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

Abstract

To make it possible to efficiently identify a deterioration in conveying performance.SOLUTION: An information processing device includes: a data collecting unit configured to collect collected data including a route plan planned for a plurality of robots capable of autonomously traveling, a job operation state indicating allocation of a robot operation to a job, a movement path for each robot, and an operating state of each robot; an analysis unit configured to use the collected data to calculate result-based evaluation index values including a job required time, a job operation ratio, and a robot operation ratio, and cause-based evaluation index values corresponding to each route with respect to the route plan; and a visualization control unit configured to perform control to cause a predetermined display unit to display a display mode enabling a comparison of the result-based evaluation index values, and a display mode enabling a comparison of the cause-based evaluation index values.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] Conventionally, techniques for analyzing the operating status of a transport management system have been proposed. For example, Patent Document 1 discloses a technique related to an analysis system that can perform analysis on transport machines. This technique uses a first signal transmitted from a first detector that detects the movement of the transport machine to classify the operating status of the transport machine during a work period identified from start information and end information. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2021-009553 Summary of the Invention [Problem to be solved by the invention]

[0004] In the conventional technology, only log data of transportation was collected, and the operation status was classified from the collected data and presented to the user. Therefore, for example, identifying the cause of the deterioration of transportation performance was not considered.

[0005] The technology disclosed herein has been developed in consideration of the above points, and aims to provide an information processing device, an information processing method, and an information processing program that enable efficient identification of a decline in conveying performance compared to conventional technology. [Means for solving the problem]

[0006] To achieve the above object, an information processing device according to the present disclosure includes a data collection unit that collects collected data including a path plan planned for a plurality of autonomously traveling robots, job operation statuses indicating the allocation of robot operation to jobs, movement trajectories of the robots, and the operation statuses of the robots, an analysis unit that uses the collected data to calculate result-related evaluation index values ​​including job required times, job operation rates, and robot operation rates, and cause-related evaluation index values ​​corresponding to each path for the path plan, and a visualization control unit that controls a predetermined display unit to display a display mode that allows comparison of the result-related evaluation index values ​​and a display mode that allows comparison of the cause-related evaluation index values, thereby enabling efficient identification of deterioration in conveying performance.

[0007] The visualization control unit may display the result-related evaluation index values ​​for the entire transport system or for each robot in a comparable manner, or may display the cause-related evaluation index values ​​for each route in the route plan in a comparable manner, depending on the display mode selected by the user. This makes it possible to efficiently identify a deterioration in transport performance depending on the selected display mode.

[0008] The analysis unit may calculate an average travel speed for each route in the route plan as the evaluation index value of the cause system, and the visualization control unit may display the average travel speed for each route in a comparative manner as a graph map, thereby allowing each route to be compared as a graph map.

[0009] The visualization control unit may be configured to display the average travel speeds on the routes as a heat map for comparison, thereby visualizing each route as a heat map and improving distinguishability.

[0010] With regard to the result system, the job required time is the time from when a job is assigned to the robot to when the job is completed, the job operation rate is the ratio of the time during which the job is being executed to the time from when the job is submitted to when the job is completed, and the robot operation rate is the ratio of the total time during which the robot is processing a job to the operating time of the robot, and the visualization control unit may visualize the operating status of the transport system using a graph comparing the robot operation rate and the job operation rate in the entire transport system, a graph comparing the number of submitted jobs to each robot, and a graph comparing the robot operation rate and the job operation rate of each robot. This makes it possible to display the results of a multifaceted analysis of the evaluation index values ​​of the result system.

[0011] In order to achieve the above-mentioned object, the information processing method disclosed herein involves a computer collecting collected data including a path plan planned for a plurality of autonomously traveling robots, job operation states indicating the allocation of robot operation to jobs, movement trajectories of each of the robots, and the operation states of each of the robots, and using the collected data, calculates result-related evaluation index values ​​including job required time, job operation rate, and robot operation rate, and cause-related evaluation index values ​​corresponding to each path for the path plan, and controls a predetermined display unit to display a display mode in which the result-related evaluation index values ​​can be compared, and a display mode in which the cause-related evaluation index values ​​can be compared, respectively.

