Robot schedule creation device, robot schedule creation system, robot schedule creation method, and robot schedule creation program

Abstract

A robot schedule creation device 1 comprises: an acquisition unit 111 that acquires behavior information of a worker H; an extraction unit 112 that extracts tasks on the basis of the behavior information of the worker H acquired by the acquisition unit 111; a selection unit 113 that selects, from the tasks extracted by the extraction unit 112, a task suitable for characteristics of a robot 3; and a creation unit 114 that creates a behavior schedule for causing the robot 3 to replace the task selected by the selection unit 113.

Description

Robot schedule creation device, robot schedule creation system, robot schedule creation method, and robot schedule creation program

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

[0002] Patent Literature 1 discloses a robot system equipped with an autonomous mobile robot. The autonomous mobile robot takes over delivery tasks that would normally be performed by a worker. For example, a manager inputs a command signal to the autonomous mobile robot in advance to perform the delivery task. The autonomous mobile robot then performs the delivery task based on the input command signal.

[0003] JP 2010-176203 A

[0004] However, in the robot system described above, there is room for improvement in terms of reducing the amount of tasks performed by the worker.

[0005] The technology disclosed herein has been made in view of the above points, and its purpose is to reduce the amount of tasks that a worker must perform.

[0006] The robot schedule creation device disclosed herein is a robot schedule creation device that creates a behavior schedule for a moving robot, and includes an acquirer that acquires behavior information of a worker, an extractor that extracts tasks based on the behavior information of the worker acquired by the acquirer, a selector that selects a task that is suitable for the characteristics of the robot from the tasks extracted by the extractor, and a creator that creates the behavior schedule in which the robot substitutes for the task selected by the selector.

[0007] The robot schedule creation system disclosed herein includes a mobile terminal carried by a worker and receiving the worker's behavior information, and the robot schedule creation device acquires the worker's behavior information received by the mobile terminal.

[0008] The robot schedule creation method disclosed herein is a robot schedule creation method for creating an action schedule for a moving robot, and includes the steps of acquiring worker action information, extracting tasks based on the acquired worker action information, selecting tasks from the extracted tasks that are suitable for the characteristics of the robot, and creating the action schedule in which the selected tasks are performed by the robot.

[0009] The robot schedule creation program disclosed herein is a robot schedule creation program that creates an action schedule for a moving robot, and causes a computer to realize the following functions: a function of acquiring worker action information; a function of extracting tasks based on the acquired worker action information; a function of selecting from the extracted tasks tasks that are suitable for the characteristics of the robot; and a function of creating the action schedule in which the selected tasks are substituted by the robot.

[0010] According to the robot schedule creation device, the robot schedule creation system, the robot schedule creation method, and the robot schedule creation program, the amount of tasks performed by a worker can be reduced.

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

[0012] (Robot Management System 60) An exemplary embodiment will now be described in detail with reference to the drawings. FIG. 1 is a schematic diagram showing a robot management system 60 including a robot schedule creation system 50 according to an embodiment. The robot management system 60 includes a plurality of autonomously moving robots 3, a server 4, a database 5, and the robot schedule creation system 50. The robot management system 60 causes the robot schedule creation system 50 to create an action schedule for the robot 3 based on action information of the worker H, and causes the robot 3 to autonomously move and perform tasks based on the action schedule.

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

[0014] (Database 5) The database 5 is connected to the server 4 via a signal line. The database 5 stores map data of the facility in which the robot 3 moves. The map data specifies the shape of the area in which the robot 3 can move. For example, the map data specifies the shape of each floor in the facility. The map data specifies the contours of obstacles on each floor, thereby specifying the contour of the area in which the robot 3 can move.

[0015] The database 5 stores behavioral information of the worker H. The behavioral information of the worker H corresponds to tasks that the worker H performs within the facility. The tasks of the worker H include, for example, delivering packages, placing packages, checking inventory or people, etc. within the facility. If the facility is a hospital, the worker H is, for example, a nurse, and the packages are, for example, medicines, specimens, ME (Medical Engineering) equipment, blankets, diapers, etc.

[0016] The behavioral information of the worker H is transmitted from the robot schedule creation system 50 to the server 4 via the communication network N. The server 4 stores the transmitted behavioral information of the worker H in the database 5. The database 5 may be built into the server 4 or may be connected to the server 4 via the communication network N.

[0017] (Robot 3) The multiple robots 3 have different characteristics from one another. Specifically, the multiple robots 3 include a first robot 3 a and a second robot 3 b. When there is no need to distinguish between the first robot 3 a and the second robot 3 b, they are simply referred to as "robot 3."

[0018] The robot 3 moves autonomously toward the destination. If the robot 3 travels via a relay point before reaching the final destination, the robot 3 may travel to the relay point closest to its current location as its destination, and then travel toward the final destination. The robot 3 travels on the ground, but may also fly in the air. Furthermore, multiple robots 3 may have the same characteristics.

[0019] The robot 3 includes a body 30 and a plurality of wheels 36. The body 30 is supported by the wheels 36. The wheels 36 are drive wheels for traveling. In this example, the tasks of the robot 3 include delivering and placing packages. For this reason, the body 30 has a storage box 30a for storing packages.

[0020] The first robot 3a has the property of delivering packages. Delivery means transporting the package to a delivery location. In other words, the first robot 3a moves from a departure point to a first destination, picks up the package, and transports it from the first destination to a second destination. At this time, a worker H stores the package in the storage box 30a of the first robot 3a at the first destination, and removes the package from the storage box 30a of the first robot 3a at the second destination. The worker H who stores the package and the worker H who removes the package are different people. However, the same worker H may perform both storage and removal. The same applies to the following description.

