Device, processing method, and recording medium

Abstract

This device comprises: a placement means for placing, in an evacuation place, an object for which it has been determined that an operation by a robot arm could not be completed among objects to be conveyed by a conveyance device; and a determination means for determining the timing for notifying a worker who performs prescribed work on the object placed in the evacuation place.

Description

Apparatus, processing method, and recording medium

[0001] The present disclosure relates to an apparatus, a processing method, and a recording medium.

[0002] Robots are used in various fields such as logistics. Patent Literature 1 discloses a related technology relating to a robot transfer system that can efficiently read package information of packages using a robot.

[0003] Japanese Patent Application Laid-Open No. 2020-189721

[0004] Incidentally, with regard to the robot related to Patent Document 1, there is a demand for technology that allows the robot and workers to work together efficiently.

[0005] One of the objectives of each aspect of the present disclosure is to provide an apparatus, a processing method, and a recording medium that can solve the above-mentioned problems.

[0006] According to one aspect of the present disclosure, the apparatus includes a placement means for placing an object, among the objects being transported by the transport device, that is determined to be unable to complete an operation by the robot arm in an evacuation location, and a determination means for determining the timing to notify a worker who will perform a specified task on the object placed in the evacuation location.

[0007] According to another aspect of the present disclosure, the processing method places an object, among those being transported by a transport device, that is determined to be unable to complete an operation by a robot arm in an evacuation location, and determines the timing to notify a worker who will perform a specified task on the object placed in the evacuation location.

[0008] According to another aspect of the present disclosure, the recording medium stores a program that causes a computer to place, in an evacuation location, an object that is determined to be unable to complete an operation by the robot arm among objects being transported by the transport device, and to determine the timing of notifying a worker who will perform a specified task on the object placed in the evacuation location.

[0009] According to each aspect of the present disclosure, a robot and a worker can work together efficiently.

[0010] 1 is a diagram illustrating an example of a configuration of a robot system according to a first embodiment of the present disclosure. FIG. 1 is a diagram illustrating an example of a configuration of a transport system according to a first embodiment of the present disclosure. FIG. 2 is a diagram illustrating an example of a configuration of a host device according to a first embodiment of the present disclosure. FIG. 3 is a diagram illustrating an example of an operation status managed by a management unit according to a first embodiment of the present disclosure. FIG. 4 is a diagram illustrating an example of a database according to a first embodiment of the present disclosure. FIG. 5 is a diagram illustrating an example of a configuration of a robot according to a first embodiment of the present disclosure. FIG. 6 is a diagram illustrating an example of a processing flow of a robot system according to a first embodiment of the present disclosure. FIG. 7 is a diagram illustrating an example of a configuration of a host device according to a second embodiment of the present disclosure. FIG. 8 is a diagram illustrating an example of a processing flow of a robot system according to a second embodiment of the present disclosure. FIG. 9 is a diagram illustrating an example of a temporary evacuation location according to a second modified example of an embodiment of the present disclosure. FIG. 10 is a diagram illustrating an example of a configuration of a robot system according to a third modified example of an embodiment of the present disclosure. FIG. 11 is a diagram illustrating an example of a processing flow of a robot system according to a third modified example of an embodiment of the present disclosure. FIG. 12 is a diagram illustrating an example of a configuration of a robot system according to a fourth modified example of an embodiment of the present disclosure. FIG. 13 is a diagram illustrating an example of a method by which an operator assigns a classification in a robot system according to a fourth modified example of an embodiment of the present disclosure. FIG. 14 is a diagram for explaining the operation of a flapper gate according to a fifth modified example of an embodiment of the present disclosure. FIG. 15 is a diagram illustrating an apparatus with a minimum configuration according to an embodiment of the present disclosure. FIG. 16 is a diagram illustrating an example of a processing flow of an apparatus with a minimum configuration according to an embodiment of the present disclosure. FIG. 1 is a schematic block diagram illustrating the configuration of a computer according to at least one embodiment.

[0011] Hereinafter, embodiments will be described in detail with reference to the drawings. First Embodiment A robot system 1 according to a first embodiment of the present disclosure is a system in which a robot 20 (described later) moves a recognizable but unidentifiable object M (e.g., luggage, merchandise, etc.) on a conveying mechanism 101 (described later) to a temporary evacuation location, and outputs a notification when it determines that a predetermined condition is satisfied. Note that "recognizable" means detecting the presence of the object M. Also, "identifiable" means identifying the type of object M whose presence has been detected. Note that the shape may include size information. The robot system 1 is used, for example, for sorting and inspecting objects M in a warehouse.

[0012] 1 is a diagram illustrating an example of the configuration of a robot system 1 according to a first embodiment of the present disclosure. As shown in FIG. 1, the robot system 1 includes a transport system 10, a robot 20, an imaging device 30, a processing device 40, a terminal device 50, a car trolley C, and a temporary evacuation area P.

[0013] 2 is a diagram illustrating an example of the configuration of the conveyance system 10 according to the first embodiment of the present disclosure. As shown in FIG. 2, the conveyance system 10 includes a conveyance mechanism 101, a host device 102, and a database DB. An example of the conveyance system 10 is a WMS (warehouse management system).

