Patent Description:
<CIT> discloses a tool system including a portable tool having a driving unit to be activated with power supplied from a battery pack and an image capturing unit. The image capturing unit is arranged to cover, for example, a socket, attached to an output shaft of the tool, within its image capturing range. The image capturing unit captures an image of a work target (which may be, for example, an object or a place on which work is conducted using the tool) while the work is conducted using the tool.

According to <CIT>, the captured image generated by the image capturing unit is used to identify a work target on which the tool is currently set in place (hereinafter referred to as a "current work target"). The tool system of <CIT> includes an identification unit. The identification unit compares the captured image generated by the image capturing unit with a plurality of reference images stored in an image storage unit and thereby identifies the current work target. This document discloses the preamble of claim <NUM>.

If a work target needs to be identified using a captured image, some work target may be difficult to identify according to its shape, location, or any other parameter thereof. Recognizing, in advance, such a work target that would be difficult to identify would reduce the chances of making mistakes during the work.

In view of the foregoing background, it is therefore an object of the present disclosure to provide a decision system, a decision method, and a program, all of which are configured or designed to recognize, in advance, such a work target that would be difficult to identify.

A decision system according to an aspect of the present disclosure includes an identifier and a decider. The identifier identifies, by performing identification processing based on a captured image, a work target shot as a subject of the captured image as one of a plurality of work targets. The captured image is generated by an image capturing unit attached to a tool. The decider decides, through decision processing, whether a first work target is a mistakable work target by comparing, by reference to at least one reference image, the first work target with a second work target. The first work target and the second work target are both included in the plurality of work targets. The second work target is either similar or unsimilar to the first work target. The second work target similar to the first work target makes the first work target the mistakable work target that is difficult to identify based on the captured image. The at least one reference image belongs to a plurality of reference images corresponding one to one to the plurality of work targets.

A decision method according to another aspect of the present disclosure includes an identification step and a decision step. The identification step includes identifying, based on a captured image, a work target shot as a subject of the captured image as one of a plurality of work targets. The captured image is generated by an image capturing unit attached to a tool. The decision step includes deciding whether a first work target is a mistakable work target by comparing, by reference to at least one reference image, the first work target with a second work target. The first work target and the second work target are both included in the plurality of work targets. The second work target is either similar or unsimilar to the first work target. The second work target similar to the first work target makes the first work target the mistakable work target that is difficult to identify in the identification step. The at least one reference image belongs to a plurality of reference images corresponding one to one to the plurality of work targets.

A program according to still another aspect of the present disclosure is designed to cause one or more processors to perform the decision method described above.

A preferred embodiment of the present disclosure will now be described in detail with reference to the accompanying drawings. In the following description of embodiments, any pair of constituent elements, having the same function, will be designated by the same reference numeral and description thereof will be omitted herein to avoid redundancy. Note that the embodiments to be described below are only exemplary ones of various embodiments of the present disclosure and should not be construed as limiting. Rather, the exemplary embodiments may be readily modified in various manners depending on a design choice or any other factor without departing from the scope of the present disclosure. The drawings to be referred to in the following description of embodiments are all schematic representations. Thus, the ratio of the dimensions (including thicknesses) of respective constituent elements illustrated on the drawings does not always reflect their actual dimensional ratio.

In the following description of embodiments, if one of two values (such as measurement data) being compared with each other is "equal to or less than" the other, this phrase may herein cover both a situation where these two values are equal to each other and a situation where one of the two values is less than the other.

First, an overview of a decision system <NUM> (tool <NUM>) according to a first embodiment will be described with reference to <FIG>. The tool <NUM> is an example of the decision system <NUM>.

The tool <NUM> according to the first embodiment may be used, for example, in an assembly line for performing assembling work on workpieces at a factory. In the first embodiment, the tool <NUM> is supposed to be a fastening tool such as an impact wrench for use to tighten a fastening member (such as a bolt or a nut). Specifically, the first embodiment is supposed to be applied to a situation where a single workpiece (target of machining work) has a plurality of work targets, thus requiring the user (worker) to attach a fastening member onto each of those work targets by using a tool <NUM> in a single working space.

As shown in <FIG>, the tool <NUM> includes an identifier <NUM> and a decider <NUM>.

The identifier <NUM> performs identification processing. The identification processing is processing of identifying, based on a captured image generated by an image capturing unit <NUM> attached to the tool <NUM>, a work target shot as a subject of the captured image (hereinafter referred to as a "current work target") as one of a plurality of work targets.

The decider <NUM> performs decision processing. The decision processing is processing of deciding whether a first work target is a mistakable work target by comparing, by reference to at least one reference image, the first work target with a second work target. The first work target and the second work target are both included in the plurality of work targets. The second work target is either similar or unsimilar to the first work target. The second work target similar to the first work target makes the first work target the mistakable work target that is difficult to identify based on the captured image. The at least one reference image belongs to a plurality of reference images corresponding one to one to the plurality of work targets.

In the tool <NUM> (decision system <NUM>) according to the first embodiment, the decider <NUM> determines whether a plurality of work targets includes any other similar work target (second work target) similar to a particular work target (first work target) included in the plurality of work targets. If the plurality of work targets includes any other similar work target, the chances of the identifier <NUM> identifying, by mistake, the particular work target as the similar work target increase compared to a situation where the plurality of work targets includes no other similar work targets. That is to say, the identification processing to be performed in a situation where the plurality of work targets includes any other similar work target is more difficult than the identification processing to be performed in a situation where the plurality of work targets includes no other similar work targets. The decider <NUM> according to the first embodiment may decide, in advance, whether it is difficult to identify the work target based on the captured image generated by the image capturing unit <NUM>, thus allowing the user to recognize such a work target that would be difficult to identify (hereinafter referred to as a "mistakable work target"). Then, the user may take a countermeasure such as marking with respect to such a mistakable work target that would be difficult to identify based on the captured image.

Next, a detailed configuration for the tool <NUM> (decision system <NUM>) according to the first embodiment will be described with reference to <FIG>.

As shown in <FIG>, the tool <NUM> includes a control unit <NUM>, a storage unit <NUM>, the image capturing unit <NUM>, a driving unit <NUM>, and an impact mechanism <NUM>.

As shown in <FIG>, the tool <NUM> further includes a body <NUM>. The driving unit <NUM> and the impact mechanism <NUM> are housed in the body <NUM>.

The body <NUM> of the tool <NUM> includes a barrel <NUM>, a grip <NUM>, and an attachment <NUM>. The barrel <NUM> is formed in a cylindrical shape (e.g., circular cylindrical shape in this embodiment). The grip <NUM> protrudes along a normal to a part of the circumferential surface of the barrel <NUM> (i.e., along the radius of the barrel <NUM>). To the attachment <NUM>, the battery pack <NUM> is attached removably. The attachment <NUM> is provided at the tip of the grip <NUM>. In other words, the barrel <NUM> and the attachment <NUM> are coupled together via the grip <NUM>.

At least the driving unit <NUM> (refer to <FIG>) is housed in the barrel <NUM>. The driving unit <NUM> includes a motor. The driving unit <NUM> is configured to be activated with the power supplied from the battery pack <NUM> to the motor. An output shaft <NUM> protrudes from one axial end surface of the barrel <NUM>. The output shaft <NUM> turns around a rotational axis Ax1, which is aligned with the direction in which the output shaft <NUM> protrudes, as the driving unit <NUM> is activated. That is to say, the driving unit <NUM> drives the output shaft <NUM> in rotation around the rotational axis Ax1. In other words, as the driving unit <NUM> is activated, torque is applied to the output shaft <NUM>, thereby causing the output shaft <NUM> to turn.

