Robot scheduling device, robot scheduling system, robot scheduling method, and robot scheduling program

Abstract

This can reduce the amount of work that workers have to do. [Solution] The robot schedule creation device 1 comprises an acquirer 111 that acquires action information of worker H, an extractor 112 that extracts tasks based on the action information of worker H acquired by the acquirer 111, a selector 113 that selects tasks suitable for the characteristics of robot 3 from the tasks extracted by the extractor 112, and a creator 114 that creates an action schedule in which robot 3 will perform the tasks selected by the selector 113.

Description

Technical Field

[0001] The technology disclosed herein relates to a robot schedule creation device, a robot schedule creation system, a robot schedule creation method, and a robot schedule creation program.

Background Art

[0002] Patent Document 1 discloses a robot system including an autonomous mobile robot. The autonomous mobile robot substitutes for the delivery tasks performed by workers. For example, an administrator pre-inputs a command signal for performing a delivery task to the autonomous mobile robot. The autonomous mobile robot performs the delivery task based on the input command signal.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in the robot system as described above, there is room for improvement in reducing the amount of tasks performed by workers.

[0005] The technology disclosed herein has been made in view of such points, and its object is to reduce the amount of tasks performed by workers.

Means for Solving the Problems

[0006] The robot scheduling device disclosed herein is a robot scheduling device for creating an action schedule for a moving robot, comprising: an acquirer for acquiring worker action information; an extractor for extracting tasks based on the worker action information acquired by the acquirer; a selector for selecting tasks suitable for the characteristics of the robot from the tasks extracted by the extractor; and a creator for creating an action schedule in which the robot will perform the tasks selected by the selector.

[0007] The robot scheduling system disclosed herein comprises a portable terminal carried by a worker and receiving worker action information, and a robot scheduling device that acquires the worker action information received by the portable terminal.

[0008] The robot scheduling method disclosed herein is a robot scheduling method for creating an action schedule for a moving robot, comprising: acquiring worker action information; extracting tasks based on the acquired worker action information; selecting tasks suitable for the characteristics of the robot from the extracted tasks; and creating an action schedule in which the robot performs the selected tasks.

[0009] The robot scheduling program disclosed herein is a robot scheduling program for creating an action schedule for a moving robot, and enables a computer to perform the following functions: acquiring worker action information; extracting tasks based on the acquired worker action information; selecting tasks suitable for the robot's characteristics from the extracted tasks; and creating an action schedule in which the robot performs the selected tasks. [Effects of the Invention]

[0010] According to the robot scheduling device, robot scheduling system, robot scheduling method, and robot scheduling program, the amount of work performed by the worker can be reduced. [Brief explanation of the drawing]

[0011] [Figure 1] Figure 1 is a schematic diagram showing a robot management system including a robot scheduling system according to an embodiment. [Figure 2] Figure 2 is a block diagram of the first robot. [Figure 3] Figure 3 is a block diagram showing the hardware configuration of the robot control device of the first robot. [Figure 4] Figure 4 is a block diagram of the server. [Figure 5] Figure 5 is a block diagram showing the hardware configuration of the server's control unit. [Figure 6] Figure 6 is a block diagram of a mobile device. [Figure 7] Figure 7 is a block diagram showing the hardware configuration of the terminal control unit. [Figure 8] Figure 8 is a block diagram showing the configuration of the control system for the processing unit of the terminal control device. [Figure 9] Figure 9 is a block diagram of the robot scheduling device. [Figure 10] Figure 10 is a block diagram showing the hardware configuration of the schedule creation control device. [Figure 11] Figure 11 is a block diagram showing the configuration of the control system of the processor in the schedule creation control device. [Figure 12] Figure 12 is a flowchart showing an example of the creation process by a robot schedule creation device. [Figure 13] Figure 13 is a flowchart showing another example of the creation process by the robot schedule creation device. [Figure 14]FIG. 14 is a flowchart showing another example of the creation process by the robot schedule creation device. [Figure 15] FIG. 15 is a flowchart showing yet another example of the creation process by the robot schedule creation device.

DETAILED DESCRIPTION OF THE INVENTION

[0012] (Robot Management System 60) Hereinafter, exemplary embodiments will be described in detail based on the drawings. FIG. 1 is a schematic diagram showing a robot management system 60 including a robot schedule creation system 50 according to an embodiment. The robot management system 60 includes a plurality of robots 3 that move autonomously, a server 4, a database 5, and a robot schedule creation system 5$. The robot management system 60 causes the robot schedule creation system 50 to create an action schedule for the robot 3 based on the action information of the worker H, and autonomously moves the robot 3 based on the action schedule to cause the robot 3 to execute a task.

[0013] The robot 3, the server 4, and the robot schedule creation system 50 can communicate with each other via a communication network N. The communication network N can be, for example, the Internet, but may also be an intranet or the like. The robot 3 autonomously moves on the floors within the facility. The facility can be, for example, a hospital, but is not particularly limited.

[0014] <00,00094>(Database 5) The database 5 is connected to the server 4 via a signal line. The database 5 stores map data of the facility where the robot $ moves. The map data specifies the shape of the area where the robot 3 can travel. For example, the map data specifies the shape of each floor within the facility. The map data specifies the contour of the travelable area of the robot 3 by specifying the obstacle contours on each floor.

[0015] Database 5 stores information about worker H's actions. This information corresponds to the tasks worker H performs within the facility. Worker H's tasks include, for example, delivery and placement of packages, and checking inventory or personnel within the facility. If the facility is a hospital, worker H is, for example, a nurse, and packages are, for example, medications, specimens, ME (Medical Engineering) equipment, blankets, diapers, etc.

[0016] Information about worker H's actions is transmitted from the robot scheduling system 50 to the server 4 via the communication network N. The server 4 stores the transmitted information about worker H's actions in the database 5. The database 5 may be built into the server 4 or connected to the server 4 via the communication network N.

[0017] (Robot 3) The multiple robots 3 have different characteristics from each other. Specifically, the multiple robots 3 include a first robot 3a and a second robot 3b. When the first robot 3a and the second robot 3b are not distinguished, they are simply referred to as "robot 3".

[0018] Robot 3 moves autonomously towards its destination. If Robot 3 needs to travel via intermediate stops before reaching its final destination, it should first travel to the nearest intermediate stop from its current location, and then proceed towards its final destination. Robot 3 is designed to travel on the ground, but it may also fly in the air. Furthermore, multiple robots 3 may have the same characteristics as each other.

[0019] Robot 3 comprises a body 30 and a number of wheels 36. The body 30 is supported by the wheels 36. The wheels 36 are drive wheels for locomotion. The tasks of robot 3, in this example, include delivery and placement of packages. For this purpose, the body 30 has a storage box 30a for holding packages.

[0020] The first robot 3a has the characteristic of delivering packages. Delivery means transporting packages to a delivery location. In other words, the first robot 3a moves from the starting point to the first destination to receive the package, and then transports the package from the first destination to the second destination. At this time, worker H places the package into the storage box 30a of the first robot 3a at the first destination, and retrieves the package from the storage box 30a of the first robot 3a at the second destination. The worker H who places the package and the worker H who retrieves the package are different people. However, the same worker H may perform both the placement and retrieval. The same applies in the following explanation.

