JP6308580B2 - Management device, work execution system, management method and program - Google Patents

Description

  The present invention relates to a management apparatus, a work execution system, a management method, and a program.

  Patent Document 1 discloses an autonomous distributed work assignment system that reduces the amount of communication during work assignment. In this system, a threshold value is set in advance for each automated transport vehicle that is a work agent. Then, the work agent determines whether or not the movement distance to the work request occurrence point transmitted by the work request agent is smaller than the threshold, and only runs if it is smaller and transmits its movement distance to other work agents. When there are a plurality of candidates, the work agent performs the work only when the movement distance of the work agent is the shortest. If none of the candidates are candidacy, the work agent makes a candidacy decision again based on a new threshold value obtained by adding a correction value to its own threshold value.

  Patent Document 2 discloses an autonomous cooperation control device that improves the communication efficiency between agents and the efficiency of agent selection and performs high-speed task processing. The apparatus determines the work procedure from the state of the control target, manages the execution of the workflow, a work execution unit that divides the work instructed from the workflow management unit into tasks and manages task processing, Based on the result of completion of execution by the work execution means and the processing ability judgment means that supports the task process control by comparing the task attributes and the ability of the agent in the system during the process execution control of the work execution means. Learning means for changing the ability value of each agent.

  Patent Document 3 discloses a system that enables monitoring and control from an environment outside an agent in an autonomous cooperative operation environment in which agent groups operate in cooperation with each other. In the system, when the agent is requested to monitor and control the agent from the external agent monitoring control requesting means, the agent accepts this through the monitoring control synchronous communication information exchanging unit, and the internal information setting means receives the monitoring control synchronous communication information. The internal information of the agent is changed based on the monitoring and control information from the exchange unit. Further, control operation and monitoring operation communication are performed between the monitoring control synchronous communication information exchange unit and the agent through the input / output processing unit. Therefore, when agent monitoring control request means requests agent monitoring or the like, the operation is prioritized over the autonomous cooperation operation.

  Patent Document 4 discloses a fault continuity monitoring system that dynamically controls the message flow rate from an agent even during message flushing and enables continuous fault monitoring without affecting the monitoring work of other messages. ing. The system includes a fault monitoring manager that classifies and accumulates messages from a plurality of fault monitoring agents and transmits the messages to a terminal. The manager has an operation control unit that instructs the one agent to control the reduction of the amount of transmitted messages when the flow rate of the message from the one agent continues beyond a certain amount. One agent to which this control command is issued has an operation control unit that selects and transmits a message with a high transmission level, and a data file unit that accumulates the remaining messages for transmission.

JP 2000-254837 A Japanese Patent Laid-Open No. 11-960111 Japanese Patent Laid-Open No. 7-244644 JP 2011-2111555 A

  The present inventors include an agent that executes a predetermined work (eg, cleaning, transportation, etc.) and a work to be executed (eg, cleaning of building A, moving luggage in area A in warehouse A to area B). The following problems have been found in a system having a management apparatus that manages a computer and allocates predetermined work to agents in order to complete the work.

  In some cases, the management apparatus should manage not only completing a work but also completing the work within a time limit. Each agent performs the given work (eg, cleaning 2F in cooperation with other agents) according to the given instructions (eg, cleaning only room 201, 202, 203 on 2F) as necessary A predetermined matter is determined by oneself (for example, cleaning in order of 201 room → 202 room → 203 room), and the work is executed. In order to complete the work within the time limit, the management apparatus needs to give each agent work with appropriate contents (quality / quantity) corresponding to the ability together with appropriate instructions. If an agent is given more work than his ability, or if insufficient instructions are given to make a lot of self-judgement, the completion of the work given to that agent will be delayed. Completion is delayed.

  Further, if an instruction is given more than necessary to a highly capable agent, the burden of monitoring work for monitoring whether or not the instruction is executed according to the instruction increases. From the viewpoint of reducing the monitoring burden, it is preferable to give autonomously work without giving more instructions than necessary to highly capable agents.

  It is an object of the present invention to provide a technique for providing each agent with work having appropriate contents together with appropriate instructions.

According to the present invention,
A management device that allocates work to a plurality of agents each having its own ability,
Participation agent determining means for determining one or more first agents that are the agents to participate in the first work;
Instruction determining means for determining the work to be executed by each of the first agents, and an instruction specifying an instruction to be followed when executing the work;
Notification means for notifying the first agent of the instruction determined by the instruction determination means;
The instruction determining means includes
Provisional determination means for determining the provisional instruction for each of the first agents;
A predicted time acquisition unit that acquires a predicted time required to complete the work when each of the first agents executes the work specified by the temporary instruction according to the instruction specified by the temporary instruction. When,
A change enable / disable determining means for comparing the predicted time with a predetermined threshold and determining whether to change the contents of the temporary instruction;
When the changeability determination means determines to change the contents of the temporary instruction, the temporary determination means determines the new temporary instruction, and the changeability determination means does not change the contents of the temporary instruction. If you decide, possess and optimization means for determining the instruction of the temporary as the instruction for notifying the first agent respectively, a,
When the predicted time is greater than the predetermined threshold, the temporary determination unit is provided with a management device that newly determines the temporary instruction that embodies the instruction rather than the temporary instruction before the change .

  In addition, according to the present invention, there is provided a work execution system including the management device and an agent that receives the command from the management device and executes the received command.

Moreover, according to the present invention,
A computer of a management device that allocates work to a plurality of agents each having its own ability,
A participating agent determination step of determining one or more first agents that are the agents to participate in the first work;
An instruction determining step for determining an instruction specifying the work to be executed by each of the first agents and an instruction to be followed when executing the work;
Performing a notification step of notifying the first agent of the command determined in the command determination step;
In the instruction determining step,
A provisional determination step of determining a provisional instruction for each of the first agents;
A predicted time acquisition step of acquiring a predicted time required to complete the work when each of the first agents executes the work specified by the temporary instruction according to the instruction specified by the temporary instruction. When,
A changeability determination step that compares the predicted time with a predetermined threshold and determines whether to change the contents of the temporary instruction;
If it is determined that the contents of the provisional instruction are to be changed in the changeability determination step, a new provisional instruction is determined in the provisional determination step, and the contents of the provisional instruction are not changed in the changeability determination step. If determined, performing an optimization step of determining the temporary instruction as the instruction to notify each of the first agents ;
In the provisional determination step, a management method is provided in which, when the predicted time is greater than the predetermined threshold, the provisional instruction that embodies the instruction is more newly determined than the provisional instruction before the change .

Moreover, according to the present invention,
A computer of a management device that allocates work to a plurality of agents each having its own ability,
Participating agent determining means for determining one or more first agents that are the agents to participate in the first work;
Instruction determining means for determining the work to be executed by each of the first agents and an instruction specifying an instruction to be followed when executing the work;
Notification means for notifying the first agent of the instruction determined by the instruction determination means;
Function as
The command determining means;
Provisional decision means for deciding the provisional instruction for each first agent;
A predicted time acquisition unit that acquires a predicted time required to complete the work when each of the first agents executes the work specified by the temporary instruction according to the instruction specified by the temporary instruction. ,
A changeability determination unit that compares the predicted time with a predetermined threshold and determines whether to change the contents of the temporary instruction;
When the changeability determination means determines to change the contents of the temporary instruction, the temporary determination means determines the new temporary instruction, and the changeability determination means does not change the contents of the temporary instruction. If determined, an optimization means for determining the temporary instruction as the instruction to notify each of the first agents;
Function as
The temporary determination means is provided with a program for newly determining the temporary instruction that embodies the instruction rather than the temporary instruction before the change when the predicted time is greater than the predetermined threshold .

  According to the present invention, a technique for providing each agent with work having appropriate contents together with appropriate instructions is realized.

It is a figure which shows notionally an example of the hardware constitutions of the management apparatus of this embodiment. It is a figure which shows notionally the whole image of the workpiece | work execution system of this embodiment. It is a figure which shows an example of the functional block diagram of the management apparatus of this embodiment. It is a figure which shows typically an example of the agent information which the management apparatus of this embodiment hold | maintains. It is a figure which shows typically an example of the workpiece | work information which the management apparatus of this embodiment hold | maintains. It is a figure which shows typically an example of the command which the management apparatus of this embodiment produces | generates. It is a figure which shows typically an example of the command which the management apparatus of this embodiment produces | generates. It is a figure which shows typically an example of the command which the management apparatus of this embodiment produces | generates. It is a figure which shows typically an example of the instruction guide for every control mode which the management apparatus of this embodiment hold | maintains. It is a figure which shows an example of the functional block diagram of the command determination part of this embodiment. It is a figure which shows typically an example of the reference data which the management apparatus of this embodiment hold | maintains. It is a figure which shows typically an example of the command which the management apparatus of this embodiment produces | generates. It is a figure which shows typically an example of the command which the management apparatus of this embodiment produces | generates. It is a figure which shows an example of the functional block diagram of the management apparatus of this embodiment. It is a figure which shows an example of the functional block diagram of the management apparatus of this embodiment. It is a figure which shows notionally the whole image of the workpiece | work execution system of this embodiment. It is a figure which shows typically an example of the agent information which the management apparatus of this embodiment hold | maintains. It is a flowchart which shows an example of the flow of a process of the management apparatus of this embodiment.

  First, an example of the hardware configuration of the electronic device of this embodiment will be described.

  Each unit included in the management apparatus of the present embodiment includes a CPU (Central Processing Unit), a memory, and a program loaded in the memory (a program stored in the memory from the stage of shipping the apparatus in advance, a CD (Including programs downloaded from storage media such as (Compact Disc) and servers on the Internet, etc.), storage units such as hard disks for storing the programs, and any hardware and software such as a network connection interface Realized by combination. It will be understood by those skilled in the art that there are various modifications to the implementation method and apparatus.

