JP2021086218A - Cooperative work system, analysis device, and analysis program - Google Patents

Abstract

To provide information for improving productivity in a cooperative work system including one or more cooperative working robots working in cooperation with an operator.SOLUTION: There is provided a cooperative work system that manufactures products along predetermined processes. The cooperative work system includes: one or more cooperative working robots working in cooperation with an operator; a working hour calculation unit that analyzes the behavior of the operator and the cooperative working robots to calculate the working hours required for work in the processes; and an adaptability evaluation unit that, when changing the responsibility for works between the operator and the cooperative working robots at an arbitrary position in the processes, evaluates the adaptability to the changing of works based on the behavior of the operator and the cooperative working robots in the processes before and after the changing.SELECTED DRAWING: Figure 1

Description

The present invention relates to collaborative work systems, analyzers and analysis programs.

There is known an attempt to use imaging data obtained by imaging the implementation status of a work process at a production site such as a factory for improvement of the work process. For example, Japanese Patent Application Laid-Open No. 2019-023803 (Patent Document 1) is a time during which an operator can actually perform a work by analyzing work video data taken by a plurality of cameras arranged at a work site. We will disclose a technique for detecting an actual work time and using the detected actual work time to identify a work process that is a bottleneck.

Japanese Unexamined Patent Publication No. 2019-023803

The technique disclosed in Patent Document 1 described above merely focuses on the work of a worker such as a cell production method, and no assumption is made about a cooperative work system in which a human and a robot work in cooperation with each other. .. The present invention provides a means for solving such a new problem, and information for improving productivity in a collaborative work system including one or a plurality of collaborative work robots that work in cooperation with an operator. Is to provide.

According to one embodiment of the present invention, a collaborative work system for producing a product according to a predetermined process is provided. The collaborative work system is a work time for calculating the work time required for the work of each process by analyzing the behaviors of one or more collaborative work robots that work in cooperation with the worker and the worker and the collaborative work robot. When the person in charge of work is switched between the worker and the collaborative work robot at an arbitrary position of the calculation unit and the process, the work is switched based on the behavior of the worker and the collaborative work robot in the processes before and after the switch. Includes a conformity assessment unit that evaluates the conformity of the robot.

According to this configuration, in the cooperative work system, when the work division between the worker and the cooperative work robot is to be changed at an arbitrary position, the work division is actually changed and the production is not performed in advance. The impact of the work sharing can be evaluated. That is, it is possible to estimate in advance the work time that will occur if the work division is changed at an arbitrary position, thereby determining the optimum work division between the worker and the robot in the target collaborative work system. it can.

The conformity evaluation unit may determine that the smaller the distance between the worker and the collaborative work robot, the lower the conformity. According to this configuration, the magnitude of suitability can be determined more accurately based on the possibility that the operating speed of the collaborative work robot is suppressed.

The conformity assessment unit may determine that the longer the period in which the worker and the collaborative work robot are in close contact with each other, the lower the conformity. According to this configuration, the magnitude of suitability can be determined more accurately based on the time during which the operating speed of the collaborative work robot can be suppressed.

The collaborative work system is a work time calculation unit that determines the work time required for the work of the process after switching based on the work time calculated when the process is not after switching and the magnitude of suitability for work switching. May further be included. According to this configuration, the effect of changing the work division between the worker and the collaborative work robot can be numerically evaluated based on the magnitude of the suitability for work switching.

The collaborative work system has an output unit that ranks and outputs the work division candidates by calculating the work time for each of a plurality of work division candidates with different responsibilities between the worker and the collaborative work robot. It may be further included. According to this configuration, the user can easily grasp which of the work sharing between the worker and the collaborative work robot is preferable.

The work time calculation unit may determine the start and end timings for each one or a plurality of elemental works included in each process. According to this configuration, the working hours of the worker and the collaborative work robot can be calculated in finer-grained units.

The work time calculation unit extracts the feature points of the worker based on the sensing result of at least the area including the worker by the sensing device, and the position of the object on the work stage based on the sensing result. Based on the object recognition unit that recognizes the type, the feature points of the worker extracted by the feature point extraction unit, and the position and type of the object recognized by the object recognition unit, it starts for each element work by the worker. And a first timing determination unit that determines the end timing may be included. According to this configuration, the work of the worker can be calculated in units of element work.

The work time calculation unit is a status management unit that manages the status of the cooperative work robot based on the control state from the cooperative work robot, and a behavior corresponding to the status of the cooperative work robot for each element work by the cooperative work robot. It may include a second timing determination unit that determines the start and end timings. According to this configuration, the work of the collaborative work robot can be calculated in units of element work.

According to another embodiment of the present invention, there is provided an analyzer directed to a collaborative work system that produces products according to a predetermined process. The collaborative work system includes one or more collaborative work robots that work in cooperation with the worker. The analysis device has a work time calculation unit that calculates the work time required for the work of each process by analyzing the behavior of the worker and the collaborative work robot, and the worker and the collaborative work robot at an arbitrary position of the process. Includes a suitability evaluation unit that evaluates the suitability of work switching based on the behavior of workers and collaborative work robots in the processes before and after the switching when the person in charge of work is switched between.

According to yet another embodiment of the present invention, an analysis program directed to a collaborative work system that produces a product according to a predetermined process is provided. The collaborative work system includes one or more collaborative work robots that work in cooperation with the worker. The analysis program uses a computer to analyze the behavior of the worker and the collaborative work robot to calculate the work time required for the work of each process, and between the worker and the collaborative work robot at an arbitrary position in the process. When the person in charge of the work is switched in, the step of evaluating the suitability of the work switching is executed based on the behavior of the worker and the collaborative work robot in the processes before and after the switching.

According to the present invention, it is possible to provide information for improving productivity in a collaborative work system including one or a plurality of collaborative work robots that perform work in cooperation with an operator.

