Schedule management device, schedule management method, and schedule management program

Abstract

To provide a schedule management device for managing the work schedule of a work robot taking into account the work schedule of work implementation entity.SOLUTION: Provided is a schedule management device for managing a work schedule of a self-traveling robot (20) that moves to a plurality of work objects present at different positions and performs work on each work object. The schedule management device comprises: an acquisition unit (150) for acquiring the work schedule of a work implementation entity different from the robot (20); and a setting unit (152) for setting the schedule of the robot (20). The setting unit (152) sets work order of the robot (20) so that a condition is preferentially satisfied that a date and time at which the work implementation entity performs work on at least one of a first work object and a second work object located in the vicinity of the first work object, and a date and time at which the robot (20) performs work on the first work object do not overlap each other.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a schedule management device, a schedule management method, and a schedule management program. [Background technology]

[0002] When an image captured by a camera of an autonomously moving robot device includes a person, a technique is known that determines whether there are any abnormalities in the work performed by the worker at the location and time the image was captured, based on work management information indicating the work schedule (Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2023-5746 Summary of the Invention [Problem to be solved by the invention]

[0004] The technology in Patent Document 1 is a technology for determining whether a worker is performing unplanned or incorrect work, and does not take into account the relationship between the work robot and other work performers, such as workers, regarding the work schedule of the work robot.

[0005] In view of the above-mentioned problems, one aspect of the present disclosure aims to realize a schedule management device, a schedule management method, and a schedule management program that manage the work schedule of a work robot while taking into account the work schedule of a work performing entity. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, a schedule management device according to one embodiment of the present disclosure is a schedule management device that manages the work schedule of a self-propelled robot that moves to multiple work objects located in different locations and performs work on each work object, and is equipped with an acquisition unit that acquires the work schedule of a work performer other than the robot, and a setting unit that sets the schedule of the robot, and the setting unit sets the order of work of the robot so that the condition that the date and time when the work performer works on at least one of a first work object and a second work object located near the first work object does not overlap with the date and time when the robot works on the first work object is met with priority.

[0007] In order to solve the above-mentioned problems, a schedule management method according to one embodiment of the present disclosure is a schedule management method for managing the work schedule of a self-propelled robot that moves to multiple work objects located at different locations and performs work on each work object, and includes an acquisition process for acquiring a work schedule of a work performer other than the robot, and a setting process for setting a schedule for the robot, in which the setting process sets the order of work for the robot so that the condition that the date and time when the work performer works on at least one of a first work object and a second work object located near the first work object does not overlap with the date and time when the robot works on the first work object is met with priority. [Effects of the Invention]

[0008] The present disclosure can realize a schedule management device and a schedule management method that manage the schedule of a work robot by taking into account the work schedule of a work executing entity. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a functional block diagram of a schedule management device according to the present disclosure. [Figure 2] FIG. 1 illustrates an example of a robot according to the present disclosure. [Figure 3]10 is a flowchart illustrating a method for setting a work schedule for a robot. [Figure 4] 10 is a flowchart illustrating a method for setting a work schedule for a robot. [Figure 5] FIG. 10 is a diagram illustrating an example of maintenance work schedule information. [Figure 6] FIG. 10 is a diagram illustrating an example of facility management information. [Figure 7] FIG. 10 is a diagram illustrating an example of inspection schedule information for a robot. [Figure 8] 1 shows an example of a robot body within a facility and a robot inspection route on the robot body. [Figure 9] FIG. 10 is a diagram for explaining an example of the average travel time of a robot between two adjacent areas and the average working time of the robot in each area. [Figure 10] FIG. 10 is a diagram showing an example of the scheduled time for the robot to arrive at each area and the duration of time the robot will stay in each area. [Figure 11] 10 shows an example of an inspection route for the robot after the setting unit has changed the work sequence of the robot. [Figure 12] FIG. 1 is a functional block diagram of a schedule management device according to the present disclosure. [Figure 13] FIG. 10 is a diagram illustrating an example in which a change unit changes a work sequence of a robot. [Figure 14] FIG. 10 is a diagram illustrating an example in which a change unit changes a work sequence of a robot. [Figure 15] 10A and 10B are diagrams illustrating an example in which a second change unit changes the working position of the robot. [Figure 16] FIG. 10 is a diagram illustrating an example in which a priority is set for an inspection position. [Figure 17] 10 is a flowchart showing how a second change unit changes the inspection position of the robot. [Figure 18] 1 is a flowchart of a schedule management method of a schedule management device according to the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0010] [Schedule management device 1] A schedule management device 1 according to the present disclosure will be described below with reference to Fig. 1 etc. Fig. 1 is a functional block diagram of the schedule management device 1.

[0011] First, an overview of the schedule management device 1 will be given. The schedule management device 1 manages the work schedule of a self-propelled robot 20 that moves to multiple work targets located in different locations and performs work on each work target. The schedule management device 1 includes an acquisition unit 150 and a setting unit 152.

[0012] The acquisition unit 150 acquires a work schedule of a work executing entity different from the robot 20 (first work schedule).

[0013] The setting unit 152 sets a work schedule (second work schedule) for the robot 20. The setting unit 152 also sets the order of work for the robot 20 so that the condition that the date and time when the work executing entity works on at least one of the first work object and the second work object located near the first work object does not overlap with the date and time when the robot 20 works on the first work object is met with priority.

[0014] The schedule management device 1 is applied to a facility 40 where the robot 20 travels. The facility 40 may be any facility where the robot 20 is expected to travel to perform predetermined tasks, such as a factory, a construction site, or a logistics warehouse. The schedule management device 1 may be installed either inside or outside the facility 40.

[0015] The work performers include workers and other robots, etc., who work in the facility 40. The workers and other robots perform various tasks such as inspecting, monitoring, and maintaining the equipment or devices, etc., installed in the facility 40, or carrying in or removing machines.