A cylindrical socket <NUM> for rotating a fastening member is attached removably onto the output shaft <NUM>. The socket <NUM> turns along with the output shaft <NUM> around the rotational axis Ax1. The size of the socket <NUM> attached to the output shaft <NUM> may be selected as appropriate by the user according to the size of the fastening member. According to such a configuration, activating the driving unit <NUM> causes the output shaft <NUM> to turn, thus causing the socket <NUM> to rotate along with the output shaft <NUM>. If the socket <NUM> is fitted onto a fastening member at this time, then the fastening member turns along with the socket <NUM>, thus having the work of tightening or loosening the fastening member done. In this manner, the tool <NUM> may have the work of tightening or loosening the fastening member done by activating the driving unit <NUM>.

Optionally, a socket anvil may also be attached, instead of the socket <NUM>, onto the output shaft <NUM>. The socket anvil is also attached removably to the output shaft <NUM>. This allows a bit (such as a screwdriver bit or a drill bit) to be attached to the output shaft <NUM> via the socket anvil.

The impact mechanism <NUM> (refer to <FIG>) is configured to, when (the work value of) fastening torque exceeds a predetermined level, apply impacting force in the rotational direction to the output shaft <NUM>. This allows the tool <NUM> to apply greater fastening torque to the fastening member.

The barrel <NUM> is provided with a notification unit <NUM>. The notification unit <NUM> may be implemented as, for example, a light-emitting diode (LED). The notification unit <NUM> is provided at the other end, opposite from the output shaft <NUM>, of the barrel <NUM> to allow the user to view the notification unit <NUM> easily during the work.

The grip <NUM> is a portion to be gripped by the user while he or she is performing the work. The grip <NUM> is provided with a trigger switch <NUM> and a forward/reverse switch <NUM>. The trigger switch <NUM> is a switch for controlling the ON/OFF states of the operation performed by the driving unit <NUM> and allows adjusting the number of revolutions of the output shaft <NUM> according to how deep the trigger switch <NUM> is pulled. The forward/reverse switch <NUM> is a switch for changing the rotational direction of the output shaft <NUM> from the clockwise direction to the counterclockwise direction, and vice versa.

The attachment <NUM> is formed in the shape of a compressed rectangular parallelepiped. The battery pack <NUM> is attached removably to one side, opposite from the grip <NUM>, of the attachment <NUM>.

The battery pack <NUM> includes a case <NUM> made of a resin and formed in a rectangular parallelepiped shape. The case <NUM> houses a rechargeable battery (such as a lithium-ion battery) inside. The battery pack <NUM> supplies electric power to the driving unit <NUM> (refer to <FIG>), the control unit <NUM> (refer to <FIG>), the storage unit <NUM> (refer to <FIG>), the image capturing unit <NUM>, and other constituent members.

The attachment <NUM> is also provided with an operating panel <NUM>. The operating panel <NUM> may include a plurality of press button switches <NUM> and a plurality of LEDs (light-emitting diodes) <NUM>, for example. The operating panel <NUM> allows the user to enter various types of settings for, and confirm the state of, the tool <NUM>. That is to say, by operating the press button switches <NUM> of the operating panel <NUM>, the user may check the remaining capacity of the battery pack <NUM>, for example.

The attachment <NUM> further includes a light-emitting unit <NUM>. The light-emitting unit <NUM> includes an LED, for example. The light-emitting unit <NUM> emits light toward the work target while the user is performing work using the tool <NUM>. The light-emitting unit <NUM> may be turned ON and OFF by operating the operating panel <NUM>. Alternatively, the light-emitting unit <NUM> may also be lit automatically when the trigger switch <NUM> turns ON.

The control unit <NUM> (refer to <FIG>), the storage unit <NUM> (refer to <FIG>), and at least a part of the image capturing unit <NUM> are housed in the body <NUM> of the tool <NUM>. In the first embodiment, at least a part of the image capturing unit <NUM> is housed in the barrel <NUM>. The control unit <NUM> and the storage unit <NUM> are housed in either the grip <NUM> or the attachment <NUM>.

The image capturing unit <NUM> is attached to the tool <NUM> and generates data as a captured image. The image capturing unit <NUM> may be a camera including an image sensor and a lens, for example. The image capturing unit <NUM> is provided to be oriented toward the tip of the output shaft <NUM> to capture an image of the work target while the user is performing the work using the tool <NUM>.

Specifically, the image capturing unit <NUM> is provided in a tip portion of the barrel <NUM> to be oriented toward the tip of the output shaft <NUM> (i.e., toward the socket <NUM>) such that the socket <NUM> attached to the output shaft <NUM> falls within the image capturing range. The optical axis of the image capturing unit <NUM> is arranged to be aligned with the rotational axis Ax1 of the output shaft <NUM>. In this embodiment, the image capturing unit <NUM> is arranged such that the optical axis thereof is located within a predetermined distance from the rotational axis Ax1 of the output shaft <NUM> and that the rotational axis Ax1 and the optical axis are substantially parallel to each other. Note that the image capturing unit <NUM> does not have to generate the captured image such that the socket <NUM> attached to the output shaft <NUM> falls within the image capturing range thereof. Rather the image capturing unit <NUM> only needs to generate a captured image in which the work target is shot as the subject.

As used herein, if something is "attached to the tool," then the former may be built in (e.g., integrated inseparably with) the latter or may be just attached as an external member to the latter (e.g., removably secured with a coupler, for example), whichever is appropriate. In the first embodiment, the image capturing unit <NUM> is built, as an integral part of the tool <NUM>, in the tool <NUM>.

As used herein, the "captured image" refers to an image captured by the image capturing unit <NUM> and includes a still picture (still image) and a moving picture (motion picture). The "moving picture" further includes a group of still pictures captured by stop-motion shooting, for example. The captured image does not have to be output data itself provided by the image capturing unit <NUM>. For example, the captured image may have been subjected, as needed, to data compression, conversion into another data format, cropping an image part from the image captured by the image capturing unit <NUM>, focus adjustment, brightness adjustment, contrast adjustment, or any of various other types of image processing. In the first embodiment, the captured image is supposed to be, for example, an image generated by shooting the workpiece with the image capturing unit <NUM> provided for the tool <NUM> in a state where the tool <NUM> is currently set in place on the work target. In the first embodiment, the captured image is supposed to be a full-color moving picture, for example.

As used herein, the "work target" refers to an object or a working area on which work is supposed to be performed by using the tool <NUM>. The "work target" is a part of the workpiece and refers to a working area to which a fastening member is attached and an area surrounding the working area to which the fastening member is attached. For example, if the fastening member is a bolt, then the work target includes a screw hole into which the fastening member is screwed and an area surrounding the screw hole. In the first embodiment, the workpiece has a plurality of work targets. The plurality of work targets according to the first embodiment includes a first work target and a second work target.

As used herein, the expression "the tool is currently set in place" refers to a situation where the tool <NUM> has been placed so as to be ready to perform work on the work target. Also, as used herein, the phrase "placed so as to be ready to perform work" refers to not only a situation where the tool <NUM> is already in contact with the work target but also a situation where the tool <NUM> is on the verge of being brought into contact with the work target. That is to say, when the tool <NUM> is currently set in place on the work target, the tool <NUM> may be already in contact with the work target or may be still out of the contact with the work target, whichever is appropriate.

The storage unit <NUM> may be a semiconductor memory such as a read-only memory (ROM), a random-access memory (RAM), or an electrically erasable programmable read-only memory (EEPROM). However, the storage unit <NUM> does not have to be a semiconductor memory but may also be a hard disk drive, for example. The storage unit <NUM> according to the first embodiment stores a plurality of reference images and working procedure information.

