WORK SUPPORT SYSTEM, AUTONOMOUS MOVABLE BODY FOR WORK SUPPORT, AND WORK SUPPORT METHOD

Server processing circuitry is configured to: determine a work site that requires work; and transmit site information indicating the work site, to a movable body communicator. Movable body processing circuitry is configured to: receive the site information from a management server through the movable body communicator; generate based on the site information a movement command for making an autonomous movable body autonomously move to the work site; acquire support information for the work at the work site; and output the support information to a worker through a man-machine interface when the autonomous movable body has arrived at the work site.

TECHNICAL FIELD

The present disclosure relates to a work support system, an autonomous movable body for work support, and a work support method.

BACKGROUND ART

PTL 1 discloses a system that monitors sensor data in a factory to detect abnormality. A worker who repairs the system goes to an abnormality detected site and performs repair work for eliminating the abnormality.

CITATION LIST

Patent Literature

SUMMARY OF INVENTION

Technical Problem

However, there are various types of abnormalities which may occur in factories. It is a large burden for the worker to previously recognize information necessary for the work of eliminating all the types of abnormalities. Such problem may occur in places other than the factories. Moreover, there may be various types of general work other than the work of eliminating the abnormalities, and the same problem may occur.

An object of one aspect of the present disclosure is to improve the efficiency of work while reducing the burden of a worker.

Solution to Problem

A work support system according to one aspect of the present disclosure includes: a management server including server processing circuitry; and an autonomous movable body including movable body processing circuitry, a movable body communicator electrically connected to the movable body processing circuitry and communicable with the management server, and a machine interface electrically connected to the movable body processing circuitry. The server processing circuitry is configured to: determine a work site that requires work; and transmit site information indicating the work site, to the movable body communicator. The movable body processing circuitry is configured to: receive the site information from the management server through the movable body communicator; generate based on the site information a movement command for making the autonomous movable body autonomously move to the work site; acquire support information for the work at the work site; and output the support information to the worker through the man-machine interface when the autonomous movable body has arrived at the work site.

An autonomous movable body for work support according to one aspect of the present disclosure includes: movable body processing circuitry; a movable body communicator electrically connected to the movable body processing circuitry and communicable with a management server; and a machine interface electrically connected to the movable body processing circuitry. The movable body processing circuitry is configured to: receive site information indicating a work site that requires work, from the management server through the movable body communicator; generate based on the site information a movement command for making the autonomous movable body autonomously move to the work site; acquire support information for the work at the work site; and output the support information to the worker through the man-machine interface when the autonomous movable body has arrived at the work site.

A work support method according to one aspect of the present disclosure includes: determining a work site that requires work; based on site information indicating the work site, generating a movement command for making an autonomous movable body autonomously move to the work site; acquiring support information for the work at the work site; and outputting the support information to a worker through a man-machine interface of the autonomous movable body when the autonomous movable body has arrived at the work site.

Advantageous Effects of Invention

According to one aspect of the present disclosure, even when a worker does not previously recognize information necessary for work at a work site, the worker can obtain support information for the work from an autonomous movable body after the arrival at the work site. Therefore, the efficiency of the work can be improved while reducing the burden of the worker.

DESCRIPTION OF EMBODIMENTS

FIG.1is a general view of a work support system1according to Embodiment 1. The work support system1of Embodiment 1 is a system that supports a worker5who performs repair work for eliminating an abnormality which occurs in a factory2that is a predetermined region. For example, at least a part of the factory2is being automated, i.e., factory automation is being realized in at least a part of the factory2. The factory2includes conveyance lines3by which work objects are sequentially conveyed. For example, the conveyance lines3include a manufacturing line by which final products are manufactured from material objects. The conveyance lines3may include: an inspection line in which the material objects or the final products are inspected in a manufacturing process; and a physical distribution line in which work of receiving the material objects or work of shipping the final products are performed.

Part or all of conveyance work of the work objects in each conveyance line3may be automated. The manufacturing line includes a conveying apparatus that conveys conveyance target objects that are the work objects to predetermined work spots in order. For example, the conveying apparatus may be realized by a belt conveyor. The work objects are subjected to work (processing, assembling, etc.) set so as to correspond to the respective work spots, by the worker or a working machine. In the factory2, an abnormality that hinders general work occurs in some cases. For example, a conveyance abnormality may occur, or a processing facility may malfunction. In such a case, the repair worker5who is in charge of the elimination of the abnormality performs repair for eliminating the abnormality.

The work support system1detects the abnormalities which occur in the factory2, based on detection results of below-described work field sensors4. When the work support system1detects the abnormality, the work support system1informs the repair worker5of a work site P where the abnormality has occurred, and the repair work is required. The repair worker5who has received the information of the abnormality moves to the work site P informed from the work support system1and performs the repair work for eliminating the abnormality.

When the work support system1detects the abnormality, the work support system1makes a below-described autonomous movable body12autonomously move to the work site P. The autonomous movable body12supports the repair work performed by the repair worker5at the work site P. For example, the autonomous movable body12presents information necessary for the repair to the repair worker5. For example, the autonomous movable body12may carry tools and/or replacement parts necessary for the repair into the work site P. For example, the autonomous movable body12may carry waste and/or abnormal parts generated at the time of the repair out from the work site P. Since the repair work is lower in frequency than the general work performed at each work spot of the conveyance line3, the number of repair workers5is smaller than the number of work spots. For example, the number of repair workers5in the factory2is smaller than the number of conveyance lines3.

The work field sensors4are located at or around each conveyance line3. Each work field sensor4is an abnormality detection sensor that can detect the abnormality at a specific site of the conveyance line3. To be specific, the work field sensor4is a sensor that detects or estimates the occurrence of an event that requires the repair work in the factory2. The work field sensors4may be located at the respective work spots of the conveyance line or may be located around spots where the abnormality tends to occur in the conveyance line3. The work field sensors4are electrically connected to a below-described management server11so as to be able to transmit communication detection results. For example, each work field sensor4transmits information indicating the detection result together with identification information set for the work field sensor4to the management server11by wireless communication or wired communication.