[0021] On the other hand, the second robot 3b has a hand 37 in addition to the configuration of the first robot 3a. Therefore, the second robot 3b has the characteristic of placing and delivering packages. Placing and delivering means transporting the package to the delivery location and placing the package at the delivery location using the hand 37 without the intervention of the worker H. In other words, the second robot 3b moves from the starting point to the first destination to receive the package, transports the package from the first destination to the second destination, and retrieves the package itself at the second destination and places it there. At this time, the worker H may place the package in the storage box 30a of the first robot 3a at the first destination, or the second robot 3b may place the package itself at the first destination.

[0022] Figure 2 is a block diagram of the first robot 3a. The first robot 3a further comprises a communication module 31, a display 32, a distance measuring sensor 33, a travel actuator 34, and a robot control device 35.

[0023] The communication module 31 has an antenna and other components and connects wirelessly to the communication network N. The first robot 3a is connected to the server 4 and the robot scheduling system 50 via the communication module 31 so that they can communicate with each other. The communication module 31 functions as a transmitter that sends information about the first robot 3a to the server 4 via the communication network N. The communication module 31 also functions as a receiver that receives action schedules transmitted from the robot scheduling system 50.

[0024] Display 32 is an example of a user interface. That is, display 32 serves as both a user input interface and a user output interface. Display 32 is, for example, a touch panel display. In this case, operator H operates the display 32 by directly touching its screen. Note that a keyboard, mouse, etc., may be used as the user input interface. Display 32 may also be a non-touch panel display as the user output interface.

[0025] The distance measuring sensor 33 detects the shape of the area around the first robot 3a in three dimensions by measuring the distance around the first robot 3a in three dimensions. The distance measuring sensor 33 detects the position data of the outer surface of obstacles within the facility by receiving reflected waves from obstacles around the first robot 3a. For example, the distance measuring sensor 33 may emit light, radio waves, or ultrasonic waves towards the area around the first robot 3a and receive the reflected waves. The distance measuring sensor 33 can measure distances in all directions in the horizontal direction with respect to the first robot 3a.

[0026] The distance measuring sensor 33 may, for example, detect the distance to an obstacle by measuring the time from the time laser light is emitted until the reflected wave is received. The distance measuring sensor 33 may be a LIDAR (Light Detection and Ranging) sensor. As an example, the distance measuring sensor 33 may be a three-dimensional LIDAR sensor. The distance measuring sensor 33 may also be an infrared distance measuring sensor, a millimeter-wave radar, or a depth sensing camera.

[0027] The travel actuator 34 includes a wheel drive actuator that drives the wheels 36 to rotate. The travel actuator 34 is, for example, an electric motor. The travel actuator 34 includes a braking actuator that drives a brake that brakes the wheels 36. The first robot 3a may change its direction of travel by making the rotation speeds of the left and right wheels 36 different, or by making the rotation directions of the left and right wheels 36 different, or by steering the wheels 36 with a steering actuator.

[0028] The robot control device 35 determines the position of the first robot 3a on the map data by matching the surrounding shape detected by the distance measuring sensor 33 with the shape of the map data. In other words, a positioning sensor is realized by combining the distance measuring sensor 33 with software that matches the shape detected by the distance measuring sensor 33 with the map data.

[0029] The robot control device 35 causes the first robot 3a to perform a task based on the action schedule transmitted from the robot scheduling system 50. Specifically, the robot control device 35 causes the first robot 3a to deliver packages.

[0030] On the other hand, the second robot 3b has a hand 37 in addition to the aforementioned communication module 31, display 32, distance sensor 33, travel actuator 34, and robot control device 35. In the second robot 3b, the robot control device 35 controls the hand 37 in addition to the same control as the first robot 3a described above, causing the hand 37 to place the load.

[0031] Figure 3 is a block diagram showing the hardware configuration of the robot control device 35 of the first robot 3a. The robot control device 35 includes a processor 351, a memory 352, and a memory 353.

[0032] The processor 351 controls the entire robot control device 35. The processor 351 performs various calculations. For example, the processor 351 is a processor such as a CPU (Central Processing Unit). The processor 351 may also be an MCU (Micro Controller Unit), MPU (Micro Processor Unit), FPGA (Field Programmable Gate Array), PLC (Programmable Logic Controller), system LSI, etc.

[0033] Memory 352 stores various programs and data executed by the processor 351. These programs enable the robot control device 35 to perform various functions. Memory 352 is a non-volatile memory, HDD (Hard Disk Drive), or SSD (Solid State Drive), etc. Memory 353 temporarily stores data, etc. For example, memory 353 is a volatile memory.

[0034] The processor 351 implements various functions by reading various programs from the memory 352 into the memory 353 and expanding them. Specifically, the processor 351 controls the display 32 and at least one of the travel actuators 34 based on information input from at least one of the communication module 31, the display 32, and the distance measuring sensor 33.

[0035] On the other hand, the robot control device 35 of the second robot 3b, like the first robot 3a, has a processor 351, a memory 352, and a memory 353. In the second robot 3b, the processor 351 controls at least one of the display 32, the travel actuator 34, and the hand 37 based on information input from at least one of the communication module 31, the display 32, and the distance measuring sensor 33.

[0036] (Server 4) Figure 4 is a block diagram of server 4. Server 4 comprises a communication module 41 and a control device 42. The communication module 41 includes an interface for wired or wireless connection to the communication network N and an interface for wired or wireless connection to the database 5.

[0037] Figure 5 is a block diagram showing the hardware configuration of the control unit 42 of the server 4. The control unit 42 has a processor 421, a memory 422, and a memory 423. The processor 421 controls the entire control unit 42. The processor 421 performs various arithmetic operations. For example, the processor 421 is a processor such as a CPU (Central Processing Unit). The processor 421 may also be an MCU (Micro Controller Unit), MPU (Micro Processor Unit), FPGA (Field Programmable Gate Array), PLC (Programmable Logic Controller), system LSI, etc.

[0038] Memory 422 stores various programs and data executed by the processor 421. The various programs enable the control unit 42 to implement various functions. Memory 422 is a non-volatile memory, HDD (Hard Disk Drive), or SSD (Solid State Drive), etc. Memory 423 temporarily stores data, etc. For example, memory 423 is a volatile memory.

[0039] The processor 421 implements various functions by reading various programs from the memory 422 into the memory 423 and expanding them. Specifically, the processor 421 reads map data information from the database 5 and transmits the map data information to the robot 3 via the communication network N. The processor 421 also receives worker H's action information from the mobile terminal 2 of the robot schedule creation system 50 via the communication network N and stores the received worker H's action information in the database 5. The processor 421 also reads worker H's action information from the database 5 and transmits worker H's action information to the robot schedule creation device 1 of the robot schedule creation system 50 via the communication network N.

