Work classification device, work classification method, and program

Abstract

To provide a work classification device that classifies the work performed by a moving body into work units using the position information of the moving body and effectively utilizes the position information of the moving body. **Solution**: A work classification device including a processor and a communication unit, wherein the communication unit receives position information and information regarding the object holding state of the moving body from the moving body, and the processor acquires the movement of the moving body between areas based on the position information, and classifies the work of the moving body into work units based on the holding state and the movement of the moving body between areas.

Description

Technical Field

[0001] The present disclosure relates to a work classification device, a work classification method, and a program.

Background Art

[0002] Indoors, such as in a logistics warehouse, there is a moving body that transports goods while performing positioning. Patent Document 1 discloses a cargo location management device that measures the position of a vehicle using positioning technologies such as GPS (Global Positioning System), wireless LAN (Local Area Network) positioning, and infrared positioning.

[0003] Non-Patent Document 1 discloses a positioning method called Visual-SLAM (Visual Simultaneous Localization and Mapping). In Visual-SLAM, a moving body equipped with a camera moves while photographing its surroundings, and calculates the movement amount of the moving body based on the movement amounts of feature points in a plurality of photographed images. Thus, in Visual-SLAM, it is possible to estimate the current position of the moving body or generate a map based on the trajectory of the moving body. Note that calculating the position, direction, etc. of the moving body based on a plurality of photographed images is referred to as visual odometry. As a function of this visual odometry, the movement amount of the moving body may be calculated based on the movement amounts of feature points in a plurality of photographed images.

[0004] As a positioning method, a positioning method using a marker is also known. For example, the positioning device stores map information including image data of markers installed (attached) on objects such as columns and walls of a building and the installation positions of the markers. The marker information and the installation positions are associated with each other.

[0005] The positioning device calculates the relative position of the moving object with respect to the marker based on the marker image captured by the camera. The positioning device refers to the map information to obtain the installation position of the marker captured by the camera, and calculates the position of the moving object on the map of the map information based on the obtained installation position and the calculated relative position of the moving object with respect to the marker.

[0006] Patent Document 2 discloses a classification system that classifies the operating status of a conveying device using a first signal transmitted from a first detector that detects the movement of the conveying device and a second signal transmitted from a second detector that detects the presence or absence of an article in the conveying device. In Patent Document 2, the area where the conveying device moves is not considered when classifying the operating status of the conveying device.

Prior Art Documents

Patent Documents

[0007]

Patent Document 1

Patent Document 2

Patent Document 3

Non-Patent Documents

[0008]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0009] As described above, several positioning technologies for positioning the position of a moving object have been proposed, and it is desirable that the position information of the moving object obtained by the positioning technology be effectively utilized.

[0010] Non-limiting embodiments of the present disclosure contribute to providing an information processing apparatus, a work classification method, and a program that classify the work performed by a moving object into work units using the position information of the moving object.

Means for Solving the Problems

[0011] A work classification apparatus according to an embodiment of the present disclosure is a work classification apparatus including a processor and a communication unit. The communication unit receives position information and information regarding the state of holding an object of the moving object from the moving object. The processor acquires the movement of the moving object between areas based on the position information, and classifies the work of the moving object into work units based on the holding state and the movement of the moving object between areas.

[0012] A work classification method according to an embodiment of the present disclosure is a work classification method of a work classification apparatus. The method includes receiving position information and information regarding the state of holding an object of the moving object from the moving object, acquiring the movement of the moving object between areas based on the position information, and acquiring the work unit of the moving object based on the holding state and the movement of the moving object between areas.

[0013] A program according to an embodiment of the present disclosure causes a work classification apparatus to execute a process of receiving position information and information regarding the state of holding an object of the moving object from the moving object, acquiring the movement of the moving object between areas based on the position information, and acquiring the work unit of the moving object based on the holding state and the movement of the moving object between areas.

[0014] These general or specific aspects may be implemented in a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium, or may be implemented in any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

Advantages of the Invention

[0015] According to an embodiment of the present disclosure, using the position information of a moving body, the work performed by the moving body can be classified in work units.

[0016] Further advantages and effects in an embodiment of the present disclosure will be clarified from the specification and the drawings. Such advantages and / or effects are provided by some embodiments and the features described in the specification and the drawings respectively, but not all of them are necessarily provided in order to obtain one or more identical features.

