Information processing apparatus, information processing method, and storage medium

1. An information processing apparatus to output control information for controlling a suction device configured to suction a packaged object, the information processing apparatus comprising:

a processor and a memory coupled to each other and to perform operations including:

inputting an image, wherein the image is an image of a surface of the packaged object captured by an image capturing unit,

determining whether a suction start timing is before when the suction device comes into contact with the packaged object depending on a state of the surface of the packaged object specified from the image, and

outputting the control information to a control unit configured to control the suction device,

wherein the control information is to control the suction start timing based on the determining regarding the suction start timing.

2. The information processing apparatus according to claim 1 ,

wherein inputting includes inputting at least one image obtained by performing image capturing of the surface of the packaged object, and

wherein, in a case where a quantity of wrinkles on the surface of the packaged object specified from each image varies, outputting includes outputting the control information to change the suction start timing, according to the quantity of wrinkles on the surface of the packaged object.

3. The information processing apparatus according to claim 2 , wherein, in a case where there are wrinkles on the surface of the packaged object specified based on the image, outputting includes outputting the control information to change the suction start timing, depending on a quantity of wrinkles on the surface of the packaged object.

4. The information processing apparatus according to claim 1 , wherein outputting includes outputting the control information indicating whether the suction start timing is before or after the suction device and the surface of the packaged object come into contact with each other.

5. The information processing apparatus according to claim 1 ,

wherein determining further includes determining the control information to control the suction start timing depending on the state of the surface of the packaged object, based on data indicating a result representing whether suction is successful with respect to a combination of the state of the surface of the packaged object and the control information, and

wherein outputting includes outputting the control information regarding the determination made by the determining.

6. The information processing apparatus according to claim 5 , wherein determining further includes determining the control information to control the suction start timing, with the image input used as an input, based on a trained model obtained by learning the control information with respect to the state of the surface of the packaged object.

7. The information processing apparatus according to claim 5 ,

wherein determining further includes determining a first rest time indicating a time from when the suction device and the surface of the packaged object come into contact with each other to when conveyance performed by the suction device is started, from the state of the surface of the packaged object, and

wherein outputting includes outputting the control information indicating timing at which the suction device starts conveyance, after the determined first rest time elapses.

8. The information processing apparatus according to claim 5 ,

wherein determining further includes determining a second rest time indicating a time from when the suction device stops suction after conveying the packaged object to a conveyance destination to when movement of the suction device is started, from the state of the surface of the packaged object, and

wherein outputting includes outputting the control information to control movement of the suction device, after the determined second rest time determined elapses.

9. The information processing apparatus according to claim 1 ,

wherein the operations further include extracting a suction position at which the packaged object is suctioned by the suction device, by comparing a template which is an image feature indicating a state of the surface of the packaged object suited for suction with the input image, and

wherein outputting includes outputting the control information based on a state of the surface of the packaged object specified from an image region corresponding to the suction position.

10. The information processing apparatus according to claim 1 ,

wherein determining further includes determining a result representing whether control by the control information is successful or failed, by observing a vacuum pressure of the suction device, wherein the operations further include learning a data set indicating the control information which is likely to cause success in the state of the surface of the packaged object, based on the determined successful or failed result, and

wherein outputting includes outputting the control information based on the state of the surface of the packaged object specified from the image and the data set.

11. The information processing apparatus according to claim 10 , wherein determining includes determining that control by the control information is successful if the vacuum pressure is smaller than a predetermined threshold value and determines that control by the control information is failed if the vacuum pressure is larger than or equal to the predetermined threshold value.

12. The information processing apparatus according to claim 11 ,

wherein learning includes updating connection weights of a first trained model for outputting the control information based on an input image, by reinforcement learning which (i) gives a positive reward if suction for the packaged object is successful and (ii) gives a negative reward if suction for the packaged object is failed, and

wherein outputting includes outputting the control information based on the updated connection weights of the first trained model.

13. The information processing apparatus according to claim 1 ,

wherein the suction device is a plurality of suction devices different in size, and

wherein outputting includes outputting the control information to control timing at which suction is started, based on the state of the surface of the packaged object specified from the image and the size of a suction device of the plurality of suction devices.

14. The information processing apparatus according to claim 1 ,

wherein the operations further include receiving, from a user, a request with any one of speed, quality, cost, and environmental sound set as a priority item in a task of conveying the packaged object, and

wherein outputting includes outputting the control information satisfying a predetermined condition about the priority item, according to the received request.

15. The information processing apparatus according to claim 14 ,

wherein the operations further include selecting a second trained model obtained by learning the control information satisfying the predetermined condition about the priority item, according to the received request, and

wherein outputting includes outputting the control information based on the state of the surface of the packaged object specified from the image and the second trained model.

16. The information processing apparatus according to claim 15 , wherein the operations further include learning which includes updating connection weights of the second trained model for outputting the control information, with use of reinforcement learning which (i) gives a positive reward if suction for the packaged object is successful and the predetermined condition about the priority item is satisfied and (ii) gives a negative reward if suction for the packaged object is failed or the predetermined condition about the priority item is not satisfied, in association with the priority item in the task of conveying the packaged object.

17. An information processing apparatus to output control information for controlling a suction device configured to suction a packaged object, the information processing apparatus comprising:

a processor and a memory coupled to each other and to perform operations including:

inputting an image, wherein the image is an image of a surface of the packaged object captured by an image capturing unit,

determining whether a suction start timing is before when the suction device comes into contact with the packaged object depending on a quantity of wrinkles on the surface of the packaged object specified from the image, and

outputting the control information to a control unit configured to control the suction device,

wherein the control information is to control the suction start timing based on the determining regarding the suction start timing.

18. The information processing apparatus according to claim 17 , wherein, in a case where the quantity of wrinkles on the surface of the packaged object specified from the image becomes larger than a predetermined threshold value, outputting includes outputting the control information to change the suction start timing such that suction by the suction device is started before the suction device comes into contact with the packaged object.

19. A method for an information processing apparatus to output control information for controlling a suction device configured to suction a packaged object, the method comprising:

inputting an image, wherein the image is an image of a surface of the packaged object captured by an image capturing unit;

determining whether a suction start timing is before when the suction device comes into contact with the packaged object depending on a state of the surface of the packaged object specified from the image; and

outputting the control information to a control unit configured to control the suction device,

wherein the control information is to control the suction start timing based on the determining regarding the suction start timing.

20. A non-transitory computer-readable storage medium storing a program to cause a computer to perform a method for an information processing apparatus to output control information for controlling a suction device configured to suction a packaged object, the method comprising:

inputting an image, wherein the image is an image of a surface of the packaged object captured by an image capturing unit;

determining whether a suction start timing is before when the suction device comes into contact with the packaged object depending on a state of the surface of the packaged object specified from the image; and

outputting the control information to a control unit configured to control the suction device,

wherein the control information is to control the suction start timing based on the determining regarding the suction start timing.