Work control system, work control method, and work control device

Abstract

A work control system according to the present disclosure comprises: an acquisition means for acquiring a moving image of a work object that has been positioned; a defining means for defining a plurality of observation points in regard to the acquired moving image; a detection means for detecting any changes in each of the plurality of observation points; a determination means for determining that the work object is stable in accordance with the elapsing of a stabilization time; and a control means for controlling work performed on the work object by the work machine in accordance with the determination. The index for stability of the work object in the stabilization time is a state in which the quantity of observation points among the plurality of observation points changing by a change amount equal to or greater than a first threshold value per unit time is less than a second threshold value.

Description

Work control system, work control method, and work control device

[0001] The present disclosure relates to a work control system, a work control method, and a work control device.

[0002] In recent years, there has been progress in the development of technology for determining the movement of each area captured in a plurality of images acquired by a camera, etc. Related technology is disclosed in, for example, Japanese Patent Application Laid-Open No. 2003-222299.

[0003] Patent Document 1 discloses an ultrasound diagnostic device that analyzes multiple tomographic images of a subject generated based on reflected ultrasound, and determines whether the probe is stationary or moving when the tomographic images are acquired based on the amount and direction of movement of each region of the tomographic images obtained through the analysis.

[0004] JP 2015-131100 A

[0005] The device disclosed in Patent Document 1 is a technology for determining whether a probe is stationary or moving, but does not detect how long the stationary state of the subject shown in the image continues. Therefore, the technology disclosed in Patent Document 1 cannot accurately detect that the subject shown in the image has stopped and stabilized.

[0006] One object of the present disclosure is to provide a work control system, a work control method, and a work control device that solve the above-mentioned problems.

[0007] A work control system according to one aspect of the present disclosure comprises an acquisition means for acquiring a video of a placed work object, a definition means for defining a plurality of observation points for the acquired video, a detection means for detecting changes in each of the plurality of observation points, a determination means for determining that the work object has stabilized when a stabilization time, which is a criterion for stability of the work object, has elapsed after the number of observation points among the plurality of observation points that change by an amount equal to or greater than a first threshold per unit time becomes less than a second threshold, and a control means for controlling work on the work object by a work machine in accordance with the determination.

[0008] In a work control method according to one aspect of the present disclosure, a computer acquires video of a placed work object, defines multiple observation points for the acquired video, detects changes at each of the multiple observation points, and determines that the work object has stabilized when the number of observation points that change by an amount equal to or greater than a first threshold per unit time becomes less than a second threshold, indicating that a stability time, which is a criterion for stability of the work object, has elapsed, and controls work on the work object by a work machine in accordance with the determination.

[0009] A work control device according to one aspect of the present disclosure comprises an acquisition means for acquiring a video of a placed work object, a definition means for defining a plurality of observation points for the acquired video, a detection means for detecting changes in each of the plurality of observation points, a determination means for determining that the work object has stabilized when a stabilization time, which is a criterion for stability of the work object, has elapsed, and the number of observation points among the plurality of observation points that change by an amount equal to or greater than a first threshold per unit time becomes less than a second threshold, and a control means for controlling work on the work object by a work machine in accordance with the determination.

[0010] The present disclosure can provide a work control system, a work control method, and a work control device that can accurately detect when a work object has stabilized and perform work efficiently.

[0011] FIG. 1 is a block diagram showing an example configuration of a work control device according to the present disclosure. FIG. 2 is a flowchart showing the operation of a work control device according to the present disclosure. FIG. 3 is a diagram for explaining changes in the status of multiple observation points on a work object. FIG. 4 is a block diagram showing an example configuration of a work control system to which a work control device according to the present disclosure is applied. FIG. 5 is a block diagram showing an example configuration of a work control system according to the present disclosure. FIG. 6 is a diagram for explaining an example of data analysis by a work control device according to the present disclosure. FIG. 7 is a block diagram showing an example hardware configuration for realizing the work control function of a work control device according to the present disclosure.

