JPWO2019244910A1 - Work management system, upper system, lower system, work execution system, work equipment, work management method and program - Google Patents

Abstract

We provide work management systems, higher-level systems, lower-level systems, work execution systems, work equipment, work management methods and programs that facilitate the effective use of work equipment. The work management system (1) includes a lower system (3) and a higher system (2). The lower system (3) outputs a request (D3) corresponding to the work. The host system (2) determines whether or not to grant the permission (D4) to the request (D3). The lower system (3) causes one or more working devices (4) to perform the work corresponding to the request (D3) when the permission (D4) is given for the request (D3).

Description

The present disclosure generally relates to work management systems, higher-level systems, lower-level systems, work execution systems, work devices, work management methods and programs. More specifically, the present disclosure relates to a work management system, a higher-level system, a lower-level system, a work execution system, a work device, a work management method, and a program for causing one or more work devices to perform work.

Patent Document 1 describes a work management system (conveyor system) including a transport vehicle controller that collectively manages a work device (conveyor vehicle) and a host controller. The host controller transmits the transport information including the priority to the transport vehicle controller. Here, the host controller transmits to the carrier controller without reassigning the priorities. The transport vehicle controller creates only transport commands up to a predetermined specific priority and transmits them to the work equipment. The work device executes work (transportation) according to the received transfer command.

Japanese Unexamined Patent Publication No. 2002-189520

In the work management system described in Patent Document 1, the work apparatus operates according to the transfer information unilaterally transmitted from the host controller. Therefore, in this work management system, for example, when there is a work device that is not executing work (that is, it is empty), it is possible that this work device cannot be effectively used unless transfer information is newly transmitted from the host controller. There is sex.

The present disclosure has been made in view of the above reasons, and an object of the present invention is to provide a work management system, a higher-level system, a lower-level system, a work execution system, a work device, a work management method, and a program that facilitate effective utilization of the work device. do.

The work management system according to one aspect of the present disclosure includes a lower system and a higher system. The lower system outputs a request corresponding to the work. The host system determines whether or not to grant permission for the request. The lower system causes one or more working devices to perform the work corresponding to the request when the permission is given for the request.

The host system according to one aspect of the present disclosure is a system used for the work management system.

The lower system according to one aspect of the present disclosure is a system used for the work management system.

The work execution system according to one aspect of the present disclosure includes the lower system and the one or more work devices.

The working device according to one aspect of the present disclosure includes the lower system and a main body on which the lower system is mounted.

The work management method according to one aspect of the present disclosure includes a request process, a determination process, and an instruction process. The request process is a process of generating a request corresponding to the work. The determination process is a process for determining whether or not to give permission to the request. The instruction process is a process of causing one or more working devices to perform the work corresponding to the request when the permission is given for the request.

The program according to one aspect of the present disclosure is a program for causing a computer system to execute the work management method.

FIG. 1 is a conceptual diagram showing an outline of the work management system according to the first embodiment. FIG. 2 is a system configuration diagram of the same work management system. FIG. 3 is a block diagram of the work management system of the same. FIG. 4 is a schematic perspective view showing an example of a work device that executes work by the work management system of the same. FIG. 5 is a schematic plan view of the site where the work management system described above is introduced. FIG. 6 is a schematic plan view of the site where the work management system described above is introduced. 7A to 7C are schematic plan views showing the state in the first zone of the site where the work management system is introduced. 8A to 8C are schematic plan views showing a state in the second zone of the site where the above-mentioned work management system is introduced. 9A to 9C are schematic plan views showing the state in the third zone of the site where the work management system is introduced. 10A and 10B are state transition diagrams showing the state of the job ticket with respect to the operation of the work management system of the same. FIG. 11 is a sequence diagram schematically showing the operation of the work management system described above. FIG. 12 is a schematic perspective view illustrating the operation of the work management system according to the modified example of the first embodiment. FIG. 13 is a system configuration diagram of the work management system according to the second embodiment. FIG. 14 is a system configuration diagram of the work management system according to the third embodiment. FIG. 15 is a system configuration diagram of a work management system according to a modified example of the third embodiment.

(Embodiment 1)
Hereinafter, the work management system 1, the upper system 2, the lower system 3, and the work execution system 10 according to the present embodiment will be described with reference to FIGS. 1 to 11.

(1) Outline The work management system 1 according to the present embodiment is a system for causing one or more work devices 4 to execute work. In other words, the work management system 1 is a system for managing the work to be executed by one or more work devices 4.

The "work" referred to in the present disclosure is a work that can be performed by the work device 4, and as an example, transportation, welding, mounting, assembly and inspection, and a store performed in a factory, a warehouse, a construction site, or the like. Includes a wide variety of tasks such as delivery, display, customer service and security. Further, the work device 4 may be a dedicated device specialized for one type of work, or may be a general-purpose device capable of executing a plurality of types of work. As an example of the dedicated work device 4, there is a transfer device specialized for the transfer work, an assembly device specialized for the assembly work, a mounting device specialized for the mounting work, and the like. As an example of the general-purpose work device 4, there is a robot capable of performing both transport and assembly work, a robot capable of performing both transport and inspection work, and the like.

The work management system 1 causes one or more work devices 4 to execute work according to the work command D1 so as to execute the work command D1 given by the command system 100, for example. As an example, based on the work order D1 that the transported object is transported from the first point to the second point, the work management system 1 transfers the transported object from the first point to the second point with respect to any of the work devices 4. Allocate the task of transporting to a point. In this case, the work management system 1 outputs instruction information D5 to the work device 4 to which the work is assigned, for example, to convey the transported object from the first point to the second point. As a result, the work apparatus 4 that has received the instruction information D5 executes the work of transporting the transported object from the first point to the second point according to the instruction information D5.

By the way, as shown in FIG. 1, the work management system 1 according to the present embodiment includes a lower system 3 and an upper system 2. The lower system 3 outputs the request D3 corresponding to the work. The host system 2 determines whether or not to give the permission D4 to the request D3. When the permission D4 is given for the request D3, the lower system 3 causes one or more work devices 4 to perform the work corresponding to the request D3.

According to this configuration, the upper system 2 gives the permission D4 to the request D3 output from the lower system 3, so that one or more work devices 4 from the lower system 3 can perform the work corresponding to the request D3. Can be executed. In other words, the lower system 3 outputs the request D3 corresponding to a certain work, and the permission D4 is given to the request D3 so that one or more work devices 4 can execute the work. Become. That is, when a certain work is executed by one or more work devices 4, the lower system 3 voluntarily outputs the request D3 corresponding to this work. On the other hand, the upper system 2 can manage the work to be executed by one or more work devices 4 by determining whether or not to give the permission D4 for the request D3 from the lower system 3. Therefore, for example, when there is a work device 4 that is not executing the work, the lower system 3 voluntarily outputs the request D3 to acquire the work to be executed by the work device 4, so that the work device 4 is executed. Will be easier to use effectively. As a result, the work management system 1 has an advantage that it is easy to effectively utilize the work device 4.

(2) Configuration Hereinafter, the configurations of the work management system 1 and the work execution system 10 according to the present embodiment will be described in detail with reference to FIGS. 1 to 4.

In the following, a case where the “work” to be executed by one or more work devices 4 by the work management system 1 is the transportation of the transported object 92 (see FIG. 4) at the site Z10 (see FIG. 4) will be described as an example. .. Here, the work device 4 is a dedicated work device, that is, a transfer device, which is specialized for the transfer work at the site Z10. The configuration of the work device 4 illustrated in the present embodiment will be described in detail in the column of "(2.3) Work device".

The "site" referred to in the present disclosure is a place where work is executed on one or more work devices 4, and as an example, a factory, a warehouse, a construction site, a store, a distribution center, an office, a park, a house, or a school. , Hospitals, stations, airports or parking lots, etc. Further, for work performed inside a vehicle, such as inside a ship, train or airplane, the inside of the vehicle is the "field".

(2.1) Overall Configuration As shown in FIG. 1, the work management system 1 according to the present embodiment includes at least one upper system 2 and at least one lower system 3. In short, the upper system 2 constitutes the work management system 1 together with the lower system 3. In other words, the host system 2 according to the present embodiment is a system used for the work management system 1. Similarly, the lower system 3 according to the present embodiment is a system used for the work management system 1. Here, the "upper" of the upper system 2 and the like and the "lower" of the lower system 3 and the like are simply used as labels for distinguishing between the two, and have the meaning of specifying their respective positions and ranks. is not it.

The upper system 2 and the lower system 3 are configured to be able to communicate with each other. In the present disclosure, "communicable" means that information can be exchanged directly or indirectly via a network or a repeater by an appropriate communication method of wired communication or wireless communication. That is, the upper system 2 and the lower system 3 can exchange information with each other.

In the present embodiment, each of the upper system 2 and the lower system 3 has a computer system including a memory and a processor as a main configuration. That is, each function of the upper system 2 and the lower system 3 is realized by the processor executing the program recorded in the memory of the computer system. The program may be pre-recorded in a memory, provided through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.

The upper system 2 and the lower system 3 can communicate with each other in both directions, and can both transmit information from the upper system 2 to the lower system 3 and information from the lower system 3 to the upper system 2. Is. The configuration of each of the upper system 2 and the lower system 3 will be described in detail in the column of "(2.2) Configuration of each part".

As described above, the upper system 2 is a system that determines whether or not to give the permission D4 to the request D3 output from the lower system 3. The lower system 3 is a system that causes one or more work devices 4 to perform the work corresponding to the request D3 when the permission D4 is given for the request D3.

Further, in the present embodiment, the host system 2 is configured to generate work information D2 regarding the contents of the work. Therefore, the lower system 3 outputs the request D3 corresponding to the work information D2 generated by the upper system 2, and thus outputs the request D3 corresponding to the "work" defined by the work information D2. Further, the lower system 3 is configured to output instruction information D5 regarding the content of the work corresponding to the request D3 when the permission D4 is given for the request D3. Therefore, the work device 4 can execute the work corresponding to the request D3 to which the permission D4 is given by executing the "work" defined by the instruction information D5 output from the lower system 3.

