Work monitoring method, work monitoring system, and work monitoring program

Abstract

To change operators efficiently when a plurality of operators operate a work vehicle by turns.SOLUTION: A work monitoring method includes output of a request signal for requesting that monitoring of a work device 100 performing work while moving automatically in a farm field 500 be taken over from a first monitoring person monitoring the work device 100 using a first monitoring terminal 200 to a second monitoring person using another monitoring terminal 200. The work monitoring method also includes notification of the start of monitoring of the work device 100 to the second monitoring person on the basis of the request signal. The output of a request signal may include determination on whether or not the first monitoring person using the first monitoring terminal 200 is monitoring the work device 100 on the basis of the position of the first monitoring terminal 200.SELECTED DRAWING: Figure 13

Description

[Technical Field]

[0001] The present invention relates to a work monitoring method, a work monitoring system, and a work monitoring program. [Background technology]

[0002] In recent years, research has been conducted into work devices that automatically travel within a field to perform work.

[0003] Patent Document 1 discloses a wireless communication terminal device that allows a worker in the field to monitor a work vehicle that travels automatically within the field and stop the vehicle in an emergency. This wireless communication terminal device is configured so that it can be operated without delay in an emergency response. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6630298 Summary of the Invention [Problem to be solved by the invention]

[0005] In the technology described in Patent Document 1, the worker must carry the wireless communication terminal device used to operate the work vehicle and work near the work vehicle. For this reason, the inventors discovered that when multiple workers take turns operating the work vehicle, it is necessary for the workers to hand over the wireless communication terminal device in the field and take turns.

[0006] In view of the above circumstances, one object of the present disclosure is to efficiently switch workers when multiple workers take turns operating a work vehicle. Other objects can be understood from the following description and explanation of the embodiments. [Means for solving the problem]

[0007] The following describes the means for solving the problems using the numbers and symbols used in the description of the invention. These numbers and symbols are added in parentheses for reference purposes to show an example of the correspondence between the claims and the description of the invention. Therefore, the claims should not be interpreted as being limited by the parenthetical descriptions.

[0008] To achieve the above object, a work monitoring method according to one embodiment includes outputting a request signal requesting that monitoring of a work implement (100) performing work while automatically moving in a field (500) be handed over from a first monitor using a first monitoring terminal (200) to a second monitor using another monitoring terminal (200). The work monitoring method also includes notifying the second monitor, based on the request signal, that monitoring of the work implement (100) will begin.

[0009] To achieve the above object, a work monitoring method according to one embodiment includes storing a pre-registered visual monitoring period for monitoring a work implement (100) that automatically moves around and performs work in a farm field (500) from a position where the work implement (100) can be directly observed. The work monitoring method also includes determining whether the current time falls within an unset period that is not included in the visual monitoring period. When the current time is determined to fall within the unset period, the work monitoring method further includes notifying the second monitor that monitoring of the work implement (100) will begin without receiving acceptance information indicating that the second monitor will accept handover from a second monitoring terminal (200) that is located in a position where the work implement (100) cannot be directly observed.

[0010] To achieve the above object, an embodiment of a work monitoring method includes monitoring a first communication between a first monitoring terminal (200) used by a first monitor who monitors a work implement (100) performing work while automatically moving in a field (500), and a work monitoring device (300) that transfers an emergency signal from the first monitoring terminal (200). The work monitoring method also includes monitoring a second communication between the work monitoring device (300) and the work implement (100). The work monitoring method further includes stopping the work implement (100) when either the first communication or the second communication is disconnected.

[0011] To achieve the above object, a work monitoring system (1000) according to one embodiment includes a monitoring departure unit (260) and a monitoring start unit (250). The monitoring departure unit (260) outputs a request signal requesting that a first monitor, who is monitoring the work implement (100) using a first monitoring terminal (200) while working while automatically moving in a field (500), hand over monitoring of the work implement (100) to a second monitor, who is using another monitoring terminal (200). Based on the request signal, the monitoring start unit (250) notifies the second monitor that monitoring of the work implement (100) will begin.

[0012] To achieve the above object, an operation monitoring system (1000) according to one embodiment includes a data storage unit (350) and a monitoring switching unit (360). The data storage unit (350) stores a pre-registered visual monitoring period during which an operation device (100) that automatically moves around and performs an operation in a farm field (500) is monitored from a position where the operation device can be directly observed. The monitoring switching unit (360) determines whether the current time falls within an unset period that is not included in the visual monitoring period, and, if it determines that the current time falls within the unset period, notifies the second monitor that monitoring of the operation device (100) will begin without receiving acceptance information indicating that the second monitor, who uses a second monitoring terminal (200) located in a position where the operation device (100) cannot be directly observed, will accept the handover.

[0013] To achieve the above object, an operation monitoring system (1000) according to one embodiment includes a communication monitoring unit (380) and an abnormality detection unit (160). The communication monitoring unit (380) monitors a first communication between a first monitoring terminal (200) used by a first monitor who monitors an operation tool (100) that moves automatically while performing work in a field (500), and an operation monitoring device (300) that transfers an emergency signal from the first monitoring terminal (200). The abnormality detection unit (160) monitors a second communication between the operation monitoring device (300) and the operation tool (100), and stops the operation tool (100) when either the first communication or the second communication is disconnected.

[0014] To achieve the above object, a work monitoring program (460) according to one embodiment causes a computing device (220, 320) to output a request signal requesting that monitoring of a work implement (100) performing work while automatically moving in a field (500) be handed over from a first monitor who is monitoring the work implement (100) using a first monitoring terminal (200) to a second monitor who is using another monitoring terminal (200). The work monitoring program (460) also causes the computing device (220, 320) to notify the second monitor that monitoring of the work implement (100) will begin, based on the request signal. [Effects of the Invention]

[0015] According to the above aspect, when a plurality of workers take turns operating a work vehicle, the workers can be efficiently substituted. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a schematic diagram of an operation monitoring system according to an embodiment. [Figure 2] 1 is a diagram illustrating a route along which a work device automatically moves while performing work in one embodiment. FIG. [Figure 3] 10A and 10B are diagrams illustrating an example of an image displayed when a monitoring terminal monitors a work device according to an embodiment. [Figure 4]1 is a schematic diagram of a working device according to an embodiment; [Figure 5] 1 is a diagram illustrating a configuration of a working device according to an embodiment. [Figure 6] FIG. 2 is a diagram illustrating functional blocks executed by the work monitoring system according to an embodiment. [Figure 7] FIG. 2 is a diagram illustrating a configuration of a monitoring terminal according to an embodiment. [Figure 8] 1 is a diagram illustrating a configuration of a work monitoring device according to an embodiment. [Figure 9] FIG. 3 is a diagram illustrating a configuration of monitoring history data according to an embodiment. [Figure 10] FIG. 2 is a diagram illustrating a configuration of monitoring plan data according to an embodiment. [Figure 11] 10 is a flowchart showing a process in which the work monitoring system starts monitoring a work device according to an embodiment. [Figure 12] 10 is a flowchart illustrating a process in which the work monitoring system according to an embodiment stops a work device due to a communication abnormality. [Figure 13] 10 is a flowchart showing a process when a supervisor is replaced in the work monitoring system according to an embodiment. [Figure 14] 10 is a flowchart illustrating a process when the work monitoring system automatically changes a monitor according to an embodiment. [Figure 15] 10 is a flowchart illustrating a process performed when a monitor is set in a period in which monitoring has not yet been set in the work monitoring system according to an embodiment. [Figure 16] FIG. 2 is a diagram illustrating a configuration of a monitoring terminal according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] (Embodiment) A work monitoring system 1000 according to this embodiment of the present invention will be described with reference to the drawings. In this embodiment, as shown in Fig. 1, the work monitoring system 1000 includes one or more work devices 100, one or more monitoring terminals 200 (e.g., a first monitoring terminal 200-1 and a second monitoring terminal 200-2), and a work monitoring device 300. The work monitoring device 300 is communicably connected to the work devices 100 and the monitoring terminals 200 via a network 20, for example, the Internet.

[0018] The work monitoring device 300 controls the work device 100, for example, so that the work device 100 moves while working within the field 500. For example, as shown in FIG. 2 , the work monitoring device 300 automatically moves the work device 100 along the generated movement path 550 to perform work.

[0019] A work apparatus 100 that moves automatically to perform work is generally monitored by a monitor so that it can respond in an emergency. For example, a first monitor using the first monitoring terminal 200-1 shown in FIG. 1 monitors the work apparatus 100 from a position where the work apparatus 100 can be seen (for example, in a farm field 500). For example, the first monitor inputs an operation to control the work apparatus 100 in an emergency, such as an operation to stop the work apparatus 100, into the first monitoring terminal 200-1. The first monitoring terminal 200-1 outputs an emergency signal to the work apparatus 100 via the work monitoring device 300 to control the work apparatus 100. When the work apparatus 100 receives the emergency signal, it operates based on the emergency signal.

[0020] For example, when the first monitor needs to leave the field 500, he or she may hand over monitoring of the task apparatus 100 to another person. In this case, for example, the first monitor inputs an operation to the first monitoring terminal 200-1 to search for someone who can monitor the task apparatus 100. The first monitoring terminal 200-1 transmits a request to monitor the task apparatus 100 to one or more other monitoring terminals 200, for example, the second monitoring terminal 200-2, via the task monitoring device 300. When the second monitor using the second monitoring terminal 200-2 inputs an operation to accept the handover to the second monitoring terminal 200-2, monitoring of the task apparatus 100 is transferred from the first monitor to the second monitor.

[0021] A second monitor uses second monitoring terminal 200-2 to monitor operative tool 100. For example, second monitoring terminal 200-2 may be located remotely (for example, in a location where operative tool 100 cannot be seen). For example, multiple monitoring terminals 200 including second monitoring terminal 200-2 are located in monitoring facility 30. The second monitor using second monitoring terminal 200-2 monitors operative tool 100 and controls operative tool 100 as needed, similar to the first monitor using first monitoring terminal 200-1.

[0022] At this time, the second monitor checks the status of the task apparatus 100 based on the status information displayed on the second monitoring terminal 200-2, which indicates the status of the task apparatus 100. For example, as shown in FIG. 3, the second monitoring terminal 200-2 displays an image representing the task apparatus 100 as viewed from above. For example, the task apparatus 100 has an imaging device, such as a camera, that captures images of its surroundings, for example, all four sides. The task apparatus 100 combines the captured images of all four sides with an image of the task apparatus 100 as viewed from above, and outputs status information representing the generated image to the second monitoring terminal 200-2 via the task monitoring device 300. The second monitoring terminal 200-2 displays the acquired status information. For example, the second monitoring terminal 200-2 displays the combined image in the surrounding status display range 600 in an image representing the field 500 on a map based on the status information. For example, the surrounding situation display range 600 moves as the working device 100 moves, and ridges 510 that are not shown on the map are shown in the surrounding situation display range 600. The second monitor checks the status of the working device 100 shown in the image and controls the working device 100 as necessary. Note that an emergency signal output from the second monitoring terminal 200-2 to control the working device 100 is output to the working device 100 via the work monitoring device 300, just like the first monitoring terminal 200-1.