[0014] The transport mechanism 101 moves the object M to an area where the robot 20 can operate, based on the database DB. Examples of the transport mechanism 101 include a belt conveyor, an AGV (Automatic Guided Vehicle), and a crawler. In the example shown in FIG. 1 , the transport mechanism 101 is a belt conveyor. In the following description, it is assumed that the transport mechanism 101 is the belt conveyor 101. In the example shown in FIG. 1 , the transport mechanism 101 moves the object M in the direction of the arrow X.

[0015] 3 is a diagram illustrating an example of the configuration of the host device 102 according to the first embodiment of the present disclosure. As shown in FIG. 3, the host device 102 includes a management unit 1021, a shape identification unit 1022, a type identification unit 1023, an instruction unit 1024, a determination unit 1025, and a notification unit 1026.

[0016] The management unit 1021 manages the operation status of the robot 20. Examples of the operation of the robot 20 include grasping the object M, moving the object M, and releasing the object M. The operation status of the robot 20 is information indicating which operation the robot 20 is performing. Note that in the present disclosure, grasping includes not only clamping the object M to hold the object M at the position of a robot arm 202 (described later) of the robot 20, but also sucking the object M to hold the object M at the position of the robot arm 202.

[0017] FIG. 4 is a diagram illustrating an example of the status of actions managed by the management unit 1021 according to the first embodiment of the present disclosure. In the example illustrated in FIG. 4, the robot 20 is scheduled to perform action 1 (e.g., an action to grasp the object M) in period T1 (time t1 to t2), action 2 (e.g., an action to move the object M) in period T2 (time t2 to t3), and action 3 (e.g., an action to release the object M) in period T3 (time t3 to t4). In FIG. 4, status 0 indicates that the action has been processed. Status 1 indicates that the action is being processed. A blank status indicates that the action has not been processed. Therefore, the example of the status illustrated in FIG. 4 indicates that the robot 20 is moving the object M while grasping the object M.

[0018] The shape specification unit 1022 specifies the shape of each object M from the image captured by the image capture device 30. The image captured by the image capture device 30 includes information captured by an image capture device such as a two-dimensional camera and information in the depth direction. This enables the shape specification unit 1022 to specify the shape of each object M.

[0019] The type identification unit 1023 identifies the type of the object M. For example, the type identification unit 1023 identifies the type of the object M based on the database DB and the shape of the object M identified by the shape identification unit 1022. Specifically, the type identification unit 1023 compares information indicating the shape of each type of object M in the database DB (described later) with the shape of the object M identified by the shape identification unit 1022, and identifies the shape of the object M in the database DB that is within a predetermined error range from the shape of the object M identified by the shape identification unit 1022. Then, the type identification unit 1023 identifies the type of the object M associated with the shape identified in the database DB. The type of the object M identified in the database DB by the type identification unit 1023 is the type to be found.

[0020] Furthermore, for example, the type identification unit 1023 may identify the type of the object M using a trained model described below. For example, various images of the object M captured by the imaging device 30 are prepared, and a label indicating the type is assigned to each image. Furthermore, a machine learning model is prepared that receives the image of the object M as input and outputs the type of the object M in the image. Then, the prepared image of the object M is input to the machine learning model, and a trained machine learning model is generated by changing parameters in the machine learning model using, for example, a backpropagation technique so that the type of the object M in the image is output. The type identification unit 1023 may include a trained model trained in this way, and the type output by the trained model may be used as the type to be determined. Note that the type of the object M identified by the type identification unit 1023 may also include cases where the type of the object M cannot be identified.

[0021] The instruction unit 1024 outputs an instruction for the planned operation of the robot 20 based on the status to the processing device 40. Specifically, the instruction unit 1024 outputs an instruction to the processing device 40 to execute the operation associated with status 1 during the period T associated with status 1. The instruction unit 1024 may also control the operation of the transport mechanism 101.

[0022] The determination unit 1025 determines whether a predetermined condition is satisfied. For example, the determination unit 1025 determines whether the ratio of the free space for placing the object M in the temporary evacuation area P to the entire temporary evacuation area P is equal to or greater than a predetermined ratio. Furthermore, for example, the determination unit 1025 may determine whether it takes a certain amount of time or more for the object M on the transport mechanism 101 to move to a position where it can be grasped by the robot 20.

[0023] When the determination unit 1025 determines that the predetermined condition is satisfied, the notification unit 1026 outputs a notification to the outside of the host device 102. For example, when the determination unit 1025 determines that the ratio of the free space for placing the object M in the temporary evacuation area P to the entire temporary evacuation area P is equal to or greater than a predetermined ratio, the notification unit 1026 outputs a notification to the terminal device 50 used by the worker Y placed in the temporary evacuation area P. Furthermore, when the determination unit 1025 determines that it will take a certain amount of time or more for the object M on the transport mechanism 101 to move to a position where it will be grasped by the robot 20, the notification unit 1026 outputs a notification to the outside of the host device 102, as described above, when the determination unit 1025 determines that the predetermined condition is satisfied. Therefore, the determining unit 1025 determines the timing at which the notifying unit 1026 outputs a notification to the outside of the higher-level device 102 .

[0024] The database DB stores information indicating the type, quantity, and shape of the target object M.

[0025] Fig. 5 is a diagram showing an example of a database DB according to the first embodiment of the present disclosure. The example of the database DB shown in Fig. 5 indicates that there are product A, product B, and product C as types of object M. The example of the database DB shown in Fig. 5 also indicates that the quantity of product A is 10, the quantity of product B is 20, and the quantity of product C is 30. The example of the database DB shown in Fig. 5 also indicates that the shape of product A is shape 1, the shape of product B is shape 2, and the shape of product C is shape 3.