[0016] The work performer performs work on a first work object, which is at least one of a plurality of work objects located at different positions within the facility 40, or on a second work object located nearby. Even when the work object of the work performer and the work object of the robot 20 are not the same but are close to each other, the schedule management device 1 can change the work sequence of the robot 20. For the sake of convenience, the following description will be given assuming that the work performer is a worker (person).

[0017] Below, the robot 20 will be explained first, and then the configuration of the schedule management device 1 will be explained.

[0018] 〔robot〕 The robot 20 is a self-propelled robot that travels within the facility 40, and a plurality of robots may be present within the facility 40. An example of the robot 20 will be described with reference to Fig. 2. Fig. 2 is a diagram illustrating an example of the robot 20 according to the present disclosure.

[0019] The robot 20 includes a robot body 21 and a plurality of wheels 22 that support the robot body 21. The shape, size, etc. of the robot body 21 may be determined appropriately depending on the purpose of the robot 20. Therefore, the robot body 21 may be a bipedal robot or a quadrupedal robot, etc. The number of wheels 22 may be determined appropriately.

[0020] In the example of FIG. 2, the robot 20 includes an imaging unit 23, a surface temperature detection unit 24, and a sound measurement unit 25.

[0021] The imaging unit 23 captures images of the environment surrounding the robot 20 and / or equipment and the like within the facility 40. The imaging unit 23 outputs the obtained image (video / still image) data to a server (not shown) or the like of the facility 40. The imaging unit 23 may be a visible light camera or the like. The imaging unit 23 may be capable of capturing images in a 360-degree range and may be switchable to any direction (left / right, up / down).

[0022] The surface temperature detection unit 24 detects the surface temperature of an object and outputs the detected data to a server (not shown) or the like of the facility 40. The surface temperature detection unit 24 can detect the surface temperature of equipment or the like within the facility 40. The surface temperature detection unit 24 may be a thermal camera or the like. The surface temperature detection unit 24 may be capable of capturing images in a 360-degree range and may be switchable to any orientation.

[0023] The sound measurement unit 25 converts ambient sounds into audio signals and outputs the audio signals to a server (not shown) or the like in the facility 40. The sound measurement unit 25 acquires sounds emitted from devices or the like in the facility 40 as audio signals. The sound measurement unit 25 may be a microphone or the like. The sound measurement unit 25 may be capable of 360-degree measurement and may be switchable to any direction.

[0024] The robot 20 can be detachably equipped with the imaging unit 23, the surface temperature detection unit 24, and the sound measurement unit 25. Instead of or in addition to the imaging unit 23, the surface temperature detection unit 24, and / or the sound measurement unit 25, the robot 20 may be equipped with any other type of sensor (such as an odor sensor) that acquires information about equipment and the like within the facility 40.

[0025] Furthermore, the robot 20 is equipped with a GPS device 26 that measures the current position of the robot 20. The robot 20 includes an antenna (not shown) that receives signals from GPS satellites. The robot 20 outputs information indicating the current position of the robot 20 measured by the GPS device 26 to the schedule management device 1.

[0026] The GPS device 26 may indicate its position in a global coordinate system, which represents the entire Earth using latitude and longitude coordinates. The GPS device 26 outputs position information to the schedule management device 1 based on this coordinate system.

[0027] The schedule management device 1 may convert the position information of the robot 20 into a local coordinate system within the facility 40 as needed. Converting from the global coordinate system to a relative position within the facility 40 can be useful for mapping or controlling the inside of the facility 40.

[0028] The schedule management device 1 can use the position information of the robot 20 grasped in the global coordinate system to perform control or task management based on the position. This allows the schedule management device 1 to move the robot 20 to a destination within the facility 40 and have it engage in a specific task.

[0029] The location of the robot 20 may be detected using coordinate acquisition techniques other than GPS, such as Wi-Fi (registered trademark) fingerprinting or magnetic fingerprinting.

[0030] The robot 20 includes an imaging unit 23, a surface temperature detection unit 24, a sound measurement unit 25, and a communication unit (not shown) for outputting data acquired by a GPS device 26 to the schedule management device 1 or the like. The communication unit receives instructions transmitted from the schedule management device 1 or the like and transmits them to a control unit (not shown) of the robot 20. Since publicly known technology may be used for the technology that allows the robot 20 to operate in accordance with external instructions, detailed explanations thereof will be omitted here.

[0031] The specific configuration of the schedule management device 1 will be described below with reference to FIG.

[0032] The schedule management device 1 may be, for example, a general-purpose computer. The schedule management device 1 includes a communication unit 11, a storage unit 12, a display unit 13, an input unit 14, and a control unit 15.

[0033] The communication unit 11 acquires signals (data) transmitted by the robot 20 via a network. Wi-Fi (registered trademark) or the like may be used as a means using radio waves. The communication unit 11 may store the signals acquired from the robot 20 in the memory unit 12. The communication unit 11 may output the signals acquired from the robot 20 to the control unit 15. The communication unit 11 can transmit instructions from the control unit 15 to the robot 20.

[0034] The memory unit 12 stores signals (data) acquired from the robot 20 via the communication unit 11. The memory unit 12 is also a storage device that stores various computer programs read by the control unit 15 and data used in various processes executed by the control unit 15. The memory unit 12 is configured, for example, by a recording device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive), a volatile memory such as RAM (Random Access Memory), and / or a portable storage medium such as a flash memory. The memory unit 12 may be substituted by a server or the like external to the schedule management device 1.

[0035] The memory unit 12 may store information indicating the maintenance work schedule (first work schedule) of workers, equipment management information (information regarding the work area) of the facility 40, and information indicating the inspection schedule (second work schedule) of the robot, as described below.

[0036] The display unit 13 may display any information related to the facility 40. For example, the display unit 13 displays the route along which the robot 20 travels within the facility 40 or the position of the robot 20 on the route. The display unit 13 may be provided outside the schedule management device 1.