[0023] In this way, in the work monitoring system 1000, two monitors who take turns monitoring the work device 100 can take over the monitoring without meeting in person.

[0024] (Work monitoring system configuration) The configuration of a work implement 100 included in the work monitoring system 1000 shown in Fig. 1 will be described. For example, as shown in Fig. 4, the work implement 100 performs tilling work in a field 500 by towing a work machine 105 (e.g., a rotary tiller) and moving with the work machine 105 lowered. The work implement 100 may include a device that tows the work machine 105, such as a tractor, or may include a device formed integrally with the work machine 105, such as a combine harvester or rice transplanter. The work implement 100 may also include a drone formed integrally with the work machine 105 that sprays pesticides.

[0025] 5, the working apparatus 100 includes an input / output device 110, a positioning device 115, a computing device 120, a communication device 130, and a storage device 140. Information for controlling the working apparatus 100 is input to the input / output device 110. The input / output device 110 also outputs information for controlling the working apparatus 100, such as the speed of the working apparatus 100 and the number of engine revolutions. The input / output device 110 also includes various input devices and output devices, and may include, for example, a steering wheel, buttons, lamps, levers, a display, a touch panel, etc.

[0026] The positioning device 115 acquires device position information that indicates the position of the operating device 100 at each time. For example, the positioning device 115 measures the position of the operating device 100 at a predetermined interval (for example, every 10 seconds) and outputs device position information that indicates the measured position to the computing device 120. For example, the positioning device 115 may include a GNSS (Global Navigation Satellite System) receiver, a quantum compass, etc.

[0027] The communication device 130 is communicatively connected to the network 20 and communicates with each device via the network 20. For example, the communication device 130 transfers a signal acquired from the work monitoring device 300 to the calculation device 120. The communication device 130 also transfers a signal generated by the calculation device 120 to the work monitoring device 300. The communication device 130 may acquire information from another device without going through the network 20. For example, the communication device 130 may acquire information from another device via any storage medium, such as a memory card or a Universal Serial Bus (USB) memory. The communication device 130 may also acquire information from another device directly connected via a USB or the like. The communication device 130 includes various interfaces, such as a transceiver used for wireless communication such as a wireless local area network (LAN) or a cellular network, a network interface card (NIC), a USB, and a communication terminal.

[0028] The storage device 140 stores various data for automatically moving the work device 100, such as a movement program 400. The storage device 140 is used as a non-transitory tangible storage medium for storing the movement program 400. The movement program 400 may be provided as a computer program product recorded on a computer-readable storage medium 1, or may be provided as a computer program product downloadable from a server.

[0029] The arithmetic device 120 reads and executes the movement program 400 from the storage device 140, and performs various data processing for automatically moving the working device 100. For example, the arithmetic device 120 may include an ECU (Electric Control Unit), a central processing unit (CPU), and the like.

[0030] By reading and executing the movement program 400, the arithmetic device 120 cooperates with the storage device 140 to implement an automatic movement unit 150 and an abnormality detection unit 160, as shown in FIG. 6. The automatic movement unit 150 controls the work device 100 to move automatically based on control information acquired from the work monitoring device 300. The automatic movement unit 150 also controls the work device 100 based on an emergency signal acquired from the monitoring terminal 200 via the work monitoring device 300. The abnormality detection unit 160 detects an abnormality in communication between the monitoring terminal 200 and the work device 100 via the work monitoring device 300. When the abnormality detection unit 160 detects a communication abnormality, it controls the work device 100 to stop.

[0031] Next, the configuration of monitoring terminal 200 will be described. As shown in Fig. 7, monitoring terminal 200 includes an input / output device 210, a positioning device 215, a calculation device 220, a communication device 230, and a storage device 240. Monitoring terminal 200 includes, for example, a computer, a tablet, a mobile terminal, etc. Information used by calculation device 220 to execute processing is input to input / output device 210. Furthermore, input / output device 210 outputs the results of processing executed by calculation device 220. Input / output device 210 includes various input devices and output devices, such as a keyboard, a mouse, a microphone, a display, a speaker, and a touch panel.

[0032] Positioning device 215 acquires terminal position information indicating the position of monitoring terminal 200 at each time. For example, positioning device 215 measures the position of monitoring terminal 200 at a predetermined interval (for example, every 10 seconds) and outputs terminal position information indicating the measured position to computing device 220. For example, positioning device 215 may include a GNSS (Global Navigation Satellite System) receiver, a quantum compass, etc. Note that if the position of monitoring terminal 200 is fixed, positioning device 215 may be omitted.

[0033] The communication device 230 is communicatively connected to the network 20 and communicates with each device via the network 20. For example, the communication device 230 transfers a signal acquired from the work monitoring device 300 to the calculation device 220. The communication device 230 also transfers a signal generated by the calculation device 220 to the work monitoring device 300. The communication device 230 may acquire information from another device without going through the network 20. For example, the communication device 230 may acquire information from another device via any storage medium, such as a memory card or a Universal Serial Bus (USB) memory. The communication device 230 may also acquire information from another device directly connected via a USB or the like. The communication device 230 includes various interfaces, such as a transceiver used for wireless communication, such as a wireless local area network (LAN) or a cellular network, a network interface card (NIC), a USB, and a communication terminal.

[0034] The storage device 240 stores various data for monitoring the operation apparatus 100, such as a monitoring program 410. The storage device 240 is used as a non-transitory tangible storage medium for storing the monitoring program 410. The monitoring program 410 may be provided as a computer program product recorded on a computer-readable storage medium 2, or may be provided as a computer program product downloadable from a server.

[0035] The arithmetic device 220 reads out and executes the monitoring program 410 from the storage device 240, and performs various data processing for monitoring the maintenance device 100. For example, the arithmetic device 220 includes a central processing unit (CPU) and the like.

[0036] By reading and executing the monitoring program 410, the arithmetic device 220 cooperates with the storage device 240 to implement a monitoring start unit 250, a monitoring detachment unit 260, and a display unit 270, as shown in FIG. 6 . The monitoring start unit 250 performs an operation to start monitoring the operational device 100. For example, the monitoring start unit 250 notifies the monitor using the own device that monitoring of the operational device 100 will begin. For example, when taking over monitoring of the operational device 100 from a monitor using another monitoring terminal 200, the monitoring start unit 250 notifies the monitor using the own device that monitoring of the operational device 100 has been taken over. The monitoring detachment unit 260 performs an operation to hand over monitoring of the operational device 100 to the other monitor. For example, the monitoring detachment unit 260 outputs a request signal requesting that monitoring of the operational device 100 be switched to the other monitor. The display unit 270 displays information for monitoring the operational device 100. For example, the display unit 270 displays status information that indicates the status of the work device 100 being monitored.

[0037] Next, the configuration of the work monitoring device 300 will be described. As shown in Fig. 8, the work monitoring device 300 includes an input / output device 310, a calculation device 320, a communication device 330, and a storage device 340. The work monitoring device 300 is a computer that includes, for example, a cloud server. Information used by the calculation device 320 to execute processing is input to the input / output device 310. The input / output device 310 also outputs the results of processing executed by the calculation device 320. The input / output device 310 includes various input and output devices, such as a keyboard, a mouse, a microphone, a display, a speaker, and a touch panel. The input / output device 310 may be omitted.

[0038] The communication device 330 is communicatively connected to the network 20 and communicates with each device via the network 20. The communication device 330, for example, transfers status information acquired from the maintenance device 100 to the arithmetic device 320. The communication device 330 also transfers a request signal acquired from the monitoring terminal 200 to the arithmetic device 320. The communication device 330 includes various interfaces, for example, a network interface card (NIC) and a universal serial bus (USB).

[0039] The storage device 340 stores various data for changing the supervisor of the work device 100, such as supervisor data 420, control data 430, monitoring history data 440, monitoring plan data 450, and a work monitoring program 460. The storage device 340 is used as a non-transitory tangible storage medium that stores the work monitoring program 460. The work monitoring program 460 may be provided as a computer program product recorded on a computer-readable storage medium 3, or may be provided as a computer program product downloadable from a server.

[0040] The monitor data 420 stores monitor information representing information related to the monitors who monitor each maintenance apparatus 100. The monitor information represents each maintenance apparatus 100 in association with a monitor who belongs to a monitoring group that can monitor that maintenance apparatus 100. For example, when a manager included in a monitoring group associated with a certain maintenance apparatus 100 is not included in a monitoring group associated with another maintenance apparatus 100, this indicates that the monitor can monitor that maintenance apparatus 100 but cannot monitor the other maintenance apparatuses 100. The monitor information may also include information representing the monitor in association with the monitoring terminal 200 used by the monitor.

[0041] The control data 430 stores control information that represents the operation of the implement 100 when it automatically moves and performs work in the fields 500. For example, the control information represents the route that the implement 100 moves when performing work in each field 500. The control information may also represent the height of the work machine 105 towed by the implement 100 at each position on the route.

[0042] The monitoring history data 440 stores monitoring history information indicating the time during which each monitor monitored each working device 100. For example, as shown in FIG. 9, the monitoring history data 440 stores monitoring history information indicating the monitor monitoring each working device 100 at each time. The example shown in FIG. 9 indicates that monitor A visually monitored working device X from 9:00 to 10:20. Furthermore, monitor B visually monitored working device X from 10:20 to 10:45, and monitor B visually monitored working device X from 11:00 to 11:25. Furthermore, monitor C remotely monitored working device X from 11:25 to 12:55. Here, the period from 10:45 to 11:00, which is not shown in the monitoring history information, indicates, for example, that working device X was not moved automatically. For example, if monitor B manually moved working device X between 10:45 and 11:00, that period is not stored in the monitoring history data 440.

[0043] The monitoring plan data 450 stores monitoring plan information indicating the period during which each supervisor is scheduled to monitor the task apparatus 100. For example, as shown in FIG. 10 , the monitoring plan data 450 stores monitoring plan information indicating the supervisor scheduled to monitor the task apparatus 100 at each time. The example shown in FIG. 10 indicates that a schedule is set for supervisor A to monitor task apparatus X from 2:00 PM to 2:50 PM. Also, a schedule is set for supervisor B to monitor task apparatus X from 2:00 PM to 3:15 PM. A schedule is set for supervisor D to monitor task apparatus X from 3:30 PM to 3:50 PM. A schedule is set for supervisor E to monitor task apparatus X from 4:05 PM to 4:55 PM. Here, the example in FIG. 10 indicates that no supervisor is scheduled to monitor task apparatus X during the periods from 3:15 PM to 3:30 PM and from 3:50 PM to 4:05 PM. The monitoring plan data 450 may include information indicating whether each monitor will monitor visually or remotely.

