movement (movement B in FIG. 6) may be a fixed value. In this case, only one of the speed of the linear movement (movement A in FIG. 6) and the angular velocity of the rotational movement (movement B in FIG. 6) (the one that is not a fixed value) is used as output data.

[0077] In the case of the first pattern described above, the control model 111 outputs data on at least one of the speed of the linear movement (movement A in FIG. 6) and the angular velocity of the rotational movement (movement B in FIG. 6) appropriate for achieving the target pouring amount M. This allows the actuator 77 to move the first container 21 in accordance with the data output from the control model 111. The control model 111 assumes that a pouring amount W of liquid will be poured after the start of the pouring operation, and determines the timing of the start of the pouring operation based on a signal from the weighing unit 102. In other words, the pouring operation can be started when the amount of liquid already in the second container 22 is the desired amount minus the pouring amount W.

[0078] [Second pattern of input / output of control model] In the second pattern, the control model 111 receives as input data at least the tilt angle (θ) of the first container 21 before the start of the draining operation, the width of the liquid being dropped, the speed of the linear movement (movement A in FIG. 6) during the draining operation, and the angular velocity of the rotational movement (movement B in FIG. 6) during the draining operation. However, among this input data, at least one of the speed of the linear movement (movement A in FIG. 6) and the angular velocity of the rotational movement (movement B in FIG. 6) may be a fixed value. In this case, only one of the speed of the linear movement (movement A in FIG. 6) and the angular velocity of the rotational movement (movement B in FIG. 6) (the one that is not a fixed value) can be used as input data. In addition, the control model 111 receives as output data the amount of liquid (addition amount, M) poured into the second container after the draining operation has started.

[0079] In the case of the second pattern described above, the control model 111 calculates the amount of liquid to be poured in after the start of the draining operation when the rotational movement (movement A in FIG. 6) is performed, assuming that the speed of the linear movement (movement A in FIG. 6) and the angular velocity of the rotational movement (movement B in FIG. 6) have already been determined by some method. Once the amount of liquid to be poured in after the start of the draining operation M has been determined, the control model 111 determines the timing of the start of the draining operation based on the signal from the weighing unit 102, assuming that the amount of liquid to be poured in is W after the start of the draining operation. In other words, the draining operation should be started when the amount of liquid already in the second container 22 is the desired amount minus the amount of liquid to be poured in.

[0080] The amount of liquid (input amount M) input into second container 22 after the start of the draining operation corresponds to the value of the definite integral from time T5 to time T6 in graph 75 shown in Figure 9. Input amount M includes the amount of liquid falling at the start of the draining operation and the amount of liquid flowing out of first container 21 during the draining operation.

[0081] [Optional input data] In both the first and second patterns described above, the control model 111 may use at least one of the following data as optional input data. If the height (h) from the second container 22 to the spout of the first container 21 is variable, this height (h) may be used as input data to the control model 111. More precisely, the height (h) from the second container 22 to the spout of the first container 21 is the height from the liquid level in the second container 22 to the spout of the first container 21. If the height (h) from the second container 22 to the spout of the first container 21 is fixed, the height (h) may be treated as a fixed value. If the automatic dispensing device 1 handles multiple liquid types, liquid type identification information (information from the liquid type selection unit 104) may be used as input data to the control model 111. If there is only one type of liquid, the liquid type identification information may be a fixed value or may not be used. If temperature and humidity affect the properties of the liquid (specific gravity, viscosity, etc.), at least one of the temperature and humidity in the environment in which the automatic dispensing device 1 operates may be used as input data to the control model 111. If the effect of changes in temperature and humidity is minimal, the control model 111 may perform calculations that are independent of temperature and humidity. Note that if there is data on factors other than those listed here that may affect the input amount during draining, that data may be used as input data to the control model 111.