[0021] On the other hand, the second robot 3b has a hand 37 in addition to the configuration of the first robot 3a. Therefore, the second robot 3b has the ability to place and distribute luggage. "Placing and distribution" means transporting the luggage to a delivery location and placing it at the delivery location using the hand 37 without the involvement of the worker H. In other words, the second robot 3b moves from the departure point to the first destination to pick up the luggage, transports the luggage from the first destination to the second destination, and then picks up the luggage at the second destination and places it there. At this time, the worker H may store the luggage in the storage box 30a of the first robot 3a at the first destination, or the second robot 3b may store the luggage at the first destination by itself.

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

[0023] The communication module 31 has an antenna and the like, and is wirelessly connected to the communication network N. The first robot 3a is connected to the server 4 and the robot schedule creation system 50 via the communication module 31 so that they can communicate with each other. The communication module 31 functions as a transmitter that transmits information about the first robot 3a to the server 4 via the communication network N. The communication module 31 also functions as a receiver that receives the behavior schedule transmitted from the robot schedule creation system 50.

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

[0025] The distance measurement sensor 33 measures the distance around the first robot 3a in three dimensions to detect the shape of the area around the first robot 3a in three dimensions. The distance measurement sensor 33 detects the position data of the outer surfaces of obstacles around the first robot 3a by receiving reflected waves from the obstacles. For example, the distance measurement sensor 33 may emit light, radio waves, or ultrasonic waves toward the area around the first robot 3a and receive reflected waves. The distance measurement sensor 33 may measure distances in all horizontal directions based on the first robot 3a.

[0026] The distance measurement sensor 33 may be, for example, a sensor that measures the time from emitting laser light to receiving the reflected wave to detect the distance to an obstacle. The distance measurement sensor 33 may be a light detection and ranging (LIDAR) sensor. As an example, the distance measurement sensor 33 is a three-dimensional LIDAR sensor. The distance measurement sensor 33 may also be an infrared distance measurement sensor, a millimeter-wave radar, or a depth-sensing camera.

[0027] The travel actuators 34 include wheel drive actuators that drive the wheels 36 to rotate. The travel actuators 34 are, for example, electric motors. The travel actuators 34 include braking actuators that drive brakes that brake the wheels 36. The first robot 3a may change its travel direction by varying the rotation speed of the left and right wheels 36, or by varying the rotation direction of the left and right wheels 36, or by steering the wheels 36 with a steering actuator.

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

[0029] The robot control device 35 causes the first robot 3a to execute a task based on the behavior schedule transmitted from the robot schedule creation system 50. Specifically, the robot control device 35 causes the first robot 3a to execute package delivery.

[0030] On the other hand, the second robot 3b further includes a hand 37 in addition to the aforementioned communication module 31, display 32, distance measurement sensor 33, travel actuator 34, and robot control device 35. In the second robot 3b, the robot control device 35 controls the hand 37 to place a package on the hand 37 in addition to performing the same control as the first robot 3a.

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

[0032] The processor 351 controls the entire robot control device 35. The processor 351 performs various types of arithmetic processing. For example, the processor 351 is a processor such as a central processing unit (CPU). The processor 351 may be a microcontroller unit (MCU), a microprocessor unit (MPU), a field programmable gate array (FPGA), a programmable logic controller (PLC), a system LSI, or the like.

[0033] The storage unit 352 stores various programs and various data executed by the processor 351. The various programs cause the robot control device 35 to realize various functions. The storage unit 352 is a non-volatile memory, a hard disk drive (HDD), a solid state drive (SSD), or the like. The memory 353 temporarily stores data and the like. For example, the memory 353 is a volatile memory.

[0034] The processor 351 realizes various functions by reading out and loading various programs from the storage unit 352 into the memory 353. Specifically, the processor 351 controls at least one of the display 32 and the travel actuator 34 based on information input from at least one of the communication module 31, the display 32, and the distance measurement sensor 33.

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

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

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

[0038] The storage unit 422 stores various programs and various data executed by the processor 421. The various programs cause the control device 42 to realize various functions. The storage unit 422 is a non-volatile memory, a hard disk drive (HDD), a solid state drive (SSD), or the like. The memory 423 temporarily stores data and the like. For example, the memory 423 is a volatile memory.

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

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

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

[0042] The communication module 21 has an antenna and the like, and is wirelessly connected to the communication network N. The mobile terminal 2 is communicatively connected to the server 4 via the communication module 21. The communication module 21 functions as a transmitter that transmits behavioral information of the worker H to the server 4 via the communication network N. The behavioral information of the worker H includes work content and location information. The behavioral information of the worker H may further include date and time information.

[0043] The position information acquisition device 22 detects the current position of the worker H. That is, the position information acquisition device 22 detects the position information of the worker H from the behavior information of the worker H. In this way, the position information acquisition device 22 can detect the work location of the worker H. The position information acquisition device 22 may be, for example, a device that calculates position information by analyzing radio waves of a wireless LAN within a facility in real time, or may be a device that uses a GPS (Global Positioning System).

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

[0045] The display 23 displays a plurality of types of work content among the behavioral information of the worker H. The worker H specifies the work content that is currently being performed from the plurality of types of work content displayed on the display 23. The worker H specifies the work content, for example, by directly touching the screen of the display 23.

[0046] The multiple types of work content include, for example, delivery of a package, placement of a package, and checking inventory or personnel. When worker H specifies delivery of a package as the work content, worker H further specifies, for example, the type, quantity, and size of the package, and, for the delivery, specifies, for example, the movement of worker H to the package receiving location, receiving the package at the package receiving location, transporting the package from the package receiving location to the package delivery location, and delivering the package at the package receiving location. As a result, the work content specified by worker H is linked to the work location detected by the location information acquisition device 22.