[0012] Hereinafter, embodiments will be described with reference to the drawings. Note that the drawings are simplified, and the technical scope of the embodiments should not be narrowly interpreted based on the description in the drawings. Furthermore, identical elements are given the same reference numerals, and duplicate explanations will be omitted.

[0013] In the following embodiments, when necessary for convenience, the description will be divided into multiple sections or embodiments. However, unless otherwise specified, they are not unrelated to each other, and one is a partial or complete modification, application example, detailed explanation, supplementary explanation, etc. of the other. Furthermore, in the following embodiments, when the number of elements (including the number, numerical value, amount, range, etc.) is mentioned, it is not limited to that specific number, and may be more or less than the specific number, unless otherwise specified or when it is clearly limited to a specific number in principle.

[0014] Furthermore, in the following embodiments, the components (including operational steps, etc.) are not necessarily essential unless otherwise specified or considered to be clearly essential in principle. Similarly, in the following embodiments, when referring to the shape, positional relationship, etc. of components, etc., it is intended to include those that are substantially similar or similar to the shape, etc., unless otherwise specified or considered to be clearly not essential in principle. The same applies to the above numbers, etc. (including numbers, numerical values, amounts, ranges, etc.).

[0015] First Embodiment FIG. 1 is a block diagram illustrating an example configuration of a work control device 11 according to the present disclosure. The work control device 11 controls work performed by a work machine on a work object. The work control device 11 determines that the work object has stabilized sufficiently to allow the work machine to perform work if the work object remains stationary for a stabilization time, which is a criterion for stability. The stabilization time is the reference time for determining that the work object has stabilized. The stationary state of the work object, as described in detail below, includes not only a state in which the work object is completely stationary, but also a state in which the work object is moving little, where the number of observation points defined on a video of the work object that change by an amount equal to or greater than a first threshold Ct per unit time is less than a second threshold Nt. The work control device 11 can accurately detect when the work object has stabilized, thereby preventing work from starting before the work object has stabilized or waiting longer than necessary after the work object has stabilized. In other words, the work control device 11 can efficiently perform work. A detailed description is provided below.

[0016] As shown in FIG. 1 , the work control device 11 includes an acquisition unit 111 , a definition unit 112 , a detection unit 113 , a determination unit 114 , and a control unit 115 .

[0017] The acquisition unit 111 acquires a video of the placed work target TG. For example, the work target TG is placed in a predetermined area by a worker. The work target TG placed in the predetermined area is photographed by a camera installed on the ceiling or the like of a work room that includes the predetermined area. Then, the acquisition unit 111 acquires the video of the work target TG photographed by the camera.

[0018] The definition unit 112 defines a plurality of observation points for the moving image acquired by the acquisition unit 111. The observation points are target portions of the moving image acquired by the acquisition unit 111, at which the amount of change in position is to be observed. For example, the definition unit 112 allocates the plurality of observation points to the moving image in a grid pattern.

[0019] The detection unit 113 detects positional changes of multiple observation points defined for the video at each frame change, for example, using optical flow. Specifically, the detection unit 113 detects, among the multiple observation points assigned to the video, observation points whose positional change at each frame change is equal to or greater than a first threshold Ct. For example, among the multiple observation points assigned to the video, observation points whose positional change at each frame change is equal to or greater than the first threshold Ct are superimposed on the video, while observation points whose positional change is less than the first threshold Ct are not displayed. In other words, among the multiple observation points assigned to the video, observation points whose positional change per unit time is equal to or greater than the first threshold Ct are superimposed on the video, while observation points whose positional change is less than the first threshold Ct are not displayed. Therefore, it is possible to determine whether the work target TG is stationary from the number of observation points superimposed on the video. However, observation points whose positional change at each frame change is equal to or greater than the first threshold Ct are not limited to being superimposed on the video, but may be displayed using another display method or output using another output method. For example, it is also possible to simply output the number of observation points whose position change amount for each frame change is equal to or greater than the first threshold Ct. Note that the output of the number of observation points whose position change amount for each frame change is equal to or greater than the first threshold Ct is not limited to being displayed on the screen of the display device, and may also be transmitted to other functional units of the work control device 11.

