JP6771730B2 - Autonomous adjustment operating body - Google Patents

Description

The present invention relates to an autonomous moving body having an adjusting function.

Let's take a look at a conventional example by following the flow of a moving body such as a robot.
FIG. 11 shows an embodiment of a conventional robot.
Patent Document 1 describes a control method for the robot system shown in 11-A. A storage step that stores data related to the relative position and relative posture of the master robot and the slave robot as a set of information, and a step that operates so that both of them reproduce the relative position and relative posture of the set of information at an arbitrary position. To be equipped. Performs predetermined (programmed) operations in teaching work (teaching). It is convenient when performing a fixed operation like a production machine, but it cannot correspond to an arbitrary operation.
The following are examples that can easily correspond to arbitrary operations.

Patent Document 2 relates to a self-propelled assisting robot shown in 11-B. It is a robot equipped with a deceleration sensor, a control unit, a human body detection sensor, a collision prevention sensor, a pinch prevention sensor, etc., and does not collide by the detection operation of each sensor. This is a normal control technology that is controlled by the output of a sensor.
This can be dealt with even if the robot moves by detection when the target is a robot such as a long-term care person who is stopped or moves slowly. However, if the robot moves quickly, it may not be possible to respond if the robot moves during the movement, which is a drawback.

Patent Document 3 is a routing device for an autonomous mobile body shown in 11-C. A function to obtain the velocity and moving direction of an object based on changes in the position of the object over multiple measurement cycles, and to avoid contact with the object and set the path of an autonomous moving body based on the position, velocity, and moving direction. It has a function. It is the same as Patent Document 2 in that the next action of the autonomous moving body is determined from the detection result of the state of the object up to the present. The following Patent Documents 4 and 5 are found as applications similar to Patent Document 3.

Patent Document 4 is a mobile body course acquisition method and a mobile body course acquisition device. Based on the position and internal state (speed, direction) of the moving object and the obstacles existing in a predetermined range, the probabilistic prediction of the path that the obstacle can take and the predetermined number of paths that the moving body can take are determined. Although the safety is evaluated from both paths, it is the same as Patent Document 3 in that the above operation is performed from the internal state of the moving body and the obstacle up to the present by the own vehicle sensor and the external sensor.

Patent Document 5 is a vehicle collision prevention device. In a device that makes a danger judgment with a danger judgment circuit based on the output of a radar that detects distance and relative velocity information with an obstacle, when the radar cannot detect the obstacle, the information obtained so far is used to determine the obstacle. The current value of the distance and relative velocity of is predicted and calculated to judge the danger. The current value is predicted from the values from the past to just before the present. This is different from the previous literature in that it predicts the present based on past information. The forecast is just a forecast, and it is dangerous because it may not be as predicted.

Patent Documents 6 to 9 describe those having communication functions such as vehicle-to-vehicle communication.
Patent Document 6 is a future behavior prediction device. In the literature, paragraph number 0006
"A future behavior prediction device that predicts the future behavior of a communication vehicle around the own vehicle, and is a vehicle-to-vehicle communication means that acquires information from a communication vehicle around the own vehicle by vehicle-to-vehicle communication, and communication acquired by the vehicle-to-vehicle communication means. The speed variable range estimating means for estimating the future speed variable range of the communication vehicle based on the current vehicle state information of the vehicle, and the speed history of the communication vehicle acquired by the vehicle-to-vehicle communication means from the present to a predetermined time ago. It is characterized by including a future behavior predicting means for predicting the future behavior of the communication vehicle based on the future speed fluctuating range of the communication vehicle estimated by the speed fluctuating range estimating means. ""In this future behavior prediction device, information (for example, speed information, vehicle state information, acceleration performance information) is acquired from the communication vehicle around the own vehicle by the inter-vehicle communication means. And the future behavior prediction device can change the speed. The range estimation means enables future speed fluctuations of the communication vehicle based on the current vehicle state information of the communication vehicle (for example, accelerator operation information, brake operation information, shift position, engine speed, vehicle acceleration / deceleration performance information). In addition, the future behavior prediction device predicts the future behavior of the communication vehicle based on the speed history of the communication vehicle from the present to a predetermined time before and the future speed fluctuation range by the future behavior prediction means. The future behavior prediction device can predict the future behavior of the communication vehicle with high accuracy by predicting the future behavior based on the future speed fluctuation range in addition to the speed history of the communication vehicle within the past predetermined time, and is reliable. It is possible to obtain the future behavior of a highly reliable communication vehicle. By providing driving support to the own vehicle using the future behavior of the communication vehicle around the own vehicle, it is possible to provide more reliable driving support. It is the same as Patent Document 5 in that the future behavior is only predicted from the history from the past to the present.