[0040] (Robot Schedule Creation System 50) As shown in Figure 1, the robot schedule creation system 50 includes a mobile terminal 2 carried by worker H and receiving worker H's action information, and a robot schedule creation device 1 that acquires worker H's action information received by the mobile terminal 2. The mobile terminal 2 transmits worker H's action information to the server 4 via the communication network N. The robot schedule creation device 1 acquires worker H's action information from the server 4 via the communication network N. Alternatively, the robot schedule creation device 1 may acquire worker H's action information directly from the mobile terminal 2 without going through the server 4. The robot schedule creation device 1 may also be connected to the server 4 without going through the network N.

[0041] (Mobile device 2) Figure 6 is a block diagram of the mobile terminal 2. The mobile terminal 2 comprises a communication module 21, a location information acquisition device 22, a display 23, a microphone 24, a speaker 25, and a terminal control device 26. The mobile terminal 2 is, for example, a smartphone or tablet terminal capable of communicating with a communication network N. However, the mobile terminal 2 only needs to include at least the communication module 21, the location information acquisition device 22, and the terminal control device 26. For example, the mobile terminal 2 may be a device worn on the human body that does not include a display 23, etc., or a device such as a smartwatch.

[0042] The communication module 21 has an antenna and other components and connects wirelessly to the communication network N. The mobile terminal 2 is connected to the server 4 via the communication module 21 in a communicative manner. The communication module 21 functions as a transmitter that transmits worker H's activity information to the server 4 via the communication network N. Worker H's activity information includes work content and location information. Worker H's activity information may further include date and time information.

[0043] The location information acquisition device 22 detects the current location of worker H. In other words, the location information acquisition device 22 detects worker H's location information from worker H's activity information. This allows the location information acquisition device 22 to detect worker H's work location. The location information acquisition device 22 may be, for example, a device that calculates location information by analyzing the radio waves of the facility's wireless LAN in real time, or it may be a device that utilizes GPS (Global Positioning System).

[0044] Display 23 is an example of a user interface. That is, display 23 serves as both a user input interface and a user output interface. Display 23 is, for example, a touch panel display. In this case, operator H operates the display 23 by directly touching its screen. Note that a keyboard, mouse, etc., may be used as the user input interface. Display 23 may also be a non-touch panel display as the user output interface.

[0045] The display 23 displays multiple types of work content among the activity information of worker H. Worker H selects the work content they are currently performing from among the multiple types of work content displayed on the display 23. For example, worker H may select the work content by directly touching the screen of the display 23.

[0046] Multiple types of work include, for example, delivery of packages, placement of packages, and checking inventory or personnel. If worker H specifies delivery of packages as a work item, worker H further specifies details about the packages, such as the type, quantity, and size of the packages, and details about the delivery, such as worker H's movement to the package receiving location, receiving the packages at the receiving location, transporting the packages from the receiving location to the package handover location, and handing over the packages at the package receiving location. In this way, the work item specified by worker H is linked to the work location detected by the location information acquisition device 22.

[0047] Display 23 displays the current date and time. When worker H specifies the work content to be displayed on display 23, worker H may also specify the date and time to be displayed on display 23. In other words, worker H may specify the date and time information from worker H's activity information. As a result, the work content specified by worker H is linked to the work date and time specified by worker H, in addition to the work location detected by the location information acquisition device 22. For example, part of worker H's activity information shows information such as "Receive medication at location 1 at 15:00 on January 30th."

[0048] Microphone 24 receives the voice of worker H. Worker H may input the work details into microphone 24 by voice, thereby allowing worker H to specify the work details by voice via microphone 24. Worker H may also input their current location into microphone 24 by voice, thereby allowing worker H to specify their current location by voice via microphone 24.

[0049] Speaker 25 outputs voice prompts or instructions when specifying work tasks. Additionally, speaker 25 outputs the voices of other users when the mobile device 2 is used as a telephone.

[0050] The terminal control device 26 causes the location information acquisition device 22 to detect the current location of worker H, and displays worker H's work details and the current date and time on the display 23. The terminal control device 26 receives the work location detected by the location information acquisition device 22, as well as the work details and work date and time specified by worker H. In other words, the terminal control device 26 receives worker H's activity information. Then, the terminal control device 26 causes the communication module 21 to transmit worker H's activity information.

[0051] When worker H inputs the work details into microphone 24 by voice, terminal control device 26 recognizes the voice input into microphone 24 and accepts the work details. Here, when worker H specifies the type of package by voice, the name of the same package may differ depending on worker H. In such cases, terminal control device 26 groups the different names of the same package and accepts them as the same package.

[0052] Furthermore, when worker H inputs their current location into microphone 24 via voice, location information acquisition device 22 recognizes the voice input into microphone 24 and accepts worker H's current location.

[0053] Figure 7 is a block diagram showing the hardware configuration of the terminal control device 26. The terminal control device 26 includes a processor 261, a memory 262, and a memory 263.

[0054] The processor 261 controls the entire terminal control device 26. The processor 261 performs various arithmetic operations. For example, the processor 261 is a processor such as a CPU (Central Processing Unit). The processor 261 may also be an MCU (Micro Controller Unit), MPU (Micro Processor Unit), FPGA (Field Programmable Gate Array), PLC (Programmable Logic Controller), system LSI, etc.

[0055] Memory 262 stores various programs and data executed by the processor 261. These programs enable the terminal control unit 26 to perform various functions. Memory 262 is a non-volatile memory, HDD (Hard Disk Drive), or SSD (Solid State Drive), etc. Memory 263 temporarily stores data, etc. For example, memory 263 is a volatile memory. Memory 262 or memory 263 stores multiple types of work content displayed on the display 23.

[0056] Figure 8 is a block diagram showing the configuration of the control system of the processor 261 of the terminal control device 26. The processor 261 implements various functions by reading programs from the memory 262 into the memory 263 and processing them. More specifically, the processor 261 functions as a receiver 265 and an output 266.

[0057] The reception unit 265 receives activity information from worker H. Specifically, the reception unit 265 receives location information from the activity information via the location information acquisition device 22. In addition, the reception unit 265 receives the work content and work date and time from the activity information via the display 23.

[0058] The output device 266 outputs information about worker H's actions. Specifically, the output device 266 outputs the action information received by the receiver 265 to the server 4 via the communication module 21. The server 4 stores the action information of worker H output by the output device 266 in the database 5.

[0059] (Robot scheduling device 1) Figure 9 is a block diagram of the robot schedule creation device 1. The robot schedule creation device 1 comprises a communication module 6, a display 7, and a schedule creation control device 10. The robot schedule creation device 1 acquires action information of worker H from server 4 and creates an action schedule for robot 3 based on the action information of worker H. The robot schedule creation device 1 is, for example, a tablet terminal.

[0060] Furthermore, the robot schedule creation device 1 only needs to be equipped with at least a schedule creation control device 10. In this case, the robot schedule creation device 1 may be connected to a keyboard and display and be operable like a PC (Personal Computer). Alternatively, the robot schedule creation device 1 may be part of the server 4, or may be integrated with the server 4. When the robot schedule creation device 1 is attached to the server 4, the robot schedule creation device 1 is connected to the server 4 without going through the network N.