[0037] The input unit 14 is, for example, a keyboard and a mouse, but the specific form is not particularly limited. The input unit 14 may be a touch panel or the like as long as it has a function that allows input. The input unit 14 may be provided outside the schedule management device 1.

[0038] The control unit 15 includes a processor such as a CPU (Central Processing Unit). The control unit 15 controls the communication unit 11 and the storage unit 12, and also controls all operations of the schedule management device 1.

[0039] The control unit 15 includes an acquisition unit 150 and a setting unit 152 .

[0040] The acquisition unit 150 acquires a work schedule of a work executing entity different from the robot 20 (first work schedule).

[0041] The setting unit 152 sets a work schedule (second work schedule) for the robot 20. The setting unit 152 also sets the order of work for the robot 20 so that the condition that the date and time when the work executing entity works on at least one of the first work object and the second work object located near the first work object does not overlap with the date and time when the robot 20 works on the first work object is met with priority.

[0042] [Operation of the Acquisition Unit and the Setting Unit] Specific operations of the acquisition unit 150 and the setting unit 152 will be described below with reference to Figures 3 and 4. Figures 3 and 4 are flowcharts showing a method for setting a work schedule for the robot 20.

[0043] 3, first, in S10, acquisition unit 150 acquires maintenance work schedule information of workers from storage unit 12. The maintenance work schedule information may be recorded in advance in storage unit 12. An example of the maintenance work schedule information will be described with reference to FIG.

[0044] 5 is a diagram showing an example of maintenance work schedule information. The maintenance work schedule information is information that indicates a work schedule (first work schedule) of workers who will work on a first work object, which is at least one of multiple work objects in facility 40, or on a second work object located in the vicinity thereof.

[0045] 5, the maintenance work schedule information includes, for example, the following items: [Work management ID (e.g., 000001), equipment name (e.g., switchboard), work area (e.g., A), work item (e.g., part replacement), worker name (e.g., Shipbuilding Taro), (work start time (planned) (e.g., 9:30), work end time (planned) (e.g., 10:30), work start time (actual) (e.g., not entered), work end time (actual) (e.g., not entered), work status (e.g., not yet started)]. The contents in parentheses are those shown in FIG. 5. In this way, the maintenance work schedule information includes multiple pieces of information related to the worker's maintenance schedule, such as the worker's name, work area, work item, work start time, and work end time.

[0046] Next, in S12, the acquisition unit 150 acquires the equipment management information from the storage unit 12. The equipment management information may be pre-recorded in the storage unit 12. An example of the equipment management information will be described with reference to FIG.

[0047] FIG. 6 is a diagram showing an example of equipment management information. The equipment management information is information related to equipment within the facility 40. Referring to FIG. 6, the equipment management information includes, for example, the following items: [equipment ID (e.g., 000001), equipment name (e.g., switchboard), work area (e.g., A), adjacent equipment 1 (control device), adjacent equipment 2 (control device)]. The contents in parentheses are those shown in FIG. 6. The equipment management information also includes an "adjacent equipment" item. This information is provided so that even when a worker is working on adjacent equipment, the worker's and robot 20's inspections may physically overlap, and in such cases the work schedule of the robot 20 can be changed.

[0048] Next, in S14, the acquisition unit 150 acquires inspection schedule information for the robot 20. The inspection schedule information may be recorded in advance in the storage unit 12. An example of the inspection schedule information will be described with reference to FIG.

[0049] FIG. 7 is a diagram showing an example of inspection schedule information for the robot 20. The inspection schedule information is information related to an inspection schedule planned for the robot 20. Referring to FIG. 7, the inspection schedule information includes, for example, the following items: [robot ID (e.g., 001), scheduled inspection date (e.g., 2024 / 3 / 20), inspection start time (e.g., 9:00, 13:30, 16:00), inspection route (e.g., 1, 1, 1)]. The contents in parentheses are shown in FIG. 7. Although not shown in FIG. 7, the equipment to be inspected is determined for each inspection route, and the installation location (area) is determined for each equipment. Therefore, when an inspection starting at 9:00 on 2024 / 3 / 20 is the target, the acquisition unit 150 acquires information about the inspection equipment included in inspection route 1 of the robot 20 and the area in which the equipment is located.

[0050] In S16, the setting unit 152 determines, based on the maintenance work schedule information, whether or not a worker will perform maintenance work on the scheduled inspection date of the robot 20. If the determination in S16 is No, the process proceeds to S20. In S20, the setting unit 152 finalizes the inspection schedule for the robot 20 without making any changes to the inspection schedule for the robot 20.

[0051] If the answer is Yes in S16, the process proceeds to S 18. In S18, the setting unit 152 determines whether or not maintenance work by a worker will be performed on the inspection route of the robot 20 based on the maintenance work schedule information and the inspection schedule information of the robot 20.

[0052] If the answer is No in S18, the process proceeds to S20. In S20, the setting unit 152 finalizes the inspection schedule for the robot 20 without making any changes to the inspection schedule for the robot 20.

[0053] If the answer is Yes in S18, the process proceeds to S22. In S22, the setting unit 152 determines whether the maintenance work performed by the worker is the same as or close to the inspection target of the robot 20, based on the maintenance work schedule information, the inspection schedule information for the robot 20, and the facility management information. More specifically, the setting unit 152 makes the above determination based on the "facility name" and "adjacent facility" included in the maintenance work schedule information and the facility management information, and the inspection equipment included in the inspection route 1 of the robot 20.

[0054] If the answer is No in S22, the process proceeds to S20. In S20, the setting unit 152 finalizes the inspection schedule for the robot 20 without making any changes to the inspection schedule for the robot 20.

[0055] If the answer is Yes in S22, the process proceeds to S24. In S24, the setting unit 152 checks the working time periods of the worker and the robot 20.

