Mediation device, mediation method using the same, and program

Abstract

To provide a mediation device that enables a remote-controlled robot to be used more widely, and a mediation method using the same.SOLUTION: A meditation device (2) is configured to receive recruiting of a remote operator who performs a plurality of operation by controlling a plurality of robots (5), through the plurality of robots (5); display, on a site on a network (4) of a mediator having the mediation device (2), the recruiting of the remote operator who performs the plurality of operation; when a plurality of remote operators apply for the recruiting of the remote operation who performs the plurality of operation by accessing to the site through a plurality of operation terminals (3), select, as one or more selected robots (5) and one or more selected operation terminals (3), one or more robots (5) and one or more operation terminals (3), on the basis of the plurality of applications; and connect the one or more selected operation terminals (3) to the one or more selected robots (5) so that the one or more selected robots (5) can be controlled by the one or more selected operation terminals (3).SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an intermediation device and an intermediation method using the same. [Background technology]

[0002] 2. Description of the Related Art Remotely operated robots have been known for some time. For example, in a remote manipulator system described in Patent Document 1, a robot manipulator is operated by an operator at a remote control station. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-061032 A published patent application Summary of the Invention [Problem to be solved by the invention]

[0004] However, robots including the above-mentioned remote-controlled robots are not widely used in society, and therefore there is a need to expand the use of remote-controlled robots.

[0005] The present invention has been made to solve such problems, and has an object to provide an intermediation device and an intermediation method using the same that can expand the use of remote-controlled robots. [Means for solving the problem]

[0006] The present inventors have conducted extensive research into the above-mentioned problems and have come to the following findings.

[0007] In order to expand the use of remote-controlled robots, it is necessary not only to expand the fields in which robots can be used, but also to implement measures that increase the opportunities for more people in society other than those involved in manufacturing to come into contact with robots.

[0008] In society, there are people (hereafter referred to as "specific unemployed") who are not working due to unavoidable circumstances (childcare, nursing care, illness, disability, physical decline, etc.). Just as there are game players who have exceptional skills in operating game controllers in games, it is assumed that among them, there are people who have exceptional skills in operating robots.

[0009] Therefore, the inventors came up with the idea of ​​creating an opportunity for them to come into contact with robots and have them contribute to society.

[0010] Specifically, for example, they could operate an industrial robot from the comfort of their own home using a game controller via the Internet, and receive a labor wage in return. Generally, the controllers for industrial robots are highly functional and expensive communicators that are not available to the general public. On the other hand, game controllers are relatively low-function controllers operated by keys, and can be purchased by the general public for around several tens of thousands of yen. Moreover, if the operation signals generated by key operations on the game controller are converted into operation commands for the industrial robot, the operator of the game controller can skillfully operate the robot in accordance with the converted signals.

[0011] This type of working system (hereafter referred to as the robot work employment system) allows unemployed people to contribute to the real society. Moreover, unemployed people can earn an income from home. Meanwhile, the population of gamers is said to be several times the population of the manufacturing industry. Therefore, this robot work employment system can build the social infrastructure for remote-controlled robots that robot manufacturers envision.

[0012] Furthermore, if the specific unemployed person is a gamer, their enthusiasm and skills can be utilized to significantly improve the productivity of work by robots. In other words, people who are passionate about games can be made to participate in the world of robots and be motivated to continue to be passionate about them, thereby significantly improving the skills of operating robots.

[0013] The present invention has been made based on these findings.

[0014] In order to achieve the above object, an intermediary device according to one aspect of the present invention is an intermediary device owned by an intermediary, connected to a plurality of operation terminals operated by a plurality of remote workers and a plurality of robots owned by one or more robot owners via a network capable of data communication, the intermediary device receives from the plurality of robots recruitments for remote workers who will operate the plurality of robots to perform a plurality of tasks, posts the recruitment of remote workers to perform the plurality of tasks on a site on the network of the intermediary device, and, when the plurality of remote workers access the site from the plurality of operation terminals and submit a plurality of applications for the recruitment of remote workers to perform the plurality of tasks, selects one or more of the robots and one or more of the operation terminals as one or more selected robots and one or more selection operation terminals based on the plurality of applications, and connects the one or more selection operation terminals to the one or more selected robots so that the one or more selected robots can be operated by the one or more selection operation terminals.

[0015] Here, "multiple robots owned by one or more robot owners" includes cases where a "single robot owner" owns multiple robots, and cases where each of the "multiple robot owners" owns one robot. "Connecting the one or more selection operation terminals to the one or more selection robots so that the one or more selection robots can be operated by the one or more selection operation terminals" means establishing a state in which the one or more selection operation terminals and the one or more selection robots can communicate data via an intermediary device, and converting operation signals of the operation keys of the selection operation terminal into operation commands for the selection robots as necessary.

[0016] Furthermore, the "robot" refers to at least one of an industrial robot and a service robot, and not a robot for entertainment. This is because one of the purposes of the present invention is to allow specific unemployed people to contribute to society. Medical robots may be excluded from the "robot" category. This is because medical qualifications, specialized knowledge, etc. may be required to operate a medical robot.

[0017] According to this configuration, the operation terminal (and the remote operator) can be used as infrastructure for popularizing the robot, and the remote operator can be provided with an opportunity to operate the operation terminal and receive a reward, which leads to the expansion of the use of the remote-operated robot.

[0018] The intermediary device may be configured to connect the one or more selection operation terminals and the one or more selection robots in at least one of a 1-to-1, n (n is a natural number greater than or equal to 2):1, 1-to-m (m is a natural number greater than or equal to 2), and n-to-m relationship depending on the form of the multiple tasks.

[0019] This configuration makes it possible to have the robot perform a variety of tasks.

[0020] The intermediary device may be configured to determine the one or more selection operation terminals and the one or more selected robots for one recruitment in accordance with the requirements for recruitment of remote workers to perform the multiple tasks, by the order of receiving the applications or by selecting from among the multiple applications.

[0021] According to this configuration, it is possible to provide robot owners with options for securing remote workers, such as securing remote workers immediately, securing remote workers with high levels of skill, and reducing costs through an auction for the work, etc.

[0022] The intermediary device may be configured to connect the one or more selection operation terminals and the one or more selected robots immediately or at a future time depending on the timing of performance of the work presented in the recruitment corresponding to each selected robot.

[0023] According to this configuration, a remote worker can work at the time he or she wants by selecting the time when the work is to be performed.

[0024] The intermediary device may be configured to disconnect the connection between the one or more selection operation terminals and the one or more selection robots in response to a notification from the one or more selection operation terminals.

[0025] According to this configuration, the remote worker can leave work whenever he or she wants by notifying the intermediate device.

[0026] Each of the requirements for recruitment of remote workers to perform the plurality of tasks may include information regarding the content of each of the plurality of tasks, the level of skill required for each of the plurality of tasks, and remuneration for each of the plurality of tasks.

[0027] This configuration allows the remote operator to appropriately select the task.

[0028] The intermediary device may be configured to receive information regarding a type of robot related to the recruitment from the robot, and to receive information regarding a type of operating terminal related to the application from the operating terminal.

[0029] According to this configuration, the intermediary device can convert the operation signal of the operation terminal into an operation signal of the robot according to the type (model name) of the robot and the type (model name) of the operation terminal.

[0030] The plurality of operation terminals may be at least one of a game console, a game controller, a remote control device dedicated to a robot, a personal digital assistant, a smartphone, a personal computer, and a tablet.

[0031] According to this configuration, when the operation terminal is an existing operation terminal other than a remote controller dedicated to robots, the operation terminal can be effectively used as infrastructure for the spread of robots. On the other hand, when the operation terminal is a remote controller dedicated to robots, conversion of the operation signal is not required, so that an operation terminal with good operation efficiency can be provided.

[0032] The intermediary device may be configured to manage a system relating to qualifications required for the plurality of tasks, or a ranking system for ranking remote workers performing the plurality of tasks.

[0033] This configuration can stimulate the competitive spirit of remote workers.

[0034] The intermediary device may be configured to run a training session for obtaining the qualification.

[0035] This configuration provides remote workers with an opportunity to improve their skills.

[0036] The intermediary device may be configured to provide training or simulation for successfully operating the robot.

[0037] This configuration allows a remote operator to be trained or simulated to operate the robot successfully.

[0038] The intermediary device may be configured to host an event where the plurality of remote workers can meet.

[0039] According to this configuration, the system for remotely controlling a robot using an operation terminal can be made widely known in society.

[0040] Each robot of the plurality of robots may be configured to operate according to an operation command including an individual operation command, each operation terminal of the plurality of operation terminals may be equipped with an operation key, and the intermediary device may be configured, when it receives an operation signal corresponding to the operation key from the selection operation terminal of one or more selection operation terminals and one or more selection robots that are connected to each other, to convert the operation signal into the individual operation command and send the individual operation command to the selection robot.

[0041] According to this configuration, when the intermediary device receives an operation signal corresponding to an operation key of the operation terminal, the intermediary device converts the operation signal into an individual operation command in the operation command of the selected robot and sends the individual operation command to the selected robot, so that the robot can be operated via the network and the intermediary device by operating the operation key of the selected operation terminal. This makes it possible to operate the robot work employment system and, ultimately, to expand the use of remote-controlled robots.

[0042] The operation command may include one or more of the individual operation commands, the operation terminal may be equipped with a plurality of the operation keys, and the intermediary device may be configured, upon receiving one or more of the operation signals corresponding to the plurality of operation keys, to convert the one or more operation signals into one or more individual operation commands and send the one or more individual operation commands to the robot.

[0043] According to this configuration, one or more operation signals corresponding to a plurality of operation keys can be converted into one or more individual operation commands.

[0044] The plurality of operation keys may include movement keys for moving an object to be operated and function keys for multi-purpose use, and the operation commands may include, as the individual operation commands, a position command for indicating the position of the wrist of each of the robots and an end effector operation command for controlling the operation of an end effector attached to the wrist of each of the robots, and the intermediary device may be configured to convert operation signals corresponding to the movement keys into the position commands, and to convert operation signals corresponding to the function keys into the end effector operation commands.

[0045] According to this configuration, a position command indicating the position of the wrist of each robot corresponds to an operation signal of a movement key which similarly moves the operation target in the direction to be moved, so that the operator of the operation terminal can operate each robot without feeling too uncomfortable.

[0046] The intermediary device may be configured to change the one or more individual operation commands to be converted from the one or more operation signals in response to the operation key change notification when the intermediary device receives an operation key change notification from the selected operation terminal.

[0047] According to this configuration, it is possible to change the one or more individual operation commands to be converted from the one or more operation signals so that the operator of the selected operation terminal can easily operate the operation keys.

[0048] The intermediary device may be configured to convert each of the operation signals corresponding to a predetermined mode of operation of one or more of the operation keys of the plurality of operation keys into the one or more individual operation commands when the number of the plurality of operation keys of the selected operation terminal is insufficient for the number of the one or more individual operation commands.