[0026] FIG. 6 is a diagram illustrating an example of the configuration of the robot 20 according to the first embodiment of the present disclosure. As illustrated in FIG. 6 , the robot 20 includes a robot body 201, a robot arm 202, and a drive mechanism 203. The robot arm 202 is connected to the robot body 201. The robot arm 202 grasps the object M on the transport mechanism 101 in accordance with the operation of the drive mechanism 203, and moves the object M to a destination (e.g., a cart C, a temporary evacuation location P). The robot arm 202 then releases the object M at the destination. For example, if the destination is the temporary evacuation location P, this release results in the object M being placed in the temporary evacuation location P.

[0027] The driving mechanism 203 operates the robot arm 202. For example, in response to a control signal from the processing device 40, the driving mechanism 203 causes the robot arm 202 to grasp the object M, move the object M to a destination (e.g., a cart C, a temporary evacuation area P), and release the object M.

[0028] The image capturing device 30 is capable of capturing an image of the object M in an area where the robot 20 can operate. The image capturing device 30 outputs the captured image of the object M to the transport system 10. The image capturing device 30 is, for example, a depth camera. The image capturing device 30 is, for example, provided in an area upstream of the robot 20 in the transport mechanism 101, above that area.

[0029] The processing device 40 controls the operation of the robot arm 202 in response to instructions from the instruction unit 1024. For example, in response to instructions from the instruction unit 1024, the processing device 40 causes the robot arm 202 to grasp the object M, move the object M to a destination, and release the object M.

[0030] The terminal device 50 is a terminal device used by a worker Y that can receive notifications. A dedicated program for the robot system 1 is installed in the terminal device 50. This dedicated program enables the terminal device 50 to realize various processes described in each embodiment of the present disclosure. Examples of the terminal device 50 include a smartphone, a tablet terminal, and a computer.

[0031] The cart C is a destination where objects M in the transport mechanism 101 whose type has been specified (i.e., identified) are placed.

[0032] The temporary evacuation place P is a destination where objects M in the transport mechanism 101 whose presence has been detected but whose type has not been identified (i.e., which have been recognized but not identified) are placed. For example, the temporary evacuation place P is an area on a platform having a flat surface at approximately the same height as the surface of the transport mechanism 101 on which the objects M are placed. Note that when the temporary evacuation place P is provided between the transport mechanism 101 and the car trolley C, the temporary evacuation place P may be inclined from the transport mechanism 101 toward the car trolley C. When the temporary evacuation place P is inclined from the transport mechanism 101 toward the car trolley C, even if the robot 20 places the object M in an area on the transport mechanism 101 side of the temporary evacuation place P, the object M can be moved to an area on the car trolley C side of the temporary evacuation place P due to the inclination. In addition, if the transport mechanism 101 is inclined toward the cart C, a stopper such as a fence may be provided at the end of the temporary evacuation area P on the cart C side, if necessary, to prevent the object M from falling from the temporary evacuation area P.

[0033] Note that the processing performed by the robot system 1 in the first embodiment of the present disclosure is not limited to the processing described above. For example, the robot system 1 may perform the processing described below.

[0034] (Processing Performed by Robot System) Figure 7 is a diagram showing an example of a processing flow of the robot system 1 according to the first embodiment of the present disclosure. Next, processing performed by the robot system 1 will be described with reference to Figure 7. Note that here, for example, the operation of the robot 20 is planned so that if the object M can be identified, the object M on the transport mechanism 101 shown in Figure 1 is moved to the cart C by the period T and operation shown in Figure 4, and if the object M cannot be identified but can be recognized, the object M on the transport mechanism 101 is moved to the temporary evacuation location P.

[0035] For the convenience of explanation in another embodiment of the present disclosure, which will be described later, the processing flow of the robot system 1 shown in FIG. 7 also includes processing performed by an operator.

[0036] The photographing device 30 outputs the photographed image of the object M to the conveyance system 10. The shape specifying unit 1022 specifies the shape of the object M from the image photographed by the photographing device 30.

[0037] The type identification unit 1023 attempts to identify the type of the object M (step S1). For example, the type identification unit 1023 identifies the type of the object M based on the database DB and the shape of the object M identified by the shape identification unit 1022. Specifically, the type identification unit 1023 compares information indicating the shape of each type of object M in the database DB with the shape of the object M identified by the shape identification unit 1022, and identifies the shape of the object M in the database DB that is within a predetermined error range from the shape of the object M identified by the shape identification unit 1022. Then, the type identification unit 1023 identifies the type of the object M associated with the shape identified in the database DB. The type of the object M identified in the database DB by the type identification unit 1023 is the type to be found.

[0038] Furthermore, for example, the type identification unit 1023 may include a trained model, and the type output by the trained model may be used as the type to be determined. Note that the type of the object M identified by the type identification unit 1023 may also include cases where the type of the object M cannot be identified.

[0039] If the type identification unit 1023 can identify the type of object M (YES in step S1), the instruction unit 1024 outputs to the processing device 40 an instruction for the operation of the robot 20 planned to move the object M to the car trolley C corresponding to that type (step S2). In this case, in response to the instruction from the instruction unit 1024, the processing device 40 causes the robot arm 202 to grasp the object M, move the object M to the car trolley C, and release the object M (step S3). Then, the processing device 40 returns to the processing of step S1.