[0082] [Control model in learning mode] When operating in learning mode, the control model 111 performs machine learning using learning data, regardless of whether the data is the first pattern, the second pattern, or optional input data. The learning data is a collection of the above-mentioned data. The learning data is data that represents the correct answer to the relationship between the above-mentioned data. The learning data is a collection of sample data obtained by actually dispensing liquid from the first container 21 using, for example, the automatic dispensing device 1 or a similar mechanism. The control model 111 updates its internal parameters by using a backpropagation algorithm based on the output data (correct answer data). That is, specifically, the control device 100 executes the following learning method. That is, the learning method uses learning data that represents the relationship between the liquid width measured by the liquid width measuring unit 103, the tilt angle of the first container 21 measured by the tilt sensor (sensor 101), the speed of the draining operation of the first container 21, and the amount of liquid poured into the second container 22 after the draining operation of the first container 21 has begun, which is the amount of liquid poured into the second container 22 after the draining operation of the first container 21 has begun. In this learning method, the control device 100 executes either the first learning method or the second learning method described below. The first learning method is learning of a control model that outputs the speed of the draining operation as output data based at least on the liquid width, the tilt angle of the first container 21, and the amount of liquid poured into the second container 22 after the draining operation of the first container 21 has begun. The second learning method is learning of a control model that outputs the amount of liquid poured into the second container 22 after the draining operation of the first container 21 has begun, which is the amount of liquid poured into the second container 22 after the draining operation of the first container 21 has begun.

[0083] [Control model in control execution mode] When operating in the control execution mode, the control model 111 calculates output data based on input data obtained from sensors etc., whether the data is of the first pattern, the second pattern, or optional input data, and the operation control unit 121 controls the operation based on the output data. In other words, the operation control unit 121 operates the actuator 77.

[0084] FIG. 10 is a block diagram showing an example of the internal configuration of the control device 100 in the above embodiment. The control device 100 can be realized using a computer. As shown in the figure, the computer includes a central processing unit 901, a RAM 902, an input / output port 903, input / output devices 904 and 905, and a bus 906. The computer itself can be realized using existing technology. The central processing unit 901 executes instructions contained in a program read from the RAM 902 or the like. In accordance with each instruction, the central processing unit 901 writes data to the RAM 902, reads data from the RAM 902, and performs arithmetic and logical operations. The RAM 902 stores data and programs. Each element included in the RAM 902 has an address and can be accessed using the address. RAM is an abbreviation for "random access memory." The input / output port 903 is a port through which the central processing unit 901 exchanges data with external input / output devices. The input / output devices 904 and 905 are input / output devices. Input / output devices 904 and 905 exchange data with the central processing unit 901 via an input / output port 903. A bus 906 is a common communication path used within the computer. For example, the central processing unit 901 reads and writes data from and to RAM 902 via the bus 906. Also, for example, the central processing unit 901 accesses the input / output port via the bus 906.

[0085] At least some of the functions of the control device 100 in the above-described embodiment can be realized by a computer and a program. In this case, the program for realizing the functions may be recorded on a computer-readable recording medium and then loaded and executed by a computer system. Note that the term "computer system" as used herein includes hardware such as an OS and peripheral devices. Furthermore, the term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, CD-ROMs, DVD-ROMs, and USB flash drives, as well as storage devices such as hard disks built into computer systems. In other words, a "computer-readable recording medium" may be a non-transitory computer-readable recording medium. Furthermore, the term "computer-readable recording medium" may also include media that temporarily and dynamically store programs, such as communication lines used when transmitting programs over networks such as the Internet or telephone lines, or media that store programs for a certain period of time, such as volatile memory within a computer system that serves as a server or client. The program may be a program that realizes some of the above-described functions, or it may be a program that can realize the above-described functions in combination with a program already stored in the computer system.

[0086] In the embodiment described above, the control model 111 can output output data in the control execution mode to dispense a desired amount of liquid according to the operating status of the automatic dispensing device 1. This allows the automatic dispensing device 1 to output a desired amount of liquid from the first container 21. In other words, according to this embodiment, flow rate control using the opening and closing of a pump or valve is not required. The desired amount of liquid can be accurately poured into the second container 22 by, for example, simply tilting the first container 21 (specifically, a 18 liter can or the like) when the liquid procured as a material is brought to a manufacturing plant or the like.