[0020] The determination unit 114 determines that the work object TG has stabilized to the extent that a work machine can perform work on it when the number of observation points among the multiple observation points that change per unit time by an amount equal to or greater than the first threshold Ct is less than the second threshold Nt after a stabilization time T1, which is a criterion for the stability of the work object TG, has elapsed. For example, the determination unit 114 determines that the work object TG has stabilized to the extent that a work machine can perform work on it when the number of observation points superimposed on the video is less than the second threshold Nt after a stabilization time T1, which is a criterion for the stability of the work object TG, has elapsed. Here, if the number of observation points among the multiple observation points that change per unit time by an amount equal to or greater than the first threshold Ct is less than the second threshold Nt, it is determined that the work object TG is stationary or substantially stationary. In other words, the stationary state of the work object TG includes not only a state in which the work object TG is completely stationary, but also a state in which the movement of the work object TG is small, where the number of observation points among multiple observation points that change by an amount of change per unit time equal to or greater than the first threshold value Ct is less than the second threshold value Nt. Therefore, when the stationary state of the work object TG has remained stable for a stabilization time T1, the determination unit 114 determines that the work object TG has stabilized to the extent that work can be performed by a work machine.

[0021] The stabilization time T1 may be set to any value depending on, for example, at least one of the type of work object TG, the worker placing the work object TG, and the work content to be performed on the work object TG.

[0022] The control unit 115 controls the work performed by the work machine on the work object TG according to the determination result of the determination unit 114. For example, if the determination unit 114 determines that the work object TG has stabilized, the control unit 115 causes the work machine to perform work on the work object TG. Here, the control unit 115 may assign a work task to the work machine or move the work machine closer to the work object TG when the work object TG is placed in a predetermined area. By the control unit 115 assigning a work task to the work machine or moving the work machine closer to the work object TG when the work object TG is placed in a predetermined area, the work time can be shortened. Furthermore, the control unit 115 may control the work performed by the work machine on the work object TG according to the orientation of the work object TG in a stable state. For example, if the orientation of the work object TG in a stable state is significantly different from the reference orientation, the load applied to the work object TG from the work machine may be large, so the control unit 115 may control the work machine to slow down the work speed on the work object TG. Information on the orientation of the work object TG can be acquired from the video of the work object TG acquired by the acquisition unit 111.

[0023] In this way, the work control device 11 according to the present disclosure determines that the work object TG has stabilized to the extent that the work machine can perform work when the work object TG remains stationary for at least the stabilization time T1, which is the standard for stability. Because the work control device 11 can accurately detect that the work object TG has stabilized, it can prevent work from starting before the work object TG has stabilized or from waiting longer than necessary after the work object TG has stabilized. In other words, the work control device 11 can perform work efficiently. Because control systems are generally affected by disturbances, detecting that the work object has stabilized can improve control accuracy.

[0024] (Operation of the work control device 11) Next, the operation of the work control device 11 will be explained using Figures 2 and 3. Figure 2 is a flowchart showing the operation of the work control device 11. Figure 3 is a diagram for explaining the changing conditions at multiple observation points on the work target TG. The display contents of steps S101 to S104 in Figure 3 correspond to the processing results of steps S101 to S104 in Figure 2, respectively.

[0025] First, the work control device 11 acquires a video of the work target TG placed by a worker or the like (step S101).

[0026] Thereafter, the work control device 11 defines a plurality of observation points for the acquired video (step S102). Referring to Fig. 3, the work control device 11 allocates a plurality of observation points for the video in a grid pattern.

[0027] The work control device 11 then detects changes in the positions of the multiple observation points defined for the video at each frame change, using, for example, optical flow (step S103). For example, of the multiple observation points assigned to the video, those whose position change per unit time is equal to or greater than a first threshold Ct are superimposed on the video, while those whose position change is less than the first threshold Ct are not displayed. Therefore, it is possible to determine whether the work target TG is stationary from the number of observation points superimposed on the video. However, observation points whose position change per frame is equal to or greater than the first threshold Ct do not necessarily have to be superimposed on the video, but may be displayed using another representation method or output using another output method.