The type of the work field sensor4differs depending on the type of the abnormality that is a detection target. The work field sensor4may detect a value having a mechanical, thermal, electrical, magnetic, optical, or chemical property. The work field sensor4may be a contact sensor or a non-contact sensor. The work field sensor4may be selected from a vibration sensor, a temperature sensor, a pressure sensor, a current sensor, a magnetic sensor, a laser sensor, a camera, a pH (hydrogen ion exponent) sensor, a switch, a microphone, and the like. However, the work field sensor4is not limited to this.

The repair worker5carries a portable information terminal6. The portable information terminal6may be a terminal, such as a tablet terminal, a smartphone terminal, or a wearable terminal, which can process information. The worker5does not have to carry the portable information terminal6. A stationary information terminal including a large display may be located at a place that the repair worker5can see. Each of the portable information terminal and the stationary information terminal is an information display device and is connected to the below-described management server11so as to be able to transmit and receive signals to and from the management server11. The information display device can display the work site P where the abnormality has occurred, based on the information transmitted from the management server11.

The work support system1includes the management server11and the autonomous movable body12. The management server11is located in, for example, the factory2. The management server11receives the detection signals of the work field sensors4through a communication network as described above. The management server11may include servers located dispersedly. The management server11may be located outside the factory2as long as the management server11is communicable with the work field sensors4and the autonomous movable body12.

At least one autonomous movable body12is located in the factory2. The autonomous movable body12autonomously moves to a destination without being driven by a human. The autonomous movable body12is, for example, an unmanned movable body in which humans do not get. The autonomous movable body12is, for example, an UGV (Unmanned Ground Vehicle) or an AGV (Automated Guided Vehicle) but may be an UAV (Unmanned Aerial Vehicle) or the like. A movable range of the autonomous movable body12includes the lines3. The autonomous movable body12is movable among potential work sites where the abnormalities may occur in the factory2. In the present embodiment, the number of autonomous movable bodies12is smaller than the number of repair workers5. However, the present embodiment is not limited to this.

FIG.2is a block diagram of the management server11ofFIG.1. As shown inFIG.2, the management server11includes a processor21, a system memory22, a storage memory23, a communicator24, and a database25. The processor21may include a CPU (central processing unit). The system memory22may include a RAM (Random Access Memory). The storage memory23may include a ROM (Read Only Memory). The storage memory23may include a hard disk, a flash memory, or a combination thereof.

The storage memory23stores a sever support program. A configuration in which the processor21executes the sever support program read out from the storage memory23to the system memory22is one example of server processing circuitry. The sever support program may be stored in a computer-readable medium. The computer-readable medium is a non-transitory and tangible medium. The storage memory23stores identification information set for each work field sensor4and positional information indicating an installation location of the work field sensor4corresponding to the identification information in association with each other. Therefore, the processor21of the management server11can determine based on the identification information of the work field sensor4the place where the abnormality has occurred, i.e., the work site P that requires repair.

The server communicator24is communicable with the work field sensor4by wired communication, wireless communication, or a combination thereof. The server communicator24is communicable with the autonomous movable body12through a wireless communication network. The database25stores information for supporting the work performed by the repair worker5to eliminate the abnormality detected by the work field sensor4(seeFIG.1).

FIG.3is a diagram for explaining the database25ofFIG.2. As shown inFIG.3, the database25stores a correspondence relation between input information for estimating the abnormality state and support information for supporting the repair work of eliminating the abnormality. The input information is information for outputting the support information. The input information includes, for example, abnormality basic information and additional information. The abnormality basic information is information obtained from the detection signal of the work field sensor4. As one example, the abnormality basic information is information indicating that vibration is excessively large. The additional information is information obtained from a detection signal of a state sensor61(seeFIG.4) of the autonomous movable body12. Moreover, the input information may include worker attribute information indicating the attribute of a person who performs the repair work.

The database25stores a correspondence relation among the input information for estimating the abnormality state, the abnormality state estimated based on the input information, and the support information for eliminating the abnormality state, which are associated with each other. In addition to the detected value (basic abnormality information) from the work field sensor4, the input information may include the detected value from the state sensor61located at the autonomous movable body12and the additional information, such as worker input information input by the repair worker5. By referring to the database25based on the input information, the corresponding abnormality state can be estimated. The database25prestores the support information for eliminating the estimated abnormality state. It is preferable that the information (such as the input information, the abnormality state, and the support information) accumulated in the database25be updated regularly or irregularly. The correspondence relation may be prestored or may be updated by machine learning.

For example, as the input information, the management server11is supplied with information indicating that a vibration value and/or a conveyance load detected by the work field sensor4located in the vicinity of the conveyance line3has exceeded a normal range. The input information may include information supplied to the management server11from the repair worker5and/or the state sensor61of the autonomous movable body12in addition to the work field sensor4. For example, as the input information, the management server11is supplied with information indicating a conveyance object stop state detected by photographing of the state sensor61located at the autonomous movable body12. In this case, the input information and the abnormality state are associated with each other in the database25such that the abnormality state is estimated as a conveyance failure. To deal with a case where the abnormality state is estimated as the conveyance failure, the database25stores, as the support information, information of the repair work for eliminating the conveyance failure.

The support information may include, for example, information indicating a maintenance procedure of a conveyance motor which eliminates the conveyance failure (clogging, for example), a disassembling procedure of the conveying apparatus, a confirmation instruction of a pre-process of a defective portion, a confirmation instruction of a post-process of the defective portion, a contact number of a conveying apparatus supplier, and the like. The support information may be provided by text, an image, and/or a video.

It is preferable that the database25store plural types of abnormality states. In this case, the processor21of the management server11refers to the database25and selects the corresponding abnormality state from the plural types of abnormality states based on the supplied input information. It is preferable that the database25store plural types of support information corresponding to one abnormality state. In this case, the processor21of the management server11may refer to the database25and output methods of eliminating the estimated abnormality state. Thus, an effect of supporting the repair work is improved. The sever support program stored in the storage memory23of the management server11may output the support information in accordance with a flowchart that changes the support information in accordance with YES or NO answered by the repair worker5. The database25may store information of manuals of various facilities. As the support information, the database25may store past repair histories and repair details.