[0040] Furthermore, if the type identification unit 1023 is unable to identify the type of the object M (NO in step S1), the instruction unit 1024 outputs to the processing device 40 an instruction for the operation of the robot 20 planned to move the object M to the temporary evacuation location P (step S4). In this case, in response to the instruction from the instruction unit 1024, the processing device 40 causes the robot arm 202 to grasp the object M, move the object M to the temporary evacuation location P, and release the object M (step S5).

[0041] When the processing device 40 moves the object M to a temporary evacuation location P and releases the object M in accordance with instructions from the instruction unit 1024, the judgment unit 1025 judges whether or not the predetermined conditions have been met (step S6).

[0042] If the determining unit 1025 determines that the predetermined condition is not satisfied (NO in step S6), the process returns to step S1.

[0043] Furthermore, if the determination unit 1025 determines that the predetermined condition is satisfied (YES in step S6), the notification unit 1026 outputs a notification to an external device (e.g., the terminal device 50) outside the higher-level device 102 (step S7). In this case, there is a possibility that there is not enough free space in the temporary evacuation area P to place the target object M. Therefore, the instruction unit 1024 may stop the operation of the transport mechanism 101 depending on the availability of free space.

[0044] The worker who receives the notification on the terminal device 50 moves the object M placed in the temporary evacuation area P to the cart C (step S8).

[0045] (Advantages) The robot system 1 according to the first embodiment of the present disclosure has been described above. In the host device 102 (an example of a device) of the robot system 1, the instruction unit 1024 (an example of a placement unit) places, in a temporary evacuation location P (an example of an evacuation location), an object M (an example of an object) whose presence has been detected but whose type has not been identified (i.e., which has been recognized but not identified) (an example of an object M for which it has been determined that an operation by the robot arm 202 cannot be completed) among the objects M (an example of an object) being transported by the transport system 10 (an example of a transport device). In addition, the determination unit 1025 (an example of a determination unit) determines the timing at which the notification unit 1026 outputs a notification to the outside of the host device 102 (an example of the timing at which a notification is sent to a worker who will perform a predetermined task on the object placed in the evacuation location).

[0046] When the robot 20 is unable to move the object M to the cart C through autonomous operation, the host device 102 of this robot system 1 allows the worker to perform predetermined remote control to move the object M to the cart C. In other words, the host device 102 (an example of a device) allows the robot and the worker to work together efficiently.

[0047] Second Embodiment In a robot system 1 according to a second embodiment of the present disclosure, the task of moving an object M placed in a temporary evacuation area P to a car trolley C, which is performed by a worker in the first embodiment of the present disclosure, is performed by a remotely controlled robot 20. Note that when the object placed in the temporary evacuation area P is not the object M, the robot 20 may perform an operation other than the operation of moving the object to the car trolley C in accordance with remote control. The following description will mainly focus on the differences between the robot system 1 according to the second embodiment of the present disclosure and the robot system 1 according to the first embodiment of the present disclosure.

[0048] (Configuration of Robot System) Similar to the robot system 1 according to the first embodiment of the present disclosure, the robot system 1 includes a transport system 10, a robot 20, an imaging device 30, a processing device 40, a terminal device 50, a cart C, and a temporary evacuation location P. However, the transport system 10, the robot 20, and the terminal device 50 are different from the transport system 10, the robot 20, and the terminal device 50 according to the first embodiment of the present disclosure.

[0049] The transport system 10 includes a transport mechanism 101, a host device 102, and a database DB, similar to the transport system 10 according to the first embodiment of the present disclosure. However, the host device 102 is different from the host device 102 according to the first embodiment of the present disclosure.

[0050] Fig. 8 is a diagram showing an example of the configuration of the host device 102 according to the second embodiment of the present disclosure. As shown in Fig. 8, the host device 102, like the host device 102 according to the first embodiment of the present disclosure, includes a management unit 1021, a shape identification unit 1022, a type identification unit 1023, an instruction unit 1024, a determination unit 1025, and a notification unit 1026. The host device 102 also includes a switching unit 1027.

[0051] When the notification unit 1026 outputs a notification to the outside of the higher-level device 102, the switching unit 1027 switches the robot 20 from a state in which it communicates with the processing device 40 to a state in which it communicates with the terminal device 50. This switching by the switching unit 1027 switches the drive mechanism 203 of the robot 20 from a state in which it operates in response to a control signal from the processing device 40 to a state in which it operates in response to a control signal from the terminal device 50. In other words, the robot 20 switches from a state in which it operates autonomously to a state in which it operates by remote control.

[0052] The robot 20 is switched between a state in which it communicates with the processing device 40 and a state in which it communicates with the terminal device 50 by switching using the switching unit 1027. When the robot 20 is in communication with the processing device 40, it can execute the same operations as the robot 20 according to the first embodiment of the present disclosure. When the robot 20 is in communication with the terminal device 50, it operates in response to a control signal from the terminal device 50 (i.e., by remote control).

[0053] Similar to the robot 20 according to the first embodiment of the present disclosure, the robot 20 includes a robot body 201, a robot arm 202, and a drive mechanism 203. For example, in response to a control signal from the processing device 40 or the terminal device 50, the drive mechanism 203 causes the robot arm 202 to grasp the object M, move the object M to a destination (e.g., a cart C, a temporary evacuation area P), and release the object M.