Brief Description of the Drawings

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Embodiments for Carrying Out the Invention

[0018] Hereinafter, embodiments of the present disclosure will be described in detail with appropriate reference to the drawings. However, a more detailed description than necessary may be omitted. For example, detailed descriptions of well-known matters and duplicate descriptions of substantially the same configurations may be omitted. This is to avoid making the following description unnecessarily redundant and to facilitate the understanding of those skilled in the art.

[0019] Note that the attached drawings and the following description are provided for those skilled in the art to fully understand the present disclosure, and it is not intended to limit the subject matter described in the claims thereby.

[0020] <Positioning method of a moving object> FIG. 1 is a diagram showing a moving object 2 equipped with a positioning device 1. The moving object 2 is a vehicle such as a forklift or a picking cart, for example. The moving object 2, for example, stores or retrieves goods in a logistics warehouse. The moving object 2 is equipped with a positioning device 1 and a camera 3.

[0021] The positioning device 1 receives image data of an image captured by the camera 3. Based on the image data received from the camera 3, the positioning device 1 measures the position of the moving object 2 by positioning based on image recognition of a marker (image of the marker) attached to an object and positioning based on the amount of movement of feature points in the image such as visual odometry. That is, the positioning device 1 measures the position of the moving object 2 using two positioning methods (see, for example, Patent Document 3).

[0022] Note that the position of the positioning device 1 may be regarded as the position of the moving object 2. That is, the positioning device 1 may measure the position of the positioning device 1 and use it as the position of the moving object 2.

[0023] Hereinafter, positioning based on image recognition of a marker may be referred to as marker positioning, and positioning based on the amount of movement of feature points in an image may be referred to as feature point positioning. Positioning based on marker positioning and feature point positioning may be referred to as a hybrid positioning method.

[0024] The camera 3 is, for example, a stereo camera. The camera 3 may be any camera that outputs image data that allows the positioning device 1 to calculate the distance to an object, and may be a depth camera or a compound eye camera.

[0025] FIG. 2 is a view of the area A2a where the moving body 2 moves, seen from above. The square and circular figures shown in the area A2a indicate objects such as packages stored in a building such as a logistics warehouse, columns of the building, and walls of the building. Markers A2b to A2e are attached to the objects as shown in FIG. 2. In FIG. 2, for ease of understanding, the markers A2b to A2e are drawn on the upper surface of the object, but the markers A2b to A2e may be attached to the side surface of the object so that the camera 3 can easily photograph them.

[0026] The positioning device 1 stores map information (map data) of the area A2a. For example, two-dimensional coordinates are set in the map information.

[0027] The map information includes marker information such as image data of the markers A2b to A2e and position information indicating the attachment positions of the markers A2b to A2e. The marker information and the attachment position are associated with each other.

[0028] Note that the area where the moving body 2 moves may be indoors or outdoors. The attachment may be referred to as installation.

[0029] ·Marker positioning FIG. 3 is a diagram for explaining marker positioning. FIG. 3 shows an image A3a taken by the camera 3. The image A3a includes a marker A3b.

[0030] The positioning device 1 receives the image A3a taken by the camera 3. The positioning device 1 calculates the relative position of the moving body 2 with respect to the marker A3b based on the appearance of the marker, such as the angle (tilt), shape, and size of the image of the marker A3b included in the received image A3a. For example, the positioning device 1 calculates the relative position such as the distance and direction of the moving body 2 with respect to the marker A3b. The positioning device 1 calculates the position (absolute position) of the moving body 2 on the map of the map information based on the calculated relative position and the position information of the marker A3b included in the map information.

[0031] ·Feature point positioning and hybrid positioning There may be no marker A3b at the location where the moving body 2 moves within the area A2a or in the traveling direction of the moving body 2 (the imaging direction of the camera 3). In this case, the positioning device 1 measures the position of the moving body 2 by feature point positioning.

[0032] FIG. 4 is a diagram for explaining feature point positioning. FIG. 4 shows an image A4a captured by the camera 3. The black squares shown in the image A4a indicate the feature points calculated by the positioning device 1. Note that the image A4a does not include a marker.

[0033] The positioning device 1 receives the image A4a captured by the camera 3. When the received image A4a does not include a marker image, the positioning device 1 calculates feature points every 1 frame (it may be n frames. n is a positive integer), and calculates relative movement amounts such as the movement distance and movement direction (rotation angle) of the moving body 2 from the difference (shift) in the positions of the feature points for each 1 frame.