It is a schematic diagram which shows an example of the scene to which this invention is applied. It is an external view which shows an example of the cooperative work system which concerns on this embodiment. It is an external view which shows an example of the cooperative work system which concerns on this embodiment. It is a figure which shows the hardware configuration example of the collaborative work system which concerns on this embodiment. It is a schematic diagram which shows the hardware configuration example of PLC which constitutes the cooperative work system which concerns on this Embodiment. It is a schematic diagram which shows the hardware configuration example of the analysis apparatus which comprises the cooperative work system which concerns on this embodiment. It is a schematic diagram which shows the hardware configuration example of the robot which comprises the cooperative work system which concerns on this embodiment. It is a figure for demonstrating the analysis example of the work in the collaborative work system which concerns on this embodiment. It is a schematic diagram which shows the main part concerning the work analysis in the collaborative work system which concerns on this embodiment. It is a schematic diagram which shows the main part which concerns on the analysis of the element work by the worker in the cooperative work system which concerns on this embodiment. It is a schematic diagram which shows the main part which concerns on the analysis of the element work by a robot in the cooperative work system which concerns on this Embodiment. It is a flowchart which shows the processing procedure which concerns on the analysis of the work in the cooperative work system which concerns on this Embodiment. It is a figure which shows an example of the analysis result of the element work output by the collaborative work system which concerns on this embodiment. It is a figure which shows the display example of the analysis result output by the collaborative work system which concerns on this embodiment. It is a figure for demonstrating the switching loss score calculated by the collaborative work system which concerns on this embodiment. It is a figure for demonstrating the calculation method of the switching loss score in the collaborative work system which concerns on this Embodiment. It is a flowchart which shows the processing procedure for calculating the switching loss score in the cooperative work system which concerns on this Embodiment. It is a schematic diagram which shows the functional structure example which concerns on the improvement proposal of the production process in the cooperative work system which concerns on this Embodiment. It is a schematic diagram which shows an example of the user interface screen which concerns on the improvement proposal of the production process in the cooperative work system which concerns on this Embodiment. It is a flowchart which shows the processing procedure which concerns on the improvement proposal of the production process in the cooperative work system which concerns on this Embodiment.

Embodiments of the present invention will be described in detail with reference to the drawings. The same or corresponding parts in the drawings are designated by the same reference numerals and the description thereof will not be repeated.

<A. Application example>
First, an example of a situation in which the present invention is applied will be described. FIG. 1 is a schematic view showing an example of a situation in which the present invention is applied.

This embodiment is directed to a collaborative work system 1 that produces products according to a predetermined process. The collaborative work system 1 includes one or a plurality of collaborative work robots that perform work in cooperation with an operator.

The cooperative work system 1 can calculate the work time required for the work of each process by analyzing the behaviors of the worker and the cooperative work robot.

Further, as shown in FIG. 1, when the person in charge of the work is switched between the worker and the collaborative work robot at an arbitrary position in the process, the behavior of the worker and the collaborative work robot in the process before and after the switching is changed. Based on this, the suitability of work switching can be evaluated.

In the collaborative work system 1 according to the present embodiment, the work sharing between the worker and the collaborative work robot can be changed relatively freely.

In the present specification, the "fitness of work switching" means the degree of time loss caused by the operation of switching the person in charge of work between the worker and the collaborative work robot. In other words, how much extra work time is required by the action of switching the work time that the worker and the collaborative work robot would each need if there is no such work switching. It means the degree of.

In the following, an example in which a specific index (score) is used as "fitness for work switching" will be described, but the present invention is not limited to this, and any index or factor can be used.

By using "compatibility of work switching", it is possible to more accurately review the work division between the worker and the collaborative work robot.

<B. Collaborative work system 1>
Next, an example of the collaborative work system 1 according to the present embodiment will be described. 2 and 3 are external views showing an example of the cooperative work system 1 according to the present embodiment.

The configuration example of the cooperative work system 1 shown in FIGS. 2 and 3 shows a production process in which a worker and a cooperative work robot (hereinafter, simply abbreviated as “robot”) cooperate to produce a product. That is, the robot works in cooperation with the worker.

As an example, a production cell type manufacturing apparatus for assembling an arbitrary product is shown. The collaborative work system 1 produces a product according to a predetermined process, and includes the following five steps 1 to 5 as an example.

In step 1, two workpieces (for example, a substrate and a case) are assembled.
In step 2, another work (for example, a cover) is assembled.

In step 3, and screw tightening is performed.
In step 4, printing on a semi-finished product and printing inspection are performed.

In step 5, the appearance inspection of the semi-finished product is performed.
The cooperative work system 1 shown in FIG. 2 includes a work stage 11M, a work stage 12M, a work stage 13A, a work stage 14A, and a work stage 15A in association with steps 1 to 5. The last letter "M" of the reference code of each stage means the work by the operator (manual), and "A" means the work by the robot.

In the cooperative work system 1 shown in FIG. 3, a work stage 12A is arranged in place of the work stage 12M associated with the process 2. That is, in the cooperative work system 1 shown in FIG. 2, the process 2 is executed by the operator, whereas in the cooperative work system 1 shown in FIG. 3, the process 2 is executed by the robot.

As described above, in the cooperative work system 1 according to the present embodiment, each process can be processed by either an operator or a robot. The collaborative work system 1 provides information for optimizing whether each process is processed by a worker or a robot.

2 and 3 show an example of a cell production method in which one or more workers and a robot cooperate to complete a product, but the technical scope of the present invention is not limited to the cell production method and is a conveyor. Includes any production method in which workers and robots work together, including method / line methods.

FIG. 4 is a diagram showing a hardware configuration example of the collaborative work system 1 according to the present embodiment. With reference to FIG. 4, the cooperative work system 1 includes a PLC 100 which is an example of a control device, an analysis device 200 which executes various analysis processes as described later, and a robot 300 which performs work in cooperation with the worker 20. A display operation device 400 that presents various information to the worker 20, a support device 500 that develops a user program executed by the PLC 100, and a production control system 600 that manages production in the collaborative work system 1. Including. These devices are configured to be capable of data communication via one or more types of networks.

In the example shown in FIG. 4, the PLC 100, the analysis device 200, the robot 300, and the display operation device 400 are connected via the field network 2. One or more cameras 30 are connected to the field network 2. Based on the image captured by the camera 30, the behaviors of the worker 20 and the robot 300 are analyzed, and the state of each process and the work in each process is estimated. Further, the PLC 100 and the production control system 600 are connected via the upper network 4.

The network configuration shown in FIG. 4 is an example, and any network configuration may be adopted.

<C. Hardware configuration example of collaborative work system 1>
Next, a hardware configuration example of the main devices constituting the collaborative work system 1 will be described.

(C1: PLC100)
FIG. 5 is a schematic view showing a hardware configuration example of the PLC 100 constituting the collaborative work system 1 according to the present embodiment. With reference to FIG. 5, the PLC 100 includes a processor 102, a main memory 104, a storage 110, an upper network controller 106, a field network controller 108, a USB (Universal Serial Bus) controller 120, and a memory card interface 112. , Includes the local bus controller 116. These components are connected via the processor bus 118.