[0047] The display 23 displays the current date and time. When specifying the work content to be displayed on the display 23, the worker H may specify the date and time to be displayed on the display 23. That is, the worker H may specify the date and time information included in the behavioral information of the worker H. As a result, the work content specified by the worker H is linked to the work date and time specified by the worker H, in addition to the work location detected by the location information acquisition device 22. As an example, part of the behavioral information of the worker H indicates the information that "receive medicine at the first location at 15:00 on January 30th."

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

[0049] The speaker 25 outputs voice prompts or guidance when specifying the work content, etc. The speaker 25 also outputs the voice of another person when the mobile terminal 2 is used as a telephone.

[0050] The terminal control device 26 causes the position information acquisition device 22 to detect the current location of the worker H, and causes the display 23 to display the work content of the worker H and the current date and time. The terminal control device 26 accepts the work location detected by the position information acquisition device 22 and the work content and work date and time specified by the worker H. In other words, the terminal control device 26 accepts the behavior information of the worker H. Then, the terminal control device 26 causes the communication module 21 to transmit the behavior information of the worker H.

[0051] When worker H inputs the work content into microphone 24 by voice, terminal control device 26 recognizes the voice input into microphone 24 and accepts the work content. Here, when worker H specifies the type of package by voice, the same package may be called by different names depending on worker H. In such a case, terminal control device 26 groups the same package with different names and accepts it as the same package.

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

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

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

[0055] The storage device 262 stores various programs and various data executed by the processor 261. The various programs cause the terminal control device 26 to realize various functions. The storage device 262 is a non-volatile memory, a hard disk drive (HDD), a solid state drive (SSD), or the like. The memory 263 temporarily stores data and the like. For example, the memory 263 is a volatile memory. The storage device 262 or the memory 263 stores multiple types of work contents to be displayed on the display 23.

[0056] 8 is a block diagram showing the configuration of the control system of the processor 261 of the terminal control device 26. The processor 261 realizes various functions by reading out a program from the storage unit 262 to the memory 263 and expanding it. More specifically, the processor 261 functions as an acceptor 265 and an output unit 266.

[0057] The acceptor 265 accepts the behavioral information of the worker H. Specifically, the acceptor 265 accepts the location information included in the behavioral information via the location information acquisition device 22. The acceptor 265 also accepts the work content and work date and time included in the behavioral information via the display 23.

[0058] The output unit 266 outputs the behavior information of the worker H. Specifically, the output unit 266 outputs the behavior information accepted by the acceptor 265 to the server 4 via the communication module 21. The server 4 accumulates the behavior information of the worker H output by the output unit 266 in the database 5.

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

[0060] The robot schedule creation device 1 is required to include at least the schedule creation control device 10. In this case, the robot schedule creation device 1 may be connected to a keyboard and a display so that it can be operated like a PC (Personal Computer). Alternatively, the robot schedule creation device 1 may be part of the server 4, or may be integrated with the server 4. When the robot schedule creation device 1 is attached to the server 4, the robot schedule creation device 1 is connected to the server 4 without going through the network N.

[0061] The communication module 6 is connected to the communication network N by wire or wirelessly. The robot schedule creation device 1 is communicatively connected to the server 4 via the communication module 6. The communication module 6 functions as a receiver that receives behavior information of the worker H from the server 4 via the communication network N. The communication module 6 also functions as a transmitter that transmits the behavior schedule of the robot 3 to each robot 3 via the communication network N.

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

[0063] The display 7 displays the behavior schedule of the robot 3. The worker H may be able to touch the screen of the display 7 to instruct the start of creation of the behavior schedule of the robot 3. The worker H may also be able to touch the screen of the display 7 to edit the behavior schedule of the robot 3. The worker H may also be able to touch the screen of the display 7 to send the behavior schedule of the robot 3 to each robot 3. The display 7 may also display behavior information of the worker H. At this time, the worker H may be able to touch the screen of the display 7 to switch between displaying the behavior schedule of the robot 3 and displaying the behavior information of the worker H.

[0064] The schedule creation control device 10 causes the communication module 6 to receive the behavior information of the worker H. The schedule creation control device 10 creates a behavior schedule for the robot 3 based on the behavior information of the worker H. Then, the schedule creation control device 10 causes the display 7 to display the behavior schedule of the robot 3.

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

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

[0067] The memory 12 stores various programs and various data executed by the processor 11. The various programs cause the schedule creation control device 10 to realize various functions. The memory 12 is a non-volatile memory, a hard disk drive (HDD), a solid state drive (SSD), or the like. The memory 12 stores a robot schedule creation program P. The robot schedule creation program P is a program that causes a computer, i.e., the schedule creation control device 10, to realize various functions for creating a behavior schedule for the robot 3.

[0068] The memory 13 temporarily stores data and the like. For example, the memory 13 is a volatile memory. The behavior information of the worker H acquired from the server 4 is stored in the memory 13. The created behavior schedule of the robot 3 is stored in the memory 13.

[0069] The storage device 12 or the memory 13 stores the type of robot 3, that is, the characteristics of each robot 3. The storage device 12 or the memory 13 stores a known method for determining the movement path of the robot 3, which is used when creating a behavior schedule for the robot 3. By using the known method, it is possible to search for a route that efficiently moves the robot 3. Examples of known methods include the LNS (Large Neighborhood Search) algorithm and the VRP (Vehicle Routing Problem) algorithm.

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

[0071] The acquirer 111 acquires the behavioral information of the worker H. Specifically, the acquirer 111 acquires the behavioral information of the worker H stored in the database 5 from the server 4.

[0072] The extractor 112 extracts a task based on the behavioral information of the worker H acquired by the acquirer 111. The task includes, for example, delivery of a package, placement of a package, checking inventory or people, etc.

[0073] Here, the behavioral information of worker H includes the work content and location information, and therefore the tasks extracted by the extractor 112 include information on the work content and work location. In other words, a task including information on the work content and work location means, for example, delivering a package from a first location to a second location, placing a package from the first location to a second location, or checking inventory or people at the first location.

