JP6971754B2 - Management system, management system control method and program - Google Patents

Description

The present invention relates to a management system, a control method and a program of the management system.

As a robot that grips an object, there are various robots such as a robot that autonomously grips an object and a robot that grips an object based on remote control.
Patent Document 1 describes, as a related technique, a technique relating to a system for automatically picking products in a material handling facility.

Japanese Patent No. 5940682

By the way, in a semi-autonomous robot that is composed of a master unit and a slave unit and performs picking that can be switched between automatic operation and remote control, when picking by automatic operation becomes impossible, it is switched to remote control and remote control is performed. Picking is done by. Therefore, in the case of such a semi-autonomous robot, it is difficult to specify when and how many operators are required because the operator is not always required.
Therefore, there is a need for a technology that can identify when and how many operators are needed.

Each aspect of the present invention is intended to provide a management system, a control method and a program of the management system capable of solving the above-mentioned problems.

According to the first aspect of the present invention, the management system operates by an automatic operation, and when the operation by the automatic operation is difficult, the operation by the automatic operation is switched to the operation by the remote operation by the master unit. Based on the number of operating units in each of the plurality of operating hours or the total amount of work in each of the plurality of operating hours, the number of operators required for performing the remote operation in each of the plurality of operating hours is calculated. An operation management unit that calculates the number of operating units or the total amount of work in each of the plurality of operating time zones according to the number of orders for the object to be worked on by the slave unit. The operator number calculation unit calculates the number of operators based on the operating number calculated by the operation management unit or the total work amount .

According to a second aspect of the present invention, the management system those of the first state-like is operated by automatic operation, if the operation is difficult due to the automatic operation, the remote operation by the master unit from operation by the automatic operation Based on the number of operating units and the proficiency level of artificial intelligence that performs automatic operation in each of the multiple operating hours of the slave unit that switches to the operation by, or the total amount of work and the proficiency level of the artificial intelligence in each of the plurality of operating hours It may be provided with an operator number calculation unit for calculating the number of operators required for performing the remote control in each of the plurality of operating hours .

According to the third aspect of the present invention, the control method of the management system is a control method executed by a computer, which is operated by automatic operation, and when the operation by the automatic operation is difficult, the operation by the automatic operation is performed. Based on the number of operating units in each of the plurality of operating hours of the slave unit that switches from to the operation by remote control by the master unit, or the total amount of work in each of the plurality of operating hours, the remote in each of the plurality of operating hours. The number of operators required to perform the operation is calculated, and the number of operating units in each of the plurality of operating time zones or the total work is performed according to the number of orders for the object to be worked on by the slave unit. It includes calculating the amount and calculating the number of operators based on the calculated operating number or the calculated total work amount .
According to the fourth aspect of the present invention, the control method of the management system is a control method executed by a computer, which is operated by automatic operation, and when the operation by the automatic operation is difficult, the operation by the automatic operation is performed. The number of operating units and the proficiency level of artificial intelligence that performs automatic operation in each of the multiple operating hours of the slave unit that switches from to the operation by remote control by the master unit, or the total amount of work and the artificial intelligence in each of the plurality of operating hours. Includes calculating the number of operators required to perform the remote control in each of the plurality of operating hours based on the proficiency level of the above.

According to the fifth aspect of the present invention, the program operates on the computer by automatic operation, and when the operation by the automatic operation is difficult, the slave switches from the operation by the automatic operation to the operation by the remote operation by the master unit. The number of operators required to perform the remote operation in each of the plurality of operating hours based on the number of operating units in each of the plurality of operating hours of the unit or the total amount of work in each of the plurality of operating hours. And to calculate the number of operating units or the total amount of work in each of the plurality of operating time zones according to the number of orders for the object to be worked on by the slave unit, and the calculated operation. The number of operators is calculated based on the number of units or the calculated total work amount, and the operation is executed .
According to the sixth aspect of the present invention, the program operates on the computer by automatic operation, and when the operation by the automatic operation is difficult, the slave switches from the operation by the automatic operation to the operation by the remote operation by the master unit. The plurality of operations are based on the number of operating units in each of the plurality of operating hours of the unit and the proficiency level of artificial intelligence that performs automatic operation, or the total amount of work in each of the plurality of operating hours and the proficiency level of the artificial intelligence. Calculate the number of operators required to perform the remote operation in each time zone.

According to the aspect of the present invention, it is possible to specify when and how many operators are required.

It is a figure which shows an example of the structure of the management system by one Embodiment of this invention. It is a figure which shows an example of the structure of the slave part by one Embodiment of this invention. It is a figure which shows an example of the structure of the master part by one Embodiment of this invention. It is a figure which shows an example of the structure of the operator provided apparatus by one Embodiment of this invention. It is a figure which shows an example of the structure of the container movement system by one Embodiment of this invention. It is a figure which shows an example of the structure of the operator request device by one Embodiment of this invention. It is a figure which shows an example of the structure of the operator management apparatus by one Embodiment of this invention. It is the first figure which shows the example of the processing flow of the management system by one Embodiment of this invention. It is a 2nd figure which shows the example of the processing flow of the management system by one Embodiment of this invention. It is a figure which shows an example of the structure of the management system by another embodiment of this invention. It is a schematic block diagram which shows the structure of the computer which concerns on at least one Embodiment.