The processor 102 corresponds to an arithmetic processing unit that executes various control operations, and is composed of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and the like. Specifically, the processor 102 reads the programs (for example, the system program 1102 and the user program 1104) stored in the storage 110, expands them into the main memory 104, and executes the programs to control the program according to the control target. It realizes calculation and various processes as described later.

The main memory 104 is composed of a volatile storage device such as a DRAM (Dynamic Random Access Memory) or a SRAM (Static Random Access Memory). The storage 110 is composed of, for example, a non-volatile storage device such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive).

The storage 110 includes a system program 1102 for realizing basic functions, a user program 1104 created according to a control target, and a recipe program that defines processing contents according to products produced by the collaborative work system 1. 1106 is stored.

The host network controller 106 exchanges data with and from an arbitrary information processing device via the host network 4.

The field network controller 108 exchanges data with an arbitrary device via the field network 2.

The USB controller 120 exchanges data with the support device 500 and the like via the USB connection.

The memory card interface 112 accepts a memory card 114, which is an example of a removable storage medium. The memory card interface 112 can read and write arbitrary data to and from the memory card 114.

The local bus controller 116 exchanges data with any functional unit mounted on the PLC 100 via the local bus.

(C2: Analyst device 200)
FIG. 6 is a schematic diagram showing a hardware configuration example of the analysis device 200 constituting the collaborative work system 1 according to the present embodiment. With reference to FIG. 6, the analysis apparatus 200 is realized by using hardware (for example, a general-purpose personal computer) that follows a general-purpose architecture as an example.

With reference to FIG. 6, the analyzer 200 includes a processor 202, a main memory 204, an input unit 206, a display unit 208, a storage 210, an optical drive 212, a field network controller 220, and an upper network controller 222. And include. These components are connected via the processor bus 218.

The processor 202 is composed of a CPU, a GPU, or the like, and reads out a program (OS 2102 and an analysis program 2104 as an example) stored in the storage 210, expands the program into the main memory 204, and executes the program. Realize the processing.

The main memory 204 is composed of a volatile storage device such as a DRAM or SRAM. The storage 210 is composed of, for example, a non-volatile storage device such as an HDD or SSD.

The storage 210 stores an OS 2102 for realizing basic functions and an analysis program 2104 for executing various analysis processes as described later.

The input unit 206 is composed of a keyboard, a mouse, and the like, and accepts user operations. The display unit 208 is composed of a display, various indicators, a printer, and the like, and outputs a processing result from the processor 202 and the like.

The analyzer 200 has an optical drive 212, and is stored in a storage medium 214 (for example, an optical storage medium such as a DVD (Digital Versatile Disc)) that non-transiently stores a computer-readable program. The stored program is read and installed in the storage 210 or the like.

The analysis program 2104 or the like executed by the analysis device 200 may be installed via a computer-readable storage medium 214, or may be installed by downloading from a server device or the like on the network. Further, the function provided by the analysis device 200 according to the present embodiment may be realized by using a part of the module provided by the OS.

The field network controller 220 exchanges data with an arbitrary device via the field network 2. The host network controller 222 exchanges data with and from an arbitrary information processing device via the host network 4.

(C3: Robot 300)
FIG. 7 is a schematic diagram showing a hardware configuration example of the robot 300 constituting the collaborative work system 1 according to the present embodiment. With reference to FIG. 7, the robot 300 includes a field network controller 302, a main control unit 310 for executing arithmetic processing related to driving the robot 300, and an interface circuit 320.

The field network controller 302 exchanges data with an arbitrary device via the field network 2.

The main control unit 310 includes a processor 312, a main memory 314, and a storage 316. The processor 312 is composed of a CPU, a GPU, or the like, and reads a program (for example, a system program 317 and a recipe program 318) stored in the storage 316, expands the program in the main memory 314, and executes the program to execute the robot 300. Realize various processes related to driving.

The main memory 314 is composed of a volatile storage device such as a DRAM or SRAM. The storage 316 is composed of, for example, a non-volatile storage device such as an SSD or an HDD.

The interface circuit 320 exchanges signals with various devices provided in the robot 300. More specifically, the interface circuit 320 is connected to a sensor 322, an actuator 324, and one or more motor drivers 326.

The sensor 322 is arranged on an arm portion of the robot 300 or the like, and collects information on the surroundings of the robot 300. In the cooperative work between the worker 20 and the robot 300, when the worker 20 is usually located in the vicinity of the robot 300, it is necessary to suppress the operating speed of the robot 300 to a predetermined limit value or less. is there. The sensor 322 may be used to detect the approach between the worker 20 and the robot 300.

The actuator 324 is arranged on the arm portion of the robot 300 or the like, and gives various notifications to the worker 20 and also performs an action on the work. The motor driver 326 drives an electrically connected servomotor 328. The servomotor 328 is mechanically connected to the mechanical body (arms, joints, etc.) of the robot 300. The robot 300 can be arbitrarily operated by the main control unit 310 giving a command to the motor driver 326 via the interface circuit 320.

(C4: Display operation device 400)
As an example, the display operation device 400 is realized by using hardware that follows a general-purpose architecture. Since the hardware configuration example and the functional configuration example of the display operation device 400 are known, detailed description thereof will not be given here.

(C5: Support device 500)
As an example, the support device 500 is realized by using hardware (for example, a general-purpose personal computer) that follows a general-purpose architecture. Since the hardware configuration example and the functional configuration example of the support device 500 are known, detailed description thereof will not be given here.

(C6: Production control system 600)
As an example, the production control system 600 is realized by a server using hardware (for example, a general-purpose personal computer) that follows a general-purpose architecture. Since the hardware configuration example and the functional configuration example of the production control system 600 are known, detailed description thereof will not be given here.

<D. Work analysis>
The collaborative work system 1 according to the present embodiment provides information for facilitating analysis and rebalancing of collaborative work between a worker and a robot. Here, the analysis of work will be described.

FIG. 8 is a diagram for explaining an analysis example of work in the cooperative work system 1 according to the present embodiment. With reference to FIG. 8, the entire process 40 composed of a plurality of processes is regarded as the highest unit, and the process 41 of each process is composed of a plurality of operations. Each work of 41 in the process can be decomposed into one or a plurality of element work 42. Each of the elemental operations 42 can be decomposed into one or more operations 43. Each of the movements 43 can be decomposed into one or more unit movements 44.