[0054] The terminal device 50 is a terminal device used by the worker Y that can receive the notification. The terminal device 50 also controls the operation of the robot arm 202 provided in the robot 20 by outputting a control signal to the drive mechanism 203. Examples of the terminal device 50 include a smartphone, a tablet terminal, a computer, a wearable controller, etc. that can output a control signal to the drive mechanism 203.

[0055] (Processing Performed by Robot System) Fig. 9 is a diagram showing an example of a processing flow of the robot system 1 according to the second embodiment of the present disclosure. Next, processing performed by the robot system 1 will be described with reference to Fig. 9 .

[0056] The photographing device 30 outputs the photographed image of the object M to the transport system 10. The shape specifying unit 1022 specifies the shape of the object M from the image photographed by the photographing device 30. Then, the robot system 1 performs the processes of steps S1 to S7. Note that in the state of step S7, the instruction unit 1024 may stop the operation of the transport mechanism 101 depending on the status of the available space.

[0057] The switching unit 1027 switches the robot 20 from a state in which it communicates with the processing device 40 to a state in which it communicates with the terminal device 50 (step S9).

[0058] When the worker who has received the notification from the terminal device 50 operates the terminal device 50 to move the object M placed in the temporary evacuation area P to the car cart C, the terminal device 50 outputs a control signal to the drive mechanism 203 to move the object M placed in the temporary evacuation area P to the car cart C. As a result, the remotely controlled robot 20 moves the object placed in the temporary evacuation area to the car cart C (step S10).

[0059] Advantages The robot system 1 according to the second embodiment of the present disclosure has been described above. In the robot system 1, when the notification unit 1026 outputs a notification to the outside of the host device 102, the switching unit 1027 switches the robot 20 from a state in which it communicates with the processing device 40 to a state in which it communicates with the terminal device 50.

[0060] This switching unit 1027 puts the robot 20 into a state in which it can communicate with the terminal device 50 (i.e., a state in which it can be remotely controlled), and by operating the terminal device 50 and remotely controlling the robot 20, the worker can move the object M placed in the temporary evacuation area P to the cart C.

[0061] <First Modification of the Embodiment> In the embodiment of the present disclosure described above, the imaging device 30 has been described as being provided, for example, in an area upstream of the robot 20 in the transport mechanism 101 and above that area. However, in the first modification of the embodiment of the present disclosure, the imaging device 30 may be provided, for example, in the robot 20. Specifically, the imaging device 30 may be provided, for example, at the tip of a robot arm 202 included in the robot 20.

[0062] <Second Modification of the Embodiment> In the above-described embodiment (including the modification) of the present disclosure, the temporary evacuation place P shown in FIG. 1 is shown as an example of the temporary evacuation place P. However, in the second modification of the embodiment of the present disclosure, the temporary evacuation place P is not limited to the temporary evacuation place shown in FIG. 1. FIG. 10 is a diagram showing an example of the temporary evacuation place P according to the second modification of the embodiment of the present disclosure. The temporary evacuation place P may be any temporary evacuation place as long as it is a place where the target object M can be temporarily placed. For example, the temporary evacuation place P may be a temporary evacuation place provided parallel to the transport mechanism 101, as shown in FIG. 10.

[0063] <Third Modification of the Embodiment> In the above-described embodiment (including the modification) of the present disclosure, it has been described that one of the robots 20 remotely operable by the worker or the terminal device 50 moves the object M placed in the temporary evacuation area P to the car cart C. However, in the third modification of the embodiment of the present disclosure, a robot 20 a other than the robot 20 remotely operable by the worker or the terminal device 50 may move the object M placed in the temporary evacuation area P to the car cart C.

[0064] (Configuration of Robot System) Fig. 11 is a diagram showing an example of the configuration of a robot system 1 according to a third modified example of an embodiment of the present disclosure. As shown in Fig. 11, the robot system 1 has, for example, the configuration of the robot system 1 according to the first embodiment of the present disclosure, and further includes a robot 20a. Note that the terminal device 50 is different from the terminal device 50 according to the first embodiment of the present disclosure.

[0065] The robot 20a includes a robot body 201, a robot arm 202, and a drive mechanism 203, similar to the robot 20 according to the first embodiment of the present disclosure. However, the robot 20 causes the robot arm 202 to grasp the object M in response to a control signal from the processing device 40, move the object M to a destination (e.g., a cart C, a temporary evacuation location P), and release the object M. On the other hand, the robot 20a causes the robot arm 202 to grasp the object M placed in the temporary evacuation location P in response to a control signal from the terminal device 50, move the object M to a destination (e.g., a cart C), and release the object M.

[0066] The terminal device 50 is a terminal device used by the worker Y that can receive the notification. The terminal device 50 also controls the operation of the robot arm 202 provided in the robot 20 by outputting a control signal to the drive mechanism 203 of the robot 20a. Examples of the terminal device 50 include a smartphone, a tablet terminal, a computer, a wearable controller, etc. that can output a control signal to the drive mechanism 203 of the robot 20a.

[0067] (Processing Performed by Robot System) Fig. 12 is a diagram illustrating an example of a processing flow of the robot system 1 according to the third modified example of the embodiment of the present disclosure. Next, processing performed by the robot system 1 will be described with reference to Fig. 12 .