As described above, the additional information includes information obtained from the detection signal of the state sensor61(seeFIG.4) of the autonomous movable body12. The additional information may include information which has been input through the autonomous movable body12(seeFIG.4) by the repair worker5who has directly confirmed an abnormal portion. Examples of the additional information may include: information directly indicating the abnormality state in which the conveyance failure has occurred; information indicating that a bolt has fallen off; and information indicating a factor of the abnormality state in which vibrationproof rubber has deteriorated.

The input information includes information obtained from worker identification information read out by an ID reader63(seeFIG.4) of the autonomous movable body12. For example, the worker attribute information includes a skill level of the worker, a height of the worker, and the like. Instead of the database25which stores the correspondence relation, a configuration, such as artificial intelligence, which outputs the support information with respect to the input information by machine learning may be adopted.

FIG.4is a block diagram of the autonomous movable body12ofFIG.1. As shown inFIG.4, the autonomous movable body12includes a wheel31, a carry-in carrier32, a carry-out carrier33, an autonomous traveling structure34, and a support structure35. The wheel31is a propulsive force generator that moves a body of the autonomous movable body12. The propulsive force generator may be a propeller or the like instead of the wheel31. The carry-in carrier32is located at the body of the autonomous movable body12and carries work articles to be used for the repair work. Examples of the work articles include tools, parts, and materials. The carry-out carrier33is located at the body of the autonomous movable body12and carries after-work articles generated by the repair work. Examples of the after-work articles include waste and defective parts.

The autonomous traveling structure34includes a positioning sensor41, a speed sensor42, a peripheral sensor43, a prime mover44, a steering actuator45, a braking actuator46, and a controller47. These elements41to47of the autonomous traveling structure34are electrically connected to each other. The positioning sensor41detects position coordinates of the autonomous movable body12. The positioning sensor41may be a satellite positioning sensor or a sensor that acquires the position coordinates by wireless communication with locators located on land by radio waves, sound waves, light, or magnetism. Examples of a positioning principle using the locators include an AOA (Angle Of Arrival) method, a RSSI (Received Signal Strength Indicator) method, a TOA (Time of Arrival) method, and a TDOA (Time Difference Of Arrival) method.

The speed sensor42detects a movement speed of the autonomous movable body12. The peripheral sensor43detects, for example, an obstacle around the autonomous movable body12. Examples of the peripheral sensor43may include an infrared sensor, a camera, and a laser sensor. The prime mover44generates driving force that drives the wheel31. The prime mover44is, for example, an electric motor, an internal combustion engine, or a combination thereof. The steering actuator45steers the wheel31. The braking actuator46drives a brake that brakes the wheel31. The steering actuator45and the braking actuator46may be electric motors.

The controller47includes a processor51, a system memory52, and a storage memory53. The processor51may include a CPU (central processing unit). The system memory52may include a RAM. The storage memory53may include a hard disk, a flash memory, or a combination thereof. The storage memory53stores a map of an inside of the factory2and an autonomous traveling program. A configuration in which the processor51executes the autonomous traveling program read out from the storage memory53to the system memory52is one example of movable body processing circuitry.

Until the processor51that executes the autonomous traveling program receives from the management server11a movement command for moving the autonomous movable body12to an abnormality occurrence site, the processor51generates a patrol command for making the autonomous movable body12patrol the inside of the factory2. To be specific, the processor51refers to the map stored in the storage memory53and controls the prime mover44, the steering actuator45, and the braking actuator46based on the detection signals of the positioning sensor41, the speed sensor42, the peripheral sensor43, and the like to make the autonomous movable body12patrol the inside of the factory2.

When the processor51that executes the autonomous traveling program receives the movement command specifying the destination, the processor51refers to the map stored in the storage memory53and determines a route to the destination. The processor51that executes the autonomous traveling program controls the prime mover44, the steering actuator45, and the braking actuator46based on the detection signals of the positioning sensor41, the speed sensor42, the peripheral sensor43, and the like such that the autonomous movable body12travels along the determined route. The autonomous movable body12may communicate with the management server11to refer to the map stored in the management server11. Part or all of the autonomous traveling program may be executed by the management server11. The management server11may determine the route to the destination. The management server11may remotely control the prime mover44, the steering actuator45, and the braking actuator46.

The support structure35includes the state sensor61, an article sensor62, the ID reader63, a movable body communicator64, a man-machine interface65, and a controller66. The elements61to66of the support structure35are electrically connected to each other. The state sensor61detects state information indicating the state of the abnormality at a specific work site. The state sensor61may be selected from, for example, a camera, a temperature sensor, a pressure sensor, a magnetic sensor, a laser sensor, a microphone, and the like. However, the state sensor61is not limited to these. When the autonomous movable body12arrives at an occurrence site of the abnormality detected by the work field sensor4(seeFIG.1), the camera of the state sensor61takes an image or video of the portion of the abnormality. The state sensor61may be a sound collection sensor and may detect noise generated at the abnormality occurrence site. The state sensor61may be a gas sensor and may detect a nasty smell generated at the abnormality occurrence site.

It is preferable that the state sensor61be a sensor that is more suitable for detailed analysis of the abnormality state than the work field sensor4. For example, the work field sensor4is of a type located in the factory2, whereas the state sensor61may be movably located so as to be able to approach the abnormal portion. The state sensor61may be higher in detection accuracy than the work field sensor4. When the state sensor61is higher in detection accuracy than the work field sensor4, a detection range of the state sensor61may be set to be narrower than that of the work field sensor4.

The article sensor62detects specific information (identification information, for example) of the work article existing in the carry-in carrier32. The article sensor62detects specific information (identification information, for example) of the after-work article existing in the carry-out carrier33. When IC tags are located at the work articles and the after-work articles, the article sensor62may be an IC tag reader. When the IC tags are not located at the work articles and the after-work articles, the article sensor62may be a camera and may recognize the articles from the shapes of the articles which are acquired by image recognition technology.