In this way, the behavior of a worker or robot in various production processes can be decomposed into processes, operations, elemental operations, operations, unit operations, and the like.

In the collaborative work system 1 according to the present embodiment, the behaviors of the worker and the robot can be analyzed down to the unit of elemental work.

FIG. 9 is a schematic diagram showing a main part related to work analysis in the cooperative work system 1 according to the present embodiment. With reference to FIG. 9, the analysis device 200 can analyze each process in units of elemental work regardless of whether each process is in charge of an operator or a robot. More specifically, the analysis device 200 includes an element work recognition unit 250 for workers, an element work recognition unit 260 for robots, and an analysis processing engine 270. These elements are typically realized by the processor 202 of the analyzer 200 executing the analysis program 2104.

The worker element work recognition unit 250 and the robot element work recognition unit 260 correspond to a work time calculation unit that calculates the work time required for the work of each process by analyzing the behaviors of the worker and the robot.

Based on the production control information from the production control system 600, the analysis processing engine 270 provides information on the work division between the worker and the robot to the worker element work recognition unit 250 and the robot element work recognition unit 260 in advance. Give to. Production control information includes information on whether a worker or a robot is in charge of each process, information on identifying the person in charge when the worker is in charge, and order information (including information such as the type of product to be produced). , And lot numbers and so on.

When the target process is in charge of the target process, the worker element work recognition unit 250 analyzes the start and end timings of each element work performed by the worker in the process, and the time required for the element work. .. On the other hand, when the target process is in charge of the robot, the robot element work recognition unit 260 analyzes the start and end timings of each element work performed by the robot in the process, and the time required for the element work.

It is assumed that the type of element work included in each process is determined in advance in the process design. That is, the types of elemental work included in each process are known.

The worker element work recognition unit 250 analyzes the movement of the worker based on the detection result by one or a plurality of sensing devices such as the camera 30, and identifies which element work is being performed.

The sensing device may be a normal camera (2D camera) or a stereo camera (3D camera). Alternatively, a sensing device such as a laser scanner or a distance measuring sensor that can acquire a distance profile to an object may be used.

FIG. 10 is a schematic diagram showing a main part related to analysis of element work by an operator in the cooperative work system 1 according to the present embodiment. With reference to FIG. 10, the worker element work recognition unit 250 of the analysis device 200 includes a feature point extraction unit 251, an object recognition unit 252, an motion recognition unit 253, a process database 254, and an element work determination unit 255. And include.

The feature point extraction unit 251 extracts the feature points (skeleton, joints, etc.) of the worker based on the sensing result (typically, an image) of the region including at least the worker by the sensing device.

The object recognition unit 252 recognizes the position and type of an object on the work stage or the like based on the sensing result (typically, an image) from the sensing device.

The motion recognition unit 253 recognizes the operator's motion based on the feature points of the operator extracted by the feature point extraction unit 251 and the position and type of the object extracted by the object recognition unit 252. The motion recognition unit 253 may be realized by using, for example, a trained model generated in advance by machine learning, or may be realized by using a rule-based determination logic. The motion recognition unit 253 may output locus data including information for specifying the position of the recognized worker at each time. The locus data includes information indicating the position of the worker at each time.

The element work determination unit 255 refers to the process database 254 and determines the type of element work in the process and the start and end timings based on the worker's motion recognized by the motion recognition unit 253. In this way, the element work determination unit 255 determines the start and end timings for each one or a plurality of element works included in each process.

The process database 254 includes information on the element work included in each process and the operation corresponding to each element work. The element work determination unit 255 identifies the process being executed based on the production control information, and also refers to the process database 254 to acquire the element work included in the specified process and the corresponding operation. The element work determination unit 255 determines the type of element work in the process and the start and end timings by comparing the information acquired from the process database 254 with the recognized operation of the worker.

As described above, the motion recognition unit 253, the process database 254, and the element work determination unit 255 correspond to the first timing determination unit, and the feature points of the worker extracted by the feature point extraction unit 251 and the object recognition unit. Based on the position and type of the object recognized by 252, the start and end timings are determined for each element work by the operator.

The worker element work recognition unit 250 starts and ends the element work performed by the worker in each process based on the control state acquired from the PLC 100 and / or the robot 300 in addition to the detection result by the sensing device. You may try to judge. In this case, the determination process in the robot element work recognition unit 260 as described later can be adopted.

The worker element work recognition unit 250 may output a time indicating the start and end timings of each element work.

On the other hand, the robot element work recognition unit 260 determines the start and end timings of each element work performed by the robot in each process based on the control state acquired from the PLC 100 and / or the robot 300. The control state acquired from the PLC 100 and / or the robot 300 includes, for example, a variable value indicating the status referred to by the user program, a command line during execution of the user program, a recipe number during execution, and the like. Further, the control state acquired from the PLC 100 and / or the robot 300 may include the angle of each joint of the robot 300, the coordinates of the tip of the arm, the operating speed of the arm, and the like.

FIG. 11 is a schematic diagram showing a main part related to analysis of element work by a robot in the cooperative work system 1 according to the present embodiment. With reference to FIG. 11, the robot element work recognition unit 260 of the analysis device 200 includes a PLC communication unit 261, a robot communication unit 262, a status management unit 263, a recipe program 264, and an element work determination unit 265. Includes process database 266 and.

The PLC communication unit 261 acquires a control state from the PLC 100. The robot communication unit 262 acquires the control state from the robot 300.

The status management unit 263 determines the current status of the robot 300 based on the control state acquired by the PLC communication unit 261 and the robot communication unit 262 with reference to the recipe program 264. Recipe program 264 includes a copy or main part of the program executed by the PLC 100 and the robot 300. That is, the status management unit 263 determines the current status by specifying the contents of the program currently being executed based on the control states of the PLC 100 and the robot 300. In this way, the status management unit 263 manages the status of the robot 300 based on the control state from the robot 300.

Further, the status management unit 263 may output trajectory data including information for specifying the acquired position of the robot 300 at each time. The locus data includes information indicating the position and posture of the robot 300 at each time.

The element work determination unit 265 refers to the process database 266 and determines the type of element work in the process and the start and end timings based on the status determined by the status management unit 263. In this way, the element work determination unit 265 determines the start and end timings for each one or a plurality of element works included in each process.