Patent Document 7 is shown in 11-D of FIG. 11 and is a travel plan generator. In the document, in paragraph number 0038, "Next, the behavior prediction unit 13 predicts the behavior of another vehicle (step S504). More specifically, the behavior prediction unit 13 uses the own vehicle sensor 20 to acquire the own vehicle. The estimated value of the state amount of M and the information of other vehicles acquired by the peripheral sensor 30 are acquired. Then, the position information history of the own vehicle M, the relative position information history of the other vehicle, the relative speed, etc. are calculated from the acquired information. Furthermore, from this information, the position information history of other vehicles and the current state (speed, acceleration, yaw angle with respect to road alignment, etc.) are estimated. By this, the positional relationship of other vehicles and the tendency of other vehicles (inter-vehicle distance, vehicle speed, addition) are estimated. Driver preferences such as deceleration and lane change resistance) can be estimated. Then, based on the position information history of other vehicles, the current state and the acquired road information, it is applied to the driver model generated in advance from the tendency of other vehicles. Then, the future behavior (position, speed, etc. at predetermined time intervals) of other vehicles (for example, about several hundred meters) is predicted. "
Similarly, in paragraph number 0058, "Next, the behavior prediction unit 113 predicts the behavior of another vehicle (step S804). More specifically, the behavior prediction unit 113 predicts the behavior of the own vehicle acquired by the own vehicle sensor 20. The estimated value of the state amount of M and the information of other vehicles acquired by the peripheral sensor 30 are acquired. Then, the position information history of the own vehicle M, the relative position information history of the other vehicle, the relative speed, etc. are calculated from the acquired information. Furthermore, from this information, the position information history of other vehicles and the current state (speed, acceleration, yaw angle with respect to road alignment, etc.) are estimated. By this, the positional relationship of other vehicles and the tendency of other vehicles (inter-vehicle distance, vehicle speed, addition) are estimated. Driver preferences such as deceleration and lane change resistance) can be estimated. Then, based on the position information history of other vehicles, the current state and the acquired road information, it is applied to the driver model generated in advance from the tendency of other vehicles. Then, the future behavior (for example, about several hundred meters) of another vehicle (position, speed, etc. at predetermined time intervals) is predicted. ”In paragraph number 0061,“ Next, in the travel plan generation unit 116, Using the unsafety distribution set in, that is, the risk distribution, a travel plan for the own vehicle is generated (step S807). ”In paragraph number 0062,“ Next, the safety evaluation unit 117 generates a travel plan. The safety of the travel plan generated by the unit 116 is finally evaluated (step S808). More specifically, the information on the position and speed of the other vehicle predicted by the behavior prediction unit 113 and the travel plan generation unit 116 are generated. Using the traveling plan including the position and speed of the own vehicle M, the inter-vehicle distance and the relative vehicle speed are calculated for each predetermined time, and the inter-vehicle distance thus obtained is divided by the relative speed. The TTC (Time To Collision) is calculated, and the safety of the driving plan is evaluated based on whether or not the TTC is larger than the safety standard value. ”In paragraph number 0063,“ in this way. When the travel plan is adopted, the travel control ECU 60 can faithfully reproduce the position and speed at each time based on the adopted travel plan while taking into account the estimated value of the state amount of the own vehicle M. An instruction value for the actuator is generated. Then, acceleration / deceleration control is performed by controlling the throttle actuator 71 and the brake actuator 74 and controlling the engine 73 and the braking device 74. Further, the steering motor 75 is controlled to perform electric power steering. Steering control is performed by controlling the device. " Further, in paragraph number 0071, "If it is determined that it is not safe, the travel plan generation unit corrects the provisional travel plan, and the safety evaluation unit 217 re-evaluates the safety of the modified travel plan. It predicts the future behavior of other vehicles from the information acquired by the own vehicle sensor and peripheral sensors, generates a driving plan for the own vehicle, and controls the own vehicle based on the driving plan. It is a future plan based on predictions made from actual measurement data from the past to the present, and it has the disadvantage that it is limited to correction and control of only the own vehicle. It is often seen that the control is incomplete, as the own vehicle and the other vehicle only control each other, and if the controls are not synchronized with each other, the other may move again in the direction that one avoids. It is to be.

Patent Document 8 is an inter-vehicle communication device shown in 11-E of FIG. In paragraphs 0017 to 0019 of the document, "FIG. 1 is a block diagram showing a system configuration in a vehicle. Detection signals from sensors 10 such as GPS, steering, and clock are supplied to ECU 12 and supplied. The position of the own vehicle, the time, the movement of the vehicle, and the like are detected from the detection signal generated. For example, a predicted value of the future time and position is obtained. This data is supplied to the data communication unit 14, where the carrier is modulated. Further, the communication unit 14 determines a communication pattern such as a PN series and a frequency hopping pattern in the spread spectrum communication based on the current and future position data of the own vehicle, and forms a transmission signal based on this communication pattern. , This is transmitted from the antenna 16 to the other vehicle. Further, the data from the other vehicle received by the antenna 16 is transmitted in the data communication unit 14 based on the communication pattern based on the current position and the future position of the own vehicle. At the same time as demodulating, the modulation signal is taken out and the content is recognized by the ECU 12. Further, when the actuator 18 of the brake or the steering wheel is connected to the ECU 12 and it is determined by the recognition of the ECU 12, it is necessary. , Drive the actuator 18 to operate the brakes and steering. " In paragraph number 0040, "Since the position coordinates of the future vehicle can be estimated in this way, each vehicle transmits this own vehicle position to inform other vehicles of the future trend of the own vehicle. In paragraphs 0047 to 0049, "For the own vehicle, the position of the own vehicle obtained by GPS or the like is obtained, the future is predicted from the values detected from various sensors, and the predicted position of the future is set as the time." Obtained as a function (S11). Next, the data about the position of the own vehicle at present, 2 seconds later, ... n seconds later is obtained as each individual data packet (packet 1 (current and current position coordinates), packet). 2 (coordinates after 2 seconds and 2 seconds), ...) (S12). Each packet is transmitted in a communication pattern (PN series or frequency hopping) associated with the time and coordinates (S13). On the other hand, in the other vehicle, the future predicted position is obtained as a function of time (S21), and the communication pattern corresponding to the obtained position and time data is calculated (S22), as in the case of the own vehicle. The data corresponding to the pattern is received and demolished (S23). Then, based on the obtained data, the route is recalculated (S24), the collision avoidance operation (S25), the inter-vehicle distance control (S26), and the like are performed. " It is described and corresponds to 11-E of FIG. 11 of the drawings of the present application. By carrier-modulating with the future predicted position and time data of the own vehicle and sending the own vehicle data, if the carrier is demoted with the future predicted position and time data of the other vehicle, only the same future predicted position and time data By utilizing the fact that it cannot be received, data that is not the same future predicted position and time data is not received, but the receiving side knows the future predicted position and time data of the transmitting side and recalculates the route of the receiving side. It controls collision avoidance, inter-vehicle distance control, and so on. It is essentially the same as Patent Document 7 that controls the own vehicle by obtaining data of another vehicle, and has the same drawbacks as Patent Document 7.

Patent Document 9 is a robot device and an information processing system shown in 11-F. This robot includes a communication means for receiving a signal with another electronic device and an information detection means for detecting information from the signal obtained by the communication means, and controls the actuator by this information. The robot-to-robot communication function has the following detailed description on page 9/41.
"(2-10) Robot-to-robot communication function, and further, the robot 1 is equipped with a robot-to-robot communication function that performs cooperative work such as a soccer game while communicating with each other.
In practice, the controller 20 of the robot (hereinafter referred to as the first robot) 1 is another robot (hereinafter, referred to as the first robot) based on the image signal S4 from the image processing unit 22 when the inter-robot communication function is set to ON. Hereinafter, this is referred to as a second robot). The position and state of 1 are monitored. Then, when the controller 20 of the first robot 1 wants to perform a desired action or action of the second robot 1, it transmits an execution command of the action to the second robot 1 via the communication unit 25. At this time, the controller 20 of the second robot 1 drives the necessary joint mechanism based on the execution command given via its own communication unit 25, and executes the operation specified by this. In this way, in the robot 1, the robots 1 can control each other's robots 1 while communicating with each other to perform a predetermined cooperative operation. Note that FIG. 24 shows a configuration example of a game system 70 in which two users can play, for example, a soccer game by using such an inter-robot communication function. In such a game system 1, two personal computers 71A and 71B are provided, and each user uses the corresponding personal computers 71A and 71B to, for example, "put the ball forward and attack" or "attack from the right side". It is possible to input action commands such as "shoot". In this case, the personal computers 71A and 71B sequentially transmit commands corresponding to the input commands to the robot 1 of the corresponding team via the Internet 72, the communication server 73, the telephone line 74, and the telephone bodies 75A and 75B. As a result, each robot 1 of the corresponding team executes the instructed content while controlling each other robot 1 while communicating with each other as described above based on this command. In this way, in this game system, two users can each operate the robot 1 of their own team to play a soccer game. "
Looking at this, what we want the robot to do is just an execution command to be transmitted by communication. It only allows the robot to perform as instructed, and does not show the function of disclosing the schedule and coordinating with other robots.