[0012] In order to achieve the above-mentioned object, the program disclosed herein causes a computer to execute a process of collecting collected data including a path plan planned for a plurality of autonomously traveling robots, a job operation status indicating the allocation of robot operation to jobs, the movement trajectories of each of the robots, and the operation status of each of the robots, calculating, using the collected data, result-related evaluation index values ​​including job required time, job operation rate, and robot operation rate, and cause-related evaluation index values ​​corresponding to each path for the path plan, and controlling a predetermined display unit to display a display mode in which the result-related evaluation index values ​​can be compared, and a display mode in which the cause-related evaluation index values ​​can be compared, respectively. [Effects of the Invention]

[0013] According to the present disclosure, it is possible to provide an information processing device, an information processing method, and an information processing program that enable efficient identification of a decrease in transport performance. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a block diagram showing a hardware configuration of an information processing apparatus according to an embodiment; [Figure 2] FIG. 1 is a diagram illustrating an example of the configuration of a system including an information processing device according to an embodiment of the present invention. [Figure 3] 1 is an example of collected data. [Figure 4] 10 is an example of detailed data for each collection item. [Figure 5] FIG. 10 is a diagram showing state transitions of a robot status and a job status. [Figure 6] 10 is an example of a result-related evaluation index value and a cause-related evaluation index value. [Figure 7] 10 is a graph and a correspondence table comparing robot utilization rates and job utilization rates. [Figure 8] 10 is a graph showing the number of jobs submitted to each robot per day. [Figure 9] 10 is a graph showing the robot operation rate and job operation rate of each robot for each day. [Figure 10] 10 is a bar graph showing a robot's job from submission to completion. [Figure 11] This is a path simulation that compares the robot's path plan with actual data. [Figure 12] This is a diagram showing paths using edges. [Figure 13] The distance per edge, the average travel time, and the average travel speed. [Figure 14] FIG. 10 is a diagram showing edges indicating paths as a heat map based on average movement speeds. [Figure 15]10 is a flowchart showing a flow of information processing by an information processing device. DETAILED DESCRIPTION OF THE INVENTION

[0015] An example of an embodiment of the present disclosure will be described below with reference to the drawings. The same reference numerals are used throughout the drawings to designate identical or equivalent components and parts. The dimensional proportions of the drawings are exaggerated for illustrative purposes and may differ from the actual proportions.

[0016] Fig. 1 is a block diagram showing the hardware configuration of an information processing device 10 according to this embodiment. As shown in Fig. 1, the information processing device 10 has a memory 11, a CPU (Central Processing Unit) 12, a video adapter 13, a serial port interface 14, a hard disk drive interface 15, and a hard disk drive 16. Each component is connected to each other via a bus 19 so as to be able to communicate with each other.

[0017] The memory 11 is a storage area made up of, for example, a ROM (Read Only Memory) and a RAM (Random Access Memory). The ROM stores various programs and various data. The RAM serves as a working area for temporarily storing programs or data.

[0018] The CPU 12 is a central processing unit that executes various programs and controls each component. That is, the CPU 12 reads a program from the ROM of the memory 11 or the hard disk drive 16, and executes the program using the RAM of the memory 11 as a work area. The CPU 12 controls the above components and performs various arithmetic processing in accordance with the program recorded in the ROM of the memory 11 or the hard disk drive 16. In this embodiment, the ROM of the memory 11 or the hard disk drive 16 stores an information processing program that generates and outputs a predetermined data structure.

[0019] The video adapter 13 is connected to the display 20. The video adapter 13 outputs various types of information to be displayed on the display 20 to the display 20. The display 20 is an information display device such as a liquid crystal display or an organic EL display.

[0020] The serial port interface 14 is connected to a mouse 30 and a keyboard 40. The serial port interface 14 outputs to the CPU 12 the content that the user inputs by operating the mouse 30 and the keyboard 40.

[0021] The hard disk drive 16 stores various programs, including the operating system, and various data. Data and programs are read from and written to the hard disk drive 16 through the hard disk drive interface 15.

[0022] When executing the above information processing program, the information processing device 10 uses the above hardware resources to realize various functions. Next, the functional configuration realized by the information processing device 10 will be described.

