Work plan update system and work plan update method

Abstract

To provide a work plan updating system and a work plan updating method that update a work plan robustly against an environmental change.SOLUTION: A work plan updating system 1 that can suggest a suitably updated work plan when an environmental change has occurred, comprises: a data interface unit 11, a work state processing device 12, a work management database 13, a work resource processing device 14 and a work instruction operation device 15. The work state processing device 12 acquires data relating to a work at previously designated time intervals. The work resource processing device 14 calculates distribution of resources required for the work.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a work plan update system and a work plan update method.

Background Art

[0002] In non-standard remote work that utilizes robots in an unknown environment, an operator manually or automatically (semi-automatically) operates the robot. Work in an unknown environment generally places a high mental load on the operator.

[0003] Patent Document 1 describes an invention of a personnel management system for formulating a personnel allocation plan that expects the maximum work performance through teamwork. The invention described in Patent Document 1 is to allocate work to all personnel based on the difficulty of the work and the proficiency of the personnel, and to provide a personnel allocation plan that expects work performance through teamwork.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In non-standard remote work that utilizes robots in an unknown environment, the mental load on the operator varies depending on the work difficulty, work time zone, and the operator's own vital state. In the case of environmental changes such as the operator's poor physical condition or robot malfunctions, if the work plan is updated by routinely reallocating to other operators or other robots, there is a risk of a decrease in work efficiency, work incompatibility, human error, etc. Therefore, an object of the present invention is to robustly update a work plan against environmental changes.

Means for Solving the Problems

[0006] To solve the above problems, the work plan update system of the present invention From the operator and the robot, each included in the work plan includes a data interface unit that acquires data related to work at a preset time interval, and the data From the vital signs of the operator or the operation of the robot is analyzed by a work status processing unit, When detecting a state abnormality from the data acquired by the data interface unit or the data analyzed by the work state processing unit, for the subsequent work plan and a work resource processing unit that The operator and the robot who are handles The arrangement for the work the Update resources required for work. The work resource processing unit Each of the work plans after detecting a state abnormality from the data compares the work efficiency between manual and automatic operations in other operations similar to the work, and And stored in the database specifies If the work efficiency during manual operation in the other work is high, the Perform manually work classification for each And of If the work efficiency during automatic operation in the other work is high, the Perform automatically work, Update the work plan by doing so, which is characterized by this.

[0007] The work plan update method of the present invention Provided in the work plan update system includes a step in which a data interface unit From the operator and the robot, each included in the work plan acquires data related to work at a preset time interval, Provided in the work plan update system a step in which a work status processing unit analyzes the data From the vital signs of the operator or the operation of the robot , Provided in the work plan update system and a step in which a work resource processing unit When detecting a state abnormality from the data acquired by the data interface unit or the data analyzed by the work state processing unit, for the subsequent work plan handles The operator and the robot who are the The arrangement for the work resources required for work, Update which is characterized by this. Execute, and the work resource processing unit compares the work efficiency during manual operation and automatic operation in other works that are similar to each of the works in the work plan after detecting a state abnormality from the data and stored in the database. If the work efficiency during manual operation in the other work is high, specify the work classification of performing each of the works manually. If the work efficiency during automatic operation in the other work is high, update the work plan by specifying the work classification of performing each of the works automatically. This is characterized by this. Other means will be described in the mode for carrying out the invention.

Effect of the Invention

[0008] According to the present invention, it becomes possible to robustly update a work plan against environmental changes.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10A

Figure 10B

Figure 11

Figure 12

Figure 13

Figure 14

Figure 15

Figure 16

Figure 17

Figure 18A

Figure 18B

Figure 19

Figure 20A

Figure 20B

Figure 21

Figure 22

Figure 23

Figure 24

Mode for Carrying Out the Invention

[0010] Hereinafter, the mode for carrying out the present invention will be described in detail with reference to each figure. FIG. 1 is a configuration diagram of a work plan update system 1 according to the first embodiment. The work plan update system 1 includes a data interface unit 11, a work status processing device 12, a work management database 13, a work resource processing device 14, and a work instruction operation device 15. This work plan update system 1 updates the work plan using the workers 2a to 2c and the work robot system.

[0011] Here, the workers 2a to 2c are robot operators, auxiliary workers, work supervisors, etc. There are individual differences in the abilities of the workers 2a to 2c, and there are variations in the work processing ability. Also, even when the same worker performs the same work, there are variations in ability depending on the physical condition at that time. A work team is a team of multiple people who jointly carry out the same work. The work team may be organized in consideration of the differences in the initial abilities of individuals.

[0012] The data interface unit 11 is an interface for exchanging data between the workers 2a to 2c and the work robots and the work plan update system 1. The data interface unit 11 includes, for example, a plurality of types of sensor groups and a wireless router that transmits instructions to the terminals of the workers and the robots. The data interface unit 11 issues work instructions to the workers 2a to 2c and acquires vital data from the workers 2a to 2c at a preset time interval.

[0013] The work robot system includes the robots 3a to 3c and their control devices, an operation log recording device, an operation device, a monitoring device, and their auxiliary facilities. These robots 3a to 3c have almost no variation in performance if they are the same robot, and there is no variation in deterioration over time if they perform the same work in the same environment. The data interface unit 11 issues control instructions to the robots 3a to 3c and acquires operation log data from the robots 3a to 3c at a preset time interval. That is, the data interface unit 11 acquires data related to the work from the workers 2a to 2c and the robots 3a to 3c at a preset time interval.