[0044] 8 reads out and executes the task monitoring program 460 from the storage device 340, and performs various data processing operations to change the supervisor of the task device 100. For example, the task device 320 includes a central processing unit (CPU) and the like.

[0045] By reading and executing the work monitoring program 460, the arithmetic device 320 cooperates with the storage device 340 to implement a data storage unit 350, a monitoring switching unit 360, a status transfer unit 370, and a communication monitoring unit 380, as shown in FIG. 6 . The data storage unit 350 stores supervisor data 420, control data 430, monitoring history data 440, and monitoring plan data 450. The monitoring switching unit 360 determines the next supervisor to monitor the work device 100 when the supervisor is changed. The status transfer unit 370 transfers status information indicating the status of the work device 100 from the work device 100 to the monitoring terminal 200. The communication monitoring unit 380 monitors communication between the work monitoring device 300 and the monitoring terminal 200 of the supervisor currently monitoring the work device 100. The communication monitoring unit 380 also outputs information indicating whether communication with the monitoring terminal 200 is connected to the work device 100.

[0046] (Start monitoring the work equipment) The operation of the work monitoring system 1000 will be described. First, the operation for starting monitoring of the work device 100 will be described. For example, the operation when starting work with the work device 100 moving automatically will be described. For example, when working in a field 500, the worker starts the drive device of the work device 100, such as an engine or electric motor, and moves the work device 100 to the field 500. Once the worker has moved the work device 100 to the field 500, he inputs a start operation into the monitoring terminal 200 to cause the work device 100 to move automatically and perform work. When the start operation is input, the arithmetic unit 220 of the monitoring terminal 200 reads and executes the monitoring program 410 from the storage device 240. When the monitoring program 410 is executed, the arithmetic unit 220 starts the processing shown in FIG. 11, which is part of a work monitoring method.

[0047] In step S110, the monitoring start unit 250, which is realized by the calculation device 220, outputs target field information, which indicates a field 500 where work will be performed by the work device 100, to the work monitoring device 300. For example, the monitoring start unit 250 displays information indicating one or more fields 500 where work can be performed according to the control information registered in the work monitoring device 300. For example, the monitoring start unit 250 displays an image showing a list of one or more fields 500. The user selects the field 500 where work is planned to be performed from the displayed information. The monitoring start unit 250 accepts the information indicating the selected field 500 as target field information. The accepted target field information is output by the monitoring start unit 250 to the work monitoring device 300. In addition, the monitoring start unit 250 may obtain information representing the fields 500 in which control information is registered in advance from the work monitoring device 300 as a list of the fields 500 represented in the control information stored in the control data 430.

[0048] In step S120, the monitoring switching unit 360 of the work monitoring device 300 outputs, based on the target field information, one or more pieces of control information related to the field 500 represented in the target field information to the monitoring terminal 200. For example, the monitoring switching unit 360 searches the control data 430 for one or more pieces of control information that represent work in the field 500 represented in the target field information. The monitoring switching unit 360 outputs the one or more pieces of control information that have been found to the monitoring terminal 200.

[0049] In step S130, the monitoring start unit 250 of the monitoring terminal 200 receives usage control information that indicates control information to be used for work, from among the one or more pieces of control information received from the work monitoring device 300. For example, the monitoring start unit 250 displays a list of the one or more pieces of control information received from the work monitoring device 300 on the input / output device 210. A user, for example, a worker, selects control information that matches the work to be performed in the field 500 from the displayed control information. The monitoring start unit 250 receives the selected control information as usage control information. The received usage control information is output to the work monitoring device 300 by the monitoring start unit 250. The usage control information may include terminal identification information that identifies the monitoring terminal 200. Note that the user may change part of the selected control information and register it as usage control information.

[0050] The usage control information also includes device identification information that identifies the tool 100 performing work in the field 500. The device identification information that identifies the tool 100 performing work in the field 500 is input to the input / output device 210 of the monitoring terminal 200 by the user, for example.

[0051] Furthermore, the usage control information may include monitoring mode information indicating whether the monitor is monitoring working device 100 from a position where the monitor can directly see it or from a position where the monitor cannot directly see it. For example, the monitoring mode information is input by the user to input / output device 210 of monitoring terminal 200.

[0052] In step S140, the monitoring switching unit 360 of the work monitoring device 300 outputs the usage control information acquired from the monitoring terminal 200 to the work device 100 performing work in the field 500. For example, the monitoring switching unit 360 determines whether the monitor has the authority to monitor the work device 100 performing work in the field 500, and outputs the usage control information to the work device 100 based on the determination result.

[0053] In this case, for example, the monitoring switching unit 360 identifies the work device 100 performing work in the field 500 based on the device identification information included in the usage control information. The monitoring switching unit 360 also identifies the user using the monitoring terminal 200 based on the terminal identification information included in the usage control information. For example, the monitoring switching unit 360 extracts information indicating the monitor using the monitoring terminal 200 represented in the terminal identification information from the monitor data 420, and identifies the monitor.

[0054] The monitoring switching unit 360, for example, extracts from the monitor data 420 one or more monitors belonging to a monitor group that can monitor the identified maintenance apparatus 100, and determines whether the identified monitor is included in the extracted one or more monitors. When the identified monitor is included in the monitors that can monitor the maintenance apparatus 100, the monitoring switching unit 360 determines that the identified monitor has the authority to monitor the maintenance apparatus 100. When the identified monitor is not included in the monitor group, the monitoring switching unit 360 determines that the identified monitor does not have the authority to monitor the maintenance apparatus 100.

[0055] When the monitor has the authority to monitor the maintenance device 100, the monitoring switching unit 360 outputs usage control information to the identified maintenance device 100. When the monitor does not have the authority to monitor the maintenance device 100, the monitoring switching unit 360 outputs information indicating that the monitoring terminal 200 does not have the authority to monitor the maintenance device 100.

[0056] 9, the monitoring switching unit 360 registers the user (e.g., "monitoring person A") using the monitoring terminal 200 that output the usage control information as the monitoring person of the maintenance apparatus 100 in the monitoring history data 440. The monitoring switching unit 360 associates the maintenance apparatus 100, the person monitoring the maintenance apparatus 100, and the time at which monitoring starts, and registers these in the monitoring history data 440. Here, the monitoring switching unit 360 determines the time at which the usage control information is acquired from the monitoring terminal 200 as the time at which the monitoring person starts monitoring the maintenance apparatus 100. The monitoring switching unit 360 determines, based on the monitoring mode information included in the usage control information, whether the monitoring person is visually monitoring the maintenance apparatus 100 from a position where the monitoring person can directly see it, or whether the monitoring person is remotely monitoring the maintenance apparatus 100 from a position where the monitoring person cannot directly see it. The determined monitoring mode is stored in the monitoring history data 440 by the monitoring switching unit 360.

[0057] 11 , upon acquiring the usage control information, the automatic movement unit 150 of the task apparatus 100 starts outputting status information indicating the status of the task apparatus 100. For example, the automatic movement unit 150 starts outputting the status information to the task monitoring device 300. Note that the status information may include device position information indicating the position of the task apparatus 100.

[0058] In step S160, the status transfer unit 370 of the work monitoring device 300 transfers the status information acquired from the work device 100 to the monitoring terminal 200.

[0059] In step S170, the display unit 270 of the monitoring terminal 200 displays the status information acquired from the work monitoring device 300 to notify the monitor that monitoring of the work apparatus 100 will begin. For example, as shown in FIG. 3 , the display unit 270 displays an image showing the situation around the work apparatus 100. The display unit 270 also displays an operation image for operating the work apparatus 100 as needed. The user uses the operation image displayed on the input / output device 210 to operate the work apparatus 100 as needed, such as when making an emergency stop.

[0060] In step S180 shown in FIG. 11, the automatic movement unit 150 of the work implement 100 controls the work implement 100 to start work in the field 500 based on the usage control information.

[0061] In this way, when the task apparatus 100 performs a task automatically, the task apparatus 100 is monitored by a supervisor using the monitoring terminal 200. Furthermore, the task monitoring apparatus 300 stores the task apparatus 100, the supervisor monitoring the task apparatus 100, and the time during which the supervisor monitored the task apparatus 100 in association with each other in the monitoring history data 440. In this way, the supervisor monitoring each task apparatus 100 at each time is recorded.

[0062] (End of work equipment monitoring) The operation when the supervisor ends monitoring of the task apparatus 100 will be described. When the automatic movement unit 150 of the task apparatus 100 completes the task performed in accordance with the control information, it stops the task apparatus 100 and outputs stop information to the task monitoring device 300, indicating that the task apparatus 100 has stopped. The monitoring switching unit 360 of the task monitoring device 300 transfers the stop information to the monitoring terminal 200. The display unit 270 of the monitoring terminal 200 notifies the supervisor of the stop information indicating that the task apparatus 100 has stopped. The supervisor confirms the stop information and inputs an end operation to the input / output device 210 to end monitoring of the task apparatus 100. When the display unit 270 receives the end operation from the supervisor, it outputs end information indicating that monitoring will end to the task monitoring device 300. The monitoring switching unit 360 of the task monitoring device 300 stores the end information indicating that monitoring of the task apparatus 100 has ended in the monitoring history data 440, in association with the time when the end information was acquired. For example, the monitoring switching unit 360 stores the time when the end information is acquired as the time when monitoring of the working device 100 ended in the monitoring history data 440. For example, as shown in FIG. 9 , the monitoring switching unit 360 stores the time when the end information is acquired in the monitoring history data 440 as the end time of "monitoring person A."

[0063] Furthermore, while the working apparatus 100 is performing work, the monitor may input a stop operation to the input / output device 210 of the monitoring terminal 200 to stop the working apparatus 100. In this case, the display unit 270 of the monitoring terminal 200 outputs an emergency signal to the work monitoring apparatus 300 to stop the working apparatus 100 based on the stop operation. The monitoring switching unit 360 of the work monitoring apparatus 300 transfers the emergency signal acquired from the monitoring terminal 200 to the working apparatus 100. The automatic movement unit 150 of the working apparatus 100 stops the working apparatus 100 based on the emergency signal. When the working apparatus 100 has stopped, the automatic movement unit 150 outputs stop information to the work monitoring apparatus 300. The subsequent processing is the same as when work performed based on control information is completed, and therefore a detailed description will be omitted.