<Embodiment>
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
(Configuration of management system 1)
The configuration of the management system 1 according to the embodiment of the present invention will be described.
The management system 1 according to one embodiment of the present invention is the number of operating slave units in a semi-autonomous robot having a master unit and a slave unit and performing picking work, or the total amount of work performed by the slave unit (for example, the total number of picks). This is a system that calculates the required number of operators (hereinafter referred to as "the number of operators") and assigns the operators to each slave unit 10.
As shown in FIG. 1, the management system 1 includes a plurality of slave units 10, a plurality of master units 20, an operator providing device 30, a container moving system 40, an operator requesting device 50, an operator management device 60, and a plurality of communications. It includes a terminal device 70 and a network NW.
In the management system 1, the slave unit 10 can move the object I to a predetermined position by, for example, an automatic operation by AI (Artificial Integrity) or the like. When it becomes difficult to move the object I by the automatic operation of the slave unit 10, an operator is assigned to the slave unit 10, and the operator remotely controls the slave unit 10 via the master unit 20 to obtain the slave unit. The object I can be moved to 10 to a predetermined position. The operator request device 50 specifies the number of operating slave units 10 in each of the plurality of operating hours, or the total amount of work of the slave units 10 in each of the plurality of operating hours, according to the number of orders for the object I. The operator request device 50 notifies the operator providing device 30 of the number of operating units of the specified slave unit 10 or the total work amount of the slave unit 10 in each of the plurality of operating hours. The operator providing device 30 calculates the number of operators required for allocation to the slave unit 10 based on the number of operating units of the slave unit 10 or the total amount of work of the slave unit 10 in each of the plurality of operating hours. The operator providing device 30 notifies the operator management device 60 of the calculated number of operators. Operators are registered in advance in the operator management device 60 via the communication terminal device 70, and the operator management device 60 that has received the notification is the required number of operators from the registered operators. Is selected, and the selected operator is notified to the operator providing device 30. The operator-provided device 30 can remotely control the slave unit 10 by connecting the master unit 20 operated by the notified operator and the slave unit 10 whose object I has become difficult to move by automatic operation. to enable.

(Configuration of slave unit 10)
Each of the slave units 10 is a robot arranged in a place different from the master unit 20 (warehouse A in the example shown in FIG. 1). Each of the slave units 10 grips the object I by semi-autonomous control, and moves the gripped object I to a predetermined position. Here, the semi-autonomous control controls based on the judgment of artificial intelligence AI or the like according to the input information such as image information when remote control is unnecessary, and controls according to the remote control by the operator when remote control is necessary. .. The time when remote control is necessary is, for example, when it is determined that the object I is difficult to move. The time when remote control is unnecessary is, for example, when the slave unit 10 grasps the object I and determines that the object I can be moved to a predetermined position.
When the object I is difficult to move among the plurality of slave units 10, the master unit 20 is connected to the slave unit 10 where it is difficult to move the object I via the network NW. The slave unit 10 to which the master unit 20 is connected operates according to a control signal received from the master unit 20 via the network NW. When the slave unit 10 receives a control signal from the master unit 20 and the slave unit 10 operates according to the control signal, the slave unit 10 and the master unit 20 form a master-slave type remote work system.
As shown in FIG. 2, the slave unit 10 includes a communication unit 101, a photographing unit 102, a gripping unit 103, an autonomous control unit 104, and a remote control necessary detection unit 105.

The communication unit 101 communicates with the master unit 20 via the network NW. The communication unit 101 communicates with the master unit 20, and the slave unit 10 and the master unit 20 form a master-slave type remote work system.

The photographing unit 102 photographs the object I to be grasped. The image captured by the photographing unit 102 is a three-dimensional image in which the object looks three-dimensional. The photographing unit 102 transmits the captured image to the master unit 20 via the communication unit 101.

The grip unit 103 operates according to a control signal received from the autonomous control unit 104 when remote control is not required. Further, when remote control is required, the grip unit 103 operates according to a control signal received from the master unit 20 via the communication unit 101.

When remote control is not required, the autonomous control unit 104 generates a control signal by processing based on artificial intelligence AI according to input information such as image information captured by the imaging unit 102, and outputs the generated control signal to the grip unit 103. do.