[0014] The work incidental information 4 refers to information such as the layout, temperature, humidity, hydrogen concentration, oxygen concentration, radiation dose, etc. of the work environment, as well as the date, year, month, day, and time. The work incidental information 4 is on-site data obtained by measuring the states of the workers 2a to 2c and the work robot system. The data interface unit 11 acquires this on-site data at a preset time interval.

[0015] The work attribute information 5 is a history indicated by work results such as the work name, work purpose, work difficulty, work system, worker proficiency, worker history, work process, work time zone, work device specifications, work device history, work completion time, and work time for each work. The data interface unit 11 updates these histories at a preset time interval.

[0016] The work status processing device 12 analyzes the work status and work attributes based on the on-site data obtained by measuring the status of the workers 2a to 2c and the robots 3a to 3c, and stores this analysis data and the on-site data in the work management database 13. The work status processing device 12 further outputs the analysis data to the work resource processing device 14. That is, the work status processing device 12 functions as a work status processing unit that analyzes the data acquired by the data interface unit 11.

[0017] The work resource processing device 14 calculates the allocation of work resources based on the analysis data and the history data. When detecting a state where the data acquired by the work status processing device 12 exceeds a preset threshold value, the work resource processing device 14 calculates the allocation of resources required for this work. Then, the work resource processing device 14 stores the work resource calculation result in the work management database 13 and outputs it to the work instruction operation device 15. That is, the work resource processing device 14 functions as a work resource processing unit that calculates the allocation of resources required for work.

[0018] The work instruction operation device 15 outputs operation instruction data to the workers 2a to 2c and control data to the robots 3a to 3c based on the work resource calculation result.

[0019] The worker status refers to the vital data and motion data of the workers 2a to 2c. The vital data includes heart rate, brain waves, sweating amount, body temperature, blood pressure, etc. The motion data includes acceleration, position, movement path / history, line of sight, number of steps, etc.

[0020] The robot status refers to the work operation log data and regular inspection data of the robots 3a to 3c. The work operation log data includes the time trend of each joint motion (flow rate, pressure, camera image, etc.), cumulative work time / system operation time, cumulative dose, etc. The regular inspection data includes the time trend of each joint motion (flow rate, pressure, camera image, etc.) during the specified operation.

[0021] The working status includes year, month, day, time zone, difference between weekdays and weekends / holidays, working hours per day, total working days and cumulative working days, temperature and humidity in the working environment, structure layout, working environment video and point cloud, etc. The working attributes include working purpose, working difficulty (risk level), working urgency, working team system, worker proficiency, work system, etc. The working results include success or failure of the work, working hours (including degree of delay), exposure dose and cumulative dose, occurrence of risk events, presence or absence of plan updates, etc.

[0022] Figure 2 is a configuration diagram of the working status processing device 12. The working status processing device 12 includes a worker status measurement unit 121, a robot status measurement unit 122, a working status analysis and evaluation unit 123, and a working attribute analysis and evaluation unit 124.

[0023] The working status processing device 12 acquires data through device element tests, device combination tests, mock-up tests, training, actual machine construction, etc.

[0024] The worker status measurement unit 121 measures the status of workers 2a to 2c and outputs vital data and motion data. Here, vital data refers to the heart rate, brain waves, sweating amount, body temperature, blood pressure, physical condition, etc. of the worker. Motion data refers to acceleration, position, movement path / history, line of sight, number of steps, etc.

[0025] Figure 3 is a graph showing an example of the output data of the worker status measurement unit 121. The vertical axis of the graph indicates the measured value, and the horizontal axis indicates time. The solid line of the graph indicates acceleration. The dashed line of the graph indicates heart rate. The dash-dotted line of the graph indicates sweating amount.

[0026] Returning to FIG. 2, the description continues. The robot state measurement unit 122 measures robots 3a to 3c and outputs work log data and regular inspection data. The work operation log data includes the time trends of each joint operation (such as current, voltage, liquid flow rate and pressure, camera image, etc.), cumulative work time / system operation time, cumulative dose, etc. The regular inspection data includes the time trends of each joint operation (such as current, voltage, liquid flow rate and pressure, camera image, etc.) during the specified operation.

[0027] FIG. 4 is a graph showing an example of the output data of the robot state measurement unit 122. The vertical axis of the graph represents the measured value, and the horizontal axis represents time. The solid line in the graph represents the operation of joint 1. The dashed line in the graph represents the operation of joint 2. The dotted-dashed line in the graph represents the cumulative dose.

[0028] FIG. 5 is a graph showing an example of the output of the analysis data by the work state analysis and evaluation unit 123. The vertical axis of the graph represents the value of the analysis data, and the horizontal axis represents time.

[0029] Returning to FIG. 2, the description continues. The work state analysis and evaluation unit 123 evaluates vital analysis data from the worker state and evaluates robot operation analysis data from the robot state. The vital analysis data refers to, for example, fatigue degree, concentration degree, happiness degree, relaxation degree, alertness degree, and fluctuation degree.