As used herein, the "plurality of reference images" refer to images corresponding to a plurality of work targets and are images in which the work targets are shot as respective subjects. The plurality of reference images includes a first reference image corresponding to the first work target and a second reference image corresponding to the second work target. In this case, a single reference image may correspond to a single work target. Alternatively, a plurality of reference images may correspond to a single work target. In the first embodiment, a plurality of reference images corresponds to a single work target. In other words, the plurality of reference images according to the first embodiment includes a plurality of first reference images and a plurality of second reference images. Each of the plurality of first reference images corresponds to the first work target. Each of the plurality of second reference images corresponds to the second work target. Note that in the following description, each of the plurality of first reference images will be hereinafter simply referred to as a "first reference image. " Likewise, each of the plurality of second reference images will be hereinafter simply referred to as a "second reference image. " In the first embodiment, each reference image is supposed to be a full-color still picture, for example.

As used herein, the working procedure information refers to information indicating the working procedure. As used herein, the "working procedure" means the procedure of the work to be performed using the tool <NUM>. For example, if a series of working process steps to be performed on either a single work target or a plurality of work targets is defined to be a single working process, then the working procedure indicates the order in which the working process steps are supposed to be performed on the single work target or the plurality of work targets through the working process. More specifically, if the instruction on the work to be done on a single work target is a "working instruction," then the working procedure is information indicating either a single working instruction or a plurality of working instructions for the single working process along with the order in which the working process steps are supposed to be performed. In the first embodiment, the working procedure is supposed to define in which order the work (including a plurality of working process steps) should be performed on a plurality of work targets in a single workpiece. In addition, the working instruction also includes information indicating a torque setting (working setting) with respect to each of a plurality of work targets.

The tool <NUM> includes a microcomputer including a processor and a memory. The computer system performs the functions of the control unit <NUM> shown in <FIG> by making the processor execute an appropriate program. That is to say, the control unit <NUM> is implemented as a computer system including the processor and the memory. The program may be stored in advance in the memory. The program may also be downloaded via a telecommunications line such as the Internet or distributed after having been stored in a non-transitory storage medium such as a memory card.

As shown in <FIG>, the control unit <NUM> includes a driving controller <NUM>, an image capturing controller <NUM>, the identifier <NUM>, the decider <NUM>, a notification controller <NUM>, and a work manager <NUM>. Note that if no operating command is entered into the trigger switch <NUM> or the operating panel <NUM> for a certain time, the control unit <NUM> enters a sleep mode. The control unit <NUM> is activated when any operating command is entered, during the sleep mode, into either the trigger switch <NUM> or the operating panel <NUM>.

The driving controller <NUM> controls the driving unit <NUM>. Specifically, the driving controller <NUM> activates the driving unit <NUM> to make the output shaft <NUM> turn at a rotational velocity determined by the press depth of the trigger switch <NUM> and in a rotational direction set by the forward/reverse switch <NUM>.

The driving controller <NUM> also controls the driving unit <NUM> such that the fastening torque becomes equal to a torque setting associated with the work target identified by the identifier <NUM>. The driving controller <NUM> has a torque estimating function of estimating the magnitude of the fastening torque. In the first embodiment, the driving controller <NUM> estimates, until the estimated value of the fastening torque reaches a seating determination level, the magnitude of the fastening torque based on the number of revolutions or any other parameter of the driving unit <NUM> (motor). When the estimated value of the fastening torque reaches the seating determination level, the driving controller <NUM> estimates the magnitude of the fastening torque based on the number of strokes by the impact mechanism <NUM>. When finding the number of stokes by the impact mechanism <NUM> has reached a threshold number of times based on the torque setting, the driving controller <NUM> determines that the fastening torque have reached a torque setting, and stops running the driving unit <NUM> (i.e., the motor). This allows the tool <NUM> to fasten the fastening member with fastening torque that exactly matches the torque setting.

The image capturing controller <NUM> is a processor for controlling the image capturing unit <NUM> to make the image capturing unit <NUM> generate a captured image.

The identifier <NUM> performs the identification processing as described above. The identification processing is the processing of identifying, based on a captured image generated by the image capturing unit <NUM>, a current work target shot as a subject of the captured image. The identifier <NUM> identifies the current work target by subjecting the captured image generated by the image capturing unit <NUM> to image processing (i.e., pattern recognition processing).

As used herein, the "pattern recognition processing" refers to image processing for recognizing, based on the shape of an object (subject) shot in an image, what the object is. Examples of the pattern recognition processing of this type include pattern matching processing and processing of recognizing an object shot in an image by using a learned model generated by machine learning.

The identifier <NUM> according to the first embodiment identifies, by performing the identification processing based on the captured image generated by the image capturing unit <NUM> and a plurality of reference images, the current work target shot as the subject of the captured image. The identifier <NUM> according to the first embodiment identifies the current work target by performing pattern matching processing. The pattern matching processing as used herein refers to the processing of using template data (i.e., the plurality of reference images) to compare the template data with a target (such as the captured image).

The identifier <NUM> according to the first embodiment performs procedure confirmation processing of determining whether the work target identified conforms to a place in the working process defined by the working procedure (working procedure information). That is to say, the identifier <NUM> determines, through the procedure confirmation processing, whether the work target identified agrees with the work target at the place in the working process as defined by the working procedure.

The decider <NUM> performs the decision processing as described above. The decision processing is the processing of deciding whether a particular work target (first work target) is a mistakable work target by comparing, by reference to at least one reference image, the particular work target with another work target (second work target). The particular work target and the other work target are both included in the plurality of work targets. The other work target may or may not be similar to the particular work target. If the other work target is similar to the particular work target, then the similar work target makes the particular work target the mistakable work target that would be difficult to identify based on the captured image. The at least one reference image belongs to a plurality of reference images corresponding one to one to the plurality of work targets. Note that if the decider <NUM> has decided that the plurality of work targets include any other work target similar to the particular work target, the decider <NUM> determines the particular work target to be a mistakable work target that would be difficult to identify based on the captured image.

The decider <NUM> according to the first embodiment determines, through the decision processing based on a first reference image and a second reference image, whether a first work target (particular work target) and a second work target (similar or unsimilar work target) are similar to each other, thereby deciding whether the plurality of work targets includes any other work target similar to the particular work target. If the plurality of work targets includes any other work target similar to the particular work target, then the decider <NUM> decides that the particular work target be a mistakable work target that would be difficult to identify based on the captured image. This allows the user to take a countermeasure such as marking with respect to either the particular work target or the similar work target.

Specifically, the decider <NUM> according to the first embodiment determines, based on a feature quantity extracted from the first reference image and a feature quantity extracted from the second reference image, whether the first work target and the second work target are similar to each other. In other words, the decider <NUM> according to the first embodiment determines, by performing the decision processing based on the feature quantity extracted from each of the one or more reference images, whether the plurality of work targets includes any other work target (second work target) similar to the particular work target (first work target).

More specifically, the decider <NUM> according to the first embodiment determines, based on a feature quantity extracted from a first reference image out of a plurality of first reference images and a feature quantity extracted from a second reference image out of a plurality of second reference images, whether the first work target and the second work target are similar to each other.

The decider <NUM> determines the degree of similarity (or degree of matching) between, for example, a histogram representing feature quantities (such as pixel values) extracted from the first reference images and a histogram representing feature quantities (such as pixel values) extracted from the second reference images. Note that the "pixel value" as used herein is a value indicating the brightness (or luminance) of each pixel included in an image. According to the present disclosure, the pixel value is a value falling within the range from <NUM> to <NUM>. As used herein, the "histogram representing feature quantities such as pixel values" is a histogram, of which the abscissa indicates the pixel value, and the ordinate indicates the number of pixels. Also, if the degree of similarity is equal to or greater than a degree of similarity threshold value, then the decider <NUM> decides that the first work target and the second work target be similar to each other. If the first work target and the second work target are similar to each other, then the decider <NUM> decides that the plurality of work targets include another work target (the second work target) similar to a particular work target (the first work target). That is to say, if the degree of similarity is equal to or greater than the degree of similarity threshold value, the decider <NUM> decides that the first work target be a mistakable work target that would be difficult to identify based on the captured image.