[0064] In this way, when the supervisor ends monitoring of the work device 100, the monitoring switching unit 360 of the work monitoring device 300 stores in the monitoring history data 440 the fact that monitoring has ended.

[0065] (Work equipment stopped due to communication error) When an abnormality occurs in the communication between the maintenance apparatus 100 and the monitoring terminal 200, the monitor may be unable to monitor the maintenance apparatus 100. For this reason, when an abnormality occurs in the communication between the maintenance apparatus 100 and the monitoring terminal 200, the maintenance apparatus 100 is stopped. The operation of stopping the maintenance apparatus 100 due to a communication abnormality between the maintenance apparatus 100 and the monitoring terminal 200 will be described below. For example, in order to check the communication status between the maintenance apparatus 100 and the monitoring terminal 200, the communication monitoring unit 380 of the work monitoring apparatus 300 starts the processing shown in FIG. 12, which is part of the work monitoring method, when control information is output to the maintenance apparatus 100.

[0066] In step S210, the communication monitoring unit 380 of the work monitoring device 300 checks the communication status with the monitoring terminal 200. For example, the communication monitoring unit 380 checks whether communication with the monitoring terminal 200 has been established. For example, the communication monitoring unit 380 periodically outputs information to the monitoring terminal 200 to check the communication status, and checks the communication status based on a response from the monitoring terminal 200. For example, when the communication monitoring unit 380 does not receive response information representing a response from the monitoring terminal 200 within a predetermined period after outputting information to the monitoring terminal 200, it determines that an abnormality has occurred in communication with the monitoring terminal 200.

[0067] Furthermore, communication monitoring unit 380 may check the status of communication with monitoring terminal 200 based on communication confirmation information periodically transmitted from monitoring terminal 200. For example, when communication monitoring unit 380 does not receive new communication confirmation information from monitoring terminal 200 within a predetermined period after receiving communication confirmation information from monitoring terminal 200, communication monitoring unit 380 determines that an abnormality has occurred in communication with monitoring terminal 200.

[0068] In step S220, the communication monitoring unit 380 periodically outputs communication status information indicating the communication status between the work monitoring device 300 and the monitoring terminal 200 to the work device 100. For example, when the communication monitoring unit 380 determines that an abnormality has occurred in communication with the monitoring terminal 200, it outputs communication status information indicating the communication abnormality to the work device 100. Furthermore, when the communication monitoring unit 380 determines that no abnormality has occurred in communication with the monitoring terminal 200, it outputs communication status information indicating that communication is normal to the work device 100.

[0069] In step S230, the abnormality detection unit 160 of the working device 100 determines whether communication status information has been received from the work monitoring device 300. For example, when the working device 100 is moving automatically, the abnormality detection unit 160 determines whether new communication status information has been received from the work monitoring device 300 within a predetermined period of time since the abnormality detection unit 160 received communication status information from the work monitoring device 300. If new communication status information has been received (YES), the abnormality detection unit 160 determines that communication with the work monitoring device 300 is normal, and executes the processing of step S240. If new communication status information has not been received (NO), the abnormality detection unit 160 determines that an abnormality has occurred in communication with the work monitoring device 300, and executes the processing of step S250.

[0070] In step S240, the abnormality detection unit 160 determines whether the communication status information acquired from the work monitoring device 300 indicates normality. If the communication status information indicates normality (YES), the abnormality detection unit 160 determines that communication with the monitoring terminal 200 via the work monitoring device 300 is normal, and returns to step S210 to repeat the process. If the communication status information indicates an abnormality (NO), the abnormality detection unit 160 determines that an abnormality has occurred in communication with the monitoring terminal 200 via the work monitoring device 300, and executes the process of step S250.

[0071] In step S250, the abnormality detection unit 160 stops the working device 100. For example, the abnormality detection unit 160 activates the brake device of the working device 100 to stop the movement of the working device 100. The abnormality detection unit 160 also stops the transmission of power to the working machine 105 to stop the operation of the working machine 105.

[0072] In this way, the work monitoring system 1000 stops the operation of the work device 100 when an abnormality occurs in the communication between the work device 100 and the monitoring terminal 200. As a result, when it becomes difficult for the monitor to monitor, the work device 100 is automatically stopped.

[0073] (Change of supervisor) The following describes the operation when a supervisor monitoring the working apparatus 100 is replaced. For example, when a supervisor (e.g., a first supervisor) leaves monitoring the working apparatus 100, the supervisor inputs an operation to the input / output device 210 of the monitoring terminal 200 (e.g., the first monitoring terminal 200-1) indicating that the supervisor will leave monitoring the working apparatus 100. When this operation is input, the monitoring departure unit 260 of the first monitoring terminal 200-1 starts the processing shown in Fig. 13, which is part of the work monitoring method.

[0074] In step S310, the monitoring departure unit 260 of the first monitoring terminal 200-1 leaves monitoring of the work device 100 and outputs a takeover request signal to the work monitoring device 300 to request another monitor to take over monitoring of the work device 100.

[0075] In step S320, based on the takeover request signal, the monitoring switching unit 360 of the work monitoring device 300 outputs a takeover confirmation signal to another monitoring terminal 200, for example, the second monitoring terminal 200-2, to confirm the takeover of monitoring of the work device 100. For example, the monitoring switching unit 360 extracts from the monitor data 420 a supervisor of the monitoring group who can monitor the work device 100, and identifies the monitoring terminal 200 used by the extracted supervisor based on the monitor data 420. The monitoring switching unit 360 outputs the takeover confirmation signal to the identified monitoring terminals 200, for example, the second monitoring terminal 200-2, excluding the monitoring terminal 200 that sent the takeover request signal. The takeover confirmation signal may represent, for example, information indicating the work device 100 that is to take over monitoring, such as terminal location information indicating the location of the work device 100 or usage control information indicating the movement route 550 of the work device 100.

[0076] In step S330, the monitoring start unit 250 of second monitoring terminal 200-2 that has received the handover confirmation signal notifies a user, for example, the second monitor, that it has received the handover confirmation signal regarding the monitoring of the maintenance device 100, and accepts acceptance information indicating that the handover is accepted. For example, the monitoring start unit 250 displays information indicating the maintenance device 100 for which monitoring is to be taken over on the input / output device 210 of second monitoring terminal 200-2. The second monitor checks the displayed information about the maintenance device 100 and determines whether or not to take over monitoring of the maintenance device 100. When taking over monitoring, the second monitor inputs an operation to the input / output device 210 to accept the request to take over monitoring. The monitoring start unit 250 of second monitoring terminal 200-2 outputs an acceptance signal indicating that the request to take over monitoring is accepted to the work monitoring device 300.

[0077] The received signal may include monitoring mode information indicating whether the second monitor is monitoring the working device 100 from a position where the second monitor can directly see it or from a position where the second monitor cannot directly see it. For example, the monitoring mode information is input by the second monitor to the input / output device 210 of the second monitoring terminal 200-2.

[0078] In step S340, when the monitoring switching unit 360 of the work monitoring device 300 receives the acceptance signal from the second monitoring terminal 200-2, it starts transferring status information of the work device 100 to the second monitoring terminal 200-2. For example, the monitoring switching unit 360 determines the second monitor using the second monitoring terminal 200-2 that is the sender of the acceptance signal as the monitor who will take over monitoring of the work device 100. At this time, the monitoring switching unit 360 may continue transferring the status information to the first monitoring terminal 200-1.

[0079] 9, the monitoring switching unit 360 changes the monitor of the servicing apparatus 100 from a first monitor (e.g., "monitor A") to a second monitor (e.g., "monitor B") using the second monitoring terminal 200-2 that output the receiving signal. For example, the monitoring switching unit 360 associates the servicing apparatus 100, the monitor who will take over monitoring the servicing apparatus 100, and the time when monitoring will start, and registers these in the monitoring history data 440. Here, the monitoring switching unit 360 determines the time when the receiving signal is received from the second monitoring terminal 200-2 as the time when the monitor will start monitoring the servicing apparatus 100. Based on the monitoring mode information included in the receiving signal, the monitoring switching unit 360 determines whether the monitor is visually monitoring the servicing apparatus 100 from a position where the monitor can directly see it, or whether the monitor is remotely monitoring the servicing apparatus 100 from a position where the monitor cannot directly see it. The determined monitoring mode may be stored in the monitoring history data 440 by the monitoring switching unit 360. Furthermore, monitoring switching unit 360 registers the time at which the acceptance signal is received from second monitoring terminal 200-2 in monitoring history data 440 as the end time of the first monitor's monitoring.

[0080] In step S350 shown in Fig. 13, the display unit 270 of the second monitoring terminal 200-2 displays the status information acquired from the work monitoring device 300, similar to step S170 shown in Fig. 11. The processing in step S350 is similar to the processing in step S170, and therefore a detailed description thereof will be omitted.

[0081] In step S360, the monitoring switching unit 360 of the work monitoring device 300 outputs a withdrawal signal indicating that the first monitor has withdrawn from monitoring the work device 100 to the first monitoring terminal 200-1 of the first monitor that has been monitoring the work device 100. For example, the monitoring switching unit 360 may output an acceptance signal acquired from the second monitoring terminal 200-2 to the first monitoring terminal 200-1 as the withdrawal signal.

[0082] In step S370, the monitoring detachment unit 260 of the first monitoring terminal 200-1 notifies the first monitor that monitoring of the work apparatus 100 has been detached, based on the detachment signal acquired from the work monitoring device 300. For example, the monitoring detachment unit 260 displays information indicating that monitoring of the work apparatus 100 has been handed over to another person on the input / output device 210. The monitoring detachment unit 260 may also notify the first monitor by audio that monitoring of the work apparatus 100 has been handed over to another person.

[0083] In this way, work monitoring system 1000 can change the monitor with the confirmation of the person who will accept the monitoring of work apparatus 100. In this case, the first monitor who has been monitoring work apparatus 100 can take over monitoring without handing over first monitoring terminal 200-1 that is being used for monitoring to the second monitor who will take over monitoring of work apparatus 100. Furthermore, when monitoring of work apparatus 100 is handed over from the first monitor to the second monitor, status information of work apparatus 100 is transferred to second monitoring terminal 200-2 of the second monitor without delay, so that the monitor can be changed without stopping work on work apparatus 100.

[0084] (Automatic supervisor change) As shown in FIG. 1 , a monitoring terminal 200 may be provided in a monitoring facility 30 where a supervisor is always stationed. The supervisor at the monitoring facility 30 has the authority to monitor multiple work devices 100, and when the supervisor of a work device 100 performing work in a field 500 is no longer present, the supervisor may automatically take over monitoring of the work device 100 without receiving acceptance information indicating that the supervisor accepts the handover from the supervisor who will take over monitoring. For example, the arithmetic unit 220 of the monitoring terminal 200 of the supervisor monitoring the work device 100 may execute the processing shown in FIG. 14 , which is part of the work monitoring method, when displaying status information of the work device 100. For example, the arithmetic unit 220 of the monitoring terminal 200 may execute the processing shown in FIG. 14 , which is part of the work monitoring method, when the supervisor using the own device is monitoring the work device 100.