[0049] According to this configuration, even if the number of operation keys of the operation terminal is insufficient for the number of individual operation commands, it is possible to convert the operation signal into an individual operation command.

[0050] The intermediary device may be configured to convert at least any of the one or more operation signals into a plurality of the individual operation commands for causing the selected robot to perform a plurality of operations.

[0051] According to this configuration, it is possible to generate commands that cause the robot to perform multiple operations using one or more individual operation commands. Examples of such commands include a "pick and place" command that causes the robot to pick up a workpiece and place it in a specified location, and a command that causes the robot to move a paint gun to a specified location and spray paint onto the paint gun.

[0052] The intermediary device may be configured to convert at least any of the plurality of operation signals into one of the individual operation commands for causing the selected robot to perform a plurality of operations.

[0053] According to this configuration, it is possible to generate commands for making the selected robot perform multiple operations by one individual operation command. An example of such a command is a command for the selected robot to position a workpiece having a fitting protrusion above a workpiece having a fitting hole, and then lower it to fit it into the fitting hole.

[0054] The intermediary device may be configured to convert at least one of the one or more operation signals into the individual operation signal that switches the control mode of the selected robot.

[0055] According to this configuration, the control mode of the selected robot can be switched by operating the operation keys of the operation terminal.

[0056] The intermediary device may be configured to request the selection operation terminal to determine an operation key assignment indicating how the multiple operation keys are made to correspond to the one or more individual operation commands so that the one or more operation signals corresponding to the multiple operation keys are converted into the one or more individual operation commands, and to convert the one or more operation signals into the one or more individual operation commands in accordance with the operation key assignment determined by the selection operation terminal.

[0057] According to this configuration, before the operation signal is converted into an action command, the operator of the selected operation terminal can determine in advance an operation key assignment that is easy for the operator to operate.

[0058] The intermediary device may be configured to convert the operation signal into the action command based on the model names received from the selection operation terminal and the selected robot, respectively.

[0059] According to this configuration, it is possible to convert an operation signal into an action command suitable for both the selection operation terminal and the selected robot based on the model name of the selected robot.

[0060] The intermediary device may store signal conversion patterns corresponding to the model names of the respective operation terminals and the model names of the respective selected robots, and may be configured to perform signal conversion by applying a pattern corresponding to the model name of the respective selection operation terminal and the model name of the respective selected robot.

[0061] According to this configuration, it is possible to convert the operation signal into an operation command suitable for both with a simple configuration.

[0062] An intermediary device according to another aspect of the present invention is an intermediary device owned by an intermediary and connected to a plurality of operation terminals operated by a plurality of remote workers and a plurality of robots owned by a plurality of robot owners via a network capable of data communication, wherein the intermediary device is configured to receive from the plurality of robots recruitment requirements for remote workers who will operate the plurality of robots to perform a plurality of tasks, receive from the plurality of operation terminals the work requirements of the plurality of remote workers who operate the plurality of operation terminals, compare the plurality of employment conditions with the plurality of work conditions, and select one or more of the robots and one or more of the operation terminals that correspond to the recruitment requirements and work requirements that match the requirements of the other party as one or more selected robots and one or more selection operation terminals, respectively, and connect the one or more selection operation terminals to the one or more selected robots so that the one or more selected robots can be operated by the one or more selection operation terminals.

[0063] According to this configuration, the operation terminal (and the remote operator) can be used as infrastructure for popularizing the robot, and the remote operator can be provided with an opportunity to operate the operation terminal and receive a reward, which leads to the expansion of the use of the remote-operated robot.

[0064] According to yet another aspect of the present invention, there is provided an intermediary method using an intermediary device owned by an intermediary and connected to a plurality of operation terminals operated by a plurality of remote workers and a plurality of robots owned by a plurality of robot owners via a network capable of data communication, the intermediary method including the steps of: receiving, by the intermediary device, from the plurality of robots, recruitment requests for remote workers who will operate the plurality of robots to perform a plurality of tasks; posting, by the intermediary device, a recruitment request for remote workers who will perform the plurality of tasks on a site on the network of the intermediary device having the intermediary device; and, when the plurality of remote workers access the site from the plurality of operation terminals and submit a plurality of applications for the recruitment of remote workers who will perform the plurality of tasks, selecting, by the intermediary device, one or more of the robots and one or more of the operation terminals as one or more selected robots and one or more selection operation terminals based on the plurality of applications; and connecting, by the intermediary device, the one or more selection operation terminals to the one or more selected robots so that the one or more selected robots can be operated by the one or more selection operation terminals.

[0065] According to this configuration, the operation terminal (and the remote operator) can be used as infrastructure for popularizing the robot, and the remote operator can be provided with an opportunity to operate the operation terminal and receive a reward, which leads to the expansion of the use of the remote-operated robot.

[0066] Each robot of the plurality of robots is configured to operate according to an operation command including an individual operation command, each operation terminal of the plurality of operation terminals is equipped with an operation key, and the intermediation method may include a step of, for a selection operation terminal and a selection robot among the one or more selection operation terminals and the one or more selection robots that are connected to each other, when the intermediary device receives an operation signal corresponding to the operation key from the selection operation terminal, converting the operation signal into the individual operation command by the intermediary device and sending the individual operation command to the selection robot.

[0067] According to this configuration, the robot work employment system can be made to function, and ultimately, the use of remote-controlled robots can be expanded. Effect of the Invention

[0068] The present invention has an effect of providing an intermediation device and an intermediation method using the same that can expand the use of remote-controlled robots. [Brief description of the drawings]

[0069] [Figure 1] FIG. 1 is a schematic diagram showing an example of the configuration of a robot work system in which an intermediary device according to the first embodiment of the present invention is used. As shown in FIG. [Diagram 2] FIG. 2 is a functional block diagram illustrating an example of the configuration of the intermediary device of FIG. [Diagram 3] FIG. 3 is a functional block diagram showing an example of the configuration of the operation terminal of FIG. [Figure 4] FIG. 4 is an external view showing an example of the configuration of a game controller of a game machine serving as an operation terminal. [Diagram 5] FIG. 5 is a schematic diagram illustrating an example of the configuration of the robot of FIG. [Figure 6] FIG. 6 is a functional block diagram showing an example of the configuration of a control system of a robot. [Figure 7] FIG. 7 is a schematic diagram showing an example of a menu screen posted on the robot work employment system site by the intermediary device. [Figure 8] FIG. 8 is a schematic diagram showing an example of a recruitment screen posted on the robot work employment system site by the intermediary device. [Figure 9] FIG. 9 is a schematic diagram showing an example of a search screen for recruitment posted on the robot work employment system site by the intermediary device. [Figure 10] FIG. 10 is a schematic diagram showing an example of an application screen posted on the robot work employment system site by the intermediary device. [Figure 11]FIG. 11 is a flowchart showing an example of the operation of the connection selection unit in FIG. [Figure 12] FIG. 12 is a functional block diagram illustrating an example of the configuration of the connection unit in FIG. [Figure 13] FIG. 13 is a schematic diagram showing an example of a connection mode of the connection portion. [Figure 14] Figure 14 is a table showing policies for voluntary employment. [Figure 15] FIG. 15 is a schematic diagram showing an example of a recruitment screen posted on a robot work employment system site by the intermediary device according to the second embodiment of the present invention. [Figure 16] FIG. 16 is a schematic diagram showing an example of an employment screen posted on a robot work employment system site by the intermediary device according to the second embodiment of the present invention. [Figure 17] FIG. 17 is an external view showing an example of the configuration of a game controller of a game machine serving as an operation terminal in the third embodiment of the present invention. [Figure 18] FIG. 18 is a schematic diagram illustrating an example of the configuration of a robot according to the third embodiment of the present invention. [Figure 19] FIG. 19 is a functional block diagram showing an example of the configuration of a control system of a robot according to the third embodiment of the present invention. [Figure 20] FIG. 20 is a table showing the types of keys of the game controller of FIG. [Figure 21] FIG. 21 is a table showing the types of keys on the robot controller. [Figure 22] FIG. 22 is a table showing the assignment of operation keys on a game controller to robot operation commands in each axis mode. [Figure 23] FIG. 23 is a table showing the assignment of operation keys on the game controller to robot action commands in the case of a single key operation in the world mode. [Figure 24] FIG. 24 is a table showing the allocation of operation keys on the game controller to robot action commands in the case of simultaneous operation of multiple keys in the world mode. [Diagram 25]FIG. 25 is a table showing the assignment of operation keys on the game controller to robot operation commands in the tool mode. [Figure 26] FIG. 26 is a flowchart showing the operation of the intermediary device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0070] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following, the same or corresponding elements are denoted by the same reference numerals throughout the drawings, and duplicated descriptions thereof will be omitted. In addition, the present invention is not limited to the following embodiments.

[0071] (Embodiment 1) [Outline of the robot work system] FIG. 1 is a schematic diagram showing an example of the configuration of a robot work system 1 in which an intermediary device according to the first embodiment of the present invention is used.

[0072] Referring to FIG. 1, a robot work employment system 1 includes an intermediary device 2, a plurality of operation terminals 3, and a plurality of robots 5, which are connected to each other via a network 4 capable of data communication.

[0073] An overview of the robot work employment system 1 will be described below.

[0074] <Robot Work System 1> The robot work employment system 1 is a working system that enables specified unemployed persons to contribute to the real society and to earn an income from home, and is also a robot remote control system that makes it possible to build a social infrastructure for remote-controlled robots.

[0075] <Network 4> The network 4 may be any network capable of data communication. Examples of the network 4 include the Internet, a local area network (LAN), and a wide area network (WAN).

[0076] <Intermediary device 2> The intermediary device 2 is owned by an intermediary. This intermediary is a coordinator who coordinates the job offer by the robot owner for a worker (hereinafter referred to as a remote worker) who performs work by remotely operating the robot 5 and the request for employment to perform work by the robot 5 from the operator of the operation terminal 3.

[0077] Specifically, the intermediary performs this coordination by opening a robot work employment site on the network 4 using the intermediary device 2.

[0078] Examples of intermediaries include robot manufacturers, operators of online shops, and personnel agencies. The intermediary device 2 is configured as a server. Here, "possessing the intermediary device 2" includes both a form of owning the intermediary device 2 and a form of renting the intermediary device 2.

[0079] <Robot 5> The "robot" (robot 5) in this invention is at least one of an industrial robot and a service robot, and is not an entertainment robot. This is because one of the purposes of this invention is to have specific unemployed people contribute to society.

[0080] Examples of industrial robots include vertical articulated robots, horizontal articulated robots, parallel link robots, Cartesian coordinate robots, and polar coordinate robots.

[0081] Examples of service robots include rescue robots, cleaning robots, wall work robots, security robots, guide robots, wheelchair robots, sushi robots, care robots, drone robots, medical robots, etc. Medical robots may be excluded from the "robot" (robot 5) in this invention. This is because medical qualifications, specialized knowledge, etc. may be required to operate a medical robot.

[0082] Examples of entertainment robots include game robots, toy robots, pet robots, etc. Examples of game robots include robots for fighting games, racing car robots for car racing games, UFO catchers, etc.