Therefore, in the work management system 1 and the work execution system 10, when the work to be executed by the work device 4 occurs, the upper system 2 generates the work information D2 regarding the contents of the work, so that the lower system 3 becomes the work. The corresponding request D3 can be output. Then, in response to the request D3 from the lower system 3, the upper system 2 gives the permission D4, so that the lower system 3 outputs the instruction information D5, and the work device 4 executes the work specified by the work information D2. It will be possible. In short, the lower system 3 outputs the request D3 to the work information D2 generated by the upper system 2, the upper system 2 gives the permission D4 to the request D3, and the lower system 3 gives the instruction information D5 to the work device 4. The work can be executed by a series of processes of outputting.

Further, in the present embodiment, the lower system 3 outputs a completion notification D6 indicating the completion of the work to the upper system 2. The completion notification D6 is a notification indicating that the work corresponding to the request D3 for which the permission D4 has been given has been completed. Specifically, when the work specified by the instruction information D5 output from the lower system 3 is completed, the work device 4 notifies the lower system 3 that the work is completed. Upon receiving this notification, the lower system 3 outputs a completion notification D6 to the upper system 2. As a result, the host system 2 can manage whether or not the work corresponding to the request D3 to which the permission D4 has been given is completed.

Further, in the present embodiment, the working device 4 outputs the state information D7 regarding the state of the working device 4 to the lower system 3. The "state" of the work device 4 referred to in the present disclosure includes, for example, the attributes of the work device 4, the presence or absence of an abnormality (failure), whether or not the work is being performed, whether or not the storage battery is being charged, the remaining capacity of the storage battery, and the current position. Includes surrounding conditions and cumulative operating hours. The "attribute" of the work device 4 includes, for example, the type of work that the work device 4 can perform, the capacity of the work device 4 (loading weight, etc.), the model number, identifier, size, weight, and the like of the work device 4. Specifically, the working device 4 outputs the state information D7 to the lower system 3 periodically or irregularly. When the state information D7 is output irregularly, as an example, the work device 4 outputs the state information D7 as a response to polling from the lower system 3, or the state when the state of the work device 4 changes. Information D7 is output. Therefore, the lower system 3 can manage the state of the subordinate work device 4 by acquiring the state information D7 from the subordinate work device 4.

By the way, the lower system 3 used for the work management system 1 constitutes the work execution system 10 together with one or more work devices 4. In other words, the work execution system 10 according to the present embodiment includes a lower system 3 and one or more work devices 4. That is, the work management system 1 is a system for causing one or more work devices 4 to execute the work, whereas the work execution system 10 actually executes the work with one or more work devices 4. It is a system to do.

In the present embodiment, the lower system 3 and the work device 4 constituting the work execution system 10 are integrated. Details will be described in the column of "(2.3) Working device", but the lower system 3 is integrated with the working device 4 by being mounted on the working device 4. That is, one housing of the work device 4 contains a component for realizing the function as the work device 4 and a component of the lower system 3.

Further, in the present embodiment, as shown in FIG. 2, the work management system 1 includes one upper system 2 and a plurality of lower systems 3. That is, the work management system 1 includes a plurality of lower systems 3. These plurality of lower systems 3 can output the request D3 to the same higher system 2. That is, in the upper system 2, it is possible to receive a plurality of requests D3 from a plurality of lower systems 3 in response to one work (work information D2). Therefore, the upper system 2 not only determines whether or not to give the permission D4 for the request D3 from each lower system 3, but also selects the lower system 3 to which the permission D4 is given from the plurality of lower systems 3. It is possible to do.

In this embodiment, as an example, the lower system 3 and the working device 4 have a one-to-one relationship. That is, by mounting one lower system 3 on one working device 4, one working device 4 and one lower system 3 are linked to each other. Hereinafter, the working device 4 associated with a certain lower system 3 is also referred to as a working device 4 under the lower system 3. The lower system 3 can make the subordinate work device 4 execute the work by outputting the instruction information D5 to the subordinate work device 4. As a result, the upper system 2 provides a plurality of work devices 4 under the control of the plurality of lower systems 3 to execute the work when there are a plurality of requests D3 from the plurality of lower systems 3 for one work. It is possible to select from the work equipment 4 of the table.

Further, the host system 2 according to the present embodiment is configured to be able to communicate with the command system 100. The command system 100 and the host system 2 can communicate with each other in at least one direction, and information can be transmitted from the command system 100 to the host system 2.

In the present embodiment, the command system 100 mainly includes a computer system including a memory and a processor, like each of the upper system 2 and the lower system 3. That is, the function of the command system 100 is realized by the processor executing the program recorded in the memory of the computer system. The program may be pre-recorded in a memory, provided through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.

The command system 100 outputs a work command D1 (see FIG. 1) to the host system 2. When the host system 2 receives the work command D1 from the command system 100, the host system 2 generates the work information D2 based on the work command D1. In the present embodiment, the host system 2 generates a plurality of work information D2 for realizing one work command D1 based on one work command D1.

Therefore, according to the work management system 1 and the work execution system 10 according to the present embodiment, when the host system 2 receives one work command D1, the host system 2 generates a plurality of work information D2s related to the contents of the work. NS. In the lower system 3, the request D3 can be output corresponding to the work specified by each of the plurality of work information D2s. Then, the host system 2 gives permission D4 to the request D3 corresponding to all of the plurality of work information D2 (work), so that the work device 4 performs all the work defined by the plurality of work information D2. It becomes executable and one work order D1 is executed.

(2.2) Configuration of Each Part Next, the configuration of each of the upper system 2 and the lower system 3 according to the present embodiment will be described in more detail with reference to FIG.

The higher-level system 2 has a higher-level interface 21, a higher-level communication unit 22, a work generation unit 23, a higher-level storage unit 24, a determination unit 25, a public unit 26, and a higher-level acquisition unit 27. Of these, the work generation unit 23, the upper storage unit 24, the determination unit 25, the public unit 26, and the upper acquisition unit 27 are realized as one function of the upper processing unit 20 whose main configuration is a computer system including a memory and a processor. ..

The host interface 21 communicates with the command system 100 directly or indirectly via a network or repeater. Here, the upper interface 21 can receive at least the work command D1 (see FIG. 1) transmitted from the command system 100. As a communication method between the upper interface 21 and the command system 100, an appropriate communication method of wireless communication or wired communication is adopted.

The upper communication unit 22 communicates with the lower system 3 (lower communication unit 31) directly or indirectly via a network or a repeater. Here, the upper communication unit 22 can receive at least the request D3 (see FIG. 1) and the completion notification D6 (see FIG. 1) transmitted from the lower system 3. Further, the upper communication unit 22 can transmit work information D2 (see FIG. 1) and permission D4 (see FIG. 1) to at least the lower system 3. In the present embodiment, the request D3 is the data included in the uplink signal transmitted from the lower system 3 to the upper system 2, and the permission D4 is included in the downlink signal transmitted from the upper system 2 to the lower system 3. It is data. As a communication method between the upper communication unit 22 and the lower system 3 (lower communication unit 31), an appropriate communication method of wireless communication or wired communication is adopted.

When the processor executes the program recorded in the memory of the computer system constituting the upper processing unit 20, each of the work generation unit 23, the upper storage unit 24, the determination unit 25, the public unit 26, and the upper acquisition unit 27 The function is realized. The program may be pre-recorded in a memory, provided through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.

The work generation unit 23 generates work information D2. The work information D2 is information (data) regarding the contents of the work, and is, for example, information that defines the work of transporting the transported object from the first point to the second point. In the present embodiment, the work information D2 includes at least route information indicating a movement route of the work device 4. For example, the work information D2 that defines the work of transporting the transported object from the first point to the second point includes route information indicating the movement route of the work device 4 from the first point to the second point.

That is, in the present embodiment, the higher-level system 2 generates work information D2 regarding the contents of the work as described above. Here, as described above, the host system 2 generates a plurality of work information D2 for realizing one work command D1 based on one work command D1. That is, when the host interface 21 receives one work command D1 from the command system 100, the work generation unit 23 divides one work command D1 into a plurality of tasks, and a plurality of tasks corresponding to the plurality of tasks. Generate information D2. As an example, the work of transporting the transported object from the first point to the intermediate point based on one work order D1 of transporting the transported object from the first point to the second point, and the operation of transporting the transported object from the intermediate point. A plurality of work information D2s that specify the work of transporting to the second point are generated.

Further, the work generation unit 23 generates work information D2 based on the environmental information. The "environmental information" referred to in the present disclosure is information (data) related to the operation of the work device 4, and as an example, the current position of the transported object, the surrounding situation of the work device 4, and the map of the site Z10 (premises map). , And the situation of obstacles (including people) at the site Z10. In other words, the host system 2 generates the work information D2 based on the environmental information related to the operation of the work device 4. As described above, the state information D7 acquired from the work device 4 by the lower system 3 can be used as a substitute for the peripheral situation of the work device 4. For example, regarding the work of transporting the transported object from the first point to the second point, the work generation unit 23 is the shortest while avoiding obstacles based on the environmental information so as to efficiently move the work device 4. The work information D2 including the route information for moving the work device 4 by the distance is generated.

Here, the work generation unit 23 generates the work information D2 including the priority. The "priority" referred to in the present disclosure is a value (not limited to a numerical value) set for each work. Details will be explained in the column of "(3) Operation", but the priority is a value indicating the degree of priority of the work, and the higher the priority is set, the higher the priority is to be executed, such as important work. NS.

The upper storage unit 24 is realized by a non-temporary recording medium such as a rewritable non-volatile semiconductor memory. The upper storage unit 24 stores at least the work information D2 generated by the work generation unit 23. In the present embodiment, since the plurality of work information D2 is generated based on one work command D1 as described above, the upper storage unit 24 can store the plurality of work information D2.

Further, the work information D2 stored in the upper storage unit 24 may include a progress level indicating the progress status of the work. The progress is switched, for example, in a plurality of stages (here, three stages) of "unprocessed", "processing", and "completed". For example, the upper system 2 gives permission D4 for the request D3 from the lower system 3 corresponding to the work specified in the work information D2, so that the progress of the work information D2 is changed from "unprocessed" to "processing". Switch to. Further, when the upper system 2 receives the completion notification D6 indicating the completion of the work from the lower system 3, the progress of the work information D2 is switched from "processing" to "completed".