On the other hand, if the degree of similarity is less than the degree of similarity threshold value, then the decider <NUM> decides that the first work target and the second work target not resemble each other. If the first work target and the second work target are unsimilar to each other, then the decider <NUM> decides that the plurality of work targets include no other work targets similar to a particular work target (i.e., the first work target). That is to say, if the degree of similarity is less than the degree of similarity threshold value, the decider <NUM> decides that the first work target not be a mistakable work target that would be difficult to identify based on the captured image at least in the relation between the first work target and the second work target.

The decider <NUM> according to the first embodiment determines, with respect to every possible combination of two work targets (namely, the first work target and the second work target) selected from the plurality of work targets, whether the two work targets are similar to each other.

The decider <NUM> determines, based on the first reference image and the second reference image, whether the first work target and the second work target are similar to each other, thereby deciding whether the plurality of work targets includes another work target (second work target) similar to the particular work target (first work target) included in the plurality of work targets.

If the decider <NUM> has decided, as a result of the decision processing, that the particular work target (first work target) be a mistakable work target that would be difficult to identify based on the captured image, then the decider <NUM> performs registration processing. The registration processing is the processing of registering (storing) correspondence information, indicating correspondence between the particular work target (first work target) and another work target (second work target) similar to the particular work target, with (or in) the storage unit <NUM>. For example, if the first work target and the second work target are similar to each other, then the decider <NUM> makes the storage unit <NUM> store correspondence information indicating that the first work target and the second work target are similar to each other. Optionally, the correspondence information may also be stored to be included in the working procedure information.

The notification controller <NUM> controls the notification unit <NUM> provided for the tool <NUM>. The notification controller <NUM> preferably lights the notification unit <NUM> differently in a situation where the decision made by the identifier <NUM> in the procedure confirmation processing is disagreement from in a situation where the decision made by identifier <NUM> in the procedure confirmation processing is agreement. For example, if the decision of the procedure confirmation processing is disagreement, the notification controller <NUM> may light the notification unit <NUM> in red. On the other hand, if the decision of the procedure confirmation processing is agreement, then the notification controller <NUM> may light the notification unit <NUM> in green. This allows the user to recognize, by checking the lighting state of the notification unit <NUM> with the eye, whether the work target conforms to the working procedure. Optionally, when the trigger switch <NUM> is pulled in a state where the decision of the procedure confirmation processing is disagreement, the notification controller <NUM> may light the notification unit <NUM>.

The work manager <NUM> is configured to determine whether the fastening torque is a normal one when the fastening member is attached to the portion to be fastened. In this case, the work manager <NUM> preferably determines, in accordance with the working instruction defined by the working procedure (working procedure information), whether the fastening torque is a normal one. As described above, the working instruction defined by the working procedure includes information indicating a target torque value associated with the work target. This allows the work manager <NUM> to determine, by comparing the target torque value included in the working instruction with the fastening torque, whether the work is being performed with the fastening torque specified by the working instruction.

If the driving controller <NUM> has deactivated the driving unit <NUM> on detecting that the number of strokes by the impact mechanism <NUM> has reached the threshold number of times, for example, then the work manager <NUM> decides that the fastening torque be normal. On the other hand, if the driving controller <NUM> has deactivated the driving unit <NUM> by turning the trigger switch <NUM> OFF before the number of strokes by the impact mechanism <NUM> reaches the threshold number of times, for example, then the work manager <NUM> decides that the fastening torque should be insufficient (abnormal). The work manager <NUM> also updates the working procedure information such that the working procedure information turns into information indicating correspondence between the decision and the work target (or working procedure). Optionally, the work manager <NUM> may also make the storage unit <NUM> store work management information which is a piece of information different from the working procedure information and which indicates correspondence between the decision and the work target (or working procedure).

Next, it will be described with reference to <FIG> how the tool <NUM> (decision system <NUM>) operates.

<FIG> is a flowchart showing a procedure in which the tool <NUM> according to the first embodiment operates. The processing shown in <FIG> is performed after a plurality of reference images have been stored in the storage unit <NUM>, for example. First, the decider <NUM> performs the decision processing (in S1). Specifically, the decider <NUM> decides whether a particular work target (first work target) included in the plurality of work targets is a mistakable work target that would be difficult to identify based on the captured image by determining, based at least one of a plurality of reference images, whether the plurality of work targets includes any other work target (second work target) similar to the particular work target.

Next, the decider <NUM> decides, as a result of the decision processing, whether there is any mistakable work target that would be difficult to identify based on the captured image (in S2). If there are no mistakable work targets that would be difficult to identify based on the captured image (if the answer is NO in S2), the decider <NUM> ends the processing. On the other hand, if there is any mistakable work target that would be difficult to identify based on the captured image (if the answer is YES in S2), then the decider <NUM> performs registration processing (in S3) and ends the processing. Specifically, the decider <NUM> registers correspondence information, indicating correspondence between a particular work target (first work target) and another work target (second work target) similar to the particular work target, and ends the processing.

Note that the flowchart shown in <FIG> shows just an exemplary operation of the decision system <NUM>. Thus, the processing steps shown in <FIG> may be performed in a different order as appropriate, an additional processing step may be performed as needed, or at least one of the processing steps may be omitted as appropriate.

Next, variations of the first embodiment will be enumerated one after another. Note that the variations to be described below may be adopted in combination as appropriate.

If the decider <NUM> has decided that the work target identified by the identifier <NUM> be a mistakable work target the would be difficult to identify, then the identifier <NUM> may re-identify, in accordance with the working procedure information stored in the storage unit <NUM>, the current work target shot as a subject of the captured image.

<FIG> is a flowchart showing a procedure in which the tool <NUM> according to the first variation operates. The processing shown in <FIG> is performed after the tool <NUM> has been set in place on the work target, for example. First, the image capturing unit <NUM> generates a captured image (in S11).

Next, the identifier <NUM> performs the identification processing (in S12). Specifically, the identifier <NUM> identifies the current work target shot as a subject of the captured image generated by the image capturing unit <NUM> as any one of the plurality of work targets.

Thereafter, the identifier <NUM> according to the first variation determines, by reference to the correspondence information stored in the storage unit <NUM>, whether the work target identified is a mistakable work target that would be difficult to identify based on the captured image (in S13). For example, the identifier <NUM> determines, by reference to the correspondence information, whether there is correspondence between the work target identified and any other work target. If there is no correspondence between the work target identified and any other work target, then the identifier <NUM> decides that the work target identified not be a mistakable work target that would be difficult to identify based on the captured image (i.e., the answer is NO in S13) and ends the processing.

On the other hand, if there is correspondence between the work target identified and any other work target, then the identifier <NUM> decides that the work target identified be a mistakable work target that would be difficult to identify based on the captured image (i.e., the answer is YES in S13). Then, the identifier <NUM> according to the first variation re-identifies, by reference to the working procedure information stored in the storage unit <NUM>, the current work target shot as a subject of the captured image (in S14). Suppose, for example, the work target identified by the identifier <NUM> is a first work target and there is correspondence between the first work target and a second work target. If the next work target defined by the working procedure is the first work target, then the identifier <NUM> identifies the current work target shot as a subject of the captured image as the first work target. On the other hand, if the next work target defined by the working procedure is the second work target, then the identifier <NUM> identifies the current work target shot as a subject of the captured image as the second work target. The identifier <NUM> re-identifies, by reference to the working procedure (working procedure information), the current work target shot as a subject of the captured image (in S14) and ends the processing. Note that the processing including the processing steps S12, S13, and S14 may be regarded as the "identification processing.