[0074] For example, when worker H delivers a package, the behavioral information of worker H includes worker H's movement to a first location, receiving the package at the first location, transporting the package from the first location to a second location, and handing over the package at the second location. The extractor 112 extracts tasks by linking and organizing each piece of behavioral information of worker H. That is, the extractor 112 extracts the task of traveling to the first location, receiving the package, and transporting the package from the first location to the second location (i.e., delivering the package) from each piece of behavioral information of worker H.

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

[0076] Furthermore, when worker H checks inventory, people, etc., the behavioral information of worker H is worker H's movement to the first position and checking inventory, people, etc. at the first position. The extractor 112 extracts the task of moving to the first position and checking inventory, people, etc. at the first position (i.e., checking inventory, people, etc.) from the behavioral information of worker H.

[0077] If the behavioral information of worker H further includes date and time information, the task extracted by the extractor 112 further includes information on the date and time of work. In other words, a task that further includes information on the date and time of work means, for example, a delivery task that further includes information on the date and time of receipt and delivery of a package, a placement task that further includes information on the date and time of receipt and placement of a package, or a confirmation task that further includes information on the date and time of checking inventory or people, etc.

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

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

[0080] The creator 114 creates an action schedule for substituting the tasks selected by the selector 113 for the robot 3. Specifically, the creator 114 reads out a known method for determining the movement route of the robot 3 from the storage device 12 or the memory 13, and creates an action schedule taking into account the movement route of the robot 3.

[0081] In this example, the robots 3 include multiple robots 3 with different characteristics, so the creator 114 creates an action schedule in which the tasks selected by the selector 113 are assigned to each of the multiple robots 3. Specifically, the creator 114 creates an action schedule in which the first robot 3a is assigned to perform delivery and the second robot 3b is assigned to perform placement. Note that the creator 114 may assign the second robot 3b a delivery task instead of a placement task.

[0082] If the task extracted by the extractor 112 further includes information on the date and time of work, the creator 114 creates an action schedule that further includes information on the date and time of work. Specifically, the creator 114 creates an action schedule in which the first robot 3a takes over delivery with a specified date and time, and the second robot 3b takes over placement with a specified date and time.

[0083] The determinator 115 determines whether the task that has been substituted for by the robot 3 is effective. Specifically, the determinator 115 acquires the task selected by the selector 113 and determines whether the task is effective. In other words, the determinator 115 acquires the task included in the behavior schedule created by the creator 114 and determines whether the task is effective. An ineffective task is, for example, a task that has been substituted for by the robot 3 and whose number of uses is equal to or less than a threshold for a predetermined period of time. The predetermined period is, for example, several days to several weeks. In this case, the determinator 115 counts the number of times the task is used for the predetermined period of time and determines whether the number of times the task is used is equal to or less than the threshold. If the number of times the task is used is equal to or less than the threshold, the determinator 115 determines that the task is ineffective. On the other hand, if the number of times the task is used is greater than the threshold, the determinator 115 determines that the task is effective.

[0084] The number of uses of the determiner 115 is counted, for example, as follows: If the task is to deliver a package, when worker H instructs the robot 3 to store or retrieve the package, worker H touches the screen of the display 32 of the robot 3 to confirm that the package has been stored or retrieved. A confirmation signal from the robot 3 is sent to the determiner 115, and the determiner 115 counts the number of uses based on the confirmation signal. In other words, the determiner 115 counts the number of uses based on the log of the robot 3.

[0085] Incidentally, a microphone may be provided on the robot 3, and the worker H may confirm by voice input, and a signal of the confirmation may be sent to the determiner 115. Alternatively, a load sensor may be provided on the robot 3, and the load sensor may determine whether a package has been put away or removed, and a signal of the determination may be sent to the determiner 115. Alternatively, a camera may be provided on the robot 3, and the camera may detect the putting away or removing of a package, and a signal of the detection may be sent to the determiner 115. Alternatively, an IC tag may be attached to the package, and the putting away or removing of the package may be detected by the IC tag, and a signal of the detection may be sent to the determiner 115.

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

[0087] For example, in response to a change command from the changer 116, the creator 114 creates an action schedule in which ineffective tasks are excluded from the selected tasks. In the action schedule, since the ineffective tasks for a specific time period have been deleted, the specific time period is displayed as blank.

[0088] Alternatively, in response to a change command from the changer 116, the creator 114 re-creates an action schedule in which the robot 3 takes over the remaining tasks after excluding ineffective tasks from the selected tasks. In other words, the creator 114 re-optimizes the remaining tasks and re-creates the schedule.

[0089] Alternatively, in response to a change command from the changer 116, the acquirer 111 reacquires the behavioral information of the worker H. The extractor 112 reextracts tasks based on the acquired behavioral information of the worker H. The selector 113 reselects tasks suitable for the characteristics of the robot 3 from the extracted tasks. The creator 114 regenerates the behavior schedule by adding the remaining tasks (hereinafter also referred to as second tasks) obtained by excluding the tasks determined to be ineffective by the determiner 115 from the tasks reselected by the selector 113 (hereinafter also referred to as first tasks). In other words, the creator 114 regenerates a behavior schedule in which the robot 3 substitutes for the first and second tasks.

[0090] The processor 11 may periodically re-create the behavior schedule. "Regularly" refers to, for example, daily, weekly, or monthly. Specifically, the acquirer 111 periodically re-acquires the behavior information of the worker H. The extractor 112 periodically re-extracts tasks based on the acquired behavior information of the worker H. The selector 113 periodically re-selects tasks suitable for the characteristics of the robot 3 from the extracted tasks. The creator 114 periodically re-creates the behavior schedule based on the selected tasks.

