JPH0836409A - Method for determining work allotment of robot - Google Patents

Abstract

PURPOSE:To quickly and accurately allot plural work points to plural robots. CONSTITUTION:Robots which can work at each work point are discriminated in accordance with workable areas of respective robots, and work points are allotted to robots based on this discrimination, and the next work point at the shortest distance from the work point is selected after this work point at the shortest distance from the present position of each robot is selected, and this processing is performed for respective robots with respect to all work points allotted to these robots; and if calculated work times of robots are shorter than the cycle time, work times of these robots increased by addition of a work point are calculated, and the work point is allotted to the robot whose work time is least increased by addition of the work point.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention is to determine the work assignment of each robot so that the work assignment of each robot can be efficiently allocated when a plurality of robots work on one work. Regarding the method.

[0002]

2. Description of the Related Art For example, a plurality of robots are arranged in close contact with each other on a welding line for welding a vehicle body. However, these robots are actuated all at once almost at the same time when the positioning of the conveyed vehicle body is completed. The work is completed in about the same time. Designers and the like judge which robots are to be assigned the many welding points set on the vehicle body based on their experience and knowledge.

[0003]

However, in such a conventional method of determining the work share of the robot,
It requires a skilled designer with a lot of knowledge and experience, and it may not be possible to deal with the case where many welding lines are changed at one time. In addition, when the number of robots increases, even a skilled designer requires a great deal of time for the study, and because the study time cannot be taken sufficiently, it can be said that the study accuracy is not always sufficient. In many cases, the cause of the problem is inherent. At the present time, it is a difficult technique to perform the optimal division even if the time is sufficient.

The present invention has been made in order to solve the above-mentioned conventional problems, and provides a method for determining a work assignment of a robot that can uniformly and quickly assign each work point to a robot. For the purpose of provision.

[0005]

According to a first aspect of the present invention for achieving the above object, each of a plurality of work points set in advance on a work is distributed to a plurality of robots, and A method for determining the work assignment of robots that gives an efficient work assignment to each of the robots, the step of determining a workable robot for each of the work points from the workable area of each robot, and , If there is a work point that is determined to be workable by only one robot, a step of allocating each work point for each robot and a robot point based on the work point allocated for each robot The arrival time from the original position to each assigned work point is calculated, the work point with the shortest time is selected, and the selected work From the stage of performing the process of calculating the arrival time to the remaining work point and selecting the work point of the shortest time for each work robot assigned to all work points assigned to each work robot. It is characterized by being formed.

Further, according to the second configuration of the present invention, each of the plurality of work points preset on the work is distributed to the plurality of robots, so that the plurality of robots can be efficiently assigned to the work. A method of determining a work share of a given robot, wherein a workable robot is determined for each work point from a workable area of each robot, and only one robot can work in the determination. If there is a work point that was determined to be, the work point that was assigned to each robot, and the work point that was assigned from the robot's original position, based on the work point assigned to each robot Until the remaining work point is reached from the selected work point. The process of calculating the interval and selecting the work point of the shortest time for each applicable robot for all the work points assigned to each applicable robot, and the work that can be performed by multiple robots If there are points, the steps of allocating work points that can be worked for each of the relevant robots, and the work points assigned to each robot again from the original position of the robot to each work point assigned The process of calculating the arrival time to select the shortest working point and then calculating the arrival time from the selected working point to the remaining working points to select the shortest working point The steps to perform for each applicable robot for all work points assigned to each robot and the calculated work time for each robot are set in advance for each robot. The robot whose working time is longer than the cycle time in this comparison, the assigned working point is deleted, while the robot whose working time is shorter than the cycle time is deleted. The step of calculating the work time that increases due to the increase of work points for each robot, and the work time that increases the work point in order from the work point that has the largest effect on the cycle time It is characterized by consisting of a step of allocating points.

According to a third aspect of the present invention, the step of allocating the work points is performed in order from the work point having the smallest number of workable robots to the robot having the smallest work time which increases as the work points increase. It is characterized by allocating work points.