The process database 266 includes information on the element work included in each process and the operation corresponding to each element work. The element work determination unit 265 identifies the process being executed based on the production control information, and also refers to the process database 266 to acquire the element work included in the specified process and the corresponding operation. The element work determination unit 265 determines the type of element work in the process and the start and end timings based on the information corresponding to the acquired status contained in the process database 266.

In this way, the element work determination unit 265 and the process database 266 correspond to the second timing determination unit, and determine the start and end timings for each element work by the robot 300 based on the behavior corresponding to the status of the robot. To do.

Further, the robot element work recognition unit 260 determines the start and end timings of each element work performed by the robot in each process based on at least a part of the detection results by one or a plurality of sensing devices such as the camera 30. It may be. In this case, the determination process in the worker element work recognition unit 250 as described above can be adopted.

The robot element work recognition unit 260 may output a time indicating the start and end timings of each element work.

FIG. 12 is a flowchart showing a processing procedure related to analysis of work in the cooperative work system 1 according to the present embodiment. Each step shown in FIG. 12 is typically realized by the processor 202 of the analyzer 200 executing the analysis program 2104.

With reference to FIG. 12, the analysis device 200 acquires the production control information to be analyzed (step S100). The analysis device 200 acquires the image captured by the camera 30 over a predetermined period of the analysis target (step S102), and also acquires the control state of the PLC 100 and / or the robot 300 (step S104). The analysis device 200 may further acquire additional information.

The analysis device 200 extracts the feature points (skeleton, joints, etc.) of the worker 20 from the acquired image (step S106), and recognizes the position and type of an object such as a jig on the work stage. (Step S108). Then, the analysis device 200 recognizes the operation of the worker 20 over a predetermined period of analysis target (step S110). That is, the analysis device 200 generates locus data for the worker 20.

Further, the analysis device 200 determines the status and position of the robot 300 over a predetermined period of the analysis target based on the acquired control state with reference to the recipe program 264 (step S112). That is, the analysis device 200 generates trajectory data for the robot 300.

The analyzer 200 refers to the acquired production control information and the process database 266 to determine whether each process is in charge of the worker 20 or the robot 300 (step S114), and depending on the person in charge of each process. Based on the movement of the worker 20 or the status and position of the robot 300, the start and end timings for each element work are determined (step S116), and the work time for each element work is calculated (step S118).

Then, the analysis device 200 outputs an analysis result including the calculated work time of each element work (step S120). With the above, the process related to the analysis of the work is completed.

The process shown in FIG. 12 may be executed in substantially real time in synchronization with the production activity in the production process, or may be executed after the fact.

FIG. 13 is a diagram showing an example of the analysis result of the element work output by the cooperative work system 1 according to the present embodiment. With reference to FIG. 13, the analysis result 700 of the element work is in charge of the process column 701, the process column 702, the element work column 703, the start time column 704, the end time column 705, and the work time 706. A column 707 and a production control information column 708 are included.

The process column 701 indicates a process included in the target production process. The process column 702 indicates the work included in the corresponding process. The element work column 703 shows the element work included in the corresponding work. The start time column 704 and the end time column 705 indicate the start and end times of the corresponding element work. The working time 706 indicates the time required for the corresponding element work.

In the charge column 707, information such as whether the worker or the robot is in charge of the corresponding elemental work, and if the worker is in charge, the identification information of the worker is shown.

The production control information column 708 shows information (for example, order information and lot information) for identifying the target work for which the target analysis result 700 has been acquired.

FIG. 14 is a diagram showing a display example of the analysis result output by the collaborative work system 1 according to the present embodiment. With reference to FIG. 14, the analysis result may be displayed by using a graph capable of expressing the variation in the working time required for each step. Although the working time is displayed in the unit of the process in FIG. 14, the working time is not limited to this, and the working time may be displayed in the unit of the element work.

As described above, in the cooperative work system 1 according to the present embodiment, regardless of whether the operator or the robot is in charge of each process, the process, the work included in the process, and the element work included in the work It provides the analysis result that can grasp how much time is required in the unit of.

<E. Work switching loss estimation>
In the collaborative work system 1 according to the present embodiment, in addition to the analysis of the time actually required, the work division between the worker and the robot is changed in order to reduce the time required for the entire process. It is also possible to calculate information for evaluation in advance. More specifically, when the person in charge of all or part of a certain process is changed from a worker to a robot, the suitability of work switching is calculated. Hereinafter, the "switching loss score" will be adopted as an example of an index showing the suitability of such work switching.

FIG. 15 is a diagram for explaining the switching loss score calculated by the collaborative work system 1 according to the present embodiment. With reference to FIG. 15A, it is assumed that an arbitrary process is shared by a worker and a robot. The position at which the person in charge switches between the worker and the robot is set as the switching point p1. Here, in order to improve productivity, as shown in FIG. 15B, it is assumed that the position where the person in charge is switched between the operator and the robot is changed from the switching point p1 to the switching point p2. That is, it is assumed that the robot is in charge of a part of the work performed by the worker.

Let t1 be the work time required by the operator for the work from the switching point p2 to the switching point p1, and let t2'be be the work time that the robot would require for the work from the switching point p2 to the switching point p1.

Further, as shown in FIG. 15C, when the robot has been in charge of the work before the switching point p2, the work time required by the robot for the work from the switching point p2 to the switching point p1 is defined as t2. To do.

In the example shown in FIG. 15, it is ideal that the working time t2'is the same as the working time t2, but in reality, the working time t2'> the working time t2 is often the case.

The reason for the increase in working time is that the operator and the robot may approach each other at the switching point. In this case, the operating speed of the robot is suppressed to a predetermined limit or less. There is something that must be done. In addition, it is necessary to deliver the work (or semi-finished product) between the worker and the robot, and in this case as well, measures such as keeping a safe distance between the two or suppressing the operating speed of the robot. Is required.

For this reason, the working time of the robot related to the switching point is generally longer than the working time originally required by the robot. That is, using the loss coefficient α (in principle, α> 1), it can be expressed as working time t2'= loss coefficient α × working time t2.

The collaborative work system 1 according to the present embodiment calculates the switching loss score for determining the loss coefficient α described above. Typically, the analysis processing engine 270 of the analysis device 200 calculates the switching loss score. That is, the analysis processing engine 270 of the analysis device 200 corresponds to the suitability evaluation unit that evaluates the suitability of work switching. When the analysis processing engine 270 switches the person in charge of work between the worker and the robot at an arbitrary position in the process, the work is switched based on the behavior of the worker and the cooperative work robot in the processes before and after the switching. Evaluate the suitability of.