[0030] The robot operation analysis data refers to the robot operation calibration frequency, unit calibration (correction) amount, robot operation instruction - operation result difference component (space, time), etc. The variation due to the physical condition of each individual is defined as the case where it deviates from the standard value of the long-term data of each individual. And the variation of the robot operation analysis data is defined as the case where it deviates from the standard value of the long-term data of each robot.

[0031] FIG. 6 is a configuration diagram of the work management database 13. The work management database 13 is composed of an operator status record management unit 131, a robot status record management unit 132, a work status record management unit 133, a work attribute record management unit 134, and a work result record management unit 135. The work management database 13 stores on-site data, analysis data, and supplementary data such as its processing conditions shown in FIGS. 3 to 5.

[0032] The operator status record management unit 131 stores the vital data and motion data of operators 2a to 2c measured by the operator status measurement unit 121. The robot status record management unit 132 stores the work log data and regular inspection data of robots 3a to 3c measured by the robot status measurement unit 122.

[0033] The work status record management unit 133 records and manages the status data of the work evaluated by the work status analysis and evaluation unit 123. The work attribute record management unit 134 records and manages the attribute status of the work. The work result record management unit 135 records and manages the results of the work.

[0034] FIG. 7 is a diagram showing an example of the data in the work management database 13. The work management database 13 is composed of a year / month / day column, a time column, an operator status column, a robot status column, a work attribute column, a work status column, and a work supplementary information column. The operator status column is composed of a heart rate column, an acceleration column, etc. The robot status column is composed of a joint angle column.

[0035] FIG. 8 is a configuration diagram of the work resource processing device 14. The work resource processing device 14 is composed of a work resource allocation calculation unit 141 and a work resource allocation update unit 142. The work resource processing device 14 calculates work resources based on analysis data and history data.

[0036] Based on the calculation results of the work resources, the work resource allocation calculation unit 141 calculates the allocation of this work resource. The work resource allocation update unit 142 updates the allocation of the work resource based on the allocation of the work resource calculated by the work resource allocation calculation unit 141.

[0037] FIG. 9 is a configuration diagram of the work instruction operation device 15. The work instruction operation device 15 includes a worker procedure instruction unit 151 and a robot control operation unit 152.

[0038] The worker procedure instruction unit 151 instructs the workers 2a to 2c about the work procedures. The robot control operation unit 152 outputs control instructions to the robots 3a to 3c for operation.

[0039] FIGS. 10A and 10B are flowcharts showing the work plan update process according to the first embodiment. First, the workers 2a to 2c operate the robots 3a to 3c to perform the work (step S10).

[0040] The work state processing device 12 measures the work state, analyzes and evaluates it (step S11). Specifically, the worker state measurement unit 121 of the work state processing device 12 measures the state of the worker, and the robot state measurement unit 122 measures the state of the robot. Then, the work state analysis and evaluation unit 123 analyzes and evaluates the work state, and the work attribute analysis and evaluation unit 124 analyzes and evaluates the work attributes.

[0041] Next, the work state processing device 12 records and manages the work state in the work management database 13 (step S12). Here, the work state recorded in the work management database 13 is illustrated in the graphs of FIGS. 3 and 4.

[0042] Then, the work resource processing device 14 determines whether a plan update is necessary (step S13). Here, the work resource processing device 14 determines that a plan update is necessary when the data measured by the work state processing device 12 or the data analyzed therefrom exceeds a preset threshold value. If a plan update is necessary (Yes), the work resource processing device 14 proceeds to step S20 in FIG. 10B. If a plan update is not necessary (No), it proceeds to the process of step S14.

[0043] In step S14, the work status processing device 12 determines whether the work has been completed. Here, the completion of the work is determined, for example, by whether the work supervisor has input that the work has been completed. If the work has not been completed (No), the work status processing device 12 returns to the process of step S10. If the work has been completed (Yes), the process of FIG. 10A ends.

[0044] In step S20, the work resource processing device 14 sets the objective function and constraints. Next, the work resource processing device 14 searches for and extracts past similar works from the work management database 13 (step S21). Here, the work resource processing device 14 ranks the past similar works using statistical methods such as machine learning algorithms and mathematical models, and extracts the similar works with high ranking values and their work efficiencies.

[0045] Then, the work resource processing device 14 calculates the allocation of work resources (step S22). Here, the allocation of work resources refers to the arrangement of resources required for the work. The details of the process in step S22 will be described with reference to FIG. 11 described later. In step S22, the work resource processing device 14 extracts robots whose work efficiency in each work item exceeds a predetermined value as resources. Note that the work resource processing device 14 may extract robots whose work efficiency in each work item exceeds a predetermined value as resources for a plurality of works whose work continuity exceeds a predetermined value. Next, the work resource processing device 14 determines whether the calculation of the corresponding work resources has been completed (step S23).

[0046] In step S23, if the calculation of the work resources has not been completed (No), the work resource processing device 14 returns to step S20. If the calculation of the work resources has been completed (Yes), it proceeds to step S24.

[0047] In step S24, the work supervisor determines and inputs an update of this work based on the work resources calculated by the work resource processing device 14. In response to this determination, the work instruction operation device 15 updates the operator operation procedure and the robot control (step S25). As a result, the operator and the robot resume the work (step S26) and return to step S10 in FIG. 10A.