Disadvantages that can be said in common with all conventional examples are that the sensor detects the past to the present, predicts the present to the future, controls the action from the present to the future, and detects or predicts other actions. Based on this, it is the control of only one's own side and the action only from the present to the future, and there are many cases that cannot be dealt with by such one-sided action.
For example, consider two autonomous walking robots. Crossed in a narrow passage. Both recognized and stopped. Admitting the stopped opponent, one started to move. On the other hand, he admitted that the other party had stopped and started to move and interfered (collision) in position. This happens because you can't see the other person's next action. This is an example of a misprediction that it would have stopped.
Alternatively, one moved to the right, avoiding the other. The other moved to the left, avoiding the opponent and interfered. Thus, a change in one is a possible defect if it cannot be predicted by the other.
Furthermore, despite the fact that they should have recognized each other and controlled themselves, the other party also changed unexpectedly as described above, or the other party did not make the necessary changes, and the task did not become as expected. Or both do not do it, or do not work together. It was not possible to prevent the occurrence of such serious inconveniences, including interference accidents such as the collision.
As described above, the conventional control technology is based on the idea of corrective processing for detecting the past or the present state and utilizing it in the control operation after observing the phenomenon that has occurred. There was a drawback that it could not cope with the detection and the behavior that was not as expected. And, in both cases, there was a blind spot that an unexpected serious problem like the above example would occur if the behavior was changed only on the self side from the behavior prediction of the other party.
In the robot-to-robot communication and the vehicle-to-vehicle communication of Patent Documents 6 to 9, the detection and control parts are the same idea, and only the behavior of the other party is changed from the behavior prediction of the other party.
This has an added function of causing the robot to issue commands that it absolutely wants to perform by communication. Further, as shown in Patent Document 9, there is a limit in that the action of moving only by the instruction command takes all actions according to the situation.

Patent No. 5360237 JP-A-2014-121503 Patent No. 4774401 JP-A-2009-64088 JP-A-53-16230 JP 2011-221698 Patent No. 4416020 Patent No. 3436207 Patent No. 4328997

The object of the present invention is to determine an action by controlling by a detection value and a prediction value, which is a conventional control technique, or to obtain another prediction value and perform control on the self side corresponding to the other prediction value. It is to provide an autonomously adjusting moving body that can cope with the invisible (unexpected) movement of the moving body.

The autonomous adjustment operating body according to the present invention includes a motivation input means, a task schedule adjustment means, and a task execution means, the task schedule adjustment means includes a schedule creation means and a schedule adjustment means, and the schedule adjustment means includes a schedule disclosure means. It is equipped with schedule validity judgment means and inconvenient operation avoidance management means, and discloses the reliable schedule that will actually be performed to other robots, and based on this, tasks are divided and routes are changed for convenience. Adjust the schedule. In adjusting the schedule, if it is determined that a problem will occur between each other's schedules with respect to the disclosed initial schedule, one or both, or the management center that manages this will create and disclose the correction schedule. Then, the other, or both, or the management center that manages it confirms that the disclosure schedule is appropriate and accepts it, manages the consensus response, and does not allow other schedules that interfere with the schedule to be implemented. (Avoid creating and acting on a modified schedule different from the agreement schedule at the discretion of the other party to the execution side of the agreement schedule) Execute the agreement schedule in the state. This avoids the problems caused by unilaterally modifying and executing the conventional self-side.
Hereinafter, it will be described according to the claims.

The invention according to claim 1 is an autonomous adjustment operating body.
A autonomous operation body relates tasks which the operation member is performed with the motive input means and the task scheduling means and task execution means, said motive input means includes input means for receiving an input via said input means It is provided with a task recognition / registration means for recognizing an input task and a task reading means for reading the task recognized from the registered task list.
The task schedule adjusting means includes a schedule creating means for creating or modifying a schedule related to the task inside or outside the operating body, and the schedule created or modified by the schedule creating means, or the schedule already possessed. It is provided with an adjustment necessity determining means for determining whether or not adjustment is necessary with another operating body, and a schedule adjusting means for adjusting the schedule when adjustment is necessary.
The task execution means includes an execution program reading means for reading and executing the task program of the task for which the adjustment is unnecessary or the adjustment has been completed, and an execution means for executing / ending the task program.
The schedule adjusting means discloses the schedule that needs to be adjusted to other operating bodies, and the disclosed moving body side is appropriate in comparison with the schedule that the schedule disclosed in response to the disclosure has. It is characterized in that it is made to judge whether or not, and the agreed response of acceptance confirmation to the disclosed schedule is made, and other schedules that interfere with the agreed schedule are not implemented.

The invention according to claim 2 is the autonomous adjustment operating body according to claim 1.
The handling of the task is divided into those for which the schedule has been fixed and those for which the schedule has not been finalized, and the tasks are described in the task list. It is characterized by having a schedule fixed / unfixed sorting means for sorting into a fixed schedule.

The invention according to claim 3 is the autonomous adjustment operating body according to claim 2.
The motivation input means enables the input means to receive the task to which a definite designation for treating the schedule as the finalized schedule is given after the schedule is created and adjusted, and the schedule finalized / unconfirmed sorting means or. In addition, by providing a means for determining whether or not the confirmation is specified, it is possible to register and use the schedule as the confirmation schedule even for the first task after creating and adjusting the schedule. And.

The invention according to claim 4 is the autonomous adjustment operating body according to any one of claims 1 to 3.
The task execution means includes task execution history description means for describing the execution history of the task in the execution history table, and the motive input means has already executed the task recognized by the task recognition / registration means. It is characterized in that it is provided with an executed determination means for determining whether or not it is performed by referring to the execution history table.

The invention according to claim 5 is the autonomous adjustment operating body according to any one of claims 1 to 4.
The task recognition / registration means of the motive input means is characterized in that it is possible to register in the event registration table that there is an event input of the confirmed task.