The ID reader63reads out the identification information of the worker5from an ID device possessed by the repair worker5. For example, when the repair worker5possesses an IC tag, the ID reader63may be an IC tag reader. The movable body communicator64communicates with the server communicator24through a wireless communication network. The man-machine interface65can output information to the worker5and receive information from the worker5. Examples of the man-machine interface65include a touch panel display and a sound input-output device. When the man-machine interface65is a display, the display includes a larger screen than a display of the portable information terminal6.

The controller66includes a processor71, a system memory72, and a storage memory73. The processor71may include a CPU (central processing unit). The system memory72may include a RAM. The storage memory73may include a hard disk, a flash memory, or a combination thereof. The storage memory73stores a movable body support program. A configuration in which the processor71executes the movable body support program read out from the storage memory73to the system memory72is one example of movable body processing circuitry. The movable body support program may be stored in a computer-readable medium. The computer-readable medium is a non-transitory and tangible medium.

Each ofFIGS.5and6is a flowchart for explaining processing of the work support system1ofFIG.1. Below-described processing is performed in such a manner that the sever support program is executed by the processor21of the management server11, and the movable body support program is executed by the processor71of the autonomous movable body12. The following will be described based on the flow ofFIGS.5and6with suitable reference toFIGS.1to4.

As shown inFIG.5, to grasp the entire factory2, the management server11monitors whether or not the abnormality has occurred in any one of the detection signals of the work field sensors4(Step S1). Until the generation of the movement command specifying the destination, the autonomous movable body12patrols the inside of the factory2(Step S2).

The management server11determines the work site that requires the repair work performed by the repair worker5. Specifically, the management server11prestores arrangement sites of the work field sensors4. When the management server11detects the abnormality in any one of the detection signals of the work field sensors4, the management server11specifies the work field sensor4, which is a transmission source, from transmission source information included in the detection signal indicating the abnormality. Thus, the management server11specifies as the abnormality occurrence site the arrangement site of the work field sensor4which has transmitted the detection signal indicating the abnormality. The management server11specifies the abnormality occurrence site as the work site P (seeFIG.1) that requires the repair work performed by the worker5(Step S3).

The management server11transmits site information indicating the work site P to the movable body communicator64of the autonomous movable body12(Step S4). The support structure35of the autonomous movable body12receives the site information (Step S5) and generates based on the site information the movement command for making the autonomous movable body12autonomously move to the work site P (Step S6). The autonomous traveling structure34of the autonomous movable body12makes the autonomous movable body12travel to the work site P in accordance with this movement command.

The management server11transmits a work command to the portable information terminal6possessed by the specific repair worker5who is closest to the work site P among the repair workers5(Step S7), the work command being a command for urging the repair worker5to move to the work site P. The order of Steps S4and S7is determined arbitrarily, and Steps S4and S7may be performed substantially at the same time. The portable information terminal6possessed by the repair worker5receives the site information (Step S8), and the worker5who has seen the site information displayed on the portable information terminal6moves to the work site P for the repair work (Step S9).

The management server11urges the repair worker5who is close to the work site P, to move to the work side P, or the management server11may select the worker5to be urged to move to the work site P, from the repair workers5in accordance with the type of the abnormality state. For example, the management server11may determine whether the type of the abnormality is a mechanical failure or an electrical failure, and may transmit information for urging the movement for the repair, to the portable information terminal6of the repair worker5in charge. The management server11may transmit the information for urging the movement for the repair, to the portable information terminals6of the repair workers5. When the management server11determines that one repair worker5has arrived at the work site P, the management server11may transmit information for stopping the movements of the other repair workers5, to the portable information terminals6of those repair workers5.

When the autonomous movable body12has arrived at the work site P, the autonomous movable body12detects the state information indicating the state of the abnormal portion by the state sensor61(Step S10). For example, the autonomous movable body12stores as the abnormality detail information in the storage memory73an image or video of a monitoring target portion of the work field sensor4which has detected the abnormality, the image or video being taken by the camera of the state sensor61. Then, the autonomous movable body12transmits this abnormality detail information as the additional information to the management server11. The monitoring target portions of the respective work field sensors4are prestored in the management server11or the autonomous movable body12. The processor21of the management server11recognizes a difference from a normal state based on the received image or video by utilizing image processing technology. The information obtained from the work field sensor4is the abnormality basic information, and the information obtained from the state sensor61is one of the pieces of abnormality detail information. As one example, the abnormality detail information may include information indicating that a bolt has fallen off.

When the worker5has arrived at the work site P, the worker5inputs the worker identification information to the autonomous movable body12by making the ID reader63read the IC tag possessed by the worker5(Step S11). The autonomous movable body12receives the input worker identification information and stores the received worker identification information in the storage memory73(Step S12).

The worker5visually confirms the abnormal portion at the work site P and inputs information regarding the abnormality recognized by the visual confirmation, as the worker input information to the man-machine interface65of the autonomous movable body12(Step S13). The worker input information is one of the pieces of abnormality detail information. Examples of the worker input information include information indicating that vibrationproof rubber has deteriorated and information indicating that noise is being generated. The autonomous movable body12receives the input worker input information and stores the received worker identification information in the storage memory73(Step S14).

The autonomous movable body12transmits the information stored in the storage memory73in Steps S10, S12, and S14, as the additional information to the management server11(Step S15), and the management server11receives the additional information (Step S16). The additional information is information transmitted from the autonomous movable body12to the management server11and is different from information transmitted from devices other than the autonomous movable body12to the management server11. The additional information includes the state information detected by the state sensor61, the worker identification information read by the ID reader63, and the worker input information input from the man-machine interface65.

When the state information is detected by the state sensor61, the autonomous movable body12may transmit the state information as the additional information to the management server11without waiting for the acquisition of the worker identification information and the worker input information. The additional information does not have to include at least one of the worker identification information and the worker input information.

As shown inFIG.6, the management server11diagnoses the abnormality based on the received additional information (Step S17). Specifically, in the management server11, the processor21that executes the sever support program refers to the database25(seeFIG.3) and determines based on the input information the support information for supporting the repair work. The processor21determines the support information based on the abnormality basic information obtained from the work field sensor4and the additional information obtained from the autonomous movable body12.