The accuracy of identifying the work target (i.e., the accuracy of the identification processing) may be improved by making identifier <NUM> re-identify, by reference to the working procedure information stored in the storage unit <NUM>, the current work target shot as a subject of the captured image.

The functions of the decision system <NUM> (tool <NUM>) according to the first embodiment may also be implemented as a decision method, a (computer) program, or a non-transitory storage medium that stores the program thereon. A decision method according to an aspect includes an identification step and a decision step. The identification step includes identifying, based on a captured image, a current work target as one of a plurality of work targets. The captured image is generated by an image capturing unit attached to a tool. The current work target is shot as a subject of the captured image. The decision step includes deciding whether a first work target is a mistakable work target by comparing, by reference to at least one reference image, the first work target with a second work target. The first work target and the second work target are both included in the plurality of work targets. The second work target is either similar or unsimilar to the first work target. The second work target similar to the first work target makes the first work target the mistakable work target that is difficult to identify in the identification step. The at least one reference image belongs to a plurality of reference images corresponding one to one to the plurality of work targets. A program according to another aspect is designed to cause one or more processors to perform the decision method described above.

The decision system <NUM> (tool <NUM>) or the agent that performs the decision method according to the present disclosure includes a computer system. The computer system may include, as principal hardware components, a processor and a memory. The functions of the decision system <NUM> or the agent that performs the decision method according to the present disclosure may be performed by making the processor execute a program stored in the memory of the computer system. The program may be stored in advance in the memory of the computer system. Alternatively, the program may also be downloaded through a telecommunications line or be distributed after having been recorded in some non-transitory storage medium such as a memory card, an optical disc, or a hard disk drive, any of which is readable for the computer system. The processor of the computer system may be made up of a single or a plurality of electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). As used herein, the "integrated circuit" such as an IC or an LSI is called by a different name depending on the degree of integration thereof. Examples of the integrated circuits such as an IC and an LSI include a system LSI, a very-large-scale integrated circuit (VLSI), and an ultra-large-scale integrated circuit (ULSI). Optionally, a field-programmable gate array (FPGA) to be programmed after an LSI has been fabricated or a reconfigurable logic device allowing the connections or circuit sections inside of an LSI to be reconfigured may also be adopted as the processor. Those electronic circuits may be either integrated together on a single chip or distributed on multiple chips, whichever is appropriate. Those multiple chips may be aggregated together in a single device or distributed in multiple devices without limitation. As used herein, the "computer system" includes a microcontroller including one or more processors and one or more memories. Thus, the microcontroller may also be implemented as a single or a plurality of electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

Also, in the embodiment described above, the plurality of functions of the decision system <NUM> (tool <NUM>) are aggregated together in a single housing (tool <NUM>). However, this is not an essential configuration for the decision system <NUM>. Alternatively, those constituent elements of the decision system <NUM> may be distributed in multiple different housings. For example, the functions of the identifier <NUM> and the decider <NUM> may also be performed by a telecommunications device provided separately from the tool <NUM>. Still alternatively, at least some functions of the decision system <NUM> (e.g., some functions of tool <NUM>) may be implemented as a cloud computing system as well. Furthermore, the plurality of reference images and the working procedure information do not have to be stored in the storage unit <NUM>. Alternatively, the plurality of reference images and/or the working procedure information may also be stored in another storage device.

The decider <NUM> may decide whether the work target identified by the identifier <NUM> is a mistakable work target that would be difficult to identify based on the captured image by determining, after the identifier <NUM> has identified the current work target shot as a subject of the captured image, whether the plurality of work targets includes any other work target similar to the work target identified by the identifier <NUM>.

The decision system <NUM> has only to include at least the identifier <NUM> and the decider <NUM>.

In the first embodiment described above, the tool <NUM> is an impact wrench. However, the tool <NUM> does not have to be an impact wrench but may also be a nut runner or an oil pulse wrench, for example. Furthermore, the tool <NUM> does not have to be powered by the battery pack <NUM> but may also be powered by an AC power supply (commercial power supply). Moreover, the tool <NUM> does not have to be an electric tool but may also be an air tool including an air motor to be operated by compressed air (power) supplied from an air compressor (power source).

Note that the decision system <NUM> does not have to be applied to the assembly line, on which workpieces are assembled at a factory, but may find any other application as well.

In a tool <NUM> (decision system <NUM>) according to a second embodiment, the identifier <NUM> identifies, based on the captured image and detection information acquired by a detection unit <NUM> provided separately from the image capturing unit <NUM>, the current work target shot as a subject of the captured image, which is a difference from the tool <NUM> (decision system <NUM>) according to the first embodiment.

As shown in <FIG>, the tool <NUM> (decision system <NUM>) according to the second embodiment further includes the detection unit <NUM>.

The detection unit <NUM> acquires detection information that allows the identifier <NUM> to identify a current work target shot as a subject of the captured image. The detection unit <NUM> may be, for example, a reader with the ability to read identification codes including a two-dimensional barcode such as a barcode and a QR code(R) and a character string or an IC tag. The detection unit <NUM> acquires work target information as the detection information by reading the identification code or IC tag provided on or near the work target. Note that the work target information is a piece of information indicating the name, number, or any other property corresponding to the identification code or IC tag and is a piece of information for use by the identifier <NUM> to identify a work target designated by the identification code or the IC tag. For example, the storage unit <NUM> stores information indicating the correspondence between the work targets and the work target information. In the second embodiment, the working procedure information may include such information indicating the correspondence between the work targets and the work target information.

The detection unit <NUM> according to the second embodiment is attached to the tool <NUM>. More specifically, the detection unit <NUM> is attached to the barrel <NUM>. The detection unit <NUM> is provided to point toward the tip of the output shaft <NUM> such that the detection unit <NUM> faces toward the work target while work is being performed using the tool <NUM>. The detection unit <NUM> reads the identification code or IC tag provided on or near the work target and thereby acquires the work target information while the work is being performed using the tool <NUM>.

The identifier <NUM> according to the second embodiment identifies, by performing the identification processing based on the detection information (work target information) acquired by the detection unit <NUM> provided separately from the image capturing unit <NUM> and the captured image, the current work target shot as a subject of the captured image.

Identifying the work target based on not only the captured image but also the detection information enables the identifier <NUM> to identify, based on the detection information, even a mistakable work target that would be difficult to identify based on the captured image alone. For example, providing such a mistakable work target, determined by the decider <NUM> to be difficult to identify based on the captured image, with an identification code or an IC tag in advance allows the identifier <NUM> to identify the work target accurately enough.

Next, variations of the second embodiment will be enumerated one after another. Note that the variations to be described below may be adopted in combination as appropriate.

Optionally, the detection unit <NUM> may be configured to acquire location information of the tool <NUM> as the detection information by using a positioning system such as a local positioning system (LPS) provided in an area where the tool <NUM> is used. For example, the detection unit <NUM> may be a beacon signal receiver compliant with the Bluetooth Low Energy(R) standard. The detection unit <NUM> may acquire location information of the work target by acquiring location information of the tool <NUM> while work is being performed using the tool <NUM>. For example, the storage unit <NUM> may store information indicating correspondence between the work targets and the location information of the work targets. The working procedure information may include the information indicating the correspondence between the work targets and the location information of the work targets. The identifier <NUM> identifies, by performing the identification processing based on the captured image and the location information of the work targets (i.e., location information of the tool <NUM>), the current work target shot as a subject of the captured image.