[0034] For example, the positioning device 1 calculates, as feature points, the edges at locations where the shape changes, such as the corners of an object, and locations where the color changes, from the image A4a. The positioning device 1 calculates feature points every 1 frame. The positioning device 1 calculates the relative movement amount of the moving body 2 from the difference in the positions of the feature points for each 1 frame.

[0035] Note that the calculation of feature points is not limited to the above example. Existing techniques may be used for the calculation of feature points. Feature points may be referred to as feature quantities.

[0036] When the positioning device 1 calculates the relative movement amount, it calculates the position of the moving body 2 within the area A2a based on the calculated relative movement amount and the positioning result of marker positioning. For example, the positioning device 1 adds the relative movement amount to the positioning result of marker positioning to calculate the position (absolute position) of the moving body 2 on the map of the map information.

[0037] When the marker is included again in the image received from the camera 3, the positioning device 1 performs marker positioning. When the marker is no longer included in the image received from the camera 3, the positioning device 1 executes feature point positioning based on the position of the moving body 2 measured by marker positioning.

[0038] Thus, when the marker is photographed by the camera 3, the positioning device 1 executes marker positioning, and when the marker is not photographed by the camera 3, the positioning device 1 executes feature point positioning. Thereby, even if the positioning result of the feature point positioning includes an error, the error is corrected by the positioning result of the marker positioning in the hybrid positioning method.

[0039] In addition, the hybrid positioning method has an advantage that, for example, compared with the positioning method of Visual-SLAM, data such as point cloud data of the location where positioning is performed (for example, the area A2a shown in FIG. 2) is not required and the processing is light.

[0040] <Consideration> Although a highly accurate positioning result of the moving body 2 can be easily obtained by hybrid positioning, it is desirable that the obtained positioning result be effectively utilized.

[0041] For example, if the work performed by the moving body 2 can be classified into work contents (work units) such as "warehousing" and "shipping" of luggage using the positioning result obtained by hybrid positioning, the work performance of the moving body 2 can be grasped, or the work efficiency of the moving body 2 can be improved.

[0042] Therefore, in the present disclosure, the work performed by the moving body 2 is classified into work units using the positioning result of the moving body 2.

[0043] <System Configuration> FIG. 5 is a diagram showing a configuration example of a work classification system according to an embodiment of the present disclosure. As shown in FIG. 5, the work classification system includes the moving body 2 shown in FIG. 1, a work classification device 11, a video storage device 12, and a terminal 13. In FIG. 5, the same components as those in FIG. 1 are denoted by the same reference numerals.

[0044] The work classification device 11 and the video storage device 12 may be configured by an information processing device such as a server or a personal computer, for example. The positioning device 1 and the terminal 13 may be configured by an information processing device such as a tablet or a personal computer, for example.

[0045] The positioning device 1 wirelessly communicates with the video storage device 12 via a wireless network such as Wi-Fi (registered trademark) or local 5G, for example. The positioning device 1 transmits the positioning result of the moving body 2 obtained by hybrid positioning and the image data of the camera 3 to the video storage device 12.

[0046] The work classification device 11 communicates with the video storage device 12 via a network such as the Internet, for example.

[0047] The work classification device 11 receives the positioning result of the moving body 2 measured by the positioning device 1 via the video storage device 12. The work classification device 11 classifies (acquires) the work performed by the moving body 2 in work units using the positioning result of the moving body 2 acquired via the video storage device 12. As will be described later, the work classification device 11 also classifies the work performed by the moving body 2 in work units using information other than the positioning result of the moving body 2.

[0048] The work classification device 11 analyzes the work of the moving body 2 in response to a request from the terminal 13. The work classification device 11 analyzes the work of the moving body 2 using the classified work units and transmits the work analysis result to the terminal 13.

[0049] The video storage device 12 receives the positioning result of the moving body 2 transmitted from the positioning device 1 and the image data of the camera 3. The video storage device 12 transmits the received positioning result of the moving body 2 to the work classification device 11. The video storage device 12 stores the received image data of the camera 3.

[0050] The terminal 13 communicates with the work classification device 11 and the video storage device 12 via a network such as the Internet, for example.

[0051] According to the user's operation, the terminal 13 requests the work analysis result of the mobile body 2 from the work classification device 11. The terminal 13 receives the work analysis result requested from the work classification device 11 and displays it on the display.

