Information processing device, information processing method, and information processing program

Abstract

The present invention can effectively determine a decrease in transport performance. The information processing apparatus includes: a data collection unit that collects collected data, the collected data includes a path plan obtained by planning a plurality of robots capable of autonomously walking, a task working state showing work allocation of the robot for a task, a movement trajectory of each of the robots, and a working state of each of the robots; an analysis unit that calculates, using the collected data, an evaluation index value of a result class including a time required for a task, a task work rate, and a robot work rate, and an evaluation index value of a cause class corresponding to each route planned for the route; and a visualization control unit that performs control so that a display mode in which the evaluation index values of the result class can be compared and a display mode in which the evaluation index values of the cause class can be compared are displayed on a predetermined display unit.

Description

Technical Field

[0001] The present disclosure relates to an information processing device, an information processing method, and an information processing program. Background Art

[0002] In the past, a technology for analyzing the working state of a conveying management system has been proposed. For example, Patent Document 1 (Japanese Patent Publication No. 2021-009553) discloses a related technology of an analysis system capable of performing analysis on a conveying device. In this technology, a first signal sent by a first detector that detects the movement of the conveying device is used to classify the working state of the conveying device during an operation period determined by start information and end information. Summary of the invention

[0003] Technical problem to be solved by the invention

[0004] In the prior art, only log data of the transport is collected, and the working status is classified according to the collected data and presented to the user. Therefore, for example, determining the cause of the reduction in transport performance is not considered.

[0005] The technology disclosed in the present invention has been made in view of the above-mentioned circumstances, and an object thereof is to provide an information processing device, an information processing method, and an information processing program that can effectively identify a reduction in transport performance compared to the conventional technology.

[0006] Solutions for solving technical problems

[0007] To achieve the above-mentioned purpose, the information processing device involved in the present disclosure comprises: a data collection unit, which collects collected data, wherein the collected data includes a path planning obtained by planning for multiple robots capable of walking autonomously, a task working state showing the work allocation of the robot for the task, a moving trajectory of each of the robots, and a working state of each of the robots; an analysis unit, which uses the collected data to calculate the evaluation index value of the result class and the evaluation index value of the cause class, wherein the evaluation index value of the result class includes the time required for the task, the task work rate, and the robot work rate, and the evaluation index value of the cause class corresponds to each path for the path planning; and a visualization control unit, which controls so that a display method capable of comparing the evaluation index value of the result class and a display method capable of comparing the evaluation index value of the cause class are respectively displayed on a predetermined display unit. Thus, the reduction of the conveying performance can be effectively determined.

[0008] Alternatively, the visualization control unit may display the evaluation index value of the result class in a comparable manner for the entire conveying system or each robot, or display the evaluation index value of the cause class in a comparable manner by showing each path of the path planning, according to the display mode selection input by the user. Thus, the reduction of the conveying performance can be effectively determined according to the input display mode selection.

[0009] Alternatively, the analysis unit calculates the average moving speed of each path of the path planning as the evaluation index value of the cause class, and the visualization control unit sets the display method of the cause class to a map, and displays the average moving speed of each path in a comparable manner. Thus, the paths can be compared in the form of a map.

[0010] The visualization control unit may display the average moving speed on the path as a heat map so as to be comparable. Thus, by visualizing each path as a heat map, it is possible to improve recognition.

[0011] Alternatively, regarding the result class, the time required for the task is the time from assigning the task to the robot until the task is completed, the task work rate is the ratio of the time in task execution to the time from task assignment to task completion, and the robot work rate is the ratio of the total time in task processing of the robot to the working time of the robot, and the visualization control unit visualizes the form of the working state of the conveying system based on a curve graph comparing the robot work rate and the task work rate of the entire conveying system, a curve graph comparing the number of assigned tasks of each robot, and a curve graph comparing the robot work rate and the task work rate of each robot. Thus, the results of analyzing the evaluation index values ​​of the result class in many aspects can be displayed.