[0085] In step S410, the monitoring detachment unit 260 of monitoring terminal 200, for example, first monitoring terminal 200-1, determines whether the monitor using the terminal, for example, the first monitor, is monitoring the working apparatus 100. The monitoring detachment unit 260 determines whether the first monitor is monitoring the working apparatus 100, for example, based on the position of first monitoring terminal 200-1. For example, the monitoring detachment unit 260 determines whether the first monitor is monitoring the working apparatus 100 based on the position of first monitoring terminal 200-1 and the position of the working apparatus 100 being monitored. For example, when the distance from the position of first monitoring terminal 200-1 to the position of the working apparatus 100 is equal to or greater than a threshold, the monitoring detachment unit 260 determines that the first monitor is not monitoring the working apparatus 100. In this case, the monitoring detachment unit 260 may acquire the position of the working apparatus 100 from apparatus position information included in the situation information.

[0086] The monitoring detachment unit 260 may also determine whether the monitor is monitoring the task apparatus 100 using information indicating the area of ​​the field 500 in which the task apparatus 100 is performing work. For example, the monitoring detachment unit 260 may determine that the monitor is not monitoring the task apparatus 100 when the position of the monitoring terminal 200 is not included in the area of ​​the field 500. The monitoring detachment unit 260 may also determine that the monitor is not monitoring the task apparatus 100 when the distance from the position of the monitoring terminal 200 to any position in the area of ​​the field 500 is equal to or greater than a threshold. For example, the monitoring detachment unit 260 may determine that the monitor is not monitoring the task apparatus 100 when the distance between the position of the monitoring terminal 200 and the position in the area of ​​the field 500 that is closest to the position of the monitoring terminal 200 is equal to or greater than a threshold.

[0087] Here, the monitoring detachment unit 260 may identify the field 500 in which the task device 100 is working, from the usage control information used to control the task device 100. The monitoring detachment unit 260 may also identify the field 500 in which the task device 100 is working, based on the position of the task device 100. In this case, the monitoring detachment unit 260 may also have information indicating the area of ​​each field 500, search for a field 500 whose area includes the position of the task device 100, and identify the searched field 500 as the field 500 in which the task device 100 is working.

[0088] If the monitoring departure unit 260 determines that the monitor is monitoring the working apparatus 100 (YES), it repeats the process of step S410 until it determines that the monitor is not monitoring the working apparatus 100. If it determines that the monitor is not monitoring the working apparatus 100 (NO), the monitoring departure unit 260 executes the process of step S420.

[0089] In step S420, the monitoring departure unit 260 outputs a departure request signal to the work monitoring device 300, which indicates that the monitor is no longer monitoring the work device 100.

[0090] In step S430, the monitoring switching unit 360 of the work monitoring device 300 determines a supervisor who will take over monitoring of the work device 100 based on the departure request signal. For example, the supervisor data 420 represents a supervisor who is capable of monitoring each work device 100 and who will monitor the work device 100 at the monitoring facility 30, in association with the work device 100. The monitoring switching unit 360 extracts from the supervisor data 420 a supervisor who will monitor the work device 100 at the monitoring facility 30, the work device 100 that was being monitored by the first supervisor. The monitoring switching unit 360 determines the extracted supervisor as the supervisor who will take over monitoring of the work device 100. Based on the supervisor data 420, the monitoring switching unit 360 identifies a monitoring terminal 200 used by the determined supervisor, for example, a second supervisor, such as the second monitoring terminal 200-2. The monitoring switching unit 360 outputs a monitoring request signal to the identified monitoring terminal 200, such as the second monitoring terminal 200-2, requesting monitoring of the work device 100. The monitoring request signal may represent information representing the task apparatus 100, such as apparatus position information representing the position of the task apparatus 100, or usage control information representing the movement path 550 of the task apparatus 100, etc.

[0091] In step S440, based on the monitoring request signal, monitoring start unit 250 of monitoring terminal 200, for example, second monitoring terminal 200-2, notifies the monitor using monitoring terminal 200, for example, the second monitor, that monitoring of maintenance device 100 has begun. For example, upon receiving the monitoring request signal, monitoring start unit 250 displays information indicating that monitoring of maintenance device 100 will begin. Furthermore, monitoring start unit 250 may notify the start of monitoring of maintenance device 100 by audio.

[0092] In step S450, the monitoring switching unit 360 of the work monitoring device 300 starts transferring status information of the work device 100 to the second monitoring terminal 200-2, similar to step S340 shown in Fig. 13. The processing of step S450 is similar to the processing of step S340, and therefore a detailed description thereof will be omitted.

[0093] In step S460, the display unit 270 of the second monitoring terminal 200-2 displays the status information acquired from the work monitoring device 300, similar to step S170 shown in Fig. 11 and step S350 shown in Fig. 13. The processing of step S460 is similar to the processing of step S170 and step S350, and therefore a detailed description thereof will be omitted.

[0094] In step S470, the monitoring switching unit 360 of the work monitoring device 300 outputs a withdrawal signal indicating withdrawal from monitoring the work device 100 to the first monitoring terminal 200-1, similar to step S360 shown in Fig. 13. The processing of step S470 is similar to the processing of step S360, and therefore a detailed description thereof will be omitted.

[0095] In step S480, the monitoring departure unit 260 of the first monitoring terminal 200-1 notifies the first monitoring person of the departure from monitoring the working device 100 based on the departure signal, similar to step S370 shown in Fig. 13. The processing in step S480 is similar to the processing in step S370, and therefore a detailed description thereof will be omitted.

[0096] In this way, the work monitoring system 1000 may automatically change the monitor when it determines that the monitor is not monitoring the work device 100.

[0097] (Setting the monitor during the period when monitoring is not set) As shown in Fig. 10, the work monitoring system 1000 has monitoring plan information that indicates the supervisor scheduled to monitor the work device 100 at each time. During periods when no supervisor is registered in the monitoring plan information, a supervisor at the monitoring facility 30 may automatically take over monitoring. For example, when the computing device 320 of the work monitoring device 300 is running, it may execute the process shown in Fig. 15, which is part of the work monitoring method.

[0098] In step S510, the monitoring switching unit 360 of the work monitoring device 300 extracts unset periods for which no monitor has been set from the monitoring plan data 450. For example, in the example shown in Fig. 10, the monitoring switching unit 360 extracts the period from 15:15 to 15:30 and the period from 15:50 to 16:05 for which no monitor has been set as unset periods.

[0099] In step S520 shown in FIG. 15, the monitoring switching unit 360 determines whether the current time falls within an unset period. When the current time has not reached the start time of the unset period, the monitoring switching unit 360 determines that the current time does not fall within an unset period. On the other hand, when the current time has reached the start time of the unset period, the monitoring switching unit 360 determines that the current time falls within an unset period. When the monitoring switching unit 360 determines that the current time does not fall within an unset period (NO), it repeatedly executes the processing of step S510 and the processing of step S520 until it determines that the current time falls within an unset period. When the monitoring switching unit 360 determines that the current time falls within an unset period (YES), it executes the processing of step S530.

[0100] In step S530, similar to step S430 shown in FIG. 14 , the monitoring switching unit 360 determines a supervisor who will take over monitoring of the working device 100 based on the supervisor data 420. For example, the monitoring switching unit 360 extracts from the supervisor data 420 a supervisor who will monitor the working device 100 at the monitoring facility 30, for which no supervisor has been set. The monitoring switching unit 360 determines the extracted supervisor as the supervisor who will take over monitoring of the working device 100. The monitoring switching unit 360 outputs a monitoring request signal to a monitoring terminal 200 used by the determined supervisor, for example, the second monitoring terminal 200-2, requesting monitoring of the working device 100. The monitoring request signal may represent information representing the working device 100, such as device location information representing the location of the working device 100, or usage control information representing the movement path 550 of the working device 100.

[0101] 14, based on the request signal, monitoring start unit 250 of monitoring terminal 200, for example, second monitoring terminal 200-2, notifies the monitor using monitoring terminal 200, for example, the second monitor, of the start of monitoring of working device 100. The processing of step S540 is similar to the processing of step S440, and therefore a detailed description thereof will be omitted.

[0102] In step S550, the monitoring switching unit 360 of the work monitoring device 300 starts transferring status information of the work device 100 to the second monitoring terminal 200-2, similar to step S340 shown in Fig. 13 and step S450 shown in Fig. 14. The processing of step S550 is similar to the processing of step S340 and step S450, and therefore a detailed description thereof will be omitted.

[0103] In step S560, the display unit 270 of the second monitoring terminal 200-2 displays the status information acquired from the work monitoring device 300, similar to step S170 shown in Fig. 11, step S350 shown in Fig. 13, and step S460 shown in Fig. 14. The processing of step S560 is similar to the processing of step S170, step S350, and step S460, and therefore a detailed description thereof will be omitted.

[0104] In this way, the work monitoring system 1000 may automatically set a monitor when an unset period has elapsed during which no monitor has been set.

[0105] (View monitoring history data) The monitoring history information stored in monitoring history data 440, which indicates the period during which each monitor was involved with each work device 100, is confirmed by the monitor using monitoring terminal 200. For example, the monitor inputs an operation to view the monitoring history information into input / output device 210 of monitoring terminal 200. In response to the monitor's operation, display unit 270 of monitoring terminal 200 outputs a history acquisition signal to work monitoring device 300 to acquire the monitoring history information stored in monitoring history data 440. Data storage unit 350 of work monitoring device 300 outputs the monitoring history information stored in monitoring history data 440 to monitoring terminal 200 based on the history acquisition signal. Display unit 270 of monitoring terminal 200 displays the monitoring history information acquired from work monitoring device 300 on input / output device 110.

[0106] (Variation) The configurations described in the embodiments are merely examples, and the configurations can be changed as long as they do not impair functionality. For example, when a worker starts work in a field 500 using the work device 100, the worker may generate new control information including a new path for the work device 100. For example, the worker moves the work device 100 so that it makes one or more revolutions along the contour of the field 500 where the work will be performed. The automatic movement unit 150 of the work device 100 measures the position of the work device 100 while moving along the contour of the field 500 and outputs the measured device position information to the work monitoring device 300. The data storage unit 350 of the work monitoring device 300 determines the area of ​​the field 500 based on the device position information and outputs information representing the determined area of ​​the field 500 to the monitoring terminal 200. The worker sets a path for the work device 100 to perform in an image representing the area of ​​the field 500 displayed on the monitoring terminal 200, and generates control information. The generated control information is output to the work monitoring device 300 by the monitoring start unit 250 of the monitoring terminal 200 and stored in the control data 430 of the work monitoring device 300. Furthermore, the monitoring switching unit 360 of the work monitoring device 300 executes the processing from step S140 onwards shown in Figure 11 using the control information acquired from the monitoring terminal 200 as the control information to be used. In this way, the work monitoring system 1000 may store the monitor monitoring the work device 100 in the monitoring history data 440 even when performing work on the work device 100 using newly generated control information.