Since it is configured as described above, the autonomous adjustment moving body of the present invention grasps the unexpected future movement of the moving body such as another robot, creates and discloses a future correction schedule, and confirms and answers. By making an agreement, it became possible for the other party to the execution side of the agreement schedule to avoid problems caused by creating and acting on a correction schedule different from the agreement schedule at their own discretion.

It is a figure which shows one Embodiment of the structure of the autonomous adjustment operation body which concerns on this invention. It is a figure which shows one Embodiment of the operation flow of the autonomous adjustment operation body which concerns on this invention. It is a figure which shows one embodiment of the details of the motive input process of the operation flow of the autonomous adjustment operation body which concerns on this invention. It is a figure which shows one embodiment of the details of the task schedule adjustment process of the operation flow of the autonomous adjustment operation body which concerns on this invention. It is a figure which shows one embodiment of the details of the task execution process of the operation flow of the autonomous adjustment operation body which concerns on this invention. It is a figure which shows one Embodiment of various data used in the autonomous adjustment operation body which concerns on this invention. It is a figure which shows one Embodiment of the adjustment operation of the autonomous adjustment operation body which concerns on this invention. It is a figure which shows the other embodiment of the adjustment operation of the autonomous adjustment operation body which concerns on this invention. It is a figure which shows the other embodiment of the adjustment operation of the autonomous adjustment operation body which concerns on this invention. It is a figure which shows the other embodiment of the adjustment operation of the autonomous adjustment operation body which concerns on this invention. It is a figure which shows the Example of the conventional autonomous operation body.

The autonomous adjustment operating body according to the present invention includes a motivation input means, a task schedule adjustment means, and a task execution means, and the task schedule adjustment means includes a schedule creation means for creating a schedule or a correction schedule, and a schedule adjustment means, if necessary. The schedule adjusting means is provided with a means, and the schedule disclosure function for disclosing the reliable schedule or the correction schedule to be actually performed to other operating bodies and the disclosed schedule are appropriate in comparison with the own schedule. It has a function to judge whether there is, and a function to prevent the other side of the execution side of the correction schedule (agreement schedule) agreed by the acceptance confirmation reply to the disclosed schedule from executing a correction schedule different from the agreement schedule. ..
This will be described below with reference to the figure.

FIG. 1 is a diagram showing an embodiment of a configuration of an autonomous adjustment operating body according to the present invention.
The autonomous adjustment operation body 1000 includes a motive input means 1100, a task schedule adjustment means 1200, and a task execution means 1300. Each and the relationship between them will be described in detail below.

The motivation input means 1100 executes from the input means 1110 in which an event (motivation) such as a task instruction, a sensor detection result input, and a time input motivating the start of execution of a task on the schedule is input, and the input contents. It is provided with a task recognition / registration means 1130 that recognizes a task to be input and registers that an event has been input in the event registration table 1120, and a task reading means 1150 that reads the recognized task from the task list 1140. Further, it is convenient to provide the schedule fixed / unfixed sorting means 1160 for sorting whether the read task has a fixed schedule or an unfixed schedule.

6-A in FIG. 6 is an example of the event registration table 1120.
In this example, the identification symbol of the event input, the input date and time, the related task code, the target range symbol in which the task is executed, the deadline for completing the task, etc. are recorded in the input order.
In the task list 1140, 6-B in FIG. 6 is an example.
The task list 1140 does not necessarily include an execution program that executes the task. It suffices if it is associated (linked) with a recognition symbol or the like. In 6-B, this table lists the tasks that can be performed (there is a corresponding executable program). In this example, there are major categories of life, work, ..., there are clean / tidy, cooking, laundry ... in life, and farm work, civil engineering / architecture ... is there. Further, for example, in clean / tidying, each has a task of wiping and cleaning, and its processing (execution) capacity is 400 m ² / h (square meter / hour), and it is stored as an identification tag number A01001 that identifies the task. The identification tag number A01001 is this number and is associated with the execution program of the task. For example, in the second task of 6-A in FIG. 6, the task is wiped with A01001 and the target range is FA-BFL. Since the symbol of the target range indicates the target location, if this area is registered, the required time required for processing can be obtained from the processing capacity in 6-B, and the task starts from the end deadline or the start time. A schedule is created that is scheduled to be processed. In 6-A, the deadline is 10 o'clock, and the date and time are every day.
The task list 1140 may be local to each robot, or may use a communication function in the management center. Further, if the desired task itself is not found in the task list 1140, it is natural that the task can be borrowed or introduced from another.

The schedule confirmed / unconfirmed sorting means 1160 is based on a tag attached to the task whether the schedule is already confirmed or uncertain when the task is recognized from the input event. To judge. With a fixed schedule, even if it is a task that is performed daily or regularly, or even if it is an irregular task, once the schedule is fixed, as long as the task execution event is input, it will be added to the execution program or task list. It is feasible because it is described. Therefore, it is possible to bypass the schedule creation and adjustment process. Unless a sudden event that interferes with the execution of the schedule jumps in, the schedule creation and adjustment process is bypassed.
For example, the event input at the time tagged with the task execution start is also associated with the task to be executed, and since the execution time is fixed, it becomes a task for determining the schedule.
On the other hand, a task whose schedule is undecided is an occasional task such as sensor input or a person's instruction, which may be an obstacle to other schedules.
From now on, we have to create and adjust the schedule and operate it. Therefore, it is necessary to go through the process of creating and adjusting the schedule.

The confirmed / unconfirmed judgment may refer to the schedule table or the execution program, but it is easier to refer to the tag attached to the task. The tag indicates confirmed / unconfirmed.
It is convenient that the schedule-determined / undetermined sorting means 1160 includes the confirmation-designated presence / absence determination means 1161. This is so that even if it is the first task that has entered at any time (irregularly) in the input means 1110, it can be used as a schedule confirmation task once the schedule is created. At first, when the schedule is undecided, this means checks whether or not the input means 1110 specifies whether or not the schedule is fixed.
If the task related to the input event has already been executed before and after the task recognition / registration means, the subsequent processing is unnecessary, so it is convenient to have the executed determination means 1170.
Whether or not it has been executed is determined by referring to the execution history table described later in the explanation of the execution means. If it has been executed, there is a description in the execution history table, so you can report the execution and wait without executing it again.

The task schedule adjusting means 1200 creates a task schedule, discloses and adjusts the schedule between the moving bodies and between the moving bodies and humans, registers the result as a schedule, and connects it to the task executing means 1300. is there.
The main configuration is the adjustment necessity determination means 1230 that determines whether the schedule needs to be adjusted, the creation of a new schedule when there is no schedule, and the creation of a correction schedule that corrects the schedule that is expected to be inconvenient. Disclosure of the schedule creation means 1240 and the initial (the one that was possessed from the beginning) or the new or modified schedule created here to other operating bodies, and determine whether the disclosure schedule is appropriate. It has a schedule adjustment means 1270 that adjusts and manages other schedules that interfere with the disclosed and agreed agreement schedule.