[0056] Next, referring to FIG. 4, in S26, the setting unit 152 determines whether the end time of the maintenance work by the worker is a certain time or more before the scheduled start time of inspection of the robot 20.

[0057] If the answer is Yes in S26, proceed to S28. In S28, the setting unit 152 finalizes the inspection schedule for the robot 20 without making any changes to the inspection schedule for the robot 20. The "certain period of time" may be determined appropriately, and may be, for example, 10 minutes, 20 minutes, or the like.

[0058] If the answer is No in S26, the process proceeds to S30. In S30, the setting unit 152 determines whether the scheduled start time of the maintenance work by the worker is a certain time or more after the scheduled end time of the inspection of the robot 20.

[0059] If the answer is Yes in S30, proceed to S28. In S28, the setting unit 152 finalizes the inspection schedule for the robot 20 without making any changes to the inspection schedule for the robot 20. The "certain period of time" may be determined appropriately, and may be, for example, 10 minutes, 20 minutes, or the like.

[0060] If the answer is No in S30, the process proceeds to S32. In S32, the setting unit 152 changes the inspection schedule for the robot 20. Details of this will be described later with reference to FIG. 8 and the like.

[0061] In this way, the setting unit 152 sets the order of work for the robot 20 so as to preferentially satisfy the condition that the date and time when the work executing entity works on at least one of the first work object and the second work object located near the first work object does not overlap with the date and time when the robot 20 works on the first work object. If there is no overlap in the work date and time, the setting unit 152 sets (confirms) the inspection schedule for the robot 20 as originally planned without making any changes to the predetermined work (inspection) schedule for the robot 20.

[0062] [Example of work schedule changes] Next, a specific example of how the setting unit 152 changes the work sequence of the robot 20 when overlapping work dates and times occurs will be described with reference to FIGS. 8 to 11. FIG.

[0063] FIG. 8 shows an example of an inspection area 45 within the facility 40 and an inspection route of the robot 20 within the inspection area 45. The facility 40 may be provided with multiple inspection areas, and the inspection area 45 is one example. The inspection area 45 is divided into nine areas, Areas 1 to 9. "S / G" indicates the start point / finish point of the inspection of the robot 20. Area 5 is not included in the inspection target of the robot 20. The initial route of the robot 20 is set so that it starts from the S / G point, passes through Area 1, Area 2, Area 3, Area 6, Area 9, Area 8, Area 7, Area 4, Area 1, and finally returns to the S / G point. Information indicating this initial route may be stored in the storage unit 12 in advance.

[0064] Furthermore, as information related to the inspection area 45, the average travel time of the robot 20 between two adjacent areas and the average work time of the robot 20 in each area may be stored in advance in the storage unit 12. Fig. 9 is a diagram for explaining an example of the average travel time of the robot 20 between two adjacent areas and the average work time of the robot 20 in each area.

[0065] 9 shows the travel time of the robot 20 from area 1 to S / G, area 2, and area 4, and the average work (inspection) time of the robot 20 in area 1. Specifically, it takes 5 minutes from area 1 to S / G, 10 minutes from area 1 to area 2, and 10 minutes from area 1 to area 4, and the average work (inspection) time of the robot 20 in area 1 is 5 minutes.

[0066] 9 shows the travel time of the robot 20 from area 2 to area 1, area 3, and area 5, and the average work (inspection) time of the robot 20 in area 2. Specifically, it takes 10 minutes from area 2 to area 1, 10 minutes from area 2 to area 3, and 10 minutes from area 2 to area 5, and the average work (inspection) time of the robot 20 in area 2 is 5 minutes.

[0067] 9 illustrates information relating to area 1 and area 2. Such information is stored in the storage unit 12 for each of areas 1 to 9.

[0068] Based on the information shown in Figures 8 and 9 and the time when the robot 20 departs from the S / G (inspection start time), the setting unit 152 determines the scheduled time when the robot 20 will arrive at each area and the stay time of the robot 20 in each area.

[0069] FIG. 10 is a diagram showing an example of the scheduled time that the robot 20 will arrive at each area and the duration of time that the robot 20 will stay in each area. In FIG. 10, the time that the robot 20 departs from the S / G (the inspection start time) is 9:00. As shown in FIG. 10, the robot 20 arrives at area 1 at 9:05 and stays there until 9:10. The robot 20 also arrives at area 2 at 9:20 and stays there until 9:25. In this way, the setting unit 152 specifies the scheduled time that the robot 20 will arrive at each area and the duration of time that the robot 20 will stay in each area for all areas except area 5. Based on this inspection route, the robot 20 will start inspection at 9:00 and finish inspection at 11:10.

[0070] When the work schedule for the robot 20 is set in this way, it is assumed that maintenance work by a worker is scheduled in area 9 from 10:00 to 10:30. In this case, the inspection schedule for the robot 20 overlaps with the work schedule of the worker in area 9. Therefore, the setting unit 152 changes the order of work for the robot 20. An example of this will be described with reference to FIG. 11.

[0071] FIG. 11 shows an example of an inspection route for the robot 20 after the setting unit 152 has changed the work order of the robot 20. The setting unit 152 moves the robot 20 to Area 6 according to the original inspection schedule. Then, taking into account that the scheduled completion time of the maintenance work by the worker in Area 9 is 10:30, the setting unit 152 searches for a route from Area 6 as the starting point for the robot 20 to reach Area 9 after 10:30, and sets the new route shown in FIG. 11. Specifically, the setting unit 152 changes the inspection route for the robot 20 so that it starts from the S / G point, passes through Area 1, Area 2, Area 3, Area 6, Area 5, Area 4, Area 7, Area 8, Area 9, Area 8, Area 7, Area 4, Area 1, and finally returns to the S / G. Based on this inspection route, the inspection schedule is changed so that the robot 20 starts inspection at 9:00 and finishes inspection at 11:50.