[0091] The processor 11 may create a behavior schedule based on high-frequency tasks. Specifically, the extractor 112 extracts high-frequency tasks that are extracted based on behavioral information of the worker H during a specific period and that have been performed by the worker H a number of times during the specific period that is equal to or greater than a threshold. The selector 113 selects a task that is suitable for the characteristics of the robot 3 from the high-frequency tasks extracted by the extractor 112. The creator 114 creates a behavior schedule based on the tasks selected by the selector 113.

[0092] The specific period refers to a fixed period such as the last two weeks or the last three months, or a specific season in the past. Examples of high-frequency tasks in a specific period include delivering medicines in the last two weeks and delivering blankets in winter.

[0093] Specifically, the extractor 112 counts the number of times a task is performed by the worker H during a specific period and determines whether the number of times the task is performed is equal to or greater than a threshold. If the number of times the task is performed is equal to or greater than the threshold, the extractor 112 extracts the task as a frequently occurring task. The method for counting the number of times the extractor 112 performs the task is, for example, the same as the method for counting the number of times the determiner 115 uses the task.

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

[0095] The existing schedule is, for example, a schedule of the robot 3 that has already been executed, and may be a schedule manually set by an administrator or the like, or may be an action schedule previously created by the processor 11. A task included in the existing schedule is a task that is suited to the characteristics of the robot 3 and is being substituted by the robot 3.

[0096] (Robot Schedule Creation Method) Next, the creation process (robot schedule creation method) by the robot schedule creation device 1 will be described with reference to a flowchart.

[0097] Fig. 12 is a flowchart showing an example of the creation process by the robot schedule creation device 1. Fig. 12 illustrates a case where a new activity schedule is created. For example, an activity schedule is created in a situation where a robot 3 is introduced for the first time in a new hospital.

[0098] First, the mobile terminal 2 receives the behavior information of the worker H. Then, the robot schedule generation device 1 performs the generation process based on the behavior information of the worker H received by the mobile terminal 2.

[0099] First, in step S1, the acquirer 111 acquires behavioral information of the worker H. For example, the acquirer 111 acquires, as the behavioral information of the worker H, movement of the worker H to a first position, receipt of a package at the first position, transportation of the package from the first position to a second position, and delivery of the package at the second position.

[0100] In step S2, the extractor 112 extracts a task based on the behavioral information of the worker H acquired by the acquirer 111. For example, the extractor 112 extracts a task (baggage delivery) of moving to a first location, receiving a baggage, and transporting the baggage from the first location to a second location from the aforementioned behavioral information of the worker H. The extractor 112 also extracts baggage placement and inventory or person checks from behavioral information other than the aforementioned behavioral information of the worker H.

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

[0102] In step S4, the creator 114 creates a behavior schedule for the robots 3 to take over the tasks selected by the selector 113. For example, the creator 114 creates a behavior schedule for the first robot 3a to take over the delivery task and for the second robot 3b to take over the placement task. The first robot 3a and the second robot 3b then execute the tasks based on the behavior schedule.

[0103] Fig. 13 is a flowchart showing another example of the creation process by the robot schedule creation device 1. Fig. 13 illustrates a case where an action schedule is created by adding a task included in an existing schedule. For example, an action schedule is created by adding a new task extracted from the action information of the worker H to the schedule of the robot 3 that is already being executed.

[0104] First, in step S1, the acquirer 111 acquires an existing schedule created in advance for the robot 3. Specifically, the acquirer 111 acquires the existing schedule from the storage unit 12 or the database 5.

[0105] In step S2, the acquirer 111 acquires the behavior information of the worker H. This is the same as step S1 in FIG.

[0106] In step S3, the extractor 112 extracts a task based on the behavior information of the worker H acquired by the acquirer 111. This is similar to step S2 in FIG.

[0107] In step S4, the selector 113 selects a task suited to the characteristics of the robot 3 from the tasks extracted by the extractor 112. This is the same as step S3 in FIG.

[0108] In step S5, the creator 114 creates a behavior schedule by adding a task (hereinafter also referred to as a fourth task) included in the existing schedule acquired by the acquirer 111 to the task (hereinafter also referred to as a third task) selected by the selector 113. In other words, the creator 114 creates a behavior schedule in which the robot 3 is substituted for the third task and the fourth task.

[0109] The order of step S1 and steps S2 to S4 may be reversed, or step S1 and steps S2 to S4 may be processed in parallel.

[0110] Fig. 14 is a flowchart showing another example of the creation process by the robot schedule creation device 1. Fig. 14 illustrates a case where an action schedule is recreated.

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

[0112] In step S2, the determinator 115 determines whether the task assigned to the robot 3 is valid. For example, the determinator 115 determines whether the number of times the delivery task assigned to the first robot 3a is used and the number of times the delivery task assigned to the second robot 3b is used are each below a threshold for a predetermined period of time. The determinator 115 determines that a task whose number of times it is used is below the threshold is not valid.

[0113] If the determiner 115 determines in step S2 that the task is not valid, the changer 116 excludes the task determined to be invalid by the determiner 115 from the tasks selected by the selector 113 in step S3, and makes the creator 114 recreate the action schedule.

[0114] For example, the modifier 116 causes the creator 114 to create an action schedule in which an ineffective task of delivery or placement is excluded from the delivery and placement tasks selected by the selector 113. Alternatively, the modifier 116 causes the creator 114 to re-optimize the remaining tasks after excluding an ineffective task of delivery or placement from the delivery and placement tasks selected by the selector 113, and re-create a schedule.

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

[0116] If the determiner 115 determines in step S2 that the task is valid, the changer 116 does not cause the creator 114 to recreate the behavior schedule.

[0117] Fig. 15 is a flowchart showing yet another example of the creation process by the robot schedule creation device 1. In Fig. 15, the method of recreating the behavior schedule is different from that in Fig. 14 .

[0118] First, in step S1, the determiner 115 acquires the tasks selected by the selector 113 (i.e., the tasks included in the action schedule), similar to step S1 in FIG.