[0048] FIG. 11 is a flowchart showing the work resource allocation calculation process shown in step S22 of FIG. 10B. This work resource allocation calculation process is a method of searching and extracting past similar works: ranking past similar works using statistical methods such as machine learning algorithms and mathematical models, and extracting similar works with high ranking values and their work efficiencies. This work resource allocation calculation process corresponds to the process of step S22 shown in FIG. 10B.

[0049] The work resource allocation calculation unit 141 calculates or extracts the work time during manual operation related to a certain work (step S30). Here, the extraction of the calculation result means, for example, extracting the past calculation results stored in the database. Then, the work resource allocation calculation unit 141 calculates or extracts the work time during automatic (semiautomatic) operation related to this work (step S31). The work resource allocation calculation unit 141 performs a comparison calculation between the calculation result during manual operation and the calculation result during automatic (semiautomatic) operation (step S32). When specifying the work classification (step S33), the process of FIG. 11 ends.

[0050] That is, the work resource allocation calculation unit 141 compares the work efficiencies during manual and automatic operations in other works similar to a certain work, and specifies the work classification of whether to perform each work manually or automatically. Further, when calculating the work efficiencies during manual and automatic operations of a certain work, the work resource allocation calculation unit 141 weights the input values of the work state and work attributes with coefficients. Specifically, it will be described by formulas (1) to (3) below.

[0051] Note that the above-mentioned semi-automatic refers to a case where some functions in robot operation are automatically operated.

[0052] In step S33 of specifying the work classification of each work according to the comparison result, the work resource allocation calculation unit 141 extracts those with high work efficiency in each work item (for example, robot operation means, etc.) and updates the work procedure. For example, the movement operation is automatically set, and the work arm operation is manually set, etc.

[0053] The following formula (1) is the basic formula for calculating the work efficiency ε xn The work efficiency ε xn is calculated by dividing the work time t xn in the selected operation mode by the work time t mn in the manual mode. Here, since the work state at the time of work planning is the manual mode, the work efficiency ε xn of the selected operation mode with respect to the manual mode is calculated.

Number

[0054] Formula (2) is obtained by weighting formula (1) with the coefficient α.

Number

[0055] Formula (3) is the formula for calculating the coefficient α of formula (2). The coefficient α is calculated as the product of the work state function f(a) and the work attribute function f(b). When calculating the work efficiency of a certain work in the manual and automatic states, the work resource allocation calculation unit 141 weights it with the coefficients of the work state and the work attribute.

Number

[0056] FIG. 12 is a diagram showing an example of a step function in an operation state. Here, as an example, a coefficient of three steps is shown. The vertical axis of the graph indicates the value of the function f(a), and the horizontal axis indicates the operation state.

[0057] The first state is, for example, a state of low dose with respect to a standard or a state in which the latest layout with high precision has been acquired. At this time, the value of the function f(a) is 2.0.

[0058] The second state is, for example, the operation state at the time of operation planning. At this time, the value of the function f(a) is 1.0. The third state is, for example, a state with many layout differences or a state of high dose. At this time, the value of the function f(a) is 0.3.

[0059] FIG. 13 is a diagram showing an example of a step function in an operation attribute. Here, as an example, a coefficient of three steps is shown. The vertical axis of the graph indicates the value of the function f(b), and the horizontal axis indicates the operation attribute.

[0060] The first attribute is, for example, an attribute of an operation with low difficulty with respect to a standard, a highly skilled operator, or a highly operable robot. At this time, the value of the function f(b) is 2.0. The second attribute is, for example, the operation state at the time of operation planning or the operation attribute at the time of similar operations. At this time, the value of the function f(b) is 1.0. The third state is, for example, an attribute of an operation with high difficulty with respect to a standard, a low-skilled operator, a robot with low operability, or an attribute of a time zone with many human errors. At this time, the value of the function f(b) is 0.3.

[0061] In this embodiment, each function for calculating the change in work efficiency with respect to the change in work state and the change in work efficiency with respect to the change in work attributes is realized by a step function. Based on the work efficiency in the manual mode in the work state at the time of work planning, a bias is given according to the difference in work state and work attributes, and the work efficiency when the work state and work attributes are changed is calculated. Thereby, the work efficiency changed by the change in work state or work attributes can be easily calculated. Each bias is an example, and it is also possible to perform optimization based on past similar work or work simulation results, or conversion by a continuous function such as a normal distribution instead of conversion by a step function. Also, the work state at the time of work planning is not limited to the manual mode.

[0062] Furthermore, in the method of coefficient optimization, the work resource allocation calculation unit 141 ranks past similar work using statistical methods such as machine learning algorithms and mathematical models, and calculates the coefficient related to the change in work efficiency with respect to the change in work state and the change in work efficiency with respect to the change in work attributes based on the correlation with the ranking value. In order to select the continuous work of the highly operable robot among the work attributes, the work resource allocation calculation unit 141 sets the coefficient by the selection of the highly operable robot to be high.

[0063] In the method of extracting the robot operation means with high work efficiency in each work item and updating the work procedure, the work resource allocation calculation unit 141 calculates by improving the work efficiency of these multiple operations in multiple operations of a part with high work continuity. Then, by extracting the robot operation procedure with high work efficiency, it is possible to preferentially extract the robot operation with improved work efficiency by engaging in a plurality of consecutive operations.