[0061] The communication module 6 is connected to the communication network N by wire or wireless connection. The robot schedule creation device 1 is connected to the server 4 via the communication module 6. The communication module 6 functions as a receiver that receives worker H's action information from the server 4 via the communication network N. The communication module 6 also functions as a transmitter that sends the action schedule for each robot 3 via the communication network N.

[0062] Display 7 is an example of a user interface. That is, Display 7 serves as both a user input interface and a user output interface. Display 7 is, for example, a touch panel display. In this case, operator H operates Display 7 by directly touching its screen. A keyboard, mouse, etc., may be used as the user input interface. Display 7 may also be a non-touch panel display as the user output interface.

[0063] Display 7 displays the action schedule for robot 3. Operator H may touch the screen of display 7 to instruct the start of creating the action schedule for robot 3. Operator H may also touch the screen of display 7 to edit the action schedule for robot 3. Operator H may also touch the screen of display 7 to send the action schedule for robot 3 to each robot 3. Display 7 may also display operator H's activity information. In this case, operator H may touch the screen of display 7 to switch between displaying the action schedule for robot 3 and displaying operator H's activity information.

[0064] The schedule creation control device 10 causes the communication module 6 to receive information about the worker H's actions. The schedule creation control device 10 creates an action schedule for the robot 3 based on the information about the worker H's actions. The schedule creation control device 10 then displays the robot 3's action schedule on the display 7.

[0065] Figure 10 is a block diagram showing the hardware configuration of the schedule creation control device 10. The schedule creation control device 10 includes a processor 11, a memory 12, and a memory 13.

[0066] The processor 11 controls the entire schedule creation control device 10. The processor 11 performs various calculations. For example, the processor 11 is a processor such as a CPU (Central Processing Unit). The processor 11 may also be an MCU (Micro Controller Unit), MPU (Micro Processor Unit), FPGA (Field Programmable Gate Array), PLC (Programmable Logic Controller), system LSI, etc.

[0067] Memory 12 stores various programs and data executed by the processor 11. These programs enable the schedule creation control device 10 to implement various functions. Memory 12 is a non-volatile memory, HDD (Hard Disk Drive), or SSD (Solid State Drive), etc. Memory 12 stores the robot schedule creation program P. The robot schedule creation program P is a program that enables the computer, i.e., the schedule creation control device 10, to implement various functions for creating the action schedule of the robot 3.

[0068] Memory 13 temporarily stores data, etc. For example, memory 13 is volatile memory. Action information of worker H obtained from server 4 is stored in memory 13. The action schedule of the created robot 3 is stored in memory 13.

[0069] The memory unit 12 or memory 13 stores the type of robot 3, that is, the characteristics of each robot 3. The memory unit 12 or memory 13 also stores known methods for determining the movement path of robot 3, which are used when creating the action schedule of robot 3. By using known methods, it is possible to find a route that moves robot 3 efficiently. Known methods include, for example, the LNS (Large Neighborhood Search) algorithm and the VRP (vehicle routing problem) algorithm.

[0070] Figure 11 is a block diagram showing the configuration of the control system of the processor 11 of the schedule creation control device 10. The processor 11 realizes various functions by reading the robot schedule creation program P from the memory 12 into the memory 13 and expanding it. Specifically, the processor 11 functions as an acquirer 111, an extractor 112, a selector 113, a creator 114, a decision-maker 115, and a modifier 116.

[0071] The acquisition device 111 acquires information about worker H's actions. Specifically, the acquisition device 111 retrieves information about worker H's actions stored in the database 5 from the server 4.

[0072] The extractor 112 extracts tasks based on the worker H's activity information acquired by the acquirer 111. Tasks include, for example, delivery of packages, leaving packages at designated locations, inventory, or checking personnel.

[0073] Here, since worker H's action information includes work content and location information, the tasks extracted by the extractor 112 include information on work content and work location. In other words, tasks that include information on work content and work location mean, for example, delivering goods from the first location to the second location, placing goods from the first location to the second location, or checking inventory or people at the first location.

[0074] For example, if worker H delivers a package, worker H's action information includes worker H's movement to the first location, receiving the package at the first location, transporting the package from the first location to the second location, and handing over the package at the second location. The extractor 112 links and organizes each of worker H's action information to extract a task. In other words, the extractor 112 extracts the task of moving to the first location, receiving the package, and transporting the package from the first location to the second location (i.e., package delivery) from worker H's action information.

[0075] Similarly, when worker H places a package, worker H's action information includes worker H's movement to the first position, receiving the package at the first position, transporting the package from the first position to the second position, and placing the package at the second position. From worker H's action information, the extractor 112 extracts the task of moving to the first position, receiving the package, transporting the package from the first position to the second position, and placing the package at the second position (i.e., placing the package).

[0076] Furthermore, when worker H checks inventory or personnel, the action information of worker H consists of worker H moving to the first position and checking inventory or personnel at the first position. From the action information of worker H, the extractor 112 extracts the task of moving to the first position and checking inventory or personnel at the first position (i.e., checking inventory or personnel).

[0077] Furthermore, if worker H's activity information includes date and time information, the tasks extracted by extractor 112 will also include work date and time information. In other words, tasks that include work date and time information include, for example, delivery work that includes date and time information for receiving and handing over packages, delivery work that includes date and time information for receiving and placing packages, and confirmation work that includes date and time information for checking inventory or personnel, etc.

[0078] The selector 113 selects a task suitable for the characteristics of robot 3 from the tasks extracted by the extractor 112. Specifically, the selector 113 reads the characteristics of robot 3 from the memory 12 or memory 13 and selects a task that corresponds to the characteristics of robot 3.

[0079] In this example, since robot 3 includes multiple robots 3 with different characteristics, the selector 113 selects a task from the tasks extracted by the extractor 112 that is appropriate for the characteristics of each of the multiple robots 3. Specifically, for the first robot 3a, which has the characteristic of delivering packages, the selector 113 selects the task of delivery from among multiple tasks such as delivery, placement and confirmation. For the second robot 3b, which has the characteristic of placing packages, the selector 113 selects the task of placement from among multiple tasks such as delivery, placement and confirmation. Note that the second robot 3b has the characteristic of placement, but also the characteristic of delivery. Therefore, the selector 113 may select not only the task of placement but also the task of delivery for the second robot 3b.

[0080] The generator 114 creates an action schedule that allows the robot 3 to perform the tasks selected by the selector 113. Specifically, the generator 114 reads a known method for determining the robot 3's movement path from the memory 12 or memory 13 and creates an action schedule that takes the robot 3's movement route into consideration.

[0081] In this example, since robot 3 includes multiple robots 3 with different characteristics, the generator 114 creates an action schedule that assigns the tasks selected by the selector 113 to each of the multiple robots 3. Specifically, the generator 114 creates an action schedule that assigns delivery to the first robot 3a and place-and-leave to the second robot 3b. The generator 114 may also assign the delivery task to the second robot 3b instead of the place-and-leave task.