[0023] FIG. 2 is a diagram illustrating an example of the configuration of a system including an information processing device 10 according to this embodiment. As shown in FIG. 2, a host system 2, a job management device 3, a path planning device 4, the information processing device 10, and multiple robots R (hereinafter, reference numerals omitted) to be controlled are connected via a network N. The information processing device 10 according to this embodiment visualizes result-related and cause-related evaluation index values ​​based on collected data, thereby enabling efficient identification of degradation in transport performance. Note that the robots to be controlled in this embodiment are autonomously mobile AMRs (Autonomous Mobile Robots). The information processing device 10 receives commands from the host system 2 and controls data exchange with other systems via the host system 2. The job management device 3 is a device that manages job operation status, and the path planning device 4 is a device that creates a path plan. The path plan represents the robot's movement path using the positions of waypoints and waypoint areas, and determines the estimated arrival time or entry order for the movement path. The expressions "result-related evaluation index value" and "cause-related evaluation index value" are used to indicate the type (labeling) of the evaluation index value, and do not indicate that there is a causal relationship between these index values.

[0024] As shown in FIG. 2, the information processing device 10 has, as its functional configuration, a communication unit 101, a data collection unit 102, an analysis unit 103, a visualization control unit 104, a data storage unit 111, and an analysis result storage unit 112. Each functional configuration is realized by the CPU 12 reading and executing an information processing program stored in the ROM of the memory 11 or the hard disk drive 16. According to the configuration of the information processing device 10 of this embodiment, by simultaneously displaying the results of a transport job (hereinafter simply referred to as a job) and travel information on the transport route during the job execution process, the user can quickly investigate the cause of any discrepancy between the job plan and the actual results in the system. Note that, in this embodiment, a job refers to information related to the task of transporting an object, including the location where the object is to be loaded, the destination of the transport, and time information (scheduled times for loading and transport).

[0025] The communication unit 101 communicates with the upper system 2, the job management device 3, the path planning device 4, and the robot, and transmits and receives various data. In the following, it is assumed that data transmission and reception with the robot is via the communication unit 101, and therefore, explanations of the fact that data is transmitted via the communication unit 101 each time will be omitted.

[0026] The data collection unit 102 collects collected data including path plans planned for multiple robots, job operation statuses, movement trajectories of each robot, and operation statuses of each robot. The job operation status refers to a status (job status, described later) indicating the allocation of robot operation to each job, and includes information on the robot assigned to the job and the destination (destination for completing the job). The robot movement trajectory is information obtained by observing the robot while it is moving, and is information that records the robot's position at each time as a trajectory. The movement trajectory also includes information on the robot's posture and speed while it is moving. The robot operation status refers to a status (robot status, described later) indicating the allocation and processing of a job for each robot, and includes information on the type of job assigned to the robot and the destination of the robot. The job operation status is collected from the job management device 3, the path plan is collected from the path planning device 4, and the movement trajectory and operation status are collected from each robot. The data collection unit 102 stores the collected collected data in the data storage unit 111.

[0027] Figure 3 is an example of collected data. Data items of the collected data include movement trajectory, operation status, and job operation status. The collected items for movement trajectory data are robot identifier, time, position (x, y), posture, translational speed, and rotational speed. The collected items for operation status data are robot identifier, robot status, destination, assigned job, and time. The collected items for job operation status data are job identifier, job type, job status, destination, assigned robot, and time. The collected items for path plan data are path plan identifier, robot identifier, estimated arrival time, and position (x, y) which is the waypoint.

[0028] Fig. 4 shows an example of detailed data for each collection item, in which data for each collection item, namely, movement trajectory, operation status, and job operation status, is saved.

[0029] Here, we will explain the robot status and job status, which are among the collected items. Figure 5 is a diagram showing the state transitions of the robot status and job status. The robot status transitions from a state of waiting for job allocation (Available) to a state of job processing (InProgress) when a job is assigned, and returns from the job processing state to the state of waiting for job allocation when the job is completed. The job status transitions to a state of waiting for robot allocation (Pending) when a job is submitted. Next, when the job starts, it transitions to a state of being executed (InProgress). When job execution is completed, it transitions to a state of completion (Complete). In this way, the job status focuses on the job and indicates the state of robot allocation to the job. The robot status focuses on the robot and indicates the state of job allocation and execution in the robot.

[0030] The analysis unit 103 uses the collected data to calculate a result-related evaluation index value and a cause-related evaluation index value. The calculated result-related evaluation index value and cause-related evaluation index value are stored in the analysis result storage unit 112. The result-related evaluation index value is, for example, a job required time, a job operation rate, and a robot operation rate. The cause-related evaluation index value corresponds to each route in the route plan, and for example, the average movement speed for each route in the route plan is calculated. The result-related analysis is a macro-perspective analysis of the entire system or each robot, while the cause-related analysis is an analysis for identifying the cause of a decrease in transport throughput in more detail at the route level of the route plan.