  FIG. 1 is a diagram conceptually illustrating an example of a hardware configuration of the management apparatus according to the present embodiment. As shown in the figure, the management apparatus of this embodiment includes, for example, a CPU 1A, a RAM (Random Access Memory) 2A, a ROM (Read Only Memory) 3A, a communication unit 4A, an operation receiving unit 5A, which are connected to each other via a bus 10A. It has an operation unit 6A, a display control unit 7A, a display unit 8A, an auxiliary storage device 9A, and the like. Although not shown, other elements such as an input / output I / F connected to an external device by wire, a microphone, a speaker, and a camera may be provided.

  CPU1A controls the whole computer of a management apparatus with each element. The ROM 3A includes an area for storing programs for operating the computer, various application programs, various setting data used when these programs operate. The RAM 2A includes an area for temporarily storing data, such as a work area for operating a program. The auxiliary storage device 9A is an HDD (Hard Disc Drive), for example, and has a large storage capacity.

  The communication unit 4A is configured to be able to wirelessly communicate with other devices according to a predetermined wireless communication standard (eg, Bluetooth (registered trademark), Wifi (registered trademark)). Further, the communication unit 4A is configured to be connected to a network such as a LAN (Local Are Network) or the Internet and communicate with other devices by wired and / or wireless communication.

  The operation reception unit 5A receives an operation via the operation unit 6A. The operation unit 6A includes operation keys, operation buttons, switches, a jog dial, a keyboard, a mouse, a touch panel display, and the like.

  The display unit 8A includes a display device (LED (Light Emitting Diode) display, liquid crystal display, organic EL (Electro Luminescence) display, etc.). The display device may be a touch panel display integrated with a touch pad. The display control unit 7A reads data stored in a VRAM (Video RAM), performs predetermined processing on the read data, and then sends the data to the display unit 8A to display various screens.

  Hereinafter, this embodiment will be described. Note that the functional block diagram used in the following description of the embodiment shows functional unit blocks rather than hardware unit configurations. In these drawings, each device is described as being realized by one device, but the means for realizing it is not limited to this. That is, it may be a physically separated configuration or a logically separated configuration.

<First Embodiment>
FIG. 2 conceptually shows an overall image of the work execution system of the present embodiment. The work execution system of this embodiment includes a management device 100 and at least one agent 200 controlled by the management device 100. The management apparatus 100 and the agent 200 are configured to be able to communicate with each other via a network 1 such as the Internet or a LAN.

  First, the agent 200 will be described. The agent 200 has a computer and various mechanisms whose operations are controlled by the computer. The agent 200 performs predetermined operations (cleaning, housework, transportation of luggage, package arrangement, factory work, search work for searching for a predetermined object, disaster, etc.) by each mechanism performing predetermined operations under the control of a computer. For example, a rescue operation to rescue a person or the like. The agent 200 is a so-called robot, for example.

  Each of the plurality of agents 200 controlled by the management apparatus 100 according to the present embodiment has a unique capability.

  For example, the agent 200 has various mechanisms such as a moving mechanism that moves autonomously, a camera mechanism, a communication mechanism that communicates with other agents 200, a detection mechanism that detects a surrounding object with a sensor, an arm mechanism that grips the object, and the like. Can be provided. The mechanism and performance of the agent 200 may vary from agent 200 to agent 200. For example, a situation may occur where one agent 200 includes a camera mechanism, while another agent 200 does not include a camera mechanism. In addition, a situation may occur where the maximum movement speed of a certain agent 200 is 10 km / h, but the maximum movement speed of another agent 200 is 6 km / h.

  Further, the performance of the computer included in the agent 200 may be different for each agent 200. For example, the processing speed of the CPU, the storage capacity (work area) of the RAM, and the like can be different from each other. As a result, the processing speed of the computer can be different for each agent 200. Also, the contents of the program incorporated in each agent 200 and the learning data learned by each agent may be different. For this reason, when each agent 200 is made to calculate the optimal solution (for example, the path | route in the process which moves from the point A to the point B) at the time of performing a certain process, the solution may differ from each other.

  The management apparatus 100 according to the present embodiment appropriately controls a plurality of agents 200 having different abilities as described above.

  By the way, the agent 200 can have a mode in which a given work is performed autonomously, a mode in which other agents are performed independently, and a mode in which some operations are performed independently and other portions are performed in other ways.

  In the autonomous mode, which is a mode in which a certain work is performed autonomously, the agent 200, when given a certain work, matters to be determined in executing the work (for example, how to proceed, a process to be performed, a movement route, etc.) ) Is determined by itself, and the determined content is executed. For example, when an agent 200 is given the task of “cleaning the 2F of the office in cooperation with another agent 200”, the agent 200 in the autonomous mode cleans which part of the 2F it cleans. , How to clean multiple areas (eg: rooms, corridors, etc.) that you have decided to clean, the specific processing (eg, sweeping, wiping, etc.) The order, the route for moving between the areas, etc. are determined by itself, and the determined contents are executed.

  In the other mode, which is a mode in which a certain work is performed in a different manner, the management apparatus 100 determines all of the above-described essential items. Then, the management apparatus 100 sequentially gives instructions to the agent 200, and the agent 200 executes the instructions. For example, the management device 100 performs “advance to the right by 50 cm”, “suction mode” for the agent 200 in the other mode which has given the task of “cleaning the second floor of the office in cooperation with another agent 200”. The command is sequentially given, and the agent 200 executes the command.

  In the “intermediate mode”, which is a mode in which a part is performed autonomously and another part is performed in other ways, the management apparatus 100 determines a part of the essential items described above, and the agent 200 determines the rest by itself. . For example, the management apparatus 100 cleans only the rooms 301, 302, and 303 with respect to the agent 200 in the intermediate mode who has given the task of “cleaning the second floor of the office in cooperation with another agent 200”. A value (instruction) of essential items (role assignment with other agents 200) such as “Yes” is given. The agent 200 then determines other essential items, for example, the order of rooms to be cleaned (eg, 301 → 302 → 303), the movement route, etc., on the assumption of the given instruction. Then, the agent 200 executes the work in accordance with the essential items (instructions) given from the management device 100 and the essential items determined by the agent 200 itself.

  The intermediate mode may be divided into a plurality of modes (the number is a design matter). For example, in a certain intermediate mode, the amount of essential items determined by the management apparatus 100 is larger than the amount of essential items determined by the agent 200, resulting in an intermediate mode that is more specific. On the other hand, in other intermediate modes, the amount of essential items determined by the management apparatus 100 is smaller than the amount of essential items determined by the agent 200, and the autonomous intermediate mode is set.

  The modes that the agent 200 may have may be standardized. In the present embodiment, each agent 200 may have “autonomous mode”, “first intermediate mode”, “second intermediate mode”, “third intermediate mode”, and “other-order mode”. To do. Hereinafter, these modes are collectively referred to as “control mode”. The first intermediate mode is an intermediate mode that is more autonomous than the second intermediate mode, and the second intermediate mode is an intermediate mode that is more autonomous than the third intermediate mode.

  The plurality of agents 200 controlled by the management apparatus 100 according to the present embodiment have different control modes. For example, an agent 200 has all of “autonomous mode”, “first intermediate mode”, “second intermediate mode”, “third intermediate mode”, and “other-order mode”, but other agents 200 has only “autonomous mode” and “other tempered mode”, and the other agent 200 has only “second intermediate mode”, “third intermediate mode”, and “other tempered mode”. A situation can arise. The agent 200 having a plurality of control modes can execute the work in one control mode selected from them. Further, the agent 200 having a plurality of control modes can switch from a certain control mode to a predetermined control mode, and can execute work in the control mode after switching.

  Next, the management apparatus 100 according to this embodiment that allocates work to a plurality of agents 200 each having a unique capability as described above will be described. FIG. 3 shows an example of a functional block diagram of the management apparatus 100 of this embodiment. As illustrated, the management apparatus 100 according to the present embodiment includes a participation agent determination unit 110, a command determination unit 120, and a notification unit 130.

  Participating agent determination unit 110 determines one or more first agents 200 that are agents 200 to participate in the first work.

  The participating agent determination unit 110 includes information (hereinafter, “agent information”) of the agent 200 controlled by the own device (management device 100) and information (hereinafter, “work” managed by the own device (management device 100)). "Work information"). Then, the participating agent determination unit 110 determines one or more first agents 200 to participate in the first work using the agent information and the work information. Hereinafter, agent information and work information will be described.

  FIG. 4 shows an example of agent information. The agent information shown includes items of “agent”, “control mode”, “function”, “learning data”, and “work”. In the item “Agent”, identification information of the agent 200 controlled by the management apparatus 100 is described. In the item “control mode”, the control mode of each agent 200 is described. In the figure, “1” is “autonomous mode”, “2” is “first intermediate mode”, “3” is “second intermediate mode”, “4” is “third intermediate mode”, “5” "Corresponds to the" other law mode ". In the item “function”, information indicating the function of each agent 200, for example, the type of mechanism that each agent 200 has, its performance, the performance of the computer that the agent 200 has, and the like is described. In the item of “learning data”, identification information of data (data used for execution of work) that the agent 200 has learned and stored so far is described. For example, the learning data of each agent 200 is copied into the management apparatus 100. In the “learning data” item, the name, storage location, and the like of the learning data of each agent 200 copied and stored in the management apparatus 100 are described. In the item “work”, a value indicating whether each agent 200 is currently executing a work is described (actual: executing, not performing: not executing). Although not shown, the agent information can include an “address” item describing address information for communicating with each agent. Participating agent determination unit 110 may hold agent information that does not have some items in the agent information shown in FIG.