[0068] The photographing device 30 outputs the photographed image of the object M to the transport system 10. The shape specifying unit 1022 specifies the shape of the object M from the image photographed by the photographing device 30. Then, the robot system 1 performs the processes of steps S1 to S7. Note that in the state of step S7, the instruction unit 1024 may stop the operation of the transport mechanism 101 depending on the status of the available space.

[0069] When the worker who has received the notification from the terminal device 50 operates the terminal device 50 to move the object M placed in the temporary evacuation area P to the car cart C, the terminal device 50 outputs a control signal to the drive mechanism 203 of the robot 20a to move the object M placed in the temporary evacuation area P to the car cart C. As a result, the remotely controlled robot 20a moves the object placed in the temporary evacuation area to the car cart C (step S11).

[0070] (Advantages) The robot system 1 according to the third modification of the embodiment of the present disclosure has been described above. The robot system 1 includes the robot 20a. The robot 20a is remotely controlled by the terminal device 50, and can move the object M placed in a temporary evacuation area to the car cart C.

[0071] <Fourth Modification of Embodiment> Fig. 13 is a diagram illustrating an example of the configuration of a robot system 1 according to a fourth modification of the embodiment of the present disclosure. As illustrated in Fig. 13, the robot system 1 may include one or more robots 20b and a cart C downstream of a temporary evacuation area P. The robot 20b includes a robot body 201, a robot arm 202, and a drive mechanism 203. The robot 20b moves an object M on a transport mechanism 101 downstream of the temporary evacuation area P to the cart C in response to a control signal. The control signal for controlling the robot 20b may be a control signal generated by the processing device 40 or a control signal generated by the terminal device 50. In other words, the robot 20b may be a robot that operates autonomously or a robot that operates by remote control.

[0072] Furthermore, in the robot system 1 according to the fourth modified example of the embodiment of the present disclosure, an operator may assign a classification to each of the objects M placed in the temporary evacuation area P. FIG. 14 is a diagram illustrating an example of a method for an operator to assign a classification in the robot system 1 according to the fourth modified example of the embodiment of the present disclosure. FIG. 14 illustrates an image of the temporary evacuation area P captured by the camera device 30. Note that the device capturing the image of the temporary evacuation area P may be a device other than the camera device 30. For example, the image of the temporary evacuation area P is displayed on the terminal device 50. As shown in FIG. 14 , the terminal device 50 uses a dedicated program to display candidate classifications (type A, type B, and type C in the example shown in FIG. 14 ) for the object M touched by the operator on the screen of the terminal device 50. The operator selects the correct classification from the displayed candidate classifications, thereby assigning the correct classification to the object M. This information is shared with each of the robots 20, 20a, and 20b from the terminal device 50 via the transport system 10. Then, the object M with the correct classification is placed again on the transport mechanism 101 and moved downstream of the temporary evacuation area P. The robot 20b moves the object M that has moved downstream of the temporary evacuation area P to an appropriate car cart C in accordance with the information on the correct classification.

[0073] Advantages The robot system 1 according to the fourth modification of the embodiment of the present disclosure has been described above. The robot 20b can move an identified object M that the robot 20 was unable to process to an appropriate cart C.

[0074] <Fifth Modification of the Embodiment> In the robot system 1 according to the above-described embodiment, it has been described that the robot 20 moves the recognizable but unidentifiable object M on the transport mechanism 101 to a temporary evacuation location. However, in the robot system 1 according to the fifth modification of the embodiment of the present disclosure, a flapper gate G, which will be described later, may move the recognizable but unidentifiable object M on the transport mechanism 101 to a temporary evacuation location. The following description will mainly focus on the differences between the robot system 1 according to the fifth modification of the embodiment of the present disclosure and the robot system 1 according to the first embodiment of the present disclosure.

[0075] (Configuration of Robot System) Fig. 15 is a diagram illustrating an example of the configuration of a robot system 1 according to a fifth modified example of an embodiment of the present disclosure. As shown in Fig. 15, the robot system 1 includes a transport system 10, a robot 20, an imaging device 30, a processing device 40, a terminal device 50, a car trolley C, and a temporary evacuation area P. Furthermore, as shown in Fig. 15, the robot system 1 further includes a flapper gate G.

[0076] FIG. 16 is a diagram illustrating the operation of a flapper gate G according to a fifth modified example of the embodiment of the present disclosure. Part (a) of FIG. 16 illustrates the state of the flapper gate G when the object M on the transport mechanism 101 is moved to the temporary evacuation location P. Part (b) of FIG. 16 illustrates the state of the flapper gate G when the object M on the transport mechanism 101 is not moved to the temporary evacuation location P, but continues to move on the transport mechanism 101. In other words, if the type identification unit 1023 cannot identify the type of the object M, the flapper gate G is controlled to cross the transport mechanism 101 diagonally toward the temporary evacuation location P to assume the state shown in part (a) of FIG. 16 . If the type identification unit 1023 can identify the type of the object M, the flapper gate G is controlled to avoid moving from the transport mechanism 101 to assume the state shown in part (b) of FIG. 16 . In addition, the control of the flapper gate G can be performed, for example, by the instruction unit 1024 of the higher-level device 102 so that the state shown in part (b) of Figure 16 changes to the state shown in part (a) of Figure 16, instead of moving the object M that cannot be identified by the robot 20 according to the first embodiment of the present disclosure to a temporary evacuation location P.

[0077] Advantages The robot system 1 according to the fifth modification of the embodiment of the present disclosure has been described above. The flapper gate G makes it possible to move the object M that could not be identified to the temporary evacuation location P without using the robot 20.