[0119] In step S2, the determiner 115 determines whether the task assigned to the robot 3 is valid or not. This is the same as step S2 in FIG.

[0120] If the determiner 115 determines in step S2 that the task is invalid, in step S3, the changer 116 causes the acquirer 111 to reacquire the behavioral information of the worker H. The acquisition of the behavioral information of the worker H by the acquirer 111 is similar to step S1 in FIG.

[0121] In step S4, the modifier 116 causes the extractor 112 to re-extract tasks based on the acquired behavioral information of the worker H. The extraction of tasks by the extractor 112 is similar to step S2 in FIG.

[0122] In step S5, the changer 116 causes the selector 113 to reselect a task from the extracted tasks that is suited to the characteristics of the robot 3. The selection of a task by the selector 113 is similar to step S3 in FIG.

[0123] In step S6, the changer 116 causes the creator 114 to re-create the action schedule by adding the remaining tasks (second tasks) obtained by excluding the tasks determined to be ineffective by the determinator 115 from the tasks acquired by the determinator 115 to the tasks (first tasks) re-selected by the selector 113. In this way, the creator 114 removes the tasks determined to be ineffective from the tasks included in the action schedule created by the creator 114 as shown in Figures 12 and 13, and then recreates the action schedule taking into account the tasks extracted from the action information of worker H.

[0124] If the determiner 115 determines in step S2 that the task is valid, the changer 116 does not cause the acquirer 111 to reacquire the behavior information, the extractor 112 to reextract the task, the selector 113 to reselect the task, or the creator 114 to regenerate the behavior schedule.

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

[0126] The robot schedule creation device 1 described above includes the acquirer 111, the extractor 112, the selector 113, and the creator 114, and therefore can create an action schedule by comprehensively considering tasks based on the action information of the worker H. Therefore, the amount of tasks performed by the worker H can be reduced.

[0127] In detail, the acquirer 111 acquires the behavioral information of the worker H, the extractor 112 extracts tasks based on the behavioral information of the worker H, the selector 113 selects tasks that are suitable for the characteristics of the robot 3 from the extracted tasks, and the creator 114 creates an action schedule for substituting the selected tasks with the robot 3, so that all tasks that can be substitutable by the robot 3 from the tasks based on the behavioral information of the worker H can be selected without omission and incorporated into the action schedule of the robot 3. This reduces the amount of tasks performed by the worker H. Note that a manager or the like may also manually select tasks of the worker H that can be substitutable by the robot 3. Furthermore, the selector 113 selects tasks that are suitable for the characteristics of the robot 3 from the tasks extracted based on the behavioral information of the worker H, so the effort required of a manager or the like to select substitutable tasks can be reduced.

[0128] Furthermore, the creator 114 creates an action schedule for substituting the selected task for the robot 3, thereby reducing the effort required for the manager or the like to create the action schedule. In particular, when the action information of the worker H changes, the burden on the manager or the like to manually change the action schedule increases, but the present disclosure can reduce the burden on the manager or the like associated with changing the action schedule.

[0129] Furthermore, the behavioral information of the worker H includes the work content and location information, and the tasks extracted by the extractor 112 include information on the work content and work location, so it is possible to accurately select tasks that can be performed by the robot 3. For example, it is possible to determine from the work content whether the robot 3 can perform the work, and it is possible to determine from the location information whether the location is one to which the robot 3 can move.

[0130] Furthermore, the behavioral information of worker H further includes date and time information, and the tasks extracted by the extractor 112 further include information on the date and time of work, so that the behavioral schedule of robot 3 can be created taking into account the date and time of work.

[0131] Furthermore, the acquirer 111 periodically reacquires the behavior information of the worker H, the extractor 112 periodically reextracts tasks, the selector 113 periodically reselects tasks suited to the characteristics of the robot 3, and the creator 114 periodically recreates the behavior schedule. As a result, if the behavior information of the worker H periodically changes, the behavior schedule can be periodically changed in accordance with the change in the behavior information of the worker H. This reduces the load associated with changing the behavior schedule.

[0132] Furthermore, the extractor 112 extracts high-frequency tasks in a specific period, and the selector 113 selects from the high-frequency tasks a task that is suited to the characteristics of the robot 3. This allows the robot 3 to take over the high-frequency tasks of the worker H.

[0133] The robots 3 include a plurality of robots 3 with different characteristics, and the selector 113 selects tasks suited to the characteristics of each of the plurality of robots 3, and the creator 114 creates an action schedule for substituting the selected tasks for each of the plurality of robots 3. In this way, an action schedule can be created taking into account the type of robot 3.

[0134] The acquirer 111 acquires an existing schedule of the robot 3 that has been created in advance, and the creator 114 creates an action schedule by adding tasks included in the existing schedule acquired by the acquirer 111 to the tasks selected by the selector 113. In this way, a new task extracted from the action information of the worker H can be added to the schedule of the robot 3 that is already being executed, to create an action schedule.

[0135] Furthermore, the robot schedule creation device 1 further includes a determiner 115 and a modifier 116, so that it can create a new behavior schedule by excluding ineffective tasks for the robot 3. This allows a behavior schedule to be created by adding other tasks in place of the ineffective tasks.

[0136] The robot schedule creation system 50 described above includes a mobile terminal 2 and a robot schedule creation device 1. This allows the mobile terminal 2 to receive all of the behavioral information of the worker H, and the robot schedule creation device 1 to select all of the tasks that can be replaced by the robot 3 and incorporate them into the behavior schedule of the robot 3. This allows the amount of tasks performed by the worker H to be reduced.