  The means by which the participating agent determination unit 110 acquires agent information is not particularly limited. For example, the user operates the agent 200 put under the control of the management apparatus 100, inputs address information of the management apparatus 100, a password for logging in to the management apparatus 100, etc., and communicates with the management apparatus 100. When the agent 200 is permitted to log in to the management apparatus 100, the agent 200 transmits data such as a control mode, a function, and learning data of the own apparatus (agent 200) to the management apparatus 100. The management apparatus 100 may acquire agent information in this way. However, the present invention is not limited to this example, and the user may directly input the agent information of each agent 200 to the management apparatus 100 by operating the management apparatus 100.

  Next, work information will be described. FIG. 5 shows an example of work information. The work information shown in the figure includes items of “work ID (identification)”, “work content”, “reference data”, “completion time”, “difficulty”, “number of recommended agents”, “allocation”, and “situation”. Have. In the item “work ID”, identification information given to each work is described. The contents of each work are described in the “work contents” column. In the “reference data” column, information (name, storage location, etc.) of data to be referred to when each work is executed is described. The reference data is, for example, data indicating a floor map, a storage location of tools used in work execution, and the like. In the “completion time” item, a target time for completing each work is described. The item “completion time” shown in the figure indicates the target time by the elapsed time from the start of the work. Alternatively, the target time at which the work is completed may be indicated by the date and time. In the “difficulty level” item, the difficulty level of each work is described. In the “recommended number of agents” item, a recommended value of the number of agents 200 to participate in each work is described. In the “allocation” item, a value indicating whether each work has been allocated to the agent 200 is described. In the “status” item, a value indicating whether each work is completed is described. The work information may not have a part of these items or may have other items.

  The participating agent determination unit 110 refers to the agent information (see FIG. 4) and the work information (see FIG. 5) to the first work (a work that has not been completed and has not been assigned work to the agent 200). One or more first agents 200 that are agents 200 to participate in are determined. That is, the participating agent determination unit 110 identifies a work that has not been allocated in the work information, and determines an agent 200 to participate in the work. For example, the participating agent determination unit 110 may determine the same number of agents 200 as the number of recommended agents as the first agent 200. The participating agent determination unit 110 may determine the first agent 200 from the agents 200 that are not currently performing work by referring to the agent information.

  Returning to FIG. 3, the command determination unit 120 determines a command that specifies the work to be executed by each of the first agents 200 determined by the participating agent determination unit 110 and an instruction to be followed when the job is executed.

  The instruction indicates contents (values) of essential items that are items to be determined in executing the work (eg, how to proceed with the work, processing to be executed, movement route, etc.). The instruction determining unit 120 can determine an instruction that specifies any of a plurality of instructions corresponding to the control mode of the agent 200. For example, as shown in FIG. 9, the instruction determination unit 120 holds information (instruction guidelines for each control mode) for determining an instruction corresponding to each control mode of the agent 200. In the instruction guidelines for each control mode, essential items to be determined as instructions for the agent 200 in each control mode are described. As shown in the figure, as the control mode approaches autonomous mode, the corresponding instructions are abstracted (the number of required items to be determined decreases), and as the control mode approaches other modes, the corresponding instructions become specific. (The number of required matters to be determined will increase).

  FIG. 6 schematically shows an example of the instruction determined by the instruction determination unit 120. The command shown in FIG. 6 includes an item (work content) for specifying the work content and an item (instruction) for specifying an instruction to be followed when the work is executed. The work content is “2F cleaning in cooperation with other agents”, and the instruction is “all self-judgment”. That is, the instruction of the instruction is an instruction corresponding to the “autonomous mode”.

  FIG. 7 schematically shows another example of the instruction determined by the instruction determination unit 120. In the command shown in FIG. 7, the work content is “2F cleaning in cooperation with other agents”, and the instruction is “clean only 201, 202, 203, 204, 205”. That is, the division of roles with the other first agents 200 is instructed. The instruction of the instruction is an instruction corresponding to “any of the intermediate modes”.

  FIG. 8 schematically shows another example of the instruction determined by the instruction determination unit 120. In the command shown in FIG. 8, the work content is “cleaning 2F in cooperation with other agents”, and the instruction is “clean only these rooms in order of 201 → 202 → 205 → 204 → 203”. That is, the division of roles with the other first agents 200 and the order of the work progress are instructed. The instruction of the instruction is an instruction corresponding to “any of the intermediate modes”.

  Note that the instruction determination unit 120 needs to determine an instruction specifying an appropriate work and an appropriate instruction in order to complete each work within the target time. Here, the details of the process in which the instruction determination unit 120 determines such an instruction will be described. FIG. 10 shows an example of a functional block diagram of the instruction determination unit 120. As illustrated, the instruction determination unit 120 includes a provisional determination unit 121, a predicted time acquisition unit 122, a changeability determination unit 123, and an optimization unit 124.

  The provisional determination unit 121 determines a provisional command for each first agent 200. The provisional command can specify an instruction corresponding to an arbitrary work and an arbitrary control mode. As the work content, for example, one first agent 200 alone performs a first work (example: cleaning of 2F), a part of the first work (example: 201, 202, 203 of 2F) (Cleaning) is performed by one first agent 200 alone, the first work (e.g. 2F cleaning) is performed by a plurality of first agents 200, and a part of the first work (e.g. 2F) (Cleaning 201, 202, and 203) of the plurality of first agents 200 may be considered. The provisional determination unit 121 can determine any of these as, for example, work contents.

  The predicted time acquisition unit 122 acquires the predicted time required to complete the work when each of the first agents 200 executes the work specified by the temporary command according to the instruction specified by the temporary command.

  For example, the predicted time acquisition unit 122 notifies (transmits) a temporary command to each of the first agents 200. At this time, reference data necessary for calculating the predicted time may also be transmitted from the predicted time acquisition unit 122 to the agent 200. The reference data includes workplace map data (see FIG. 11), information (capabilities, positions, etc.) of other first agents 200 that cooperate to execute the same work. Then, each first agent 200 calculates a predicted time required to complete the work when the work specified by the temporary command is executed according to the instruction specified by the temporary command. At this time, the first agent 200 determines, as necessary, essential items that are items to be determined in executing the work (eg, how to proceed with the work, processing to be executed, movement route, etc.). In addition, when the value of an indispensable matter is contained in the instruction | indication of an instruction | command, it is employ | adopted. Thereafter, the first agent 200 calculates an estimated time required to complete the work when the work is executed based on the determined essential items. The algorithm of the calculation process is a design matter. After the calculation, the first agent 200 notifies the predicted time acquisition unit 122 of the calculated predicted time. In this way, the predicted time acquisition unit 122 may acquire the predicted time.

  As another example, the predicted time acquisition unit 122 may store agent data indicating the capabilities of each of the plurality of agents 200, and may calculate the predicted time by itself using the agent data. The agent data includes information indicating the function of each agent (mechanism type, its performance, computer performance, installed program, learning data, etc.). In this case, the predicted time acquisition unit 122 can estimate the value of essential items determined by each of the first agents 200 and calculate the predicted time based on the estimated result.

  The change possibility determination unit 123 compares the prediction time acquired by the prediction time acquisition unit 122 with a predetermined threshold value, and determines whether to change the content of the provisional command. The threshold value is the target time from the start to completion of the workpiece specified for each workpiece, the time obtained by adding a specified margin time to the target time, the remaining time until the workpiece completion target time specified for each workpiece, and the remaining time. It can be set as the time which added predetermined margin time.

  The change enable / disable determining unit 123 determines to change the contents of the provisional command when the predicted time is larger than the threshold. The change permission determination unit 123 may determine not to change the contents of the provisional command when the predicted time is smaller than the threshold value. As another example, the change enable / disable determining unit 123 determines that the content of the provisional instruction is not changed when the prediction time is smaller than the threshold and the difference is smaller than the predetermined level, the prediction time is smaller than the threshold, and If the difference is greater than a predetermined level, it may be determined to change the contents of the provisional command.

  The optimization unit 124 causes the temporary determination unit 121 to determine a new temporary instruction when the change permission determination unit 123 determines to change the contents of the temporary instruction. At this time, the provisional determination unit 121 determines a new provisional instruction in which at least one of the work content and the instruction in the provisional instruction is changed. Thereafter, the optimization unit 124 causes the predicted time acquisition unit 122 to execute the work when the first agent 200 executes the work specified by the new temporary command according to the instruction specified by the new temporary command. The estimated time required to complete the process is newly acquired. Then, the optimization unit 124 causes the changeability determination unit 123 to compare the newly acquired predicted time with a predetermined threshold value and newly determine whether or not to change the contents of the temporary instruction. The optimization unit 124 can repeat the above control until the changeability determination unit 123 determines that the contents of the provisional command are not changed.

  When the changeability determination unit 123 determines that the contents of the provisional instruction are not changed, the optimization unit 124 determines the provisional instruction as an instruction to notify each of the first agents 200.

  When the provisional determination unit 121 determines a provisional instruction including an instruction corresponding to the other-order mode, the optimization unit 124 determines the provisional instruction as an instruction to notify each of the first agents 200 as it is. Also good. That is, in this case, the predicted time acquisition unit 122 does not have to perform the predicted time acquisition process. Further, the change permission determination unit 123 may not perform the process based on the predicted time and the threshold value.