In the schedule adjusting means 1270, mainly the schedule disclosure means 1271 for initial schedule disclosure, new creation or modification schedule disclosure, and the disclosed schedule are collated with the schedule on the disclosed side to verify whether there is any problem. It has a schedule validity judgment means 1272 that judges and agrees to the disclosed schedule, and an inconvenient operation avoidance management means 1273 that confirms the agreement answer and ensures that other schedules that interfere with the agreement schedule are not arbitrarily implemented. ing. In order for the agreed schedule to be implemented well (without causing any inconvenience), one example of certain concrete measures is a new or another schedule that will be an obstacle to the agreed schedule after the agreement response is confirmed. Do not create or execute, and do so by commanding or controlling both operating bodies. The inconvenient operation avoidance management means 1273 is responsible for such management.

The task determined to be undetermined by the schedule confirmed / unconfirmed sorting means 1160 of the motivation input means 1100 is input to the task schedule adjusting means 1200 and processed. First, the task data presence / absence determining means 1210 determines whether or not there is data necessary for task execution (task description data to be in the task list, execution program, etc.). The reference destination for the determination is the task list 1140.
You may refer to the list of the task program aggregate 1320 described by the task execution means 1300.
In particular, when it is determined that there is no task program, the task program creating means 1220 creates a task program for execution by so-called teaching work (teaching) or the like.
Of course, a new task program may be introduced by another owner other than the usual creation.
Now that the task can be executed, it can be registered in the task list 1140 and the task program aggregate 1320. An example of the task program assembly 1320 is shown in 6-D of FIG. A task symbol and a task program symbol are described, and both are related. That is, if it is A01001, the task program of PA01001 is executed. By the way, if you describe the attributes of the task and the installation destination (program acquisition source, acquisition route), it is convenient for execution.
Since the processing capacity and the like can be known from the task program of the specific task by the program, necessary items are described in the task list 1140. Since the processing deadline of the task is also known in the event input, the schedule creating means 1240 creates a schedule for a new task by referring to the processing capacity, the processing deadline, and the schedule table 1260, or is currently in progress if necessary. Review or revise the schedule of.

The adjustment necessity determination means 1230 determines whether or not the schedule possessed by itself needs to be coordinated with the schedule possessed by another operating body. For example, you are in a state where you want other moving objects to share tasks because you cannot handle them by yourself, such as overlapping tasks, or you can detect other moving objects such as other moving objects or humans while moving. If it is in a state where the possibility of interference should be judged, the necessity of adjustment is judged. If adjustment is not necessary, the schedule may be used, so the schedule is registered in the schedule table 1260 by the schedule registration means 1250, and the task execution means 1300 is used.
If adjustment is necessary, go to schedule adjustment means 1270. If necessary, the proposed schedule to be disclosed may be prepared by the schedule creation means 1240.
In addition, in the division, the moving body to be supported can be selected from the moving body registration list 1280. An example is shown in 6-E of FIG. It would be convenient if symbols representing individual moving bodies, attributes such as humanoids, and other abilities were described.

Further, in the figure, the adjustment necessity determination means 1230 is described before the schedule creation means 1240, but the adjustment necessity may be determined after the schedule is created, so that the order can be changed.

The schedule is processed by the next schedule adjusting means 1270 for coordination with other operating bodies. In the schedule adjusting means 1270, the schedule disclosure means 1271 discloses the schedule to other operating bodies by communication or the like.
According to the disclosure, the schedule validity determining means 1272 in the task schedule adjusting means 1200 of at least one of the moving bodies determines whether or not the disclosed schedule is appropriate by collating with its own schedule. If a defect (positional interference, overlapping schedules, etc.) is expected (invalid) from both schedules, it is determined that correction is necessary, and a correction schedule is created by the schedule creation means 1240. In response to the revision schedule, the schedule disclosure means 1271 again discloses the revision schedule to other operating bodies. With the disclosed moving body, the schedule validity determination means 1272 again determines whether or not it is appropriate, and the correction and determination are repeated until it is determined to be appropriate. If it is judged to be appropriate, we will reply to the intention of the agreement. The answer includes the intention not to implement other schedules that interfere with the agreed agreement schedule. The inconvenient operation avoidance management means 1273 manages the agreement intention response in response to the schedule by the schedule disclosure means 1271 or the schedule validity judgment means 1272, and prevents or implements another schedule that interferes with the schedule. Eliminate inconvenient obstacles by not letting them.
When the intention is confirmed, the agreement schedule is put into practice. Of course, other inconvenient schedules, if any, are not put into practice.

An example of the schedule table 1260 is shown in 6-C of FIG. The task to be executed for the time is described for each moving body. When there is no task, it will be on standby. Since it is decided at what time the task to be executed will be executed, execution will start when that time arrives, and it will wait when it finishes. Since the task includes actions such as moving other than the so-called work, it is possible to obtain a movement route related to the task as a schedule. In this table, each operating body is described, but a plurality of operating bodies may be described in the table.

When it is necessary to adjust the schedule, the schedule adjusting means 1270 adjusts the schedule among other moving bodies or humans. In that case, the schedule of the task created by the schedule creation means 1240 is disclosed to other operating bodies and humans by the schedule disclosure means 1271. The travel schedule will be disclosed as well. If necessary, both parties may disclose their schedule to each other.
In the case of a task sharing request, if the task schedule disclosed by the other party can be executed without any problem in light of the receiving side's schedule, the task sharing request is satisfied. In the case of positional interference during movement, if we look ahead in time assuming that we have executed each other's schedule, and if positional interference is expected, one moves with respect to the other without positional interference. Present a modification (change) schedule for. If there is no problem with modifying (changing) the schedule, the adjustment is completed. The correction request can be repeated until it is confirmed that there is no problem. In particular, in the case of task sharing, the moving body registration list 1280 can be referred to in order to search for a moving body that can be shared. When the schedule adjustment is completed, the schedule registration means 1250 updates the schedule table 1260.