[0072] As described above, the setting unit 152 can set the order of work for the robot 20 so as to preferentially satisfy the condition that the date and time when the robot 20 works on the first work object does not overlap with the date and time when the worker works on the first work object or the second work object. When the date and time when the robot 20 works on the first work object overlaps with the date and time when the worker works on the first work object or the second work object, the setting unit 152 can change the work position of the robot 20 when working on the first work object from the initial position.

[0073] 8 to 11, the rectangular inspection area 45 is divided into nine sections, and the average travel time between the sections is set to a uniform 10 minutes, and the average work time in each section is set to a uniform 10 minutes. This is for the convenience of explanation, and the division method of the inspection area 45, the average travel time between the sections, and the average work time in each section can be determined appropriately according to the actual conditions of the facility 40.

[0074] The above describes the schedule management device 1 according to the present disclosure. Next, the schedule management device 2 according to the present disclosure will be described with reference to FIG.

[0075] [Schedule management device 2] Hereinafter, a schedule management device 2 according to the present disclosure will be described with reference to Fig. 12 and other figures. Fig. 12 is a functional block diagram of the schedule management device 2. The schedule management device 2 may be realized as a device separate from the schedule management device 1, or may be realized as a device integrated with the schedule management device 1. Below, a repeated description of the contents explained with reference to Fig. 1 and other figures will be omitted.

[0076] First, an overview of the schedule management device 2 will be given. The schedule management device 2 includes a change unit 160 that changes the order of work performed by the robot 20 so that the robot 20 works on another work object before the third work object, which is one of multiple work objects, when the presence of a worker (work performer) is detected within a predetermined range based on the third work object before the robot 20 works on the third work object.

[0077] In addition, the schedule management device 2 has a work position where the robot 20 performs work on a third work object, which is one of the multiple work objects, set in advance as an initial position, and is equipped with a second change unit 162 that changes the work position of the robot 20 from the initial position when it is difficult to perform work on the third work object from the initial position due to the presence of a worker (work performer).

[0078] A specific configuration of the schedule management device 2 will be described below with reference to FIG.

[0079] As an example, the schedule management device 2 may be a general-purpose computer. The schedule management device 2 includes a communication unit 11, a storage unit 12, a display unit 13, an input unit 14, and a control unit 16. The control unit 16 will be described below.

[0080] The control unit 16 includes a processor such as a CPU (Central Processing Unit). The control unit 16 controls the communication unit 11 and the storage unit 12, and also controls all operations related to the entire operation of the schedule management device 2. The control unit 16 includes a change unit 160 and a second change unit 162.

[0081] When the presence of a worker is detected within a predetermined range based on the third work object before the robot 20 starts working on the third work object, which is one of the multiple work objects, the change unit 160 changes the order of work by the robot 20 so that the robot 20 works on the other work object before the third work object.

[0082] The second change unit 162 changes the work position of the robot 20 from the initial position when the work position where the robot 20 performs work on the third work object is set in advance as the initial position and it is difficult to perform work on the third work object from the initial position due to the presence of a worker (work performing entity).

[0083] For ease of understanding, an example in which the change unit 160 changes the work order of the robot 20 will be described below with reference to Figs. 13 and 14. Also, an example in which the second change unit 162 changes the work position of the robot 20 will be described with reference to Fig. 15.

[0084] 13 to 15, the robot 20 inspects equipment, machinery, etc. within a facility 40. In FIGS. 13 and 14, the robot 20 moves to a plurality of different work targets (inspection points A to C) within the facility 40. In FIG. 15, the robot 20 performs work at inspection point A within the facility 40.

[0085] [Application example 1] 13 is a diagram showing an example in which the change unit 160 changes the work order of the robot 20. The inspection route for the robot 20 within the facility 40 is set in the order of inspection point A, inspection point B, and inspection point C (the "original inspection route" indicated by the dashed line). According to this inspection route, the robot 20 first inspects inspection point A and then heads to inspection point B. However, it is assumed that the imaging unit 23 detects a worker at inspection point B just before the robot 20 arrives at inspection point B.

[0086] When a worker works at inspection point B, the robot 20 may not be able to perform the scheduled inspection at inspection point B. Therefore, the change unit 160 changes the order of work by the robot 20 so that the robot 20 works at inspection point C before inspection point B (the "actual inspection route" shown by the solid line). In this way, when the change unit 160 detects the presence of a worker at inspection point B, it can change the order of work by the robot 20 in real time so that the robot 20 works at inspection point C before inspection point B.

[0087] [Application example 2] 14 is a diagram showing an example in which the change unit 160 changes the work order of the robot 20. The inspection route for the robot 20 within the facility 40 is set in the order of inspection point A, inspection point B, and inspection point C (the "original inspection route" indicated by the dashed line). Inspection point B has an imaging unit 41B (camera, etc.) that detects the presence of a worker within a predetermined range based on inspection point B. Inspection point C has an imaging unit 41C (camera, etc.) that detects the presence of a worker within a predetermined range based on inspection point C.

[0088] Following the inspection route, the robot 20 performs an inspection at inspection point A and then moves to inspection point B. However, before the robot 20 starts moving to inspection point B, the imaging unit 41B detects the presence of a worker within a predetermined range based on inspection point B. The imaging unit 41C does not detect the presence of a worker within a predetermined range based on inspection point C.

[0089] Therefore, the change unit 160 changes the order of work by the robot 20 so that the robot 20 works at inspection point C before inspection point B ("actual inspection route" shown by a solid line). In this way, when the presence of a worker is detected within a predetermined range based on inspection point B, the change unit 160 can change the order of work by the robot 20 in real time so that the robot 20 works at inspection point C before inspection point B.

[0090] There may be cases where the work schedule of a worker is suddenly changed. According to Application Examples 1 and 2, the order of work can be flexibly re-established even in response to a sudden change in the work schedule of the worker, so that the robot 20 can continue work based on a schedule that is as efficient as possible.