The remote control necessary detection unit 105 detects that the grip unit 103 has difficulty in moving the object I. Specifically, the remote control necessary detection unit 105 specifies the position of the gripping unit 103 and the position of the object I in the image captured by the photographing unit 102. Then, the remote control necessary detection unit 105 does not grip the object I by the relative distance between the position of the grip portion 103 and the position of the object I until the object I reaches a predetermined position. It is determined whether or not the distance is equal to or greater than the threshold value to be determined. When the remote control necessary detection unit 105 determines that the relative distance between the position of the grip portion 103 and the position of the object I is equal to or greater than the threshold value, the object I is difficult, that is, remote control is performed. Is required (when remote control is required). Further, when the remote control necessary detection unit 105 determines that the relative distance between the position of the grip portion 103 and the position of the object I is less than the threshold value, it is not difficult to move the object I, that is, Judge that remote control is not required.
When the remote control necessary detection unit 105 determines that the remote control is necessary, the remote control necessary detection unit 105 transmits the identifier of the slave unit 10 that requires remote control to the operator providing device 30 via the communication unit 101.

(Structure of master unit 20)
Each of the master units 20 is arranged in a place different from the slave unit 10 (in the example shown in FIG. 1, the working center B where the operator O works). When remote control of the slave unit 10 is required, one of the plurality of master units 20 transmits a control signal according to the operation of the operator to the slave unit 10 via the network NW. As shown in FIG. 3, each of the master units 20 includes a communication unit 201, an image reproduction unit 202, and an operation input unit 203.

The communication unit 201 communicates with the slave unit 10 and the operator-provided device 30 via the network NW.

The image reproduction unit 202 receives a stereoscopic image from the slave unit 10 to be operated via the communication unit 201. Further, when the remote control necessary detection unit 105 determines that the remote control is necessary, the image reproduction unit 202 receives the remote control necessary notification signal from the operator providing device 30 via the communication unit 201.
The image reproduction unit 202 displays the received stereoscopic image. Further, when the image reproduction unit 202 receives the remote control necessary notification signal from the operator providing device 30 via the communication unit 201, the image reproduction unit 202 displays to the slave unit 10 that remote control is required.

The operation input unit 203 detects an operation performed by the operator Ob, and transmits a control signal corresponding to the detected operation to the slave unit 10 to be operated and the operator providing device 30 via the communication unit 201.

(Configuration of operator-provided device 30)
As shown in FIG. 4, the operator providing device 30 includes a communication unit 301, a storage unit 302, an operator number calculation unit 303, and an operation management unit 304.

The communication unit 301 communicates with the master unit 20 and the container movement system 40 via the network NW.
The storage unit 302 stores each of the plurality of operating time zones in association with the identifier of the master unit 20 operated by the operator assigned to each operating time zone. Here, the operator assigned to each operating time zone is selected by the operator management device 60 from the operators registered in advance for each operating time zone, and the operator management device 60 is an operator-provided device. It is the operator who notified 30. Further, the storage unit 302 stores the combination of the master unit 20 and the slave unit 10 connected via the network NW in association with their respective identifiers.

The number of operators calculation unit 303 calculates the number of operators required for the work performed by the slave unit 10 in operation. Specifically, the operator number calculation unit 303 acquires information on the number of operating slave units 10 or the total amount of work performed by each slave unit 10 from the operator request device 50. When the information on the number of operating units of the slave unit 10 is acquired, the operator number calculation unit 303 calculates the required number of operators based on the following equation (1). Further, when the information on the total amount of work performed by each slave unit 10 is acquired, the required number of operators is calculated based on the following equation (2).

Here, the number of operating units in the equation (1) is the number of operating units of the slave unit 10 for each operating time zone (for example, every hour). Further, the proficiency level of AI is, for example, the average value of the proficiency level of the entire slave unit 10. The proficiency level of AI takes a value between 1 (lowest proficiency level) and infinity (highest proficiency level). For example, when the proficiency level of AI is 1, the operation by the operator is always required, and when the proficiency level of AI is infinite, the operation by the operator is completely unnecessary and the AI is always operated. .. Further, the coefficient α is a coefficient for converting the number of operating units into the number of operators.
Further, the total work amount in the equation (2) is the total work amount (for example, the number of picks) of the slave unit 10 for each operating time zone. Further, the proficiency level of AI in the formula (2) is the same as the proficiency level of AI in the formula (1). Further, the coefficient β is a coefficient for converting the total amount of work into the number of operators.
The operator number calculation unit 303 transmits the calculated number of operators to the operator management device 60. The operator number calculation unit 303 acquires the information of the operator who can operate the slave unit 10 for each operating time zone from the operator management device 60. The operator number calculation unit 303 assigns the operator indicated by the acquired information to the slave unit 10.

The operation management unit 304 switches the master unit 20 that controls the slave unit 10 based on the state of the object I to be gripped by the slave unit 10 that is the operation target.
Specifically, the state of the object I is the difficulty of the operation of grasping the object I. When the operation management unit 304 determines that the object I is difficult to grasp by the slave unit 10, the operation management unit 304 connects the slave unit 10 to the master unit 20 operated by the operator O assigned by the operator number calculation unit 303. ..