As one example, the processor21determines the procedure of the repair work as the support information based on the abnormality basic information indicating that vibration is excessively large, the abnormality detail information including the information indicating that a bolt has fallen off and the information indicating that vibrationproof rubber has deteriorated, and the worker identification information. As one example, the support information may include an instruction for stopping the operation of the abnormal portion, designation of a tool to be used, an instruction for replacing the bolt and the vibrationproof rubber, and an instruction for restarting the abnormal portion. When it is determined that the abnormal portion is at a high place, and it is also determined based on the worker identification information that the worker5is short in height, the support information may include designation of the use of a stool.

The server communicator24of the management server11transmits the determined support information to the movable body communicator64of the autonomous movable body12(Step S18). The autonomous movable body12receives the support information (Step S19) and makes the man-machine interface65output the support information (Step S20). The man-machine interface65may display the support information on a screen or may output the support information as sound. The worker5starts the repair work in accordance with the support information displayed on the man-machine interface65(Step S21).

The worker5performs the work by using the work articles mounted on the carry-in carrier32of the autonomous movable body12. For example, as the work articles, the worker5uses tools, bolts, vibrationproof rubber, and the like, which are mounted on the carry-in carrier32. The article sensor62can detect the work articles which have been taken out from the carry-in carrier32, and therefore, can recognize the work articles which have been used for the work (Step S22). The autonomous movable body12transmits to the management server11, first article information indicating the work article which has been taken out from the carry-in carrier32and used for the work (Step S23). The management server11receives the first article information from the autonomous movable body12to acquire the information indicating the work article which has been used for the work (Step S24).

When the after-work articles generated by the repair work performed by the worker5are put into the carry-out carrier33, the after-work articles are detected by the article sensor62. For example, when the defective part which has been replaced by the repair work is put into the carry-out carrier33, the article sensor62can detect information of the replaced part to recognize the after-work article generated by the repair work (Step S25). The autonomous movable body12transmits to the management server11, second article information indicating the after-work article which has been put into the carry-out carrier33(Step S26). The management server11receives the second article information from the autonomous movable body12to acquire the information of the after-work article (Step S27).

When the repair work is terminated (Step S28), the worker5performs an input of work completion to the man-machine interface65of the autonomous movable body12(Step S29). Upon reception of the input of the work completion, the autonomous movable body12stores as work log information in the storage memory73, completion of the repair work instructed by the support information (Step S30). The autonomous movable body12transmits the work log information to the management server11through the movable body communicator64(Step S31).

The management server11receives the work log information from the autonomous movable body12(Step S32). The management server11stores the first article information, the second article information, and the work log information as a result log in the storage memory23or the database25(Step S33). Then, the processing of the management server11returns to Step S1, and the processing of the autonomous movable body12returns to Step S2. The autonomous movable body12delivers the after-work article in the carry-out carrier33to a predetermined place at an appropriate timing during the patrol. The autonomous movable body12is movable among the sites in the factory2and may continuously support the work at a first site and the work at a second site.

According to the above-described configuration, even when the worker5does not previously recognize the information necessary for the work at the work site P, the worker5can obtain the support information for the work from the man-machine interface65of the autonomous movable body12after the arrival at the work site P. Thus, the repair worker5can save labor of going to the work site P with a work manual and performing the work while referring to the work manual. Therefore, the efficiency of the work can be improved while reducing the burden of the worker5. According to the above disclosure, the support information is transmitted after the reception of the additional information. However, the support information may be transmitted at the same timing as the transmission of the work command.

Since the management server11determines the support information based on the additional information transmitted from the autonomous movable body12, the usefulness of the support information with respect to the required work can be improved. Moreover, since the detail information of the work site P is acquired by the autonomous movable body12, an advanced sensor does not have to be used as the work field sensor4. Therefore, the cost of a large number of work field sensors4located in the factory2can be reduced. In some cases, the number of work field sensors4can be reduced, and the detection range of the work field sensor4can be made small.

Since the management server11determines the support information based on the state information detected at the work site P by the autonomous movable body12, the usefulness of the support information with respect to the required work can be improved.

Since the management server11determines the support information based on the worker input information which has been input to the autonomous movable body12by the worker who has confirmed the state of the work site P, the usefulness of the support information with respect to the required work can be improved.

Since the additional information includes the worker identification information, the support information corresponding to the worker can be provided. For example, the support information corresponding to the degree of skill of the repair worker5may be displayed.

Since the autonomous movable body12includes the carry-in carrier32on which the work articles to be used for the work are mounted, it is possible to avoid wasteful work in which the worker who has arrived at the work site P notices the lack of articles (tools, materials, and the like) to be used for the work and goes to a different place to take them. In addition, it is also possible to eliminate the necessity for the worker5to go to the work site P with a larger number of articles than necessary.

Since the information of the work article which has been used for the work is transmitted to the management server11, the information of the article which has been used for the work can be easily managed.

Since the autonomous movable body11includes the carry-out carrier on which the after-work articles generated by the work are mounted, and the autonomous movable body12delivers the after-work article generated by the work to a predetermined place, the labor of the worker5can be saved.

Since the information of the after-work article is transmitted to the management server11, the article generated by the work can be easily managed.

Since the work log information indicating the work which has been performed by the worker5is stored in the storage memory73of the autonomous movable body12and is transmitted from the movable body communicator64to the management server11, the work result can be easily managed in the management server11and can be utilized for future work improvement.

Since the work command for urging the worker5to move to the work site P is transmitted to the portable information terminal6, the worker5can go to the work site P at an appropriate timing.

The autonomous movable body12patrols the side of the factory2until the generation of the movement command for the work. Therefore, even when there is no work, the autonomous movable body12can be made to monitor the inside of the factory2, and the access to the autonomous movable body12by the worker5can be facilitated.