[0091] The above has described Application Example 1 and Application Example 2. In this way, when the change unit 160 acquires information indicating that the presence of a worker has been detected by the imaging unit 23 or the imaging unit 41B of the robot 20, the change unit 160 reads out the inspection schedule information of the robot 20 from the storage unit 12. Then, the change unit 160 can change the inspection schedule of the robot 20 in a manner similar to that in which the setting unit 152 changed the work sequence of the robot 20 with reference to FIG. 11 .

[0092] The change unit 160 may use technology utilizing artificial intelligence (AI) realized by machine learning to detect whether a worker is present within a predetermined range based on a certain inspection point from image (video / still image) data captured by the imaging unit 23 or imaging unit 41B of the robot 20. The detection of whether a worker is present may be performed in the cloud. Such technology is well known, and therefore a detailed description thereof will be omitted here.

[0093] [Application example 3] 15 is a diagram showing an example in which the second change unit 162 changes the work position of the robot 20. The robot 20 inspects an inspection point A. A plurality of inspection positions (inspection positions 1 to 3) are set at the inspection point A. Of these, inspection position 1 is set in advance as the initial position for performing work at the inspection point A.

[0094] Assume that the robot 20 is scheduled to read a meter 30 installed on a piece of machinery at an inspection point A. Also, assume that a worker is present at an inspection position 1 at the inspection point A. Therefore, the robot 20 cannot read the meter 30 from the inspection position 1, which is its initial position.

[0095] Therefore, the second change unit 162 changes the work position of the robot 20 from inspection position 1, which is the initial position, to inspection position 2. If the robot 20 can read the meter 30 from inspection position 2, the second change unit 162 causes the robot 20 to read the meter 30 from inspection position 2. If the robot 20 cannot read the meter 30 from inspection position 2, the second change unit 162 changes the work position of the robot 20 from inspection position 2 to inspection position 3, and causes the robot 20 to read the meter 30 from inspection position 3. In this way, the second change unit 162 can cause the robot 20 to read the meter 30 from an inspection position that does not get in the way of the worker. The number of inspection positions is not limited to three and may be set as appropriate.

[0096] With this configuration, even if the robot 20 cannot read the meter 30 from the inspection position 1, it can read the meter 30 from the inspection position 2 or the inspection position 3. Therefore, the robot 20 can perform the work on the work target at the inspection point A as scheduled, and can continue the work based on a schedule that is as efficient as possible.

[0097] The second change unit 162 may operate as follows, using technology that utilizes artificial intelligence (AI) realized by machine learning. Specifically, the second change unit 162 may detect whether a worker is present within a predetermined range based on a certain inspection point from image (video / still image) data captured by the imaging unit 23 of the robot 20 or a camera or the like installed at the inspection position. The detection of whether a worker is present may be performed in the cloud. Such technology is well known, and therefore a detailed description thereof will be omitted here.

[0098] The second change unit 162 may determine whether to change the inspection position depending on the inspection items to be inspected by the robot 20. For example, when the robot 20 detects a gas leak, the presence of a worker within a predetermined range based on a certain inspection point is unlikely to interfere with the inspection by the robot 20 in terms of detecting a gas leak. In such a case, the second change unit 162 may determine that it is not necessary to change the inspection position of the robot 20.

[0099] Furthermore, although meter reading and gas leak detection have been exemplified as inspection tasks performed by the robot 20, the tasks are not limited to these. The inspection tasks performed by the robot 20 may include various other inspection tasks, such as checking for abnormalities in installed equipment at the inspection location or checking for liquid leaks on the floor.

[0100] [Inspection position] The inspection positions described with reference to Fig. 15 will be described in more detail with reference to Fig. 16. Fig. 16 is a diagram illustrating an example in which priorities are set for the inspection positions. The diagram indicated by reference numeral 1600 in Fig. 16 is a diagram for explaining the priorities set for each inspection position. The diagram indicated by reference numeral 1610 in Fig. 16 is a diagram illustrating an example of inspection positions 1 to 3, a worker, and a robot 20.

[0101] Referring to the diagram indicated by reference numeral 1600 in FIG. 16, inspection positions 1 to 3 are set in advance as positions where the robot 20 inspects "controller Z" with equipment ID "100001". Priorities 1 to 3 are set for the inspection positions 1 to 3 in that order. Inspection position 1, which has priority 1, indicates the initial position where the robot 20 first inspects the control device Z. As described above, the second change unit 162 can change the work position where the robot 20 works on the control device Z from the initial position in real time. At that time, the second change unit 162 changes the inspection positions in order from the inspection position with the highest priority.

[0102] Each inspection position is associated with coordinates X and Y. As described above, the robot 20 is equipped with a GPS device 26 that measures the current position of the robot 20. Therefore, the GPS device 26 can move to the inspection position after being changed by the second change unit 162 by referring to the coordinates (X, Y) of the inspection position.

[0103] Referring to the diagram indicated by reference numeral 1610 in FIG. 16, a worker is working at inspection position 1 in front of control device Z. The worker would not normally be at the inspection position when robot 20 is working at control device Z. However, due to delays in maintenance work or the like, the worker's work schedule and the robot 20 inspection schedule may overlap.

[0104] In such a case, the second change unit 162 changes the working position of the robot 20 from the initial position, inspection position 1, to inspection position 2. The robot 20 can read the meters of the control device Z from inspection position 2. Therefore, the second change unit 162 changes the working position of the robot 20 to inspection position 2.

[0105] The second change unit 162 may detect whether a worker is present at a certain inspection position by using a technology that utilizes artificial intelligence (AI) realized by machine learning. Whether a worker is present at a certain inspection position may be determined in the cloud. Such technology is well known, and therefore a detailed description thereof will be omitted here.