[0031] Figure 6 shows an example of result-related evaluation index values ​​and cause-related evaluation index values. Job completion time is the time from job submission to completion in the job status. Job operation rate is the proportion of time a job is running, and is expressed as "total time during job execution / total time required for job" in the job status. Note that "job execution" refers to the state in which a job is being executed in the job status that focuses on the job. Robot operation rate is the proportion of robot work time, and is expressed as "total time during job processing / robot operation time" in the robot status. Note that "job processing" refers to the state in which a robot is processing a job in the robot status that focuses on the robot. The average movement speed is calculated from the actual data of job completion time, the average required time calculated for each aisle on the route plan map, and the distance of the aisle.

[0032] The visualization control unit 104 controls the display 20 as a display unit to display a display mode in which result-related evaluation index values ​​can be compared and a display mode in which cause-related evaluation index values ​​can be compared. In controlling the display by the visualization control unit 104, an input for selecting a display mode is received from the user, and in accordance with the selection of the display mode, the result-related evaluation index values ​​or the cause-related evaluation index values ​​are read from the analysis result storage unit 112 and the read display mode is displayed. In addition, the display mode is controlled to be switched in accordance with input or settings from the user. The display unit is not limited to the display 20 provided in the information processing device 10, but may be an external terminal or the like of the information processing device 10.

[0033] An example of a display mode of the result-based evaluation index values ​​will be shown below.

[0034] FIG. 7 shows a graph and a correspondence table comparing robot utilization rates and job utilization rates. When the robot utilization rate and job utilization rate are both high, as in 1, there is little transport capacity available and the system is appropriate. When the robot utilization rate and job utilization rate are both high, as in 2, there is insufficient transport capacity, i.e., a robot shortage. When the robot utilization rate is low and the job utilization rate is high, as in 3, there is excess transport capacity, i.e., an excess of robots. When the robot utilization rate and job utilization rate are both low, as in 4, there is a problem with the system. In the graph in FIG. 7, site A is appropriate and site B has excess transport capacity. In this way, the visualization control unit 104 visualizes the operational status of the entire transport system, that is, the status of the robot utilization rate and job utilization rate at each site, using a graph that compares the robot utilization rate and job utilization rate of each site. In this case, the comparison targets are the robot utilization rate and the job utilization rate, and the display format that can be used for comparison is a graph. The operational status indicates the state of the transport system by comparing the operational rates of the robots and jobs in the transport system using a graph. Therefore, it is different from the job status focusing on each job and the robot status focusing on each robot.

[0035] FIG. 8 is a graph (line graph) showing the number of jobs submitted to each robot per day. The horizontal axis of the graph represents the date, and the vertical axis represents the number of jobs submitted. The number of jobs submitted to a robot per day is identified from the assigned jobs and time, which are collected items in the collected data on the operating status. In this way, the visualization control unit 104 visualizes the number of jobs submitted by each robot using a graph that compares the number of jobs submitted. In this case, the object of comparison is the number of jobs submitted to each robot per unit period, and the display format that allows comparison is a graph.

[0036] FIG. 9 is a graph (line graph) showing the robot operation rate and job operation rate of each robot for each day. The horizontal axis of the graph represents the date, and the vertical axis represents each operation rate. In this way, the visualization control unit 104 visualizes the robot operation rate and job operation rate for each day using a graph that compares the robot operation rate and job operation rate of each robot. The job operation rate of each robot is identified from the assigned robot, which is one of the collected items of the job operation status of the collected data. In this case, the objects to be compared are the robot operation rate and job operation rate of each robot for a unit period, and the display format that allows comparison is a graph.

[0037] FIG. 10 is a bar graph showing the robot's job execution from submission to completion. The bar graph accumulates the job time required for each job for each robot, and the job type can be identified by color coding or other means. In this way, the visualization control unit 104 visualizes the job time required for each robot using a graph that compares the jobs of each robot. In this case, the object of comparison is the job time required for each robot, and the display format that allows comparison is a bar graph. This makes it possible to visually grasp which jobs took a long time, and identify the factors that reduce transport throughput.