The determination unit 25 determines whether or not to give the permission D4 to the request D3. That is, when the upper communication unit 22 receives the uplink signal representing the request D3 from the lower system 3, the determination unit 25 determines whether or not to give the permission D4 to the request D3. Here, when the determination unit 25 gives the permission D4 to the request D3, the determination unit 25 returns a downlink signal representing the permission D4 as a response to the uplink signal representing the request D3. Specifically, the upper communication unit 22 transmits the permission D4 (downlink signal) including the unique identification information (work ID) included in the request D3 (uplink signal) to the lower system 3, thereby responding to the request D3. Permission D4 will be given. On the other hand, when the permission D4 is not given to the request D3, the determination unit 25 returns a downlink signal indicating disapproval as a response to the uplink signal representing the request D3, or sends a downlink signal indicating the request D3 to the uplink signal. Does not respond.

In the present embodiment, the determination unit 25 does not always issue one permission D4 for one work, but may issue a plurality of permission D4s for one work. That is, when the host system 2 causes a plurality of work devices 4 to execute one work, the upper system 2 grants permission D4 to a plurality of requests D3. In other words, for the request D3 corresponding to a specific work, the determination unit 25 gives permission D4 for the number of work devices 4 required to execute this work. As an example, with respect to the request D3 corresponding to the work of transporting a large transported object that cannot be transported by one working device 4, the determination unit 25 permits D4 for the number of working devices 4 required for transporting the transported object. give. For the work executed by the plurality of work devices 4 in this way, the required number of work devices 4 is included in, for example, the work information D2.

Here, the determination unit 25 determines whether or not the request D3 satisfies a predetermined adoption condition when determining whether or not to give the permission D4 to the request D3. In the present embodiment, the determination unit 25 determines whether or not the adoption condition is satisfied for the state information D7 regarding the state of the work device 4, and gives the permission D4 to the request D3 that satisfies the adoption condition. The work device 4 referred to here is a work device 4 under the lower system 3 which is the output source (source) of the request D3. In other words, the host system 2 determines whether or not to give the permission D4 based on the state information regarding the state of the working device 4. In the present embodiment, the state information D7 is included in the request D3 and transmitted from the lower system 3 to the upper system 2.

Specifically, the determination unit 25 calculates a determination value for each request D3, and determines that the adoption condition is satisfied for the number of requests D3 to be adopted, counting from the side with the highest determination value. The "planned number of hires" referred to in the present disclosure is the planned number of permits D4 issued for one work, which is basically "1", but as described above, a plurality of work devices 4 It is "2" or more for the specific work to be executed. That is, when the request D3 is output from the plurality of lower systems 3 for one work, the request D3 for the number of requests D3 to be adopted is counted from the side with the highest determination value among the plurality of request D3s. Will be given.

For example, the determination unit 25 independently or works the information included in the state information D7 such as the type of work that the work device 4 can perform, the ability of the work device 4, the current position, the surrounding situation, and the cumulative operating time. The determination value is calculated by performing a weighting operation together with the information D2. As an example, the closer the distance from the current position of the work device 4 to the start point of the work, the larger the determination value. Here, it is assumed that in the plurality of lower systems 3 that output the plurality of requests D3, all the items other than the distance from the current position of the work device 4 to the start point of the work in the state information D7 are the same. In this case, the determination unit 25 determines that the adoption condition is satisfied for the request D3 output by the lower system 3 for the number of planned adoptions, counting from the side where the current position of the subordinate work device 4 is closer to the start point of the work. Therefore, if the number to be adopted is "1", the determination unit 25 determines the request D3 output by the lower system 3 whose current position of the subordinate work device 4 is closest to the start point of the work among the plurality of request D3s. , Judge that the recruitment conditions are met.

The determination unit 25 gives the permission D4 only to the request D3 determined to satisfy the employment condition, and does not give the permission D4 to the request D3 that does not satisfy the employment condition. Further, the minimum value may be set for the determination value. In this case, the determination unit 25 determines that all the request D3s whose determination value is less than the minimum value do not satisfy the adoption conditions regardless of the magnitude relationship of the determination values with the other request D3s.

The disclosure unit 26 discloses the work information D2 to the lower system 3. Specifically, the disclosure unit 26 discloses the work information D2 to the lower system 3 by transmitting the work information D2 generated by the work generation unit 23 from the upper communication unit 22 to the lower system 3. That is, the work information D2 is not disclosed to the lower system 3 at least immediately after it is generated by the work generation unit 23, and the disclosure unit 26 determines the timing of disclosing the work information D2.

In the present embodiment, since the undisclosed work information D2 cannot be viewed from the lower system 3, the lower system 3 does not output the request D3 for the undisclosed work information D2 (work). .. Only when the work information D2 is released, the lower system 3 can output the request D3 for the work information D2 (work). In short, the reception state regarding the work includes two states, a solicitation state for accepting the request D3 for the work and a non-recruitment state for not accepting the request D3 for the work. In other words, the upper system 2 is configured so that the reception state related to the work can be switched between the recruitment state and the non-recruitment state. Here, the reception state regarding the work specified by the undisclosed work information D2 is the non-recruitment state, and the reception state regarding the work specified by the public work information D2 is the recruitment state.

The upper acquisition unit 27 acquires the completion notification D6, the status information D7, and the like from the lower system 3. Further, the higher-level acquisition unit 27 also acquires the environmental information used for generating the work information D2 in the work generation unit 23. The higher-level acquisition unit 27 can also acquire environmental information from a system other than the lower-level system 3, such as a monitoring system that monitors the status of the site Z10. Specifically, the upper system 2 acquires various information in the upper acquisition unit 27 by communicating with the lower system 3 and the monitoring system in the upper communication unit 22.

The lower system 3 has a lower communication unit 31, a lower interface 32, a request generation unit 33, a lower storage unit 34, a determination unit 35, and a lower acquisition unit 36. Of these, the request generation unit 33, the lower storage unit 34, the determination unit 35, and the lower acquisition unit 36 are realized as one function of the lower processing unit 30 whose main configuration is a computer system including a memory and a processor.

The lower communication unit 31 communicates with the upper system 2 (upper communication unit 22) directly or indirectly via a network or a repeater. Here, the lower communication unit 31 can receive at least the work information D2 (see FIG. 1) and the permission D4 (see FIG. 1) transmitted from the upper system 2. Further, the lower communication unit 31 can transmit the request D3 (see FIG. 1) and the completion notification D6 (see FIG. 1) to at least the upper system 2. As a communication method between the lower communication unit 31 and the higher system 2 (upper communication unit 22), an appropriate communication method of wireless communication or wired communication is adopted.

The lower interface 32 communicates with the working device 4 directly or indirectly via a network, a repeater, or the like. Here, the lower interface 32 can transmit the instruction information D5 (see FIG. 1) to at least the working device 4. Further, the lower interface 32 can receive at least the state information D7 (see FIG. 1) transmitted from the working device 4. As a communication method between the lower interface 32 and the work device 4, an appropriate communication method of wireless communication or wired communication is adopted.

The functions of the request generation unit 33, the lower storage unit 34, the determination unit 35, and the lower acquisition unit 36 are realized by the processor executing the program recorded in the memory of the computer system constituting the lower processing unit 30. NS. The program may be pre-recorded in a memory, provided through a telecommunication line such as the Internet, or may be recorded and provided on a non-temporary recording medium such as a memory card.

The request generation unit 33 generates the request D3. The request D3 is associated with the work by being generated in association with the work information D2 regarding the content of the work. Here, the request generation unit 33 generates one request D3 for one work.

The lower storage unit 34 is realized by a non-temporary recording medium such as a rewritable non-volatile semiconductor memory. The lower storage unit 34 stores at least the request D3 generated by the request generation unit 33. In the present embodiment, since the request D3 is generated in association with the work information D2 as described above, the lower storage unit 34 can store the request D3 in a state of being associated with the work information D2.

The determination unit 35 determines whether or not to output the request D3. That is, when the lower communication unit 31 receives the work information D2 from the higher system 2, the determination unit 35 determines whether or not to output the request D3 corresponding to the work information D2. Here, when the determination unit 35 outputs the request D3 corresponding to the work information D2, the determination unit 35 returns an uplink signal representing the request D3 as a response to the work information D2. Specifically, the lower communication unit 31 transmits the request D3 (uplink signal) including the unique identification information (work ID) included in the work information D2 to the upper system 2, thereby performing the work (work information D2). The request D3 corresponding to is output. On the other hand, when the request D3 corresponding to the work information D2 is not output, the determination unit 35 returns an uplink signal indicating that the request is not made as a response to the work information D2, or responds to the work information D2. do not have.

In short, in the present embodiment, the determination unit 35 can determine whether or not to output the request D3 only after the lower system 3 receives the work information D2 from the upper system 2. Here, the transmission of the work information D2 from the upper system 2 to the lower system 3 is realized by the disclosure unit 26 disclosing the work information D2. Therefore, the lower system 3 does not output the request D3 for the undisclosed work information D2, that is, the work whose reception status is the non-recruitment state, and the public work information D2, that is, the reception status is the recruitment state. Request D3 can be output only for work.

In other words, the lower system 3 outputs a request corresponding to the work whose reception status is the recruitment status. In particular, in the present embodiment, the determination unit 35 uses the disclosure of the work information D2 as a trigger to output the request D3 corresponding to the work defined by the work information D2. As a result, the lower system 3 outputs the request D3 at the timing when the reception state is switched from the non-recruitment state to the recruitment state, that is, at the timing when the work information D2 is disclosed by the public unit 26.

Further, when determining whether or not to output the request D3, the determination unit 35 roughly determines whether or not a predetermined application condition is satisfied in each of the first process and the second process.

As the first process, the determination unit 35 determines whether or not the application condition is satisfied with respect to the state information D7 regarding the state of the work device 4. In other words, the lower system 3 determines whether or not to output the request D3 based on the state information D7 regarding the state of the working device 4.