[0064] FIG. 14 is a chart showing an example of work resource allocation update. The broken line in the center of the chart indicates the current time. At this time, since an abnormality or sign of the state of worker A is detected, a cross icon is given. Note that in each chart, the robot is abbreviated as "Rob".

[0065] In previous operations 1-1 and 1-2, Operator A was operating Robot A, and Operator B was operating Robot B. The proficiency level of Operator A is "low", and the operability of Robot A is "ordinary". The proficiency level of Operator B is "high", and the operability of Robot B is "ordinary".

[0066] In operation 2-1, Operator A was operating Robot B, and Operator C was operating Robot C. The proficiency level of Operator A is "low", and the operability of Robot B is "ordinary". The proficiency level of Operator C is "medium", and the operability of Robot C is "ordinary".

[0067] And according to the plan, as shown by the dashed bar, in operations 3-1 and 3-2, Operator A was scheduled to operate Robot A. And after Operator C operated Robot C in operation 3-1, as shown by the dashed bar, in operation 3-2, Operator B was scheduled to operate Robot C.

[0068] However, during the execution of operation 3-1 by Operator A, an abnormal state or sign of Operator A was detected. As a result, the work plan update system 1 updates the work resource allocation. The updated work resource allocation chart is shown by the hatched bar.

[0069] Specifically, as shown by the hatched bar, the work plan update system 1 updates the allocation so that Operator B operates Robot A instead of Operator A in operations 3-1 and 3-2. And as shown by the hatched bar, in operation 3-2, the allocation is changed so that Operator B operates Robot C instead of Operator C. Here, due to the continuity of the work and robot operation, the work plan update system 1 continues to deploy Operator C in operation 3-2.

[0070] In this way, when the work plan update system 1 detects an abnormal state or sign of Operator A, it changes the deployment from Operator A to Operator B by increasing the work efficiency of Operator B who has a track record of similar past work with Robot B.

[0071] Figure 15 is a chart showing another example of work resource allocation update. The dashed line in the center of the chart indicates the current time. The work resource allocation up to the current time and the future work resource allocation plan are the same as those in Figure 14. However, during the execution of Task 3-1 by Operator A, an abnormal state or sign of Operator A was detected. As a result, the work plan update system 1 updates the work resource allocation.

[0072] The work plan update system 1 switches the manual operation of Robot B by Operator A to automatic operation in Tasks 3-1 and 3-2, and Operator A updates the work content to safety monitoring work during automatic operation. In the chart of Figure 15, the automatic operation of the robot is indicated by a thick hatched bar, and the safety monitoring work during automatic operation by Operator A is indicated by a thin hatched bar.

[0073] In this way, when the work plan update system 1 detects an abnormal state or sign of Operator A, it changes the arrangement to the automatic operation of Robot B.

[0074] Figure 16 is a chart showing an example of work resource allocation update. The dashed line in the center of the chart indicates the current time. The work resource allocation up to the current time and the future work resource allocation plan are the same as those in Figure 14.

[0075] However, during the execution of Task 3-1 by Operator A, an abnormal state or sign of Robot B was detected. As a result, the work plan update system 1 updates the work resource allocation. At this time, Robot B is undergoing recovery work.

[0076] Specifically, in Task 3-1, Operator A works using Robot A instead of Robot B. And when the work plan update system 1 anticipates a decrease in work efficiency related to Task 3 with Robot A, which is the proxy robot, it changes the time schedule to postpone and then resumes the recovered Robot B to work in Task 3-2.

[0077] "Second Embodiment" FIG. 17 is a configuration diagram of a work plan update system 1A according to the second embodiment. The work plan update system 1A of the second embodiment is configured to include a work process management device 16 in addition to the same configuration as the work plan update system 1 shown in FIG. 1. And it is explicitly stated that the objects handled by the work plan update system 1A are a plurality of operations.

[0078] In the step where the work process management device 16 designates the work classification of each work according to the comparison result of the work resource allocation update unit 142, the work process management device 16 calculates the overall work efficiency including the variation in work efficiency of each work due to the work resource state. Then the work process management device 16 outputs a work plan update result that satisfies a preset overall work efficiency threshold value.

[0079] FIGS. 18A and 18B are flowcharts showing the work plan update process according to the second embodiment. First, workers 2a to 2c perform operations by operating robots 3a to 3c (step S40).

[0080] The work state processing device 12 measures the work state, analyzes and evaluates it (step S41). Specifically, the worker state measurement unit 121 of the work state processing device 12 measures the state of the worker, and the robot state measurement unit 122 measures the state of the robot. Then, the work state analysis and evaluation unit 123 analyzes and evaluates the work state, and the work attribute analysis and evaluation unit 124 analyzes and evaluates the work attributes. Next, the work state processing device 12 records and manages the work state in the work management database 13 (step S42). Then, the work resource processing device 14 determines whether plan update is necessary (step S43). Here, when the data measured by the work state processing device 12 and the data analyzed therefrom exceed a preset threshold value, the work resource processing device 14 determines that plan update is necessary.

[0081] If a plan update is necessary (Yes), the operation resource processing device 14 proceeds to step S50 in FIG. 18B. If a plan update is not necessary (No), the process proceeds to the process of step S44.

[0082] In step S44, the operation status processing device 12 determines whether the operation has been completed. Here, the completion of the operation is determined, for example, by whether the operation supervisor has input that the operation has been completed. If the operation has not been completed (No), the operation status processing device 12 returns to the process of step S40. If the operation has been completed (Yes), the process of FIG. 18A ends.