  Returning to FIG. 3, the notification unit 130 notifies the first agent 200 of the command determined by the command determination unit 120. Then, the first agent 200 executes the received command. That is, the first agent 200 executes the work specified by the received command according to the instruction specified by the received command. For example, the first agent 200 sets its own control mode to a control mode corresponding to the instruction specified by the received command, and executes the command in the control mode.

  Next, an example of the processing flow of the management apparatus 100 of this embodiment will be described using the flowchart of FIG.

  First, the participating agent determination unit 110 determines one or more first agents 200 that are agents 200 to participate in the first work (S10).

  Thereafter, the instruction determining unit 120 determines an instruction that specifies the work to be executed by each of the first agents 200 and an instruction to be followed when the work is executed.

  Specifically, the provisional determination unit 121 of the instruction determination unit 120 determines a provisional instruction for each first agent 200 (S20). Thereafter, the predicted time acquisition unit 122 of the instruction determination unit 120 performs the work when each of the first agents 200 executes the work specified by the temporary instruction determined in S20 according to the instruction specified by the temporary instruction. The estimated time required to complete the process is acquired (S30). Next, the change possibility determination unit 123 of the instruction determination unit 120 compares the predicted time acquired in S30 with a predetermined threshold value, and determines whether to change the contents of the temporary instruction determined in S20 (S40). ).

  When the change permission determination unit 123 determines in S40 that the contents of the temporary instruction are to be changed (Yes in S40), the optimization unit 124 of the instruction determination unit 120 causes the process to return to S20 and causes the temporary determination unit 121 to A temporary instruction is determined (S20). Then, the same processing is repeated.

  On the other hand, when the changeability determination unit 123 determines in S40 that the contents of the temporary instruction are not changed (No in S40), the optimization unit 124 of the instruction determination unit 120 uses the temporary instruction determined in S20 as the first instruction. To be notified to each of the agents 200.

  Thereafter, the notification unit 130 notifies the first agent 200 determined in S10 of the command determined by the command determination unit 120 (S50). Thereafter, the first agent 200 performs work according to the command notified in S50.

  As a modification, the provisional determination unit 121 may determine two or more provisional instructions in S20 instead of deciding one provisional instruction at a time. In S30, the predicted time acquisition unit 122 acquires the predicted time of each of the two or more provisional instructions determined in S20. In S40, the change permission determination unit 123 determines each of the two or more provisional instructions. The predicted time and the threshold value may be compared to determine whether to change the contents of each temporary instruction. In this case, the number of repetitions of S20 to S40 can be reduced. If the temporary agent 200 is notified to each first agent 200 and the agent 200 of each generation calculates the predicted time and sends it back to the management apparatus 100, the first agent 200 and the management apparatus It is possible to reduce the number of repetitions of transmission / reception of the temporary command and the predicted time between 100. As a result, it is possible to efficiently perform the process.

  According to the management device 100 and the work execution system of the present embodiment described above, it is possible to give each agent 200 a work having an appropriate content together with an appropriate instruction and to advance the work efficiently.

  If an agent 200 is given a work exceeding its capability or an inadequate instruction is given, the completion of the work given to the agent 200 is delayed. The agent 200 with low ability calculates a non-optimal solution as the contents (values) of essential items that are items to be determined (eg, how to proceed, processing to be performed, movement route, etc.) There is. For example, the agent 200 having a low ability decides to clean the same room as the room that the other agent 200 cleans in the cleaning of the second floor in cooperation with the other agent 200, or the detour route in the movement between the rooms. Or a non-optimal solution may be calculated.

  If the agent 200 with such inferior ability is given an operation with a target time until completion of the operation with an instruction corresponding to the autonomous mode or the intermediate mode from the autonomous mode, the agent 200 is optimal as an essential item. It can happen that the solution completion time exceeds the target time as a result.

  In the present embodiment, a provisional instruction is determined, and when each of the agents 200 executes the provisional instruction, a predicted time required to complete the work is calculated by simulation. Then, an instruction having a content so that the calculated predicted time does not exceed the target time is specified, and the specified instruction is given to each agent 200.

  According to the present embodiment as described above, it is possible to give each agent 200 a work having an appropriate content together with an appropriate instruction and complete the work within the target time.

<Second Embodiment>
In the present embodiment, a process in which the provisional determination unit 121 of the management apparatus 100 determines a provisional command will be specifically described. Since other configurations are the same as those of the first embodiment, description thereof is omitted here.

  As described in the first embodiment, the provisional determination unit 121 determines a provisional command for each first agent 200. The tentative determination unit 121 determines a first tentative instruction, a first process that determines a first tentative instruction, and a second tentative instruction that is different from the tentative instruction previously determined according to the control of the optimization unit 124. Process. Hereinafter, examples of the first and second processes will be described.

<Example 1>
In the first processing, the provisional determination unit 121 specifies the instruction that has the highest abstraction level, that is, the instruction that corresponds to the control mode that is the most autonomous mode among the control modes that the first agent 200 has. An instruction may be determined. For example, when the first agent 200 is “00002” shown in FIG. 4, the temporary determination unit 121 controls the control mode “1” that is the control mode from the most autonomous mode, that is, “autonomous mode” in the first process. The provisional command specifying the instruction corresponding to “is determined. Further, when the first agent 200 is “00003” shown in FIG. 4, the temporary determination unit 121 controls the control mode “3”, which is the control mode from the autonomous mode, in the first process, that is, “second”. Tentative command specifying the instruction corresponding to “intermediate mode” is determined.

  Then, the change enable / disable determining unit 123 determines to change the contents of the temporary instruction when the predicted time is larger than the predetermined threshold, and does not change the contents of the temporary instruction when the predicted time is smaller than the predetermined threshold. decide. The provisional determination unit 121 executes the second process when the change permission determination unit 123 determines to change the contents of the provisional instruction.

  In the second process, the provisional determination unit 121 newly determines a provisional instruction that embodies an instruction rather than the provisional instruction before the change. At this time, the provisional determination unit 121 may determine an instruction corresponding to the control mode in which the control mode of the agent 200 is changed from the one-step other-order mode, or the control mode is changed from the multi-step other-order mode. An instruction corresponding to the changed control mode may be determined. The provisional determination unit 121 may determine how many steps other modes are to be changed according to the difference between the prediction time and the threshold.

  For example, consider a case where a temporary command specifying an instruction corresponding to the control mode “1”, that is, the “autonomous mode” is determined in the first process for the agent 200 of “00002” illustrated in FIG. In this example, when the prediction time is larger than the threshold value and the difference between the prediction time and the threshold value is larger than a predetermined level, the provisional determination unit 121 sets the control mode to the two-step unilateral mode as the next provisional command. A provisional command specifying an instruction corresponding to the changed control mode “3” may be determined. On the other hand, when the predicted time is larger than the threshold value and the difference between the predicted time and the threshold value is smaller than the predetermined level, the temporary determination unit 121 changes the control mode from the one-step unilateral mode as the next temporary command. A temporary command specifying an instruction corresponding to the control mode “2” may be determined.

  The management apparatus 100 monitors whether the command (work and instruction) given to each of the first agents 200 has been executed. For this reason, if the content of the instruction is embodied and increases, the monitoring burden increases accordingly. If a more specific instruction than necessary (instruction from the other mode) is given to the first agent 200, the burden of the work for the management apparatus 100 to monitor whether or not the instruction has been executed according to the instruction increases. End up. From the viewpoint of reducing the monitoring burden on the management apparatus 100, it is preferable to give an instruction from the autonomous mode as much as possible within a range where the prediction time does not exceed the threshold. If the provisional determination unit 121 is configured as described above, it is possible to efficiently determine an instruction that includes an instruction corresponding to the autonomous mode and whose prediction time is smaller than the threshold.

<Example 2>
In the first process, the provisional determination unit 121 may determine the contents of the first provisional instruction based on the contents of the first work that causes the first agent 200 to participate. For example, the provisional determination unit 121 may grasp the difficulty level of the first work with reference to the work information (see FIG. 5) and determine the abstraction level of the instruction according to the difficulty level. For example, the difficulty level shown in FIG. 5 may correspond to the control level of the agent 200. That is, the degree of difficulty shown in FIG. 5 may indicate a recommended value of the control level of the agent 200 when the work of each work is executed. And the temporary determination part 121 may determine the temporary instruction | indication which specified the instruction | indication corresponding to the control level of the said recommended value in a 1st process. For example, as the first provisional instruction for the first agent 200 to participate in the work having the work ID “20131101002” and the difficulty “2” illustrated in FIG. 5, the provisional determination unit 121 corresponds to the control mode “2”. A provisional command specifying the designated instruction may be determined.

  The change enable / disable determining unit 123 determines to change the content of the provisional command when the predicted time is larger than the predetermined threshold and when the predicted time is equal to or higher than a predetermined level and lower than the predetermined threshold, and the predicted time is predetermined. If the difference is smaller than the predetermined level and smaller than the predetermined threshold, it is determined that the contents of the provisional command are not changed. The provisional determination unit 121 executes the second process when the change permission determination unit 123 determines to change the contents of the provisional instruction.

  In the second process, the provisional determination unit 121 newly determines a provisional instruction that embodies an instruction rather than the provisional instruction before the change when the predicted time is greater than a predetermined threshold. When the predicted time is smaller than the predetermined threshold and the difference is larger than the predetermined level, a temporary instruction that abstracts the instruction from the temporary instruction before the change is newly determined. As in Example 1, the level of instruction abstraction may be changed step by step, or a plurality of levels may be changed at a time.

  The processing load on the management apparatus 100 increases as the number of repetitions of the process of determining a new temporary instruction and determining whether the instruction is valid increases. For this reason, it is preferable to reduce the number of repetitions of the process. In the case of this example, the recommended value of the abstraction level of the instruction is started, and then the direction is changed to a more abstraction direction or a more specific direction, so the number of repetitions of the process may be reduced. it can.