[0137] Other Embodiments As described above, the above-described embodiments have been described as examples of the technology disclosed in the present application. However, the technology disclosed herein is not limited to these embodiments and can be applied to embodiments in which modifications, substitutions, additions, omissions, etc. are made as appropriate. Furthermore, the components described in the above-described embodiments can be combined to create new embodiments. Furthermore, the components described in the accompanying drawings and detailed description may include not only components essential for solving the problem, but also components that are not essential for solving the problem in order to exemplify the technology. Therefore, the fact that these non-essential components are described in the accompanying drawings or detailed description should not be interpreted as immediately determining that these non-essential components are essential.

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

[0139] In the above embodiment, the plurality of robots 3 have different characteristics from each other, but they may have the same characteristics. In this case, a task may be shared among the plurality of robots with the same characteristics.

[0140] In the above embodiment, the behavior information of the worker H may include information on the work content and the location, without including information on the date and time. In other words, the task extracted by the extractor may include information on the work content and the work location, without including information on the date and time of the work.

[0141] In the above embodiment, the robot schedule creation device 1 includes the determiner 115 and the changer 116, but the determiner 115 and the changer 116 may be omitted.

[0142] In the above embodiment, the robots 3 include a first robot 3a having a delivery characteristic and a second robot 3b having a placement characteristic, but may also include a robot having a characteristic of checking inventory or people, etc. In this case, the robot has, for example, a camera for checking an object.

[0143] In the above embodiment, the tasks are, for example, delivery of a package, placement of a package, checking inventory or personnel, etc., but are not limited to these, and may also be a task such as cleaning a floor. Here, if the task is cleaning, the robot having the cleaning characteristic has, for example, a cleaning brush. The behavioral information of the worker H is, for example, movement of the worker H to a first position and cleaning at the first position. The extractor 112 extracts the task of moving to the first position and cleaning at the first position (i.e., cleaning the floor) from the behavioral information of the worker H.

[0144] The flowcharts are merely examples. Steps in the flowcharts may be changed, replaced, added, omitted, etc. as appropriate. The order of steps in the flowcharts may also be changed, and serial processing may be performed in parallel.

[0145] The robot schedule creation method can be realized by other devices without being limited to the robot schedule creation device 1. The robot schedule creation program P can be realized by other devices without being limited to the robot schedule creation device 1.

[0146] The functionality of the elements disclosed herein may be implemented using one or more circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), FPGAs (Field Programmable Gate Arrays), and / or conventional circuitry. The functionality of the elements disclosed herein may be implemented using one or more circuits or processing circuits, including combinations of general-purpose processors, special-purpose processors, integrated circuits, ASICs, FPGAs, and conventional circuitry. The one or more circuits or processing circuits may be programmed using one or more programs stored together or separately in one or more memories or otherwise configured to perform the disclosed functions. A processor is considered a processing circuit or circuitry because it includes transistors and other circuitry. A processor may also be a programmed processor that executes a program stored in a memory. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions alone or in combination with each other, or hardware that is programmed to perform the recited functions alone or in combination with each other. The hardware may be any hardware disclosed herein that is programmed or configured to perform the recited functions.

[0147] A computer program containing computer instructions is stored in memory. The computer instructions provide logic and routines that enable hardware to perform the methods disclosed herein. The hardware includes, for example, processing circuits or circuitry. The computer program may be implemented in a known format in a computer-readable storage medium, a computer program product, a memory device, a recording medium such as a CD-ROM or DVD, and / or the memory of FPGAs or ASICs.

[0148] [Aspects] The above-described embodiments are specific examples of the following aspects.

[0149] (Aspect 1) The robot schedule creation device 1 is a robot schedule creation device 1 that creates a behavior schedule for a moving robot 3, and includes an acquirer 111 that acquires behavior information of a worker H, an extractor 112 that extracts tasks based on the behavior information of the worker H acquired by the acquirer 111, a selector 113 that selects a task that is suitable for the characteristics of the robot 3 from the tasks extracted by the extractor 112, and a creator 114 that creates the behavior schedule in which the robot 3 takes over the task selected by the selector 113.

[0150] According to this configuration, an action schedule can be created by comprehensively considering tasks based on the action information of the worker H. This can reduce the amount of tasks that the worker H must perform.

[0151] (Aspect 2) In the robot schedule creation device 1 according to aspect 1, the behavior information of the worker H includes work content and location information, and the task extracted by the extractor 112 includes information on the work content and work location.

[0152] This configuration makes it possible to accurately select tasks that can be performed by the robot 3. For example, it is possible to determine from the work content whether the robot 3 can perform the work, and from the location information it is possible to determine whether the location is one to which the robot 3 can move.

[0153] (Aspect 3) In the robot schedule creation device 1 according to aspect 1 or aspect 2, the behavior information of the worker H further includes date and time information, and the tasks extracted by the extractor 112 further include information on work dates and times.

[0154] According to this configuration, the behavior schedule of the robot 3 can be created taking into consideration the work date and time.

[0155] (Aspect 4) In the robot schedule creation device 1 according to any one of Aspects 1 to 3, the acquirer 111 periodically reacquires the behavioral information of the worker H, the extractor 112 periodically re-extracts tasks based on the acquired behavioral information of the worker H, the selector 113 periodically re-selects tasks suitable for the characteristics of the robot 3 from the extracted tasks, and the creator 114 periodically re-creates the behavior schedule based on the selected tasks.

[0156] According to this configuration, when the behavior information of the worker H changes periodically, the behavior schedule can be changed periodically in accordance with the change in the behavior information of the worker H. This reduces the load associated with changing the behavior schedule.

[0157] (Aspect 5) In the robot schedule creation device 1 described in any one of Aspects 1 to 4, the extractor 112 extracts tasks that are extracted based on behavioral information of the worker H during a specific period, and that are high-frequency tasks that are performed by the worker H a number of times during the specific period that is equal to or greater than a threshold value, and the selector 113 selects a task that is suitable for the characteristics of the robot 3 from the high-frequency tasks extracted by the extractor 112.