(Structure of container movement system 40)
As shown in FIG. 5, the container movement system 40 includes a movement control unit 401, a plurality of containers M, and a mechanism T for moving each container M in the warehouse A. The object I is stored in the container M.
Upon receiving the connection instruction signal, the movement control unit 401 identifies the connection destination of the master unit 20 included in the received connection instruction signal. The movement control unit 401 controls the movement of the container M to the position of the slave unit 10 which is the connection destination of the specified master unit 20 by using the mechanism T.

(Configuration of operator request device 50)
The operator request device 50 specifies the operating number of the slave unit 10 in each of the plurality of operating hours, or the total work amount in each of the plurality of operating hours, and calculates the operating number or the total work amount in the operator-provided device. It is a device that receives the necessary number of operators from the operator-provided device 30 by transmitting to 30. As shown in FIG. 6, the operator request device 50 includes a communication unit 501, a storage unit 502, and an operation management unit 503.

The communication unit 501 communicates with other devices via the network NW.
The storage unit 502 stores various information necessary for processing of the operator request device 50.
The operation management unit 503 manages the operation of each slave unit 10 for each operation time zone (for example, every hour). Specifically, the purchaser accesses a website on which the object I can be purchased via the terminal device, and performs an operation for purchasing the object I on the terminal device. The terminal device manages the website with information including information for identifying the object I (for example, ID, name, etc.), the number of purchases of the object I, the destination of the object I, etc. according to the operation of the purchaser. Send to the server. When the management server receives information including information for identifying the object I, the number of purchases of the object I, the destination of the object I, etc. from the terminal device, the management server stores the date and time when the information was received and the received information. do. Further, the management server transmits the received date and time and the received information to the operation management unit 503. The operation management unit 503 receives from the management server the date and time when the order is received, the information specifying the object I, the number of purchases of the object I, the information including the destination of the object I, and the like. Then, the operation management unit 503 is a slave unit for each operation time zone, for example, according to the number of purchases of the object I ordered on the date and time indicating the previous day, that is, according to the number of orders for the object I on the previous day. The number of operating units of 10 or the total amount of work (for example, the number of picks) is calculated. The operation number of slave units 10 or the total work amount is calculated by the operation management unit 503 by, for example, a calculation formula based on past results. The operation management unit 503 writes the calculation result in the storage unit 502.
The operation management unit 503 transmits the calculation result to the operator providing device 30 via the communication unit 501.

(Configuration of operator management device 60)
As shown in FIG. 7, the operator management device 60 includes a communication unit 601, a storage unit 602, and an operator management unit 603.

The communication unit 601 communicates with other devices via the network NW.
The storage unit 602 stores various information necessary for processing of the operator request device 50.
The operator management unit 603 manages operators who can operate each operating time zone (for example, every hour). For example, a person who wishes to work as an operator (for example, a part-time job) accesses a dedicated website recruiting operators from the communication terminal device 70 in advance (for example, two days ago) and can work. Register the band, name, contact information, etc. The storage unit 602 stores the information of the registered person who wishes to work.
When the operator management unit 603 receives information on the number of operators for each operating time zone (for example, every hour) from the operator providing device 30, the operator management unit 603 stores the number of operators according to the number of operators in the storage unit 602. Select from the persons registered in, and notify the selected operator to the operator providing device 30. The operator management unit 603 selects, for example, an operator from among the registered persons in the order of the earliest registered time.
Further, the operator management unit 603 notifies the communication terminal device 70 possessed by the selected operator via the communication unit 601 of the workable time zone and place (for example, the working center B).

(Configuration of communication terminal device 70)
The communication terminal device 70 includes a communication unit. The communication unit of the communication terminal device 70 communicates with the operator management device 60, and registers the workable time zone, name, contact information, etc. in the operator management device 60. The communication terminal device 70 is, for example, a smartphone, a personal computer, a tablet terminal, or the like.

(Processing of management system 1)
Next, the processing of the management system 1 according to the embodiment of the present invention will be described.
First, the calculation of the required number of operators and the processing of the allocation of operators, which are performed before the management system 1 performs the work by the slave unit 10, will be described.
Here, the processing flow of the management system 1 according to the embodiment of the present invention shown in FIG. 8 will be described.

A person who wishes to work as an operator (for example, a part-time job) accesses a dedicated site recruiting operators from the communication terminal device 70 in advance (for example, two days ago), and is able to work during the working hours and name. , Register contacts, etc. The operator management unit 603 acquires the information of the registered person who wishes to work via the communication unit 601. The operator management unit 603 writes the acquired information in the storage unit 602 (step S1). Further, the operator management unit 603 writes the registered information of the person who desires the labor in the storage unit 302 of the operator providing device 30.