[0083] Here, the robot 5 is remotely controlled by the operation terminal 3 via the intermediate device 2 .

[0084] <Operation terminal 3> The operation terminal 3 is composed of an information terminal connectable to a network. Specifically, examples of the operation terminal 3 include a game machine, a game controller, a remote controller dedicated to robots, a portable information terminal (PDA (Personal Data Assistant)), a smartphone, a personal computer, and a tablet. When the operation terminal 3 is an existing operation terminal other than a remote controller dedicated to robots, the operation terminal 3 can be effectively used as infrastructure for the spread of robots. On the other hand, when the operation terminal 3 is a remote controller dedicated to robots, conversion of operation signals is not required, so that an operation terminal 3 with good operation efficiency can be provided.

[0085] "A form in which a remote worker operates an operation terminal 3" includes a form in which the remote worker owns the operation terminal 3, a form in which the remote worker borrows the operation terminal 3, and a form in which the remote worker operates another person's operation terminal 3 (for example, a form in which the remote worker operates a game machine at an arcade).

[0086] The term "remote worker" is not particularly limited. A remote worker may be a specific unemployed person or an ordinary person. When a remote worker is employed in a specific robot task, the remote worker may have a specific qualification (e.g., a caregiver, a nurse, etc.).

[0087] [Configuration of each element of the robot work system] The configuration of each element constituting the robot work employment system 1 will be described in detail below.

[0088] <Intermediary device 2> Fig. 2 is a functional block diagram showing an example of the configuration of the intermediate device of Fig. 1. In Fig. 2, arrows indicate the flow of information (data, signals, commands, notifications, etc.).

[0089] 2, the intermediary device 2 is configured as a server. Specifically, the intermediary device 2 includes a communication device 11 and an information processor 12.

[0090] The communication device 11 may be any device capable of data communication.

[0091] The information processor 12 includes a communication distribution unit 13, a reception unit 14, a connection selection unit 15, a connection unit 16, a job evaluation unit 17, a settlement unit 18, a training unit 19, a teaching unit 20, an event unit 21, a robot registration unit 22, an operation terminal registration unit 23, and a job data storage unit 24.

[0092] 1 and 2, the information processor 12 is configured, for example, by a computing unit CL having a processor P and a memory M. Each of the units from the communication distribution unit 13 to the event unit 21 is a functional block realized by the processor P executing a predetermined program stored in the memory M of the computing unit CL. The robot registration unit 22, the operation terminal registration unit 23, and the task data storage unit 24 are configured by the memory M of the computing unit. Specifically, the computing unit CL is configured, for example, by a computer, a personal computer, a microcontroller, an MPU, an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), or the like. The information processor 12 may be configured by a single computing unit CL that performs centralized control, or may be configured by a plurality of computing units CL that perform distributed control.

[0093] Each of these elements will be explained in detail below.

[0094] {Communicator 11} The communicator 11 performs data communication with the operation terminal 3 and the robot 5 via the network 4. Specifically, the communicator 11 converts information from the communication distribution unit 13 into communication data, and transmits the converted communication data to the operation terminal 3 or the robot 5. The communicator 11 also converts communication data from the operation terminal 3 or the robot 5 back to the original information, and transmits the converted information to the communication distribution unit 13.

[0095] {Communications Distribution Division 13} The communication distribution unit 13 sends various information from the reception unit 14, operation commands from the connection unit 16, and settlement notifications from the settlement unit 18 to the communication device 11.

[0096] The communication distribution unit 13 sends various information from the communication device 11 to the reception unit 14 , and sends an operation signal from the communication device 11 to the connection unit 16 .

[0097] {Reception Department 14} The reception unit 14 performs the following process.

[0098] The reception unit 14 receives a call for remote workers from the robot 5 (see FIG. 8), sends it to the connection selection unit 15, and notifies the robot 5 of the acceptance or rejection. The reception unit 14 receives an application for a remote worker from the operation terminal 3 (see FIG. 10), sends it to the connection selection unit 15, and notifies the operation terminal 3 of the result (whether the remote worker is accepted or rejected). When a remote worker is accepted, a notice of acceptance is sent to the robot 5 that sent the recruitment.

[0099] The reception unit 14 receives an application for training from the operation terminal 3 and sends it to the training unit 19.

[0100] The reception unit 14 receives an application for a lesson from the operation terminal 3 and sends it to the training unit 20.

[0101] The reception unit 14 receives an application for an event from the operation terminal 3 and sends it to the event unit 21.

[0102] {Connection selection section 15} *Select connection* If the recruitment requirements sent from the reception unit 14 are appropriate (there are no defects in the description of each item), the connection selection unit 15 accepts the recruitment and sends a recruitment notice to the reception unit 14. The reception unit 14 transmits the recruitment notice to the robot 5 that applied for the recruitment via the communication distribution unit 13 and the communication device 11. Then, the connection selection unit 15 assigns a robot ID to this robot 5, and registers (stores) the robot ID and the recruitment requirements in the robot registration unit 22 in association (correspondence) with each other. Note that if a robot ID has already been assigned, that robot ID is used. The robot 5 is identified from the sender identification information of the communication data sent from the robot 5. The registration of the robot 5 may be deleted when the recruited work is completed, or may be maintained for a predetermined period of time.

[0103] The connection selection unit 15 also compares the application requirements of the application sent from the reception unit 14 with the application requirements of the recruitment to which the application is being made, and determines whether the application requirements match the application requirements. If they do not match, the connection selection unit 15 sends a rejection notice to the reception unit 14. The reception unit 14 transmits the rejection notice to the operation terminal 3 that submitted the application via the communication distribution unit 13 and the communication device 11.

[0104] On the other hand, if the applicant is suitable, the acceptance notification is sent to the reception unit 14. The reception unit 14 transmits the acceptance notification to the operating terminal 3 that applied and the robot 5 that is the recruiting source via the communication distribution unit 13 and the communication device 11. Then, the connection selection unit 15 assigns an operating terminal ID to this operating terminal 3, and registers (stores) the operating terminal ID and the application requirements in the operating terminal registration unit 23 in association (correspondence) with each other. Note that if an operating terminal ID has already been assigned, that operating terminal ID is used. The operating terminal 3 is identified from the transmission source identification information of the communication data transmitted from the operating terminal 3. The registration of the operating terminal 3 may be deleted when the recruited work is completed, or may be maintained for a predetermined period of time.

[0105] The connection selection unit 15 notifies the connection unit 16 of the operation terminal 3 and the robot 5 as the selected operation terminal and selected robot together with their respective operation terminal IDs and robot IDs. At this time, the operation mode (ratio of person (operation terminal) to robot) is also notified.

[0106] In the following, connecting the selection operation terminal 3 and the selection robot 5 may be abbreviated as "connecting the terminal-robot," and disconnecting the connection between the selection operation terminal 3 and the selection robot 5 may be abbreviated as "disconnecting the terminal-robot."

[0107] *Accumulation of work experience* The connection selection unit 15 receives notifications of terminal-robot connection and disconnection corresponding to the start and end of work for each of the selection operation terminals 3 from the connection unit 16 one by one during the period in which the robot 5 is performing work. Based on this, the connection selection unit 15 calculates the daily and total work hours of the remote worker of the selection operation terminal 3. The connection selection unit 15 also receives the work output for one day (number of products, amount of work, man-hours, etc.) from the connection unit 16. Based on this, the connection selection unit 15 calculates the total work output of the remote worker of the selection operation terminal 3. The working hours, work output, and difficulty of the work are stored in the operation terminal registration unit 23 in association with the operation terminal ID.

[0108] The connection selection unit 15 notifies the work hours, the work output, and the degree of difficulty of the work to the job evaluation unit 17, and notifies the settlement unit 18 of the work hours.

[0109] The connection selection unit 15 receives the evaluation of each remote worker for each operation terminal 3 from the job evaluation unit 17. The connection selection unit 15 associates this evaluation with the operation terminal ID, stores it in the operation terminal registration unit 23, and notifies each operation terminal 3 via the reception unit 14, the communication distribution unit 13, and the communication device 11. The connection selection unit 15 also uses this evaluation to determine whether the above-mentioned application requirements match the recruitment requirements.

[0110] The connection selection unit 15 receives the skills of the remote operator based on the results of the training or simulation from the training unit 19, associates this evaluation with the operation terminal ID, and stores it in the operation terminal registration unit 23. The connection selection unit 15 also uses this evaluation to determine whether the above-mentioned application requirements match the recruitment requirements.

[0111] {Connection 16} *composition* Fig. 12 is a functional block diagram showing an example of the configuration of connection unit 16 in Fig. 2. Referring to Fig. 12, connection unit 16 includes an operation signal conversion unit 301, a terminal side data transfer unit 302, a robot side data transfer unit 303, and a control unit 304.

[0112] The operation signal conversion unit 301 includes a predetermined number of individual operation signal conversion units C1-Cn. The terminal side data transfer unit 302 includes a predetermined number of individual terminal side data transfer units O1-On. The robot side data transfer unit 303 includes a predetermined number of individual robot side data transfer units R1-Rn. Therefore, the connection unit 16 can connect a maximum of n selection operation terminals 3 and n selection robots 5 in parallel (simultaneously).

[0113] The individual terminal side data transfer units O1-On function as a unit for transferring data of the individual operation signal conversion units C1-Cn to and from the operation terminal 3. The individual terminal side data transfer units O1-On pass (pass) data sent from the operation terminal 3 via the communication distribution unit 13 to the individual operation signal conversion units C1-Cn, and send (pass) data from the individual operation signal conversion units C1-Cn to the operation terminal 3.

[0114] The individual robot-side data transfer units R1-Rn function as a unit for transferring data from the individual operation signal conversion units C1-Cn to the robot 5. The individual robot-side data transfer units R1-Rn pass (pass) data sent from the robot 5 via the communication distribution unit 13 to the individual operation signal conversion units C1-Cn, and send (pass) data from the individual operation signal conversion units C1-Cn to the robot 5.

[0115] The individual operation signal conversion units C1-Cn convert the operation signals from the individual terminal side data transfer units O1-On into operation commands and send them to the individual robot side data transfer units R1-Rn. The individual robot side data transfer units R1-Rn send (pass) these operation commands to the robot 5. The individual operation signal conversion units C1-Cn pass data other than operation signals. Furthermore, even if the operation signal is an operation signal, if the operation terminal 3 is a remote controller dedicated to the robot 5, the operation signal is passed as is. Therefore, the work video data sent from the robot 5, which will be described later, arrives at the operation terminal 3 via the individual robot side data transfer units R1-Rn, the individual operation signal conversion units C1-Cn, and the individual terminal side data transfer units O1-On.