[0087] Although the embodiment has been described above, the present invention can also be carried out in the following modified examples.

[0088] [Variation 1] In the above embodiment, the weighing unit 102 measures the weight (mass) of the liquid in the second container 22 by using the weight measuring device 71. Furthermore, the automatic dispensing device 1 dispenses a desired weight of the target liquid. As a first modification, the automatic dispensing device 1 may measure the volume of the liquid instead of the weight. The volume of the liquid in the second container 22 can be measured, for example, by using a sensor provided in the second container 22 or by optically reading the scale on the second container 22. In this modification, the automatic dispensing device 1 uses a volume measuring unit instead of the weighing unit 102. Furthermore, the automatic dispensing device 1 operates to dispense a desired volume of liquid. The generic concept of weight and volume is "quantity." Furthermore, the generic concept of the weighing unit and the volume measuring unit is "quantity measuring unit."

[0089] [Variation 2] In the above embodiment, the liquid width measurement unit 103 measures the horizontal width of the liquid while it is falling, and passes the liquid width information to the control model 111. The liquid width information is information related to the flow rate of the liquid flowing into the second container 22. This flow rate is expressed, for example, as mass per unit time (units, for example, grams per second (g / sec)). In other words, the liquid width data is one of the elements for estimating the flow rate of the liquid flowing into the second container 22. In other words, the liquid width is a quantity related to the flow rate of the liquid flowing into the second container 22 (a flow rate-related quantity). In a second modification, a flow rate-related quantity other than the liquid width may be measured instead of the liquid width measurement unit 103.

[0090] FIG. 11 is a block diagram showing a schematic functional configuration of a control device according to Modification 2. As shown in the figure, the control device 100 includes a sensor 101, a weighing unit 102, a flow-related quantity measurement unit 107, a liquid type selection unit 104, a control model 111, a parameter value storage unit 112, and an operation control unit 121. That is, the control device 1 according to Modification 2 measures the flow-related quantity measurement unit 107 instead of the liquid width measurement unit 103 in the configuration shown in FIG. 1. The other configuration is the same as the configuration shown in FIG. 1. Here, the flow-related quantity is a quantity related to the flow rate of the liquid flowing into the second container 22. The flow-related quantity may be the flow rate of the liquid itself. In the example shown in the figure, the flow-related quantity measurement unit 107 measures the amount of weight change as the flow-related quantity. That is, the flow-related quantity measurement unit 107 receives data on the weight (mass) of the liquid contained in the second container at each time point from the weighing unit 102 in real time, and calculates the time derivative of that weight (or the amount of weight change over a very short time interval) in real time. The unit of the weight of the liquid is, for example, grams (g), and the unit of the time derivative in this case is grams per second (g / sec). That is, in this example, the flow-related quantity measurement unit 107 measures the above flow rate. Then, the flow-related quantity measurement unit 107 passes information on that flow rate (as described above, this flow rate is a flow-related quantity) to the control model 111. Note that, as described in Modification 1, a volume measurement unit may be used instead of the weighing unit 102. That is, the flow-related quantity measurement unit 107 may calculate the amount of volume change instead of calculating the amount of weight change. That is, the flow rate related quantity measurement unit 107 measures the amount of change per time in the amount of liquid measured by the amount measurement unit (weighing unit 102 or volume measurement unit) as the flow rate related quantity (including the case where the amount is a time derivative of the amount of liquid). In the case of this modification example 2, the control model 111 calculates output data based on the flow rate related quantity passed from the flow rate related quantity measurement unit 107 instead of the liquid width passed from the liquid width measurement unit 103. In this case, machine learning of the control model 111 is also performed using the flow rate related quantity measured by the flow rate related quantity measurement unit 107 instead of the liquid width.

[0091] 1, the liquid width measured by the liquid width measurement unit 103 is used as the flow rate related quantity, whereas in Modification 2 shown in Fig. 11, the control model 111 operates using the flow rate measured by the flow rate related quantity measurement unit 107 as the flow rate related quantity. Note that the flow rate related quantity for estimating the flow rate of the liquid flowing into the second container 22 may be measured by a method other than the method shown here.