[0107] The control information may further represent a route for moving the work device 100 from the location where it is stored to the field 500. In this case, the worker may automatically move the work device 100 from the location where it is stored to the field 500 and have it perform work in the field 500.

[0108] 11 , the monitoring start unit 250 of the monitoring terminal 200 may output, to the work monitoring device 300, target field information that indicates the field 500 where the work will be performed, as well as device identification information that indicates the work device 100 that will perform the work. In this case, for example, in step S120, the monitoring switching unit 360 of the work monitoring device 300 may output one or more pieces of control information to the monitoring terminal 200 based on the target field information and the work identification information. For example, the monitoring switching unit 360 searches the control data 430 for one or more pieces of control information that indicate work to be performed by the work device 100 indicated in the work identification information in the field 500 indicated in the target field information, and outputs the searched one or more pieces of control information to the monitoring terminal 200.

[0109] 11 , work monitoring system 1000 may determine whether the monitoring mode of the monitor is visual or remote using any method. For example, monitoring initiation unit 250 of monitoring terminal 200 may determine the monitoring mode based on the position of monitoring terminal 200. For example, monitoring initiation unit 250 may determine the monitoring mode based on the positions of task execution device 100 and monitoring terminal 200. For example, monitoring initiation unit 250 may determine the monitoring mode to be remote when the distance between the positions of task execution device 100 and monitoring terminal 200 is equal to or greater than a threshold, and may determine the monitoring mode to be visual when the distance is less than the threshold.

[0110] The monitoring start unit 250 may also determine the monitoring mode based on the area of ​​the field 500 in which the work device 100 will be working and the location of the monitoring terminal 200. For example, the monitoring start unit 250 may determine the monitoring mode to be visual when the location of the monitoring terminal 200 is within the area of ​​the field 500, and may determine the monitoring mode to be remote when the location of the monitoring terminal 200 is not within the area of ​​the field 500. The monitoring start unit 250 may also determine the monitoring mode to be visual when the distance from the location of the monitoring terminal 200 to an arbitrary position in the area of ​​the field 500 is less than a threshold, and may determine the monitoring mode to be remote when the distance is equal to or greater than the threshold. For example, the monitoring start unit 250 may determine the monitoring mode to be visual when the distance between the location of the monitoring terminal 200 and the closest position in the area of ​​the field 500 to the location of the monitoring terminal 200 is less than a threshold. In this case, when the distance between the position of monitoring terminal 200 and the position in the area of ​​farm field 500 that is closest to the position of monitoring terminal 200 is equal to or greater than a threshold, monitoring start unit 250 determines that the monitoring mode is remote.

[0111] The monitoring mode may also be determined by the monitoring switching unit 360 of the work monitoring device 300.

[0112] 11 , the monitoring switching unit 360 of the work monitoring device 300 may output the usage control information to the work device 100 without determining whether the monitor has the authority to monitor the work device 100. For example, when the monitor using the monitoring terminal 200 has the authority to monitor all the work devices 100, the monitoring switching unit 360 may omit this determination process. Furthermore, when the work devices 100 that can be controlled by the monitoring terminal 200 are limited, the monitoring switching unit 360 may omit this determination process.

[0113] In step S150 shown in FIG. 11 , the automatic movement unit 150 of the task apparatus 100 does not need to output status information when a monitor is directly visually monitoring the task apparatus 100. In this case, in step S160, the status transfer unit 370 of the work monitoring apparatus 300 outputs permission information permitting control of the task apparatus 100 to the monitoring terminal 200 instead of status information. In step S170, the monitoring terminal 200 displays an operation image for operating the task apparatus 100 based on the permission information. Note that the status transfer unit 370 does not need to transfer status information in the processes from step S340 to step S350 shown in FIG. 13 , which operate in the same manner as the processes from step S160 to step S170. Similarly, the status transfer unit 370 does not need to transfer status information in the processes from step S450 to step S460 shown in FIG. 14 and the processes from step S550 to step S560 shown in FIG. 15 . In this case, when the monitor is changed, for example, in steps S340, S450, and S560, the monitoring switching unit 360 may output a signal indicating that output of status information is to be stopped to the working device 100. In this case, when the monitoring mode is changed from a visual monitor to a remote monitor, the monitoring switching unit 360 outputs a signal indicating that output of status information is to be started to the working device 100, for example, in steps S340, S450, and S560.

[0114] 12 , the communication monitoring unit 380 of the work monitoring device 300 may communicate the communication status between the work monitoring device 300 and the monitoring terminal 200 to the work device 100 by any method. For example, the communication monitoring unit 380 may periodically output any information, for example, fixed information, to the work device 100 when the communication status between the work monitoring device 300 and the monitoring terminal 200 is normal, and may stop outputting the information to the work device 100 when an abnormality occurs. In this case, in step S230, the abnormality detection unit 160 of the work device 100 determines that communication with the monitoring terminal 200 via the work monitoring device 300 is normal when the information can be received from the work monitoring device 300. Furthermore, when the information cannot be received from the work monitoring device 300, the abnormality detection unit 160 determines that an abnormality has occurred in the communication from the work device 100 to the monitoring terminal 200.

[0115] In step S310 shown in FIG. 13 , the monitoring departure unit 260 of the first monitoring terminal 200-1 may designate a supervisor to take over monitoring of the task apparatus 100 in response to input from a user, for example, the first supervisor. For example, the monitoring departure unit 260 acquires information indicating supervisors who are capable of monitoring the task apparatus 100 from the work monitoring device 300 and displays information indicating a list of supervisors on the input / output device 210. The first supervisor selects a supervisor to take over monitoring of the task apparatus 100 from the displayed supervisors. The monitoring departure unit 260 outputs a handover request signal indicating the selected supervisor to the work monitoring device 300. In step S320, the monitoring switching unit 360 of the work monitoring device 300 outputs a handover confirmation signal to the monitoring terminal 200 used by the supervisor indicated in the handover request signal, confirming the handover of monitoring. Thereafter, the work monitoring system 1000 may execute the processing from step S330 onward shown in FIG. 13 to perform the designated supervisor change.

[0116] Furthermore, when a designated supervisor takes over monitoring, first monitoring terminal 200-1 may communicate directly with second monitoring terminal 200-2 used by the supervisor taking over monitoring. In this case, for example, monitoring departure unit 260 of first monitoring terminal 200-1 outputs a takeover request signal to second monitoring terminal 200-2. Based on the takeover request signal, monitoring initiation unit 250 of second monitoring terminal 200-2 displays information indicating the work device 100 whose monitoring is to be taken over on input / output device 210 of second monitoring terminal 200-2. When the second supervisor takes over monitoring of work device 100, monitoring initiation unit 250 of second monitoring terminal 200-2 outputs an acceptance signal to work monitoring device 300. Thereafter, work monitoring system 1000 may perform the processing from step S340 onwards shown in FIG. 13 to perform the designated supervisor change.

[0117] 13 , when receiving signals from multiple monitoring terminals 200, the monitoring switching unit 360 of the work monitoring device 300 may use any method to determine the monitor who will take over monitoring of the work device 100. For example, the monitoring switching unit 360 may determine that the monitor who uses the monitoring terminal 200 closest to the work device 100 is the monitor who will take over monitoring of the work device 100.

[0118] 14 or 15 , in which the supervisor is automatically switched, the operation of the task apparatus 100 may be stopped if the supervisor determined by the monitoring switching unit 360 of the work monitoring device 300 to take over monitoring is unable to take over monitoring. For example, if the number of task apparatuses 100 that a supervisor at the monitoring facility 30 can simultaneously monitor is determined and the determined supervisor is already monitoring that number of task apparatuses 100, the operation of the task apparatus 100 may be stopped without taking over monitoring of the task apparatus 100. In this case, for example, in step S430 shown in FIG. 14 or step S530 shown in FIG. 15 , the monitoring switching unit 360 of the work monitoring device 300 calculates the number of task apparatuses 100 that the determined supervisor is monitoring, based on the monitoring history data 440. For example, the monitoring switching unit 360 calculates the number of task apparatuses 100 for which the supervisor represents the determined supervisor and for which no end time is set, in the monitoring history data 440 shown in FIG. 9 . When the calculated number reaches the number of maintenance apparatuses 100 that can be monitored, the monitoring switching unit 360 outputs information indicating the stop of operation to the maintenance apparatus 100. The automatic movement unit 150 of the maintenance apparatus 100 stops the maintenance apparatus 100 based on that information.

[0119] The monitor performing monitoring at the monitoring facility 30 represented in the monitor data 420 may be set to change according to the time of day. For example, the monitor performing monitoring at the monitoring facility 30 may be set to change according to the date, for example, the day of the week. The monitor may also be set to change according to the time of day, for example, morning or afternoon.

[0120] Display unit 270 of monitoring terminal 200 used by a supervisor performing monitoring at monitoring facility 30 may constantly display status information of the working device 100 that the supervisor can monitor. In this case, since the status information has already been output to monitoring terminal 200, the processing of step S340 shown in Fig. 13 may be omitted. The processing of step S450 shown in Fig. 14 and step S550 shown in Fig. 15, which execute the same processing as step S340, may also be omitted.

[0121] In step S410 shown in FIG. 14 , the monitoring detachment unit 260 of the monitoring terminal 200 may use any method to determine whether the monitor is monitoring the working apparatus 100. For example, as shown in FIG. 16 , the monitoring terminal 200B may include a sensor 216, such as an optical device that captures an image of the outside, and the monitoring detachment unit 260 may determine whether the monitor is monitoring the working apparatus 100 based on the detection information of the sensor 216, such as an image of the monitor captured using the optical device. For example, when the detection information of the monitor by the sensor 216 indicates that the monitor is looking at information related to the working apparatus 100 displayed on the monitoring terminal 200, the monitoring detachment unit 260 determines that the monitor is monitoring the working apparatus 100, regardless of the position of the monitoring terminal 200. For example, in this case, the monitoring detachment unit 260 may use a learning model that has been trained to determine whether or not the monitor is monitoring the working apparatus 100, and determine whether or not the monitor is monitoring the working apparatus 100 from the captured image of the monitor.