[0116] When the control unit 304 receives the operation terminal ID of the selection operation terminal 3 and the robot ID and work form of the selection robot 5, it assigns (associates) the operation terminal ID and the robot ID to the individual terminal side data transfer units O1-On and the individual robot side data transfer units R1-Rn, respectively, according to the work form. This connects the selection operation terminal 3 and the selection robot 5. That is, a state is established in which the selection operation terminal 3 and the selection robot 5 can communicate data via the connection unit 16 (intermediary device 2). On the other hand, when the control unit 304 cancels the assignment of the operation terminal ID and the robot ID to the individual terminal side data transfer units O1-On and the individual robot side data transfer units R1-Rn, the connection between the selection operation terminal 3 and the selection robot 5 is cut off.

[0117] Here, an example of a method for performing work after the operation terminal 3 and the selection robot 5 are registered as the selection operation terminal 3 and the selection robot 5 will be described. When the operation terminal 3 and the selection robot 5 are registered as the selection operation terminal 3 and the selection robot 5, a notification of the registration is sent to the selection operation terminal 3 and the selection robot 5. At this time, the URL of a dedicated site for performing robot work is also notified. This dedicated site is operated on the network 4 by the intermediary device 2, and the connection unit 16 of the intermediary device 2 can be accessed from this dedicated site. The selection operation terminal 3 and the selection robot 5 each access this dedicated site, and perform the robot work by logging in and out from there. When logging in, authentication is performed using the operation terminal ID or the robot ID.

[0118] The control unit 304 receives the following notifications from the selection operation terminal 3 and the selection robot 5 during the period in which the selection robot 5 is performing its work. When starting work, it receives a notification of completion of preparations (operational) from the selection robot 5, and also receives a notification of the start of work from the selection operation terminal 3. When it receives both of these notifications, it connects the terminal-robot connection for the selection operation terminal 3 and the selection robot 5. When finishing work, it receives a notification of the completion of work from the selection robot 5, and also receives a notification of the completion of work from the selection operation terminal 3. When it receives both of these notifications, it disconnects the terminal-robot connection for the selection operation terminal 3 and the selection robot 5. When it receives a withdrawal notification from the operation terminal 3, the control unit 304 transfers this to the robot 5 and disconnects the terminal-robot connection. This allows the remote operator to withdraw from the work of the robot 5.

[0119] The control unit 304 notifies the connection selection unit 15 of the connection and disconnection between the terminal and the robot for each selection operation terminal 3. The control unit 304 also receives the work output (number of products, amount of work, man-hours, etc.) for one day from the selection robot 5, and notifies the connection selection unit 15 of this.

[0120] Furthermore, as described below, when the control unit 304 receives an instruction from the training unit 19 and the event unit 21 to connect a specific operation terminal 3 and the robot 5, it connects the specific operation terminal 3 and the robot 5, and when it receives an instruction to disconnect the connection between the specific operation terminal 3 and the robot 5, it disconnects the connection between the specific operation terminal 3 and the robot 5.

[0121] *Connection status* FIG. 13 is a schematic diagram showing an example of a connection mode of the connection portion 16. As shown in FIG.

[0122] 13(a), when the ratio of operation terminals 3 to robots 5 is 1:1, one individual terminal data transfer unit (e.g., O1), one individual operation signal conversion unit (e.g., C1), and one individual robot data transfer unit (e.g., R1) are associated with one another. In this case, an operation signal of one operation terminal 3 received by one individual terminal data transfer unit O1 is converted by one individual operation signal conversion unit C1 into an operation command for one robot 5, and one individual robot data transfer unit R1 sends this operation command to the one robot 5.

[0123] 13(b), when the ratio of operation terminals 3 to robots 5 is 2:1, two individual terminal data sending / receiving units (e.g. O1, O2), two individual operation signal conversion units (e.g. C1, C2), and one individual robot data sending / receiving unit (e.g. R1) are associated with each other. In this case, the operation signals of the two operation terminals 3 received by the two individual terminal data sending / receiving units O1, 2 are converted by the two individual operation signal conversion units C1, C2 into operation commands for one robot 5, and the operation commands are sent by the individual robot data sending / receiving unit R1 to the one robot 5. An example of such a working form is a form in which the robot 5 is a dual-arm robot, and the left and right arms are operated by two remote operators using their respective operating terminals 3.

[0124] 13(c), when the ratio of the operation terminals 3 to the robots 5 is 1:2, one individual terminal data transfer unit (e.g., O1), one individual operation signal conversion unit (e.g., C1), and two individual robot data transfer units (e.g., R1, R2) are associated with each other. In this case, an operation signal of one operation terminal 3 received by one individual terminal data transfer unit O1 is converted by one individual operation signal conversion unit C1 into operation commands for each of the two robots 5, and the two individual robot data transfer units R1, R2 send these two operation commands to the two robots 5, respectively. As an example of such a work form, a form in which one remote operator operates two robots 5 by the operation terminal 3 and performs two consecutive steps in a batch work in sequence. In this case, the operation commands of the two robots 5 are assigned to multiple operation keys (operation signals) of the operation terminal 3, respectively.

[0125] 13(d), when the ratio of operation terminals 3 to robots 5 is 2:3, two individual terminal data transfer units (e.g. O1, O2), two individual operation signal conversion units (e.g. C1, C2), and three individual robot data transfer units (e.g. R1, R2, R3) are associated with each other. In this case, the operation signal of the first operation terminal 3 received by the first individual terminal data transfer unit O1 is converted by the first individual operation signal conversion unit C1 into an operation command for the first robot 5. Also, the operation signal of the second operation terminal 3 received by the second individual terminal data transfer unit O2 is converted by the second individual operation signal conversion unit C2 into operation commands for the second and third robots 5, respectively, and the second and third individual robot data transfer units R2, R3 send these two operation commands to the second and third robots 5, respectively.

[0126] An example of such a work form is a form in which the first to third robots 5 work in cooperation to perform a predetermined task, with one remote worker operating the first robot 5 through his / her operation terminal 3, and the other remote worker operating the second robot 5 and the second robot 5 through his / her operation terminal 3. In this case, operation commands for the first and second robots 5 are assigned to a plurality of operation keys (operation signals) of the operation terminal 3 of the other remote worker, respectively.

[0127] The above also applies when the number of operation terminals 3 is three or more and when the number of robots 5 is four or more.

[0128] *Conversion of operation signals* Next, conversion from an operation signal from the operation terminal 3 to an operation command for the robot 5 will be described.

[0129] Conversion from an operation signal to an action command can always be performed by the following procedure.

[0130] First, an operation signal of the operation terminal 3 is assigned to an operation command of the robot 5. In other words, an operation key of the operation terminal 3 is assigned to an operation command of the robot 5. Second, an operation command corresponding to the operation signal is generated based on the assigned operation signal. Third, if the number of operation signals is insufficient for the number of operation commands, a combination of a predetermined number of operation signals is assigned to the remaining (surplus) operation command. In other words, a combination of a predetermined number of operation keys to be pressed simultaneously is assigned to the remaining operation command.

[0131] The connection unit 16 stores patterns of conversion methods from operation signals to operation commands for operation signals (operation keys) of many operation terminals 3 with well-known model names and operation commands of many robots 5 with well-known model names. Meanwhile, the model name of the selection operation terminal 3 is known (see FIG. 10), and the model name of the selection robot 5 is notified separately from the selection robot 5. Therefore, the connection unit 16 can convert the operation signal into an operation command by using a conversion method from an operation signal to an operation command that corresponds to the model name of the selection operation terminal 3 and the model name of the selection robot 5.

[0132] {Work Evaluation Section 17} The job evaluation unit 17 receives the working hours, the work output, and the difficulty of the job from the connection selection unit 15. For example, the job evaluation unit 17 calculates the work output per unit time by dividing the total work output by the total working hours, and multiplies this by a coefficient indicating the difficulty of the job to calculate a capability index indicating the capability (skill) of the remote worker of the corresponding operation terminal 3.

[0133] The work evaluation unit 17 evaluates this ability index as the absolute ability of each remote worker.

[0134] Furthermore, the job evaluation unit 17 calculates the rank of the ability index of each remote worker among the ability indexes of all remote workers, and evaluates this rank as the relative ability of each remote worker.

[0135] The job evaluation unit 17 ranks each remote worker, for example, in terms of absolute ability and relative ability, and assigns a work status according to the rank. As this status, for example, a skill level and a qualification are assigned according to the rank. Here, as the skill level, levels A to E are assigned in descending order of absolute ability rank, and as the qualification, qualifications 1 to 5 are assigned in descending order of relative ability rank. In addition, a title such as master, a job title, etc. may be assigned as the status. In addition, the job evaluation unit 17 may determine the remuneration (hourly rate, bonus, etc.) of the remote worker according to the rank. The treatment of these remote workers is determined based on the agreement of the owners of the robots 5.

[0136] The work evaluation unit 17 stores these evaluations in the work data storage unit 24 in association with the operating terminal ID, and also notifies the connection selection unit 15 of them.

[0137] This job evaluation can encourage remote workers to compete.

[0138] {Payment Department 18} The settlement unit 18 calculates the remuneration amount for the remote worker of the operating terminal 3 based on the working hours received from the connection selection unit 15, and notifies the operating terminal 3 of this amount via the communication distribution unit 13 and the communication device 11. The settlement unit 18 then pays the remuneration to the remote worker by a predetermined settlement method. Examples of the predetermined settlement method include transfer to a designated bank account, settlement using a designated credit company, etc.

[0139] {Training Section 19} When the training unit 19 receives an application for training from the reception unit 14, it trains the remote operator of the operation terminal 3. Examples of this training include training using the robot 5 and training using a game. In the training using the robot 5, for example, training is provided on how to operate the robot 5, how to perform work using the robot 5, and the like.

[0140] Furthermore, the training unit 19 may provide the remote operator with a simulation of the robot 5 instead of training. Examples of this simulation include a simulation using the robot 5 and a simulation using a game. In the simulation using the robot 5, for example, a method of operating the robot 5, a way of working with the robot 5, etc. are simulated.

[0141] When the robot 5 is used for training or simulation, the training unit 19 notifies the connection unit 16 to connect the applied operation terminal 3 and the robot 5 to be used and to disconnect the connection in response to the start and end of the training or simulation. As a result, the operation terminal 3 and the robot 5 are connected to each other, training or simulation is performed, and the connection is disconnected when the training or simulation ends.

[0142] The training unit 19 evaluates the capabilities (skills) of the remote operator based on the results of the training or simulation, and assigns the above-mentioned skill level (absolute evaluation) and qualification (relative evaluation) according to this evaluation. The training unit 19 notifies the connection selection unit 15 of this evaluation (including the skill level and qualification), and also notifies the operation terminal 3 via the communication distribution unit 13 and the communication device 11.

[0143] This training or simulation makes it possible to maintain the skills of remote operators working on the robot 5 at a certain level or higher. In addition, people who have never worked using the robot work employment system 1 can acquire the skill level and qualifications required for the work and become able to use the robot work employment system 1.

[0144] {Training Department 20} The training unit 20 provides training for obtaining the above-mentioned qualification to the remote operator of the applied operation terminal 3. Specifically, the training unit 20 explains the mechanism for obtaining the qualification (for example, that the qualification is given according to the work performance, that the qualification can be obtained by training or simulation, etc.), basic knowledge about the robot 5, basic knowledge about the work, etc.