<Example 3>
In the first process, the provisional determination unit 121 determines the content of the first provisional instruction based on the amount of processes (tasks) to be executed by the own apparatus (management apparatus 100) accumulated at that time. May be. The process to be executed includes, for example, a process for determining an agent 200 that participates in a work, a process for determining an instruction to be given to the first agent 200, and monitoring whether the first agent 200 that has given the instruction is working as instructed. And the process of monitoring the work of the first agent 200 that is executing the work in the other mode and giving an instruction.

  When the amount of processing to be executed is large, it is preferable to give an instruction from the autonomous mode, that is, an instruction including a more abstract instruction to the first agent 200. In this way, the management apparatus 100 loads the processing for searching for the optimal solution of the essential items of the instructions included in the command, and the first agent 200 operating in the other mode or the intermediate mode from the other mode. The burden of monitoring the work can be reduced. As a result, the management apparatus 100 can efficiently execute other accumulated processes. On the other hand, when the amount of processing to be executed is small, an instruction from the other mode, that is, an instruction including a more specific instruction may be given to the first agent 200. When the amount of processing to be executed is small, by operating the first agent 200 in accordance with an instruction from the other-order mode, it is possible to grasp the progress of the workpiece in more detail and to proceed more reliably.

  According to the present embodiment described above, the same function and effect as those of the first embodiment can be realized. Moreover, the effect demonstrated in each example is realizable by setting the temporary determination part 121 as the structure of the said Examples 1 thru | or 3.

<Third Embodiment>
In the present embodiment, a process in which the provisional determination unit 121 of the management apparatus 100 determines a provisional command, which is different from the second embodiment, will be specifically described. Since other configurations are the same as those of the first embodiment, description thereof is omitted here. The provisional determination unit 121 according to the present embodiment can have the configuration of the present embodiment in addition to or instead of the configuration of the second embodiment.

  As described in the first embodiment, the provisional determination unit 121 determines a provisional command for each first agent 200. The tentative determination unit 121 determines a first tentative instruction, a first process that determines a first tentative instruction, and a second tentative instruction that is different from the tentative instruction previously determined according to the control of the optimization unit 124. Process. In the second embodiment, the example in which the instruction of the temporary instruction is changed in the second process has been described. In the present embodiment, an example in which the work content of the temporary instruction is changed will be described.

  In the first process of the example, the provisional determination unit 121 can determine the first provisional instruction by any method. Then, in the second process, the provisional determination unit 121 identifies the predicted time of the provisional instruction determined immediately before (the work for which each first agent 200 is identified by the provisional instruction is identified by the provisional instruction. If the predicted time required to complete the work when executed according to the instruction is greater than a predetermined threshold value, a temporary command having a smaller work amount than the temporary command before the change is newly determined. On the other hand, if the predicted time of the temporary instruction determined immediately before is smaller than the predetermined threshold, the temporary instruction is not changed or a temporary instruction having a larger work amount than the temporary instruction before the change is newly determined. .

  For example, it is assumed that the temporary determination unit 121 determines a temporary instruction as shown in FIG. 6 in the first process. In the temporary instruction, the work content is “2F cleaning in cooperation with other agents”, and the instruction is “all self-determination”. If the predicted time of the temporary instruction is larger than a predetermined threshold, the temporary determining unit 121 needs to determine a new temporary instruction. Here, when a temporary command that specifies an instruction is newly determined as in the second embodiment, the monitoring burden on the management apparatus 100 during execution of the work increases. Therefore, the provisional determination unit 121 can reduce the work amount of each of the first agents 200 in order to reduce the estimated time for execution of provisional instructions without increasing the monitoring burden on the management apparatus 100.

  For example, the provisional determination unit 121 that has determined a provisional instruction as illustrated in FIG. 6 in the first process can newly determine a provisional instruction as illustrated in FIG. 12 or 13 in the second process. . In the case of the example in FIG. 12, the work content is “cleaning 201 to 205 on 2F in cooperation with other agents”, and the work area is smaller than before the change. In this case, another agent 200 is newly determined as the first agent 200, and the work of cleaning the remaining portion of 2F is allocated to the newly determined first agent 200. In the example of FIG. 13, the work content is “1F cleaning in cooperation with other agents”, and the work area is changed compared to before the change. This change means that the first agent 200 that had been allowed to participate in the 2F cleaning work was removed from the work and allowed to participate in another work. In this case, another agent 200 is allowed to participate in the 2F cleaning work. In addition, the provisional determination unit 121 may reduce the work amount of each first agent by changing the number of agents 200 to participate in the 2F cleaning work.

  According to the present embodiment described above, the same operational effects as those of the first and second embodiments can be realized. Moreover, the effect demonstrated in the said example is realizable by making the temporary determination part 121 the structure of the said example.

<Fourth Embodiment>
After notifying the first agent 200 of the command, the management apparatus 100 according to the present embodiment monitors the progress of work specified by the command, and changes the command to be given to the first agent 200 according to the progress status. It has a function. Since other configurations are the same as those of the first to third embodiments, description thereof is omitted here.

  FIG. 14 shows an example of a functional block diagram of the management apparatus 100 of this embodiment. As illustrated, the management apparatus 100 according to the present embodiment includes a participation agent determination unit 110, a command determination unit 120, a notification unit 130, a progress information reception unit 140, and a progress monitoring unit 150. The participating agent determination unit 110, the instruction determination unit 120, and the notification unit 130 have the same configuration as in the first to third embodiments.

  After the notification unit 130 notifies the first agent 200 of the command and before the work specified by the command is completed, the progress information receiving unit 140 is in the middle of executing the command from each of the first agents 200. The progress information indicating the progress is received. The progress information includes information indicating a process executed (completed) by the first agent 200, a time required for completing each process, a start time and an end time of each process, and the like. For example, the first agent 200 that has received the instruction specifying the work content “cooperation with other agents and cleaning the second floor” receives the “work start time”, “time to reach the 201 room on the second floor”, “201 The time at which the room cleaning is started, the time at which the 201 room cleaning is completed, the time at which a predetermined percentage of work (eg, 25%, 50%) is completed, and the like are stored in the management apparatus 100 in real time as progress information. Notice. It is also possible to notify the elapsed time from the start of work instead of the time.

  The progress monitoring unit 150 determines whether to change the content of the command to be given to the first agent 200 based on the progress information received by the progress information receiving unit 140. For example, the progress monitoring unit 150 determines whether or not the work of the first agent 200 is delayed based on the progress information. If the work is delayed, it is determined that the content of the command is changed. Decide not to change.

  For example, the progress monitoring unit 150 provides information indicating the work schedule when the agent 200 executes the work specified by the instruction notified to the first agent 200 according to the instruction specified by the instruction. Obtain it before starting work. The schedule may be acquired from each of the first agents 200. The schedule includes a work start time, an execution order of a plurality of processes included in the work, a scheduled start and end time of each process, a start and end timing of each process (elapsed time from the start of the work), and the like. The schedule is such that the work is completed within the target time. The progress monitoring unit 150 may determine whether the work is delayed based on the schedule and the progress information.

  In addition, the progress monitoring unit 150 is within the target time based on the relationship between the ratio of completed work (or the ratio of remaining work) and the required time required (or remaining time). Judge whether the remaining work can be completed, and decide to change the contents of the command when it is determined that it cannot be completed (work is delayed), and if it is determined that it can be completed (work is not delayed) You may decide not to change the contents of. The decision algorithm is a design matter. For example, the progress monitoring unit 150 may determine that the remaining work cannot be completed within the target time when 50% of the work requires more than 50% of the target time.

  The instruction determination unit 120 determines a new instruction when the progress monitoring unit 150 determines to change the content of the instruction. For example, the instruction determination unit 120 specifies the remaining work until the first work is completed based on the progress information, and determines a new instruction for completing the specified remaining work. The progress monitoring unit 150 determines to change the content of the command when the work of the first agent 200 is delayed from the schedule. When the progress monitoring unit 150 determines to change the content of the command, the command determination unit 120 changes the content of the command in a direction that promotes the progress of the work. For example, increase the number of agents 200 to participate in the work to reduce the amount of work given to the first agent 200 that has already participated, or change the direction to embody the instructions (change to other mode) To do. Note that the flow of processing in which the instruction determination unit 120 determines an instruction is the same as in the first to third embodiments.

  The notification unit 130 notifies the first agent 200 of the command newly determined by the command determination unit 120. Thereafter, each of the first agents 200 performs work in accordance with the newly notified instruction.

  According to the present embodiment described above, the same function and effect as those of the first to third embodiments can be realized. In addition, the first agent 200 is notified in advance of the work whose content is determined to be able to be completed within the target time by the simulation together with a predetermined instruction. However, there is a problem with the accuracy of the simulation and the expectation that occurred during the work. Due to an unexpected situation or the like, a situation may occur in which the work completion time of the first agent 200 exceeds the target time. In the present embodiment, the progress of work can be monitored, and the command given to the first agent 200 can be changed during the work as needed. As a result, it is possible to reduce the occurrence of inconvenience that the work completion time exceeds the target time, and to complete the work within the target time.

<Fifth Embodiment>
The management apparatus 100 according to the present embodiment sends a command to be given to the first agent 200 as necessary when a trouble such as a mechanism failure occurs in the first agent 200 after notifying the first agent 200 of the command. Has the function to change. Since other configurations are the same as those of the first to fourth embodiments, description thereof is omitted here.