[0083] In step S50, the operation resource processing device 14 sets the objective function and constraint conditions. The operation resource processing device 14 searches for and extracts past similar operations from the operation management database 13 (step S51). Here, the operation resource processing device 14 ranks past similar operations using statistical methods such as machine learning algorithms and mathematical models, and extracts the similar operations with high ranking values and their operation efficiencies. Then, the operation resource processing device 14 calculates the allocation of operation resources (step S52). Here, the allocation of operation resources refers to the arrangement of resources required for the operation. In step S52, the operation resource processing device 14 extracts robots whose operation efficiency in each operation item exceeds a predetermined value as resources. Note that the operation resource processing device 14 may extract robots whose operation efficiency in each operation item exceeds a predetermined value as resources for a plurality of operations whose operation continuity exceeds a predetermined value. In step S52, the operation resource processing device 14 calculates the overall efficiency including the variation in operation efficiency due to the resources required for this operation, and calculates the arrangement of the resources required for this operation so as to satisfy a previously specified threshold value.

[0084] Next, the operation resource processing device 14 determines whether the calculation of the corresponding operation resources has been completed (step S53).

[0085] In step S53, if the calculation of the work resources has not been completed (No), the work resource processing device 14 returns to step S50. If the calculation of the work resources has been completed (Yes), it proceeds to step S54.

[0086] In step S54, the work supervisor determines whether to update this work based on the work resources calculated by the work resource processing device 14. In response to this determination, the work process management device 16 updates the overall work process (step S55). Then, the work instruction operation device 15 updates the operator operation procedure and robot control (step S56). As a result, the operator and the robot resume the work (step S57) and return to step S40 in FIG. 18A.

[0087] FIG. 19 is a chart showing an example of updated work resource allocation. The dashed line in the center of the chart indicates the current time. In this chart, the robot is abbreviated as "Robo". In the past work A-1, operator A was operating robot A. The proficiency of operator A is "low", and the operability of robot A is "normal".

[0088] In the next work A-2, operator A continues to operate robot A. In the parallel work B-1, operator C is operating robot C. The proficiency of operator C is "high", and the operability of robot C is "difficult".

[0089] In work A-3, operator A continues to operate robot A, and operator B starts operating robot B. In the parallel work B2, operator C continues to operate robot C, and operator D starts operating robot D.

[0090] However, at the current time when works A-3 and B-2 are being carried out, an abnormality or a sign thereof in the state of operator B is detected. As a result, the work plan update system 1 updates the work resource allocation. Note that works A-3 and A-4 can only be carried out manually with a high level of difficulty.

[0091] The operation plan update system 1 changes the shift of worker C and operates robot B to execute operations A-3 and A-4. Worker C has the skills to perform high-difficulty operations such as operation A-3 and operation A4.

[0092] Then, it switches robot B to automatic operation to execute operation A-5, and makes worker A perform safety monitoring of robot B.

[0093] As a result, there are no resources to perform operations after operation B-2, so operation B-2 is interrupted until operation A-4 is completed. And resources are allocated to operation B-2 in parallel with the execution of operation A-5. Specifically, in operation B-2, worker C and robot C are assigned as originally planned, and worker D and robot D are assigned. Thereafter, in operations B-3 and B-4, worker D and robot D are assigned.

[0094] Figures 20A and 20B are flowcharts showing the periodic operation plan update process according to the second embodiment. First, workers 2a to 2c operate robots 3a to 3c to perform operations (step S60).

[0095] The operation state processing device 12 periodically measures the operation state, analyzes and evaluates it (step S61). Specifically, the worker state measurement unit 121 of the operation state processing device 12 periodically measures the state of the worker, and the robot state measurement unit 122 periodically measures the state of the robot. Then, the operation state analysis and evaluation unit 123 periodically analyzes and evaluates the operation state, and the operation attribute analysis and evaluation unit 124 periodically analyzes and evaluates the operation attributes. Then, the work status processing device 12 periodically records and manages the work status in the work management database 13 (step S62). Then, the work resource processing device 14 determines whether a plan update is necessary (step S63). Here, when the data measured by the work status processing device 12 or the data analyzed therefrom exceeds a preset threshold value, the work resource processing device 14 determines that a plan update is necessary. Specific examples of when a plan update is necessary will be described with reference to FIGS. 21 and 22 described later. If the work resource processing device 14 determines that a plan update is necessary (Yes), it proceeds to step S70 in FIG. 20B. If it determines that a plan update is not necessary (No), it proceeds to the process of step S64.

[0096] In step S64, the work status processing device 12 determines whether the work has been completed. Here, the completion of the work is determined, for example, by whether the work supervisor has input that the work has been completed. If the work status processing device 12 determines that the work has not been completed (No), it returns to the process of step S60. If the work has been completed (Yes), it ends the process of FIG. 20A.