FIG. 16 is a diagram for explaining a method of calculating a switching loss score in the cooperative work system 1 according to the present embodiment. FIG. 16A shows the state of the worker 20 in charge of one or more elemental work, and FIG. 16B is in charge of one or more elemental work following FIG. 16A. The state of the robot 300 is shown.

The switching loss score is the behavior of the worker 20 (or robot 300) in charge of the work immediately before the arbitrary switching point and the robot 300 (or the worker 20) in charge of the work immediately after the switching point. It is determined by calculating the degree of reduction in productivity when the switching point is set by comparing with the behavior of.

More specifically, by comparing the locus data for the work immediately before the switching point of interest with the locus data for the work immediately after the switching point of interest, the worker 20 and the robot 300 Evaluate the degree of approach during work. Here, the locus data includes information indicating the position of the worker 20 or the robot 300 at each time.

For example, the switching loss score may be inversely proportional to the distance L between the worker 20 and the robot 300, and may be proportional to the approaching time. That is, the smaller the distance L between the worker 20 and the robot 300 and the longer the approaching time, the lower the suitability for work switching.

It is also possible to reflect the delivery position of the work (or semi-finished product), the element of takt time, and the like. Taken together, Rosusukoa switching for any switching point _{p n S} Loss _{(p n)} can be calculated as follows.

S _Loss ( _pn ) =-{a × ∫ (1 / L ( _pn )) Δt + b ( _pn )}
L _{(p n)} denotes the distance of closest approach between the operator 20 and the robot 300 at each time for any switching point _{p n,} b _{(p n),} the various elements for any switching points _{p n} Means the loss function with the addition of. That is, the switching loss score may be determined based on the distance between the locus of the operator 20 and the locus of the robot 300.

As shown above, the analysis device 200 determines that the smaller the distance between the operator and the collaborative work robot, the lower the relevance (the larger the absolute value of the switching loss score). Further, the analysis device 200 determines that the longer the period in which the operator and the robot are in close proximity, the lower the relevance (the larger the absolute value of the switching loss score).

In calculating the switching loss score, the timing of starting the operation of the worker 20 and the robot 300 may be appropriately set. Normally, the worker 20 and the robot 300 execute the processing in parallel, so that the degree of approach between the worker 20 and the robot 300 during work may be evaluated based on a timing that can be arbitrarily set. ..

Using switching Rosusukoa S _{Loss (p n)} for any switching point p _n calculated in this way, if you change the switching points between the operator 20 and the robot 300, the degree of productivity You can evaluate whether it can be improved.

As the _{locus data used for calculating the switching loss} score S Loss ( _pn ), the locus data acquired when the products are produced with different work divisions may be used. That is, the worker 20 (or the robot 300) in charge of the work immediately before the arbitrary switching point from the locus data acquired from the production process in which the worker 20 and the robot 300 are assigned the first work. Immediately after an arbitrary switching point from the locus data acquired from the production process in which the worker 20 and the robot 300 have a second work division different from the first work division. The locus data of the robot 300 (or the worker 20) in charge of the work in the above may be acquired.

By adopting such a trajectory data acquisition method, it is not necessary to actually perform production in the production process in which the person in charge is switched at an arbitrary switching point. That is, the locus data of the worker 20 and the robot 300, which are necessary for calculating the _{switching loss} score S Loss ( _{pn), may be acquired by any method.}

FIG. 17 is a flowchart showing a processing procedure for calculating the switching loss score in the cooperative work system 1 according to the present embodiment. Each step shown in FIG. 17 is typically realized by the processor 202 of the analyzer 200 executing the analysis program 2104.

Referring to FIG. 17, the analysis apparatus 200 receives designation of the switching point _{p n} of the subject (step S200). Subsequently, the analysis apparatus 200 acquires the trajectory data for the work immediately before the specified switching point p _n (step S202), the trajectory data for the work immediately following the designated switch point p _n Acquire (step S204). Each locus data may be acquired from a state in which the work division is different.

Then, the analysis device 200 evaluates the degree of approach between the worker 20 and the robot 300 during work based on the locus data acquired in step S202 and the locus data acquired in step S204 (step S206). The switching _loss score S Loss ( _pn ) is calculated (step S208). Then, the calculation processing of switching Rosusukoa _S Loss _{(p n)} for a particular switching point _{p n} ends.

<F. Proposal for improvement of production process using switching loss score>
It is also possible to make a proposal for improvement of the production process by using the switching loss score as described above. That is, by considering the switching loss score, it is possible to predict the work time that occurs when the work division of the worker and the robot is changed from the work time calculated in advance. The optimum work division can be determined by calculating the required work time for each of the plurality of work divisions.

FIG. 18 is a schematic diagram showing a functional configuration example related to a proposal for improvement of a production process in the cooperative work system 1 according to the present embodiment. With reference to FIG. 18, the analysis processing engine 270 includes a simulator 2702, an optimum process determination unit 2704, and a work instruction unit 2706 as functional configurations.

The simulator 2702 specifies the required process according to the production plan, and calculates the work time that will be required for each switching point. In addition to the elemental work time of the worker and the robot, the switching loss score according to the set switching point may be used for calculating the working time.

That is, the simulator 2702 corresponds to the work time calculation unit, and the work time required for the work of the process after switching is the work time calculated when the process is not after switching and the magnitude of suitability for work switching. It may be determined based on (switching loss score) (see FIG. 15).

The optimum process determination unit 2704 determines the optimum work division between the operator and the robot according to the work time for each switching point calculated by the simulator 2702.

The work instruction unit 2706 notifies the user (typically, the line manager) of the content of the optimum work division determined by the optimum process determination unit 2704. The line manager changes the division of production processes as necessary based on the notified contents.

FIG. 19 is a schematic view showing an example of a user interface screen 720 related to a proposal for improvement of a production process in the cooperative work system 1 according to the present embodiment. With reference to FIG. 19, the user interface screen 720 includes some work sharing candidates for the production process.

For each candidate, the value of the switching loss score 722 and the switching point 724 between the element work in charge of the worker and the element work in charge of the robot are shown. In FIG. 19, bold letters mean elemental work that the robot is in charge of, and other than that, it means elemental work that the worker is in charge of.