Specifically, the judgment unit 35 calculates the first evaluation value, determines whether or not the first evaluation value exceeds the first threshold value, and applies if the first evaluation value exceeds the first threshold value. Judge that the conditions are met. For example, the determination unit 35 independently or works the information included in the state information D7 such as the type of work that the work device 4 can perform, the ability of the work device 4, the current position, the surrounding situation, and the cumulative operating time. The first evaluation value is calculated by performing a weighting operation together with the information D2. As an example, the closer the distance from the current position of the work device 4 to the start point of the work, the larger the first evaluation value. Therefore, when the current position of the work device 4 is relatively close to the start point of the work and the first evaluation value exceeds the first threshold value, the determination unit 35 determines that the application condition is satisfied. On the other hand, when the current position of the work device 4 is relatively far from the start point of the work and the first evaluation value is lower than the first threshold value, the determination unit 35 determines that the application condition is not satisfied. Further, when the capacity of the work device 4 (loading weight, etc.) is insufficient compared to the capacity required to execute the work specified in the work information D2, it is impossible to execute the work by the work device 4 in the first place. In some cases, the first evaluation value is preferably zero (0).

As the second process, the determination unit 35 determines whether or not the application condition is satisfied with respect to the priority included in the work information D2. In other words, there are a plurality of operations, and the lower system 3 determines whether or not to output the request D3 based on the priority set for each operation.

Specifically, the determination unit 35 calculates the second evaluation value from the priority, determines whether or not the second evaluation value exceeds the second threshold value, and when the second evaluation value exceeds the second threshold value. Is judged to meet the application conditions. The priority is a value indicating the degree to which the work is prioritized, and is set for each work (work information D2), and the higher the priority is set, the higher the priority is to be executed, such as important work. That is, the determination unit 35 calculates the second evaluation value using the priority set for each work in the upper system 2. Here, the higher the priority, the larger the second evaluation value. Therefore, when the priority of the work is relatively high and the second evaluation value exceeds the second threshold value, the determination unit 35 determines that the application condition is satisfied. On the other hand, when the priority of the work is relatively low and the second evaluation value does not exceed the second threshold value, the determination unit 35 determines that the application condition is not satisfied.

As an example, the priority is set in four stages of "emergency", "high", "medium", and "low" in order from the highest priority, and "emergency", "high", "medium", and "low". It is assumed that the second evaluation values calculated from each are "4", "3", "2", and "1", respectively. In this case, it is assumed that the second threshold value is set to "2.5" in a certain lower system 3. In this lower system 3, the second evaluation value is only for the work whose priority is "urgent" (second evaluation value is "4") or priority is "high" (second evaluation value is "3"). Exceeds the second threshold value, so it is judged that the application condition is satisfied. In addition, this lower system 3 has a second evaluation value for work having a priority of "medium" (second evaluation value is "2") or a priority of "low" (second evaluation value is "1"). Does not exceed the second threshold value, so it is judged that the application conditions are not satisfied.

In the present embodiment, the determination unit 35 determines that the request D3 is output only when the application conditions are satisfied in both the first process and the second process. That is, if neither the first process nor the second process satisfies the application condition, the determination unit 35 determines that the request D3 is not output. Further, the determination unit 35 may calculate one evaluation value by combining the state information D7 regarding the state of the work device 4 and the priority included in the work information D2. In this case, if the evaluation value exceeds the threshold value, the determination unit 35 determines that the application condition is satisfied and outputs the request D3.

The lower acquisition unit 36 acquires the state information D7 and the like from at least the work device 4. Specifically, the lower system 3 acquires various information in the lower acquisition unit 36 by communicating with the work device 4 through the lower interface 32.

In this embodiment, as an example, the upper interface 21, the upper communication unit 22, and the lower communication unit 31 are Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or a low-power radio that does not require a license. Adopt wireless communication that complies with standards such as (Specified low power wireless). The lower interface 32 adopts wired communication.

(2.3) Working Device Next, the configuration of the working device 4 illustrated in the present embodiment will be described in more detail.

As shown in FIG. 4, the work device 4 autonomously travels on a flat moving surface 91 made of, for example, the floor surface of the site Z10. Here, as an example, the working device 4 includes a storage battery and operates using the electric energy stored in the storage battery. In the present embodiment, the work device 4 travels on the moving surface 91 with the conveyed object 92 loaded. Thereby, the working device 4 can, for example, transport the transported object 92 placed at a certain place at the site Z10 to another place at the site Z10. In the present embodiment, the transported object 92 is, for example, a pallet such as a roll box pallet on which luggage is placed.

The working device 4 includes a main body 41. The main body 41 is formed in a rectangular parallelepiped shape that is rectangular in a plan view. In the present embodiment, the conveyed object 92 is loaded on the main body 41 so that the main body 41 slips under the conveyed object 92 and lifts the conveyed object 92. Therefore, the vertical dimension of the main body 41 is set smaller than the lateral dimension of the main body 41 in a plan view so that the main body 41 fits in the gap generated below the conveyed object 92. .. In this embodiment, the main body 41 is made of metal. However, the main body 41 is not limited to metal, and may be made of resin, for example.

The main body portion 41 has a vehicle body portion 42 and an elevating plate 43. The vehicle body unit 42 includes a plurality of (here, four) wheels 421 and a detection unit 422.

The plurality of wheels 421 are arranged at the four corners of the vehicle body portion 42 in a plan view. In this embodiment, all of the plurality of wheels 421 are driving wheels. By individually driving these plurality of wheels 421, the main body 41 can move in all directions along the moving surface 91. That is, the main body 41 can move on the moving surface 91 in all directions of front, rear, left and right by the rotation of each of the plurality of wheels 421. Each of the plurality of wheels 421 may be an omnidirectional movable wheel such as an omni wheel.

The detection unit 422 detects the behavior of the main body 41 and the surrounding conditions of the main body 41. The "behavior" as used in the present disclosure means an operation, a state, and the like. That is, the behavior of the main body 41 is the operating state of the main body 41 indicating that the main body 41 is running / stopped, the speed (and speed change) of the main body 41, the acceleration acting on the main body 41, and the main body 41. Including the posture of. Specifically, the detection unit 422 includes, for example, sensors such as a speed sensor, an acceleration sensor, and a gyro sensor, and these sensors detect the behavior of the main body 41. Further, the detection unit 422 includes, for example, an image sensor (camera), a sonar sensor, a radar, and a sensor such as LiDAR (Light Detection and Ranging), and these sensors detect the surrounding condition of the main body 41.

Further, the detection unit 422 has a position specifying unit for specifying the position of the main body unit 41, that is, the current position of the work device 4. The positioning unit includes, for example, a receiver that receives beacon signals transmitted by radio waves from a plurality of transmitters. The plurality of transmitters are arranged at a plurality of locations within the range in which the work device 4 moves. The position specifying unit measures the position of the main body 41 based on the positions of the plurality of transmitters and the received radio wave intensity of the beacon signal at the receiver. The positioning unit may be realized by using a satellite positioning system such as GPS (Global Positioning System).

The main body 41 autonomously moves on the moving surface 91 by individually driving a plurality of wheels 421 based on the detection result of the detection unit 422. The main body 41 determines the movement route of the main body 41 to the destination at least based on the current position of the main body 41 (route planning), and the main body 41 moves along this movement route. The unit 42 is operated. As a result, autonomous traveling of the main body 41 is realized.

The elevating plate 43 is arranged above the vehicle body portion 42 so as to cover at least a part of the upper surface of the vehicle body portion 42. In the present embodiment, the elevating plate 43 is provided so as to cover the four corners of the upper surface of the vehicle body portion 42, respectively. When the conveyed object 92 is conveyed by the working device 4, the conveyed object 92 is loaded on the upper surface of the elevating plate 43.

Here, the elevating plate 43 can be raised and lowered with respect to the vehicle body portion 42. Therefore, in a state where the main body 41 is submerged below the conveyed object 92, the elevating plate 43 is raised, so that the conveyed object 92 is lifted by the elevating plate 43. On the contrary, the conveyed object 92 is lowered from the elevating plate 43 by lowering the conveyed object 92 while the conveyed object 92 is lifted by the elevating plate 43.

Further, the working device 4 is appropriately provided with a configuration other than the above, for example, a charging circuit for a storage battery, a user interface, and the like.

By the way, in the present embodiment, as described above, the lower system 3 is mounted on the working device 4 and is integrated with the working device 4. In the present embodiment, the lower system 3 is built in the main body 41 so that the lower system 3 does not interfere with the work (operation) of the work device 4. That is, the housing that constitutes the outer shell of the main body 41 contains a component for realizing the function as the work device 4 and a component of the lower system 3.

Here, the detection unit 422 of the work device 4 detects information used in the lower system 3 (for example, state information regarding the state of the work device 4) and information used in the upper system 2 (for example, the work device 4). It is also used to detect (environmental information related to the operation of). That is, the detection unit 422 is shared by the work device 4, the lower system 3, and the upper system 2.

Further, the storage battery serving as the power source (power source) of the working device 4 may also be used as the power source of the lower system 3. That is, the storage battery can be shared by the working device 4 and the lower system 3. Similarly, the communication function of the lower system 3 (lower communication unit 31) may also be used for communication with an external system (upper system 2 or the like) in the work device 4. That is, the lower communication unit 31 can be shared by the lower system 3 and the work device 4. Further, the control function (lower processing unit 30) of the lower system 3 may also be used for controlling the vehicle body unit 42 and the elevating plate 43 in the work device 4. That is, the lower processing unit 30 can be shared by the lower system 3 and the working device 4.

(3) Operation Next, the operations of the work management system 1 and the work execution system 10 according to the present embodiment will be described in more detail with reference to FIGS. 5 to 11. 5 to 9C are schematic plan views of the site Z10.

In the following, the work information D2 generated by the host system 2 may be conceptually described by comparing it to job tickets J1, J2, and J3 that imitate a ticket, as shown in FIG. 6 and the like. Here, the generation of work information D2 corresponds to the "issuance" of job tickets J1, J2, J3, and the disclosure of work information D2 (that is, switching from the non-recruitment state to the recruitment state) corresponds to the job tickets J1, J2, J3. Corresponds to "public" of. In FIGS. 6 to 9C, the host system 2 and the job tickets J1, J2, and J3 are conceptually illustrated. 10A and 10B are state transition diagrams showing the states of the job tickets J1, J2, and J3. Job tickets J1, J2, and J3 are shown for illustration purposes only and are not accompanied by substance.

Here, as shown in FIG. 5, at the site Z10 including the first zone Z1, the second zone Z2, and the third zone Z3, the luggage arriving at the arrival port of the first zone Z1 by the truck 93 is the third zone. It is assumed that the truck 94 is shipped from the Z3 shipping port. In this case, the luggage arriving at the first zone Z1 is unloaded by the forklift 95 and placed on a pallet such as a roll box pallet (see FIG. 4). The pallet on which the load is placed is transported from the first zone Z1 to the third zone Z3 as the transported object 92. The luggage arriving at the third zone Z3 is placed on the truck 94 by the forklift 96.