[0106] The above describes the schedule management device 1 and the schedule management device 2. The schedule management device 1 and the schedule management device 2 may be built into the robot 20. With this configuration, in a facility 40 where multiple robots 20 operate, the multiple robots 20 can share schedule information with each other and perform dynamic schedule management so that their work schedules do not overlap.

[0107] If the facility 40 is a large-scale facility such as a power plant, there may be an extremely large number of inspection items and multiple robots 20 may be operated. In such a case, the work schedules of the other robots 20 may be regarded as the work schedules of the workers described above, and the schedule management device 1 and the schedule management device 2 may set the work schedules of the respective robots 20 so that the work schedules of the multiple robots 20 do not overlap.

[0108] Next, a flowchart for the second change unit 162 changing the inspection position of the robot 20 will be described with reference to Fig. 17. Fig. 17 is a flowchart for the second change unit 162 changing the inspection position of the robot 20.

[0109] First, in S40, the second change unit 162 checks whether a worker (or an obstacle, etc.) is present at inspection position 1. Specifically, it detects whether a worker is present at inspection position 1 using an on-site camera, such as the imaging unit 23 or imaging unit 41B of the robot 20. If YES in S40, the process proceeds to S42. If NO in S40, the process proceeds to S46, where the second change unit 162 determines inspection position 1 as the inspection position by the robot 20.

[0110] In S42, the second change unit 162 checks whether a worker (or an obstacle, etc.) is present at inspection position 2. Specifically, it detects whether a worker is present at inspection position 2 using an on-site camera, such as the imaging unit 23 or imaging unit 41B of the robot 20. If YES in S42, proceed to S44. If NO in S42, proceed to S46, where the second change unit 162 determines inspection position 2 as the inspection position by the robot 20.

[0111] In S44, the second change unit 162 checks whether a worker (or an obstacle, etc.) is present at the inspection position 3. Specifically, it detects whether a worker is present at the inspection position 3 using an on-site camera, such as the imaging unit 23 or imaging unit 41B of the robot 20. If YES in S44, the process returns to S40. If NO in S44, the process proceeds to S46, where the second change unit 162 determines the inspection position 3 as the inspection position by the robot 20.

[0112] If the answer is YES in S44, the process returns to S40 and the above steps are repeated. There may be four or more inspection positions.

[0113] By going through the above steps, the second change unit 162 can determine the inspection position of the robot 20.

[0114] The schedule management device 2 can also be expressed as follows.

[0115] (1) The schedule management device 2 is a schedule management device that manages the work schedule of a self-propelled robot that moves to multiple work objects located at different locations and performs work on each work object, and the order in which the robot performs work on the multiple work objects is predetermined.The schedule management device 2 is equipped with a first change unit that changes the order in which the robot performs work so that the robot performs work on the other work object before the third work object, when the presence of the work performing entity is detected within a predetermined range based on the third work object before the robot performs work on a third work object, which is one of the multiple work objects.

[0116] (2) The schedule management device 2 is a schedule management device that manages the work schedule of a self-propelled robot that moves to multiple work objects located at different locations and performs work on each work object, wherein the order in which the robot performs work on the multiple work objects is determined in advance, the work position at which the robot performs work on the third work object is set in advance as an initial position, and the device is equipped with a second change unit that changes the work position of the robot from the initial position when it is difficult to perform work on the third work object from the initial position due to the presence of the work performing entity.

[0117] [Schedule management method] Next, a schedule management method of the schedule management device 1 according to the present disclosure will be described with reference to Fig. 18. Fig. 18 is a flowchart of the schedule management method of the schedule management device 1 according to the present disclosure.

[0118] In S50, the acquisition unit 150 acquires a work schedule (first work schedule) of a work executing entity different from the robot 20 (acquisition step).

[0119] In S52, the setting unit 152 sets a schedule (second work schedule) for the robot 20 (setting step).

[0120] In S54, the setting unit 152 sets the order of work for the robot 20 so that the condition that the date and time when the work performing entity works on at least one of the first work object and the second work object located near the first work object does not overlap with the date and time when the robot 20 works on the first work object is met with priority.

[0121] According to the above process, it is possible to improve the efficiency of the work of the robot 20 and / or the work performing entity, or to improve the safety of the work by reducing the risk of an accident due to contact between the work performing entity and the robot 20.

[0122] [Software implementation example] The functions of schedule management device 1 and schedule management device 2 (hereinafter referred to as "devices") can be realized by a program that causes a computer to function as the device, and a program that causes a computer to function as each control block of the device (especially each part included in the control unit).

[0123] In this case, the device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., a memory) as hardware for executing the program. The control device and storage device execute the program, thereby realizing the functions described in each of the above embodiments.

[0124] The program may be non-transitory and may be recorded on one or more computer-readable recording media. The recording media may or may not be included in the device. In the latter case, the program may be supplied to the device via any wired or wireless transmission medium.

[0125] Furthermore, some or all of the functions of the control blocks can be realized by logic circuits. For example, an integrated circuit in which a logic circuit that functions as each of the control blocks is formed is also included in the scope of the present invention. In addition, the functions of the control blocks can also be realized by, for example, a quantum computer.

[0126] 〔summary〕 A schedule management device according to aspect 1 of the present disclosure is a schedule management device that manages the work schedule of a self-propelled robot that moves to multiple work objects located in different locations and performs work on each work object, and includes an acquisition unit that acquires the work schedule of a work performer other than the robot, and a setting unit that sets the schedule of the robot, and the setting unit sets the order of work for the robot so as to preferentially satisfy the condition that the date and time when the work performer works on at least one of a first work object and a second work object located near the first work object do not overlap with the date and time when the robot works on the first work object.

[0127] According to the above configuration, it is possible to improve the efficiency of the work of the robot and / or the work performing entity, or to improve the safety of the work by reducing the risk of an accident due to contact between the work performing entity and the robot.