[0145] This training provides remote workers with the opportunity to obtain "skill levels" and "qualifications" and to improve their capabilities.

[0146] {Events Section 21} The event section 21 holds an event that allows remote operators to gather and spread the use of the robot 5 in society. For example, the event section 21 holds a competition using the industrial robot 5. In this competition, participants compete, for example, on how quickly or with how high quality they can perform actual work (painting, assembly, picking, etc.). Then, a video of this competition is distributed to the world via the Internet.

[0147] In this case, the event unit 21 notifies the connection unit 16 to connect and disconnect the operation terminal 3 that has been applied for and the robot 5 to be used, depending on the start and end of the competition. As a result, the operation terminal 3 and the robot 5 are connected to each other and the competition is carried out, and the connection is disconnected when the competition ends.

[0148] This event will help raise awareness in society of the system 1 for remotely controlling the robot 5 using the operation terminal 3, and ultimately promote the expansion of the use of the robot 5.

[0149] <Operation terminal 3> 3 is a functional block diagram showing an example of the configuration of the operation terminal 3 of FIG. 1. Referring to FIG. 3, the operation terminal 3 includes a main body unit 30 and an operation unit 33. The main body unit 30 includes a communication unit 31, a processing unit 32, and a display unit 34. The communication unit 31 performs data communication with the intermediary device 2 via the network 4. Specifically, the communication unit 31 converts information from the processing unit 32 into communication data, and transmits the converted communication data to the intermediary device 2. The communication unit 31 also converts the communication data from the intermediary device 2 back to the original information, and transmits the converted information to the processing unit 32. Here, the processing unit 32 sends an operation signal generated by operating the operation keys of the operation unit 33 to the intermediary device 2 via the communication unit 31. The processing unit 32 also displays the work video of the robot 5 received from the intermediary device 2 via the communication unit 31 on the display unit 34. The processing unit 32 also performs various communications with the intermediary device 2 in response to appropriate operations of the operation keys of the operation unit 33.

[0150] When a plurality of operation keys are operated, the operation unit 33 generates an operation signal corresponding to the operation. Here, a case where the operation terminal 3 is a game machine will be described.

[0151] FIG. 4 is an external view showing an example of the configuration of a game controller 33 of a game machine serving as the operation terminal 3. As shown in FIG.

[0152] Referring to FIG. 4, the game controller 33 is substantially inverted U-shaped. The remote operator operates the handles 101L, 101R of both wings by holding them with both hands. An operation key group 110, a cross key 120, and analog stick keys 112, 122 are provided on the left and right upper surfaces of the game controller 33, and an R1 key 111 is provided on the right front surface of the game controller 33, and an L1 key 121 is provided on the left front surface of the game controller 33. The operation key group 110 and the analog stick key 112 are operated by the thumb of the right hand of the remote operator, and the cross key 120 and the analog stick key 122 are operated by the thumb of the left hand of the remote operator. The R1 key 111 and the L1 key 121 are operated by the index finger of the right hand and the index finger of the left hand of the remote operator, respectively. The game controller 33 further includes a touch pad 130 between the operation key group 110 and the cross key 120.

[0153] In this embodiment, the connection unit 16 of the intermediary device 2 assigns operation signals (operation keys) to operation commands of the robot 5, for example, as follows.

[0154] 4 and 5, for example, an operation signal of the cross key 120 and an operation signal of the analog stick key 122 are assigned to a position command for the robot 5. A group of operation keys 110 are assigned to various operation commands for the end effector 51e of the robot 5. Also, operation signals of the R1 key 111 and the L1 key 121 are assigned to commands for causing the robot 5 to perform a plurality of operations.

[0155] This allows the remote operator to operate the robot 5 using the game controller 33. If the remote operator is a gamer, he or she is familiar with the game controller 33 and can therefore demonstrate a high level of skill in operating the robot 5 well.

[0156] <Robot 5> Fig. 5 is a schematic diagram showing an example of the configuration of the robot 5 in Fig. 1. Referring to Fig. 5, the robot 5 includes a robot body 51, a robot controller 52, and a camera CA as an imager.

[0157] The robot body 51 is, for example, a vertical articulated robot, and includes a base 51a, a lower arm 51b, an upper arm 51c, a wrist 51d, and an end effector 51e attached to the tip of the wrist 51d. The end effector 51e is a paint gun in this embodiment.

[0158] In this example, the task of the robot 5 is to paint a work object 53. The work object is a panel 54 placed on a support stand 55. The robot 5 is operated by a remote operator, and sprays paint while moving a paint gun 51e to paint the panel 54. A camera CA captures images of the robot 5 working, and sends the captured work video to a robot controller 52.

[0159] Fig. 6 is a functional block diagram showing an example of the configuration of a control system of the robot 5. Referring to Fig. 6, the robot controller 52 controls the operations of the robot body 51 and the end effector 51e according to an operation command sent from the intermediary device 2. In addition, the robot controller 52 sends a work video from the camera CA to the intermediary device 2. In addition, the robot controller 52 performs data communication with the intermediary device 2 via the network 4, and displays the communication contents on the display 56 as necessary. In the data communication with the intermediary device 2, a specified operator operates an input device (not shown) to perform necessary processing (e.g., a recruitment process, etc.) as necessary.

[0160] In the present invention, data communication by the robot controller 52 is expressed as data communication by the robot 5.

[0161] [Operation of robot work system 1] Next, the operation of the robot work system 1 configured as above will be described in order.

[0162] <Recruitment> Fig. 7 is a schematic diagram showing an example of a menu screen posted on the robot work employment system site by the intermediary device 2. Fig. 8 is a schematic diagram showing an example of a recruitment screen posted on the robot work employment system site by the intermediary device 2.

[0163] 7, when the reception unit 14 of the intermediary device 2 is accessed from outside, the menu screen shown in Fig. 7 is displayed on the access source. Here, when the robot 5 accesses, this menu screen is displayed on the display 56 of the robot 5. When a predetermined operator of the robot 5 clicks on "Recruitment", the recruitment screen shown in Fig. 8 is displayed on the display 56.

[0164] In FIG. 8, items numbered 1 to 13 are recruitment details, and "current ratio or number of people on waiting list" is an item that is displayed when searching for recruitment after the recruitment has been accepted.

[0165] The specified operator of the robot 5 enters the name of the owner of the robot 5 in the "Recruiter" content field, the type of robot 5 in the "Robot type" content field, the ratio of the number of operators (number of operating terminals) to the number of robots in the "Work style" content field, the start date and end date of the work in the "Work period" content field, the start time and end time of the work in the "Work time" content field, whether or not to allow leaving work upon notice in the "Free leave possible" content field, the amount to be paid for one task in the "Remuneration" content field, the skill level required for the task in the "Skill level" content field, the qualifications required for the task in the "Qualifications" content field, the number of tasks and the number of people according to the work style in the "Number of people recruited" content field, the method of recruiting remote workers in the "Recruitment method" content field, and the degree of difficulty of the task in the "Work difficulty" content field.

[0166] Here, "robot type" should be entered as "articulated robot" or "parallel link robot". "Work start date" may be "start immediately". "Recruitment method" should be entered as, for example, "in order of application", "selection of the most suitable", "auction", etc. "Work difficulty" should be entered as, for example, "normal", "difficult", "easy", etc. The difficulty may be expressed in other classifications. Furthermore, if it is difficult to appropriately express the work difficulty, it may be omitted.

[0167] When the specified operator finishes filling in the information and clicks a confirmation button (not shown), the connection selection unit 15 of the intermediate device 2 judges whether the information is appropriate or not.

[0168] If the application is unsuitable, a "rejected" judgment result is displayed. In this case, the predetermined operator retryes the application or gives up.

[0169] If the request is appropriate, the request is accepted and a message to that effect is displayed. The robot ID is also displayed, and the robot 5 request procedure is completed. Meanwhile, the intermediary device 2 registers the request information in the robot registration unit 22 in association with the robot ID.

[0170] <Application and connection between terminal and robot> Fig. 9 is a schematic diagram showing an example of a recruitment search screen posted on the robot work employment system site by the intermediary device. Fig. 10 is a schematic diagram showing an example of an application screen posted on the robot work employment system site by the intermediary device.

[0171] Referring to FIG. 7, when the operation terminal 3 accesses, this menu screen is displayed on the display unit 34 of the operation terminal 3. When the remote worker clicks "Apply", the search screen shown in FIG. 9 is displayed on the display unit 34. This search screen corresponds to each item of the recruitment requirements. The remote worker inputs the desired content for each item. If the remote worker wants to search for items other than the items of the recruitment requirements, he / she can search by keyword. When the remote worker confirms all search items and clicks the "Search" key, a list of recruitments (not shown) that match the search items is displayed. The remote worker views each recruitment in this list as appropriate. In this case, the recruitment requirements displayed when viewing display "current ratio or number of people waiting" as shown in FIG. 8. "Current ratio" is the ratio of the number of applicants to the number of people recruited before the start of the work being recruited, and "current number of people waiting" is the number of people waiting to work when the work being recruited is being carried out. The remote worker refers to these displays. The lower the "ratio" or the smaller the "number of people waiting", the more likely the person is to be hired, but it may be that the person is not popular.

[0172] When the remote worker decides which recruitment to apply for, he / she clicks on the "Apply" key (not shown). Then, the application screen shown in Fig. 10 is displayed on the display unit 34. The remote worker fills in each item of the application requirements.

[0173] Here, for example, the remote worker enters his / her name in the "applicant" content field, "articulated robot" in the "robot type" content field, "parts assembly" in the "work content" content field, "operator 1: robot 1" in the "work style" content field, "start immediately" in the "work time" content field, and "start 14:00" in the "work hours" content field. In the "End time 16:00" field, in the "Can I leave at will" field, write "Yes", in the "Remuneration" field, write "1,000 yen", in the "Skill level" field, write "A", in the "Qualifications" field, write "1st grade", in the "Number of people wanted" field, write "100", in the "Recruitment method" field, write "In order of application", in the "Work difficulty" field, write "Normal", in the "Controller type" field, write the model name of your control device, and in the "Allowable ratio or number of people waiting" field, write "Number of people waiting: 1".

[0174] When the remote operator finishes filling in the information and clicks a confirmation button (not shown), the connection selection unit 15 of the intermediate device 2 operates as follows.

[0175] FIG. 11 is a flowchart showing an example of the operation of the connection selection unit 15 in FIG.

[0176] Referring to FIG. 11, the connection selection unit 15 compares the recruitment requirements with the application requirements (step S1).

[0177] Next, the connection selection unit 15 judges whether the application requirements match the recruitment requirements (step S2). Here, an example of this judgment will be described. Of course, other judgment methods may also be applied.