Conveyed products conveyed by the conveyance line3are not especially limited and may be processed food, electronic parts, integrated circuits, medicine, and the like in addition to assembly products. The factory2is a factory of line manufacturing in which parts are processed at each work spot but may be a factory of another manufacturing method. For example, the factory2may be a manufacturing factory which manufactures chemical materials, metal materials, printed products, or the like and in which processing is continuously performed, or may be an automated warehouse to and from which physical distribution articles are put in and taken out. The above-disclosed technology may be applied to not the entire factory but a region that is part of the factory. In the present disclosure, the autonomous movable body12executes the program for patrolling the inside of the factory2until the reception of the movement command for the movement to the work site P. However, the autonomous movable body12may stop at a predetermined position. In addition to a failure state in which the line3stops, a future repair state in which there is a possibility that the failure occurs in the future may be determined as the abnormality state. Thus, the repair can be performed without stopping the line3.

FIG.7is a general view of a work support system101according to Embodiment 2. As shown inFIG.7, the work support system101is a system that supports medical work generated in a hospital102. The hospital102includes work generated areas. Examples of the work generated areas include a nurses' station103A, a sickroom103B, a consultation room103C, and an operating room103D. Work field sensors104that detect the occurrence of an event that requires the work are located in the work generated areas. Each work field sensor104may be selected from an indoor camera, a nurse call switch, a doctor call switch, a sensor of a surgical robot, and the like.

The work support system101includes the management server11and the autonomous movable body12. Since the basic functions of the management server11and the basic functions of the autonomous movable body12are the same as those in Embodiment 1, the following will be described by using the same reference signs as Embodiment 1. The management server11is located in the hospital102but may be located outside the hospital102. The autonomous movable body12is movable among potential work sites in the hospital102. In the present embodiment, the number of autonomous movable bodies12is smaller than the number of workers105. However, the present embodiment is not limited to this. The workers105include nurses, doctors, and the like.

Since the processing of the work support system101of Embodiment 2 is similar to the processing of the work support system1of Embodiment 1, the processing of the work support system101will be described based on the flow ofFIGS.5and6with suitable reference toFIGS.2to4,7, and the like. As shown inFIG.5, to grasp the entire hospital102, the management server11monitors the detection states of the work field sensors104(Step S1). The autonomous movable body12patrols the inside of the hospital102until the generation of the movement command that designates the destination (Step S2).

When the management server11receives the detection signal indicating the generation of the medical work from the work field sensor104, the management server11refers to the transmission source information of the detection signal and specifies a medical work generated site. The management server11specifies the medical work generated site as the work site P (seeFIG.7) that requires the medical work performed by the worker105(Step S3).

The management server11transmits the site information indicating the work site P to the movable body communicator64of the autonomous movable body12(Step S4). The support structure35of the autonomous movable body12receives the site information (Step S5) and generates based on the site information the movement command for making the autonomous movable body12autonomously move to the work site P (Step S6). The autonomous traveling structure34of the autonomous movable body12makes the autonomous movable body12travel to the work site P in accordance with this movement command.

The management server11transmits to the portable information terminal6possessed by the worker105who is in charge of the work site P, the work command for urging the worker105to move to the work site P (Step S7). The portable information terminal6possessed by the worker5receives the site information (Step S8), and the worker5who has seen the site information displayed on the portable information terminal6goes to the work site P for the medical work (Step S9).

When the autonomous movable body12has arrived at the work site P, the autonomous movable body12detects the state information indicating the state of the work site P by the state sensor61(Step S10). For example, the autonomous movable body12stores as state detail information in the storage memory73an image or video of the work site P which is taken by the camera of the state sensor61. Then, the autonomous movable body12transmits this state detail information as the additional information to the management server11. The processor21of the management server11may recognize a difference from the normal state based on the received image or video by utilizing image processing technology. The information obtained from the work field sensor4is state basic information, and the information obtained from the state sensor61is one of the pieces of state detail information. As one example, the state detail information may include information indicating that there is no drip infusion fluid. The state sensor61may include a drip infusion fluid remaining amount sensor, a pulse sensor, a blood oxygen sensor, a temperature sensor, an echo, an electrocardiogram, a breath sensor, or the like.

When the worker105has arrived at the work site P, the worker105inputs the worker identification information to the autonomous movable body12by making the ID reader63read the IC tag possessed by the worker105(Step S11). The autonomous movable body12receives the input worker identification information and stores the received worker identification information in the storage memory73(Step S12).

The worker105visually confirms the state of the work site P and inputs information indicating the state recognized by the visual confirmation, as the worker input information to the man-machine interface65of the autonomous movable body12(Step S13). The worker input information is, for example, information indicating that that a drip infusion needle has fallen from a patient. The autonomous movable body12receives the input worker input information and stores the received worker identification information in the storage memory73(Step S14).

The autonomous movable body12transmits the information stored in the storage memory73in Steps S10, S12, and S14, as the additional information to the management server11(Step S15), and the management server11receives the additional information (Step S16). The additional information includes the state information detected by the state sensor61, the worker identification information read by the ID reader63, and the worker input information input from the man-machine interface65.

As shown inFIG.6, the management server11diagnoses the state of the work site P based on the received additional information (Step S17). The database25of the management server11stores a correspondence relation between the input information and the support information for supporting the medical work. The input information includes, for example, the state basic information and the state additional information. The additional information includes the state detail information and the worker attribute information. The state basic information is information obtained from the detection signal of the work field sensor4. As one example, the state basic information is information indicating that a nurse call has been transmitted.

The state detail information includes information obtained from the detection signal of the state sensor61of the autonomous movable body12. The state detail information may include information which has been input through the autonomous movable body12by the worker105who has directly confirmed the state of the work site P. Examples of the state detail information include information indicating that there is no drip infusion fluid and information indicating that a drip infusion needle has fallen from a patient. The worker attribute information includes information obtained from the worker identification information read by the ID reader63of the autonomous movable body12. Examples of the worker attribute information include a qualification and skill level of the worker.

The management server11refers to the database25and determines based on the input information the support information for supporting the medical work. The processor21determines the support information based on the state basic information obtained from the work field sensor104and the additional information obtained from the autonomous movable body12. As one example, the processor21determines the procedure of the medical work as the support information based on the state basic information indicating that a nurse call has been transmitted, the state detail information including information indicating that there is no drip infusion fluid and information indicating that a drip infusion needle has fallen from a patient, and the worker identification information. For example, the support information may include an instruction for disinfecting an arm of a patient, an instruction for replacing a drip infusion bag with a new one, an instruction for disinfecting a drip infusion needle, an instruction for resticking a drip infusion needle to an arm of a patient, and the like. When it is determined based on the worker identification information that the skill level of the worker105is low, the support information may include an instruction for reporting to another worker.