According to a fourth aspect of the present invention, by assigning each of a plurality of work points set in advance to a plurality of robots to a plurality of robots, the robots are provided with an efficient work assignment. And a step of determining a workable robot for each work point from a workable area of each robot, and determining that only one robot can work in the determination. If there are work points assigned to each robot, the steps to assign the work points to each robot and the work points assigned to each robot from the original position of the robot to the assigned work points The arrival time is calculated, the work point with the shortest time is selected, and the arrival time from the selected work point to the remaining work points is calculated. Then, the process of selecting the work point of the shortest time is performed for each applicable robot for all the work points assigned to each applicable robot, and there is a work point where multiple robots can work. If you do
The shortest time by calculating the arrival time from the original position of the robot to each assigned work point again based on the stage of assigning work points that can be worked for each robot and the work points assigned to each robot. The process of selecting the work point of, and calculating the arrival time from the selected work point to the remaining work point to select the work point of the shortest time is allotted to each applicable robot. For each applicable robot for each work point, compare the calculated work time for each robot with the preset cycle time for each robot, and in this comparison, compare the work time with the cycle time. For robots that become longer, the assigned work point is deleted while the robot whose work time is shorter than the cycle time is deleted. As for, the step of calculating the work time that increases due to the increase of this work point for each robot and the margin ratio by dividing the calculated work time for each robot by the cycle time preset for each robot. And a step of allocating to the robot the work point with the smallest work time that increases due to the increase of the work point, in order from the robot with the smallest margin ratio.

A fifth aspect of the present invention is the above second to fourth aspects.
In the above configuration, the work time when the work is performed for all the allocated work points is shorter than the cycle time. From the distribution plans, the cycle time of each plan is set to a and the cycle time is distributed. b,
When weights Wa and Wb are given to a and b, W = Wa × a +
The method further comprises the step of selecting a distribution plan that minimizes the value of Wb × b.

A sixth structure of the present invention is the above W.
The ratio of a to Wb is characterized by being 1.0 to 1.5.

[0011]

According to the method for determining the work share of the robot according to the present invention having the above-described structure, each structure has the following operation.

The first structure operates as follows.

For each work point, it is determined which work point can be worked by which robot according to the step of determining the workable robot for each work point from the workable area of each robot. , Do all work points. As a result of such a determination, if there is a work point that is determined to be workable by only one robot, only that robot can work, so such work The points are assigned to the robot. Next, based on those work points assigned to each robot, the arrival time from the original position of the robot to each of the assigned work points is calculated, and the work point of the shortest time is selected. The process of calculating the arrival time from the work point to the remaining work point and selecting the work point of the shortest time is performed for each applicable robot for all the work points assigned to each applicable robot. .

That is, when three work points are assigned to one robot, the arrival time from the original position of the robot to each of the three positions is calculated,
The work point with the shortest arrival time is set as the first work point, and then the arrival time from this first work point to each of the remaining two work points is obtained, and the shortest arrival time is obtained. A process is performed in which the work point is the second work point and the remaining work points are the third work points. By the above processing, the work points that can be worked only by the robot and the work order are determined.

The second structure operates as follows.

In addition to the operation of the first configuration, when there are work points that can be worked by a plurality of robots, the work points that can be worked are assigned to each of the robots. That is, it is determined which work point each robot can work, and all the work points that can work for each robot are assigned to each robot. Therefore, when a certain work point can be worked by the five robots, the work point is temporarily assigned to the five robots which are duplicated. Next, it is calculated for each robot how long the operation time will be when the work points thus assigned are added to the work points assigned so far. This operation time is calculated as the sum of the arrival times between points calculated in the same manner as when determining the work order in the case of the first configuration.

If the operation time exceeds the cycle time, the number of work points is too large. Therefore, the work points are deleted, and the number of work points within the cycle time increases due to the increase of the work points. The operating time to be performed is calculated for each robot. Then, the work points are assigned to the robot having the smallest increase in the operation time in order from the work point having the largest influence on the cycle time.

The third structure operates as follows.

In this configuration, unlike the second configuration, the work points are not distributed to the robots having the smallest increase in operation time, but the work points are increased in order from the work point having the smallest number of workable robots. The work point is assigned to the robot with the smallest increase in work time.

The fourth structure operates as follows.

This configuration is different from the second or third configuration in that the margin time is calculated by dividing the work time until the completion of all the work at the work points assigned to each robot by the cycle time, In order from the robot having the smallest margin ratio, the work points having the shortest work time increasing due to the increase of the work points are distributed to the robots.

The fifth structure operates as follows.

Among the distribution plans of the work points obtained by the above second to fourth constructions, the optimum one is selected. This selection is based on the distribution plan in which the work time is shorter than the cycle time. When the longest cycle time of each plan is a and the cycle time variance is b and weights Wa and Wb are given to a and b, respectively, W = W
The method of selecting the one that minimizes the value of a × a + Wb × b is performed. According to this, the leveled work points with little variation are selected.