[0178] In the recruitment requirements (not shown) for which applications are made as shown in FIG. 10, for example, the content field for “robot type” states “articulated robot,” the content field for “work content” states “parts assembly” or “painting,” the content field for “work style” states “operator 1: robot 1,” the content field for “work time” states “start immediately,” the content field for “working hours” states “start 8:00, end 17:00,” the content field for “free departure” states “yes,” the content field for “compensation” states “1,000 yen,” the content field for “skill level” states “B” or higher, the content field for “qualifications” states “grade 2” or higher, the content field for “number of people wanted” states “1,000 people,” the content field for “recruitment method” states “in order of application,” and the content field for “work difficulty” states “easy.”

[0179] Furthermore, when determining the "skill level" and "qualifications," the connection selection unit 15 compares the "skill level" and "qualifications" entered in the application details with the "skill level" and "qualifications" granted to the applicant by the job evaluation unit 17 or the training unit 19, and if the two differ, the latter is used to determine whether the "skill level" and "qualifications" are appropriate. This is to prevent any disruption to work. Here, for example, the "skill level" and "qualifications" entered in the application details match the "skill level" and "qualifications" granted to the applicant by the training unit 19.

[0180] Therefore, in this case, the employment conditions indicated in the recruitment information are met by the working conditions indicated in the application information. Therefore, the connection selection unit 15 determines that the application information matches the recruitment information.

[0181] In addition, when determining whether the working hours in the application requirements are appropriate to the working hours in the recruitment requirements, it is determined that the working hours in the application requirements are appropriate if they are within the range of the working hours in the recruitment requirements. However, this determination criterion is only an example, and other determination criteria may be used. For example, it may be determined that the working hours in the application requirements are appropriate only if they match the working hours in the recruitment requirements, or that the working hours in the application requirements are appropriate only if they are longer than the working hours in the recruitment requirements (work outside of the designated hours is permitted).

[0182] If the application is not suitable, the acceptance unit 14 is notified of the result of the determination of "rejected" (step S5), and the acceptance unit 14 displays "rejected" on the display unit 34. In this case, the remote worker can retry the application or give up.

[0183] As described above, if the remote worker is suitable, he / she is hired, and this fact is displayed on the display unit 34. Also, the operation terminal ID is displayed, and the application procedure for the operation terminal 3 is completed. Meanwhile, the connection selection unit 15 registers the operation terminal 3 as the selected operation terminal, and associates the application requirements with the operation terminal D in the operation terminal registration unit 23. Also, the robot 5 is registered in the robot registration unit 22 as the selected robot 5 (step S3).

[0184] Here, when the time arrives to start carrying out the requested work, the connection selection unit 15 connects the selection operation terminal 3 and the selection robot 5. In this case, since the start time of the work is "immediate start," the connection selection unit 15 connects the selection operation terminal 3 and the selection robot 5 using the processing method described above (step S4).

[0185] The remote worker operates the keys of the game controller 33 while watching the work video sent from the robot 5 and displayed on the display unit 34. Then, the operation signal generated by this key operation is converted into an operation command by the connection unit 16 of the intermediary device 2, and the robot controller 52 controls the operation of the robot 5 according to this operation command.

[0186] This allows a remote operator to operate the robot 5 via the operation terminal 3 to perform work.

[0187] When the remote worker's work day ends, the connection unit 16 cuts off the connection between the terminal of the selection operation terminal 3 and the robot, as described above.

[0188] At the start time of the remote worker's work for the day, the connection unit 6 connects the terminal of the selected operation terminal 3 to the robot in response to notifications from the robot 5 and the operation terminal 3, as described above.

[0189] Thereafter, such connections and disconnections between the terminal and the robot are repeated.

[0190] In addition, since free withdrawal from the work is permitted here, when the remote worker wants to withdraw from the work, he / she notifies the intermediary device 2 of the withdrawal. Then, the connection unit 16 cuts off the connection between the operation terminal 3 and the robot.

[0191] <Work evaluation and settlement> The work performed by this remote worker is evaluated by the work evaluation unit 17 as described above, and is then settled by the settlement unit 18, and a remuneration is paid as compensation.

[0192] <Training etc.> When the remote worker accesses the robot work employment site by the operation terminal 3, the menu screen shown in Fig. 7 is displayed on the display unit 34 as described above. When the remote worker clicks "Training", he or she can receive a trainer or a simulation by the training unit 19 as described above.

[0193] Furthermore, when the remote operator clicks on "Lessons", he or she can receive lessons from the training unit 20 as described above.

[0194] Furthermore, when the remote worker clicks on "event," he or she can participate in an event hosted by the event section 21, as described above.

[0195] <Authentication> As described above, when the robot 5 applies for recruitment, and when the operation terminal 3 applies for application, training, lessons, or participation in an event, authentication is not required. However, when the robot work employment site is accessed to carry out subsequent procedures after the application has been completed, a predetermined authentication using a password, ID, etc. is performed.

[0196] <Free employment> One of the features of the robot work employment system 1 of the first embodiment is that it allows free employment. Figure 14 is a table showing policies for free employment.

[0197] Referring to Fig. 14, as a measure for flexible working, first, as illustrated in Fig. 8 and Fig. 10, if the owner of the robot 5 allows it, the working hours can be specified. This allows people who want to work to work when they want to work.

[0198] Secondly, as described above, the operation terminal 3 sends a withdrawal notification to the intermediary device 2, so that the operator (remote worker) of the robot 5 can withdraw from the work. This allows the operator not to work when he or she is unable to do so.

[0199] Third, if the owner of the Robot 5 wishes, recruitment will continue until the end date for the period in which the Robot 5's work is performed.

[0200] Fourth, the recruitment screen (Figure 8) will display whether the number of applicants is greater than or less than the number of positions available.

[0201] The third and fourth measures can compensate for the negative aspect of interrupted work by allowing workers to work freely.

[0202] In fact, there are many tasks that do not cause significant disruption even if the tasks performed by the robot 5 are interrupted, such as simple batch tasks such as assembling subassemblies.

[0203] Furthermore, if the robot work employment system 1 becomes widely recognized and the number of job openings and applications increases significantly, it will be possible to secure a sufficient number of remote workers required for the work, even if free employment is allowed, and it will be possible to carry out the work without interruption.

[0204] Furthermore, since work can be done by operating the operation terminal 3, people who want to work can work within their own living territory.

[0205] [effect] As is clear from the above description, according to the first embodiment, it is possible to expand the use of the remote-controlled robot 5. In addition, it is possible for the specified unemployed person to contribute to the real society. Moreover, the specified unemployed person can earn an income at home.

[0206] (Embodiment 2) Fig. 15 is a schematic diagram showing an example of a recruitment screen posted on a robot work employment system site by an intermediary device of embodiment 2 of the present invention. Fig. 16 is a schematic diagram showing an example of an employment screen posted on a robot work employment system site by an intermediary device of embodiment 2 of the present invention.

[0207] In the second embodiment, the method of applying via the operation terminal 3 is different from that in the first embodiment, but the rest of the configuration is the same as in the first embodiment.

[0208] In the second embodiment, the recruitment requirements are the same as those in the first embodiment. However, the recruitment screen does not display the "current ratio or number of people on the waiting list."

[0209] To apply for a job, the operation terminal 3 sends the work requirements shown in Fig. 16 to the intermediary device 2. Each item in the work requirements is the same as the application requirements in the first embodiment (see Fig. 10). However, there is no item for "allowable ratio or number of people on waiting list".

[0210] In the intermediary device 2, the connection selection unit 15 compares the recruitment requirements currently being adopted with the working requirements currently being adopted, and selects the robot 5 and the operation terminal 3 corresponding to the recruitment requirements and working requirements that match the other party's requirements as the selected robot and the selected operation terminal, respectively.

[0211] The rest of the processing is the same as in the first embodiment.

[0212] According to the second embodiment, it is possible to expand the use of the remote-controlled robot 5, as in the first embodiment. In addition, the specified unemployed person can contribute to the real society. Moreover, the specified unemployed person can earn an income at home.

[0213] (Embodiment 3) The third embodiment of the present invention is an embodiment illustrating the details of conversion from the operation signal of the operation terminal 3 in the first embodiment to the operation command of the robot 5. Therefore, the overall configuration of the robot work system 1 in the third embodiment is the same as the configuration of the robot work system 1 in the first embodiment.

[0214] In the following, a case where the operation terminal 3 is a game machine will be described.

[0215] Fig. 17 is an external view showing an example of the configuration of a game controller 33 of a game machine serving as the operation terminal 3 in embodiment 3. The game controller 33 in Fig. 17 is the same as the game controller 33 in Fig. 3. In Fig. 17, reference symbols are assigned to the operation keys of the game controller 33, making it possible to explain these.

[0216] 17, an operation key group 110, a cross key 120, a right joystick 112, and a left joystick 122 are provided on the left and right upper surfaces of the game controller 33, and a right command key 111 is provided on the right front surface of the game controller 33, and a left command key 121 is provided on the left front surface. The operation key group 110 is composed of a first multipurpose key 110a, a second multipurpose key 110b, a third multipurpose key 110c, and a fourth multipurpose key 110d.

[0217] The operation keys 110 and the right joystick 112 are operated by the thumb of the operator's right hand, and the cross key 120 and the left joystick 122 are operated by the thumb of the operator's left hand. The right command key 111 and the left command key 121 are operated by the index finger of the operator's right hand and the index finger of the left hand, respectively. The game controller 33 further includes a touch pad 130 between the operation keys 110 and the cross key 120.

[0218] <Robot 5> Fig. 18 is a schematic diagram showing an example of the configuration of the robot 5 in embodiment 3. The robot 5 in Fig. 18 is the same as the robot 5 in Fig. 5. In Fig. 18, reference symbols are given to details of the robot body 151, making it possible to describe the robot body 151 in more detail.

[0219] Referring to FIG. 18, the robot 5 includes a robot body 151, a robot controller 52, and a camera CA as an imager.

[0220] The robot body 151 is, for example, a vertical articulated robot, and includes a base 151a, a rotating body 151b, a lower arm 151c, an upper arm 151d, a wrist 151e, and an end effector 151f attached to the tip of the wrist 151e. The end effector 151f is a paint gun in this embodiment.

[0221] In this example, the task of the robot 5 is to paint a work object 53. The work object 53 is a panel 54 placed on a support stand 55. The robot 5 is operated by a remote operator, and sprays paint while moving a paint gun 151f to paint the panel 54. A camera CA captures images of the robot 5 working, and sends the captured work video to the robot controller 52.

[0222] Fig. 19 is a functional block diagram showing an example of the configuration of a control system of the robot 5 in the third embodiment. Referring to Fig. 19, the robot controller 52 controls the operations of the robot body 151 and the end effector 151f according to an operation command (individual operation command) sent from the intermediary device 2. The robot controller 52 also sends a work video from the camera CA to the intermediary device 2. The robot controller 52 also performs data communication with the intermediary device 2 via the network 4, and displays the communication contents on the display 56 as necessary. In the data communication with the intermediary device 2, a predetermined operator operates an input device (not shown) to perform necessary processing (for example, a recruitment process, etc.) as necessary.