[0012] In order to achieve the above-mentioned purpose, the information processing method involved in the present invention is performed by a computer to execute the following steps: collecting data, the collected data including path planning for multiple robots capable of autonomous walking, task working status showing the work allocation of robots for tasks, movement trajectory of each of the robots, and working status of each of the robots; using the collected data, calculating evaluation index values ​​of the result class and evaluation index values ​​of the cause class, the evaluation index values ​​of the result class including the time required for the task, the task work rate, and the robot work rate, and the evaluation index values ​​of the cause class corresponding to each path for the path planning; and controlling so that a display method that can compare the evaluation index values ​​of the result class and a display method that can compare the evaluation index values ​​of the cause class are displayed on a predetermined display part respectively.

[0013] In order to achieve the above-mentioned purpose, the program involved in the present disclosure enables the computer to perform the following processing: collecting data, the collected data including path planning for multiple robots capable of autonomous walking, task working status showing the work allocation of the robots for the tasks, the movement trajectory of each of the robots, and the working status of each of the robots; using the collected data, calculating the evaluation index value of the result class and the evaluation index value of the cause class, the evaluation index value of the result class including the time required for the task, the task work rate, and the robot work rate, the evaluation index value of the result class corresponding to each path for the path planning; and controlling so that a display method capable of comparing the evaluation index value of the result class and a display method capable of comparing the evaluation index value of the cause class are respectively displayed on a predetermined display part.

[0014] Effects of the Invention

[0015] According to the present disclosure, it is possible to provide an information processing device, an information processing method, and an information processing program capable of efficiently identifying a reduction in transport performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a block diagram showing the hardware configuration of the information processing device according to the embodiment.

[0017] Figure 2 This is a diagram showing an example of the configuration of a system including the information processing device according to the present embodiment.

[0018] Figure 3 This is an example of collecting data.

[0019] Figure 4A This is an example of a case where data of collection items of movement trajectories are stored.

[0020] Figure 4B This is an example of a case where data of collection items of a working state is saved.

[0021] Figure 4C This is an example of a case where data of collection items of task work status is saved.

[0022] Figure 5A It is a diagram showing the state transition of the robot form.

[0023] Figure 5B It is a diagram showing the state transition of the task form.

[0024] Figure 6 This is an example of the evaluation index value of the result class and the evaluation index value of the cause class.

[0025] Fig. 7AIt is a curve chart comparing the robot work rate and the task work rate.

[0026] Figure 7B This is a correspondence table comparing the robot work rate and the task work rate.

[0027] Figure 8 It is a graph showing the number of tasks assigned to each robot on each day.

[0028] Fig. 9 It is a graph showing the robot operation rate and task operation rate of each robot every day.

[0029] Fig.10 is a bar graph showing the robot's task placement to completion.

[0030] Fig.11 This is a path simulation that compares the robot's path planning with actual performance data.

[0031] Fig.12 is a graph showing paths as edges.

[0032] Fig.13 It is the distance of each edge, the average time required, and the average moving speed.

[0033] Fig.14 This is a diagram showing edges representing paths as a heat map based on average moving speed.

[0034] Fig.15 This is a flowchart showing the flow of information processing by the information processing device. DETAILED DESCRIPTION

[0035] Hereinafter, an example of an embodiment of the present disclosure will be described with reference to the accompanying drawings. In addition, the same or equivalent components and parts are marked with the same reference figure numbers in each of the drawings. In addition, the dimensional ratios of the drawings are exaggerated for the convenience of description and may be different from the actual ratios.

[0036] Figure 1 1 is a block diagram showing the hardware structure of the information processing device 10 according to the present embodiment. Figure 1 As shown, the information processing device 10 includes a memory 11, a CPU (Central Processing Unit) 12, a video adapter 13, a serial port interface 14, a hard disk drive interface 15, and a hard disk drive 16. Each component is connected via a bus 19 so as to be able to communicate with each other.

[0037] The memory 11 is a storage area composed of, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory). The ROM stores various programs and various data. The RAM serves as a working area and stores temporary programs or data.