[0038] FIG. 11 shows a route simulation comparing the robot's route plan with actual data. This visualizes the planned robot position in the route plan and the recorded position, posture, and speed of the robot at a specific time so that they can be compared. In this way, the visualization control unit 104 visualizes the planned and actual path plan of the robot through route simulation. In this case, the comparison targets the planned and actual path plan, and the display format that allows comparison is route simulation. This makes it possible to visually grasp points where the robot could not move as planned, and to identify factors that reduce transport throughput. As exemplified above in the display format of the result-based evaluation index values, the visualization control unit 104 displays the result-based evaluation index values ​​as graphs or route simulations that can be compared for the entire transport system or for each robot.

[0039] An example of a display mode of the cause-related evaluation index values ​​will be shown below.

[0040] FIG. 12 is a diagram showing a route using edges. An edge is a route that connects the starting point, each waypoint, and the destination point of the route plan. In FIG. 12, edges e1 to e8 are shown. A distance is assigned to each edge based on the position of the starting point and the position of the end point.

[0041] Figure 13 shows the distance, average required time, and average movement speed for each edge. The average required time for each edge is calculated from the travel history of each robot (movement trajectory, operating status, and job operating status of the collected data), and the average movement speed for each edge is calculated. The average required time is calculated by calculating the job required time for each job for each edge and averaging it. The job required time for each job for an edge is calculated by dividing the job required time for that job by each edge, and can be calculated, for example, by referring to the movement trajectory of the assigned robot in the job operating status for the edge position (from the starting point).

[0042] FIG. 14 is a diagram showing edges representing routes in a heat map based on average travel speed. FIG. 14 illustrates an example in which the slow average travel speed of route e5 is indicated by a heat color. In this way, the visualization control unit 104 visualizes routes by displaying edges representing routes in a heat map based on average travel speed. In this case, the comparison target is the average travel speed for each route, and a comparable display mode is a heat map showing each route. Note that the heat map is only an example, and the mode of showing each route in a route plan and displaying the average travel speed for each route in a comparative manner is not limited to this. For example, a graph map may be used in which the average travel speed is represented by a numerical value assigned to the edge or the thickness of the edge. By assigning evaluation index values ​​to the graph map and visualizing it in this way, it is possible to compare each route on the graph map and identify bottleneck routes.

[0043] Note that using the average movement speed of each path as the cause-related evaluation index value is just one example, and it is also possible to use, for example, the average number of jobs, the average robot operation rate, or the average job operation rate for each path.

[0044] Next, the operation of the information processing device 10 will be described.

[0045] 15 is a flowchart showing the flow of information processing by the information processing device 10. The CPU 12 reads out an information processing program stored in the ROM of the memory 11 or the hard disk drive 16, expands it in the RAM of the memory 11, and executes it, thereby executing a processing routine for information processing.

[0046] In step S100, the CPU 12 collects collected data including a path plan planned for a plurality of robots, a job operation status, a movement trajectory of each of the robots, and an operation status of each of the robots.

[0047] In step S102, the CPU 12 calculates a result-related evaluation index value and a cause-related evaluation index value using the collected data.

[0048] In step S104, the CPU 12 determines whether or not a display request and a display mode selection input have been received from the user. If input has been received, the process proceeds to step S106. If input has not been received, the process repeats this step and waits until input is received. If no input has been received for a certain period of time, the process routine ends and the process routine is repeated from step S100.

[0049] In step S106, the CPU 12 reads out the result-related evaluation index value or the cause-related evaluation index value from the analysis result storage unit 112 in accordance with the selection of the display mode.

[0050] In step S108, the CPU 12 controls the display unit (for example, the display 20) to display the display format of the selected result-related evaluation index value or cause-related evaluation index value.

[0051] In step S110, the CPU 12 determines whether or not an input to switch the display mode has been received from the user within a certain period of time. If an input to switch the display mode has been received, the process returns to step S106. If an input to switch the display mode has not been received, the processing routine ends. This controls the display mode of the result-related evaluation index values ​​or the cause-related evaluation index values ​​to be switched in response to the input.

[0052] The information processing device 10 according to the present embodiment has such a configuration and can efficiently identify a deterioration in conveying performance. The information processing device 10 according to the present embodiment can efficiently identify a deterioration in conveying performance compared to conventional techniques by visualizing the result-related evaluation index values ​​and the cause-related evaluation index values ​​based on collected data.