When the schedule confirmation / unconfirmed sorting means 1160 of the motivation input means 1100 determines the schedule confirmation, and when the schedule registration means 1250 of the task schedule adjustment means 1200 completes (adjusts) the schedule, the task is It becomes feasible. The task execution means 1300 reads a program to be executed from the task program aggregate 1320 by the execution program reading means 1310. The execution / wait determination means 1330 determines whether to execute immediately or to wait until the execution start time. When the execution time arrives, the execution and end determination means 1340 executes the program, and determines whether the program is being executed or ended. For example, the end judgment is made depending on whether the end time has arrived or whether the last detection of the target range of the task has been achieved. When it is determined to be completed, it is described in the execution history table 1360 by the task execution history description means 1350. At the same time, wait. An example of the execution history table 1360 is shown in 6-F of FIG. The completed task symbol and execution time are described.

FIG. 2 is a diagram showing an embodiment of an operation flow of the autonomous adjustment operating body according to the present invention.
It has a motivation input process, a task schedule adjustment process, and a task execution process. Hereinafter, each step will be described in detail with reference to FIGS. 3, 4, and 5.

FIG. 3 is a diagram showing a detailed embodiment of a motive input step of the operation flow of the autonomous adjustment operating body according to the present invention.
The input process 1110P always receives event inputs such as task instructions, sensor detection outputs, and time inputs for execution. When the task recognition / registration step 1130P receives the event input, it registers it in the event registration table 1120 and recognizes the task. In task recognition, the task to be executed is recognized from the input contents. As the items to be recognized, if there is a target range for performing the task, a deadline, a task name required for reading the task in the next process, or a recognition code representing each task, detailed contents are not necessarily required. For new tasks, the content is also needed. In the task reading process 1150P of the next process, the presence or absence of a task is checked with reference to the task list 1140. If the desired task is not found in the task list 1140, it is determined whether or not the task can be read from others. If the desired task is in the task list 1140 or if it can be read from another, the desired task is read.

It is convenient to have a schedule-determined / undetermined sorting process 1160P.
In the schedule confirmed / unconfirmed sorting process 1160P, when a task is recognized from the input event, it is determined based on the tag attached to the task whether the schedule is already confirmed or uncertain. To do. Since the operation is described in the description as a means, it is omitted to avoid duplication. In the schedule confirmation task, the task schedule adjustment process can be bypassed and the task execution process can be performed. On the other hand, in the task whose schedule is undecided, the task schedule adjustment process is performed.
It is convenient that the schedule finalized / unconfirmed sorting process 1160P includes a determination process designated for finalization. This is because, in the input process 1110P, even if it is the first task that has entered at any time (irregularly), it can be used as a schedule confirmation task once the schedule is created. Initially, when the schedule is undecided, in this step, it is checked whether or not the confirmation is specified in the input step 1110P. If there is a confirmation specification, it will be registered as a schedule confirmation task when the task schedule is registered.
As already mentioned in the description of the means, if the task related to the input event has already been executed before and after the task recognition / registration process, the subsequent processing is unnecessary, so it is convenient to have the executed determination process 1170P. is there.
Whether or not it has been executed is determined by referring to the execution history table 1360 described later in the description of the execution means. If it has been executed, there is a description in the execution history table, so you can report the execution and wait without executing it again.

After the motivation input process, in the undetermined schedule task, the task schedule adjustment process is performed. FIG. 4 is a diagram showing a detailed embodiment of the task schedule adjustment step of the operation flow of the autonomous adjustment operating body according to the present invention. The task schedule adjustment process will be described with reference to FIG.
The task after the schedule confirmed / undetermined sorting process 1160P enters the task schedule adjustment process 1200P. In the task data presence / absence determination step 1210P, the presence / absence of desired task data is determined. In the case of "none", the task program is created in the task program creation step 1220P, stored in the task program aggregate 1320, and registered in the task list 1140. In the creation of the task program, as described in the description of the means, the task program for execution is created by so-called teaching work (teaching) or the like. Alternatively, if it is necessary to manually create a program, an alarm may be issued, a request for creation may be made, and the program may be created. Of course, it may be introduced from many other program-owning organizations.

When the creation of the task program is completed or the task data is determined to be "yes" from the beginning, the schedule creation step 1240P is entered. Here, since the processing deadline of the task is also known in the event input, a new task schedule is created by referring to the processing capacity, the processing deadline, and the schedule table, or reviewed / corrected if necessary. In the adjustment necessity determination step 1230P, it is determined that the schedule adjustment is necessary when there is a change in the environment for changing the motivation input or the division that requires the change of the fixed schedule. Specifically, on the created schedule, when it is necessary to have other moving bodies share tasks that cannot be handled by oneself, such as overlapping work, or when other moving bodies or humans are assigned while moving. This is a case where there is a risk of positional interference (collision) if the vehicle moves as it is due to detection. It is judged that schedule adjustment is necessary with other operating bodies. If this is not the case, no special adjustment is required. In this step, it may be determined whether or not the adjustment has been completed. If it has been adjusted, it is possible to determine that adjustment is not necessary. In the case of positional interference, the path of each moving body or person on the verification screen of the computer display in the three-dimensional space where the related moving body exists is calculated, displayed, displayed, and judged based on the disclosed schedule. Can be done. In the judgment, it is sufficient that the moving bodies and the centers of the people do not come into contact with each other at all times with a unique space margin.
If they meet at any time, it is judged that schedule adjustment is necessary because there is positional interference.
If adjustment is not necessary, the schedule may be used, and the schedule is registered in the schedule table 1260 by the schedule registration step 1250P.

When it is necessary to adjust the schedule, the schedule is adjusted between other moving bodies or humans in the schedule adjustment step 1270P. In that case, the schedule of the task created in the schedule creation step 1240P is disclosed to other operating bodies and humans, and adjustments are made so as not to cause inconvenience. The interface with humans is the same as a normal computer interface, such as voice, screen display, and keyboard input.
The travel schedule will be disclosed as well. If necessary, both parties may disclose their schedule to each other.
In the case of a task sharing request, if the task schedule disclosed by the other party can be executed without any problem in light of the receiving side's schedule, the task sharing request is satisfied. In the case of positional interference during movement, if we look ahead in time assuming that we have executed each other's schedule, and if positional interference is expected, one moves with respect to the other without positional interference. Present a correction schedule (wait, change route, etc.) for. If there is no problem in modifying the schedule, the adjustment is completed. Corrections and change requests can be repeated until it is confirmed that there are no problems. In particular, in the case of task sharing, the moving body registration list 1280 can be referred to in order to search for a moving body that can be shared.

As described in the explanation of the means, in the schedule adjustment step 1270P, in addition to the schedule disclosure step 1271P, the schedule validity judgment for verifying and judging whether the disclosed schedule is appropriate by collating with the schedule on the disclosed side. Inconvenience for managing the agreement intention response during the response to the schedule in the process 1272P and the schedule disclosure process 1271P or the schedule validity judgment process 1272P, and not executing another schedule that hinders the agreement schedule. It has an operation avoidance management step 1273P.