  FIG. 15 shows an example of a functional block diagram of the management apparatus 100 of this embodiment. As illustrated, the management apparatus 100 according to the present embodiment includes a participation agent determination unit 110, a command determination unit 120, a notification unit 130, a trouble reception unit 160, and a trouble monitoring unit 170. Furthermore, a progress information receiving unit 140 and a progress monitoring unit 150 may be included. The participating agent determination unit 110, the instruction determination unit 120, the notification unit 130, the progress information reception unit 140, and the progress monitoring unit 150 have the same configurations as those in the first to fourth embodiments.

  After the notification unit 130 notifies the first agent 200 of the command and before the work specified by the command is completed, the trouble receiving unit 160 generates a trouble from the first agent 200 in which the trouble has occurred. And trouble information indicating the contents of the trouble is received. The first agent 200 notifies the trouble receiving unit 160 of any trouble that may affect the progress of work. For example, troubles such as a mechanism (a moving mechanism, a camera mechanism, a communication mechanism, a detection mechanism, an arm mechanism, etc.) or a computer may be considered as a trouble. For example, when the first agent 200 detects that a failure having a predetermined notification obligation has occurred in its own device (agent 200), the first agent 200 has detected a failure location and a failure level (standardized in advance; for example, level 1). Trouble information indicating “no operation” is generated and transmitted to the management apparatus 100.

  The trouble monitoring unit 170 determines whether to change the content of the command notified to the first agent 200 based on the trouble information received by the trouble receiving unit 160. For example, the trouble monitoring unit 170 predicts whether or not the work of the first agent 200 is delayed based on the trouble information, determines that the content of the instruction is to be changed when predicted to be delayed, It is decided not to change the contents of. For example, the trouble monitoring unit 170 may predict whether or not the work is delayed based on the failure location, the failure level, the work content, the remaining work, and the like. The decision algorithm is a design matter.

  In addition, the trouble monitoring unit 170 may determine to change the content of the command when the first agent 200 has a failure at a location used for work.

  The instruction determination unit 120 determines a new instruction when the trouble monitoring unit 170 determines to change the content of the instruction. For example, the instruction determination unit 120 specifies the remaining work until the first work is completed based on the progress information, and determines a new instruction for completing the specified remaining work. The trouble monitoring unit 170 decides to change the content of the command when the work of the first agent 200 may be delayed from the schedule. When the trouble monitoring unit 170 determines to change the content of the command, the command determining unit 120 changes the content of the command in a direction that promotes the progress of the work. For example, the troubled first agent 200 is removed from the work, and another agent 200 is newly added to the work, or the amount of work given to the troubled first agent 200 is reduced, The first agent 200 in which the trouble has occurred is changed so as to give only work not related to the failure, the number of agents 200 that participate in the work is increased, or the direction is changed to a specific instruction. Note that the flow of processing in which the instruction determination unit 120 determines an instruction is the same as in the first to third embodiments.

  The notification unit 130 notifies the first agent 200 of the command newly determined by the command determination unit 120. Thereafter, each of the first agents 200 performs work in accordance with the newly notified instruction.

  According to the present embodiment described above, the same function and effect as those of the first to third embodiments can be realized. In addition, the first agent 200 is notified of the work of the content determined to be able to be completed within the target time by simulation in advance together with a predetermined instruction. However, due to the occurrence of an unexpected trouble, the first agent 200 is notified. A situation may occur in which the completion time of the work exceeds the target time. In the present embodiment, it is possible to monitor whether or not a trouble has occurred in the first agent 200, and to change a command to be given to the first agent 200 in the course of work as necessary. As a result, it is possible to reduce the occurrence of inconvenience that the work completion time exceeds the target time and to advance the work efficiently.

<Sixth Embodiment>
FIG. 16 conceptually shows an overall image of the work execution system of the present embodiment. The work execution system of the present embodiment includes a management device 100 and at least one agent 300 controlled by the management device 100. The agent 300 includes a terminal (such as a mobile terminal) 301. The agent 300 receives a command given to itself using the terminal 301 from the management apparatus 100 and confirms the content. The management device 100 and the terminal 301 are configured to be able to communicate with each other via a network 1 such as the Internet or a LAN. The work execution system of the present embodiment is different from the first to fifth embodiments in that the agent 300 that is controlled by the management apparatus 100 and executes work is a person. Hereinafter, the present embodiment will be described, but the description of the same configuration as the other embodiments will be omitted.

  The management apparatus 100 holds information (agent information) of the agent 200 controlled by the own apparatus (management apparatus 100). FIG. 17 shows an example of agent information of this embodiment.

  As shown in FIG. 17, the agent information of this embodiment has items of “agent”, “ability”, “result data”, and “contact”. In the item “Agent”, identification information (name, nickname, serial number, etc.) of each agent 300 is described. In the item “ability”, information indicating the work execution ability of each agent 300, for example, experience value, years of experience, mobility, power, age, gender, and the like is described. For example, the boss of each agent 300 may determine the experience value, mobility, power, and the like. In the item “actual data”, the name of data indicating the actual performance of each agent 300 stored in the management apparatus 100, the storage location, and the like are described. The performance data is, for example, the past performance of each agent 300, and describes the history of the time required to complete a certain work in accordance with a certain instruction. In the item “Contact”, address information (e-mail address, address information of the terminal 301 to be used, etc.) corresponding to each agent 300 is described.

  Note that agent information of each agent may be stored in the terminal 301 used by each agent 300.

  In the present embodiment, for example, using the agent information as illustrated in FIG. 17, the predicted time acquisition unit 122 or the terminal 301 of the management apparatus 100 specifies the work specified by the temporary command using the temporary command. You may calculate the estimated time required until work is completed when it is performed according to the instruction. The algorithm for calculating the prediction time is a design matter.

  For example, the predicted time acquisition unit 122 and the terminal 301 refer to the performance data of each agent 300, acquire the time required to complete the work executed according to the same or similar command, and use that time as the predicted time. Good. Alternatively, a value indicating the work content (the size of the work area, the degree of difficulty in FIG. 5, the number of recommended agents, etc.), an abstraction level of the instruction (a value indicating which control level corresponds), When the ability value (experience value, years of experience, mobility, power, age, gender, etc.) etc. is input and the work is executed by the agent 300 of the ability according to the instruction, the estimated time required to complete the work is calculated. A program (such as an arithmetic expression) may be stored in advance in the predicted time acquisition unit 122 or the terminal 301. Then, the predicted time acquisition unit 122 and the terminal 301 may calculate the predicted time using the program, provisional command, and agent information. Note that the value of the size of the work area indicating the work content can be acquired using a floor map or the like which is reference data.

  In addition, each agent 300 may confirm the content of the command and estimate the estimated time required for completing the work by itself. Then, the agent 300 may input the estimated predicted time to the terminal 301. The input predicted time is transmitted from the terminal 301 to the management apparatus 100.

  As described above, according to the present embodiment described above, it is possible to achieve the same functions and effects as those of the first to fifth embodiments. Further, even when the agent 300 is a person, it is possible to give each agent 300 a work with appropriate contents together with an appropriate instruction and to advance the work efficiently.

  As a modification, the agent controlled by the management apparatus 100 may include a so-called robot described in the first to fifth embodiments and a person described in the present embodiment. Even in such a case, the same operational effects can be realized by the configurations described in the first to fifth embodiments and the present embodiment.