[0128] This reduces the chance of a robot and a work subject working at the same time or in a nearby location, eliminating inefficient work patterns such as one subject waiting until the other is finished, and reducing the risk of an accident caused by contact between the work subject and the robot.

[0129] The schedule management device according to Aspect 2 of the present disclosure is the same as in Aspect 1, wherein a work position where the robot performs work on the first work object is set in advance as an initial position; When the date and time when the robot works on the first work object overlaps with the date and time when the work executing entity works on the first work object or the second work object, the setting unit changes the work position when the robot works on the first work object from the initial position.

[0130] According to the above configuration, even if the date and time when the robot works on the first work object and the date and time when the work performer works on the first work object or the second work object inevitably overlap, the robot can perform work on the first work object by changing the work position where it works on the first work object.

[0131] A schedule management device according to aspect 3 of the present disclosure is, in aspect 1, provided with a change unit that changes the order of work performed by the robot so that work is performed on a third work object, which is one of the plurality of work objects, before the robot works on the third work object, if the presence of the work performing entity is detected within a predetermined range based on the third work object.

[0132] There may be cases where the work schedule of the work executing entity is suddenly changed. According to the above configuration, the work order can be flexibly reset even in response to a sudden change in the work schedule of the work executing entity, so the robot can continue working based on a schedule that is as efficient as possible.

[0133] A schedule management device according to aspect 4 of the present disclosure is configured such that, in aspect 1, a work position where the robot performs work on a third work object, which is one of the plurality of work objects, is preset as an initial position, and the schedule management device is provided with a second change unit that changes the work position of the robot from the initial position when it is difficult to perform work on the third work object from the initial position due to the presence of the work performing entity.

[0134] According to the above configuration, even if it is difficult to perform work on the third work object from the initial position due to the presence of the work performing entity, the robot can perform work on the third work object by changing the work position at which it performs work on the third work object.

[0135] A schedule management method according to aspect 5 of the present disclosure is a schedule management method for managing the work schedule of a self-propelled robot that moves to multiple work objects located at different locations and performs work on each work object, and includes an acquisition process for acquiring a work schedule of a work performer other than the robot, and a setting process for setting a schedule for the robot, in which the setting process sets the order of work for the robot so that the condition that the date and time when the work performer works on at least one of a first work object and a second work object located near the first work object does not overlap with the date and time when the robot works on the first work object is met with priority.

[0136] According to the above configuration, the same effects as those of the schedule management device according to the first aspect can be obtained.

[0137] A schedule management program according to a fifth aspect of the present disclosure causes a computer to execute each step described in the fifth aspect.

[0138] According to the above configuration, the same effects as those of the schedule management device according to the first aspect can be obtained.

[0139] The schedule management device of the present disclosure can also be expressed as follows: A schedule management device that manages a work schedule for a self-propelled robot that moves to multiple work targets located at different locations and performs work on each work target, comprising: an acquisition unit that acquires a first work schedule, which is a work schedule for a work performer other than the robot, that performs work on a first work target that is at least one of the multiple work targets, or a second work target located nearby; and a setting unit that sets a second work schedule, which is a work schedule for the robot to perform on the multiple work targets, based on the first work schedule for the work performer and work area information, which is information about a work area; and the setting unit sets the order of work performed by the robot so as to prioritize fulfillment of a condition that the date and time when the robot performs work on the first work target do not overlap with the date and time when the work performer performs work on the first work target or the second work target.

[0140] The present disclosure is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the disclosed technical means are also included in the technical scope of the present disclosure. Furthermore, new technical features can be formed by combining the disclosed technical means. [Explanation of symbols]

[0141] 1, 2 Schedule management device 11 Communications Department 12 Storage section 13 Display section 14 Input section 15, 16 Control section 20. Robot 21 Robot body 22 wheels 23, 41B, 41C Imaging unit 24 Surface temperature detection unit 25 Sound measurement section 26 GPS device 30 meters 40 facilities 45 Inspection Area 150 Acquisition Department 152 Setting section 160 Changes 162 Second Change

Claims

1. A schedule management device that manages a work schedule for a self-propelled robot that moves to multiple work targets located at different positions and performs work on each of the work targets, an acquisition unit that acquires a work schedule of a work executing entity other than the robot; a setting unit that sets a schedule for the robot, The setting unit sets the order of work for the robot so that the condition that the date and time when the work performing entity works on at least one of a first work object and a second work object located near the first work object does not overlap with the date and time when the robot works on the first work object is met as a priority of the schedule management device.

2. a work position where the robot performs work on the first work object is set in advance as an initial position, 2. The schedule management device according to claim 1, wherein, in a case where a date and time when the robot works on the first work object overlaps with a date and time when the work executing entity works on the first work object or the second work object, the setting unit changes the work position when the robot works on the first work object from the initial position.

3. 2. The schedule management device according to claim 1, further comprising a change unit that changes the order of work performed by the robot so that work is performed on another work object before the third work object, when the presence of the work performing entity is detected within a predetermined range based on the third work object before the robot begins work on a third work object that is one of the plurality of work objects.

4. a work position where the robot performs work on a third work object that is one of the plurality of work objects is set in advance as an initial position; 2. The schedule management device according to claim 1, further comprising a second change unit that changes the work position of the robot from the initial position when the presence of the work performing entity makes it difficult to perform work on the third work object from the initial position.

5. A schedule management method for managing a work schedule of a self-propelled robot that moves to multiple work targets located at different positions and performs work on each of the work targets, comprising: an acquisition step of acquiring a work schedule of a work executing entity other than the robot; a setting step of setting a schedule for the robot, In the setting step, the order of work by the robot is set so as to preferentially satisfy the condition that the date and time when the work performing entity works on at least one of a first work object and a second work object located near the first work object does not overlap with the date and time when the robot works on the first work object.

6. A schedule management program that causes a computer to execute each step of the process according to claim 5.

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