[0223] In the present invention, data communication by the robot controller 52 is expressed as data communication by the robot 5.

[0224] In the intermediary device 2, the communicator 11 performs data communication with the operation terminal 3 and the robot 5 via the network 4. Specifically, the communicator 11 converts information from the communication distribution unit 13 into communication data, and transmits the converted communication data to the operation terminal 3 or the robot 5. The communicator 11 also converts communication data from the operation terminal 3 or the robot 5 back to the original information, and transmits the converted information to the communication distribution unit 13.

[0225] The communication distribution unit 13 distributes operation signals from the communication device 11 to the connection unit 16 and transmits operation commands from the connection unit 16 to the communication device 11 .

[0226] As explained in the first embodiment, in the connection unit 16, the operation signal conversion unit 301, the terminal side data transfer unit 302, the robot side data transfer unit 303, and the control unit 304 each share the required operations to convert the operation signal into an operation command, but in the following, for ease of understanding, it will be explained as if all operations of converting the operation signal into an operation command are performed by the connection unit 16. Also, in the following, for simplicity, the "selection operation terminal" will be simply called the "operation terminal" and the "selection robot" will be simply called the "robot".

[0227] As described in the first embodiment, when the connection unit 16 receives an operation signal from the operation terminal 3 via the communicator 11 and the communication distributor 13, the connection unit 16 converts the operation signal into an action command and sends it to the robot 5 via the communication distributor 13 and the communicator 11. Note that the connection unit 16 does not convert the operation signal if it does not need to be converted (for example, an operation signal when the operation unit of the operation terminal 3 is a dedicated operation unit for the robot 5). In addition, the connection unit 16 passes the work video from the robot 5 to the operation terminal 3.

[0228] {Conversion of operation signals} Next, a description will be given of conversion from an operation signal of the operation terminal 3 to an operation command for the robot 5. As described in the first embodiment, conversion from an operation signal to an operation command can always be performed according to the following procedure.

[0229] First, an operation signal of the operation terminal 3 is assigned to an operation command of the robot 5. In other words, an operation key of the operation terminal 3 is assigned to an operation command of the robot 5. Second, based on the assigned operation signal, an operation command corresponding to the operation signal is generated. Third, if the number of operation signals is insufficient for the number of operation commands, a combination of a predetermined number of operation signals is assigned to the remaining (surplus) operation command. In other words, a combination of a predetermined number of operation keys to be pressed simultaneously is assigned to the remaining operation command.

[0230] The connection unit 16 stores patterns of conversion methods from operation signals to operation commands for operation signals (operation keys) of many operation terminals 3 with well-known model names and operation commands of many robots 5 with well-known model names. Meanwhile, the model name of the operation terminal 3 is notified separately from the operation terminal, and the model name of the robot 5 is notified separately from the robot 5. Therefore, the connection unit 16 can convert the operation signal into an operation command by using a conversion method from an operation signal to an operation command that corresponds to the model name of the operation terminal 3 and the model name of the robot 5.

[0231] {Operation key assignment} Next, the operation key assignment will be described. The operation key assignment indicates how the multiple operation keys of the operation terminal 3 are associated with one or more individual operation commands of the robot 5, and one or more operation signals corresponding to the multiple operation keys are converted into the one or more individual operation commands. Below, a case will be described in which the operation terminal 3 is a game machine equipped with the game controller 33 of FIG. 17.

[0232] *Game controller 33 operation keys* Fig. 20 is a table showing the types of keys on the game controller 33. With reference to Fig. 17 and Fig. 20, the multiple operation keys on the game controller 33 have the following functions in main games.

[0233] The cross key 120 moves the controlled object in two axial directions. The left joystick 122 moves the controlled object in two dimensions. The right joystick 112 moves the viewpoint in the game space. The first multipurpose key 110a accepts the settings. The second multipurpose key 110b cancels the settings. The third multipurpose key 110c attacks the object. The fourth multipurpose key 110d attacks the object. The left command key 121 realizes multiple predetermined operations with one operation. The right command key 111 realizes multiple predetermined operations with one operation.

[0234] *Operation keys for robot controller* First, the joints of the robot 5 will be described. Referring to Fig. 18, the robot body 151 has a first axis JT1 which is a joint for rotating the rotating body 151b relative to the base 51a, a second axis JT2 which is a joint for rotating the lower arm 151c relative to the rotating body 151b, a third axis JT3 which is a joint for bending the upper arm 151d relative to the lower arm 151c, a fourth axis JT4 which is a joint for twisting the upper arm 151d, a fifth axis JT5 which is a joint for bending the wrist 151e relative to the upper arm 151d, and a sixth axis JT6 which is a joint for rotating (twisting) the end effector 151f relative to the wrist 151e.

[0235] Next, the operation keys of the robot operator will be described. This robot operator is assumed to be an operator that generates an operation signal that is the basis of the operation command of the robot 5. The robot 5 may or may not be equipped with this robot operator. If the robot 5 is equipped with this robot operator, the robot controller 52 switches between the operation signal from the robot operator and the operation command from the intermediary device 2 and uses it for controlling the operation of the robot 5.

[0236] Fig. 21 is a table showing the types of keys of the robot manipulator. Referring to Fig. 18 and Fig. 21, the robot manipulator includes first to sixth axis keys, a robot control mode switching key, a tool control mode switching key, a tool on / off key, and a tool operation key.

[0237] These operation keys have the following functions:

[0238] The first axis key operates the first axis JT1 of the robot in each axis mode. A first axis operation command is generated based on the operation signal of the first axis key.

[0239] The second axis key operates the second axis JT2 of the robot in each axis mode. A second axis operation command is generated based on the operation signal of the second axis key.

[0240] The third axis key operates the third axis JT3 of the robot in each axis mode. The third axis operation command is generated based on the operation signal of the third axis key.

[0241] The 4th axis key operates the 4th axis JT4 of the robot in each axis mode. The 4th axis operation command is generated based on the operation signal of the 4th axis key.

[0242] The 5th axis key operates the 5th axis JT5 of the robot in each axis mode. The 5th axis operation command is generated based on the operation signal of the 5th axis key.

[0243] The 6th axis key operates the 6th axis JT6 of the robot in each axis mode. The 6th axis operation command is generated based on the operation signal of the 6th axis key.

[0244] The robot control mode switching key switches the control mode of the robot among each axis mode, world mode, and tool mode. A robot control mode switching command is generated based on an operation signal of the robot control mode switching key.

[0245] The tool control mode switching key switches the control mode of the tool (here, the end effector 151f) A tool control mode switching command is generated based on an operation signal of the tool control mode switching key.

[0246] The tool on / off key turns the tool on and off. A tool on / off command is generated based on an operation signal of the tool on / off key. The tool operation key operates the tool. A tool operation command is generated based on an operation signal of the tool operation key.

[0247] *Operation key assignment* Next, the operation key assignment will be described.

[0248] 22 is a table showing the allocation of operation keys of the game controller 33 to operation commands of the robot 5 in each axis mode. In each axis mode, the main body 151 of the robot 5 can be moved in detail by moving the main body 151 of the robot 5 about each of the axes JT1 to JT6.

[0249] 17 and 22, the cross key 120 is assigned to the first axis operation command and the second axis operation command. In this case, the first axis operation command corresponds to the left / right operation of the cross key 120, and the second axis operation command corresponds to the forward / backward operation of the cross key 120.

[0250] The left joystick 122 is assigned to the third axis operation command and the fourth axis operation command. In this case, the third axis operation command corresponds to the left-right operation of the left joystick 122, and the fourth axis operation command corresponds to the forward-backward operation of the left joystick 122.

[0251] The right joystick 112 is assigned to the fifth axis operation command and the sixth axis operation command. In this case, the fifth axis operation command corresponds to the left-right operation of the right joystick 112, and the sixth axis operation command corresponds to the forward-backward operation of the right joystick 112.

[0252] The first multipurpose key 110a is assigned to the robot control mode switching command.

[0253] The second multipurpose key 110b is assigned to the tool control mode switching command.

[0254] The third multipurpose key 110c is assigned to a tool on / off command, and the fourth multipurpose key 110d is assigned to a tool operation command.

[0255] The left command key 121 and the right command key 111 are not assigned.

[0256] 23 is a table showing the allocation of operation keys of the game controller 33 to operation commands of the robot 5 in the case of a single key operation in the world mode. In the world mode, by commanding the position of the wrist 151e, the robot body 151 can be operated so that the wrist 151e is positioned at the commanded position.

[0257] 17 and 23, the X-axis position command and the Y-axis position command are assigned to the cross key 120. In this case, the X-axis position command corresponds to the left / right operation of the cross key 120, and the Y-axis position command corresponds to the forward / backward operation of the cross key 120.

[0258] The left joystick 122 is assigned to the X-axis rotation command and the Y-axis rotation command. In this case, the X-axis rotation command corresponds to the left-right operation of the left joystick 122, and the Y-axis rotation command corresponds to the forward-backward operation of the left joystick 122.

[0259] The right joystick 112 is assigned to the Z-axis rotation command. In this case, the Z-axis rotation command corresponds to the forward / backward operation of the right joystick 112.

[0260] Other operation key assignments are the same as for each axis mode.

[0261] FIG. 24 is a table showing the allocation of operation keys of the game controller 33 to movement commands of the robot 5 in the case of simultaneous operation of multiple keys in the world mode.

[0262] 17 and 24, a first multipurpose key 110a and a second multipurpose key 110b are assigned to a first command. The first command causes the tool to automatically move in the X-axis direction when operated once, and causes the tool to stop when operated twice.

[0263] The third multipurpose key 110c and the fourth multipurpose key 110d are assigned to the second command. The first operation of the second command automatically moves the tool in the Y-axis direction, and the second operation stops the tool.

[0264] The third command is assigned to the left command key 121 and the right command key 111. The third command causes the tool to automatically move in the Z-axis direction when operated once, and causes the tool to stop when operated twice.

[0265] No assignment is set for the cross key 120, the left joystick 122, and the right joystick 112.

[0266] According to this operation key assignment, by simultaneously pressing multiple operation keys set by this assignment, the tool can be moved freely on the X-axis, Y-axis, or Z-axis with two operations using the first to third commands.

[0267] FIG. 25 is a table showing the assignment of operation keys on the game controller 33 to operation commands for the robot 5 in the tool mode.

[0268] 17 and 25, the cross key 120 is assigned to the O-axis position command and the A-axis position command. In this case, operation of the cross key 120 in the left / right direction corresponds to the O-axis position command, and operation of the cross key 120 in the front / rear direction corresponds to the A-axis position command.

[0269] The left joystick 122 is assigned to the T-axis position command. In this case, the T-axis position command corresponds to the forward / backward operation of the left joystick 122.

[0270] The O-axis position command, the T-axis position command, and the A-axis position command are individual operation commands that specify the attitude of the tool. Therefore, in the tool mode, the tool (here, the end effector 151f) can be operated precisely by operating only the tool.

[0271] No assignment is set to the right joystick 112, the left command key 121, and the right command key 111. The other operation key assignments are the same as those in each axis mode.