The management server11transmits the determined support information to the autonomous movable body12(Step S18). The autonomous movable body12receives the support information (Step S19) and makes the man-machine interface65output the support information (Step S20). The man-machine interface65may display the support information on a screen or may output the support information as sound. The worker5starts the medical work in accordance with the support information displayed on the man-machine interface65(Step S21).

The worker5performs the work by using the work articles mounted on the carry-in carrier32of the autonomous movable body12. For example, as the work articles, the worker5uses medical tools such as syringes and hemostasis bands, medical supplies such as medicine, drip infusion bags, and gauze, and the like, which are mounted on the carry-in carrier32. The article sensor62can detect the work articles which have been taken out from the carry-in carrier32, and therefore, can recognize the work articles which have been used for the work (Step S22). The autonomous movable body12transmits to the management server11the first article information indicating the work article which has been taken out from the carry-in carrier32and used for the work (Step S23).

The management server11receives the first article information from the autonomous movable body12to acquire the information indicating the work article which has been used for the work (Step S24). When the after-work articles generated by the medical work performed by the worker5are put into the carry-out carrier33, the after-work articles are detected by the article sensor62. Examples of the after-work articles include replaced, empty drip infusion bags, collected blood, targets of pathological examination (such as collected organs and cells), and used gauze. When the after-work articles are put into the carry-out carrier33, the article sensor62can detect the information of the after-work articles, and therefore, can recognize the after-work articles generated by the medical work (Step S25). The autonomous movable body12transmits to the management server11the second article information indicating the after-work articles which have been put in the carry-out carrier33(Step S26).

When the medical work is terminated (Step S28), the worker5performs an input of work completion to the man-machine interface65of the autonomous movable body12(Step S29). Upon reception of the input of the work completion, the autonomous movable body12stores as work log information in the storage memory73, completion of the medical work instructed by the support information (Step S30). The autonomous movable body12transmits the work log information to the management server11through the movable body communicator64(Step S31).

The management server11receives the work log information from the autonomous movable body12(Step S32). The management server11stores the first article information, the second article information, and the work log information as a result log in the storage memory23or the database25(Step S33).

The autonomous movable body12may be utilized for attendance management. The worker5performs an input of attending or leaving to the man-machine interface65by making the ID reader63of the autonomous movable body12, which is located close to the worker5, read the identification information of the ID device possessed by the worker5. The autonomous movable body12transmits input data of the attending or leaving to the management server11. The management server11stores the received data of the attending or leaving in an attendance management database.

FIG.8is a general view of a work support system201according to Embodiment 3. As shown inFIG.8, the work support system201is a system that supports the work generated at an outdoor space202. A work field sensor204is located in the outdoor space202and detects the occurrence of an event, such as the accident of a vehicle or the failure of outdoor equipment, which requires the work. The work field sensor204may be selected from a camera mounted on a drone203, a sensor and switch located at the outdoor equipment, and the like.

The work support system201includes the management server11and the autonomous movable body12. Since the basic functions of the management server11and the basic functions of the autonomous movable body12are the same as those in Embodiment 1, the following will be described by using the same reference signs as Embodiment 1. The management server11is located at a predetermined facility. The autonomous movable body12is movable among potential work sites in the outdoor space202. The worker205may be a road service staff, a maintenance staff, or the like.

Since the processing of the work support system201of Embodiment 3 is similar to the processing of the work support system1of Embodiment 1, the processing of the work support system101will be described based on the flow ofFIGS.5and6with suitable reference toFIGS.2to4,8, and the like. As shown inFIG.5, to grasp the entire outdoor space202, the management server11monitors the detection states of the work field sensors204of the drones203which are flying for the patrol (Step S1). The autonomous movable body12patrols the outdoor space202until the generation of the movement command that designates the destination (Step S2).

When the management server11receives the detection signal indicating the generation of recovery work from the work field sensor204, the management server11refers to the transmission source information of the detection signal and specifies a recovery work generated site. The management server11specifies the recovery work generated site as the work site P (seeFIG.8) that requires the recovery work performed by the worker205(Step S3).

The management server11transmits the site information indicating the work site P to the movable body communicator64of the autonomous movable body12(Step S4). The support structure35of the autonomous movable body12receives the site information (Step S5) and generates based on the site information the movement command for making the autonomous movable body12autonomously move to the work site P (Step S6). The autonomous traveling structure34of the autonomous movable body12makes the autonomous movable body12travel to the work site P in accordance with this movement command.

The management server11transmits the work command for urging the worker205to move to the work site P, to the portable information terminal6possessed by the worker205(Step S7). The portable information terminal6possessed by the worker205receives the site information (Step S8), and the worker205who has seen the site information displayed on the portable information terminal6goes to the work site P for the recovery work (Step S9).

When the autonomous movable body12has arrived at the work site P, the autonomous movable body12detects the state information indicating the state of the work site P by the state sensor61(Step S10). For example, the autonomous movable body12stores as the state detail information in the storage memory73an image or video of the work site P which is taken by the camera of the state sensor61. Then, the autonomous movable body12transmits this state detail information as the additional information to the management server11. The processor21of the management server11may recognize a difference from the normal state from the received image or video by utilizing image processing technology. The information obtained from the work field sensor204is the state basic information, and the information obtained from the state sensor61is one of the pieces of state detail information. As one example, the state detail information is information indicating that a vehicle has a flat tire or information indicating that smoke is rising from outdoor equipment.

When the worker205has arrived at the work site P, the worker205inputs the worker identification information to the autonomous movable body12by making the ID reader63read the IC tag possessed by the worker205(Step S11). The autonomous movable body12receives the input worker identification information and stores the received worker identification information in the storage memory73(Step S12).

The worker205visually confirms the state of the work site P and inputs information indicating the state recognized by the visual confirmation, as the worker input information to the man-machine interface65of the autonomous movable body12(Step S13). Examples of the worker input information include information indicating that a road surface is wet, information indicating that outdoor equipment is high in temperature, and information indicating that there is an injured person. The autonomous movable body12receives the input worker input information and stores the received worker identification information in the storage memory73(Step S14).