[0038] The CPU 12 is a central processing unit that executes various programs and controls various parts. That is, the CPU 12 reads the program from the ROM of the memory 11 or the hard disk drive 16, and executes the program using the RAM of the memory 11 as a work area. The CPU 12 controls the above-mentioned components and performs various calculations according to the program recorded in the ROM of the memory 11 or the hard disk drive 16. In this embodiment, the ROM of the memory 11 or the hard disk drive 16 stores an information processing program that generates and outputs a predetermined data structure.

[0039] The video adapter 13 is connected to the display 20. The video adapter 13 outputs various information to the display 20 to be displayed on the display 20. The display 20 is a various information display device such as a liquid crystal display, an organic EL display, etc.

[0040] The serial port interface 14 is connected to the mouse 30 and the keyboard 40. The serial port interface 14 outputs the contents input by the user operating the mouse 30 and the keyboard 40 to the CPU 12.

[0041] The hard disk drive 16 stores various programs including an operating system and various data. The hard disk drive 16 reads and writes data and programs through the hard disk drive interface 15 .

[0042] When executing the above-mentioned information processing program, the information processing device 10 realizes various functions using the above-mentioned hardware resources. The functional structure realized by the information processing device 10 is described below.

[0043] Figure 2 1 is a diagram showing an example of a system configuration including the information processing device 10 according to the present embodiment. Figure 2As shown, the upper system 2, the task management device 3, the path planning device 4, the information processing device 10, and the multiple robots R (hereinafter omitted) as the control object are connected through the network N. According to the information processing device 10 of this embodiment, by visualizing the evaluation index value of the result class and the evaluation index value of the cause class based on the collected data, the reduction of the conveying performance can be effectively determined. In addition, in this embodiment, the robot as the control object is an AMR (Autonomous Mobile Robot) that can move autonomously. The information processing device 10 receives instructions from the upper system 2 and controls the data transmission with other systems through the upper system 2. The task management device 3 is a device for managing the working status of the task, and the path planning device 4 is a device for planning path planning. Path planning is to use the location of the point of use and the area of ​​the way to represent the moving path of the robot, and formulate a plan for the scheduled arrival time or entry order for the moving path. In addition, the expressions such as "evaluation index value of the result class" and "evaluation index value of the cause class" are expressed as "result class" and "cause class" based on the intention of showing the category (label) of the evaluation index value, and do not show that these index values ​​have a causal relationship.

[0044] like Figure 2 As shown, the information processing device 10 has a communication unit 101, a data collection unit 102, an analysis unit 103, a visualization control unit 104, a data storage unit 111, and an analysis result storage unit 112 as functional structures. Each functional structure is realized by the CPU 12 reading out and executing the information processing program stored in the ROM of the memory 11 or the hard disk drive 16. According to the relevant structure of the information processing device 10 of this embodiment, by simultaneously displaying the result of the transport task (hereinafter referred to as the task) and the walking information in the transport path during the task execution process, the user can quickly find out the cause of the difference between the system's task planning and actual performance. In addition, the task of this embodiment is information related to the business of transporting items, which refers to information including the location of the transported items, the transport destination, and the time information (the scheduled time for the loading and transportation).

[0045] The communication unit 101 communicates with the upper system 2, the task management device 3, the path planning device 4, and the robot to send and receive various data. In the following, it is assumed that the data sent and received with the robot is performed through the communication unit 101, and the description of the communication unit 101 is omitted.

[0046] The data collection unit 102 collects the collected data, which includes the path planning obtained by planning for multiple robots, the task work status, the movement trajectory of each robot, and the work status of each robot. The task work status refers to the form of the robot's work allocation for each task (the task form described later), and is information including the robot assigned to the task and the destination (the destination for completing the task). The movement trajectory of the robot refers to the information obtained by observing the robot in motion, and is information that records the position of the robot at each moment as a trajectory. In addition, the movement trajectory contains information related to the posture and speed of the robot in motion and is collected. The work status of the robot refers to the form of the distribution / processing of the task for each robot (the robot form described later), and is information including the type of task assigned to the robot and the destination of the robot. The task work status is collected from the task management device 3, the path planning is collected from the path planning device 4, and the movement trajectory and work status are collected from each robot. The data collection unit 102 stores the collected data in the data storage unit 111.