Alternatively, the detection unit <NUM> may also be configured to acquire, using the global positioning system (GPS), the location information of the tool <NUM> as the detection information by receiving radio waves from the GPS satellite, for example.

The detection unit <NUM> may be configured to acquire, as the detection information, another captured image generated by an additional image capturing unit provided separately from the image capturing unit <NUM>. The additional image capturing unit is installed at such a position as to cover surroundings of the work target within its image capturing range. The additional image capturing unit may be mounted on, for example, the ceiling of the area where the tool <NUM> is used. The storage unit <NUM> may store, for example, information indicating correspondence between the work target and a reference image generated by the additional image capturing unit. The working procedure information may include such information indicating the correspondence between the work target and the reference image generated by the additional image capturing unit. The identifier <NUM> identifies, by performing the identification processing based on the captured image generated by the image capturing unit <NUM> and another captured image generated by the additional image capturing unit, the current work target shot as a subject of the captured image.

In a tool <NUM> (decision system <NUM>) according to a third embodiment, the identifier <NUM> identifies, by using a learned model generated by machine learning, the current work target shot as a subject of the captured image, which is a difference from the tool <NUM> (decision system <NUM>) according to the first embodiment.

The learned model has been generated by, for example, supervised learning using a plurality of supervised data items representing relation between a plurality of reference images and a plurality of work targets. In other words, the identifier <NUM> identifies, by performing the identification processing based on a learned model generated by reference to the relation between the plurality of reference images and the plurality of work targets, the current work target shot as a subject of the captured image. The identifier <NUM> receives the captured image (input image) as the input of the learned model, thereby obtaining, as the output of the learned model, identification information that identifies the current work target shot as a subject of the captured image. Note that in this third embodiment, the identification information as the output of the learned model includes information about the probability that the current work target shot as a subject of the captured image (input image) will be any particular one of the plurality of work targets. For example, the identification information may include information that the probability that the current work target shot as a subject of the captured image will be a first work target is <NUM>%, the probability that the current work target shot as a subject of the captured image will be a second work target is <NUM>%, and the probability that the current work target shot as a subject of the captured image will be any other work target is <NUM>%. In the following description, the probability that the current work target shot as a subject of the input image will be a particular work target such as the first work target will be hereinafter referred to as the "probability of being a particular work target (e.g., probability of being the first work target).

The identifier <NUM> according to the third embodiment refers to the identification information provided as the output of the learned model. Then, the identifier <NUM> identifies the current work target shot as a subject of the captured image by regarding the current work target shot as the subject of the captured image as a work target that is most likely to be designated by the identification information.

Note that the algorithm of machine learning may be, for example, a neural network. However, the machine learning algorithm does not have to be the neural network but may also be, for example, extreme gradient boosting (XGB) regression, random forest, decision tree, logistic regression, support vector machine (SVM), naive Bayes classifier, or k-nearest neighbors method. Alternatively, the machine learning algorithm may also be a Gaussian mixture model (GMM) or k-means clustering, for example. That is to say, the learning method does not have to be supervised learning but may be unsupervised learning or reinforcement learning as well.

Optionally, the learned model may be updated by performing additional learning.

Using the learned model enables the identifier <NUM> to identify the current work target shot as a subject of the captured image without performing, for example, pattern matching processing that uses a plurality of reference images.

The decider <NUM> according to the third embodiment determines, by performing the decision processing based on at least one of the plurality of reference images and information about the learned model, whether the plurality of work targets includes any other work target (second work target) similar to the particular work target (first work target).

Specifically, the decider <NUM> according to the third embodiment determines, in accordance with the identification information provided as the output of the learned model in a situation where at least one of the plurality of reference images is received as the input of the learned model, whether the plurality of work targets includes any other work target (second work target) similar to work target(s) (first work target) corresponding to the at least one reference image. For example, if the probability of being a second work target is higher than the probability of being a first work target in a situation where a first reference image has been received as the input of the learned model, then the decider <NUM> decides that the first work target and the second work target be similar to each other. On the other hand, if the probability of being a second work target and the probability of being a first work target are both less than a probability threshold value in a situation where a first reference image has been received as the input of the learned model, then the decider <NUM> decides that the first work target and the second work target be similar to each other. Furthermore, if the probability of being a first work target is the highest and the difference between the probability of being the first work target and the probability of being a second work target is equal to or greater than a probability threshold value, then the decider <NUM> decides that the first work target and the second work target be unsimilar to each other.

Determining, based on at least one reference image and information about a learned model (i.e., identification information provided as the output of the learned model), whether the plurality of work targets includes any other work target (second work target) similar to a work target (first work target) corresponding to the at least one reference image enables making a decision in advance about a mistakable work target that would be difficult to identify based on the learned model.

Next, variations of the third embodiment will be enumerated one after another. Note that the variations to be described below may be adopted in combination as appropriate.

The decider <NUM> may determine, in accordance with the identification information provided as the output of a learned model when a first reference image is received as the input of the learned model and the identification information provided as the output of a learned model when a second reference image is received as the input of the learned model, whether the plurality of work targets includes any other work target similar to the first work target. For example, the decider <NUM> determines whether there is any other work target similar to the first work target by plotting, as histograms, the probability of being the first work target in a situation where the first reference image has been received as the input of a learned model and the probability of being the first work target in a situation where the second reference image has been received as the input of a learned model. For instance, the decider <NUM> determines whether there is any other work target similar to the first work target by using a histogram, of which the abscissa indicates the probability of being the first work target and the ordinate indicates the number of the first reference images, and a histogram, of which the abscissa indicates the probability of being the first work target and the ordinate indicates the number of the second reference images. The decider <NUM> decides, when finding the degree of similarity between the histogram of the first reference images and the histogram of the second reference images equal to or greater than a predetermined value, that the plurality of work targets include another work target similar to the first work target. On the other hand, when finding the degree of similarity between the histogram of the first reference images and the histogram of the second reference images less than the predetermined value, the decider <NUM> decides that the plurality of work targets include no other work targets similar to the first work target. Note that if the degree of similarity between the histogram of the first reference images and the histogram of the second reference images is equal to or greater than a predetermined value, the chances that the first work target and the second work target are similar to each other are high.

Optionally, the decider <NUM> may determine, based on the first reference image and the second reference image and information about a distinction boundary for a learned model to distinguish the first work target and the second work target from each other, whether the first work target and the second work target are similar to each other. The "distinction boundary" may be a boundary which may be set by, for example, supervised learning that uses a plurality of first reference images and a plurality of second reference images as supervised data and is a boundary in a feature quantity space.

For example, the decider <NUM> may determine, based on the degree of overlap between a histogram of distances in a feature quantity space between a plurality of first reference images and the distinction boundary and a histogram of distances in the feature quantity space between a plurality of second reference images and the distinction boundary, whether the first work target and the second work target are similar to each other.

<FIG> is a conceptual diagram showing a histogram of distances in the feature quantity space between a plurality of first reference images and the distinction boundary and a histogram of distances in the feature quantity space between a plurality of second reference images and the distinction boundary. In <FIG>, a first histogram G1 is a histogram of distances in the feature quantity space between a plurality of first reference images and the distinction boundary and a second histogram G2 is a histogram of distances in the feature quantity space between a plurality of second reference images and the distinction boundary. Note that the first histogram G1 and the second histogram G2 are each a graph, of which the abscissa indicates the distances in the feature quantity space between the first reference images (or second reference images) and the distinction boundary, and the ordinate indicates the number of the first reference images (or second reference images). In <FIG>, an overlapping portion between the first histogram G1 and the second histogram G2 is indicated by crossed hatching.