[0158] According to this configuration, the robot 3 can take over the tasks that are frequently performed by the worker H.

[0159] (Aspect 6) In the robot schedule creation device 1 described in any one of Aspects 1 to 5, the robots 3 include a plurality of robots 3 with different characteristics, the selector 113 selects tasks suitable for the characteristics of each of the plurality of robots 3 from the tasks extracted by the extractor 112, and the creator 114 creates the behavior schedule in which the tasks selected by the selector 113 are substituted for each of the plurality of robots 3.

[0160] According to this configuration, the behavior schedule can be created taking into consideration the type of robot 3.

[0161] (Aspect 7) The robot schedule creation device 1 according to any one of Aspects 1 to 6 further includes a determiner 115 that determines whether the task that has been substituted for the robot 3 is valid or not, and a modifier 116 that excludes the task that is determined to be invalid by the determiner 115 from the tasks selected by the selector 113 and causes the creator 114 to create the behavior schedule again.

[0162] According to this configuration, it is possible to create a new behavior schedule by excluding ineffective tasks for the robot 3. This allows the creation of a behavior schedule by adding other tasks in place of the ineffective tasks.

[0163] (Aspect 8) The robot schedule creation system 50 includes a mobile terminal 2 carried by a worker H and receiving behavioral information of the worker H, and a robot schedule creation device 1 according to any one of aspects 1 to 7 that acquires the behavioral information of the worker H received by the mobile terminal 2.

[0164] According to this configuration, the mobile terminal 2 receives all of the behavioral information of the worker H, and the robot schedule creation device 1 can select all of the tasks that can be performed by the robot 3 and incorporate them into the behavior schedule of the robot 3. This can reduce the amount of tasks that the worker H must perform.

[0165] (Aspect 9) A robot schedule creation method is a robot schedule creation method for creating an action schedule for a moving robot 3, and includes acquiring action information of a worker H, extracting tasks based on the acquired action information of the worker H, selecting tasks from the extracted tasks that are suitable for the characteristics of the robot 3, and creating the action schedule for the robot 3 to take over the selected tasks.

[0166] According to this configuration, an action schedule can be created by comprehensively considering tasks based on the action information of the worker H. This can reduce the amount of tasks that the worker H must perform.

[0167] (Mode 10) The robot schedule creation program P is a robot schedule creation program P that creates an action schedule for a moving robot 3, and causes a computer to realize the following functions: a function of acquiring action information of a worker H; a function of extracting tasks based on the acquired action information of the worker H; a function of selecting a task from the extracted tasks that is suitable for the characteristics of the robot 3; and a function of creating the action schedule in which the robot 3 takes over the selected task.

[0168] According to this configuration, an action schedule can be created by comprehensively considering tasks based on the action information of the worker H. This can reduce the amount of tasks that the worker H must perform.

[0169] REFERENCE SIGNS LIST 1 Robot schedule creation device 10 Schedule creation control device 11 Processor 111 Acquisition device 112 Extractor 113 Selector 114 Creator 115 Determinator 116 Changer 2 Portable terminal 3 Robot 50 Robot schedule creation system H Worker P Robot schedule creation program

Claims

1. A robot schedule creation device that creates a behavior schedule for a moving robot, comprising: an acquirer that acquires behavior information of a worker; an extractor that extracts tasks based on the behavior information of the worker acquired by the acquirer; a selector that selects a task that is suitable for the characteristics of the robot from the tasks extracted by the extractor; and a creator that creates the behavior schedule in which the robot takes over the tasks selected by the selector.

2. A robot schedule creation device according to claim 1, wherein the worker behavior information includes work content and location information, and the tasks extracted by the extractor include information on work content and work location.

3. A robot schedule creation device according to claim 2, wherein the worker behavior information further includes date and time information, and the tasks extracted by the extractor further include information on the date and time of work.

4. A robot schedule creation device as described in claim 1, wherein the acquirer periodically re-acquires the worker's behavior information, the extractor periodically re-extracts tasks based on the acquired worker's behavior information, the selector periodically re-selects tasks from the extracted tasks that are suitable for the characteristics of the robot, and the creator periodically re-creates the behavior schedule based on the selected tasks.

5. A robot schedule creation device as described in claim 1, wherein the extractor extracts high-frequency tasks that are extracted based on behavioral information of the worker during a specific period and that are performed by the worker a number of times equal to or greater than a threshold during the specific period, and the selector selects a task that is suitable for the characteristics of the robot from the high-frequency tasks extracted by the extractor.

6. A robot schedule creation device as described in claim 1, wherein the robots include a plurality of robots with different characteristics, the selector selects tasks suitable for the characteristics of each of the plurality of robots from the tasks extracted by the extractor, and the creator creates the behavior schedule in which the tasks selected by the selector are substituted for each of the plurality of robots.

7. A robot schedule creation device according to claim 1, further comprising a determiner that determines whether the task that has been substituted by the robot is valid or not, and a modifier that excludes the task that has been determined to be invalid by the determiner from the tasks selected by the selector and causes the creator to re-create the behavior schedule.

8. A robot schedule creation system comprising: a mobile terminal carried by a worker and receiving the worker's behavior information; and a robot schedule creation device according to claim 1 that acquires the worker's behavior information received by the mobile terminal.

9. A robot schedule creation method for creating an action schedule for a moving robot, comprising: acquiring action information about a worker; extracting tasks based on the acquired action information about the worker; selecting tasks from the extracted tasks that are suitable for the characteristics of the robot; and creating an action schedule in which the robot takes over the selected tasks.

10. A robot schedule creation program that creates an action schedule for a moving robot, the robot schedule creation program causing a computer to realize the following functions: acquiring worker action information; extracting tasks based on the acquired worker action information; selecting tasks from the extracted tasks that are suitable for the characteristics of the robot; and creating an action schedule that substitutes the selected tasks for the robot.

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