When the schedule adjustment is completed, the schedule table 1260 is updated by the schedule registration process 1250P. In the schedule registration process 1250P, it is possible to change the schedule undetermined task to the schedule confirmation task in response to the case where the confirmation designation is "Yes" in the schedule confirmation / unconfirmed sorting process 1160P. By that process, if the task entered for the first time needs to be executed again from the next time, it can be processed as a schedule confirmation task.

Next, the task execution step 1300P will be described.
FIG. 5 is a diagram showing a detailed embodiment of a task execution step of the operation flow of the autonomous adjustment operating body according to the present invention.
The task determined to be the schedule confirmation task in the motivation input process 1100P and the task completed in the schedule adjustment process 1270 and the schedule registration process 1250P in the task schedule adjustment process 1200P can enter the task execution process 1300P.
Although it overlaps with the description by means,
The task execution process 1300P reads a program to be executed from the task program aggregate 1320 by the execution program reading process 1310P. In the execution / waiting determination step 1330P, it is determined whether to execute immediately or to wait until the execution start time. When the execution time arrives, the program is executed in the execution and end determination step 1340P, and it is determined whether the program is being executed or not. For example, the end judgment is made depending on whether the end time has arrived or whether the last detection of the target range of the task has been achieved. When it is determined to be completed, it is described as an execution history in the execution history table 1360 by the task execution history description step 1350P. At the same time, wait.

Next, an example of the schedule adjustment operation will be described in detail with reference to FIGS. 7 to 10.
FIG. 7 is a diagram showing an embodiment of the adjustment operation of the autonomous adjustment operation body according to the present invention.
This is an example of disclosing the schedule of the task to be requested to another unspecified operating body and sharing the task. As a premise, the moving body A wants to share a part T1 of the task with any of the other moving bodies B, C, D, and E. Other operating bodies B, C, D, and E also have schedules for other tasks.
Adjustments between operating bodies Adjustments are made in the order described.
○ Pre-action for A: Shared task T1, schedule grasp (1) Shared consultation from A to other operating bodies (Send T1 task and schedule: Schedule disclosure)
(2) For other operating objects, refer to the self-schedule, judge the validity of the disclosure schedule = judge whether it is feasible, and answer.
(3) A selects and requests B from the possible answers (4) B sets the answer for confirmation of agreement (agreement on the disclosure schedule) to A.
(5) A receipt (6) A or B, or the management center's inconvenient operation avoidance management means 1273 detects the answer and executes the agreed schedule (agreeed sharing schedule) in good condition (no inconvenient operation). Secure.
(7) Schedule revisions for both A and B and adjustment completed
A deletes the process of T1, and B adds.

In execution, it is possible to execute all the contracted tasks in B, or to execute a control program in A and control the output of B with a control instruction.

FIG. 8 is a diagram showing another embodiment of the adjustment operation of the autonomous adjustment operation body according to the present invention.
This is an example of disclosing the schedule of the task area (target range such as the task location) to be requested to another unspecified operating body and sharing the tasks. As a premise, the moving body A wants to share a part P1 of the task area with any of the other moving bodies B, C, D, and E. Other operating bodies B, C, D, and E also have schedules for other tasks.
Adjustments between operating bodies Adjustments are made in the order described.
○ Pre-action for A: Grasp the schedule including the shared task area P1 (1) Shared consultation from A to other operating bodies (send the task schedule including the task area P1: schedule disclosure)
(2) For other operating bodies, refer to the self-schedule, judge whether it is feasible, and answer. (3) A selects and specifies B from the possible answers and requests (4) B sets the answer of the agreement confirmation to A.
(5) A receipt (6) A or B, or the management center's inconvenient operation avoidance management means 1273 detects the answer and executes the agreed schedule (agreeed sharing schedule) in good condition (no inconvenient operation). Secure.
(7) The task areas and schedules for both A and B have been revised and adjustments have been completed.
A deletes the area of P1, B adds P1 and its schedule.

FIG. 9 is a diagram showing another embodiment of the adjustment operation of the autonomous adjustment operation body according to the present invention.
In particular, this is an example of adjustment in the case of avoiding positional interference (collision) of a moving moving body.
As a premise, it is assumed that both the moving bodies A and B have a moving route (moving at a fixed position at the moving time) according to the moving schedule, and their existence is detected by a sensor or the like or by communication. -A will be explained. Adjustments between operating bodies Adjustments are made in the order described.
○ Both A and B detect and stop each other as interference predictors (1) Disclosure of schedule of movement route (position, time) for both A and B (2) At least one of A and B judges the possibility of interference
According to both schedules, the possibility of interference when the movement is executed is verified by virtual execution (simulation).
(3) (Avoidance behavior) Disclosure of revised schedule (from one or both)
If there is a possibility of interference, disclose a correction schedule to avoid the interference (for example, one waits, another route, etc.).
(4) Correction schedule Validity judgment / agreement response
(Judgment of validity of schedule) Can interference be avoided by the correction schedule? If appropriate, a consensus response will be given from the disclosed side.
(5) A receipt (6) A or B, or the management center's inconvenient operation avoidance management means 1273 detects the answer and executes the agreed schedule (agreeed correction schedule) in good condition (no inconvenient operation). Secure.
(7) Schedule change to correction schedule (waiting, route change, etc.)
(8) Start of movement An example of task adjustment including the above interference avoidance is shown below.
As a premise, it is a case where A adjusts and acts without invasion and interference of C while executing task WA1 and returns to task WA1 (continues and ends), and the adjustment correspondence of 9-B in FIG. 9 is performed. Shown as a timetable.
The process is as follows.
<Process> ((2) to (7) are adjustment processes)
(1) A is executing task WA1 (2) C detects an intrusion (there is a new event)
(3) Both A and C are stopped, and A suspends task WA1 (no interruption is required for distributed parallel processing).
(4) Schedule disclosure (exchange) (especially in this case, route schedule)
→ Judgment of presence / absence of interference, judgment of risk of interference.
(5) Propose a correction schedule from one side (wait, avoid, etc.),
(It is good to decide the treatment standard of priority.)
(6) On the other hand, possible judgment, agreement response (7) Proposal side receipt (8) Ensuring good (no inconvenient operation) execution of the agreement schedule (agreement correction schedule).
(9) Correct the schedules of both A and C, and finish the action and adjustment. (10) A returns to task WA1 and continues, and C returns to the move action and continues.