[0028] For example, if the number of observation points that change at an amount equal to or greater than the first threshold Ct per unit time is equal to or greater than the second threshold Nt (NO in step S104), the work control device 11 determines that the work object TG is not stationary and waits until the work object TG substantially comes to a standstill (step S105). The number of observation points that change at an amount equal to or greater than the first threshold Ct per unit time may be the number of observation points superimposed on the video.

[0029] On the other hand, if the number of observation points that change by an amount equal to or greater than the first threshold Ct per unit time is less than the second threshold Nt (YES in step S104), the work control device 11 determines that the work object TG is substantially stationary. The work control device 11 then observes whether the stationary state of the work object TG continues for a stable time T1 (step S106).

[0030] For example, if the stationary state of the work object TG does not continue for the stabilization time T1 or longer (NO in step S106), the work control device 11 returns to determining whether the number of observation points that change by an amount of change per unit time equal to or greater than the first threshold Ct is less than the second threshold Nt (step S104). On the other hand, if the stationary state of the work object TG continues for the stabilization time T1 or longer (YES in step S106), the work control device 11 determines that the work object TG has stabilized to the extent that work can be performed by a work machine (step S107).

[0031] When the work control device 11 determines that the work object TG has stabilized, it causes the work machine to perform work on the work object TG (step S108).

[0032] In this way, the work control device 11 according to the present disclosure determines that the work object TG has stabilized to the extent that the work machine can perform work when the work object TG remains stationary for at least the stabilization time T1, which is the standard for stability. Because the work control device 11 can accurately detect that the work object TG has stabilized, it can prevent work from starting before the work object TG has stabilized or from waiting longer than necessary after the work object TG has stabilized. In other words, the work control device 11 can perform work efficiently.

[0033] The work control device 11 is, for example, a transport control device that controls the transport of an object by a transport vehicle. In this case, the work object TG is the transported object, and the work machine is the transport vehicle. For example, when the work control device 11 determines that the placed transported object is stable, it causes the transport vehicle to transport the transported object. Note that the work machine may be a device that lifts objects, such as a picking machine. When the work machine is a device that lifts objects, such as a picking machine, the work control device 11 uses the device that lifts objects to grasp or lift the work object TG when it determines that the work object TG is stable.

[0034] (Work control system 1 employing a work control device 11) Figure 4 is a block diagram showing an example configuration of a work control system 1 employing a work control device 11. The work control system 1 comprises a work control device 11, a photography device 12, a work machine 13, and a network 14. The work control device 11 can also be referred to as a work control system on its own. The work control device 11, the photography device 12, and the work machine 13 are configured to be able to communicate with each other via a wired or wireless network 14. In recent years, control systems that collect sensor data required for control and control the work control device via a network have become popular as one form of control system.

[0035] The camera device 12 is installed, for example, on the ceiling of a work room including a predetermined area, and captures the movement of a work object TG placed in the predetermined area. The work control device 11 acquires the video captured by the camera device 12. Furthermore, if the work control device 11 determines that the placed work object TG is stable, it causes the work machine 13 to perform work on the work object TG. Other operations of the work control device 11 provided in the work control system 1 have already been described.

[0036] <Second embodiment> Figure 5 is a block diagram showing an example configuration of a work control system 2 according to the present disclosure. Compared to work control system 1, work control system 2 includes a work control device 21 instead of work control device 11, and further includes a storage device 25. In addition to an acquisition unit 111, a definition unit 112, a detection unit 113, a determination unit 114, and a control unit 115, the work control device 21 further includes a setting unit 216. The other configuration of work control system 2 is the same as that of work control system 1, and therefore description thereof will be omitted.

[0037] The storage device 25 stores a plurality of actual measurement results of the number of observation points that change by an amount equal to or greater than the first threshold Ct per unit time from when the work object TG is placed until it stabilizes. The storage device 25 also stores information associated with each actual measurement result, such as the worker who placed the work object TG, the type of work object TG, and the work to be performed on the work object TG.