[0047] Figure 3 This is an example of collecting data. The data items for collecting data include movement trajectory, work status and task work status. As a collection item for the data on movement trajectory, the robot identifier, time, position (x, y), posture, translation speed and rotation speed are collected. As a collection item for the data on work status, the robot identifier, robot form, destination, assigned task and time are collected. As a collection item for the data on task work status, the task identifier, task category, task form, destination, assigned robot and time are collected. As a collection item for the data on path planning, the path planning identifier, robot identifier, scheduled arrival time and waypoint position (x, y) are collected.

[0048] FIG. 4 is an example of data details for each collection item. Figure 4A An example of a case where data of collection items of movement trajectories is stored is shown. Figure 4B An example of a case where data of collection items of a work status is saved is shown. Figure 4C An example of a case where data of collection items of task work status is saved is shown.

[0049] Here, we explain the robot form and task form in the collection project. Figure 5A It is a diagram showing the state transition of the robot form. Figure 5BIt is a diagram showing the state transition of the task form. In the robot form, if the task is assigned from the state of the task to be assigned (Available), it will transition to the state of the task being processed (InProgress). If the task is completed, it will return to the state of the task to be assigned from the state of the task being processed. If the task is assigned, the task form becomes the state of the robot to be assigned (Pending). If the next task starts, it will transition to the state of being executed (InProgress). If the execution of the task is completed, it will enter the state of completed (Complete). In this way, the task form is a form that focuses on the task and shows the state of the robot's assignment to the task. The robot form is a form that focuses on the robot and shows the state of the robot's task assignment and execution.

[0050] The analysis unit 103 uses the collected data to calculate the evaluation index values ​​of the result class and the evaluation index values ​​of the cause class. The calculated evaluation index values ​​of the result class and the evaluation index values ​​of the cause class are respectively stored in the analysis result storage unit 112. The evaluation index values ​​of the result class are, for example, the time required for the task, the task work rate, and the robot work rate. The evaluation index values ​​of the cause class correspond to each path for path planning, for example, the average moving speed of each path in the path planning is calculated. The result class is a macro analysis of the system as a whole or each robot unit. In contrast, the cause class is an analysis used to determine the cause of the reduction in transportation throughput in more detail according to the path level of path planning.

[0051] Figure 6 It is an example of an evaluation index value of the result type and an evaluation index value of the cause type. The time required for a task refers to the time from task assignment to completion in the task form. The task work rate refers to the ratio of the time in task execution, and is shown by "the total time in task execution / the total time required for tasks" in the task form. In addition, "task execution" refers to the state in which the task is executed in the task form that focuses on the task. The robot work rate refers to the ratio of the robot's operating time, and is shown by "the total time in task processing / the robot's working time" in the robot form. In addition, "task processing" refers to the state in which the robot processes the task in the robot form that focuses on the robot. The average moving speed is calculated based on the average required time and the distance of the path, where the average required time is calculated for each path of the path planning map based on the performance data of the task required time.

[0052] The visualization control unit 104 performs control so that the display mode that can compare the evaluation index values ​​of the result class and the display mode that can compare the evaluation index values ​​of the cause class are respectively displayed on the display 20 as the display unit. In the control of the display by the visualization control unit 104, the input of the selection of the display mode is accepted from the user, and the evaluation index values ​​of the result class or the evaluation index values ​​of the cause class are read from the analysis result storage unit 112 according to the selection of the display mode, and the read display mode is displayed. In addition, according to the input and setting from the user, the switching of the display mode is controlled. The display unit is not limited to the display 20 provided in the information processing device 10, and can also be a terminal outside the information processing device 10.

[0053] How to display the evaluation index values ​​of the example result class.