[0082] Furthermore, if the tasks extracted by the extractor 112 include information about the work date and time, the creator 114 will create an action schedule that includes the work date and time information. Specifically, the creator 114 will create an action schedule in which the first robot 3a will perform a delivery with a specified date and time, and the second robot 3b will perform a delivery with a specified date and time.

[0083] The decision-maker 115 determines whether the task assigned to robot 3 is valid or not. Specifically, the decision-maker 115 acquires the task selected by the selector 113 and determines whether the task is valid or not. In other words, the decision-maker 115 acquires the task included in the action schedule created by the creator 114 and determines whether the task is valid or not. An invalid task is, for example, a task assigned to robot 3 that is used for a predetermined period of time and remains below a threshold. The predetermined period is, for example, several days to several weeks. In this case, the decision-maker 115 counts the number of times the task is used for the predetermined period and determines whether the number of times the task is used is below the threshold. If the number of times the task is used is below the threshold, the decision-maker 115 determines that the task is invalid. On the other hand, if the number of times the task is used is greater than the threshold, the decision-maker 115 determines that the task is valid.

[0084] The counting of the number of uses of the decision-maker 115 is performed, for example, as follows: If the task is to deliver a package, when worker H receives or retrieves a package from robot 3, worker H touches the screen of robot 3's display 32 to confirm the receiving or retrieval of the package. The confirmation signal from robot 3 is sent to decision-maker 115, and decision-maker 115 counts the number of uses based on the confirmation signal. In other words, decision-maker 115 counts the number of uses based on the log of robot 3.

[0085] Alternatively, a microphone may be provided on robot 3, allowing worker H to confirm via voice input and transmit the confirmation signal to the decision-maker 115. Alternatively, a load sensor may be provided on robot 3 to determine whether the package has been placed in or removed, and transmit the determination signal to the decision-maker 115. Alternatively, a camera may be provided on robot 3 to detect whether the package has been placed in or removed, and transmit the detection signal to the decision-maker 115. Alternatively, an IC tag may be attached to the package to detect whether the package has been placed in or removed, and transmit the detection signal to the decision-maker 115.

[0086] The modifier 116 removes tasks that the judger 115 has determined to be invalid from the tasks selected by the selector 113, and causes the creator 114 to recreate the action schedule. If there are no tasks that the judger 115 has determined to be invalid, the modifier 116 does not cause the creator 114 to recreate the action schedule.

[0087] For example, in response to a change command from the changer 116, the creator 114 creates an action schedule that excludes invalid tasks from the selected tasks. In this action schedule, tasks for specific time periods that are invalid have been removed, so those time periods are displayed as blank.

[0088] Alternatively, in response to a change command from the modifier 116, the creator 114 rewrites the action schedule, removing the ineffective tasks from the selected tasks and having the robot 3 take over the remaining tasks. In other words, the creator 114 performs optimization processing again on the remaining tasks and rewrites the schedule.

[0089] Alternatively, in response to a change command from the changer 116, the acquirer 111 reacquires the action information of worker H. The extractor 112 re-extracts tasks based on the acquired action information of worker H. The selector 113 re-selects tasks from the extracted tasks that are suitable for the characteristics of robot 3. The creator 114 adds the remaining tasks (hereinafter referred to as the second task) obtained by excluding the tasks acquired by the judger 115 that the judger 115 has determined to be ineffective, to the tasks re-selected by the selector 113 (hereinafter also referred to as the first task), and recreates the action schedule. In other words, the creator 114 recreates the action schedule in which robot 3 will perform the first and second tasks.

[0090] The processor 11 may periodically recreate the action schedule. Periodically means, for example, on a daily basis, a weekly basis, or a monthly basis. Specifically, the acquirer 111 periodically reacquires the action information of worker H. The extractor 112 periodically re-extracts tasks based on the acquired action information of worker H. The selector 113 periodically re-selects tasks from the extracted tasks that are suitable for the characteristics of robot 3. The creator 114 periodically recreates the action schedule based on the selected tasks.

[0091] The processor 11 may create an action schedule based on high-frequency tasks. Specifically, the extractor 112 extracts high-frequency tasks that have been performed by worker H more than a threshold number of times, based on worker H's action information during a specific period. The selector 113 selects tasks suitable for the characteristics of robot 3 from the high-frequency tasks extracted by the extractor 112. The generator 114 creates an action schedule based on the tasks selected by the selector 113.

[0092] A specific period refers to a fixed period, such as the most recent two weeks or the most recent three months, or a specific time in the past. High-frequency tasks within a specific period include, for example, the delivery of medication in the most recent two weeks or the delivery of blankets during the winter months.

[0093] More specifically, the extractor 112 counts the number of times worker H performs a task during a specific period and determines whether the number of task executions is above a threshold. If the number of task executions is above the threshold, the extractor 112 extracts that task as a high-frequency task. The method of counting the number of executions by the extractor 112 is, for example, the same as the method of counting the number of uses of the judgment unit 115.

[0094] The processor 11 may create an action schedule by adding tasks included in an existing schedule. Specifically, the acquirer 111 acquires an existing schedule for robot 3 that has been created in advance. The creator 114 adds tasks included in the existing schedule acquired by the acquirer 111 to the tasks selected by the selector 113 to create an action schedule. The existing schedule is stored in the memory 12 or stored in the database 5.

[0095] An existing schedule is, for example, a schedule for robot 3 that is already being executed, and may be a schedule manually set by an administrator or other person, or it may be an action schedule created in the past by the processor 11. The tasks included in the existing schedule are tasks that are suitable for the characteristics of robot 3 and are being performed by robot 3.

[0096] (How to create a robot schedule) Next, the creation process (robot schedule creation method) by the robot schedule creation device 1 will be explained using a flowchart.

[0097] Figure 12 is a flowchart illustrating an example of the creation process by the robot schedule creation device 1. Figure 12 explains the case of creating a new action schedule. For example, an action schedule is created in a situation where robot 3 is being introduced to a new hospital for the first time.

[0098] First, the mobile terminal 2 receives information about worker H's actions. Then, based on the information about worker H's actions received by the mobile terminal 2, the robot schedule creation device 1 performs the creation process.

[0099] First, in step S1, the acquisition device 111 acquires information about the worker H's actions. For example, the acquisition device 111 acquires information about worker H's actions, including worker H's movement to the first position, receiving the goods at the first position, transporting the goods from the first position to the second position, and handing over the goods at the second position.

[0100] In step S2, the extractor 112 extracts tasks based on the action information of worker H acquired by the acquisition device 111. For example, from the aforementioned action information of worker H, the extractor 112 extracts the task of moving to the first position, receiving the package, and transporting the package from the first position to the second position (package delivery). In addition, from other action information of worker H besides the aforementioned action information, the extractor 112 extracts the placement of the package and the confirmation of inventory or personnel.