[0038] The setting unit 216 sets the criteria for determining whether the work object TG has stabilized, as determined by the determination unit 114. Specifically, the setting unit 216 references the actual measurement results stored in the storage device 25 to calculate and set a stabilization time T1, which is the time from when the work object TG comes to a substantial standstill until it stabilizes sufficiently to allow the work machine 13 to perform work. Note that the work object TG coming to a substantial standstill means that the number of observation points changing by an amount equal to or greater than the first threshold Ct per unit time is less than the second threshold Nt. The stabilization time T1 is expected to change to an appropriate value depending on, for example, the nature of the work, such as placing the work object in a predetermined position, the type and weight of the work object, the worker's level of proficiency, and other factors. If the stabilization time T1 is set too short, the work may begin before the work object stabilizes, potentially resulting in a deterioration in work accuracy or a failure. On the other hand, if the stabilization time T1 is set too long, the worker may wait longer than necessary after the work object stabilizes, potentially reducing work efficiency.

[0039] Fig. 6 is a diagram illustrating an example of data analysis by the work control device 21. As shown in Fig. 6, the storage device 25 stores a plurality of actual measurement results of the number of observation points that change by an amount of change equal to or greater than the first threshold Ct per unit time from when the work object TG is placed until it stabilizes. In addition, although not shown in Fig. 6, the storage device 25 also stores information linked to each actual measurement result, such as the worker who placed the work object TG, the type of work object TG, and the work to be performed on the work object TG.

[0040] For example, the setting unit 216 analyzes the stability state of each work object TG 1 to 10 seconds after the work object TG has come to a substantial standstill.

[0041] First, one second after the work object TG becomes substantially stationary at time t1, the work object TG remains stationary. However, the work object TG then begins to shake significantly again due to reasons such as the worker touching the work object TG. Therefore, even if the work object TG remains stationary one second after becoming substantially stationary, this does not necessarily mean that the work object TG is stable. In other words, if the stabilization time T1 is set to one second, the determination unit 114 may make an incorrect determination. In the example of FIG. 6, a "1" is displayed when there is a high possibility that the determination unit 114 will make an incorrect determination, and a "0" is displayed when there is a low possibility that the determination unit 114 will make an incorrect determination.

[0042] In contrast, if the work object TG remains stationary two seconds after coming to a substantial standstill, the work object TG is likely to be stable. Therefore, if the stabilization time T1 is set to two seconds or more, the determination unit 114 is unlikely to make an erroneous determination. However, if the stabilization time T1 is set to 10 seconds, the work time will exceed the allowable time. In the example of FIG. 6 , a "1" is displayed when the work time exceeds the allowable time, and a "0" is displayed when the work time does not exceed the allowable time. Therefore, the setting unit 216 sets the stabilization time T1 to 2 seconds, the shortest of 2 to 9 seconds. The setting unit 216 can determine a more reliable stabilization time T1 by referring to multiple actual measurement results stored in the storage device 25.

[0043] In this way, in the work control device 21, the setting unit 216 sets the stabilization time T1 to be short within a range in which the probability that the judgment unit 114's determination that the work object TG is stable is incorrect is less than a predetermined rate, thereby allowing the work control device 21 to perform work efficiently.

[0044] The time required for the work object TG to stabilize and the desired stable state of the work object TG vary depending on the proficiency level of the worker placing the work object TG, the type of work object TG, and the work content performed on the work object TG. Therefore, the setting unit 216 may set the stabilization time T1 according to the worker, the type of work object TG, or the work content, by referring to multiple actual measurement results for the worker placing the work object TG, the type of work object TG, or the work content. Furthermore, the setting unit 216 may set the stabilization time T1 according to the time period, day of the week, etc., on which the work is performed by referring to multiple actual measurement results for the same time period, day of the week, etc., which are stored in the storage device 25.