In the sixth configuration, the above Wa and Wb are
Since the ratio of and is set to 1.0 to 1.5, the optimum distribution of work points can be obtained.

[0025]

An embodiment of the present invention will be described below with reference to the drawings. In addition, as an example, the work sharing of the robot used in the welding process of the vehicle body will be described as an example. FIG. 1 is a block diagram showing a schematic configuration of an apparatus that executes an operation of a method for determining a work share of a robot according to the present invention.

The structure of this device is almost the same as that of a computer which is normally used.

The input device 1 is a device for inputting information necessary for the calculation of the method of the present invention, for example, the coordinates of the work point, the form of each robot installed, the cycle time and the like. The storage unit 2 stores various data input from the input device 1 and a program for executing the method of the present invention. The arithmetic unit 3 is a unit that determines the work share of the robot based on the above-described various data input from the input device 1, the data and the programs stored in the storage unit 2, and the like. The definition unit 4 is a unit that defines data based on the above-described various data input from the input device 1 and the data and programs stored in the storage unit 2.

The control unit 5 controls the movement of the robot or the like on the basis of the programs stored in the storage unit 2 and the determination of work sharing calculated by the calculation unit 3. The output device 6 outputs a drive signal to a robot or the like based on the signal from the control unit 5.

FIG. 2 is a flow chart showing the procedure of the method for determining the work share of the robot of the present invention. This flowchart is executed by the apparatus shown in FIG. 1, but the general processing is roughly divided into the following three.

A Information Creation Processing for Work Division (1) First, elements necessary for determining work division, (a) data relating to robots and hands (what kind of robot is a hand such as a robot, etc.) ), (B) work content (what kind of work is to be done for each work point), and (c) cycle time.

(2) A table required for work sharing is created according to the given various information.

B Work division plan determination process (3) A work division plan is calculated based on the created table.

C optimization processing (4) The optimum one is selected from the calculated work sharing plans.

Next, the processes shown in (1) and (2) above will be described in detail.

First, as shown in FIG. 3, as a premise, a robot Ri (i = 1 to m) equipped with a welding gun gi (i = 1 to m) is used in a welding line of a vehicle body to work point Wj ( j = 1 to n), the cycle time of this line is T, and each robot has
Information shall be given to avoid interference. Step 1: Addition of escape points In the case where a large number of closely arranged robots work at the same time, such as a welding robot, in order to avoid interference with other robots, other than the work point It is necessary to set the point where the robot needs to pass. When such a point is known in advance, the point is added to the work point group Wj as work point information.

Step 2: Work Possibility Judgment Process As shown in FIG. 4, in the work possibility judgment unit of the arithmetic unit 3, work points W1, W2 input from the input device 1 are input.
, Wj, robots R1, R2, ..., Rn, information g1, g2 regarding the type of tool included in the working unit of the robot.
..., g3, and the tool is placed around the surface of the workpiece as shown in FIG.
As shown in (4), it is rotated at regular intervals (for example, every 3 ° and 5 °), and it is determined whether W1 can be reached without interfering with the above-mentioned information Ri and gi.
As a result of this determination, a True signal is output if there is no interference, and a False signal is output if there is interference. By performing such processing for all the robots for all the work points, Table 1 regarding the combinations of the work points and the robots as shown in Table 1 below is created.

[0037]

[Table 1]

Step 3: Conditional work point information input In the case where there is a work point with a condition such as a work point which must be made to work by a specific robot or a work point which cannot be done by a particular robot. , Enter which robot should work at that work point. For example, when the work points W1 and W3 are work points where only the robot R4 having a special tool can work, the work points W1 and W3 are assigned to the robot R4. Step 2
In Table 1 created in step 1, the working point W1 is the robot R
Robots other than No. 4 (robots R1 and R3) are work points that can be worked. Since this work point W1 is a point for causing the robot R4 to work as described above, work points W1 for other robots are Is deleted from the table (the robots R1 and R3 are deleted from this table (marked with X) as shown in Table 1).

Step 4: Work point distribution processing By the above processing, it becomes clear which robot can work for all work points. Next, in Table 1, one work point is one. Extract only those that can be worked only by the robot, and distribute this to each robot this time. In Table 1, work point W1
Robot R4 about work point W3 Robot R4 about work point W5 Robot R4 about work point W5
Robot R4 for 7 corresponds.