The operation management unit 503 manages the operation of each slave unit 10 for each operation time zone (for example, every hour). The operation management unit 503 calculates, for example, the number of operating units of the slave unit 10 or the total work amount (for example, the total number of picks) for each operating time zone according to the number of orders for the object I on the previous day (step S2). ). The operation management unit 503 writes the calculation result in the storage unit 502. Further, the operation management unit 503 transmits the calculation result to the operator providing device 30 via the communication unit 501 (step S3).

The number of operators calculation unit 303 calculates the number of operators required for the work performed by the slave unit 10 in operation (step S4). Specifically, the operator number calculation unit 303 acquires information on the number of operating slave units 10 or the total amount of work performed by each slave unit 10 from the operator request device 50. When the information on the number of operating units of the slave unit 10 is acquired, the operator number calculation unit 303 calculates the required number of operators based on the above equation (1), for example. Further, when the information on the total amount of work performed by each slave unit 10 is acquired, the operator number calculation unit 303 calculates the required number of operators based on the above equation (2), for example.
The formula used when the number of operators calculation unit 303 calculates the required number of operators based on the information on the number of operating units of the slave unit 10 is not limited to the above formula (1). The formula used when the number of operators calculation unit 303 calculates the required number of operators based on the information on the number of operating units of the slave unit 10 is that the number of operators increases as the number of operating units increases, and the AI proficiency level increases. This is an equation in which the number of operators decreases as the value increases. For example, in another embodiment of the present invention, it is possible that the number of operators is more appropriate when the following equations (3), (4) and the like are used rather than the above equation (1).

In addition, R1 in the equation (4) is a constant of 1 or more.
Further, the formula used when the number of operators calculation unit 303 calculates the required number of operators based on the information of the total work amount of the slave unit 10 is not limited to the above formula (2). The formula used when the operator number calculation unit 303 calculates the required number of operators based on the information of the total work amount of the slave unit 10 is that the number of operators increases as the total work amount increases, and the AI is proficient. This is an equation in which the number of operators decreases as the degree increases. For example, in another embodiment of the present invention, it is possible that the number of operators is more appropriate when the following equations (5), (6) and the like are used rather than the equation (2).

R1 in the equation (6) is a constant of 1 or more.
The operator number calculation unit 303 transmits the calculated number of operators to the operator management device 60 (step S5). The operator number calculation unit 303 acquires information on an operator who can operate the slave unit 10 for each operating time zone from the operator management device 60 (step S6). The operator number calculation unit 303 assigns the operator indicated by the acquired information to the slave unit 10 (step S7).

Next, a process in which the operation of the slave unit 10 is switched from the operation by the AI to the operation by the operator when remote control is required will be described.
Here, the processing flow of the management system 1 according to the embodiment of the present invention shown in FIG. 9 will be described.

The remote control necessary detection unit 105 of each slave unit 10 determines whether or not the remote control is not required at the time of determination at predetermined time intervals (for example, 100 ms) (step S11).
When the remote control necessary detection unit 105 determines that the remote control is unnecessary (YES in step S11), the remote control necessary detection unit 105 returns to the process of step S1.
When the remote control necessary detection unit 105 determines that remote control is necessary (NO in step S11), the remote control necessary detection unit 105 transmits the identifier of the slave unit 10 that requires remote control to the operator providing device 30 (step S12).

The operation management unit 304 receives an identifier from the slave unit 10 that requires remote control (step S13). Upon receiving the identifier, the operation management unit 304 identifies the master unit 20 of the operator O assigned to the operating time zone including the received time in the storage unit 302 (step S14). The operation management unit 304 transmits the remote control necessary notification signal for notifying that the remote control is required to the master unit 20 that specifies the remote control necessary notification signal via the communication unit 301 (step S15).

The image reproduction unit 202 of each of the specified master units 20 receives a remote control necessary notification signal from the operator-provided device 30 via the communication unit 201 (step S16). Upon receiving the remote control necessary notification signal, each image reproduction unit 202 displays to the slave unit 10 that remote control is required (step S17).

The assigned operator sees that the slave unit 10 displayed by the image reproduction unit 202 needs to be remotely controlled, and operates the slave unit 10 to move the object I by himself / herself. When the determination is made, an operation for notifying the operation of the slave unit 10 is performed to, for example, the operation input unit 203.
The operation input unit 203 transmits an operation notification signal notifying the operation of the slave unit 10 to the operator providing device 30 in response to the operation by the operator (step S18). The operation notification signal includes the identifier of the transmitted master unit 20.

The operation management unit 304 receives an operation notification signal from the master unit 20 via the communication unit 301 (step S19).
The operation management unit 304 connects the master unit 20 of the identifier included in the first received operation notification signal to the slave unit 10 that requires remote control (step S20). The operation management unit 304 writes the combination and time of the master unit 20 and the slave unit 10 for communication in the storage unit 302 (step S21). The operation management unit 304 transmits a connection notification signal for notifying the connection to the slave unit 10 that requires remote control to the master unit 20 of the identifier included in the operation notification signal first received (step S22). ..