[0045] In addition, the setting unit 216 may be configured to set the density of the multiple observation points to a first density or a second density depending on the difference between the probability that the judgment will be incorrect when multiple observation points at a first density are used and the probability that the judgment will be incorrect when multiple observation points at a second density smaller than the first density are used.

[0046] For example, the setting unit 216 may be configured to change the density of the multiple observation points from the first density to the second density when the difference between the probability of an incorrect determination when using multiple observation points at a first density and the probability of an incorrect determination when using multiple observation points at a second density smaller than the first density is within a predetermined range. By changing the density of the multiple observation points to the second density, the work control device 21 can reduce the load on the calculation processing. Furthermore, the setting unit 216 may be configured to change the density of the multiple observation points from the second density to the first density when the difference between the probability of an incorrect determination when using multiple observation points at a first density and the probability of an incorrect determination when using multiple observation points at a second density smaller than the first density is outside a predetermined range. By changing the density of the multiple observation points to the first density, the work control device 21 can accurately determine whether the work target TG is stable.

[0047] (Hardware configuration for realizing the work control functions of the work control devices 11, 21) The work control processing performed by the work control devices 11, 21 can be realized by a general-purpose computer system. A brief explanation will be given below using Figure 7. Note that while the example in Figure 7 explains the work control device 11, the same can be said for the work control device 21.

[0048] 7 is a block diagram showing an example of a hardware configuration that realizes the work control function of the work control device 11. The computer 300 includes, for example, a CPU (Central Processing Unit) 301, which is a control device, a RAM (Random Access Memory) 302, and a ROM (Read Only Memory) 303. The computer 300 also includes an IF (Interface) 304, which is an interface with the outside, and an HDD (Hard Disk Drive) 305, which is an example of a non-volatile storage device. The computer 300 may also include other components not shown, such as input devices such as a keyboard and a mouse, and a display device such as a monitor.

[0049] The HDD 305 stores an operating system (OS) (not shown) and a work control program 306. The work control program 306 is a computer program in which the work control processing of the work control device 11 is implemented.

[0050] The CPU 301 controls various processes in the computer 300, as well as access to the RAM 302, ROM 303, IF 304, and HDD 305. In the computer 300, the CPU 301 loads and executes the OS and work control program 306 stored in the HDD 305. In this way, the computer 300 realizes the work control function of the work control device 11. Note that the functional units of the work control device 11 do not have to be implemented in a single device, but may be implemented in different devices. These different devices, on which the functions of the work control device 11 are implemented, constitute a work control system that realizes the work control function of the work control device 11.

[0051] The above-mentioned program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in this disclosure. The program may be stored on a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable medium or tangible storage medium includes RAM, ROM, flash memory, solid-state drives (SSDs) or other memory technologies, CD-ROMs, digital versatile discs (DVDs), Blu-ray discs or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices. The program may also be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0052] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0053] Each drawing is merely an example for describing one or more embodiments. Each drawing may not relate to only one particular embodiment, but may also relate to one or more other embodiments. As will be understood by those skilled in the art, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings to create, for example, an embodiment not explicitly shown or described. Not all features or steps shown in any one drawing are necessary to describe an exemplary embodiment, and some features or steps may be omitted. The order of steps described in any drawing may be changed as appropriate.

[0054] Furthermore, some or all of the above-described embodiments can be described as, but are not limited to, the following supplementary notes.

[0055] (Supplementary Note 1) A work control system comprising: an acquisition means for acquiring a video of a placed work object; a definition means for defining a plurality of observation points for the acquired video; a detection means for detecting changes in each of the plurality of observation points; a determination means for determining that the work object has stabilized when a stabilization time, which is a criterion for stability of the work object, has elapsed after the number of observation points among the plurality of observation points that change by an amount equal to or greater than a first threshold per unit time becomes less than a second threshold; and a control means for controlling work on the work object by a work machine in accordance with the determination.

[0056] (Supplementary Note 2) The work control system according to Supplementary Note 1, wherein the determination means sets the stabilization time in accordance with at least one of a worker placing the work object, a type of the work object, and a work content to be performed on the work object.