In such a scene, the work of transporting the transported object 92 from the first point P1 (see FIG. 6) of the first zone Z1 to the fourth point P4 (see FIG. 6) of the third zone Z3 is performed by the work management system 1. Is to be executed by a plurality of (here, 5) working devices 4. The first point P1 is set near the arrival port of the first zone Z1, and the fourth point P4 is set near the shipping port of the third zone Z3. When distinguishing a plurality of working devices 4, they are referred to as working devices 4A, 4B, 4C, 4D, and 4E, respectively. The working devices 4A and 4B are located in the first zone Z1, the working device 4C is located in the second zone Z2, and the working devices 4D and 4E are located in the third zone Z3. Of these plurality of work devices 4A to 4E, the work devices 4A, 4B, 4D, and 4E are the transfer devices described in the column of "(2.3) Work device", and only the work device 4C is the transported object. It is a type of transport device that transports by towing 92.

Based on the above-mentioned premise, the operations of the work management system 1 and the work execution system 10 according to the present embodiment when one or more (here, five) work devices 4 are made to execute "work" will be described. In the following, the operation of the lower system 3 mounted on the work device 4, that is, the lower system 3 having the work device 4 under its control may be described as the operation of the work device 4.

First, when the host system 2 receives the work command D1 from the command system 100 that the transported object 92 is transported from the first point P1 to the fourth point P4, the host system 2 generates the work information D2 based on the work command D1. At this time, the host system 2 generates three work information D2 for realizing one work command D1 based on one work command D1. That is, the host system 2 generates a plurality of work information D2 including route information for moving the work device 4 in the shortest distance while avoiding obstacles based on the environmental information.

Here, as an example, the higher-level system 2 has three work information corresponding to the three routes so that the transported object 92 is transported through the three routes of the first route R1, the second route R2, and the third route R3. Generate D2. The first route R1 is the route from the first point P1 to the second point P2, the second route R2 is the route from the second point P2 to the third point P3, and the third route R3 is the third point P3 to the fourth point P4. It is a route to reach. In short, as shown in FIG. 6, the host system 2 issues a job ticket J1 corresponding to the first route R1, a job ticket J2 corresponding to the second route R2, and a job ticket J3 corresponding to the third route R3. .. In the state of FIG. 6, job tickets J1, J2, and J3 have only been issued and have not been made public. Here, undisclosed job tickets J1, J2, and J3 are shown by broken lines.

Next, the host system 2 publishes job tickets J1, J2, and J3. However, in the present embodiment, when there are a plurality of issued job tickets J1, J2, J3, the host system 2 does not publish the plurality of job tickets J1, J2, J3 at once, but one by one. It will be released one by one. That is, the upper system 2 sequentially publishes job tickets J1, J2, and J3 so as to solicit the request D3 from the work device 4 (lower system 3) in order from the work confirmed to be executed.

Therefore, as shown in FIG. 7A, the host system 2 first discloses only the job ticket J1 corresponding to the first route R1. Upon the release of the job ticket J1, the two working devices 4A and 4B located in the first zone Z1 determine that the application conditions are satisfied, and output the request D3. As a result, the request D3 corresponding to the job ticket J1 is transmitted to the host system 2 from the two working devices 4A and 4B located in the first zone Z1.

Next, the host system 2 selects the request D3 that satisfies the adoption condition from the plurality of requests D3 for the job ticket J1. Here, it is assumed that, of the two working devices 4A and 4B located in the first zone Z1, the request D3 from the working device 4A near the first point P1 satisfies the adoption condition. Therefore, as shown in FIG. 7B, the host system 2 outputs the permission D4 to the working device 4A. As a result, with respect to the work specified by the job ticket J1, permission D4 is given to the request D3 from the work device 4A among the two work devices 4A and 4B located in the first zone Z1. At this time, the progress of the job ticket J1 (work information D2) is switched from "unprocessed" to "processing".

The work device 4A that has received the permission D4 executes the work specified in the job ticket J1. That is, as shown in FIG. 7C, the working device 4A transports the transported object 92 from the first point P1 to the second point P2. Here, the work device 4A moves from the first point P1 to the second point P2 through the first route R1 corresponding to the job ticket J1. When the transported object 92 arrives at the second point P2, the working device 4A outputs a completion notification D6 (see FIG. 1) to the host system 2. When the host system 2 receives the completion notification D6, the progress of the job ticket J1 (work information D2) is switched from "processing" to "completed". Here, the job tickets J1, J2, and J3 whose progress is "completed" are illustrated with shading (see FIG. 8A and the like).

When the progress of the job ticket J1 becomes "completed", the host system 2 publishes the job ticket J2 corresponding to the second route R2 as shown in FIG. 8A. Upon the release of the job ticket J2, the work device 4C located in the second zone Z2 determines that the application condition is satisfied, and outputs the request D3. As a result, the request D3 corresponding to the job ticket J2 is transmitted to the host system 2 from the work device 4C located in the second zone Z2.

Next, the host system 2 determines whether or not the adoption condition is satisfied for the request D3 for the job ticket J2. Here, it is assumed that the request D3 from the working device 4C satisfies the adoption condition. Therefore, the host system 2 outputs the permission D4 to the working device 4C as shown in FIG. 8B. As a result, with respect to the work specified by the job ticket J2, the permission D4 is given for the request D3 from the work device 4C located in the second zone Z2. At this time, the progress of the job ticket J2 (work information D2) is switched from "unprocessed" to "processing".

The work device 4C that has received the permission D4 executes the work specified in the job ticket J2. That is, as shown in FIG. 8C, the working device 4C transports the transported object 92 from the second point P2 to the third point P3. Here, the working device 4C moves from the second point P2 to the third point P3 through the second route R2 corresponding to the job ticket J2. When the transported object 92 arrives at the third point P3, the working device 4C outputs a completion notification D6 (see FIG. 1) to the host system 2. When the host system 2 receives the completion notification D6, the progress of the job ticket J2 (work information D2) is switched from "processing" to "completed".

When the progress of the job ticket J2 becomes "completed", the host system 2 publishes the job ticket J3 corresponding to the third route R3 as shown in FIG. 9A. Upon the release of the job ticket J3, the two working devices 4D and 4E located in the third zone Z3 determine that the application conditions are satisfied, and output the request D3. As a result, the request D3 corresponding to the job ticket J3 is transmitted to the host system 2 from the two working devices 4D and 4E located in the third zone Z3.

Next, the host system 2 selects the request D3 that satisfies the adoption condition from the plurality of requests D3 for the job ticket J3. Here, it is assumed that, of the two working devices 4D and 4E located in the third zone Z3, the request D3 from the working device 4D near the third point P3 satisfies the adoption condition. Therefore, as shown in FIG. 9B, the host system 2 outputs the permission D4 to the working device 4D. As a result, with respect to the work specified by the job ticket J3, the permission D4 is given to the request D3 from the work device 4D among the two work devices 4D and 4E located in the third zone Z3. At this time, the progress of the job ticket J3 (work information D2) is switched from "unprocessed" to "processing".

The work device 4D that has received the permission D4 executes the work specified in the job ticket J3. That is, as shown in FIG. 9C, the working device 4D transports the transported object 92 from the third point P3 to the fourth point P4. Here, the working device 4D moves from the third point P3 to the fourth point P4 through the third route R3 corresponding to the job ticket J3. When the transported object 92 arrives at the fourth point P4, the working device 4D outputs a completion notification D6 (see FIG. 1) to the host system 2. When the host system 2 receives the completion notification D6, the progress of the job ticket J3 (work information D2) is switched from "processing" to "completed".

As described above, when the progress of the job tickets J1, J2, and J3 are all "completed", the work order D1 for transporting the transported object 92 from the first point P1 to the fourth point P4 is realized. .. That is, the work command D1 is executed by executing the work defined by the three work information D2 generated by the host system 2.

Here, the states of the job tickets J1, J2, and J3 can be changed as shown in FIG. 10A. That is, the state of each job ticket J1, J2, J3 is the issuance state (St1) that has just been issued. Then, when each job ticket J1, J2, J3 is made public, the state of each job ticket J1, J2, J3 changes from the issuing state (St1) to the public state (St2). Further, when permission D4 is given for each job ticket J1, J2, J3, the state of each job ticket J1, J2, J3 changes from the public state (St2) to the processing (St3). Further, when the work of each job ticket J1, J2, J3 is completed, the state of each job ticket J1, J2, J3 changes from processing (St3) to completion (St4). By discarding each job ticket J1, J2, J3 only before permission D4 is given for each job ticket J1, J2, J3, that is, before the work device 4 starts work, each job ticket J1, J2, The state of J3 can also be changed to the discard state (St5).

In FIG. 10B, the transition of the state of each job ticket J1, J2, J3 is shown with the horizontal axis as the time axis. That is, first, job tickets J1, J2, and J3 are issued at the same time (St1). After that, of the job tickets J1, J2, and J3, only the job ticket J1 is released (St2). After that, when permission D4 is given to the job ticket J1, the state of the job ticket J1 transitions to processing (St3). Further, when the work of the job ticket J1 is completed, the state of the job ticket J1 transitions to completion (St4). At the same time that the state of the job ticket J1 transitions to completion (St4), the job ticket J2 is released (St2). After that, the states of the job tickets J2 and J3 are sequentially changed to processing (St3) and completion (St4) in the same manner as the job ticket J1.

FIG. 11 is a sequence diagram schematically showing the operations of the work management system 1 and the work execution system 10 as described above.

That is, first, the command system 100 transmits the work command D1 to the host system 2 (S1). The host system 2 generates work information D2 based on the work command D1 (S2). Then, the host system 2 publishes the generated work information D2 (S3). When the work information D2 is released, the work acceptance status is switched from the "non-recruitment status" to the "recruitment status". The published work information D2 is transmitted from the upper system 2 to the lower system 3 (S4).

When the lower system 3 receives the work information D2 from the upper system 2, it determines whether or not the application condition is satisfied (S5). When the application condition is satisfied (S5: Yes), the lower system 3 executes the request process (S6) for outputting the request D3. When the request processing (S6) is executed, the request D3 is transmitted from the lower system 3 to the upper system 2 (S7).