[0092] The above has described in detail an embodiment of the present invention (including modified examples) with reference to the drawings, but the specific configuration is not limited to this embodiment, and also includes designs within the scope that do not deviate from the gist of the present invention. [Industrial Applicability]

[0093] The present invention can be used, for example, in the manufacturing process of products made from liquid substances, but the scope of use of the present invention is not limited to the examples given here. [Explanation of symbols]

[0094] 1 Automatic cutting device 11 First container holding part (side side) 12 First container holding part (bottom side) 21 1st container 22 Second container 29 Spout 31 1st support part 32 Second support part 33 Third support part 51 Falling Liquid 71 Weight measuring device 72 Line sensor camera 75 graphs 77 Actuator 100 control device 101 Sensors 102 Weighing section (quantity measurement section) 103 Liquid width measurement unit (flow rate related quantity measurement unit) 104 Liquid type selection section 107 Flow-related quantity measurement unit 111 Control Model 112 Parameter value storage section 121 Motion control section 901 Central Processing Unit 902 RAM 903 Input / Output Ports 904,905 Input / Output Devices 906 Bus L1, L2, L3 1D line image W1,W2,W3 Liquid width

Claims

1. a flow rate-related quantity measuring unit for measuring a flow rate-related quantity that is a quantity related to the flow rate of liquid that falls from the first container and is transferred to the second container when the first container is tilted; an amount measuring unit that measures the amount of the liquid contained in the second container; a tilt sensor that measures the angle of tilt of the first container; a control model that calculates output data when input data is input based on the relationship between the flow rate-related quantity measured by the flow rate-related quantity measurement unit, the angle of inclination of the first container measured by the inclination sensor, the speed of the liquid-draining operation of the first container, and the amount of liquid poured into the second container after the start of the liquid-draining operation; and an operation control unit that changes a state in which the liquid falls from the first container due to the first container being tilted to a state in which the liquid does not fall from the first container by controlling the first container to perform a liquid draining operation; Equipped with the control model outputs the output data based at least on the flow rate-related quantity measured by the flow rate-related quantity measurement unit and the tilt angle of the first container measured by the tilt sensor; the operation control unit controls the liquid draining operation of the first container based on the amount of liquid contained in the second container and the output data output by the control model so that the amount of liquid in the second container after the liquid draining operation is completed becomes a target input amount; The data on the speed of the draining operation is data on the speed of at least one of a linear movement of the first container that moves the liquid in the first container away from the spout of the first container and a rotational movement of the first container that corrects the tilt of the first container, among a plurality of movement components of the first container that constitute the draining operation. Control device.

2. A flow-related quantity measuring unit that measures a flow-related quantity that is a quantity related to the flow rate of liquid that falls from the first container and is transferred to the second container when the first container is tilted; an amount measuring unit that measures the amount of the liquid contained in the second container; a tilt sensor that measures the angle of tilt of the first container; a control model that calculates output data when input data is input based on the relationship between the flow rate-related quantity measured by the flow rate-related quantity measurement unit, the angle of inclination of the first container measured by the inclination sensor, the speed of the liquid-draining operation of the first container, and the amount of liquid poured into the second container after the start of the liquid-draining operation; and an operation control unit that changes a state in which the liquid falls from the first container due to the first container being tilted to a state in which the liquid does not fall from the first container by controlling the first container to perform a liquid draining operation; Equipped with the control model outputs the output data based at least on the flow rate-related quantity measured by the flow rate-related quantity measurement unit and the tilt angle of the first container measured by the tilt sensor; the operation control unit controls the liquid draining operation of the first container based on the amount of liquid contained in the second container and the output data output by the control model so that the amount of liquid in the second container after the liquid draining operation is completed becomes a target input amount; the control model outputs a speed of the draining operation as the output data based on at least the flow rate-related quantity input as the input data, the tilt angle of the first container, and the input amount after the draining operation starts; an operation control unit controls the liquid draining operation of the first container at the speed of the liquid draining operation output by the control model based on the timing when the amount of the liquid in the second container measured by the amount measurement unit becomes the target amount of liquid to be poured minus the amount of liquid to be poured after the start of the liquid draining operation; Control device.