[0057] (Supplementary Note 3) The work control system described in Supplementary Note 1 further comprises a setting means for setting a criterion for determining whether the work object has stabilized by the determination means, wherein the setting means sets the stabilization time to be short within a range in which the probability of the determination being incorrect is less than a predetermined rate.

[0058] (Supplementary Note 4) The work control system described in Supplementary Note 3, wherein the setting means sets the density of the multiple observation points to the first density or the second density depending on the difference between the probability that the judgment is incorrect when using the multiple observation points at a first density and the probability that the judgment is incorrect when using multiple observation points at a second density smaller than the first density.

[0059] (Supplementary Note 5) The work control system according to Supplementary Note 1, wherein the defining means allocates the plurality of observation points to the video in a grid pattern.

[0060] (Supplementary Note 6) The work control system according to Supplementary Note 1, wherein the control means controls the work performed by the work machine on the work object according to the orientation of the work object when the stabilization time has elapsed.

[0061] (Supplementary Note 7) The work control system according to Supplementary Note 1, wherein the work object is a transported object to be transported to the work machine, and the control means controls the work machine in accordance with the determination result of the determination means.

[0062] (Supplementary Note 8) The work control system according to Supplementary Note 1, further comprising: a camera that captures video of the work object; and the work machine that performs work on the work object.

[0063] (Supplementary Note 9) A work control method in which a computer acquires a video of a placed work object, defines a plurality of observation points for the acquired video, detects changes in each of the plurality of observation points, determines that the work object has stabilized when a state in which the number of observation points among the plurality of observation points that change by an amount equal to or greater than a first threshold per unit time becomes less than a second threshold has passed, the state being a stabilization time that is a criterion for stability of the work object, and controls work on the work object by a work machine in accordance with the determination.

[0064] (Supplementary Note 10) A work control device comprising: acquisition means for acquiring video of a placed work object; definition means for defining a plurality of observation points for the acquired video; detection means for detecting changes in each of the plurality of observation points; determination means for determining that the work object has stabilized when a stabilization time, which is a criterion for stability of the work object, has elapsed after the number of observation points among the plurality of observation points that change by an amount equal to or greater than a first threshold per unit time becomes less than a second threshold; and control means for controlling work on the work object by a work machine in accordance with the determination.

[0065] (Supplementary Note 11) A work control program that causes a computer to perform the following steps: acquiring a video of a placed work object; defining a plurality of observation points for the acquired video; detecting changes in each of the observation points; determining that the work object has stabilized when a stabilization time, which is a criterion for stability of the work object, has elapsed after the number of observation points among the plurality of observation points that change by an amount equal to or greater than a first threshold per unit time becomes less than a second threshold; and controlling work on the work object by a work machine in accordance with the determination.

[0066] Some or all of the elements (e.g., configurations and functions) described in Supplementary Notes 2 to 8 that are dependent on Supplementary Note 1 may also be dependent on Supplementary Notes 9, 10, and 11 in the same dependency relationship as Supplementary Notes 2 to 8. Some or all of the elements described in any Supplementary Note may be applied to various hardware, software, recording means for recording software, systems, and methods.

[0067] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the invention.

[0068] This application claims priority based on Japanese Patent Application No. 2024-001495, filed January 9, 2024, the disclosure of which is incorporated herein in its entirety by reference.

[0069] REFERENCE SIGNS LIST 1 Work control system 2 Work control system 11 Work control device 12 Photography device 13 Work machine 14 Network 25 Storage device 21 Work control device 111 Acquisition unit 112 Definition unit 113 Detection unit 114 Determination unit 115 Control unit 216 Setting unit 300 Computer 301 CPU 302 RAM 303 ROM 304 IF 305 HDD 306 Work control program

Claims

1. An acquisition means for acquiring a video of an arranged work object, a defining means for defining a plurality of observation points for the acquired video, a detection means for detecting changes in each of the plurality of observation points, and among the plurality of observation points, when the number of observation points that change with a change amount of a first threshold or more per unit time is less than a second threshold, a determination means for determining that the work object is stable in response to the elapse of a stable time that is a criterion for the stability of the work object, and a control means for controlling the work on the work object by a work machine in response to the determination. A work control system comprising the above.

