Work planner, method for planning work, and computer-readable storage medium storing a work planning program

A method for performing work by a robot system, the method comprising:

• determining that at least one action among a plurality of first actions is dividable in response to a determination that the at least one action among the plurality of first actions involves more than one executor;
• determining that at least one action among the plurality of first actions is not dividable in response to a determination that the at least one action is determined to involve a single executor;
• dividing one dividable action among the plurality of first actions that involves, prior to division, a first executor and a second executor of a plurality of executors into a plurality of second actions respectively corresponding to the first executor and the second executor based on action information that includes the plurality of first actions and dependency information, the first actions indicating work units that involve at least one executor formed by a robot, the first actions starting at respective defined start timings;
• determining that at least one third action and at least one of the second actions temporally overlap and involve a same one of the plurality of executors;
• adjusting a start timing of the at least one third action based on dependency information indicating a relationship of dependency among the plurality of first actions, such that the at least one third action and the at least one of the second actions that involve the same one of the plurality of executors no longer temporally overlap;
• and
• controlling the executor involved with the at least one third action and the at least one of the second actions to operate in accordance with the adjusted start timing.

A non-transitory computer-readable storage medium storing instructions for causing a computer to execute processing comprising:

• determining that at least one action among a plurality of first actions is dividable in response to a determination that the at least one action among the plurality of first actions involves more than one executor;
• determining that at least one action among the plurality of first actions is not dividable in response to a determination that the at least one action is determined to involve a single executor;
• dividing one dividable action among the plurality of first actions that involves, prior to division, a first executor and a second executor of a plurality of executors into a plurality of second actions respectively corresponding to the first executor and the second executor based on action information that includes the plurality of first actions and dependency information, the first actions indicating work units that involve at least one executor formed by a robot, the first actions starting at respective defined start timings;
• adjusting a start timing of at least one third action that involves one of the plurality of executors based on dependency information indicating a relationship of dependency among the plurality of first actions, and based on a determination that at least the at least one third action and at least one of the second actions temporally overlap and involve a same one of the plurality of executors, such that the at least one third action and the at least one of the second actions that involve the same one of the plurality of executors no longer temporally overlap;
• and
• outputting an instruction for the control of at least one executor according to at least one of the first actions, the second actions, and the third action.

A robot system comprising:

• a plurality of executors, at least one of the executors being formed by a robot;
• a storage device that stores action information that includes a plurality of first actions and dependency information, the first actions indicating work units that involve at least one of the executors and that start at respective start timings, the dependency information indicating a relationship of dependency among the plurality of first actions;
• a controller;
• and
• a processor that executes work planning functions, the processor programmed to:
• determine that at least one action among the plurality of first actions is dividable in response to a determination that the at least one action among the plurality of first actions involves more than one executor of the plurality of executors;
• determine that at least one action among the plurality of first actions is not dividable in response to a determination that the at least one action is determined to involve a single executor;
• divide at least one dividable action among the plurality of first actions that involves, prior to the division, a first executor and a second executor of the plurality of executors into a plurality of second actions respectively corresponding to the first executor and the second executor based on the action information;
• and
• adjust a start timing of at least one third action based on the dependency information, and based on a determination that the at least one third action and at least one of the second actions temporally overlap and involve a same one of the plurality of executors, such that the at least one third action and the at least one of the second actions that involve the same one of the plurality of executors no longer temporally overlap,
• wherein the controller is configured to control the robot according to at least one of the first actions, the second actions, and the third action.