When the higher-level system 2 receives the request D3 from the lower-level system 3, it executes a determination process (S8) for determining whether or not to give the permission D4 for the request D3. When the adoption condition is satisfied (S9: Yes), the host system 2 executes the permission process (S10) for outputting the permission D4. By executing the permission process (S10), the permission D4 is transmitted from the upper system 2 to the lower system 3 (S11).

When the lower system 3 receives the permission D4 from the higher system 2, the lower system 3 executes an instruction process (S12) for causing the work device 4 to execute the work corresponding to the request D3. By executing the instruction process (S12), the instruction information D5 for executing the work specified in the work information D2 is transmitted from the lower system 3 to the subordinate work device 4 (S13). When the work device 4 receives the instruction information D5 from the lower system 3, the work device 4 executes the work specified in the work information D2 according to the instruction information D5 (S14).

When the work is completed, the work device 4 notifies the lower system 3 of the completion of the work (S15). Upon receiving this notification, the lower system 3 executes the completion process (S16) for outputting the completion notification D6. When the completion process (S16) is executed, the completion notification D6 is transmitted from the lower system 3 to the upper system 2 (S17).

The flowchart of FIG. 11 is merely an example of the operations of the work management system 1 and the work execution system 10, and the order of the processes may be appropriately changed, or any of the processes may be omitted as appropriate.

Here, in the present embodiment, the state information D7 includes the cumulative operating time of the working device 4 as described above. The "cumulative operating time of the working device 4" referred to in the present disclosure is a cumulative value of the operating time of one working device 4, for example, from the time when one working device 4 is started for the first time to the present. It is the cumulative value of the operating time of. That is, the cumulative operating time does not mean the cumulative value of the operating time of the plurality of working devices 4, but the cumulative operating time is counted for each of the individual working devices 4 for the plurality of working devices 4. Therefore, the lower system 3 determines whether or not to output the request D3 based on the state information D7 including the cumulative operating time of the work device 4. Further, the host system 2 determines whether or not to give the permission D4 based on the state information D7 including the cumulative operating time of the work device 4. Therefore, for example, the lower system 3 or the upper system 2 refrains from the request D3 or the permission D4 so that the work device 4 having a relatively long cumulative operation time does not execute the work, so that the work device 4 has a plurality of work devices 4. It is possible to balance the cumulative uptime.

By the way, when the work device 4 executes the work, the work management system 1 according to the present embodiment generates a reward as a consideration for the executed work. As an example, the reward is realized by benefits including services such as money (including credits and virtual currency), points (points), goods, and maintenance of the work device 4. As an example, the reward payment (payment) is performed by the owner of the command system 100 or the upper system 2, and the reward is received by the owner of the lower system 3 or the work device 4. As a result, in the lower system 3 or the work device 4, the motivation (motivation) to execute the work is given. The remuneration settlement (benefit and receipt) may be performed every time the work by the work device 4 is completed, or may be performed every predetermined calculation period (for example, one month). When a reward is generated, the lower system 3 is given permission D4 for the request D3, and when the work device 4 under the control is made to perform the work, the information about the reward obtained by this work, or the work It may have a function of holding the actual "number of work points".

Further, when a reward is generated, the size of the reward is preferably determined for each work. The "magnitude of reward" referred to in the present disclosure means the magnitude of the consideration paid as a reward. For example, if the reward is money, the larger the magnitude of the reward, the greater the amount (amount) of the money. It gets higher. That is, it is possible to make the size of the reward different depending on the work, instead of generating a uniform reward for all the work.

In this case, it is preferable that the priority included in the work information D2 is reflected in the size of the reward. In other words, the size of the reward is determined by the priority of each work. At this time, the higher the priority, the larger the reward. As a result, it is possible to alleviate the concentration of the request D3 on a specific work and to achieve efficient operation of the work management system 1 as a whole. As an example, by setting a higher priority than other works for urgent work, high-risk work, etc., it becomes easy to collect the request D3 for such work.

Further, when the size of the reward is determined for each work, the size of the reward is, for example, a burden on the execution of the work in place of or together with the priority included in the work information D2. "Work load" may be reflected. The "work load" referred to in the present disclosure includes at least one of the type of work, the capacity required to execute the work (loading weight, etc.), the time required to execute the work (required time), and the like. As an example, with regard to the required time, the longer the required time, the heavier the work load and the larger the reward.

(4) Modified Example The first embodiment is only one of the various embodiments of the present disclosure. The first embodiment can be changed in various ways depending on the design and the like as long as the object of the present disclosure can be achieved. Further, the same function as the work management system 1 according to the first embodiment may be realized by a work management method, a computer program, a non-temporary recording medium on which the computer program is recorded, or the like. The work management method according to one aspect includes a request process (see “S6” in FIG. 11), a determination process (see “S8” in FIG. 11), and an instruction process (see “S12” in FIG. 11). .. The request process is a process for generating a request D3 corresponding to the work. The determination process is a process of determining whether or not to give the permission D4 to the request D3. The instruction process is a process of causing one or more work devices 4 to perform the work corresponding to the request D3 when the permission D4 is given for the request D3. The (computer) program according to one aspect is a program for causing a computer system to execute the above work management method.

Hereinafter, modifications of the first embodiment will be listed. The modifications described below can be applied in combination as appropriate.

The work management system 1 in the present disclosure includes, for example, a computer system in the upper system 2 and the lower system 3. A computer system mainly consists of a processor and a memory as hardware. When the processor executes the program recorded in the memory of the computer system, the function as the work management system 1 in the present disclosure is realized. The program may be pre-recorded in the memory of the computer system, may be provided through a telecommunications line, and may be recorded on a non-temporary recording medium such as a memory card, optical disk, hard disk drive, etc. that can be read by the computer system. May be provided. A processor in a computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). The integrated circuit such as IC or LSI referred to here has a different name depending on the degree of integration, and includes an integrated circuit called a system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Further, an FPGA (Field-Programmable Gate Array) programmed after the LSI is manufactured, or a logical device capable of reconfiguring the junction relationship inside the LSI or reconfiguring the circuit partition inside the LSI should also be adopted as a processor. Can be done. A plurality of electronic circuits may be integrated on one chip, or may be distributed on a plurality of chips. The plurality of chips may be integrated in one device, or may be distributed in a plurality of devices.

Further, it is not an essential configuration for the work management system 1 that a plurality of functions in the upper system 2 or the lower system 3 are integrated in one housing, and each component of the upper system 2 or the lower system 3 is a component. , It may be distributed in a plurality of housings. The lower system 3 may be separate from the working device 4. Further, at least a part of the functions of the work management system 1, for example, a part of the functions of the upper system 2 or the lower system 3 may be realized by the cloud (cloud computing) or the like.

On the contrary, in the first embodiment, at least a part of the functions of the work management system 1 distributed in a plurality of devices may be integrated in one housing. For example, some functions of the work management system 1 distributed in the upper system 2 and the lower system 3 may be integrated in one housing.

In the work management system 1, one or more work devices 4 may be made to perform work other than transportation, and for example, a plurality of types of work such as transportation and assembly may be performed. FIG. 12 is a conceptual diagram showing the operation of the work management system 1 according to the modified example of the first embodiment. In the example of FIG. 12, at the site Z10 such as a station or an airport, the work management system 1 is attached to a plurality of (here, two) work devices 4 in accordance with the work command D1 to guide the person H1 to the destination. Have multiple types of work performed. When distinguishing a plurality of working devices 4, they are referred to as working devices 4X and 4Y, respectively. The work device 4X is a robot having a function of interacting with the person H1 and can perform work such as assistance and guidance of the person H1. The work device 4Y is a transfer device described in the column of “(2.3) Work device”.

In the example of FIG. 12, the host system 2 receives the work order D1 and receives the job ticket J1 (work information D2) related to the work of assisting and guiding the person H1 and the job ticket J2 related to the work of transporting the luggage B1 of the person H1. (Work information D2) is issued. Then, the upper system 2 simultaneously publishes these job tickets J1 and J2, and among the working devices 4 (lower system 3) that issued the request D3 to the job tickets J1 and J2, the request D3 satisfying the adoption condition. Select. Here, the host system 2 gives permission D4 for the request D3 from the work device 4X for the work specified by the job ticket J1, and the request D3 from the work device 4Y for the work specified by the job ticket J2. Give permission D4 for. As a result, the work of assisting and guiding the person H1 is executed by the work device 4X, and the work of transporting the luggage B1 of the person H1 is executed by the work device 4Y. In FIG. 12, the host system 2 and the job tickets J1 and J2 are conceptually illustrated.

Further, it is not essential for the work management system 1 that the upper system 2 generates the work information D2, and the work information D2 may be generated by, for example, the lower system 3 or the command system 100, or the lower system D2. It may be stored in the memory of the system 3 in advance. In these cases, the lower system 3 can issue the request D3 without waiting for the release of the work information D2 by the upper system 2.

Further, even when the upper system 2 generates the work information D2, it is not an essential configuration for the work management system 1 that the upper system 2 transmits the work information D2 to the lower system 3. For example, if the upper system 2 makes the work information D2 viewable by the lower system 3, the lower system 3 accesses the upper system 2 and receives the work information D2 from the upper system 2. In addition, the work information D2 can be confirmed. As a result, the lower system 3 can issue the request D3 corresponding to the work specified in the work information D2.

Further, in the first embodiment, the upper system 2 requests by transmitting the permission D4 (downlink signal) including the unique identification information (work ID) included in the request D3 (uplink signal) to the lower system 3. The permission D4 for D3 is given, but the configuration is not limited to this. For example, the upper system 2 changes the value of the permission flag included in the request D3 (uplink signal) from the lower system 3, and then returns the request D3 to the lower system 3, thereby allowing the request D3 to be granted D4. May be given. Further, if the upper system 2 makes the permission D4 viewable by the lower system 3, the lower system 3 receives a downlink signal representing the permission D4 from the upper system 2 by accessing the upper system 2. Similarly, permission / non-permission can be confirmed.