For example, the decider <NUM> decides, when finding the overlapping portion between the first histogram G1 and the second histogram G2 equal to or greater than an overlap threshold value, that the first work target and the second work target be similar to each other. On the other hand, when finding the overlapping portion between the first histogram G1 and the second histogram G2 less than the overlap threshold value, the decider <NUM> decides that the first work target and the second work target be unsimilar to each other.

Determining, based on the distances in the feature quantity space between the first reference images and the distinction boundary and the distances in the feature quantity space between the second reference images and the distinction boundary, whether the first work target and the second work target are similar to each other enables making a decision in advance about a mistakable work target that would be difficult to identify based on the learned model.

In a decision system <NUM> according to a fourth embodiment, if the work target identified by the identifier <NUM> is determined to be a mistakable work target that would be difficult to identify, then the notification controller <NUM> makes the notification unit provide information about the work target identified and information about another work target (second work target) similar to the work target identified, which is a difference from the decision system <NUM> according to the first embodiment. In the following description of the fourth embodiment, a situation where the decider <NUM> has decided that the first work target and the second work target be similar to each other will be described as an example.

As shown in <FIG>, the decision system <NUM> according to the fourth embodiment includes the tool <NUM> and a telecommunications device <NUM>.

As shown in <FIG>, the tool <NUM> according to the fourth embodiment includes a communications unit <NUM>.

The communications unit <NUM> includes a communications interface configured to be ready to communicate with the telecommunications device <NUM>. As used herein, "to be ready to communicate" means being able to transmit and receive information either directly or indirectly via a network or a relay, for example, by an appropriate wired or wireless communications protocol. The communications unit <NUM> according to the fourth embodiment communicates with the telecommunications device <NUM> by a wireless communications protocol compliant with a standard such as Wi-Fi(R), Bluetooth(R), ZigBee(R), or a low power radio standard requiring no licenses (such as the Specified Low Power Radio standard).

The communications unit <NUM> transmits the captured image generated by the image capturing unit <NUM> to the telecommunications device <NUM>.

Examples of the telecommunications device <NUM> include personal computers, smartphones, and tablet computers. The telecommunications device <NUM> includes a communications unit <NUM>, a control unit <NUM>, a storage unit <NUM>, a display unit <NUM>, and an operating member <NUM>.

The telecommunications device <NUM> includes a microcomputer including a processor and a memory. The computer system performs the functions of the control unit <NUM> by making the processor execute an appropriate program. That is to say, the control unit <NUM> is implemented as a computer system including the processor and the memory. The program may be stored in advance in the memory. The program may also be downloaded via a telecommunications line such as the Internet or distributed after having been stored in a non-transitory storage medium such as a memory card.

The communications unit <NUM> includes a communications interface configured to be ready to communicate with the tool <NUM>. The communications unit <NUM> according to the fourth embodiment communicates with the tool <NUM> by a wireless communications protocol compliant with a standard such as Wi-Fi(R), Bluetooth(R), ZigBee(R), or a low power radio standard requiring no licenses (such as the Specified Low Power Radio standard).

The communications unit <NUM> receives, from the communications unit <NUM> of the tool <NUM>, the captured image generated by the image capturing unit <NUM> attached to the tool <NUM>.

The storage unit <NUM> is a semiconductor memory such as a ROM, a RAM, or an EEPROM. Note that the storage unit <NUM> does not have to be a semiconductor memory but may also be, for example, a hard disk drive. The storage unit <NUM> according to the fourth embodiment stores, for example, a plurality of reference images, the working procedure information, and the correspondence information.

The display unit <NUM> includes a liquid crystal display (LCD), for example. The display unit <NUM> according to the fourth embodiment serves as a notification unit that provides information about the identification processing performed by the identifier <NUM> and information about the decision processing performed by the decider <NUM>. If a decision has been made that the work target identified by the identifier <NUM> be a mistakable work target that would be difficult to identify, then the display unit <NUM> displays information about the work target identified by the identifier <NUM> and information about another work target (second work target) similar to the work target identified by the identifier <NUM>.

The operating member <NUM> accepts an operating command entered by a person (user) and outputs a signal in accordance with his or her operating command. In this embodiment, the telecommunications device <NUM> is supposed to include a touchscreen panel display in which the display unit <NUM> and the operating member <NUM> are integrated together. In the touchscreen panel display, when the operating member <NUM> detects that any object (such as a button) on each screen image displayed on the display unit <NUM> has been operated (e.g., tapped, swiped, or dragged), the telecommunications device <NUM> decides that the object such as the button have been operated. That is to say, the display unit <NUM> and the operating member <NUM> not only display various types of information but also serve as a user interface that accepts a person's operating commands.

The operating member <NUM> according to the fourth embodiment serves as a prompting unit that accepts the user's choice about the work target that would be difficult to be identified by the identifier <NUM>. If a decision has been made that the work target identified by the identifier <NUM> be a mistakable work target that would be difficult to identify, then the operating member <NUM> prompts the user to decide whether the current work target shot as a subject of the captured image is the work target identified or any other work target (second work target) similar to the work target identified.

The control unit <NUM> includes the identifier <NUM>, the decider <NUM>, and the notification controller <NUM>.

The notification controller <NUM> according to the fourth embodiment makes the display unit <NUM> (notification unit) display (present) information about the identification processing performed by the identifier <NUM>. If a decision has been made that the work target identified by the identifier <NUM> be a mistakable work target that would be difficult to identify, the notification controller <NUM> makes the display unit <NUM> display information about the work target identified and information about another work target (second work target) similar to the work target identified.

For example, if the current work target shot as a subject of the captured image has been identified as the first work target by the identifier <NUM>, then the notification controller <NUM> makes the display unit <NUM> display information about the first work target and information about a second work target similar to the first work target. Optionally, the notification controller <NUM> may make the display unit <NUM> display information that the identifier <NUM> has identified the current work target shot as a subject of the captured image as the first work target.

The notification controller <NUM> makes the display unit <NUM> display information about the first work target and information about the second work target similar to the first work target, thus allowing the user to be notified that the work target identified by the identifier <NUM> is a mistakable work target that would be difficult to identify.

In addition, the notification controller <NUM> also makes the display unit <NUM> display information about the work target identified and information about another work target (second work target) similar to the work target identified in such a manner as to allow the user to decide whether the current work target shot as a subject of the captured image is the work target identified or any other work target similar to the work target identified. That is to say, the notification controller <NUM> makes the display unit <NUM> (notification unit) display (present) information about multiple work targets as options, any one of which should be identified as the current work target shot as a subject of the captured image.

The operating member <NUM> (prompting unit) accepts, as choice information, the user's operating command entered through the display unit <NUM>. The identifier <NUM> according to the fourth embodiment re-identifies, in accordance with the choice information accepted by the operating member <NUM>, the current work target shot as a subject of the captured image.

Even if the work target chosen by the user is a mistakable work target that would be difficult to be identified by the identifier <NUM>, making the user choose a work target from a limited number of options may still reduce the chances of the work being performed on a misidentified work target.

<FIG> is a flowchart showing a procedure in which the decision system <NUM> according to the fourth embodiment operates. First, the telecommunications device <NUM> receives and acquires, from the tool <NUM>, the captured image generated by the image capturing unit <NUM> attached to the tool <NUM> (in S21). Next, the identifier <NUM> of the telecommunications device <NUM> performs the identification processing (in S22).

Subsequently, the identifier <NUM> decides, by reference to the correspondence information, whether the work target identified is a mistakable work target that would be difficult to identify based on the captured image (in S23). If there is no correspondence between the work target identified and any other work target, then the identifier <NUM> decides that the work target identified not be a mistakable work target that would be difficult to identify based on the captured image (i.e., the answer is NO in S23) and ends the processing.