The image reproduction unit 202 of the master unit 20b that first transmitted the operation notification signal receives the connection notification signal from the operator providing device 30 via the communication unit 201 (step S23). Upon receiving the connection notification signal, the image reproduction unit 202 displays a comment confirming the start of the operation (step S24).
The operator who sees the comment confirming the start of the operation performs an operation indicating that the start of the operation has been confirmed (for example, an operation of pressing the "confirmation" button) to the operation input unit 203.
The operation input unit 203 detects an operation indicating that the operator has confirmed the start of the operation (step S25). When the operation input unit 203 detects an operation indicating that the operation start by the operator has been confirmed, the image reproduction unit 202 displays the stereoscopic image taken by the photographing unit 102 of the slave unit 10 to be controlled (step). S26).
The operator performs an operation on the operation input unit 203 to grasp the object I and move it to a predetermined position while looking at the stereoscopic image displayed by the image reproduction unit 202.
The operation input unit 203 detects an operation by the operator to grasp the object I and move it to a predetermined position (step S27). The operation input unit 203 generates a control signal according to the operation by the detected operator (step S28). The operation input unit 203 transmits the generated control signal to the slave unit 10 to be controlled and the operator-provided device 30 (step S29). The operation input unit 203 generates a control signal in real time in response to an operation by the operator, and transmits the generated control signal to the slave unit 10 to be controlled and the operator-provided device 30 each time the control signal is generated.

The grip unit 103 receives a control signal from the master unit 20 (step S30). The grip portion 103 operates according to the received control signal (step S31).
The operation management unit 304 receives a control signal from the master unit 20 (step S32). The operation management unit 304 writes the received control signal to the storage unit 302 as learning data for input such as image information of the artificial intelligence AI included in the slave unit 10 (step S33).

In this way, the operator number calculation unit 303 is in operation based on the number of operating units of the slave unit 10 for each operating time zone calculated by the operation management unit 503 or the total work amount (for example, the total number of picks). The number of operators required for the work performed by the slave unit 10 of the above is calculated. The operator number calculation unit 303 transmits the calculated number of operators to the operator management device 60. The operator number calculation unit 303 acquires the information of the operator who can operate the slave unit 10 for each operating time zone from the operator management device 60. The operator number calculation unit 303 assigns the operator indicated by the acquired information to the slave unit 10.
Therefore, the management system 1 according to the embodiment of the present invention can calculate an appropriate number of operators for each operating time zone. As a result, the management system 1 according to the embodiment of the present invention can hire an appropriate number of operators for each operating time zone without worrying about the work place, and it becomes easy to secure a labor force.
In particular, when the company that provides the slave unit 10 and the master unit 20 to the company that operates the warehouse or the like is equipped with the operator providing device 30, and the dispatching company is equipped with the operator management device 60, the company that operates the warehouse A is the company that operates the warehouse A. There is no need to recruit operators or manage labor in-house. Further, the company that provides the slave unit 10 and the master unit 20 to the company that operates the warehouse A can provide the labor force registered in the personnel dispatching company together with the slave unit 10 and the master unit 20 as added value, and therefore operates the warehouse. It will be easier to sell to new customers such as companies that do business. Dispatched laborers can recruit housewives, students, etc. who have free time, and can provide new companies with their labor force to make a profit. As a result, the company that introduces the slave unit 10 and the master unit 20, the company that provides the slave unit 10 and the master unit 20, and the dispatching company all have a so-called WIN-WIN relationship, and further business development develops. You can expect it.

Further, as described above, the storage unit 302 according to the embodiment of the present invention stores each operating time zone in association with the identifier of the master unit 20 operated by the operator assigned to the operating time zone. When the operation management unit 304 receives the identifier from the slave unit 10 that requires remote control, the storage unit 302 identifies the master unit 20 operated by the operator assigned to the operating time zone including the received time. .. The operation management unit 304 transmits a remote control necessary notification signal for notifying that remote control is required to the specified master unit 20 via the communication unit 301.
Therefore, the management system 1 according to the embodiment of the present invention can hire an operator without worrying about the work place of the operator for each operating time zone, and it becomes easy to secure a labor force.

In another embodiment of the present invention, the storage unit 302 and the storage unit 602 have each operating time zone, an identifier of the master unit 20b operated by the operator assigned to the operating time zone, and further the operation thereof. Memorize the person's operation proficiency in association with it. Then, when the slave unit 10a needs to be remotely controlled in each operating time zone, the management system 1 operates according to the operation proficiency level of the operator, as in the management system 1 according to the embodiment of the present invention. The master unit 20b operated by the person may be connected to the slave unit 10a.

In another embodiment of the present invention, the number of operators calculation unit 303 itself may be provided with AI to calculate the required number of operators.