[0101] In step S3, the selector 113 selects a task from the tasks extracted by the extractor 112 that is suitable for the characteristics of robot 3. For example, the selector 113 selects the task of delivery, which is suitable for the characteristics of the first robot 3a, from among multiple tasks such as delivery, placement and confirmation. The selector 113 also selects the task of placement, which is suitable for the characteristics of the second robot 3b, from among multiple tasks such as delivery, placement and confirmation.

[0102] In step S4, the generator 114 creates an action schedule that assigns the tasks selected by the selector 113 to the robot 3. For example, the generator 114 creates an action schedule that assigns the delivery task to the first robot 3a and the placement task to the second robot 3b. The first robot 3a and the second robot 3b then execute the tasks based on the action schedule.

[0103] Figure 13 is a flowchart illustrating another example of the creation process by the robot schedule creation device 1. Figure 13 explains the case where an action schedule is created by adding tasks that are already included in an existing schedule. For example, an action schedule is created by adding tasks extracted from the action information of worker H to the schedule of robot 3 that is already running.

[0104] First, in step S1, the acquirer 111 acquires the existing schedule of the robot 3 that was created in advance. Specifically, the acquirer 111 acquires the existing schedule from the memory 12 or the database 5.

[0105] In step S2, the acquisition device 111 acquires information about the worker H's actions. This is the same as in step S1 in Figure 12.

[0106] In step S3, the extractor 112 extracts tasks based on the worker H's behavior information acquired by the acquirer 111. This is the same as step S2 in Figure 12.

[0107] In step S4, the selector 113 selects a task from the tasks extracted by the extractor 112 that is suitable for the characteristics of the robot 3. This is the same as step S3 in Figure 12.

[0108] In step S5, the generator 114 creates an action schedule by adding the task included in the existing schedule acquired by the acquirer 111 (hereinafter also referred to as the fourth task) to the task selected by the selector 113 (hereinafter also referred to as the third task). In other words, the generator 114 creates an action schedule in which the robot 3 will perform the third and fourth tasks.

[0109] Furthermore, the order of steps S1 and S2-S4 may be reversed, or steps S1 and S2-S4 may be processed in parallel.

[0110] Figure 14 is a flowchart illustrating another example of the creation process by the robot schedule creation device 1. Figure 14 explains the case where the action schedule is recreated.

[0111] First, in step S1, the decision-maker 115 acquires the tasks selected by the selector 113. Specifically, the decision-maker 115 acquires the tasks included in the action schedule created by the creator 114, as shown in Figures 12 and 13. The decision-maker 115 acquires the tasks included in the action schedule at the same time as the creator 114 creates the action schedule, or after a certain period of time has elapsed since the creator 114 created the action schedule.

[0112] In step S2, the decision-maker 115 determines whether the task substituted by robot 3 is valid or not. For example, the decision-maker 115 determines whether the number of times the delivery task substituted by the first robot 3a and the number of times the delivery task substituted by the second robot 3b are used remain below a threshold for a predetermined period of time. The decision-maker 115 determines that a task is not valid if the number of uses is below the threshold.

[0113] If the decision-maker 115 determines in step S2 that the task is not valid, in step S3, the changer 116 removes the task that the decision-maker 115 determined to be invalid from the tasks selected by the selector 113, and causes the creator 114 to rewrite the action schedule.

[0114] For example, the changer 116 instructs the creator 114 to create an action schedule in which ineffective delivery and delivery tasks are excluded from the delivery and delivery tasks selected by the selector 113. Alternatively, the changer 116 instructs the creator 114 to perform another optimization process on the remaining tasks, after the ineffective delivery and delivery tasks have been excluded from the delivery and delivery tasks selected by the selector 113, and then reschedule the schedule.

[0115] If the creator 114 recreates the action schedule in step S3, the first robot 3a and the second robot 3b execute the tasks based on the recreated action schedule.

[0116] If the decision-maker 115 determines in step S2 that the task is valid, the modifier 116 prevents the creator 114 from recreating the action schedule.

[0117] Figure 15 is a flowchart showing yet another example of the creation process by the robot schedule creation device 1. In Figure 15, the method of recreating the action schedule is different compared to Figure 14.

[0118] First, in step S1, the decision-maker 115 acquires the tasks selected by the selector 113 (i.e., the tasks included in the action schedule). This is the same as step S1 in Figure 14.

[0119] In step S2, the decision-maker 115 determines whether the task assigned to robot 3 is effective or not. This is the same as step S2 in Figure 14.

[0120] If the decision-maker 115 determines in step S2 that the task is not valid, in step S3, the changer 116 causes the acquirer 111 to reacquire the action information of worker H. The acquisition of the action information of worker H by the acquirer 111 is the same as in step S1 in Figure 12.

[0121] In step S4, the changer 116 causes the extractor 112 to re-extract tasks based on the acquired information about worker H's actions. The task extraction by the extractor 112 is the same as in step S2 in Figure 12.

[0122] In step S5, the changer 116 causes the selector 113 to re-select a task from the extracted tasks that is suitable for the characteristics of robot 3. The task selection by the selector 113 is the same as in step S3 of Figure 12.

[0123] In step S6, the changer 116 instructs the creator 114 to recreate the action schedule by adding the remaining tasks (second tasks) obtained by removing the tasks that the judger 115 determined to be invalid from the tasks acquired by the judger 115 to the tasks (first tasks) that were re-selected by the selector 113. In this way, as shown in Figures 12 and 13, the creator 114 removes the tasks that it determined to be invalid from the tasks included in the action schedule it created, and then recreates the action schedule by considering the tasks extracted from the action information of worker H.

[0124] If the decision-maker 115 determines in step S2 that the task is valid, the modifier 116 prevents the acquirer 111 from reacquiring action information, the extractor 112 from re-extracting tasks, the selector 113 from re-selecting tasks, and the creator 114 from recreating the action schedule.

[0125] Furthermore, the order of steps S1, S2, and S3-S5 may be changed as long as step S1 is processed before step S2, or steps S1, S2, and S3-S5 may be processed in parallel.

[0126] According to the aforementioned robot schedule creation device 1, since it is equipped with an acquisition device 111, an extraction device 112, a selection device 113, and a creation device 114, it can create an action schedule that comprehensively considers tasks based on the action information of worker H. Therefore, the amount of tasks performed by worker H can be reduced.

[0127] In detail, the acquisition device 111 acquires worker H's action information, the extraction device 112 extracts tasks based on worker H's action information, the selection device 113 selects tasks suitable for the characteristics of robot 3 from the extracted tasks, and the creation device 114 creates an action schedule in which robot 3 will perform the selected tasks. Therefore, tasks that can be replaced by robot 3 from among the tasks based on worker H's action information can be selected without omission and incorporated into robot 3's action schedule. This reduces the amount of tasks that worker H has to perform. In addition, a manager or other person may manually select worker H's tasks that can be replaced by robot 3. Furthermore, since the selector 113 selects tasks suitable for the characteristics of robot 3 from tasks extracted based on worker H's behavioral information, it reduces the effort required for managers and others to select alternative tasks.