[0097] The work resource processing device 14 sets the objective function and constraint conditions (step S70), searches for and extracts past similar work from the work management database 13 (step S71). Then, the work resource processing device 14 calculates the allocation of work resources (step S72). In step S72, the work resource processing device 14 extracts, as resources, robots whose work efficiency in each work item exceeds a predetermined value. Note that the work resource processing device 14 may extract, as resources, robots whose work efficiency in each work item exceeds a predetermined value in a plurality of works where the work continuity exceeds a predetermined value. In step S72, the work resource processing device 14 calculates the overall efficiency including the variation in work efficiency due to the resources required for this work, and calculates the arrangement of the resources required for this work so as to satisfy a preset threshold value.

[0098] Next, the work resource processing device 14 determines whether the calculation of the corresponding work resources has been completed (step S73).

[0099] In step S73, if the calculation of the work resource by the work resource processing device 14 is not completed (No), the process returns to step S70. If the calculation of the work resource is completed (Yes), the process proceeds to step S74.

[0100] In step S74, the work supervisor determines and inputs an update of this work based on the work resource calculated by the work resource processing device 14. In response to this determination, the work process management device 16 updates the overall work process (step S75). Then, the work instruction operation device 15 updates the operator operation procedure and robot control (step S76). As a result, the operator and the robot resume the work (step S77) and return to step S60 in FIG. 20A.

[0101] FIG. 21 is a graph showing an example of data output from the work state measurement unit. The vertical axis of the graph indicates the value of the analysis data, and the horizontal axis indicates time.

[0102] The upper broken line is the vital threshold value, which is used to determine the necessity of plan update from vital analysis data such as fatigue degree and concentration. The lower broken line is the robot operation threshold value, which is used to determine the necessity of plan update from robot operation analysis data such as robot operation calibration frequency and unit calibration amount.

[0103] In the case where the measured value exceeds any of the threshold values, the work plan update system 1 updates the plan. The work plan update system 1 further updates the plan even in the case where the measured value exceeds any of the threshold values and the threshold value of the differential value or the second-order differential value of the deterioration curve is also exceeded.

[0104] FIG. 22 is a graph showing an example of data output from the robot state measurement unit 122. The robot state measurement unit 122 assigns the dispersion value σ due to variation to the measured value. Here, the arrow attached to the line of each graph is the product of the dispersion value σ due to variation and a predetermined coefficient.

[0105] In the case where the range to which a variance value obtained by multiplying a measurement value by a predetermined coefficient exceeds any of the thresholds, the work plan update system 1 updates the plan. The work plan update system 1 further updates the plan in the case where the range to which a variance value obtained by multiplying a measurement value by a predetermined coefficient exceeds any of the thresholds and the differential value or the second differential value of the deterioration curve exceeds the threshold. Note that the coefficient multiplied by the variance value is set by the operator depending on the importance and risk level of the work.

[0106] <<Third Embodiment>> FIG. 23 is a configuration diagram of a work plan update system 1B according to the third embodiment. The work plan update system 1B of the third embodiment has a work management database 13B different from the work management database 13 of the work plan update system 1 shown in FIG. 1. The work instruction operation device 15 accumulates work resource update results, worker operation instruction data, and work robot control data in the work management database 13B.

[0107] FIG. 24 is a configuration diagram of the work management database 13B. In addition to having the same configuration as the work management database 13 shown in FIG. 6, the work management database 13B includes a work resource allocation record management unit 136, a worker procedure record management unit 137, and a robot control record management unit 138.

[0108] The work resource allocation record management unit 136 records the work resource update results by the work instruction operation device 15. The worker procedure record management unit 137 records the worker operation instruction data by the work instruction operation device 15. The robot control record management unit 138 records the work robot control data by the work instruction operation device 15. By managing these pieces of information, more knowledge of past work plan updates can be accumulated, more suitable past similar work can be presented, and appropriate work resources can be allocated to the work.

[0109] (Modification Example) The present invention is not limited to the above-described embodiments, and includes various modifications. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. It is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add, delete, or replace other configurations for a part of the configuration of each embodiment.

[0110] Each of the above configurations, functions, processing units, processing means, etc. may be realized by hardware such as an integrated circuit, for example, for a part or all of them. Each of the above configurations, functions, etc. may also be realized by software by a processor interpreting and executing a program for realizing each function. Information such as a program, table, file, etc. for realizing each function can be placed in a recording device such as a memory, hard disk, SSD (Solid State Drive), or a recording medium such as a flash memory card, DVD (Digital Versatile Disk).

[0111] In each embodiment, the control lines and information lines are shown as those considered necessary for explanation, and not all the control lines and information lines are necessarily shown on the product. In fact, it may be considered that almost all the configurations are interconnected.

Explanation of Reference Numerals

[0112] 1, 1A, 1B Work Plan Update System 11 Data Interface Unit 12 Work Status Processing Device (Work Status Processing Unit) 121 Worker Status Measurement Unit 122 Robot Status Measurement Unit 123 Work Status Analysis and Evaluation Unit 124 Work Attribute Analysis and Evaluation Unit 13, 13B Work Management Database 131 Worker Status Recording and Management Unit 132 Robot Status Recording and Management Unit 133 Operation Status Record Management Department 134 Operation Attribute Record Management Department 135 Operation Result Record Management Department 136 Operation Resource Allocation Record Management Department 137 Operator Procedure Record Management Department 138 Robot Control Record Management Department 14 Operation Resource Processing Device (Operation Resource Processing Department) 141 Operation Resource Allocation Calculation Department 142 Operation Resource Allocation Update Department 15 Operation Instruction Operating Device (Operation Instruction Operating Department) 151 Operator Procedure Instruction Department 152 Robot Control Operating Department 16 Operation Process Management Device (Operation Process Management Department) 2a~2c Operators 3a~3c Robots 4 Operation Associated Information 5 Operation Attribute Information