2. The determination means sets the stable time according to at least one of an operator who arranges the work object, a type of the work object, and a work content performed on the work object. The work control system according to claim 1.

3. The work control system according to claim 1, further comprising a setting means for setting a criterion for determining whether or not the work object is stable by the determination means, and the setting means sets the stable time to be shorter within a range where the probability that the determination is incorrect is less than a predetermined rate.

4. The setting means sets the density of the plurality of observation points to the first density or the second density according to a difference between the probability that the determination is incorrect when using the plurality of observation points of the first density and the probability that the determination is incorrect when using a plurality of observation points of a second density smaller than the first density. The work control system according to claim 3.

5. The defining means assigns the plurality of observation points to the video in a grid pattern. The work control system according to claim 1.

6. The control means controls the work on the work object by the work machine according to the orientation of the work object when the stable time has elapsed. The work control system according to claim 1.

7. The work object is a conveyed object conveyed to the work machine, and the control means controls the work machine according to the determination result of the determination means. The work control system according to claim 1.

8. The work control system according to claim 1, further comprising a photographing device for photographing a video of the work object and the work machine for performing work on the work object.

9. A work control method, wherein a computer acquires a video of a work object to be arranged, defines a plurality of observation points for the acquired video, detects changes in each of the plurality of observation points, and when a state in which the number of observation points that change at a change amount of a first threshold or more per unit time among the plurality of observation points is less than a second threshold is reached after a stable time that is a criterion for the stability of the work object, determines that the work object has become stable, and controls the work on the work object by a work machine according to the determination.

10. The work control method according to claim 9, wherein in the determination, the stable time is set according to at least one of a worker who arranges the work object, a type of the work object, and a work content performed on the work object.

11. The work control method according to claim 9, further setting a criterion for determining whether the work object has become stable, and in the setting, setting the stable time to be shorter within a range in which a probability that the determination is incorrect is less than a predetermined rate.

12. The work control method according to claim 11, wherein in the setting, according to a difference between a probability that the determination is incorrect when using the plurality of observation points of a first density and a probability that the determination is incorrect when using a plurality of observation points of a second density smaller than the first density, the density of the plurality of observation points is set to the first density or the second density.

13. The work control method according to claim 9, wherein in the definition, the plurality of observation points are assigned to the video in a grid pattern.

14. The work control method according to claim 9, wherein in the control, the work on the work object by the work machine is controlled according to the orientation of the work object when the stable time has elapsed.

15. The work control method according to claim 9, wherein the work object is a conveyed object conveyed to the work machine, and in the control, the work machine is controlled according to the result of the determination.

16. An acquisition means for acquiring a video of an arranged work object, a defining means for defining a plurality of observation points for the acquired video, a detection means for detecting changes in each of the plurality of observation points, and among the plurality of observation points, when the number of observation points that change with a change amount equal to or greater than a first threshold per unit time is less than a second threshold, in response to the fact that a stable time has elapsed, which is a criterion for the stability of the work object, a determination means for determining that the work object has become stable, and a control means for controlling the work on the work object by a work machine in response to the determination. A work control device comprising the above.

17. The determination means sets the stable time according to at least one of an operator who arranges the work object, a type of the work object, and work content performed on the work object. The work control device according to claim 16.

18. The work control device according to claim 16 further comprises a setting means for setting a criterion for determining whether or not the work object has become stable by the determination means, and the setting means sets the stable time to be shorter within a range where the probability that the determination is incorrect is less than a predetermined rate.

19. The setting means sets the density of the plurality of observation points to the first density or the second density according to a difference between the probability that the determination is incorrect when using the plurality of observation points of the first density and the probability that the determination is incorrect when using a plurality of observation points of a second density smaller than the first density. The work control device according to claim 18.

20. The defining means assigns the plurality of observation points to the video in a grid pattern. The work control device according to claim 16.

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