3. A flow-related quantity measuring unit that measures a flow-related quantity that is a quantity related to the flow rate of liquid that falls from the first container and is transferred to the second container when the first container is tilted; an amount measuring unit that measures the amount of the liquid contained in the second container; a tilt sensor that measures the angle of tilt of the first container; a control model that calculates output data when input data is input based on the relationship between the flow rate-related quantity measured by the flow rate-related quantity measurement unit, the angle of inclination of the first container measured by the inclination sensor, the speed of the liquid-draining operation of the first container, and the amount of liquid poured into the second container after the start of the liquid-draining operation; and an operation control unit that changes a state in which the liquid falls from the first container due to the first container being tilted to a state in which the liquid does not fall from the first container by controlling the first container to perform a liquid draining operation; Equipped with the control model outputs the output data based at least on the flow rate-related quantity measured by the flow rate-related quantity measurement unit and the tilt angle of the first container measured by the tilt sensor; the operation control unit controls the liquid draining operation of the first container based on the amount of liquid contained in the second container and the output data output by the control model so that the amount of liquid in the second container after the liquid draining operation is completed becomes a target input amount; the control model outputs the input amount after the start of the draining operation as the output data based at least on the flow rate-related quantity input as the input data, the tilt angle of the first container, and the speed of the draining operation of the first container; an operation control unit controls the liquid draining operation of the first container at a speed of the liquid draining operation input to the control model based on the timing at which the amount obtained by subtracting the amount of liquid added after the start of the liquid draining operation becomes the target amount of liquid added; Control device.

4. The control model further uses a liquid type, which is information for identifying the type of the liquid, as the input data, and determines the output data based on the liquid type as well. The control device according to claim 2 or 3.

5. The control model further uses a height (h) from the liquid level of the liquid in the second container to a spout of the liquid from the first container as the input data, and determines the output data based on the height. A control device according to any one of claims 2 to 4.

6. The control model further uses a measured temperature as the input data and determines the output data based on the temperature. A control device according to any one of claims 2 to 5.

7. The control model further uses measured humidity as the input data and determines the output data based on the humidity. A control device according to any one of claims 2 to 6.

8. The flow rate-related quantity measuring unit is a liquid width measuring unit that measures, as the flow rate-related quantity, the liquid width of the liquid that falls from the first container and is transferred to the second container when the first container is tilted at a predetermined position. A control device according to any one of claims 1 to 7.

9. The flow rate-related quantity measurement unit measures, as the flow rate-related quantity, the amount of change per time of the amount of the liquid measured by the quantity measurement unit. A control device according to any one of claims 1 to 7.

10. A control device according to any one of claims 1 to 9; an actuator that changes at least the position and inclination of the first container based on control from the operation control unit of the control device; An automatic cutting device comprising:

11. the flow rate-related quantity measurement unit measures a flow rate-related quantity that is a quantity related to the flow rate of the liquid that falls from the first container and is transferred to the second container when the first container is tilted; the amount measuring unit measures the amount of the liquid contained in the second container; a tilt sensor for measuring an angle of tilt of the tilted first container; the control model calculates output data when input data is input based on information relating to the flow rate related quantity measured by the flow rate related quantity measurement unit, the angle of inclination of the first container measured by the inclination sensor, the speed of the liquid draining operation of the first container, and the amount of liquid poured into the second container after the liquid draining operation has started, the operation control unit controls the first container to perform a liquid draining operation, thereby changing a state in which the liquid is dropping from the first container due to the first container being tilted, to a state in which the liquid is not dropping from the first container; the control model outputs the output data based at least on the flow rate-related quantity measured by the flow rate-related quantity measurement unit and the tilt angle of the first container measured by the tilt sensor; the operation control unit controls the liquid draining operation of the first container based on the amount of liquid contained in the second container and the output data output by the control model so that the amount of liquid in the second container after the liquid draining operation is completed becomes a target input amount; The data on the speed of the draining operation is data on the speed of at least one of a linear movement of the first container that moves the liquid in the first container away from the spout of the first container and a rotational movement of the first container that corrects the tilt of the first container, among a plurality of movement components of the first container that constitute the draining operation. Cutout control method.