[0122] Furthermore, the monitoring detachment unit 260 may determine that the monitor is monitoring the operating apparatus 100 when a time equal to or greater than a threshold has not elapsed since the input of an operation related to the operating apparatus 100 was detected by the input / output device 210. For example, the monitoring detachment unit 260 acquires the time at which the operation related to the operating apparatus 100 was input to the input / output device 210. For example, when the worker inputs an operation to the input / output device 210 to switch the display of status information showing the status of the operating apparatus 100, the monitoring detachment unit 260 acquires the time at which the operation was input. The monitoring detachment unit 260 may determine that the monitor is monitoring the operating apparatus 100 until a time equal to or greater than the threshold has elapsed from the acquired time, regardless of the location of the monitoring terminal 200.

[0123] Furthermore, the monitor may input an operation to forcibly change the monitoring of the maintenance apparatus 100 to the input / output device 210 of the monitoring terminal 200. For example, the monitoring detachment unit 260 of the monitoring terminal 200 receives forced detachment information by which the monitor forcibly detaches from monitoring the maintenance apparatus 100. When the user inputs an operation to forcibly change the monitoring of the maintenance apparatus 100, the monitoring detachment unit 260 may determine that the forced detachment information has been received, and may start the processing from step S420 onwards shown in FIG.

[0124] In step S520 shown in FIG. 15, the monitoring switching unit 360 of the work monitoring device 300 may determine that the current time falls into the unset period when the current time reaches a reference time determined by the start time of the unset period. For example, when the current time has not reached the reference time (NO), the monitoring switching unit 360 repeatedly executes the processing of step S510 and the processing of step S520 until the current time reaches the reference time. When the current time has reached the reference time (YES), the monitoring switching unit 360 executes the processing of step S530. For example, the reference time may represent a time that is a predetermined time before the start time of the unset period. Alternatively, the reference time may represent a time that is a predetermined time after the start time of the unset period.

[0125] The monitoring history data 440 stored in the work monitoring device 300 may include information indicating a period during which the task apparatus 100 is being manually operated. For example, when the task apparatus 100 is started up, it may output information indicating that it is running, such as terminal location information, to the work monitoring device 300. The monitoring switching unit 360 of the work monitoring device 300 receives information indicating that the task apparatus 100 is running and a supervisor for the task apparatus 100 has not been determined, and determines that the task apparatus 100 is being manually operated. When the monitoring switching unit 360 determines that the task apparatus 100 is being manually operated, it stores the time when it received the information from the task apparatus 100 in the monitoring history data 440 as the time when the task apparatus 100 started to operate manually. When it becomes impossible to obtain the information from the task apparatus 100 or when a supervisor has been determined, it determines that the manual operation of the task apparatus 100 has ended, and the monitoring switching unit 360 stores the end time of the manual operation in the monitoring history data 440.

[0126] Furthermore, when the work device 100 performs work while moving in the field 500 without being monitored by a supervisor, the work monitoring system 1000 may have a period from when the supervisor leaves monitoring the work device 100 until another supervisor begins monitoring the work device 100. In this case, for example, in step S330 shown in FIG. 13 , the monitoring switching unit 360 of the work monitoring device 300 determines that there is no supervisor to take over if it cannot receive an acceptance signal. The monitoring switching unit 360 omits the processes of steps S340 and S350, and in step S360 outputs a departure signal to the monitoring terminal 200 of the supervisor who is monitoring the work device 100. At this time, the monitoring switching unit 360 determines the time when the departure signal is output as the start time of the period during which the work device 100 is performing work without being monitored.

[0127] In this case, when taking over monitoring of an unmonitored maintenance apparatus 100, for example, the monitor inputs information indicating the maintenance apparatus 100 to be monitored to the input / output device 210 of the monitoring terminal 200. The monitoring start unit 250 of the monitoring terminal 200 outputs the information indicating the maintenance apparatus 100 to be monitored to the work monitoring apparatus 300. The monitoring switching unit 360 of the work monitoring apparatus 300 stores in the monitoring history data 440, based on the information acquired from the monitoring terminal 200, that monitoring of the maintenance apparatus 100 by the monitor using the monitoring terminal 200 that sent the information, the start of monitoring of the maintenance apparatus 100. Thereafter, the processing from step S150 onwards shown in FIG. 11 is executed.

[0128] Furthermore, the work monitoring system 1000 may stop the work device 100 when the time that the work device 100 has been working in the field 500 without monitoring reaches a predetermined time. For example, the monitoring switching unit 360 of the work monitoring device 300 extracts, from the monitoring history data 440, the work device 100 that continues working without monitoring, and determines whether a predetermined time has passed since the start of the period without monitoring. When the predetermined time has passed since the start of the period without monitoring, the monitoring switching unit 360 outputs an emergency signal to the work device 100 to stop the work device 100. The automatic movement unit 150 of the work device 100 stops the work device 100 based on the emergency signal.

[0129] Although the example shown is one in which supervisor data 420 stored in work monitoring device 300 stores supervisor information that associates each work device 100 with a supervisor who belongs to a monitoring group and can monitor that work device 100, the example is not limited to this. For example, the supervisor information may associate each work device 100 with a monitoring terminal 200 used by the supervisor who can monitor the work device 100.

[0130] The above-described embodiments and modifications are merely examples, and the configurations described in each embodiment and modification may be arbitrarily modified and / or combined as long as the functions are not impaired. Furthermore, some of the functions described in the embodiments and modifications may be omitted as long as the required functions can be realized. For example, the work monitoring device 300 may execute some or all of the processing of the monitoring terminal 200. Furthermore, the monitoring terminal 200 may execute some or all of the processing of the work monitoring device 300.

[0131] Furthermore, the work monitoring program 460 may include the movement program 400 and may also include the monitoring program 410 .

[0132] Furthermore, the work monitoring system 1000 does not include the work apparatus 100, and may acquire various types of information from, or output control information to, an external work apparatus that is not included in the work monitoring system 1000. Furthermore, the work monitoring system 1000 does not include the monitoring terminal 200, and may acquire various types of information from, or output various types of information to, an external monitoring terminal that is not included in the work monitoring system 1000.

[0133] (Addendum) The work monitoring method, work monitoring system, and work monitoring program described in each embodiment can be described as follows.

[0134] A work monitoring method according to a first aspect includes: outputting a request signal to request that monitoring of the work implement, which is automatically moving and performing work in the field, be handed over from a first monitor who is monitoring the work implement using a first monitoring terminal to a second monitor who is using another monitoring terminal; notifying the second monitor of the start of monitoring the work device based on the request signal; Includes:

[0135] An operation monitoring method according to a second aspect is the operation monitoring method according to the first aspect, Notifying the second monitor of the start of monitoring the work device includes: outputting an acceptance signal indicating acceptance of the start of monitoring of the work device in response to an operation by the second monitor; Including, The work monitoring method includes: notifying the first monitor that monitoring of the work device has been transferred to the second monitor based on the receiving signal; Further includes:

[0136] A work monitoring method according to a third aspect is the work monitoring method according to the first aspect, outputting the request signal determining whether the first monitor is monitoring the work device based on the position of the first monitoring terminal; When it is determined that the first monitor is not monitoring the working device, outputting a departure request signal as the request signal; Includes:

[0137] A work monitoring method according to a fourth aspect is the work monitoring method according to the third aspect, Determining whether the first monitor is monitoring the work device includes: determining whether the first monitor is monitoring the working device based on the position of the working device and the position of the first monitoring terminal; Includes:

[0138] A work monitoring method according to a fifth aspect is the work monitoring method according to the third or fourth aspect, Determining whether the first monitor is monitoring the work device includes: When a threshold time or more has not elapsed since the first monitoring terminal detected an operation input related to the work device by the first monitor, or when information detected by a sensor of the first monitoring terminal indicates that the first monitor is looking at information about the work device displayed on the first monitoring terminal, it is determined that the first monitor is monitoring the work device. Includes:

[0139] A work monitoring method according to a sixth aspect is the work monitoring method according to the first aspect, outputting the request signal receiving forced departure information indicating that monitoring of the work device is to be forcibly discontinued; When the forced departure information is received, outputting a departure request signal as the request signal; Includes:

[0140] A work monitoring method according to a seventh aspect is the work monitoring method according to any one of the third to sixth aspects, Notifying the second monitor of the start of monitoring the work device includes: notifying the second monitor that monitoring of the work device will be started without receiving acceptance information indicating that handover from the second monitor is accepted based on the departure request signal; Includes:

[0141] An eighth aspect of the present invention is a work monitoring method according to any one of the third to seventh aspects, determining, based on the separation request signal, that the second monitor who will take over monitoring of the work device is the second monitor who uses a second monitoring terminal installed in a monitoring facility; Further includes:

[0142] A work monitoring method according to a ninth aspect is the work monitoring method according to the second aspect, determining, based on the reception signal, the second monitor to take over monitoring of the work device; Further includes:

[0143] A work monitoring method according to a tenth aspect is the work monitoring method according to the eighth or ninth aspect, Determining the second monitor includes: outputting status information representing a status of the work device to a second monitoring terminal used by the second monitor; Includes:

[0144] An operation monitoring method according to an eleventh aspect is the operation monitoring method according to any one of the eighth to tenth aspects, Determining the second monitor includes: The change of the supervisor of the work device from the first supervisor to the second supervisor is stored in the monitoring history data. Includes:

[0145] A work monitoring method according to a twelfth aspect is the work monitoring method according to the eleventh aspect, Displaying information representing the monitor stored in the monitoring history data. Further includes:

[0146] A work monitoring method according to a thirteenth aspect is the work monitoring method according to the second aspect, based on the request signal, outputting a takeover confirmation signal to a monitoring terminal, excluding the first monitoring terminal, among a plurality of monitoring terminals used by a plurality of monitors belonging to a monitoring group capable of monitoring the maintenance device, to confirm takeover of monitoring of the maintenance device. further comprising outputting the acceptance signal receiving acceptance information indicating that the second monitor will start monitoring the work device based on the takeover confirmation signal; When the reception information is received, the reception signal is output. Includes:

[0147] A work monitoring method according to a fourteenth aspect is the work monitoring method according to any one of the first to thirteenth aspects, Storing a visual monitoring period that is registered in advance and monitors the work equipment that moves automatically in the field while performing work from a position where the work equipment can be directly observed; determining whether the current time falls within an unset period that is not included in the visual monitoring period; When it is determined that the current time falls within the unset period, the second monitor is notified that monitoring of the work device will be started without receiving acceptance information indicating that the second monitor, who uses a second monitoring terminal located in a position where the work device cannot be directly seen, will accept the handover. Further includes:

[0148] A work monitoring method according to a fifteenth aspect is the work monitoring method according to any one of the first to fourteenth aspects, monitoring a first communication between the first monitoring terminal and a work monitoring device that receives the request signal from the first monitoring terminal; monitoring a second communication between the work monitoring device and the work device; When either the first communication or the second communication is disconnected, stopping the operation device; Further includes:

[0149] A work monitoring method according to a sixteenth aspect includes: Storing a visual monitoring period that is registered in advance and monitors the work equipment that moves automatically in the field while performing work from a position where the work equipment can be directly observed; determining whether the current time falls within an unset period that is not included in the visual monitoring period; when it is determined that the current time falls within the unset period, notifying the second monitor that monitoring of the work device will be started without receiving acceptance information indicating that handover from a second monitor using a second monitoring terminal located in a position where the work device cannot be directly seen is accepted; Includes:

[0150] A work monitoring method according to a seventeenth aspect includes: monitoring a first communication between a first monitoring terminal used by a first monitor who monitors a work implement that is automatically moving and working in a field, and a work monitoring device that transfers an emergency signal from the first monitoring terminal; monitoring a second communication between the work monitoring device and the work device; When either the first communication or the second communication is disconnected, stopping the operation device; Includes:

[0151] A work monitoring system according to an eighteenth aspect includes: a monitoring separation unit that outputs a request signal requesting that monitoring of the working device, which is automatically moving and performing work in a field, be handed over from a first monitor who is monitoring the working device using a first monitoring terminal to a second monitor who is using another monitoring terminal; a monitoring receiving unit that notifies the second monitor that monitoring of the work device will begin based on the request signal; Equipped with.