On the other hand, if there is correspondence between the work target identified and any other work target (second work target), then the identifier <NUM> decides that the work target identified be a mistakable work target that would be difficult to identify based on the captured image (i.e., the answer is YES in S23). Next, the notification controller <NUM> makes the display unit <NUM> display information about multiple work targets as options, any one of which should be the current work target shot as a subject of the captured image, to identify the work target (in S24). Then, the identifier <NUM> re-identifies, in accordance with the choice information accepted by the operating member <NUM>, the current work target shot as a subject of the captured image (in S25) and ends the processing.

Next, variations of the fourth embodiment will be enumerated one after another. Note that the variations to be described below may be adopted in combination as appropriate.

The notification controller <NUM> may make an alternative notification unit that emits a sound (including a voice) such as loudspeaker or a buzzer provide information about multiple work targets as options, any one of which should be a current work target shot as a subject of the captured image, to identify the work target.

In the fourth embodiment, at least some functions of the decision system <NUM>, which are distributed in multiple devices, may be aggregated together in a single housing. For example, some functions of the decision system <NUM>, which are distributed in the tool <NUM> and the telecommunications device <NUM>, may be aggregated together in a single housing. Specifically, the functions of the identifier <NUM>, the decider <NUM>, and the notification controller <NUM>, which are provided for the telecommunications device <NUM> according to the fourth embodiment, may be provided for the tool <NUM> as well. Optionally, the tool <NUM> may include the display unit <NUM> and the operating member <NUM>.

According to an aspect of the present disclosure, a decision system <NUM> includes an identifier <NUM> and a decider <NUM>. The identifier <NUM> identifies, by performing identification processing based on a captured image, a work target shot as a subject of the captured image as one of a plurality of work targets. The captured image is generated by an image capturing unit <NUM> attached to a tool <NUM>. The decider <NUM> decides, through decision processing, whether a first work target is a mistakable work target by comparing, by reference to at least one reference image, the first work target with a second work target. The first work target and the second work target are both included in the plurality of work targets. The second work target is either similar or unsimilar to the first work target. The second work target similar to the first work target makes the first work target the mistakable work target that is difficult to identify based on the captured image. The at least one reference image belongs to a plurality of reference images corresponding one to one to the plurality of work targets.

This enables deciding, in advance, whether it is difficult to identify a work target based on a captured image generated by the image capturing unit <NUM>, thus allowing the user to recognize a mistakable work target that would be difficult to identify. This allows the user to take a countermeasure, such as marking, in advance with respect to such a mistakable work target that would be difficult to identify based on the captured image.

The decision system <NUM> may further include a notification controller <NUM>. The notification controller <NUM> may make a notification unit (display unit <NUM>) provide information about the identification processing. The notification controller <NUM> may make, when the decider <NUM> has decided that the work target identified by the identifier <NUM> be the mistakable work target, the notification unit provide information about the work target identified and information about the second work target similar to the first work target.

This enables notifying the user that the work target identified by the identifier <NUM> is a mistakable work target that would be difficult to identify.

The decision system <NUM> may further include a prompting unit (operating member <NUM>). The prompting unit may prompt, when the decider <NUM> has decided that the work target identified be the mistakable work target, a user to decide whether the work target shot as the subject is the work target identified or the second work target similar to the first work target.

This enables reducing the chances of, even if the work target shot as the subject is a mistakable work target difficult to be identified by the identifier <NUM>, the work being performed on a misidentified work target by prompting the user to choose a work target from a limited number of options.

The identifier <NUM> may re-identify, when the decider <NUM> has decided that the work target identified by the identifier <NUM> be the mistakable work target, the work target shot as the subject by reference to working procedure information stored in a storage unit <NUM>.

This enables improving the accuracy of identifying the work target i.e., accuracy of the identification processing by making the identifier <NUM> re-identify the work target shot as the subject by reference to the working procedure information stored in a storage unit <NUM>.

The identifier <NUM> may identify the work target shot as the subject by performing the identification processing based on detection information and the captured image. The detection information may be acquired by a detection unit <NUM> independent of the image capturing unit <NUM>.

Accordingly, in this case the work target is identified based on not only the captured image but also detection information as well, thereby enabling the identifier <NUM> to identify, based on the detection information, even a mistakable work target that would be difficult to identify based on the captured image alone. The identifier <NUM> may identify the work target highly accurately by providing an identification code or an IC tag, for example, in advance for the work target that has been determined by the decider <NUM> to be difficult to identify based on the captured image.

The plurality of reference images may include a first reference image corresponding to the first work target and a second reference image corresponding to the second work target. The decider <NUM> may decide, through the decision processing, whether the plurality of work targets includes the second work target similar to the first work target by comparing, by reference to the first reference image and the second reference image, the first work target and the second work target with each other.

This enables deciding whether the plurality of work targets includes any second work target similar to the first work target by comparing, by reference to the first reference image and the second reference image, the first work target and the second work target with each other.

The identifier <NUM> may identify the work target shot as the subject by performing the identification processing based on a learned model. The learned model has been generated by learning a relation between the plurality of reference images and the plurality of work targets.

This enables the identifier <NUM> to identify the work target shot as the subject using a learned model without performing pattern matching processing using a plurality of reference images, for example.

The decider <NUM> may decide, by performing the decision processing based on the at least one reference image and information about the learned model, whether the plurality of work targets includes the second work target similar to the first work target.

This enables making a decision in advance about even a work target that would be difficult to identify based on a learned model alone by determining, using the at least one reference image and information about the learned model (i.e., information provided as the output of the learned model), whether the plurality of work targets includes any second work target similar to a work target corresponding to the at least one reference image.

The decider <NUM> may perform the decision processing in advance before the identifier <NUM> performs the identification processing.

Accordingly, making the decider <NUM> decide, if the plurality of work targets includes any second work target similar to the first work target, that the first work target be the mistakable work target allows the user to take, in advance, a countermeasure such as marking with respect to either the first work target or the second work target similar to the first work target.

According to an aspect of the present disclosure, a decision method includes an identification step and a decision step. The identification step includes identifying, based on a captured image, a work target shot as a subject of the captured image as one of a plurality of work targets. The captured image is generated by an image capturing unit <NUM> attached to a tool <NUM>. The decision step includes deciding whether a first work target is a mistakable work target by comparing, by reference to at least one reference image, the first work target with a second work target. The first work target and the second work target are both included in the plurality of work targets. The second work target is either similar or unsimilar to the first work target. The second work target similar to the first work target makes the first work target the mistakable work target that is difficult to identify in the identification step. The at least one reference image belongs to a plurality of reference images corresponding one to one to the plurality of work targets.

This enables deciding, in advance, whether it is difficult to identify a work target based on a captured image generated by the image capturing unit <NUM>, thus allowing the user to recognize a mistakable work target that would be difficult to identify. This allows the user to take a countermeasure, such as marking, in advance with respect to such a mistakable work target that would be difficult to identify based on a captured image.

According to still another aspect of the present disclosure, a program is designed to cause one or more processors to perform the decision method.

Claim 1:
A decision system (<NUM>) comprising:
an identifier (<NUM>) configured to identify, by performing identification processing based on a captured image, a work target shot as a subject of the captured image as one of a plurality of work targets, the captured image being generated by an image capturing unit (<NUM>) attached to a tool (<NUM>);
characterized in that
the decision system (<NUM>) further comprises:
a decider (<NUM>) configured to decide, through decision processing, whether a first work target is a mistakable work target by comparing, by reference to at least one reference image, the first work target with a second work target,
the first work target and the second work target being both included in the plurality of work targets,
the second work target being either similar or unsimilar to the first work target,
the second work target similar to the first work target making the first work target the mistakable work target that is difficult to identify based on the captured image, and
the at least one reference image belonging to a plurality of reference images corresponding one to one to the plurality of work targets.