It should be noted that each of the slave units 10 according to each embodiment of the present invention may be arranged at two or more different places. Further, each of the master units 20 according to each embodiment of the present invention may be arranged at two or more different places.
For example, as shown in FIG. 10, the management system 1 according to another embodiment of the present invention includes a plurality of slave units 10a1 to 10an, a plurality of master units 20b1 to 20bm, an operator-provided device 30, and a plurality of container moving systems 40. , A plurality of operator request devices 50, an operator management device 60, a plurality of communication terminal devices 70, and a network NW may be provided. Each of the slave units 10a1 to 10an has the same configuration, and the slave units 10a1 to 10an are collectively referred to as the slave unit 10a. Further, each of the master units 20b1 to 20bm has the same configuration, and the master units 20b1 to 20bm are collectively referred to as a master unit 20b. Further, the container movement system 40 and the operator request device 50 are provided one by one for each warehouse.
In such a case, the number of operators required for each warehouse is calculated using the formula (1) or the formula (2) shown in one embodiment of the present invention, and the operator request device 50 is used for each warehouse. The calculation result may be transmitted to the operator-provided device 30.
Further, the management system 1 according to another embodiment of the present invention calculates the number of operators required for each warehouse by using, for example, the formula (1) or the formula (2) shown in one embodiment of the present invention. However, in the case of a warehouse operated by the same company, the total sum of the calculation results may be transmitted from the operator request device 50 to the operator providing device 30 for each same company.

Further, the management system 1 according to another embodiment of the present invention may calculate the required number of operators in consideration of the operation proficiency level of the operators. For example, in the case of an operator who has a track record of registration in the past, the management system 1 introduces, for example, a coefficient such that the required number of operators is reduced as the operation proficiency of the operator increases. It may be used to calculate the required number of operators.

As the work of gripping the object I performed by the management system 1 according to each embodiment of the present invention, an example of gripping the object I in the warehouse has been described. However, the operation is not limited to the work of gripping the object I performed by the management system 1 according to each embodiment of the present invention and the work of gripping the object I in the warehouse. The work of gripping the object I performed by the management system 1 according to another embodiment of the present invention is not limited to the work of gripping the object I in an office, a supermarket, a hospital, a library, a laboratory, or the like. Often, other remote tasks such as beating, sorting, unpacking and packing, inspection, and assembly may be performed.

The storage units 302, 502, 602, and other storage units in each embodiment of the present invention may be provided anywhere as long as appropriate information is transmitted and received. Further, a plurality of storage units 302, 502, 602, and other storage units may exist in a range in which appropriate information is transmitted and received, and data may be distributed and stored.

In another embodiment of the present invention, even if the management system 1 includes a personnel cost calculation unit that calculates personnel costs by multiplying the number of operators calculated by the operator number calculation unit 303 by an hourly wage. good. In this case, the personnel cost calculated by the personnel cost calculation unit may be used for the settlement of accounts of the company.

In the processing flow according to the embodiment of the present invention, the order of processing may be changed as long as appropriate processing is performed.

Each of the storage unit and the storage device (including the register and the latch) in the embodiment of the present invention may be provided anywhere within a range in which appropriate information is transmitted and received. Further, each of the storage unit and the storage device may exist in a plurality of areas within a range in which appropriate information is transmitted and received, and the data may be distributed and stored.

Although the embodiment of the present invention has been described, the slave unit 10, the master unit 20, the operator providing device 30, the container moving system 40, the operator requesting device 50, the operator management device 60, the communication terminal device 70, and others. The control device may have a computer system inside. The process of the above-mentioned processing is stored in a computer-readable recording medium in the form of a program, and the above-mentioned processing is performed by the computer reading and executing this program. A specific example of a computer is shown below.
FIG. 11 is a schematic block diagram showing the configuration of a computer according to at least one embodiment.
As shown in FIG. 11, the computer 5 includes a CPU 6, a main memory 7, a storage 8, and an interface 9.
For example, each of the slave unit 10, the master unit 20, the operator providing device 30, the container moving system 40, the operator requesting device 50, the operator management device 60, the communication terminal device 70, and other control devices is a computer 5. Is implemented in. The operation of each of the above-mentioned processing units is stored in the storage 8 in the form of a program. The CPU 6 reads a program from the storage 8, expands it into the main memory 7, and executes the above processing according to the program. Further, the CPU 6 secures a storage area corresponding to each of the above-mentioned storage units in the main memory 7 according to the program.

Examples of the storage 8 include HDD (Hard Disk Drive), SSD (Solid State Drive), magnetic disk, magneto-optical disk, CD-ROM (Compact Disc Read Only Memory), DVD-ROM (Digital Versaille Disk) , Semiconductor memory and the like. The storage 8 may be an internal medium directly connected to the bus of the computer 5 or an external medium connected to the computer 5 via the interface 9 or a communication line. Further, when this program is distributed to the computer 5 by a communication line, the distributed computer 5 may expand the program to the main memory 7 and execute the above processing. In at least one embodiment, the storage 8 is a non-temporary tangible storage medium.