[0078] An apparatus 300 having a minimum configuration according to an embodiment of the present disclosure will be described. Fig. 17 is a diagram showing the apparatus 300 having a minimum configuration according to an embodiment of the present disclosure. As shown in Fig. 17, the apparatus 300 having a minimum configuration according to an embodiment of the present disclosure includes a placement unit 301 and a determination unit 302.

[0079] The placing means 301 places an object, among the objects being transported by the transport device, that is determined to be unable to complete the operation by the robot arm, in a shelter location. The determining means 302 determines the timing of notifying a worker who will perform a predetermined task on the object placed in the shelter location. The placing means 301 can be realized, for example, by using the function of the instruction unit 1024 exemplified in FIGS. 3 and 8 . The determining means 302 can be realized, for example, by using the function of the determination unit 1025 exemplified in FIGS. 3 and 8 .

[0080] Next, a description will be given of processing by the minimum configuration device 300. Fig. 18 is a diagram showing an example of a processing flow of the minimum configuration device 300 according to an embodiment of the present disclosure. Here, the processing by the minimum configuration device 300 will be described with reference to Fig. 18.

[0081] The placing means 301 places an object, among the objects being transported by the transport device, that is determined to be unable to complete the operation by the robot arm, in a shelter location (step S101). The determining means 302 determines the timing to notify the worker who will perform a predetermined task on the object placed in the shelter location (step S102). This allows the robot and the worker to work together efficiently (because the worker can perform the predetermined task at an appropriate timing).

[0082] The order of the processes in the embodiments of the present disclosure may be changed as long as the processes are performed appropriately.

[0083] Although the embodiments of the present disclosure have been described, the robot system 1, the transport system 10, the robot 20, the imaging device 30, the processing device 40, the terminal device 50, and other control devices may have a computer device inside. The above-described processing steps are stored in the form of a program on a computer-readable recording medium, and the computer reads and executes this program to perform the above processing. Specific examples of computers are shown below.

[0084] FIG. 19 is a schematic block diagram showing the configuration of a computer according to at least one embodiment. As shown in FIG. 19 , the computer 5 includes a CPU (Central Processing Unit) 6, a main memory 7, a storage 8, and an interface 9. For example, the robot system 1, the transport system 10, the robot 20, the imaging device 30, the processing device 40, the terminal device 50, and other control devices are implemented in the computer 5. The operations of the above-mentioned processing units are stored in the storage 8 in the form of a program. The CPU 6 reads the program from the storage 8, loads it into the main memory 7, and executes the above-mentioned processing in accordance with the program. The CPU 6 also allocates storage areas in the main memory 7 corresponding to the above-mentioned storage units in accordance with the program.

[0085] Examples of storage 8 include a hard disk drive (HDD), a solid state drive (SSD), a magnetic disk, a magneto-optical disk, a compact disc read-only memory (CD-ROM), a digital versatile disc read-only memory (DVD-ROM), and a semiconductor memory. Storage 8 may be an internal medium directly connected to the bus of computer 5, or an external medium connected to computer 5 via interface 9 or a communication line. Furthermore, if the program is distributed to computer 5 via a communication line, computer 5 that receives the program may load the program into main memory 7 and execute the above-described processing. In at least one embodiment, storage 8 is a non-transitory tangible storage medium.

[0086] The program may also implement some of the functions described above. Furthermore, the program may be a file that can implement the functions described above in combination with a program already stored in the computer device, a so-called differential file (differential program).

[0087] Although several embodiments of the present disclosure have been described, these embodiments are merely examples and do not limit the scope of the disclosure. Various additions, omissions, substitutions, and modifications may be made to these embodiments without departing from the spirit of the disclosure.

[0088] Note that part or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0089] (Supplementary Note 1) An apparatus comprising: a placement means for placing an object, among objects being transported by a transport device, that is determined to be unable to complete an operation by a robot arm, in an evacuation location; and a determination means for determining the timing of notifying a worker who will perform a predetermined task on the object placed in the evacuation location.

[0090] (Supplementary Note 2) The device according to Supplementary Note 1, further comprising: a notification means for notifying the operator of the timing.

[0091] (Supplementary Note 3) The device according to Supplementary Note 1 or Supplementary Note 2, further comprising: a switching means for switching the timing from a first device that generates a first control signal that controls the operation of the robot arm to a second device that generates a second control signal that controls the operation of the robot arm.

[0092] (Supplementary Note 4) The device described in Supplementary Note 3, wherein the second control signal is a signal for moving the object from the evacuation location to a location where the robot arm can complete the operation, and when the switching means switches from the first device to the second device, the second device outputs the second control signal to the robot arm.

[0093] (Supplementary Note 5) The device according to any one of Supplementary Notes 1 to 4, wherein the timing is determined to satisfy a predetermined condition.

[0094] (Supplementary Note 6) The device according to Supplementary Note 5, wherein the predetermined condition is that the ratio of the free space in the evacuation location for placing the object to the entire evacuation location is equal to or greater than a predetermined ratio.

[0095] (Supplementary Note 7) The apparatus according to Supplementary Note 5, wherein the predetermined condition is that it takes a certain amount of time or more for the object on the transport device to move to a position where it can be grasped by the robot arm.

