Conveyance system, trained model generation method, trained model, control method, and program

Patent metadata

Field	Value
Publication number	US-11584017-B2
Application number	US-202017097476-A
Country	US
Kind code	B2
Filing date	Nov 13, 2020
Priority date	Nov 25, 2019
Publication date	Feb 21, 2023
Grant date	Feb 21, 2023

Abstract

The present disclosure provides a conveyance system and the like capable of preferably conveying a conveyed object in accordance with a state of the conveyed object. The conveyance system includes a conveyance robot, a drive controller, which is a controller, an image data acquisition unit, and a setting unit. The conveyance robot conveys the conveyed object. The drive controller controls an operation of the conveyance robot. The image data acquisition unit acquires image data obtained by capturing images of the conveyed object. The setting unit sets an operation parameter of the conveyance robot in the drive controller based on the acquired image data.

First claim

What is claimed is:

1. A conveyance system comprising:
a conveyance robot for conveying a conveyed object;
a controller configured to control an operation of the conveyance robot;
an image data acquisition unit configured to acquire image data obtained by capturing images of the conveyed object;
a storage unit configured to store a database for associating the image data of the conveyed object with an operation parameter of the conveyance robot;
a setting unit configured to set the operation parameter of the conveyance robot in the controller based on the image data of the conveyed object that has been acquired and the database;
an image capturing unit configured to capture images of the conveyed object; and
a wagon that accommodates the conveyed object and is moved by the conveyance robot in a state in which the wagon accommodates the conveyed object,
wherein the setting unit acquires the image data of the conveyed object obtained by capturing images by the image capturing unit when the conveyed object is accommodated in the wagon,
the wagon includes a data acquisition trigger configured to detect that the wagon has accommodated the conveyed object, and
the setting unit acquires the image data of the conveyed object obtained by capturing images by the image capturing unit at a time back dated from the time when the data acquisition trigger has detected that the wagon has accommodated the conveyed object by a preset period.

2. The conveyance system according to claim 1 , wherein
the database comprises a trained model that accepts the image data of the conveyed object as an input and outputs the operation parameter of the conveyance robot in accordance with the image data of the conveyed object that has been accepted, and
the setting unit inputs the image data of the conveyed object into the trained model and sets the operation parameter, which is an output for the image data of the conveyed object that has been input, in the controller.

3. The conveyance system according to claim 1 , wherein
the database stores each of reference image data of the conveyed object and the operation parameter that corresponds to the reference image data of the conveyed object in advance, and
the setting unit compares the image data of the conveyed object that has been newly acquired with the reference image data stored in the storage unit and sets the operation parameter based on a result of the comparison.

4. The conveyance system according to claim 1 , wherein
the conveyance robot comprises a raising/lowering mechanism for raising and/or lowering the wagon, and
the setting unit sets a raising/lowering acceleration of the raising/lowering mechanism as the operation parameter.

5. The conveyance system according to claim 1 , wherein the setting unit sets at least one of a moving acceleration of the conveyance robot and a moving path along which the conveyance robot passes as the operation parameter.

6. The conveyance system according to claim 1 , wherein
the conveyance robot comprises an object sensor configured to detect an object that is present in the vicinity of the conveyance robot, and
the setting unit sets a range detected by the object sensor as the operation parameter.

7. The conveyance system according to claim 1 , wherein
the conveyance robot comprises a notification apparatus that sends a notification indicating that the conveyance robot is conveying the conveyed object to an area in the vicinity of the conveyance robot, and
the setting unit sets a notification level of the notification apparatus as the operation parameter.

8. A control method for setting an operation parameter in a conveyance robot for conveying a conveyed object, the conveyance robot being configured to move a wagon that accommodates the conveyed object, the control method comprising:
a storing step for storing a database for associating image data of the conveyed object with an operation parameter of the conveyance robot;
an image data acquisition step for acquiring image data obtained by capturing images of the conveyed object;
a setting step for setting the operation parameter based on the image data of the conveyed object that has been acquired and the database;
a control step for controlling the conveyance robot based on the set operation parameter; and
an image capturing step configured to capture images of the conveyed object,
wherein the setting step is configured to acquire the image data of the conveyed object obtained by capturing images when the conveyed object is accommodated in the wagon,
the wagon includes a data acquisition trigger configured to detect that the wagon has accommodated the conveyed object, and
the setting step is configured to acquire the image data of the conveyed object obtained by capturing images, by the image capturing step, at a time back dated from the time when the data acquisition trigger has detected that the wagon has accommodated the conveyed object by a preset period.

9. A non-transitory computer readable storage medium storing a program for causing a computer to execute a control method for setting an operation parameter in a conveyance robot for conveying a conveyed object, the conveyance robot being configured to move a wagon that accommodates the conveyed object, the control method comprising:
a storing step for storing a database for associating image data of the conveyed object with an operation parameter of the conveyance robot;
an image data acquisition step for acquiring image data obtained by capturing images of the conveyed object;
a setting step for setting the operation parameter based on the image data of the conveyed object that has been acquired and the database;
a control step for controlling the conveyance robot based on the set operation parameter; and
an image capturing step configured to capture images of the conveyed object,
wherein the setting step is configured to acquire the image data of the conveyed object obtained by capturing images when the conveyed object is accommodated in the wagon,
the wagon includes a data acquisition trigger configured to detect that the wagon has accommodated the conveyed object, and
the setting step is configured to acquire the image data of the conveyed object obtained by capturing images, by the image capturing step, at a time back dated from the time when the data acquisition trigger has detected that the wagon has accommodated the conveyed object by a preset period.

Assignees

• Toyota Motor Co Ltd

Inventors

• Takai Tomohisa
• Yamaguchi Yuhei
• Toyoshima Satoshi
• Watanabe Yuta
• Taira Tetsuya
• Honda Mikio
• Oda Shiro
• Otsuki Nobuhisa

Classifications

• B62B2203/10

  comprising lifting means · CPC title

• B62B5/0076

  Remotely controlled · CPC title

• B62B3/0612

  power operated · CPC title

• A47B2031/002

  Catering trolleys · CPC title

• B62B5/0079

  Towing by connecting to another vehicle · CPC title