Further, the above program may realize a part of the above-mentioned functions. Further, the program may be a file that can realize the above-mentioned functions in combination with a program already recorded in the computer system, a so-called difference file (difference program).

Although some embodiments of the present invention have been described, these embodiments are examples and do not limit the scope of the invention. These embodiments may be subject to various additions, various omissions, various replacements, and various modifications without departing from the gist of the invention.

1 ... Management system 5 ... Computer 6 ... CPU
7 ... Main memory 8 ... Storage 9 ... Interface 10, 10a1-10an ... Slave unit 20, 20b1-20bm ... Master unit 30 ... Operator-provided device 40 ... Container movement System 50 ... Operator request device 60 ... Operator management device 70 ... Communication terminal device 101, 201, 301, 501, 601 ... Communication unit 102 ... Imaging unit 103 ... Grip unit 104 ... Autonomous control unit 105 ... Remote operation necessary detection unit 202 ... Image reproduction unit 203 ... Operation input unit 302, 502, 602 ... Storage unit 303 ... Operator number calculation unit 304 ... Operation management unit 401 ... Movement control unit 503 ... Operation management unit 603 ... Operator management unit A, A1 to An ... Warehouse B, B1 to Bm ... Working center I ...・ Object M ・ ・ ・ Container NW ・ ・ ・ Network O ・ ・ ・ Operator T ・ ・ ・ Mechanism

Claims (6)

The number of operating units in each of the plurality of operating hours of the slave unit that operates by automatic operation and switches from the operation by the automatic operation to the operation by the remote control by the master unit when the operation by the automatic operation is difficult, or the plurality of operating units. An operator number calculation unit that calculates the number of operators required for performing the remote control in each of the plurality of operating hours based on the total amount of work in each operating time zone .
An operation management unit that calculates the number of operating units or the total amount of work in each of the plurality of operating time zones according to the number of orders for the object to be worked on by the slave unit .
Equipped with
The operator number calculation unit is
A management system that calculates the number of operators based on the number of operating units calculated by the operation management unit or the total amount of work. It operates by automatic operation, and when it is difficult to operate by the automatic operation, the number of operating units and the automatic operation are performed in each of the multiple operating hours of the slave unit that switches from the operation by the automatic operation to the operation by the remote operation by the master unit. The number of operators required to perform the remote control in each of the plurality of operating hours based on the proficiency level of intelligence or the total amount of work in each of the plurality of operating hours and the proficiency level of the artificial intelligence. Number of operators calculation unit to calculate
Management system equipped with. It is a control method executed by a computer.
The number of operating units in each of the plurality of operating hours of the slave unit that operates by automatic operation and switches from the operation by the automatic operation to the operation by the remote operation by the master unit when the operation by the automatic operation is difficult, or the plurality of operating units. Based on the total amount of work in each of the operating hours, the number of operators required to perform the remote control in each of the plurality of operating hours is calculated .
To calculate the number of operating units or the total amount of work in each of the plurality of operating time zones according to the number of orders for the object to be worked on by the slave unit.
To calculate the number of operators based on the calculated number of operating units or the calculated total amount of work .
How to control the management system, including. It is a control method executed by a computer.
It operates by automatic operation, and when it is difficult to operate by the automatic operation, the number of operating units and the automatic operation are performed in each of the multiple operating hours of the slave unit that switches from the operation by the automatic operation to the operation by the remote operation by the master unit. The number of operators required to perform the remote control in each of the plurality of operating hours based on the proficiency level of intelligence or the total amount of work in each of the plurality of operating hours and the proficiency level of the artificial intelligence. To calculate,
How to control the management system, including. On the computer
The number of operating units in each of the plurality of operating hours of the slave unit that operates by automatic operation and switches from the operation by the automatic operation to the operation by the remote operation by the master unit when the operation by the automatic operation is difficult, or the plurality of operating units. Based on the total amount of work in each of the operating hours, the number of operators required to perform the remote control in each of the plurality of operating hours is calculated .
To calculate the number of operating units or the total amount of work in each of the plurality of operating time zones according to the number of orders for the object to be worked on by the slave unit.
To calculate the number of operators based on the calculated number of operating units or the calculated total amount of work .
A program to execute. On the computer
It operates by automatic operation, and when it is difficult to operate by the automatic operation, the number of operating units and the automatic operation are performed in each of the multiple operating hours of the slave unit that switches from the operation by the automatic operation to the operation by the remote operation by the master unit. The number of operators required to perform the remote control in each of the plurality of operating hours based on the proficiency level of intelligence or the total amount of work in each of the plurality of operating hours and the proficiency level of the artificial intelligence. To calculate,
A program to execute.

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