[0054] Fig. 7A It is a curve chart comparing the robot work rate and the task work rate. Figure 7B It is a correspondence table obtained by comparing the robot working rate and the task working rate. As shown in 1., when the robot working rate is high and the task working rate is high, the conveying surplus capacity is small and becomes appropriate. As shown in 2., when the robot working rate is high and the task working rate is low, the conveying capacity is insufficient, that is, the robot is insufficient. As shown in 3., when the robot working rate is low and the task working rate is high, the conveying capacity is too large, that is, there are too many robots. As shown in 4., when the robot working rate is low and the task working rate is low, there is a certain problem in the system. In the curve chart of Figure 7, site A is appropriate, and site B has too large a conveying capacity. In this way, the visualization control unit 104 uses the curve chart obtained by comparing the robot working rate and the task working rate of the entire conveying system, that is, each site, to visualize the form of the working state of the entire conveying system. In this case, the objects to be compared are the robot working rate and the task working rate, and the display method that can be compared is the curve chart. The form of the working state shows the state of the conveying system by comparing the working rates of the robots and tasks of the conveying system using the curve chart in this way. Therefore, it is different from the task form that focuses on each task and the robot form that focuses on each robot.

[0055] Figure 8 It is a curve chart (broken line graph) showing the number of tasks arranged for each robot every day. The horizontal axis of the curve chart is the date, and the vertical axis is the number of tasks arranged. The number of tasks arranged for each robot every day is identified based on the assigned tasks and time in the collection item of the work status of the collected data. In this way, the visualization control unit 104 visualizes the number of tasks arranged using a curve chart obtained by comparing the number of tasks arranged for each robot. In this case, the object to be compared is the number of tasks arranged for each robot in the unit period, and the display method that can be compared is a curve chart.

[0056] Fig. 9 It is a graph (broken line graph) showing the robot work rate and task work rate of each robot on each day. The horizontal axis of the graph is the date, and the vertical axis is the work rate. In this way, the visualization control unit 104 visualizes the robot work rate and task work rate of each day using the graph obtained by comparing the robot work rate and task work rate of each robot. The task work rate of each robot is identified based on the assigned robot in the collection item of the task work status of the collected data. In this case, the objects to be compared are the robot work rate and task work rate of each robot in the unit period, and the display method that can be compared is a graph.

[0057] Fig.10 It is a bar graph showing the robot's task arrangement to completion. The bar graph accumulates the time required for each task for each robot, and can be identified by color classification according to the type of task. In this way, the visualization control unit 104 visualizes the time required for each robot's task using a curve graph obtained by comparing the tasks of each robot. In this case, the object of comparison is the time required for each robot's task, and the display method that can be compared is a bar graph. In this way, it is possible to visually understand which task takes time and determine the cause of reduced transportation throughput.

[0058] Fig.11 It is a path simulation obtained by comparing the path planning and actual performance data of the robot. Thus, the position of the robot predetermined by the path planning and the position, posture, and speed of the robot at a specific moment can be visualized in a manner that can be compared. In this way, the visualization control unit 104 uses the path simulation to visualize the predetermined and actual performance of the robot's path planning. In this case, the objects of comparison are the predetermined and actual performance of the path planning, and the display method that can be compared is the path simulation. Thus, the locations that cannot be moved according to the plan can be visually grasped, and the reasons for the reduced transportation throughput can be determined. As described above, as exemplified by the display method of the evaluation index value of the result class, the visualization control unit 104 displays the evaluation index value of the result class for the entire transportation system or each robot as a comparable curve graph or path simulation.

[0059] Example of how the evaluation indicator values ​​for the cause class are displayed.

[0060] Fig.12 It is a graph that shows the path using edges. The edges are the paths formed by connecting the starting point, each waypoint, and the destination of the path planning as nodes. Fig.12 The edge lines e1 to e8 are shown in . The distances are assigned to the edge lines according to the positions of the start points and the end points.

[0061] Fig.13It is the distance of each edge, the average time required, and the average moving speed. According to the walking performance of each robot (the moving trajectory, working status and task working status of the collected data), the average time required for each edge is calculated, and the average moving speed of each edge is calculated. The average time required is to calculate the task time required for each task on each edge and find the average value. The task time required for each task on the edge is obtained by dividing the task time required for the task according to each edge. For example, the position of the edge (from the starting point) can be obtained by referring to the moving trajectory of the robot assigned to the task working status.