Along with this allocation, the allocated work points (work points W1, W3, W5, W7 in Table 1)
Are deleted from Table 1. As for the work points left by this deletion, a table 2 as shown in Table 2 representing work points that can be welded for each robot is created.

[0041]

[Table 2]

Step 5: Welding order determination process In the processes up to step 4, the work point is the case where the work point must be welded by only one robot, or the work point when only one robot can work. The work points extracted as are assigned to each robot, and the welding order of the work points assigned to each robot is determined. For example, according to the above example, as shown in FIG. 6, the work points that must be worked by only the robot R4 are W1 and W.
3, W5, W7, first, the arrival time from the original position of the robot R4 to each work point W1, W3, W5, W7 is calculated, and the work point with the smallest arrival time is worked first. The work point is set (W1 is the first work point in the figure). Next, when the first work point is decided,
Next, from the first work point W1 to the other work points W3, W
The respective arrival times up to 5 and W7 are calculated, and the work point having the minimum arrival time is set as the second work point (in the figure, W7 is the second work point). further,
The respective arrival times from the second work point W7 to the other work points W3 and W5 are calculated, and the work point having the smallest arrival time is set as the third work point (W3 is the first work point in the figure). The remaining work point W5 is the work point for the fourth work. In this way, the work order of each work point is determined for each robot.

Step 6: Estimating the operating time In step 5, the operating time TRi of each robot is calculated for each robot when the work is performed on all the work points assigned to each robot in the determined work order. Ask. As shown in FIG. 7, this calculation is performed by the operation time estimation unit provided in the calculation unit 3, and the data gi related to the data and the tool input about the robot Ri,
In addition, it is performed based on the information about the working point (group of hit points). In the above example, for the robot R4, the work point W
The operation time when the work is performed in the order of 1, W7, W3 and W5 is calculated as shown in FIG.

By the above-mentioned processing, the information creation processing for work division is completed, the table 1 showing which robot can work at each work point is created, and the work at each work point is defined by each robot. It is necessary to create a table 2 indicating whether or not the work can be done, assign work points that can be worked only by a specific robot to each robot, and operation time when each robot works the assigned work point. It will be.

Next, a work division plan determination process is performed based on the table obtained by the above process.

The process shown in (3) will be described below. The work division plan determination process is as follows.
There is a street way.

Step 7: Work Division Proposal Determination Process First, the first method (work division process based on empirical rules) is performed as follows.

Through the above processing, work points that have not been assigned to the robot as weldable work points (those left in Table 1) are assigned to the weldable robot, and Steps 4 to 6 are performed. That is,
The working point W2 on the table 1 is robots R1, R2, R4.
Therefore, the work point W2 is pseudo-assigned to each of these three robots. The same applies to the work points W4, W6 and Wj. That is, for all work points, the work points are assigned to robots that can work, and the work order of the assigned work points is determined as described above.
The operation time is calculated for each robot, and these operation times are designated as TRi '.

If the calculated TRi 'is larger than the cycle time T, the robot Ri exceeding the cycle time is deleted from the item of the work point Wj in Table 1. On the other hand, the calculated TRi 'is subtracted from the TRi obtained in the processing up to step 6, and the time Δti of the difference is calculated. By performing such processing, Table 3 shown in Table 3 is created.

[0050]

[Table 3]

Next, based on the table 3 created as described above, the total Sj of Δti calculated for each robot for each work point is calculated for each work point. Further, Pj is calculated by dividing the calculated Sj by the number of robots capable of welding work. It can be said that the larger the value of Pj, the greater the influence of the work point Wj on the cycle time. Therefore, the work point is assigned to the robot that minimizes Δt with respect to the work point in the descending order of the value of Pj. Next, the operation time estimation process of step 6 is performed again for the robot to which the work point is assigned to calculate the operation time TRi ′. Then, Δti is calculated again for the remaining working points.

All the work points are assigned to each robot by repeating the above processing.

Next, the second method (work division processing based on the empirical rule) is performed as follows.

Similar to the first method, the table 3 is prepared and the work points are assigned to the robots which minimize Δt with respect to the work points, in order from the work point where the number of weldable robots is small. Next, the operation time estimation process of step 6 is performed again for the robot to which the work point is assigned to calculate the operation time TRi ′. And
Δti is calculated again for the remaining working points.

All the work points are assigned to each robot by repeating the above processing.

Finally, the third method (work division processing based on the empirical rule) is performed as follows.