Hereinafter, examples of the reference form will be added.
1. A management device that allocates work to a plurality of agents each having its own ability,
Participation agent determining means for determining one or more first agents that are the agents to participate in the first work;
Instruction determining means for determining the work to be executed by each of the first agents, and an instruction specifying an instruction to be followed when executing the work;
Notification means for notifying the first agent of the instruction determined by the instruction determination means;
The instruction determining means includes
Provisional determination means for determining the provisional instruction for each of the first agents;
A predicted time acquisition unit that acquires a predicted time required to complete the work when each of the first agents executes the work specified by the temporary instruction according to the instruction specified by the temporary instruction. When,
A change enable / disable determining means for comparing the predicted time with a predetermined threshold and determining whether to change the contents of the temporary instruction;
When the changeability determination means determines to change the contents of the temporary instruction, the temporary determination means determines the new temporary instruction, and the changeability determination means does not change the contents of the temporary instruction. And an optimization unit that determines, when determined, the provisional instruction as the instruction for notifying each of the first agents.
2. In the management device according to 1,
The temporary determination unit is a management device that determines a new temporary instruction in which the instruction is changed when determining a new temporary instruction.
3. In the management device according to 2,
The temporary determination unit is a management device that newly determines the temporary command that embodies the instruction rather than the temporary command before the change when the predicted time is greater than the predetermined threshold.
4). In the management device according to 2 or 3,
The temporary determination unit is a management device that newly determines the temporary instruction that abstracts the instruction from the temporary instruction before the change when the predicted time is smaller than the predetermined threshold.
5. In the management device according to 1,
The temporary determination unit is a management device that determines a new temporary command that has changed the work when determining a new temporary command.
6). In the management device according to 5,
The provisional determination unit is a management device that newly determines the provisional instruction with a smaller work amount than the provisional instruction before the change when the predicted time is greater than the predetermined threshold.
7). In the management device according to 5 or 6,
The temporary determination unit is a management device that newly determines the temporary command having a larger work amount than the temporary command before the change when the predicted time is smaller than the predetermined threshold.
8). In the management device according to any one of 1 to 7,
The predicted time acquisition means notifies the temporary command to each of the first agents, and the predicted time calculated by each of the first agents based on the temporary command from each of the first agents. Management device to get.
9. In the management device according to any one of 1 to 7,
The estimated time acquisition means holds agent data indicating the capabilities of each of the plurality of agents, and uses the agent data to calculate the estimated time.
10. In the management device according to any one of 1 to 9,
The temporary determination means is a management device that determines the content of the first temporary command based on the content of the first workpiece.
11. In the management device according to any one of 1 to 9,
The provisional determination unit is a management device that determines the provisional instruction specifying the instruction having the highest abstraction level as the first provisional instruction.
12 In the management device according to any one of 1 to 9,
The provisional determination means is a management apparatus that determines the content of the first provisional instruction based on the amount of processing to be executed by the own apparatus accumulated at that time.
13. In the management device according to any one of 1 to 12,
Progress information receiving means for receiving progress information indicating the progress of execution of the command from each of the first agents after the notification means notifies the command;
Progress monitoring means for determining whether to change the content of the command based on the progress information;
Further comprising
The instruction determining means determines the new instruction when the progress monitoring means determines to change the contents of the instruction,
The notification unit is a management device that notifies each of the first agents of the command newly determined by the command determination unit.
14 In the management device according to any one of 1 to 13,
Trouble receiving means for receiving the trouble information indicating the occurrence of the trouble and the content of the trouble from the first agent having trouble after the notification means notifies the command;
Trouble monitoring means for determining whether to change the content of the command based on the trouble information;
Further comprising
The instruction determining means determines the new instruction when the trouble monitoring means determines to change the content of the instruction,
The notification unit is a management device that notifies each of the first agents of the command newly determined by the command determination unit.
15. The management device according to any one of 1 to 14,
An agent that receives the command from the management device and executes the received command;
Work execution system having
16. A computer of a management device that allocates work to a plurality of agents each having its own ability,
A participating agent determination step of determining one or more first agents that are the agents to participate in the first work;
An instruction determining step for determining an instruction specifying the work to be executed by each of the first agents and an instruction to be followed when executing the work;
Performing a notification step of notifying the first agent of the command determined in the command determination step;
In the instruction determining step,
A provisional determination step of determining a provisional instruction for each of the first agents;
A predicted time acquisition step of acquiring a predicted time required to complete the work when each of the first agents executes the work specified by the temporary instruction according to the instruction specified by the temporary instruction. When,
A changeability determination step that compares the predicted time with a predetermined threshold and determines whether to change the contents of the temporary instruction;
If it is determined that the contents of the provisional instruction are to be changed in the changeability determination step, a new provisional instruction is determined in the provisional determination step, and the contents of the provisional instruction are not changed in the changeability determination step. A management method for executing an optimization step of determining the temporary instruction as the instruction for notifying each of the first agents when the temporary instruction is determined.
16-2. In the management method according to 16,
In the provisional determination step, when determining a new temporary instruction, a management method of determining a new temporary instruction in which the instruction has been changed.
16-3. In the management method described in 16-2,
In the temporary determination step, when the predicted time is larger than the predetermined threshold, a management method for newly determining the temporary instruction that embodies the instruction rather than the temporary instruction before the change.
16-4. In the management method described in 16-2 or 16-3,
In the provisional determination step, when the predicted time is smaller than the predetermined threshold, the provisional instruction that abstracts the instruction from the provisional instruction before the change is newly determined.
16-5. In the management method according to 16,
In the provisional determination step, when a new provisional instruction is determined, a management method for determining a new provisional instruction in which the work has been changed.
16-6. In the management method described in 16-5,
In the temporary determination step, when the predicted time is larger than the predetermined threshold, a management method for newly determining the temporary instruction with a smaller work amount than the temporary instruction before the change.
16-7. In the management method described in 16-5 or 16-6,
In the temporary determination step, when the predicted time is smaller than the predetermined threshold, a management method for newly determining the temporary command having a larger work amount than the temporary command before the change.
16-8. In the management method according to any one of 16 to 16-7,
In the predicted time acquisition step, the temporary command is notified to each of the first agents, and the predicted time calculated by each of the first agents based on the temporary command is received from each of the first agents. Management method to get.
16-9. In the management method according to any one of 16 to 16-7,
A management method in which, in the predicted time acquisition step, the computer of the management device calculates the predicted time using agent data indicating the capabilities of each of the plurality of agents.
16-10. In the management method according to any one of 16 to 16-9,
In the temporary determination step, a management method of determining the content of the first temporary command based on the content of the first work.
16-11. In the management method according to any one of 16 to 16-9,
In the provisional determination step, a management method for determining the provisional instruction specifying the instruction having the highest abstraction level as the first provisional instruction.
16-12. In the management method according to any one of 16 to 16-9,
In the provisional determination step, a management method for determining the content of the first provisional instruction based on the amount of processing to be executed by the own apparatus accumulated at that time.
16-13. In the management method according to any one of 16 to 16-12,
A progress information receiving step of receiving progress information indicating the progress of execution of the command from each of the first agents after notifying the command in the notification step;
A progress monitoring step for determining whether to change the content of the command based on the progress information;
Run further,
In the command determination step, when it is determined that the content of the command is changed in the progress monitoring step, a new command is determined,
In the notification step, a management method of notifying each of the first agents of the command newly determined in the command content determination step.
16-14. In the management method according to any one of 16 to 16-13,
After notifying the command in the notification step, a trouble receiving step of receiving trouble information indicating the occurrence of the trouble and the content of the trouble from the first agent in which a trouble has occurred;
A trouble monitoring step for determining whether to change the content of the command based on the trouble information;
Run further,
In the command determination step, when it is determined to change the content of the command in the trouble monitoring step, a new command is determined,
In the notification step, a management method of notifying each of the first agents of the command newly determined in the command content determination step.
17. A computer of a management device that allocates work to a plurality of agents each having its own ability,
Participating agent determining means for determining one or more first agents that are the agents to participate in the first work;
Instruction determining means for determining the work to be executed by each of the first agents and an instruction specifying an instruction to be followed when executing the work;
Function as notification means for notifying the first agent of the instruction determined by the instruction determination means;
The command determining means;
Provisional decision means for deciding the provisional instruction for each first agent;
A predicted time acquisition unit that acquires a predicted time required to complete the work when each of the first agents executes the work specified by the temporary instruction according to the instruction specified by the temporary instruction. ,
A changeability determination unit that compares the predicted time with a predetermined threshold and determines whether to change the contents of the temporary instruction;
When the changeability determination means determines to change the contents of the temporary instruction, the temporary determination means determines the new temporary instruction, and the changeability determination means does not change the contents of the temporary instruction. If determined, an optimization means for determining the temporary instruction as the instruction to notify each of the first agents;
Program to function as.
17-2. In the program described in 17,
A program for causing the provisional determination means to determine a new provisional instruction in which the instruction has been changed when determining a new provisional instruction.
17-3. In the program described in 17-2,
A program for causing the provisional determination means to newly determine the provisional instruction that embodies the instruction rather than the provisional instruction before the change when the predicted time is greater than the predetermined threshold.
17-4. In the program described in 17-2 or 17-3,
A program for causing the provisional determination means to newly determine the provisional instruction that abstracts the instruction from the provisional instruction before the change when the predicted time is smaller than the predetermined threshold.
17-5. In the program described in 17,
A program for causing the provisional determination means to determine a new provisional instruction in which the work is changed when determining a new provisional instruction.
17-6. In the program described in 17-5,
A program for causing the provisional determination means to newly determine the provisional instruction having a smaller work amount than the provisional instruction before the change when the predicted time is greater than the predetermined threshold.
17-7. In the program described in 17-5 or 17-6,
A program for causing the provisional determination means to newly determine the provisional instruction having a larger work amount than the provisional instruction before the change when the predicted time is smaller than the predetermined threshold.
17-8. In the program according to any one of 17 to 17-7,
The predicted time acquisition unit is configured to notify each of the first agents of the tentative command, and the predicted time calculated by each of the first agents based on the tentative command is obtained from each of the first agents. The program to get.
17-9. In the program according to any one of 17 to 17-7,
A program for causing the predicted time acquisition means to calculate the predicted time using agent data indicating the capabilities of each of the plurality of agents.
17-10. In the program according to any one of 17 to 17-9,
A program for causing the provisional determination means to determine the contents of the first provisional instruction based on the contents of the first workpiece.
17-11. In the program according to any one of 17 to 17-9,
A program for causing the provisional determination means to determine the provisional instruction that specifies the instruction having the highest abstraction level as the first provisional instruction.
17-12. In the program according to any one of 17 to 17-9,
A program for causing the provisional determination means to determine the contents of the first provisional instruction based on the amount of processing to be executed by the own apparatus accumulated at that time.
17-13. In the program according to any one of 17 to 17-12,
The computer,
Progress information receiving means for receiving progress information indicating the progress of execution of the command from each of the first agents after the notification means notifies the command;
Progress monitoring means for determining whether to change the content of the command based on the progress information;
Further function as
If the instruction determining means determines that the progress monitoring means changes the contents of the instruction, the instruction determining means determines a new instruction.
A program for causing the notification unit to notify each of the first agents of the command newly determined by the command determination unit.
17-14. In the program according to any one of 17 to 17-13,
The computer,
Trouble receiving means for receiving the trouble information indicating the occurrence of the trouble and the content of the trouble from the first agent having trouble after the notification means notifies the command;
Trouble monitoring means for determining whether or not to change the content of the command based on the trouble information;
Further function as
If the instruction determining means determines that the trouble monitoring means changes the contents of the instruction, the instruction determining means determines a new instruction.
A program for causing the notification unit to notify each of the first agents of the command newly determined by the command determination unit.