In this way, the optimum process determination unit 2704 and the work instruction unit 2706 of the analysis device 200 correspond to the output unit, and the work time is set for each of a plurality of work division candidates with different responsibilities between the worker and the robot. By calculating, the candidates for work sharing are ranked and output.

A user such as a line manager can refer to the user interface screen 720 to determine an appropriate work division of the production process.

FIG. 20 is a flowchart showing a processing procedure related to an improvement proposal of a production process in the cooperative work system 1 according to the present embodiment. Each step shown in FIG. 20 is typically realized by the processor 202 of the analyzer 200 executing the analysis program 2104.

With reference to FIG. 20, the analysis apparatus 200 acquires a production plan from the production control system 600 or the like (step S300). The analysis device 200 identifies a necessary process based on the acquired production plan (step S302).

Then, the analysis device 200 determines one candidate for the work division between the worker and the robot for the element work included in the necessary process specified in step S302 (step S304). It is assumed that the determined candidate switches the division of work between the worker and the robot at a certain switching point.

The analysis device 200 acquires the work time required for each element work of the worker or the robot for the determined candidate (step S306). These working hours may be selected or extracted from those previously obtained by the working analysis shown in FIG.

The analysis device 200 calculates a switching loss score for the determined candidate at the switching point (step S308). In step S308, a process of calculating the switching loss score shown in FIG. 17 is executed as necessary.

The analysis device 200 multiplies the work time of the work immediately after the switching point acquired in step S306 by the loss coefficient based on the switching loss score calculated in step S308, and determines the work time after correction in the determined candidate. (Step S310). Finally, the analysis device 200 integrates the work time for each element work including the corrected work time determined in step S310, and calculates the total work time for the target candidate (step S312).

Subsequently, the analysis device 200 determines whether or not there is another candidate for the division of work between the worker and the robot for the element work included in the necessary process specified in step S302 (step S314). When another candidate for work sharing exists (YES in step S314), the analysis device 200 determines another candidate for work sharing between the worker and the robot (step S316), and processes in step S306 and the like. repeat.

If there is no other candidate for work sharing (NO in step S314), the analysis device 200 ranks the total work time calculated for each candidate (step S318) and notifies the contents of the top ranking candidate. (Step S320). Then, the process ends.

In this way, based on the switching loss score, the total work time when the work division of the worker and the robot is changed can be calculated without actually changing the work division. You can easily find the optimal division.

<G. Modification example>
In the above description, as an example of an index indicating the suitability of work switching, an example of adopting a “switching loss score” has been given, but the present invention is not limited to this, and any index can be adopted. Further, a table or a function may be adopted instead of the index indicating the suitability of work switching.

In the above description, the mode in which the analysis device 200 executes all the processes has been illustrated, but the present invention is not limited to this, and a plurality of devices may cooperate to provide the above-mentioned functions. Furthermore, some or all of the functions may be realized by using so-called cloud computing resources on the server.

<H. Addendum>
The present embodiment as described above includes the following technical ideas.

[Structure 1]
A collaborative work system that produces products according to a predetermined process.
One or more collaborative work robots that work in collaboration with workers,
A work time calculation unit that calculates the work time required for the work of each process by analyzing the behavior of the worker and the collaborative work robot.
When the person in charge of work is switched between the worker and the cooperative work robot at an arbitrary position in the process, the work is performed based on the behavior of the worker and the cooperative work robot in the steps before and after the switching. A collaborative work system equipped with a suitability evaluation unit that evaluates the suitability of switching.

[Structure 2]
The collaborative work system according to configuration 1, wherein the conformity evaluation unit determines that the smaller the distance between the worker and the collaborative work robot, the lower the conformity.

[Structure 3]
The collaborative work system according to configuration 2, wherein the conformity evaluation unit determines that the longer the period in which the worker and the collaborative work robot are close to each other, the lower the conformity.

[Structure 4]
It further includes a work time calculation unit that determines the work time required for the work of the process after switching based on the work time calculated when the process is not after switching and the magnitude of suitability of the work switching. The collaborative work system according to any one of configurations 1 to 3.

[Structure 5]
It is further provided with an output unit that ranks and outputs the work division candidates by calculating the work time for each of a plurality of work division candidates whose responsibilities are different between the worker and the cooperative work robot. The collaborative work system according to configuration 4.

[Structure 6]
The cooperative work system according to any one of configurations 1 to 5, wherein the work time calculation unit determines start and end timings for each one or a plurality of elemental works included in each process.

[Structure 7]
The working time calculation unit
A feature point extraction unit that extracts the feature points of the worker based on the sensing result of at least the area including the worker by the sensing device.
An object recognition unit that recognizes the position and type of an object on the work stage based on the sensing result.
Based on the feature points of the worker extracted by the feature point extraction unit and the position and type of the object recognized by the object recognition unit, the start and end timings for each element work by the worker are set. The collaborative work system according to configuration 6, which includes a first timing determination unit for determining.

[Structure 8]
The working time calculation unit
A status management unit that manages the status of the collaborative work robot based on the control state from the collaborative work robot, and a status management unit.
The cooperative work according to the configuration 6 or 7, which includes a second timing determination unit that determines the start and end timings for each element work by the cooperative work robot based on the behavior corresponding to the status of the cooperative work robot. system.

[Structure 9]
An analyzer directed to a collaborative work system that produces products according to a predetermined process, the collaborative work system includes one or more collaborative work robots that work in concert with the worker.
A work time calculation unit that calculates the work time required for the work of each process by analyzing the behavior of the worker and the collaborative work robot.
When the person in charge of work is switched between the worker and the cooperative work robot at an arbitrary position in the process, the work is performed based on the behavior of the worker and the cooperative work robot in the steps before and after the switching. An analysis device including a suitability evaluation unit that evaluates the suitability of switching.

[Structure 10]
An analysis program directed to a collaborative work system that produces products according to a predetermined process, wherein the collaborative work system includes one or more collaborative work robots that perform work in cooperation with a worker. The program is on the computer
A step of calculating the work time required for the work of each process by analyzing the behavior of the worker and the cooperative work robot, and
When the person in charge of work is switched between the worker and the cooperative work robot at an arbitrary position in the process, the work is performed based on the behavior of the worker and the cooperative work robot in the steps before and after the switching. An analysis program that executes steps to evaluate the suitability of switching.