12. The flow rate related quantity measuring unit measures a flow rate related quantity which is a quantity related to the flow rate of the liquid that falls from the first container and is transferred to the second container when the first container is tilted, the amount measuring unit measures the amount of the liquid contained in the second container; a tilt sensor for measuring an angle of tilt of the tilted first container; the control model calculates output data when input data is input based on information relating to the flow rate related quantity measured by the flow rate related quantity measurement unit, the angle of inclination of the first container measured by the inclination sensor, the speed of the liquid draining operation of the first container, and the amount of liquid poured into the second container after the liquid draining operation has started, the operation control unit controls the first container to perform a liquid draining operation, thereby changing a state in which the liquid is dropping from the first container due to the first container being tilted, to a state in which the liquid is not dropping from the first container; the control model outputs the output data based at least on the flow rate-related quantity measured by the flow rate-related quantity measurement unit and the tilt angle of the first container measured by the tilt sensor; the operation control unit controls the liquid draining operation of the first container based on the amount of liquid contained in the second container and the output data output by the control model so that the amount of liquid in the second container after the liquid draining operation is completed becomes a target input amount; the control model outputs a speed of the draining operation as the output data based on at least the flow rate-related quantity input as the input data, the tilt angle of the first container, and the input amount after the draining operation starts; an operation control unit controls the liquid draining operation of the first container at the speed of the liquid draining operation output by the control model based on the timing when the amount of the liquid in the second container measured by the amount measurement unit becomes the target amount of liquid to be poured minus the amount of liquid to be poured after the start of the liquid draining operation; Cutout control method.

13. The flow rate related quantity measuring unit measures a flow rate related quantity which is a quantity related to the flow rate of the liquid that falls from the first container and is transferred to the second container when the first container is tilted, the amount measuring unit measures the amount of the liquid contained in the second container; a tilt sensor for measuring an angle of tilt of the tilted first container; the control model calculates output data when input data is input based on information relating to the flow rate related quantity measured by the flow rate related quantity measurement unit, the angle of inclination of the first container measured by the inclination sensor, the speed of the liquid draining operation of the first container, and the amount of liquid poured into the second container after the liquid draining operation has started, the operation control unit controls the first container to perform a liquid draining operation, thereby changing a state in which the liquid is dropping from the first container due to the first container being tilted, to a state in which the liquid is not dropping from the first container; the control model outputs the output data based at least on the flow rate-related quantity measured by the flow rate-related quantity measurement unit and the tilt angle of the first container measured by the tilt sensor; the operation control unit controls the liquid draining operation of the first container based on the amount of liquid contained in the second container and the output data output by the control model so that the amount of liquid in the second container after the liquid draining operation is completed becomes a target input amount; the control model outputs the input amount after the start of the draining operation as the output data based at least on the flow rate-related quantity input as the input data, the tilt angle of the first container, and the speed of the draining operation of the first container; an operation control unit controls the liquid draining operation of the first container at a speed of the liquid draining operation input to the control model based on the timing at which the amount obtained by subtracting the amount of liquid added after the start of the liquid draining operation becomes the target amount of liquid added; Cutout control method.

14. using learning data that represents the relationship between the flow rate related quantity measured by the flow rate related quantity measurement unit, the angle of inclination of the first container measured by the inclination sensor, the speed of the draining operation of the first container, and the amount of liquid poured into the second container after the draining operation of the first container has started, learning a control model that outputs a speed of the liquid draining operation as output data based on at least the flow rate-related quantity input as input data, the tilt angle of the first container, and the input amount after the liquid draining operation starts; or learning a control model that outputs the input amount after the start of the liquid draining operation as output data based at least on the flow rate-related quantity input as input data, the tilt angle of the first container, and the speed of the liquid draining operation of the first container; How to learn.

15. A program for causing a computer to function as a control device described in any one of claims 1 to 9.

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