[0272] By allocating the operation keys in this manner, the remote operator can freely operate the main body 151 and the end effector 151f of the robot 5 by operating the operation keys of the game controller 33.

[0273] Here, the following points are particularly important:

[0274] Individual operation commands which command the movement of each axis JT1 to JY6 of the robot 5, the position of the wrist 151e, and the posture of the tool (end effector 151f) correspond to operation signals of the cross key 120, left joystick 122, and right joystick 112 which move the operation target in the desired direction in a similar manner to those of the operation unit (game controller) 33 of the operation terminal 3, so that the operator (remote operator) of the operation terminal 3 can operate the robot 5 without feeling too uncomfortable.

[0275] The first multipurpose key 110a and the second multipurpose key 110b are assigned to one first command, the third multipurpose key 110c and the fourth multipurpose key 110d are assigned to one second command, and the left command key 121 and the right command key 111 are assigned to one third command, so that even if the number of operation keys of the operating terminal is insufficient for the number of operation commands, it is possible to convert an operation signal into an operation command.

[0276] Since the first to third commands are generated, the robot 5 can be made to perform a plurality of operations. Here, for example, the paint gun 151f can be moved a desired distance in the X-axis direction and stopped by simultaneously pressing the first multipurpose key 110a and the second multipurpose key 110b twice. Note that, in addition to this, for example, when the end effector 151f is a gripper, the first command may be a command to the robot 5 to position a workpiece having a fitting protrusion above a workpiece having a fitting hole, and then lower it to fit it into the fitting hole.

[0277] Since the first multipurpose key 110a is assigned to a robot control mode switching command, the control mode of the robot 5 can be switched by operating the operation keys of the operation terminal 3.

[0278] Since the second multipurpose key 110b is assigned to a tool control mode switching command, the control mode of the tool (end effector 151f) can be switched by operating the operation key of the operation terminal 3.

[0279] For example, an operation signal generated by operating one operation key of the operation terminal 3 in a predetermined manner (for example, pressing multiple times, combining a long press and a short press, etc.) may be converted into an individual operation command for the robot 5. In this way, even if the number of operation keys of the operation terminal 3 is insufficient for the number of individual operation commands, the operation signal can be converted into an individual operation command.

[0280] The first to third commands may also be a "pick and place" command for making the robot 5 pick up the workpiece and place it in a predetermined location, or a command for making the robot 5 move a paint gun to a predetermined location and spray paint from the paint gun. In this case, the position command for the robot 5 may specify a predetermined location or a predetermined position, and the end effector operation command may specify a required operation of the gripper or paint gun.

[0281] [Operation] Next, an operation of the intermediate device 2 configured as above will be described with reference to a flowchart shown in FIG.

[0282] 26, the connection unit 16 of the intermediate device 2 first requests the operation terminal 3 to select (decide) an operation key allocation (step S1). In this case, the connection unit 16 presents, for example, the operation key allocations created in advance and shown in Figs. 22 to 25, and allows the operation terminal 3 to decide only the points to be corrected. In this way, it is possible to change the individual operation commands to be converted from the operation signals so that the operator (remote operator) of the operation terminal 3 can easily operate the operation keys.

[0283] Next, the connection unit 16 waits for an operation key to be selected (NO in step S2), and when an operation key is selected (YES in step S2), the connection unit 16 converts the operation signal into an individual operation command (assigns an operation key) in accordance with the operation key assignment selected by the operation terminal 3 that assigns the operation key (step S3).

[0284] Next, the robot 5 is made to wait for work (step S4).

[0285] Next, the connection unit 16 waits for the work to start (NO in step S5). Then, when the work starts (YES in step S5), the connection unit 16 converts the operation signal from the operation terminal 3 into an individual operation command and sends it to the robot 5 (step S6).

[0286] Next, when the work is completed (YES in step S7), the connection unit 16 ends conversion of the operation signal into the individual operation command (step S8).

[0287] In addition, when the connection unit 16 receives an operation key change notification from the operation terminal 3 outside of working hours, the connection unit 16 may be configured to change one or more individual operation commands to be converted from one or more operation signals in response to the operation key change notification.

[0288] According to the first embodiment, when the connection unit 16 receives one or more operation signals corresponding to the multiple operation keys of the operation terminal 3, it converts the one or more operation signals into one or more individual operation commands in the operation commands for the robot 5 and sends the one or more individual operation commands to the robot 5, so that the robot 5 can be operated via the network 4 and the intermediary device 2 by operating the operation keys of the operation terminal 3. This allows the robot work employment system 1 to function, and ultimately expands the use of the remote-controlled robot 5.

[0289] (Other embodiments) In the third embodiment, the second embodiment may be modified in place of the first embodiment as described above.

[0290] Numerous modifications and other embodiments will be apparent to those skilled in the art in light of the above description, and therefore the above description is to be construed as illustrative only. [Industrial Applicability]

[0291] INDUSTRIAL APPLICABILITY The intermediation device and the intermediation method using the same of the present invention are useful as an intermediation device and an intermediation method using the same that can expand the use of remote-controlled robots. [Explanation of symbols]

[0292] 1 Robotic Work System 2. Intermediary Device 3 Operation terminal 4. Network 5. Robot 11 Communication device 12 Data processor 13 Communications Distribution Division 14 Reception Department 15 Connection selection section 16 Connection 17 Work Evaluation Department 18 Clearing Department 19 Training Department 20 Training Department 21 Events Department 22 Robot Registration Department 23 Operation terminal registration unit 30 Main body 31 Communications Department 32 Processing section 33 Operation section 34 Display section 51 Robot body 52 Robot Controller 56 Display 110 Operation keys 111 Right Command Key 112 Right Joystick 120 Cross key 121 Left Command Key 122 Left Joystick 151 Robot body 301 Connection 302 Terminal side data exchange unit 303 Robot side data exchange unit CA Camera CL calculator M Memory P Processor JT1~JT6 1st to 6th axis

Claims

1. An intermediary device owned by an intermediary, which is connected to a plurality of operation terminals operated by a plurality of remote operators and a plurality of robots owned by one or more robot owners via a network capable of data communication, The intermediary device is Selecting one or more of the robots and one or more of the operation terminals from the plurality of robots and the plurality of operation terminals as one or more selected robots and one or more selected operation terminals, and the one or more selection operation terminals are connected to the one or more selection robots in at least one of n (n is a natural number of 2 or more) to 1, 1 to m (m is a natural number of 2 or more) and n to m relationships according to the form of the plurality of tasks so that the one or more selection robots can be operated by the one or more selection operation terminals, The intermediary device is receiving, from the plurality of robots, a recruitment for a remote worker who will operate the plurality of robots to perform a plurality of tasks, and posting a recruitment notice for a remote worker who will perform the plurality of tasks on a site on the network of the intermediary having the intermediary device; receiving applications for the recruitment from the plurality of operation terminals via the site; An intermediary device configured to determine whether the application requirements of the application match the application requirements of the recruitment, and to select from the multiple robots and the multiple operation terminals, as the one or more selected robots and the one or more selected operation terminals, the one or more robots and the one or more operation terminals whose application requirements and the application requirements of the recruitment match each other.

2. An intermediary device owned by an intermediary, which is connected to a plurality of operation terminals operated by a plurality of remote operators and a plurality of robots owned by one or more robot owners via a network capable of data communication, The intermediary device is Selecting one or more of the robots and one or more of the operation terminals from the plurality of robots and the plurality of operation terminals as one or more selected robots and one or more selected operation terminals, and the one or more selection operation terminals are connected to the one or more selection robots in at least one of n (n is a natural number of 2 or more) to 1, 1 to m (m is a natural number of 2 or more) and n to m relationships according to the form of the plurality of tasks so that the one or more selection robots can be operated by the one or more selection operation terminals, The intermediary device is receiving, from the plurality of robots, a recruitment requirement for a remote worker who will operate the plurality of robots to perform a plurality of tasks; The system is further configured to receive, from the plurality of operation terminals, work requirements of the plurality of remote workers who operate the plurality of operation terminals; The intermediary device is configured to compare the multiple recruitment requirements with the multiple working requirements, and select the one or more robots and the one or more operation terminals that are compatible with the recruitment requirements and the working requirements as the one or more selected robots and the one or more selected operation terminals.

3. A mediation method using a mediation device owned by a mediator, the mediation device being connected to a plurality of operation terminals operated by a plurality of remote operators and a plurality of robots owned by one or more robot owners via a network capable of data communication, the method comprising: The mediation method includes: selecting, by the intermediary device, one or more of the robots and one or more of the operation terminals from the plurality of robots and the plurality of operation terminals as one or more selected robots and one or more selected operation terminals; and a step of connecting the one or more selection operation terminals to the one or more selection robots in at least one of n (n is a natural number of 2 or more) to 1, 1 to m (m is a natural number of 2 or more) and n to m relationships according to the form of the plurality of tasks so that the one or more selection robots can be operated by the one or more selection operation terminals through the intermediate device, receiving, by the intermediary device, a call for remote workers to operate the plurality of robots and perform a plurality of tasks; a step of posting a recruitment notice for remote workers to perform the plurality of tasks on a site on the network of the intermediary that has the intermediary device by the intermediary device; receiving applications for the recruitment from the plurality of operation terminals via the site; The intermediary method, in which the step of selecting the one or more selection robots and the one or more selection operation terminals is a step of determining, by the intermediary device, whether or not the application requirements of the application match the application requirements of the recruitment, and selecting, from the multiple robots and the multiple operation terminals, the one or more robots and the one or more operation terminals whose application requirements and the application requirements of the recruitment match each other as the one or more selection robots and the one or more selection operation terminals.

4. A mediation method using a mediation device owned by a mediator, the mediation device being connected to a plurality of operation terminals operated by a plurality of remote operators and a plurality of robots owned by one or more robot owners via a network capable of data communication, the method comprising: The mediation method includes: selecting, by the intermediary device, one or more of the robots and one or more of the operation terminals from the plurality of robots and the plurality of operation terminals as one or more selected robots and one or more selected operation terminals; and a step of connecting the one or more selection operation terminals to the one or more selection robots in at least one of n (n is a natural number of 2 or more) to 1, 1 to m (m is a natural number of 2 or more) and n to m relationships according to the form of the plurality of tasks so that the one or more selection robots can be operated by the one or more selection operation terminals through the intermediate device, receiving, by the intermediary device, from the plurality of robots, recruitment requirements for remote workers who will operate the plurality of robots to perform a plurality of tasks; receiving, by the intermediary device, from the operation terminals, work requirements of the remote workers who operate the operation terminals; The intermediary method, in which the step of selecting the one or more selected robots and the one or more selection operation terminals is a step of comparing the multiple recruitment requirements with the multiple work requirements by the intermediary device, and selecting the one or more robots and the one or more operation terminals that are compatible with the recruitment requirements and the work requirements as the one or more selected robots and the one or more selection operation terminals.

5. A program for causing a processor to execute the mediation method according to claim 3 or 4.

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