<I. Advantages>
Considering the production site using the collaborative work robot, if the work of the collaborative work robot is fixed, the balance of work sharing may be lost depending on the proficiency level of the worker, and the worker or the collaborative work robot may have to wait. .. Workers can optimize work sharing at any time according to their proficiency level, but there are restrictions on the delivery of work or semi-finished products between workers and collaborative work robots, so what kind of work sharing is possible? I can't immediately decide what to do.

The collaborative work system according to the present embodiment provides the following solutions to such problems.

(1) Grasp the movements of the worker and the collaborative work robot in units of elemental work, and measure each work time. The work time for each measured elemental work may be collected for each worker and / or order information (including information such as the type of product to be produced).

(2) Calculate the suitability (switching loss score) when the work is switched between the worker and the collaborative work robot. By referring to this compatibility, it is possible to estimate whether the work or semi-finished product can be smoothly delivered between the worker and the collaborative work robot.

(3) After acquiring the production plan and staffing information from the production control system, the work balance between the worker and the collaborative work robot is optimized by referring to the suitability of work switching.

By providing such a solution, the worker and the collaborative work robot can assist each other and realize efficient production.

Further, the work balance between the worker and the collaborative work robot may be optimized for each worker and / or product.

In this way, the work sharing between the worker and the collaborative work robot can be optimized in consideration of the relationship between the worker and the collaborative work robot as well as the worker.

Further, since the collaborative work system according to the present embodiment can calculate the work time for each element work, it is possible to collect finer-grained data, and thereby it is possible to find problems that are not normally noticed. .. Such problems can be reflected in the process design.

It should be considered that the embodiments disclosed this time are exemplary in all respects and not restrictive. The scope of the present invention is shown not by the above description but by the scope of claims, and is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

1 collaborative work system, 2 field network, 4 upper network, 11M, 12A, 12M, 13A, 14A, 15A work stage, 20 workers, 30 cameras, 40 entire processes, 41 processes, 42 element work, 43 operations, 44 Unit operation, 102,202,312 processor, 104,204,314 main memory, 106,222 upper network controller, 108,220,302 field network controller, 110,210,316 storage, 112 memory card interface, 114 memory card, 116 Local bus controller, 118, 218 processor bus, 120 USB controller, 200 analyzer, 206 input unit, 208 display unit, 212 optical drive, 214 storage medium, 250 worker element work recognition unit, 251 feature point extraction unit, 252 Object recognition unit, 253 motion recognition unit, 254,266 process database, 255,265 element work determination unit, 260 robot element work recognition unit, 261 PLC communication unit, 262 robot communication unit, 263 status management unit, 264,318 , 1106 Recipe program, 270 analysis processing engine, 300 robot (cooperative work robot), 310 main controller, 317, 1102 system program, 320 interface circuit, 322 sensor, 324 actuator, 326 motor driver, 328 servo motor, 400 display operation Equipment, 500 support equipment, 600 production control system, 700 analysis result, 701 process column, 702 process column, 703 element work column, 704 start time column, 705 end time column, 706 work time, 707 charge column, 708 production control Information field, 720 user interface screen, 722 switching loss score, 724, p1, p2 switching point, 1104 user program, 2104 analysis program, 2702 simulator, 2704 optimum process determination unit, 2706 work instruction unit, L distance.

Claims (10)

A collaborative work system that produces products according to a predetermined process.
One or more collaborative work robots that work in collaboration with workers,
A work time calculation unit that calculates the work time required for the work of each process by analyzing the behavior of the worker and the collaborative work robot.
When the person in charge of work is switched between the worker and the cooperative work robot at an arbitrary position in the process, the work is performed based on the behavior of the worker and the cooperative work robot in the steps before and after the switching. A collaborative work system equipped with a suitability evaluation unit that evaluates the suitability of switching. The collaborative work system according to claim 1, wherein the conformity evaluation unit determines that the smaller the distance between the worker and the collaborative work robot, the lower the conformity. The collaborative work system according to claim 2, wherein the conformity evaluation unit determines that the longer the period in which the worker and the collaborative work robot are close to each other, the lower the conformity. Further provided with a work time calculation unit that determines the work time required for the work of the process after switching based on the work time calculated when the process is not after switching and the magnitude of suitability of the work switching. The collaborative work system according to any one of claims 1 to 3. It further includes an output unit that ranks and outputs the work division candidates by calculating the work time for each of a plurality of work division candidates whose responsibilities are different between the worker and the cooperative work robot. The collaborative work system according to claim 4. The cooperative work system according to any one of claims 1 to 5, wherein the work time calculation unit determines start and end timings for each one or a plurality of elemental works included in each process. The working time calculation unit
A feature point extraction unit that extracts the feature points of the worker based on the sensing result of at least the area including the worker by the sensing device.
An object recognition unit that recognizes the position and type of an object on the work stage based on the sensing result.
Based on the feature points of the worker extracted by the feature point extraction unit and the position and type of the object recognized by the object recognition unit, the start and end timings for each element work by the worker are set. The collaborative work system according to claim 6, which includes a first timing determination unit for determining. The working time calculation unit
A status management unit that manages the status of the collaborative work robot based on the control state from the collaborative work robot, and a status management unit.
The cooperation according to claim 6 or 7, which includes a second timing determination unit that determines the start and end timings for each element work by the cooperative work robot based on the behavior corresponding to the status of the cooperative work robot. Working system. An analyzer directed to a collaborative work system that produces products according to a predetermined process, the collaborative work system includes one or more collaborative work robots that work in concert with the worker.
A work time calculation unit that calculates the work time required for the work of each process by analyzing the behavior of the worker and the collaborative work robot.
When the person in charge of work is switched between the worker and the cooperative work robot at an arbitrary position in the process, the work is performed based on the behavior of the worker and the cooperative work robot in the steps before and after the switching. An analysis device including a suitability evaluation unit that evaluates the suitability of switching. An analysis program directed to a collaborative work system that produces products according to a predetermined process, wherein the collaborative work system includes one or more collaborative work robots that perform work in cooperation with a worker. The program is on the computer
A step of calculating the work time required for the work of each process by analyzing the behavior of the worker and the cooperative work robot, and
When the person in charge of work is switched between the worker and the cooperative work robot at an arbitrary position in the process, the work is performed based on the behavior of the worker and the cooperative work robot in the steps before and after the switching. An analysis program that executes steps to evaluate the suitability of switching.

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