FIG. 10 is a diagram showing another embodiment of the adjustment operation of the autonomous adjustment operation body according to the present invention. When a new task interrupts during task execution and coordinates with others.
As a premise, while A is executing task WA1, a new task WB interrupts and coordinates with others.
Ask the unspecified moving body to divide the work, and finally ask B to complete the adjustment.
FIG. 10 shows the adjustment correspondence as a timetable.
The process is as follows.
<Process> ((2) to (9) are adjustment processes)
(1) A is executing task WA1.
(2) Dive task WB detection (event)
(3) WA1 interruption → (Interruption is not required for distributed parallel processing)
(4) WB execution judgment (self / sharing): Adjustment necessity judgment Self-implementation (during WA1 / after WA1 is completed ... is it completed within the deadline?)

Request sharing to other operating bodies (to the following adjustments)
(5) Request consultation to other operating bodies (WB and its schedule disclosure)
(6) Other operating bodies refer to the self-schedule to judge and answer the possibility (schedule validity) (7) A selects and requests B from the possible answers (8) B confirms the agreement Set the answer to A.
(9) Ensuring good (no inconvenient operation) execution of the agreed schedule (agreeed correction schedule).
(10) B's schedule is revised and adjustment is completed. (11) A returns to task WA1 and continues execution, and B operates according to his own schedule.

Since the event registration table 1120, the task list table 1140, the schedule table 1260, the task program aggregate 1320, the operation body registration list 1280, the execution history table 1360 and other data are the operation bodies, that is, the data that can be used by the computer. Naturally, it is electronic data.
The task is an operation performed by the operating body based on the execution schedule and the execution program. It goes without saying that work, movement, and waiting are also forms of tasks.
Further, a robot, a moving body moving on a flat surface or a curved surface, a floating moving body, or the like can be an operating body to which the present application is applied.
In addition, although only what is necessary to explain the gist of the present application is described, a sensor unit for detection, a drive unit for movement, a control unit for controlling these, and other individual autonomous operations required as an autonomous operating body are described. It goes without saying that it has a structure that is usually known to be necessary, such as means specific to the body.
Further, in the explanation of the task schedule adjusting means and the task schedule adjusting process, the task program creating means and the task program creating process have been explained, but usually, the operating body is in a position to use the task program, and the task program is used. In many cases, it is something other than the moving body. The same applies to the introduction of the task program. Therefore, it is not always necessary to include the task program creating means 1220 in the configuration of the moving body.
Similarly, the schedule creating means 1240 may be included in the task schedule adjusting means 1200, but it is natural that an external management center or the like may have the function, and in such a case, the present application also applies. It shall be included in the range.

As described above, in the autonomous adjustment operating body according to the present invention, the operation corresponding to the motive input is disclosed as a clear operation schedule of the operating body, verified based on the clear operation schedule, and the operation is adjusted between the operating bodies for convenience. However, since the schedule that is an obstacle to the agreed schedule is not executed, the operation without any trouble is performed from the conventional values from the past to the present, as compared with the control for returning and the predicted behavior. It is extremely convenient for industrial use.

1000 Autonomous adjustment operating body 1100 Motivation input means 1100P Motivation input process 1110 Input means 1110P Input process 1120 Event registration table 1130 Task recognition / registration means 1130P Task recognition / registration process 1140 Task list 1150 Task reading means 1150P Task reading process 1160 Schedule confirmation / Unconfirmed sorting means 1160P Schedule confirmed / Unconfirmed sorting process 1161 Confirmation designation presence / absence determination means 1200 Task schedule adjustment means 1200P Task schedule adjustment process 1210 Task data presence / absence determination process 1210P Task data presence / absence determination process 1220P Task program creation means 1220P Task program Creation process 1230 Adjustment necessity determination process 1230P Adjustment necessity determination process 1240 Schedule creation process 1240P Schedule creation process 1250 Schedule registration process 1250P Schedule registration process 1260 Schedule table 1270 Schedule adjustment means 1270P Schedule adjustment process 1217P Schedule disclosure process 1272P Schedule disclosure process 1272 Schedule validity judgment means 1272P Schedule validity judgment process 1273 Inconvenient operation avoidance management process 1273P Inconvenient operation avoidance management process 1280 Operator registration list 1300 Task execution means 1300P Task execution process 1310 Execution program reading means 1310P Execution program reading process 1320 Task program set Body 1330 Execution / wait judgment means 1330P Execution / wait judgment process 1340 Execution and end judgment means 1340P Execution and end judgment process 1350 Task execution history description means 1350P Task execution history description process 1360 Execution history table

Claims (5)

A autonomous operation body relates tasks which the operation member is performed with the motive input means and the task scheduling means and task execution means, said motive input means includes input means for receiving an input via said input means It is provided with a task recognition / registration means for recognizing an input task and a task reading means for reading the task recognized from the registered task list.
The task schedule adjusting means includes a schedule creating means for creating or modifying a schedule related to the task inside or outside the operating body, and the schedule created or modified by the schedule creating means, or the schedule already possessed. It is provided with an adjustment necessity determining means for determining whether or not adjustment is necessary with another operating body, and a schedule adjusting means for adjusting the schedule when adjustment is necessary.
The task execution means includes an execution program reading means for reading and executing the task program of the task for which the adjustment is unnecessary or the adjustment has been completed, and an execution means for executing / ending the task program.
The schedule adjusting means discloses the schedule that needs to be adjusted to other operating bodies, and the disclosed moving body side is appropriate in comparison with the schedule that the schedule disclosed in response to the disclosure has. An autonomous coordinating body characterized in that it is made to judge whether or not, an agreement is given to confirm acceptance of the disclosed schedule, and another schedule that interferes with the agreed schedule is not executed. The handling of the task is divided into those for which the schedule is fixed and those for which the schedule is undecided, and the task is described in the task list. The autonomous adjustment operating body according to claim 1, further comprising a schedule fixed / unfixed sorting means for sorting into a fixed schedule. The motivation input means enables the input means to receive the task to which the confirmation designation for treating the schedule as the finalized schedule is given after the schedule is created and adjusted, and the schedule finalized / unconfirmed sorting means or. In addition, by providing a means for determining whether or not the confirmation is specified, it is possible to register and use the schedule as the confirmation schedule even for the first task after creating and adjusting the schedule. 2. The autonomous adjustment operating body according to claim 2. The task execution means includes task execution history description means for describing the execution history of the task in the execution history table, and the motive input means has already executed the task recognized by the task recognition / registration means. The autonomous adjustment operating body according to any one of claims 1 to 3, further comprising an executed determination means for determining whether or not the execution history table is used. Any of claims 1 to 4, wherein the task recognition / registration means of the motive input means makes it possible to register that an event input of a confirmed task has been made in the event registration table. The autonomous adjustment operating body described in one of them.

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