[0128] Furthermore, the creation device 114 creates an action schedule that allows the robot 3 to perform the selected tasks, thus reducing the effort required for managers to create the action schedule. In particular, when the action information of worker H changes, the burden on managers to manually change the action schedule increases, but this disclosure reduces the burden on managers associated with changing the action schedule.

[0129] Furthermore, since worker H's activity information includes work content and location information, and the tasks extracted by the extractor 112 include information on work content and work location, tasks that can be replaced by robot 3 can be selected with high accuracy. For example, it is possible to determine from the work content whether or not robot 3 can perform the work, and from the location information whether or not robot 3 can move to that location.

[0130] Furthermore, since worker H's activity information includes date and time information, and the tasks extracted by extractor 112 also include work date and time information, the robot 3's activity schedule can be created taking the work date and time into consideration.

[0131] Furthermore, the acquisition device 111 periodically reacquires worker H's action information, the extractor 112 periodically re-extracts tasks, the selector 113 periodically re-selects tasks suitable for the characteristics of robot 3, and the creator 114 periodically re-creates the action schedule. As a result, if worker H's action information changes periodically, the action schedule can be periodically modified in accordance with the changes in worker H's action information. Therefore, the workload associated with changing the action schedule can be reduced.

[0132] Furthermore, the extractor 112 extracts high-frequency tasks during a specific period, and the selector 113 selects tasks from the high-frequency tasks that are suitable for the characteristics of robot 3. This allows robot 3 to take over the high-frequency tasks performed by worker H.

[0133] Furthermore, robot 3 includes multiple robots 3 with different characteristics, the selector 113 selects tasks suitable for the characteristics of each of the multiple robots 3, and the creator 114 creates an action schedule that assigns the selected tasks to each of the multiple robots 3. This makes it possible to create an action schedule that takes into account the type of robot 3.

[0134] Furthermore, the acquisition device 111 acquires the existing schedule of the robot 3 that has been created in advance, and the creation device 114 adds the tasks included in the existing schedule acquired by the acquisition device 111 to the tasks selected by the selection device 113 to create an action schedule. In this way, an action schedule can be created by adding tasks newly extracted from the action information of worker H to the schedule of the robot 3 that is already being executed.

[0135] Furthermore, the robot schedule creation device 1 is further equipped with a decision-maker 115 and a modifier 116, so that it can recreate the action schedule by excluding tasks of robot 3 that are not effective. This makes it possible to create an action schedule by adding other tasks in place of the ineffective tasks.

[0136] The aforementioned robot scheduling system 50 comprises a mobile terminal 2 and a robot scheduling device 1. This allows the mobile terminal 2 to receive all information on the worker H's actions without fail, and the robot scheduling device 1 to select all tasks that can be substituted by the robot 3 and incorporate them into the robot 3's action schedule. Consequently, the amount of work performed by worker H can be reduced.

[0137] Other embodiments As described above, the embodiments described herein have been presented as examples of the technology disclosed in this application. However, the technology in this disclosure is not limited thereto and can be applied to embodiments that have been modified, replaced, added, or omitted as appropriate. Furthermore, it is possible to combine the components described in the embodiments above to create new embodiments. In addition, the components described in the attached drawings and detailed description may include not only components essential for solving the problem, but also components that are not essential for solving the problem, in order to illustrate the technology. Therefore, the mere presence of such non-essential components in the attached drawings and detailed description should not be immediately assumed to mean that those non-essential components are essential.

[0138] In the above embodiment, the robot management system 60 has two robots 3, but it may have three or more robots 3, or it may have one robot 3.

[0139] In the above embodiment, the multiple robots 3 may have different characteristics from each other, but they may also have the same characteristics. In this case, the tasks may be divided among multiple robots with the same characteristics.

[0140] In the above embodiment, the worker H's activity information may include work content and location information, but not date and time information. In other words, the tasks extracted by the extractor may include work content and work location information, but not date and time information.

[0141] In the above embodiment, the robot schedule creation device 1 has a decision-maker 115 and a modifier 116, but the decision-maker 115 and the modifier 116 may be omitted.

[0142] In the above embodiment, the robot 3 includes a first robot 3a having delivery characteristics and a second robot 3b having placement characteristics, but it may also include a robot having characteristics for checking inventory or people, etc. In this case, the robot may have, for example, a camera for checking objects.

[0143] In the above embodiment, the task is, for example, delivery of packages, placement of packages, inventory, or confirmation of people, but is not limited to these, and may be a task such as floor cleaning. Here, if the task is cleaning, the robot having cleaning characteristics has, for example, a cleaning brush. The action information of worker H is, for example, worker H's movement to a first position and cleaning at the first position. The extractor 112 extracts the task of moving to a first position and cleaning at the first position (i.e., floor cleaning) from the action information of worker H.

[0144] The flowchart is merely an example. You may change, replace, add, or omit steps in the flowchart as needed. You may also change the order of steps in the flowchart or process sequentially in parallel.

[0145] The robot schedule creation method is not limited to the robot schedule creation device 1 described above, but can also be implemented using other devices. The robot schedule creation program P is not limited to the robot schedule creation device 1 described above, but can also be implemented using other devices.

[0146] The functions realized by the components described herein may be implemented in circuits or processing circuits, including general-purpose processors, application-specific processors, integrated circuits, ASICs (Application Specific Integrated Circuits), CPUs (a Central Processing Unit), conventional circuits, and / or combinations thereof, programmed to realize the functions described herein. A processor includes transistors and other circuits and is considered a circuit or processing circuit. A processor may be a programmable processor that executes a program stored in memory.

[0147] In this specification, circuits, units, and means are hardware programmed to perform or execute the functions described herein. Such hardware may be any hardware disclosed herein, or any hardware known to be programmed to perform or execute the functions described herein.

[0148] If the hardware is a processor that is considered to be a type of circuit, then the circuit, means, or unit is a combination of hardware and software used to constitute the hardware and / or processor.

[0149] [Aspect] The embodiments described above are specific examples of the following embodiments.

[0150] (Aspect 1) The robot schedule creation device 1 is a robot schedule creation device 1 that creates an action schedule for a moving robot 3, and comprises: an acquirer 111 that acquires action information of worker H; an extractor 112 that extracts tasks based on the action information of worker H acquired by the acquirer 111; a selector 113 that selects tasks suitable for the characteristics of the robot 3 from the tasks extracted by the extractor 112; and a creator 114 that creates an action schedule in which the robot 3 replaces the tasks selected by the selector 113.

[0151] This configuration allows for the creation of an action schedule that comprehensively considers tasks based on worker H's activity information. This reduces the amount of tasks that worker H has to perform.

[0152] (Aspect 2) In the robot schedule creation device 1 described in Embodiment 1, the worker H's action information includes work content and location information, and the tasks extracted by the extractor 112 include work content and work location information.

[0153] This configuration allows for the accurate selection of tasks that can be performed by robot 3. For example, it is possible to determine from the work content whether robot 3 is capable of performing the task, and from the location information whether robot 3 is able to move to that location.

[0154] (Aspect 3) In the robot schedule creation device 1 described in Embodiment 1 or Embodiment 2, the worker H's action information further includes date and time information, and the tasks extracted by the extractor 112 further include work date and time information.