First, a value obtained by dividing the operation time TRi 'obtained by the operation time estimation process in step 6 by the cycle time T is set as a margin ratio R, and a table 4 as shown in Table 4 is prepared.

[0058]

[Table 4]

Then, in order from the robot having the smallest margin R, the work points for minimizing the Δt for the robot are assigned to the robot. Next, the operation time estimation process of step 6 is performed again for the robot to which the work point is assigned, and the operation time TRi ′ and the margin ratio R are calculated. Then, Δti is calculated again for the remaining working points.

All the work points are assigned to each robot by repeating the above processing.

Finally, an optimization process for determining and selecting the best one from the work division plans obtained by the above process is performed. The processing shown in (4) will be described below.

Step 8: Optimization processing All the work points are assigned to the respective robots by the above processing. Which of the work division plans determined by the above three methods is the best? Is discriminated by the processing in step 8. That is, Is obtained, and when a and b are respectively weighted, the one that minimizes the value of W = W1a + W2b is selected. Here, the respective values of W1 and W2 are W1: W2
It has been found that it is desirable to set it to about 10: 8 from the viewpoint of optimization.

Since the distribution of the work points obtained by performing the above processing is not performed by humans based on experience and knowledge, it can be performed quickly and accurately, and it has taken a lot of time until now. It is possible to make this type of work, which required a lot of work, extremely efficient. Also,
The operation is the same as a normal computer, so if you prepare the necessary data, even if you do not have any knowledge of robots, the same result will be obtained no matter who operates it. Has the advantage that

Although the robots arranged on the welding line have been described as examples in the above embodiments, the present invention is not limited to this, and a plurality of robots work simultaneously on the same work. It is needless to say that the present invention can be applied to any work points on the line for carrying out.

[0065]

As described above, according to the present invention, the following effects are brought about for each claim.

In the method according to the first aspect, the workable robot is determined for each of the work points from the workable areas of the respective robots.
Which work point can be worked by which robot is determined for each work point and for all work points, and there is a work point determined to be workable by only one robot. In this case, such work points are assigned to the robot, and the shortest time is calculated by calculating the arrival time from the robot's original position to each assigned work point based on those work points assigned to each robot. The process of selecting the work point of, and calculating the arrival time from the selected work point to the remaining work point to select the work point of the shortest time is allotted to each applicable robot. Since the work points are performed for each corresponding robot, it is possible to quickly determine the work points that can be worked only by the robot and the work order.

In the method according to the second aspect, when there are work points that can be worked by a plurality of robots, the work points that can be worked by each of the robots are sorted, When the assigned work points are added to the work points assigned so far, how much movement time will be calculated for each robot, and for those movement times exceeding the cycle time,
For work points that have been deleted and are within the cycle time, the operating time that increases due to the increase in this work point is calculated for each robot, and the work points that have the greatest effect on the cycle time Since this work point is assigned to the robot with the least increase in operation time,
For all the robots, work points are allocated so that each robot has the least operation time.

In the method according to the third aspect, the work points are distributed in order from the work point having the smallest number of workable robots to the robot having the shortest work time that increases with the increase of the work points. A work point that minimizes the operation time of each robot is assigned to each robot.

In the method according to the fourth aspect, the margin ratio is calculated by dividing the work time until the completion of all the works at the work points assigned to each robot by the cycle time, and the margin ratio is calculated. Since the work points that increase the work time with the increase of the work points are allocated to the robots in order from the smallest robot, the work points can be distributed so that the margin rates are averaged. .

In the method according to the fifth aspect, among the work points having been distributed by various methods, the one having the most uniformed work points having the least variation is selected. be able to.

In the method according to the sixth aspect, it becomes possible to select the optimum one as the distribution of the work points.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a computer that executes a work assignment determination method for a robot according to the present invention.

FIG. 2 is a flowchart showing the processing steps of the method for determining the work share of a robot according to the present invention.

FIG. 3 is a diagram showing an example of input data necessary for starting processing of the method of the present invention.

FIG. 4 is a diagram for explaining the operation of a workability determination unit provided in the calculation unit.

FIG. 5 is a diagram provided for explaining a process of interference check of a tool.

FIG. 6 is a diagram for explaining a work order determination process.

FIG. 7 is a diagram for explaining the operation of an operation time estimation unit provided in the calculation unit.

FIG. 8 is a diagram for explaining a method of calculating operating time.