1A CPU
2A RAM
3A ROM
4A Communication Unit 5A Operation Accepting Unit 6A Operation Unit 7A Display Control Unit 8A Display Unit 9A Auxiliary Memory Measure 10A Bus 1 Network 100 Management Device 110 Participating Agent Determining Unit 120 Instruction Determining Unit 121 Temporary Determining Unit 122 Predictive Time Acquiring Unit 123 Change Allowability Determining Unit 124 optimization unit 130 notification unit 140 progress information receiving unit 150 progress monitoring unit 160 trouble receiving unit 170 trouble monitoring unit 200 agent 300 agent 301 terminal

Claims (17)

A management device that allocates work to a plurality of agents each having its own ability,
Participation agent determining means for determining one or more first agents that are the agents to participate in the first work;
Instruction determining means for determining the work to be executed by each of the first agents, and an instruction specifying an instruction to be followed when executing the work;
Notification means for notifying the first agent of the instruction determined by the instruction determination means;
The instruction determining means includes
Provisional determination means for determining the provisional instruction for each of the first agents;
A predicted time acquisition unit that acquires a predicted time required to complete the work when each of the first agents executes the work specified by the temporary instruction according to the instruction specified by the temporary instruction. When,
A change enable / disable determining means for comparing the predicted time with a predetermined threshold and determining whether to change the contents of the temporary instruction;
When the changeability determination means determines to change the contents of the temporary instruction, the temporary determination means determines the new temporary instruction, and the changeability determination means does not change the contents of the temporary instruction. If you decide, possess and optimization means for determining the instruction of the temporary as the instruction for notifying the first agent respectively, a,
The temporary determination unit is a management device that newly determines the temporary command that embodies the instruction rather than the temporary command before the change when the predicted time is greater than the predetermined threshold . A management device that allocates work to a plurality of agents each having its own ability,
Participation agent determining means for determining one or more first agents that are the agents to participate in the first work;
Instruction determining means for determining the work to be executed by each of the first agents, and an instruction specifying an instruction to be followed when executing the work;
Notification means for notifying the first agent of the instruction determined by the instruction determination means;
The instruction determining means includes
Provisional determination means for determining the provisional instruction for each of the first agents;
A predicted time acquisition unit that acquires a predicted time required to complete the work when each of the first agents executes the work specified by the temporary instruction according to the instruction specified by the temporary instruction. When,
A change enable / disable determining means for comparing the predicted time with a predetermined threshold and determining whether to change the contents of the temporary instruction;
When the changeability determination means determines to change the contents of the temporary instruction, the temporary determination means determines the new temporary instruction, and the changeability determination means does not change the contents of the temporary instruction. If you decide, possess and optimization means for determining the instruction of the temporary as the instruction for notifying the first agent respectively, a,
The temporary determination unit is a management device that newly determines the temporary instruction that abstracts the instruction from the temporary instruction before the change when the predicted time is smaller than the predetermined threshold . In the management device according to claim 1 or 2 ,
The temporary determination means is a management device that determines the content of the first temporary command based on the content of the first workpiece. The management device according to claim 1 ,
The provisional determination unit is a management device that determines the provisional instruction specifying the instruction having the highest abstraction level as the first provisional instruction. In the management device according to claim 1 or 2 ,
The provisional determination means is a management apparatus that determines the content of the first provisional instruction based on the amount of processing to be executed by the own apparatus accumulated at that time. In the management device according to any one of claims 1 to 5 ,
The temporary determination unit is a management device that determines a new temporary command that has changed the work when determining a new temporary command. The management device according to claim 6 ,
The provisional determination unit is a management device that newly determines the provisional instruction with a smaller work amount than the provisional instruction before the change when the predicted time is greater than the predetermined threshold. In the management device according to claim 6 or 7 ,
The temporary determination unit is a management device that newly determines the temporary command having a larger work amount than the temporary command before the change when the predicted time is smaller than the predetermined threshold. In the management device according to any one of claims 1 to 8 ,
The predicted time acquisition means notifies the temporary command to each of the first agents, and the predicted time calculated by each of the first agents based on the temporary command from each of the first agents. Management device to get. In the management device according to any one of claims 1 to 8 ,
The estimated time acquisition means holds agent data indicating the capabilities of each of the plurality of agents, and uses the agent data to calculate the estimated time. In the management device according to any one of claims 1 to 10 ,
Progress information receiving means for receiving progress information indicating the progress of execution of the command from each of the first agents after the notification means notifies the command;
Progress monitoring means for determining whether to change the content of the command based on the progress information;
Further comprising
The instruction determining means determines the new instruction when the progress monitoring means determines to change the contents of the instruction,
The notification unit is a management device that notifies each of the first agents of the command newly determined by the command determination unit. The management apparatus according to any one of claims 1 to 11 ,
Trouble receiving means for receiving the trouble information indicating the occurrence of the trouble and the content of the trouble from the first agent having trouble after the notification means notifies the command;
Trouble monitoring means for determining whether to change the content of the command based on the trouble information;
Further comprising
The instruction determining means determines the new instruction when the trouble monitoring means determines to change the content of the instruction,
The notification unit is a management device that notifies each of the first agents of the command newly determined by the command determination unit. The management device according to any one of claims 1 to 12 ,
An agent that receives the command from the management device and executes the received command;
Work execution system having A computer of a management device that allocates work to a plurality of agents each having its own ability,
A participating agent determination step of determining one or more first agents that are the agents to participate in the first work;
An instruction determining step for determining an instruction specifying the work to be executed by each of the first agents and an instruction to be followed when executing the work;
Performing a notification step of notifying the first agent of the command determined in the command determination step;
In the instruction determining step,
A provisional determination step of determining a provisional instruction for each of the first agents;
A predicted time acquisition step of acquiring a predicted time required to complete the work when each of the first agents executes the work specified by the temporary instruction according to the instruction specified by the temporary instruction. When,
A changeability determination step that compares the predicted time with a predetermined threshold and determines whether to change the contents of the temporary instruction;
If it is determined that the contents of the provisional instruction are to be changed in the changeability determination step, a new provisional instruction is determined in the provisional determination step, and the contents of the provisional instruction are not changed in the changeability determination step. If determined, performing an optimization step of determining the temporary instruction as the instruction to notify each of the first agents ;
In the temporary determination step, when the predicted time is larger than the predetermined threshold, a management method for newly determining the temporary instruction that embodies the instruction rather than the temporary instruction before the change . A computer of a management device that allocates work to a plurality of agents each having its own ability,
A participating agent determination step of determining one or more first agents that are the agents to participate in the first work;
An instruction determining step for determining an instruction specifying the work to be executed by each of the first agents and an instruction to be followed when executing the work;
Performing a notification step of notifying the first agent of the command determined in the command determination step;
In the instruction determining step,
A provisional determination step of determining a provisional instruction for each of the first agents;
A predicted time acquisition step of acquiring a predicted time required to complete the work when each of the first agents executes the work specified by the temporary instruction according to the instruction specified by the temporary instruction. When,
A changeability determination step that compares the predicted time with a predetermined threshold and determines whether to change the contents of the temporary instruction;
If it is determined that the contents of the provisional instruction are to be changed in the changeability determination step, a new provisional instruction is determined in the provisional determination step, and the contents of the provisional instruction are not changed in the changeability determination step. If determined, performing an optimization step of determining the temporary instruction as the instruction to notify each of the first agents ;
In the provisional determination step, when the predicted time is smaller than the predetermined threshold, the provisional instruction that abstracts the instruction from the provisional instruction before the change is newly determined . A computer of a management device that allocates work to a plurality of agents each having its own ability,
Participating agent determining means for determining one or more first agents that are the agents to participate in the first work;
Instruction determining means for determining the work to be executed by each of the first agents and an instruction specifying an instruction to be followed when executing the work;
Notification means for notifying the first agent of the instruction determined by the instruction determination means;
Function as
The command determining means;
Provisional decision means for deciding the provisional instruction for each first agent;
A predicted time acquisition unit that acquires a predicted time required to complete the work when each of the first agents executes the work specified by the temporary instruction according to the instruction specified by the temporary instruction. ,
A changeability determination unit that compares the predicted time with a predetermined threshold and determines whether to change the contents of the temporary instruction;
When the changeability determination means determines to change the contents of the temporary instruction, the temporary determination means determines the new temporary instruction, and the changeability determination means does not change the contents of the temporary instruction. If determined, an optimization means for determining the temporary instruction as the instruction to notify each of the first agents;
Function as
The temporary determination means is a program for newly determining the temporary instruction that embodies the instruction rather than the temporary instruction before the change when the predicted time is greater than the predetermined threshold . A computer of a management device that allocates work to a plurality of agents each having its own ability,
Participating agent determining means for determining one or more first agents that are the agents to participate in the first work;
Instruction determining means for determining the work to be executed by each of the first agents and an instruction specifying an instruction to be followed when executing the work;
Notification means for notifying the first agent of the instruction determined by the instruction determination means;
Function as
The command determining means;
Provisional decision means for deciding the provisional instruction for each first agent;
A predicted time acquisition unit that acquires a predicted time required to complete the work when each of the first agents executes the work specified by the temporary instruction according to the instruction specified by the temporary instruction. ,
A changeability determination unit that compares the predicted time with a predetermined threshold and determines whether to change the contents of the temporary instruction;
When the changeability determination means determines to change the contents of the temporary instruction, the temporary determination means determines the new temporary instruction, and the changeability determination means does not change the contents of the temporary instruction. If determined, an optimization means for determining the temporary instruction as the instruction to notify each of the first agents;
Function as
The temporary determination means is a program for newly determining the temporary instruction that abstracts the instruction from the temporary instruction before the change when the predicted time is smaller than the predetermined threshold .

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