[0155] This configuration allows for the creation of an action schedule for robot 3, taking into account the work date and time.

[0156] (Aspect 4) In the robot schedule creation device 1 described in any one of Embodiments 1 to 3, the acquirer 111 periodically reacquires the worker H's action information, the extractor 112 periodically re-extracts tasks based on the acquired worker H's action information, the selector 113 periodically re-selects tasks from the extracted tasks that are suitable for the characteristics of the robot 3, and the creator 114 periodically re-creates the action schedule based on the selected tasks.

[0157] With this configuration, if worker H's behavioral information changes periodically, the work schedule can be periodically modified in response to the changes in worker H's behavioral information. This reduces the workload associated with changes in the work schedule.

[0158] (Aspect 5) In the robot schedule creation device 1 described in any one of Embodiments 1 to 4, the extractor 112 extracts tasks that are extracted based on the action information of the worker H during a specific period and that have been performed by the worker H more than or equal to a threshold number of times during the specific period, and the selector 113 selects tasks from the high-frequency tasks extracted by the extractor 112 that are suitable for the characteristics of the robot 3.

[0159] With this configuration, high-frequency tasks performed by worker H can be replaced by robot 3.

[0160] (Aspect 6) In the robot schedule creation device 1 described in any one of Embodiments 1 to 5, the robot 3 includes a plurality of robots 3 with different characteristics, the selector 113 selects a task suitable for the characteristics of each of the plurality of robots 3 from the tasks extracted by the extractor 112, and the creator 114 creates the action schedule in which each of the plurality of robots 3 substitutes for the task selected by the selector 113.

[0161] This configuration allows for the creation of an action schedule that takes into account the three types of robots.

[0162] (Aspect 7) The robot schedule creation device 1 according to any one of embodiments 1 to 6 further comprises a determination device 115 that determines whether or not the task substituted by the robot 3 is valid, and a modification device 116 that removes the task determined by the determination device 115 to be invalid from the tasks selected by the selection device 113, and causes the creation device 114 to recreate the action schedule.

[0163] This configuration allows for the recreation of the action schedule by excluding the tasks of robot 3 that are not functioning correctly. This also allows for the recreation of the action schedule by adding other tasks in place of the incorrect ones.

[0164] (Pattern 8) The robot schedule creation system 50 comprises a portable terminal 2 carried by worker H and receiving information about worker H's actions, and a robot schedule creation device 1 according to any one of embodiments 1 to 7 that acquires the information about worker H's actions received by the portable terminal 2.

[0165] With this configuration, the mobile terminal 2 can reliably receive information on worker H's actions, and the robot scheduling device 1 can reliably select tasks that can be substituted by robot 3 and incorporate them into robot 3's action schedule. This reduces the amount of work that worker H has to do.

[0166] (Aspect 9) The robot schedule creation method is a robot schedule creation method for creating an action schedule for a moving robot 3, and comprises: acquiring action information of worker H; extracting tasks based on the acquired action information of worker H; selecting tasks suitable for the characteristics of the robot 3 from the extracted tasks; and creating an action schedule in which the robot 3 performs the selected tasks.

[0167] This configuration allows for the creation of an action schedule that comprehensively considers tasks based on worker H's activity information. This reduces the amount of tasks that worker H has to perform.

[0168] (Aspect 10) The robot schedule creation program P is a robot schedule creation program P for creating an action schedule for a moving robot 3, and enables the computer to implement the following functions: a function to acquire action information of worker H; a function to extract tasks based on the acquired action information of worker H; a function to select tasks suitable for the characteristics of the robot 3 from the extracted tasks; and a function to create an action schedule in which the robot 3 will perform the selected tasks.

[0169] This configuration allows for the creation of an action schedule that comprehensively considers tasks based on worker H's activity information. This reduces the amount of tasks that worker H has to perform. [Explanation of symbols]

[0170] 1. Robot scheduling device 10. Schedule creation control device 11 Processing unit 111 Acquirer 112 Extractor 113 Selector 114 Maker 115 Judgment device 116 Changer 2 Mobile devices 3 Robots 50 Robot scheduling system H worker P Robot scheduling program

Claims

1. A robot scheduling device that creates an action schedule for a moving robot, A device that acquires worker behavior information, An extractor that extracts tasks based on the worker's behavior information acquired by the acquisition device, A selector that selects a task suitable for the characteristics of the robot from the tasks extracted by the extractor, A robot schedule creation device comprising: a creator that creates an action schedule for the robot to perform the task selected by the selector; and a robot schedule creation device.

2. In the robot scheduling device according to claim 1, The aforementioned worker activity information includes work content and location information. The task extracted by the extractor is a robot schedule creation device that includes information on the work content and work location.

3. In the robot scheduling device according to claim 2, The aforementioned worker activity information further includes date and time information, The task extracted by the aforementioned extractor is a robot schedule creation device that further includes information on the date and time of work.

4. In the robot scheduling device according to claim 1, The acquisition device periodically reacquires the worker's behavior information, The extractor periodically re-extracts tasks based on the acquired worker behavior information, The selection device periodically re-selects tasks from the extracted tasks that are suitable for the characteristics of the robot, The creation device is a robot schedule creation device that periodically recreates the action schedule based on the selected task.

5. In the robot scheduling device according to claim 1, The extractor extracts tasks based on the worker's behavioral information during a specific period, and extracts high-frequency tasks that have been performed by the worker more than or equal to a threshold during that specific period. The selection device is a robot schedule creation device that selects tasks suitable for the characteristics of the robot from the high-frequency tasks extracted by the extractor.

6. In the robot scheduling device according to claim 1, The aforementioned robot includes multiple robots with different characteristics, The selector selects a task from the tasks extracted by the extractor that is suitable for the characteristics of each of the multiple robots. The creation device is a robot schedule creation device that creates an action schedule in which each of the multiple robots substitutes for the task selected by the selection device.

7. In the robot scheduling device according to claim 1, A determination device that determines whether the task assigned to the robot is effective or not, A robot schedule creation device further comprising: a modifier that removes tasks deemed ineffective by the judgment device from the tasks selected by the selection device, and causes the creator to recreate the action schedule.

8. A portable terminal carried by the worker to receive information about the worker's actions, A robot schedule creation system comprising a robot schedule creation device according to claim 1, which acquires worker action information received by the mobile terminal.

9. A robot scheduling method for creating an action schedule for a moving robot, To obtain information on the actions of workers, Based on the acquired worker behavior information, tasks are extracted, Selecting a task from the extracted tasks that is suitable for the characteristics of the robot, A robot schedule creation method comprising creating an action schedule that causes the robot to perform the selected task.

10. A robot scheduling program that creates an action schedule for a moving robot, A function to acquire worker behavior information, A function to extract tasks based on the acquired worker behavior information, A function to select a task suitable for the characteristics of the robot from the extracted tasks, A robot schedule creation program that enables a computer to perform the selected tasks described above, and to create an action schedule that causes the robot to perform the selected tasks described above.

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