[Explanation of symbols]

1 ... Input device, 2 ... Storage unit, 3 ... Arithmetic unit,
4 ... Definition part, 5 ... Control part, 6 ... Output device.

Claims (6)

[Claims] 1. A method for determining a work share of a robot, in which each of a plurality of work points set in advance on a work is distributed to a plurality of robots so that each of the plurality of robots is provided with an efficient work share. Then, there is a step of determining a workable robot for each of the work points from the workable area of each robot, and there is a work point determined to be workable by only one robot in the determination. In this case, the shortest time is calculated by calculating the arrival time from the original position of the robot to each assigned work point based on the stage of assigning each work point for each robot and the assigned work point for each robot. Select the work point of, and calculate the arrival time from the selected work point to the remaining work points to find the shortest work point. A method for determining a work share of a robot, comprising: performing a process of selecting, for each corresponding robot, all work points assigned to each corresponding robot. 2. A method for determining a work share of a robot, in which each of a plurality of work points set in advance on a work is distributed to a plurality of robots so that the work is efficiently assigned to each of the plurality of robots. Then, there is a step of determining a workable robot for each of the work points from the workable area of each robot, and there is a work point determined to be workable by only one robot in the determination. In this case, the shortest time is calculated by calculating the arrival time from the original position of the robot to each assigned work point based on the stage of assigning each work point for each robot and the assigned work point for each robot. Select the work point of, and calculate the arrival time from the selected work point to the remaining work points to find the shortest work point. When the process of selecting is performed for each applicable robot for all the applicable work points assigned to each applicable robot, and when there are work points where multiple robots can work, Based on the step of allocating work points that can be worked for each, and the work point allocated to each robot, the arrival time from the original position of the robot to each work point allocated again is calculated and the work point of the shortest time And selecting the shortest time work point by calculating the arrival time from the selected work point to the remaining work points. For each applicable robot, compare the work time calculated for each robot with the cycle time preset for each robot, For the robots whose work time is longer than the cycle time, the assigned work points are deleted, while the robots whose work time is shorter than the cycle time are increased due to the increase of this work point. To calculate the working time for each robot, and to allocate the working point to the robot that has the smallest working time, which increases with the increase of the working point, in order from the working point that has the largest effect on the cycle time. A method for determining work assignment of a robot characterized by. 3. The step of allocating the work points is such that the work points are allocated in order from the work point having the smallest number of workable robots to the robot having the shortest work time that increases due to the increase of the work points. Claim 2
The method for determining the work share of the robot described in. 4. A method for determining a work share of a robot, in which each of a plurality of work points set in advance on a work is distributed to a plurality of robots, whereby the work share of each of the plurality of robots is efficiently distributed. Then, there is a step of determining a workable robot for each of the work points from the workable area of each robot, and there is a work point determined to be workable by only one robot in the determination. In this case, the shortest time is calculated by calculating the arrival time from the original position of the robot to each assigned work point based on the stage of assigning each work point for each robot and the assigned work point for each robot. Select the work point of, and calculate the arrival time from the selected work point to the remaining work points to find the shortest work point. When the process of selecting is performed for each applicable robot for all the applicable work points assigned to each applicable robot, and when there are work points where multiple robots can work, Based on the step of allocating work points that can be worked for each, and the work point allocated to each robot, the arrival time from the original position of the robot to each work point allocated again is calculated and the work point of the shortest time And selecting the shortest time work point by calculating the arrival time from the selected work point to the remaining work points. For each applicable robot, compare the work time calculated for each robot with the cycle time preset for each robot, For the robots whose work time is longer than the cycle time, the assigned work points are deleted, while the robots whose work time is shorter than the cycle time are increased due to the increase of this work point. Calculating a work time for each robot, dividing the calculated work time for each robot by a cycle time preset for each robot, and calculating a margin ratio, and a robot having a small margin ratio. And the step of allocating to the robot the work point with the smallest work time that increases as the number of work points increases. 5. The maximum of each proposal is selected from the allocation proposals whose work time is shorter than the cycle time when the work for all the work points allocated by the respective methods of claim 2, 3 and 4 is performed. Is a work time, b is a cycle time variance, and a and b are given weights Wa and Wb. The step of selecting a distribution plan that minimizes the value of W = Wa × a + Wb × b is performed. The method according to any one of claims 2 to 4, further comprising: 6. The ratio of Wa to Wb is 1.0 to 1.
5. The method according to claim 5, wherein the work assignment of the robot is determined.