The autonomous movable body12transmits the information stored in the storage memory73in Steps S10, S12, and S14, as the additional information to the management server11(Step S15), and the management server11receives the additional information (Step S16). The additional information includes the state information detected by the state sensor61, the worker identification information read by the ID reader63, and the worker input information input from the man-machine interface65.

As shown inFIG.6, the management server11diagnoses the state of the work site P based on the received additional information (Step S17). The database25of the management server11stores a correspondence relation between the input information and the support information for supporting the recovery work. The input information includes, for example, the state basic information and the state additional information. The additional information includes the state detail information and the worker attribute information. The state basic information is information obtained from the detection signal of the work field sensor204. Examples of the state basic information include information indicating that the wheel of a vehicle has fallen into a side ditch or information indicating that an abnormal signal has been transmitted from a sensor of outdoor equipment.

The state detail information includes information obtained from the detection signal of the state sensor61of the autonomous movable body12. The state detail information may include information which has been input through the autonomous movable body12by the worker205who has directly confirmed the state of the work site P. Examples of the state detail information include information indicating that a vehicle has a flat tire, information indicating that smoke is rising from outdoor equipment, information indicating that a road surface is wet, and information indicating that outdoor equipment is high in temperature. The worker attribute information includes information obtained from the worker identification information read by the ID reader63(seeFIG.4) of the autonomous movable body12. Examples of the worker attribute information include a qualification and skill level of the worker.

The management server11refers to the database25and determines based on the input information the support information for supporting the recovery work. The processor21determines the support information based on the state basic information obtained from the work field sensor204and the additional information obtained from the autonomous movable body12. As one example, the processor21determines the procedure of the recovery work as the support information based on the state basic information indicating that the wheel of a vehicle has fallen into a side ditch, the state detail information including information indicating that a vehicle has a flat tire and information indicating that there is an injured person, and the worker identification information. For example, the support information may include an instruction for moving the injured person to a safe place, an instruction for making the wheel get out of the side ditch by using a predetermined tool, an instruction for replacing the flat tire with an emergency tire, and the like. When it is determined based on the worker identification information that the worker5has a predetermined qualification, the support information may include an instruction for making the worker5give emergency medical treatment to the injured person.

The management server11transmits the determined support information to the autonomous movable body12(Step S18). The autonomous movable body12receives the support information (Step S19) and makes the man-machine interface65output the support information (Step S20). The man-machine interface65may display the support information on a screen or may output the support information as sound. The worker205starts the recovery work in accordance with the support information displayed on the man-machine interface65(Step S21).

The worker205performs the work by using the work articles mounted on the carry-in carrier32of the autonomous movable body12. For example, as the work articles, the worker205uses tools, medical equipment, and the like, which are mounted on the carry-in carrier32. The article sensor62can detect the work articles which have been taken out from the carry-in carrier32, and therefore, can recognize the work articles which have been used for the work (Step S22). The autonomous movable body12transmits to the management server11the first article information indicating the work article which has been taken out from the carry-in carrier32and used for the work (Step S23).

The management server11receives the first article information from the autonomous movable body12to acquire the information indicating the work article which has been used for the work (Step S24). When the after-work articles generated by the recovery work performed by the worker205are put into the carry-out carrier33, the after-work articles are detected by the article sensor62. The after-work articles are, for example, used medical equipment and the like. When the after-work articles are put into the carry-out carrier33, the article sensor62can detect the information of the after-work articles, and therefore, can recognize the after-work articles generated by the recovery work (Step S25). The autonomous movable body12transmits to the management server11the second article information indicating the after-work article which has been put in the carry-out carrier33(Step S26). The management server11receives the second article information (Step S27).

When the recovery work is terminated (Step S28), the worker205performs an input of work completion to the man-machine interface65of the autonomous movable body12(Step S29). Upon reception of the input of the work completion, the autonomous movable body12stores as work log information in the storage memory73, completion of the recovery work instructed by the support information (Step S30). The autonomous movable body12transmits the work log information to the management server11through the movable body communicator64(Step S31).

The management server11receives the work log information from the autonomous movable body12(Step S32). The management server11stores the first article information, the second article information, and the work log information as a result log in the storage memory23or the database25(Step S33).

Each of the above embodiments describes an example in which the work support system is applied to the work generated in a region, such as a factory, a hospital, or an outdoor space. However, the work support system may be applied to the work generated in the other regions. For example, the work support system may be applied to physical distribution warehouses, offices, hotels, retail stores, restaurants, smart cities, fire fighting activities, disaster relief activities, social infrastructures, agriculture, forestry, fishery, and the like.

The functionality of the elements disclosed herein may be implemented using circuitry or processing circuitry which includes general purpose processors, special purpose processors, integrated circuits, ASICs (“Application Specific Integrated Circuits”), conventional circuitry and/or combinations thereof which are configured or programmed to perform the disclosed functionality. Processors are considered processing circuitry or circuitry as they include transistors and other circuitry therein. The processor may be a programmed processor which executes a program stored in a memory. In the disclosure, the circuitry, units, or means are hardware that carry out or are programmed to perform the recited functionality. The hardware may be any hardware disclosed herein or otherwise known which is programmed or configured to carry out the recited functionality. When the hardware is a processor which may be considered a type of circuitry, the circuitry, means, or units are a combination of hardware and software, the software being used to configure the hardware and/or processor.

The foregoing has described the embodiments as examples of the technology disclosed in the present application. However, the technology in the present disclosure is not limited to these and is applicable to embodiments in which modifications, replacements, additions, omissions, and the like have been suitably made. Moreover, a new embodiment may be prepared by combining the components described in the above embodiments. For example, some of components or methods in one embodiment may be applied to another embodiment. Some components in an embodiment may be separated from the other components in the embodiment and arbitrarily extracted. Furthermore, the components shown in the attached drawings and the detailed explanations include not only components essential to solve the problems but also components for exemplifying the above technology and not essential to solve the problems.

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