Claims

Claim 1. A work plan update system comprising: a data interface unit that acquires data related to each work included in a work plan from an operator and a robot at a preset time interval; a work status processing unit that analyzes the vital signs of the operator or the operation of the robot from the data; a work resource processing unit that updates the allocation of the operator and the robot, which are resources required for the subsequent work in the work plan, to the work when a status abnormality is detected from the data acquired by the data interface unit or the data analyzed by the work status processing unit; The work resource processing unit compares the work efficiency between manual and automatic operations in other works that are similar to each of the subsequent works in the work plan after detecting a status abnormality from the data and are stored in a database. If the work efficiency during manual operation in the other works is high, it designates a work classification for performing each work manually. If the work efficiency during automatic operation in the other works is high, it updates the work plan by designating a work classification for performing each work automatically. characterized in that.

2. The work resource processing unit calculates the work efficiency between manual and automatic operations of the work by dividing the work time in the selected operation mode by the work time during manual operation. The work plan update system according to claim 1, characterized in that.

3. The work resource processing unit further calculates the work efficiency between manual and automatic operations of the work by dividing the work time in the selected operation mode by the work time during manual operation, and multiplies the work efficiency by a work status coefficient that decreases as the dose of the work status increases. The work plan update system according to claim 2, characterized in that.

4. The work resource processing unit further calculates the work efficiency between manual and automatic operations of the work by dividing the work time in the selected operation mode by the work time during manual operation, and multiplies the work efficiency by a work status coefficient that increases as the layout information of the work status is more accurate. The work plan update system according to claim 2, characterized in that.

5. The work resource processing unit further calculates the work efficiency between manual and automatic operations of the work by dividing the work time in the selected operation mode by the work time during manual operation, and multiplies the work efficiency by a work attribute coefficient that decreases as the difficulty of the work increases. The work plan update system according to claim 2, characterized in that.

6. The work resource processing unit further calculates the work efficiency between manual and automatic operations of the work by dividing the work time in the selected operation mode by the work time during manual operation, and multiplies the work efficiency by a work attribute coefficient that decreases as the difficulty of the work increases. The work plan update system according to claim 2, characterized in that.

7. ​ The operation resource processing unit further calculates the work efficiency of the operation in manual and automatic modes by dividing the work time in the selected operation mode by the work time in manual mode, and multiplies the work efficiency by a work attribute coefficient that increases as the proficiency of the worker engaged in the work is higher. The work plan update system according to claim 2, characterized in that.

7. The operation resource processing unit further calculates the work efficiency of the operation in manual and automatic modes by dividing the work time in the selected operation mode by the work time in manual mode, and multiplies the work efficiency by a work attribute coefficient that increases as the operability of the robot used in the operation is higher. The work plan update system according to claim 2, characterized in that.

8. When calculating the work efficiency of the operation in manual and automatic modes, the operation resource processing unit ranks past similar operations similar to the operation using a statistical method of a machine learning algorithm or a mathematical model, extracts similar operations with high ranking values and their work efficiency, and updates the allocation of workers or / and robots, which are the resources required for each operation of the work plan, for each of the operations. The work plan update system according to claim 2, characterized in that.

9. The operation resource processing unit calculates the variation in the work efficiency data for long-term operations by the resources required for the operation that deviates from the standard value, calculates the overall efficiency of the work plan including the variation, and updates the allocation of the resources required for the operation so that the overall efficiency satisfies a preset threshold value. The work plan update system according to claim 8, characterized in that.

10. When calculating the allocation of the resources required for the operation, the operation resource processing unit ranks past similar operations similar to the operation using a statistical method, extracts the work efficiency of the operation from the similar operations with high ranking, extracts robots whose work efficiency in each work item exceeds a predetermined value as the resources, and allocates the robots as the resources for the operation. The work plan update system according to claim 1, characterized in that.

11. When calculating the allocation of the resources required for the operation, the operation resource processing unit calculates by improving the work efficiency of a plurality of operations whose work efficiency exceeds a predetermined value when continuously performed, and extracts robots whose work efficiency in each work item exceeds a predetermined value as the resources. The work plan update system according to claim 10, characterized in that...

12. A step in which a data interface unit provided in a work plan update system acquires data related to each work included in the work plan from a worker and a robot at a preset time interval; A step in which a work status processing unit provided in the work plan update system analyzes the vital signs of the worker or the operation of the robot from the data; A step in which, when a work resource processing unit provided in the work plan update system detects an abnormality in the state from the data acquired by the data interface unit or the data analyzed by the work status processing unit, the work resource processing unit updates the allocation of the worker and the robot, which are the resources required for the subsequent work in the work plan, for the work; executing; The work resource processing unit compares the work efficiency between manual and automatic operations in other works that are similar to each of the works in the work plan after detecting the state abnormality from the data and are stored in the database. If the work efficiency in manual operation in the other works is high, the work classification for manually performing each of the works is specified. If the work efficiency in automatic operation in the other works is high, the work plan is updated by specifying the work classification for automatically performing each of the works. A work plan update method, characterized in that...

Images