[0053] In the above embodiments, the information processing performed by the CPU after reading the software (program) may be performed by various processors other than the CPU. Examples of such processors include programmable logic devices (PLDs) (such as field-programmable gate arrays (FPGAs)) whose circuit configuration can be changed after fabrication, and dedicated electrical circuits such as application-specific integrated circuits (ASICs) that are processors with circuit configurations specifically designed to perform specific processing. The information processing may be performed by one of these various processors, or by a combination of two or more processors of the same or different types (e.g., multiple FPGAs, or a combination of a CPU and an FPGA). The hardware structure of these various processors is, more specifically, an electrical circuit that combines circuit elements such as semiconductor devices.

[0054] In the above embodiment, the information processing program is pre-stored (installed) in a ROM or storage device, but the present invention is not limited to this. The program may be provided in a form recorded on a non-transitory recording medium such as a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Versatile Disk Read Only Memory), or a USB (Universal Serial Bus) memory. The program may also be downloaded from an external device via a network. [Explanation of symbols]

[0055] 10. Information processing equipment 102 Data Collection Department 103 Analysis Department 104 Visualization control unit

Claims

1. a data collection unit that collects collected data including a path plan planned for a plurality of autonomously traveling robots, a job operation status indicating the allocation of the robots' operations to jobs, a movement trajectory of each of the robots, and an operation status of each of the robots; an analysis unit that uses the collected data to calculate a first evaluation index value analyzed from the viewpoint of transport performance of the entire transport system or each robot, the first evaluation index value including at least a job required time, a job operation rate, and a robot operation rate; and a second evaluation index value analyzed to identify a cause of a decrease in transport throughput at the level of each route in the route plan, the second evaluation index value including at least an average moving speed for each route in the route plan. a visualization control unit that controls a predetermined display unit to display a first display mode in which the first evaluation index values ​​are compared using at least one of a predetermined graph and a simulation result, and a second display mode in which the second evaluation index values ​​are compared using at least one of a predetermined graph map and a heat map, respectively; An information processing device comprising:

2. 2. The information processing device according to claim 1, wherein the visualization control unit, depending on the selection of the display mode input by the user, displays the first display mode in which the first evaluation index values ​​are compared for the entire conveyance system or for each robot, or displays the second display mode in which the second evaluation index values ​​are compared by showing each route in the route plan.

3. Regarding the first evaluation index value, The job required time is the time from when the job is assigned to the robot to when the job is completed, The job operation rate is the ratio of the time during which a job is being executed to the time from when the job is submitted to when the job is completed, The robot operation rate is a ratio of the total time during which the robot is processing a job to the operation time of the robot, 2. The information processing device according to claim 1, wherein the visualization control unit visualizes the status of the operation state in the transport system using a graph comparing the robot operation rate and the job operation rate in the entire transport system, a graph comparing the number of jobs submitted to each robot, and a graph comparing the robot operation rate and the job operation rate of each robot.

4. The computer Collecting collected data including a path plan planned for a plurality of autonomously traveling robots, a job operation status indicating the allocation of the robots' operations to jobs, a movement trajectory of each of the robots, and an operation status of each of the robots; Using the collected data, a first evaluation index value is calculated from the viewpoint of the transport performance of the entire transport system or each robot, the first evaluation index value including at least a job required time, a job operation rate, and a robot operation rate, and a second evaluation index value is calculated from the analyzed data to identify a cause of a decrease in transport throughput at the level of the route plan, the second evaluation index value including at least an average moving speed for each route in the route plan, and controlling a predetermined display unit to display a first display mode in which the first evaluation index values ​​are compared using at least one of a predetermined graph and a simulation result, and a second display mode in which the second evaluation index values ​​are compared using at least one of a predetermined graph map and a heat map. Information processing methods.

5. On the computer, Path planning for multiple autonomous robots and robot assignment for a job collecting collected data including a job operation status indicating the allocation of the operation of the robots, a movement trajectory of each of the robots, and an operation status of each of the robots; Using the collected data, a first evaluation index value is calculated from the viewpoint of the transport performance of the entire transport system or each robot, the first evaluation index value including at least a job required time, a job operation rate, and a robot operation rate, and a second evaluation index value is calculated from the analyzed data to identify a cause of a decrease in transport throughput at the level of the route plan, the second evaluation index value including at least an average moving speed for each route in the route plan, and controlling a predetermined display unit to display a first display mode in which the first evaluation index values ​​are compared using at least one of a predetermined graph and a simulation result, and a second display mode in which the second evaluation index values ​​are compared using at least one of a predetermined graph map and a heat map. An information processing program that executes processing.

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