Further, in the first embodiment, the lower system 3 determines whether or not to output the request D3 based on the state information D7 or the priority, but whether or not the lower system 3 outputs the request D3. Is not an essential configuration for the work management system 1. For example, the lower system 3 may output the request D3 for all the published work (that is, the reception status is the recruitment status). In this case, the higher-level system 2 is configured to determine whether or not the request D3 satisfies the application condition instead of the judgment unit 35, and does not give the permission D4 to the request D3 that does not satisfy the application condition. May be good. As a result, for example, when the capacity of the work device 4 (loading weight, etc.) is insufficient compared to the capacity required to execute the work specified in the work information D2, the work can be executed by the work device 4 in the first place. If this is not possible, permission D4 is not granted for request D3.

Further, in the upper system 2, the specific means for switching the reception state regarding the work between the recruitment state and the non-recruitment state is not limited to the disclosure of the work information D2 by the disclosure unit 26. For example, when the work information D2 includes the reception status flag, the reception status related to the work defined in the work information D2 may be switched between the recruitment status and the non-recruitment status depending on the value of the reception status flag. In this case, the reception state regarding the work can be switched between the recruitment state and the non-recruitment state regardless of whether or not the work information D2 is disclosed by the public unit 26.

Further, a technique such as machine learning may be used for some functions of the work management system 1, for example, for the judgment unit 25 to judge the adoption conditions and the judgment unit 35 for the judgment about the application conditions. .. In particular, from the viewpoint of efficiently operating the work device 4, it is preferable that a technique such as machine learning is used.

In addition, an expiration date may be set for the work. In this case, it is preferable that the permission D4 is given only to the request D3 output within the expiration date. That is, if the request D3 is output within the expiration date, the permission D4 can be given to the request D3, but if the request D3 is output outside the expiration date, the permission D4 is given to the request D3. Is never given. The expiration date referred to in the present disclosure is a period during which the request D3 and the permission D4 for the work are valid, for example, a period of a certain time (several seconds as an example) from the disclosure of the work information D2 by the host system 2. The expiration date is included in the work information D2, for example. Specifically, for example, the lower system 3 outputs the request D3 only for the work within the expiration date. Alternatively, the higher-level system 2 may switch the reception status from the recruitment status to the non-recruitment status when the expiration date has passed. In other words, the upper system 2 does not set the period in which the reception state related to the work is in the recruitment state indefinitely, but sets a limit on the period in which the request D3 from the lower system 3 is valid in the form of an expiration date. As a result, in the upper system 2, it becomes easier to shorten the time for waiting for the request D3 from the lower system 3.

Further, when the expiration date is set, if the request D3 that satisfies the adoption condition for this work is not obtained within the expiration date, the higher-level system 2 changes the work information D2, for example, by raising the priority. May be done. In short, if the work device 4 to execute the work is not determined within the expiration date, the higher-level system 2 changes the work information D2 and re-offers the work device 4 to execute the work. At this time, the change content of the work information D2 may be any change that makes it easier to satisfy the application condition or the employment condition for this work, and may be a change of the route information, for example, in addition to raising the priority.

Further, the generation or disclosure of the work information D2 may be restricted for each zone. For example, as in the example of FIG. 5, in the site Z10 including the first zone Z1, the second zone Z2, and the third zone Z3, for each zone (first zone Z1, second zone Z2, and third zone Z3). , The generation or disclosure of work information D2 may be restricted. That is, for example, even if job tickets J1, J2, and J3 are issued or published only to the work device 4 located in the first zone Z1 among the first zone Z1, the second zone Z2, and the third zone Z3. good. In this case, only the working device 4 located in the first zone Z1 can output the request D3, and the working device 4 located in the second zone Z2 and the third zone Z3 cannot output the request D3. In this way, the generation or disclosure of the work information D2 is restricted for each zone, so that the upper system 2 can give the permission D4 only to the work device 4 located in the specific zone. Alternatively, the permission D4 may be given only to the request D3 output from the working device 4 located in a specific zone. Even in this case, as a result, the higher-level system 2 can give the permission D4 only to the working device 4 located in the specific zone.

Here, the zone is not limited to the zone shown in FIG. 5, and is set for each role, for example, a charging zone for charging the storage battery of the work device 4, a loading zone for loading the transported object 92, and the like. You may. Further, it is preferable that the shape and / or size of the zone can be changed arbitrarily. Thereby, for example, by limiting the generation or disclosure of the work information D2 to a specific zone, the output of the request D3 from the work device 4 can be suppressed, and the increase in communication traffic due to the request D3 can be suppressed.

(Embodiment 2)
As shown in FIG. 13, the work management system 1A according to the present embodiment is different from the work management system 1 according to the first embodiment in that it includes a plurality of higher-level systems 2. Hereinafter, the same configurations as those in the first embodiment will be designated by a common reference numeral and description thereof will be omitted as appropriate.

In this embodiment, as shown in FIG. 13, the work management system 1A includes two higher-level systems 2. In this work management system 1A, the plurality of higher-level systems 2 can acquire the request D3 from the same lower-level system 3. Specifically, each of the plurality of lower systems 3 is configured to be able to communicate with the two higher systems 2. Therefore, each lower system 3 can output the request D3 for both the work information D2 published by one higher system 2 and the work information D2 published by the other higher system 2. .. Therefore, in each upper system 2, the request D3 from the same lower system 3 can be acquired.

According to the work management system 1A according to the present embodiment, the lower system 3 can acquire the work to be executed by the work device 4 by being given the permission D4 for the request D3 from any of the plurality of higher systems 2. For example, even during the period when the work information D2 is not disclosed from one upper system 2, the lower system 3 can be the work device by outputting the request D3 to the other upper system 2 which discloses the work information D2. There will be more opportunities to acquire the work to be performed by 4. Therefore, the lower system 3 can more effectively utilize the subordinate working device 4.

Further, the work management system 1A may include a plurality of higher-level systems 2 and may include three or more higher-level systems 2.

The various configurations (including the modified examples) described in the second embodiment can be appropriately combined with the various configurations (including the modified examples) described in the first embodiment.

(Embodiment 3)
As shown in FIG. 14, the work management system 1B according to the present embodiment has a one-to-many relationship between the lower system 3 and the work device 4 for at least one lower system 3, and the work management according to the first embodiment. Different from system 1. Hereinafter, the same configurations as those in the first embodiment will be designated by common reference numerals and description thereof will be omitted as appropriate.

That is, in the present embodiment, for at least one lower system 3 among the plurality of lower systems 3, a plurality of working devices 4 are associated with one lower system 3. In other words, there are a plurality of working devices 4 under one lower system 3. The lower system 3 can make each of the plurality of subordinate work devices 4 execute the work by outputting the instruction information D5 to each of the plurality of subordinate work devices 4.

As shown in FIG. 14, the work management system 1B according to the present embodiment further includes a group control system 5 that controls a plurality of work devices 4. The lower system 3 outputs a work instruction to the group control system 5 so that at least one work device 4 out of the plurality of work devices 4 executes the work. In the example of FIG. 14, the work management system 1B includes a plurality of lower systems 3. The group control system 5 is interposed between each of the plurality of lower systems 3 and the plurality of working devices 4.

The group control system 5 is a system that controls a plurality of work devices 4, and the group control system 5 and the work device 4 have a one-to-many relationship. That is, the group control system 5 is configured to be communicable with a plurality of working devices 4, so that one group control system 5 and the plurality of working devices 4 are linked to each other. Hereinafter, each of the plurality of working devices 4 associated with a certain group control system 5 is also referred to as a working device 4 under the group control system 5. The plurality of work devices 4 under the control of one group control system 5 may be devices that perform the same type of work, or may be devices that perform different types of work.

Further, the group control system 5 is configured to be communicable with the lower system 3. As a result, the group control system 5 can acquire the work instruction transmitted from the lower system 3. Here, when the group control system 5 receives the work instruction from the lower system 3, the group control system 5 generates instruction information D5 (see FIG. 1) based on the work instruction, and outputs the instruction information D5 to the subordinate work device 4. The work device 4 that has received the instruction information D5 from the group control system 5 executes the work according to the instruction information D5. That is, in the present embodiment, the lower system 3 does not directly output the instruction information D5 to the work device 4 to cause the work device 4 to execute the work, but outputs the work instruction to the group control system 5. Indirectly, the work device 4 is made to perform the work.

Here, the group control system 5 causes which of the plurality of work devices 4 to execute the work and how many work devices 4 perform the work based on the contents of the work instructions. You may decide. In this case, the group control system 5 outputs the instruction information D5 only to the work device 4 that executes the work among the plurality of work devices 4 under its control.

According to the work management system 1B according to the present embodiment, since the group control system 5 plays a role of bundling a plurality of work devices 4, the plurality of work devices 4 are suppressed while suppressing an increase in the processing load of the lower system 3. Will be easier to use effectively.

Further, the work management system 1B may include a plurality of group control systems 5 for one lower system 3.

By the way, in the work management system 1B according to the third embodiment, the group control system 5 is not an indispensable configuration. For example, as a modification of the third embodiment, as shown in FIG. 15, a plurality of subordinate working devices 4 may be connected to the lower system 3 without going through the group control system 5. In this case, the lower system 3 directly outputs the instruction information D5 to the subordinate working device 4, and causes the working device 4 to execute the work. Further, in the work management system 1B according to the third embodiment, it is sufficient that the lower system 3 and the work device 4 have a one-to-many relationship with respect to at least one lower system 3, and the number of subordinate work devices 4 for each lower system 3 is sufficient. May be different. In the example shown in FIG. 15, there is one working device 4 under one lower system 3, two working devices 4 under another lower system 3, and still under another lower system 3. There are three or more working devices 4 in the above.

The various configurations (including the modified examples) described in the third embodiment can be appropriately combined with the various configurations (including the modified examples) described in the first embodiment or the second embodiment.

(summary)
As described above, the work management system (1,1A, 1B) according to the first aspect includes a lower system (3) and a higher system (2). The lower system (3) outputs a request (D3) corresponding to the work. The host system (2) determines whether or not to grant the permission (D4) to the request (D3). The lower system (3) causes one or more working devices (4) to perform the work corresponding to the request (D3) when the permission (D4) is given for the request (D3).