[0062] Fig.14 This is a diagram showing edges showing paths using a heat map based on average moving speed. Fig.14 This is an example of a case where the average moving speed of the e5 path is slower, indicated by color coding. In this way, the visualization control unit 104 visualizes the edge lines of the path by using a heat map based on the average moving speed. In this case, the object of comparison is the average moving speed of each path, and the display method that can be compared is a heat map representing each path. In addition, the heat map is an example, and the method of showing each path of path planning and displaying the average moving speed of each path in a comparable manner is not limited to this. For example, it can also be a mapping diagram that uses a numerical value attached to the edge line and the thickness of the edge line to represent the average moving speed. In this way, by attaching an evaluation index value to the mapping diagram for visualization, it is possible to compare each path on the mapping diagram and grasp the path that becomes a bottleneck.

[0063] In addition, setting the evaluation index value of the cause class to the average moving speed of each path is an example, and for example, it can also be set to the average number of tasks, the average robot operating rate, or the average task operating rate for each path.

[0064] Next, the operation of the information processing device 10 will be described.

[0065] Fig.15 1 is a flowchart showing the flow of information processing by the information processing device 10. The CPU 12 reads out an information processing program stored in the ROM of the memory 11 or the hard disk drive 16, and installs it in the RAM of the memory 11 for execution, thereby executing a processing routine of information processing.

[0066] In step S100 , the CPU 12 collects data, which includes path planning for multiple robots, task working status, movement trajectory of each robot, and working status of each robot.

[0067] In step S102 , the CPU 12 calculates the evaluation index value of the result class and the evaluation index value of the cause class using the collected data.

[0068] In step S104, the CPU 12 determines whether the input of the display request and the selection of the display mode from the user is accepted. If the input is accepted, the process proceeds to step S106. If the input is not accepted, this step is repeated and the process waits until the input is accepted. If there is no input within a fixed period of time, the process routine is terminated and the process routine is repeated from step S100.

[0069] In step S106 , the CPU 12 reads out the result-based evaluation index value or the cause-based evaluation index value from the analysis result storage unit 112 according to the display format selection.

[0070] In step S108 , the CPU 12 performs control so that the display mode of the selected result-based evaluation index value or cause-based evaluation index value is displayed on the display unit (eg, the display 20 ).

[0071] In step S110, the CPU 12 determines whether an input for switching the display mode is received from the user during a fixed time period. If the input for switching the display mode is received, the process returns to step S106. If the input for switching the display mode is not received, the process routine ends. Thus, control is performed so that the display mode of the evaluation index value of the result class or the evaluation index value of the cause class is switched according to the input.

[0072] The information processing device 10 according to the present embodiment can effectively identify the reduction in transport performance by having such a structure. The information processing device 10 according to the present embodiment can effectively identify the reduction in transport performance by visualizing the evaluation index values ​​of the result class and the evaluation index values ​​of the cause class based on the collected data, compared with the prior art.

[0073] In addition, the information processing that is read and executed by the CPU in the above-mentioned embodiment may also be executed by various processors other than the CPU. As processors in this case, examples include FPGA (Field Programmable Gate Array) and other PLD (Programmable Logic Device) whose circuit structure can be changed after manufacturing, and ASIC (Application Specific Integrated Circuit) and other processors with circuit structures specially designed for executing specific processing, i.e., dedicated electrical circuits. Furthermore, information processing may also be executed by one of these various processors, or by a combination of two or more processors of the same or different types (for example, multiple FPGAs, and a combination of a CPU and an FPGA, etc.). Furthermore, the hardware structure of these various processors is more specifically an electrical circuit composed of a combination of circuit elements such as semiconductor elements.