[0096] (Supplementary Note 8) A processing method comprising placing an object, among objects being transported by a transport device, that is determined to be unable to complete an operation by a robot arm in an evacuation location, and determining a timing to notify a worker who will perform a predetermined task on the object placed in the evacuation location.

[0097] (Supplementary Note 9) The processing method according to Supplementary Note 8, wherein the worker is notified at the timing.

[0098] (Supplementary Note 10) The processing method according to Supplementary Note 8 or Supplementary Note 9, wherein the timing is switched from a first device that generates a first control signal that controls the operation of the robot arm to a second device that generates a second control signal that controls the operation of the robot arm.

[0099] (Supplementary Note 11) The processing method described in Supplementary Note 10, wherein the second control signal is a signal for moving the object from the evacuation location to a location where the operation by the robot arm can be completed, and when switching from the first device to the second device, the second device outputs the second control signal to the robot arm.

[0100] (Supplementary Note 12) The processing method according to any one of Supplementary Note 8 to Supplementary Note 11, wherein the timing is a timing determined to satisfy a predetermined condition.

[0101] (Supplementary Note 13) The processing method according to Supplementary Note 12, wherein the predetermined condition is that the ratio of the free space in the evacuation location for placing the object to the entire evacuation location is equal to or greater than a predetermined ratio.

[0102] (Supplementary Note 14) The processing method according to Supplementary Note 12, wherein the predetermined condition is that it takes a certain amount of time or more for the object on the transport device to move to a position where it can be grasped by the robot arm.

[0103] (Supplementary Note 15) A recording medium storing a program that causes a computer to execute the following operations: placing an object, among objects being transported by a transport device, that is determined to be unable to complete an operation by a robot arm, in an evacuation location; and determining the timing to notify a worker who will perform a predetermined task on the object placed in the evacuation location.

[0104] (Supplementary Note 16) The recording medium according to Supplementary Note 15, storing a program that causes a computer to execute the steps of: notifying the worker at the timing.

[0105] (Supplementary Note 17) A recording medium according to Supplementary Note 15 or Supplementary Note 16, storing a program for causing a computer to execute the following: switching the timing from a first device that generates a first control signal that controls the operation of the robot arm to a second device that generates a second control signal that controls the operation of the robot arm.

[0106] (Supplementary Note 18) The recording medium according to Supplementary Note 17, storing a program that causes a computer to execute the following: the second control signal is a signal that moves the object from the evacuation location to a location where the robot arm can complete the operation; and when switching from the first device to the second device, the second device outputs the second control signal to the robot arm.

[0107] (Supplementary Note 19) The recording medium according to any one of Supplementary Note 15 to Supplementary Note 18, wherein the timing is determined to satisfy a predetermined condition.

[0108] (Supplementary Note 20) The recording medium according to Supplementary Note 19, wherein the predetermined condition is that the ratio of the free space in the evacuation location for placing the object to the entire evacuation location is equal to or greater than a predetermined ratio.

[0109] (Supplementary Note 21) The recording medium according to Supplementary Note 19, wherein the predetermined condition is that it takes a certain amount of time or more for the object on the transport device to move to a position where it can be grasped by the robot arm.

[0110] According to each aspect of the present disclosure, a robot and a worker can work together efficiently.

[0111] DESCRIPTION OF SYMBOLS 1: Robot system 5: Computer 6: CPU 7: Main memory 8: Storage 9: Interface 10: Transport system 20: Robot 30: Photography device 40: Processing device 50: Terminal device 101: Transport mechanism 102: Upper device 201: Robot body 202: Robot arm 1021: Management unit 1022: Shape identification unit 1023: Type identification unit 1024: Instruction unit 1025: Determination unit 1026: Notification unit 1027: Switching unit C: Cage trolley DB: Database P: Temporary evacuation location

Claims

1. An apparatus comprising: a placement means for placing, in an evacuation location, an object that is determined to be unable to complete an operation by a robot arm among objects transported by a transport device; and a decision means for deciding the timing to notify an operator who will perform a specified task on the object that has been placed in the evacuation location.

2. The apparatus according to claim 1, further comprising: a notification means for notifying the worker of the timing.

3. The device according to claim 1 or claim 2, further comprising a switching means for switching the timing from a first device generating a first control signal for controlling the movement of the robot arm to a second device generating a second control signal for controlling the movement of the robot arm.

4. The device described in claim 3, wherein the second control signal is a signal for moving the object from the retreat location to a location where the operation by the robot arm can be completed, and when the switching means switches from the first device to the second device, the second device outputs the second control signal to the robot arm.

5. The device according to any one of claims 1 to 4, wherein the timing is determined to satisfy a predetermined condition.

6. The device according to claim 5, wherein the predetermined condition is that the ratio of free space in the evacuation location for placing the object to the entire evacuation location is equal to or greater than a predetermined ratio.

7. The apparatus according to claim 5, wherein the predetermined condition is that it takes a certain amount of time or more for the object on the transport device to move to a position where it can be grasped by the robot arm.

8. A processing method comprising: placing an object, which is determined to be unable to complete an operation by a robot arm, among objects being transported by a transport device in an evacuation location; and determining a timing for notifying an operator who will perform a specified task on the object placed in the evacuation location.

9. A recording medium having stored thereon a program that causes a computer to execute the following operations: placing an object, among the objects transported by a transport device, in a shelter location that is determined to be unable to complete an operation by a robot arm; and determining the timing of notifying an operator who will perform a specified task on the object placed in the shelter location.

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