According to this aspect, when a certain work is executed by one or more work devices (4), the lower system (3) voluntarily outputs a request (D3) corresponding to this work. .. On the other hand, the upper system (2) determines whether or not to give permission (D4) for the request (D3) from the lower system (3), thereby causing one or more work devices (4) to execute the work. Can be managed. Therefore, for example, when there is a work device (4) that is not executing work, the lower system (3) voluntarily outputs a request (D3) to acquire the work to be executed by this work device (4). By doing so, it becomes easy to effectively utilize this working device (4). As a result, according to the work management system (1), there is an advantage that it is easy to effectively utilize the work device (4).

In the work management system (1,1A, 1B) according to the second aspect, in the first aspect, the higher-level system (2) generates work information (D2) regarding the content of the work.

According to this aspect, the lower system (3) can output the request (D3) to the work information (D2) generated by the upper system (2).

In the work management system (1,1A, 1B) according to the third aspect, in the second aspect, the higher-level system (2) issues one work instruction (D1) based on one work instruction (D1). Generate a plurality of work information (D2) for realization.

According to this aspect, since a plurality of work information (D2) that simplifies each work is generated based on one work command (D1), the lower system (3) is a work device (4). ) Will have more chances to get the work done.

In the work management system (1,1A, 1B) according to the fourth aspect, in the second or third aspect, the higher-level system (2) works based on the environmental information related to the operation of the work device (4). Generate information (D2).

According to this aspect, since the work information (D2) is generated in consideration of the environmental information, it becomes easier to utilize the work device (4) more effectively.

In the work management system (1,1A, 1B) according to the fifth aspect, in any one of the first to fourth aspects, the higher-level system (2) switches the reception state related to the work between the recruitment state and the non-recruitment state. It is possible. The lower system (3) outputs a request (D3) corresponding to the work whose reception status is the recruitment status.

According to this aspect, for example, by sequentially switching the reception state from the recruitment state to the non-recruitment state for a plurality of works, it becomes easy to alleviate the concentration of requests (D3) from the lower system (3).

The work management system (1,1A, 1B) according to the sixth aspect includes a plurality of lower systems (3) in any one of the first to fifth aspects. The plurality of lower systems (3) can output a request (D3) to the same higher system (2).

According to this aspect, in the host system (2), the request (D3) for giving the permission (D4) can be selected from the plurality of requests (D3), and the working device (4) is efficiently utilized. It will be easier to do.

The work management system (1,1A, 1B) according to the seventh aspect includes a plurality of higher-level systems (2) in any one of the first to sixth aspects. The plurality of higher-level systems (2) can acquire the request (D3) from the same lower-level system (3).

According to this aspect, the lower system (3) is given permission (D4) for the request (D3) from any of the plurality of higher systems (2), so that the work device (4) can perform the work. Can be acquired. Therefore, the lower system (3) can more effectively utilize the working device (4).

In the work management system (1,1A, 1B) according to the eighth aspect, in any one of the first to seventh aspects, there are a plurality of works, and the lower system (3) has a priority set for each work. Based on this, it is determined whether or not to output the request (D3).

According to this aspect, the work having a high priority can be preferentially executed by the work apparatus (4).

In the work management system (1,1A, 1B) according to the ninth aspect, in any one of the first to eighth aspects, the lower system (3) provides the state information (D7) regarding the state of the work device (4). Based on this, it is determined whether or not to output the request (D3).

According to this aspect, when the work device (4) cannot perform the work due to, for example, a failure of the work device (4), the request (D3) is by refraining from outputting the request (D3). It is possible to suppress the increase in communication traffic due to the above.

In the work management system (1,1A, 1B) according to the tenth aspect, in any one of the first to ninth aspects, the higher-level system (2) provides the state information (D7) regarding the state of the work device (4). Based on this, it is determined whether or not to give permission (D4).

According to this aspect, for example, by causing the work device (4) in a state suitable for executing the work to execute the work, it becomes easier to utilize the work device (4) more effectively.

In the work management system (1,1A, 1B) according to the eleventh aspect, in the ninth or tenth aspect, the state information (D7) includes the cumulative operating time of the work device (4).

According to this aspect, for example, by refraining from request (D3) or permission (D4) so as not to execute the work on the work device (4) having a relatively long cumulative operation time, a plurality of work devices (4). It is possible to balance the cumulative operating time between 4).

In the work management system (1,1A, 1B) according to the twelfth aspect, in any one of the first to eleventh aspects, the higher-level system (2) executes one work on a plurality of work devices (4). When the request is made, permission (D4) is given to a plurality of requests (D3).

According to this aspect, by causing a plurality of working devices (4) to execute one work, it becomes easy to effectively utilize the plurality of working devices (4).

When the work apparatus (4) executes the work in any of the first to twelfth aspects, the work management system (1,1A, 1B) according to the thirteenth aspect is used as a compensation for the executed work. Generate rewards.

According to this aspect, for example, in the lower system (3) or the working device (4), it becomes easy to obtain the motivation to execute the work.

In the work management system (1,1A, 1B) according to the fourteenth aspect, in the thirteenth aspect, there are a plurality of works, and the size of the reward is determined for each work.

According to this aspect, it is possible to alleviate the concentration of demands (D3) for a specific work and to achieve efficient operation of the work management system (1,1A, 1B) as a whole.

In the work management system (1,1A, 1B) according to the fifteenth aspect, in any one of the first to fourteenth aspects, an expiration date is set for the work, and the request (D3) output within the expiration date is satisfied. Only the permit (D4) is given.

According to this aspect, the lower system (3) outputs the request (D3) within the expiration date, so that the upper system (2) waits for the request (D3) from the lower system (3). Is easy to keep short.

The host system (2) according to the sixteenth aspect is used for the work management system (1,1A, 1B) according to any one of the first to fifteenth aspects.

According to this aspect, there is an advantage that the working device (4) can be effectively utilized.

The lower system (3) according to the seventeenth aspect is used for the work management system (1,1A, 1B) according to any one of the first to fifteenth aspects.

According to this aspect, there is an advantage that the working device (4) can be effectively utilized.

The work execution system (10, 10B) according to the eighteenth aspect includes a lower system (3) according to the seventeenth aspect and one or more work devices (4).

According to this aspect, there is an advantage that the working device (4) can be effectively utilized.

The working device (4) according to the nineteenth aspect includes a lower system (3) according to the seventeenth aspect and a main body portion (41) on which the lower system (3) is mounted.

According to this aspect, there is an advantage that the working device (4) can be effectively utilized.

The work management method according to the twentieth aspect includes a request process, a determination process, and an instruction process. The request process is a process of generating a request (D3) corresponding to the work. The determination process is a process of determining whether or not to give permission (D4) to the request (D3). The instruction process is a process of causing one or more work devices (4) to perform the work corresponding to the request (D3) when the permission (D4) is given for the request (D3).

According to this aspect, when a certain work is executed by one or more work devices (4), a request (D3) corresponding to this work is spontaneously output in the request processing. On the other hand, in the determination process, it is possible to manage the work to be executed by one or more work devices (4) by determining whether or not to give the permission (D4) to the request (D3). Therefore, for example, when there is a work device (4) that is not executing the work, the request (D3) is output in order to voluntarily acquire the work to be executed by the work device (4) in the request processing. Therefore, it becomes easy to effectively utilize this working device (4). As a result, according to the work management method, there is an advantage that the work device (4) can be effectively used.

The program according to the 21st aspect is a program for causing a computer system to execute the work management method according to the 20th aspect.

According to this aspect, there is an advantage that the working device (4) can be effectively utilized.

Not limited to the above aspects, various configurations (including modifications) of the work management system (1,1A, 1B) according to the first, second and third embodiments are embodied in the work management method or program. It is possible.

The configurations according to the second to fifteenth aspects are not essential configurations for the work management system (1,1A, 1B) and can be omitted as appropriate.

1,1A, 1B Work management system 2 Upper system 3 Lower system 4 Work equipment 10, 10B Work execution system 41 Main unit D1 Work command D2 Work information D3 Request D4 Permit D7 Status information

Claims (21)

A lower system that outputs the request corresponding to the work, and
It is provided with a higher-level system for determining whether or not to grant permission for the request.
The lower system causes one or more working devices to perform the work corresponding to the request when the permission is given for the request.
Work management system. The host system generates work information about the content of the work.
The work management system according to claim 1. The higher-level system generates a plurality of the work information for realizing the one work order based on one work order.
The work management system according to claim 2. The host system generates the work information based on the environmental information related to the operation of the work device.
The work management system according to claim 2 or 3. The higher-level system can switch the reception state related to the work between the recruitment state and the non-recruitment state.
The lower system outputs the request corresponding to the work in which the reception state is the recruitment state.
The work management system according to any one of claims 1 to 4. Equipped with a plurality of the above-mentioned lower systems
The plurality of lower systems can output the request to the same higher system.
The work management system according to any one of claims 1 to 5. Equipped with multiple higher-level systems
The plurality of higher-level systems can acquire the request from the same lower-level system.
The work management system according to any one of claims 1 to 6. There are multiple tasks
The lower system determines whether or not to output the request based on the priority set for each work.
The work management system according to any one of claims 1 to 7. The lower system determines whether or not to output the request based on the state information regarding the state of the working device.
The work management system according to any one of claims 1 to 8. The host system determines whether or not to grant the permission based on the state information regarding the state of the working device.
The work management system according to any one of claims 1 to 9. The state information includes the cumulative operating time of the working device.
The work management system according to claim 9 or 10. The higher-level system grants the permission to a plurality of the requests when a plurality of the working devices perform one said work.
The work management system according to any one of claims 1 to 11. When the work device executes the work, a reward is generated as compensation for the executed work.
The work management system according to any one of claims 1 to 12. There are multiple tasks
The size of the reward is determined for each work.
The work management system according to claim 13. An expiration date is set for the above work,
The permission is granted only for the request output within the expiration date.
The work management system according to any one of claims 1 to 14. Used in the work management system according to any one of claims 1 to 15.
Higher system. Used in the work management system according to any one of claims 1 to 15.
Subsystem. The lower system according to claim 17 and
The one or more working devices and the above-mentioned one or more working devices are provided.
Work execution system. The lower system according to claim 17 and
A main body on which the lower system is mounted, and
Working equipment. Request processing that generates requests corresponding to work, and
Judgment processing for determining whether or not to grant permission for the request, and
It has an instruction process for causing one or more working devices to perform the work corresponding to the request when the permission is given for the request.
Work management method. A program for causing a computer system to execute the work management method according to claim 20.

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