[0074] Furthermore, in the above-mentioned embodiment, the information processing program is pre-stored (installed) in a ROM or storage, but the present invention is not limited thereto. The program may also be provided in the form of being recorded in a non-transitory recording medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Versatile Disk Read Only Memory), and a USB (Universal Serial Bus) memory. Furthermore, the program may also be downloaded from an external device via a network.

[0075] The disclosure of Japanese Patent Application No. 2022-088764 filed on May 31, 2022 is incorporated herein by reference in its entirety. All documents, patent applications, and technical specifications described in this specification are incorporated herein by reference to the same extent as if each document, patent application, or technical specification were specifically and individually described when cited by reference.

[0076] Description of Reference Numerals

[0077] 10 information processing device; 102 data collection unit; 103 analysis unit; 104 visualization control unit.

Claims

1. An information processing device comprising: A data collection unit collects collected data, wherein the collected data includes a path plan obtained by planning for a plurality of robots capable of autonomous walking, a task work status showing the work allocation of the robots for the tasks, a movement trajectory of each of the robots, and a work status of each of the robots; an analysis unit, using the collected data, to calculate evaluation index values ​​of the result class and evaluation index values ​​of the cause class, wherein the evaluation index values ​​of the result class include task required time, task work rate, and robot work rate, and the evaluation index values ​​of the cause class correspond to each path for the path planning; and The visualization control unit performs control so that a display method that enables comparison of the evaluation index values ​​of the result class and a display method that enables comparison of the evaluation index values ​​of the cause class are displayed on a predetermined display unit.

2. The information processing device according to claim 1, wherein: The visualization control unit displays the evaluation index values ​​of the result type in a comparable manner for the entire conveying system or each robot, or displays the evaluation index values ​​of the cause type in a comparable manner for each path of the path planning, according to the display method selection input by the user.

3. The information processing device according to claim 1, wherein: The analyzing unit calculates an average moving speed of each path of the path planning as an evaluation index value of the cause class, The visualization control unit displays the cause classes in a map format, and displays the average moving speed for each of the routes in a comparable manner.

4. The information processing device according to claim 3, wherein: The visualization control unit displays the average moving speed on the path as a heat map so as to enable comparison.

5. The information processing device according to claim 1, wherein: Regarding the result class, The time required for the task is the time from assigning the task to the robot to completing the task. The task work rate is the ratio of the time spent on task execution from the time when the task is arranged to the time when the task is completed. The robot working rate is the ratio of the total time of the robot's task processing to the robot's working time. The visualization control unit visualizes the working status of the conveying system based on a curve graph comparing the robot working rate and the task working rate of the entire conveying system, a curve graph comparing the number of arranged tasks of each robot, and a curve graph comparing the robot working rate and the task working rate of each robot.

6. An information processing method, wherein: The computer performs the following steps: Collecting collected data, the collected data including path planning obtained by planning for a plurality of robots capable of autonomous walking, task work status showing work allocation of the robots for tasks, movement trajectories of each of the robots, and work status of each of the robots; Using the collected data, calculating evaluation index values ​​of the result class and evaluation index values ​​of the cause class, wherein the evaluation index values ​​of the result class include task required time, task work rate, and robot work rate, and the evaluation index values ​​of the cause class correspond to each path for the path planning; and Control is performed so that a display method that enables comparison of the evaluation index values ​​of the result class and a display method that enables comparison of the evaluation index values ​​of the cause class are displayed on a predetermined display portion.

7. An information processing program that causes a computer to execute the following processing: Collecting collected data, the collected data including path planning obtained by planning for a plurality of robots capable of autonomous walking, task work status showing work allocation of the robots for tasks, movement trajectories of each of the robots, and work status of each of the robots; Using the collected data, calculating evaluation index values ​​of the result class and evaluation index values ​​of the cause class, wherein the evaluation index values ​​of the result class include task required time, task work rate, and robot work rate, and the evaluation index values ​​of the cause class correspond to each path for the path planning; and Control is performed so that a display method that enables comparison of the evaluation index values ​​of the result class and a display method that enables comparison of the evaluation index values ​​of the cause class are displayed on a predetermined display portion.

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