[0152] A work monitoring system according to a nineteenth aspect includes: a data storage unit that stores a pre-registered visual monitoring period for monitoring a work device that automatically moves around in a farm field while performing work, from a position where the work device can be directly observed; a monitoring switching unit that determines whether the current time falls within an unset period that is not included in the visual monitoring period, and when it determines that the current time falls within the unset period, notifies the second monitor that monitoring of the work device will be started without receiving acceptance information indicating that handover from the second monitor is accepted; Equipped with.

[0153] A work monitoring system according to a twentieth aspect includes: a communication monitoring unit that monitors first communication between a first monitoring terminal used by a first monitor who monitors a work implement that is automatically moving around in a field while performing work, and a work monitoring device that transfers an emergency signal from the first monitoring terminal; an abnormality detection unit that monitors second communication between the work monitoring device and the work device, and stops the work device when either the first communication or the second communication is disconnected; Equipped with.

[0154] A work monitoring program according to a twenty-first aspect includes: outputting a request signal to request that monitoring of the work implement, which is automatically moving and performing work in the field, be handed over from a first monitor who is monitoring the work implement using a first monitoring terminal to a second monitor who is using another monitoring terminal; notifying the second monitor of the start of monitoring the work device based on the request signal; The calculation device executes the following.

[0155] A work monitoring program according to a twenty-second aspect includes: Storing a visual monitoring period that is registered in advance and monitors the work equipment that moves automatically in the field while performing work from a position where the work equipment can be directly observed; determining whether the current time falls within an unset period that is not included in the visual monitoring period; When it is determined that the current time falls within the unset period, starting monitoring of the operating device using a second monitoring terminal that is placed in a position where the operating device cannot be directly seen; The calculation device executes the following. [Explanation of symbols]

[0156] 1, 2, 3: Storage medium 20: Network 30: Surveillance Facility 100: Work equipment 105: Work machines 110: Input / output device 115: Positioning device 120: Arithmetic device 130: Communication equipment 140: Storage device 150: Automatic moving unit 160: Abnormality detection unit 200: Monitoring terminal 210: Input / output device 215: Positioning equipment 216: Sensor 220: Arithmetic device 230:Communication equipment 240: Storage device 250: Monitoring start part 260: Surveillance Detachment Department 270: Display section 300: Work monitoring device 310: Input / output device 320: Arithmetic device 330: Communication equipment 340 :Storage device 350: Data storage unit 360: Monitoring switch unit 370: Status Transfer Unit 380: Communications Monitoring Department 400: Travel Program 410: Monitoring program 420: Monitor Data 430: Control data 440: Monitoring history data 450: Monitoring plan data 460: Work Monitoring Program 500: Field 510 :Ran 550: Travel route 600: Surroundings display range 1000: Work monitoring system

Claims

1. outputting a request signal requesting that monitoring of the work implement, which is automatically moving and performing work in the field, be handed over from a first monitor who is monitoring the work implement using a first monitoring terminal to a second monitor who is using another monitoring terminal; notifying the second monitor of the start of monitoring the work device based on the request signal; A work monitoring method including:

2. Notifying the second monitor of the start of monitoring the work device includes: outputting an acceptance signal indicating acceptance of the start of monitoring of the work device in response to an operation by the second monitor; Including, The work monitoring method includes: Based on the reception signal, the first monitor is notified that the second monitor has taken over monitoring of the work device. The method of claim 1 further comprising:

3. outputting the request signal determining whether the first monitor is monitoring the work device based on the location of the first monitoring terminal; When it is determined that the first monitor is not monitoring the working device, outputting a separation request signal as the request signal; The work monitoring method according to claim 1 , further comprising:

4. Determining whether the first monitor is monitoring the work device includes: determining whether the first monitor is monitoring the work device based on the position of the work device and the position of the first monitoring terminal; The work monitoring method according to claim 3, further comprising:

5. Determining whether the first monitor is monitoring the work device includes: When a threshold time has not elapsed since the first monitoring terminal detected an operation input related to the work device by the first monitor, or when a sensor of the first monitoring terminal indicates that the first monitor is looking at information about the work device displayed on the first monitoring terminal, it is determined that the first monitor is monitoring the work device. The work monitoring method according to claim 3, further comprising:

6. outputting the request signal receiving forced departure information indicating that monitoring of the work device is to be forcibly discontinued; When the forced departure information is received, outputting a departure request signal as the request signal; The work monitoring method according to claim 1 , further comprising:

7. Notifying the second monitor of the start of monitoring the work device includes: Based on the separation request signal, the second monitor is notified that monitoring of the work device will be started without receiving acceptance information indicating that the second monitor will accept the takeover from the second monitor. The work monitoring method according to any one of claims 3 to 6, further comprising:

8. determining, based on the separation request signal, that the second monitor who will take over monitoring of the work device is the second monitor who uses a second monitoring terminal installed in a monitoring facility; The method of claim 3 further comprising:

9. determining, based on the reception signal, the second monitor to take over monitoring of the working device; The method of claim 2 further comprising:

10. Determining the second monitor includes: outputting status information representing a status of the work device to a second monitoring terminal used by the second monitor; The work monitoring method according to claim 8 or 9, further comprising:

11. Determining the second monitor includes: The change of the supervisor of the work device from the first supervisor to the second supervisor is stored in the monitoring history data. The work monitoring method according to claim 8 or 9, further comprising:

12. Displaying information representing the monitor stored in the monitoring history data. The method of claim 11 further comprising:

13. Based on the request signal, a takeover confirmation signal is output to a monitoring terminal, excluding the first monitoring terminal, among a plurality of monitoring terminals used by a plurality of monitors belonging to a monitoring group that can monitor the work device, to confirm that the monitoring of the work device will be taken over. further comprising outputting the acceptance signal receiving acceptance information indicating that the second monitor will start monitoring the work device based on the takeover confirmation signal; When the reception information is received, the reception signal is output. The work monitoring method according to claim 2, further comprising:

14. Storing a visual monitoring period that is registered in advance and monitors the work equipment that moves automatically in the field while performing work from a position where the work equipment can be directly observed; determining whether the current time falls within an unset period that is not included in the visual monitoring period; When it is determined that the current time falls within the unset period, the second monitor is notified that monitoring of the work device will be started without receiving acceptance information indicating that the second monitor, who uses a second monitoring terminal located in a position where the work device cannot be directly seen, will accept the handover. The work monitoring method according to claim 1 , further comprising:

15. monitoring a first communication between the first monitoring terminal and a work monitoring device that receives the request signal from the first monitoring terminal; monitoring a second communication between the work monitoring device and the work device; When either the first communication or the second communication is disconnected, stopping the operation device; The work monitoring method according to claim 1 , further comprising:

16. Storing a visual monitoring period that is registered in advance and monitors the work equipment that moves automatically in the field while performing work from a position where the work equipment can be directly observed; determining whether the current time falls within an unset period that is not included in the visual monitoring period; When it is determined that the current time falls within the unset period, notifying the second monitor that monitoring of the work device will begin without receiving acceptance information indicating that handover from a second monitor using a second monitoring terminal located in a position where the work device cannot be directly seen is accepted; A work monitoring method including:

17. monitoring a first communication between a first monitoring terminal used by a first monitor who monitors a work tool that is automatically moving around in a field while performing work, and a work monitoring device that transfers an emergency signal from the first monitoring terminal; monitoring a second communication between the work monitoring device and the work device; When either the first communication or the second communication is disconnected, stopping the operation device; A work monitoring method including:

18. a monitoring separation unit that outputs a request signal requesting that monitoring of the work implement, which is automatically moving and performing work in a field, be handed over from a first monitor who is monitoring the work implement using a first monitoring terminal to a second monitor who is using another monitoring terminal; a monitoring receiving unit that notifies the second monitor that monitoring of the work device will begin based on the request signal; A work monitoring system comprising:

19. a data storage unit that stores a pre-registered visual monitoring period for monitoring a work device that automatically moves around in a farm field while performing work, from a position where the work device can be directly observed; a monitoring switching unit that determines whether the current time falls within an unset period that is not included in the visual monitoring period, and when it determines that the current time falls within the unset period, notifies the second monitor that monitoring of the work device will be started without receiving acceptance information indicating that handover from the second monitor is accepted; A work monitoring system comprising:

20. a communication monitoring unit that monitors first communication between a first monitoring terminal used by a first monitor who monitors a work tool that is automatically moving around in a field while performing work, and a work monitoring device that transfers an emergency signal from the first monitoring terminal; an abnormality detection unit that monitors second communication between the work monitoring device and the work device, and stops the work device when either the first communication or the second communication is disconnected; A work monitoring system comprising:

21. outputting a request signal requesting that monitoring of the work implement, which is automatically moving and performing work in the field, be handed over from a first monitor who is monitoring the work implement using a first monitoring terminal to a second monitor who is using another monitoring terminal; notifying the second monitor of the start of monitoring the work device based on the request signal; A work monitoring program that causes a computing device to execute the above.

22. Storing a visual monitoring period that is registered in advance and monitors the work equipment that moves automatically in the field while performing work from a position where the work equipment can be directly observed; determining whether the current time falls within an unset period that is not included in the visual monitoring period; When it is determined that the current time falls within the unset period, starting monitoring of the working device using a second monitoring terminal that is placed in a position where the working device cannot be directly seen; A work monitoring program that causes a computing device to execute the above.

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