[0052] According to the user's operation, the terminal 13 requests the image data of the camera 3 from the work classification device 11. When there is an image data request for the camera 3 from the terminal 13, the work classification device 11 redirects the image data request to the video storage device 12. The video storage device 12 transmits the image data corresponding to the redirect to the terminal 13. The terminal 13 displays an image based on the image data transmitted from the video storage device 12 on the display.

[0053] Note that in FIG. 5, one mobile body 2 is shown, but the work classification system may have two or more mobile bodies.

[0054] <Work unit pattern information> In a logistics warehouse, a mobile body 2 such as a forklift or a picking cart performs operations such as "warehousing" and "shipping" of goods. Here, for example, when the mobile body 2 moves from the berth area to the warehouse area while holding (or gripping) a load, it can be considered that the mobile body 2 has performed a "warehousing" operation. For example, when the mobile body 2 moves from the warehouse area to the berth area while holding a load, it can be considered that the mobile body 2 has performed a "shipping" operation.

[0055] Therefore, based on the state of holding goods in the mobile body 2 and the movement (transition) between areas of the mobile body 2, the work unit of the mobile body 2 is defined.

[0056] FIG. 6 is a diagram showing an example of work unit pattern information defining the work unit of the mobile body 2. The work unit pattern information shown in FIG. 6 is stored in the work classification device 11. The work unit pattern information has information on the area transition shown by the arrow A6a and information on the state of holding goods in the mobile body 2 shown by the arrow A6b.

[0057] As shown by arrow A6a, the area transition information is composed of four pieces of information (patterns). The patterns of the area transition of the mobile body 2 include a pattern in which the mobile body 2 moves from the birth area to the birth area (moves within the birth area), a pattern in which the mobile body 2 moves from the birth area to the warehouse area, a pattern in which the mobile body 2 moves from the warehouse area to the birth area, and a pattern in which the mobile body 2 moves from the warehouse area to the warehouse area (moves within the warehouse area).

[0058] As shown by arrow A6b, the holding state information is composed of two pieces of information (patterns). The patterns of the object holding state in the mobile body 2 include a non-holding pattern in which the mobile body 2 does not hold an object and a holding pattern in which the mobile body 2 holds an object.

[0059] The four pieces of information on area transition and the two pieces of information on holding state are associated with each other, and in each correspondence, the work unit of the mobile body 2 is defined.

[0060] For example, when the mobile body 2 moves from the birth area to the birth area (moves within the birth area) while holding an object, the mobile body 2 can be regarded as performing the work of adjusting the placement of the object within the birth area. Therefore, at the position where "holding" in the work unit pattern information corresponds to "from the birth area to the birth area", the work unit "placement adjustment" is defined.

[0061] For example, when the mobile body 2 moves from the birth area to the warehouse area while holding an object, the mobile body 2 can be regarded as performing the work of storing the object. Therefore, at the position where "holding" in the work unit pattern information corresponds to "from the birth area to the warehouse area" of the area transition, the work unit "warehousing" is defined.

[0062] For example, when the mobile body 2 moves from the warehouse area to the berth area while holding an object, the mobile body 2 can be regarded as performing the outbound operation of the object. Therefore, at the corresponding position of "holding" in the work unit pattern information and "from the warehouse area to the berth area" of the area transition, the work unit "outbound" is defined.

[0063] For example, when the mobile body 2 moves from the warehouse area to the warehouse area (moves within the warehouse area) while holding an object, the mobile body 2 can be regarded as performing the excavation operation (inventory movement operation) of the object. Therefore, at the corresponding position of "holding" in the work unit pattern information and "from the warehouse area to the warehouse area" of the area transition, the work unit "excavation" is defined.

[0064] For example, when the mobile body 2 moves from the berth area to the berth area (moves within the berth area) without holding an object, the mobile body 2 can be regarded as performing a non-holding movement operation. Therefore, at the corresponding position of "non-holding" in the work unit pattern information and "from the berth area to the berth area", the work unit "non-holding movement" is defined.

[0065] For example, when the mobile body 2 moves from the berth area to the warehouse area without holding an object, the mobile body 2 can be regarded as performing a movement operation for outbound. Therefore, at the corresponding position of "non-holding" in the work unit pattern information and "from the berth area to the warehouse area" of the area transition, the work unit "movement for outbound" is defined.

[0066] For example, when the mobile body 2 moves from the warehouse area to the berth area without holding an object, the mobile body 2 can be regarded as performing a movement operation for inbound. Therefore, at the corresponding position of "non-holding" in the work unit pattern information and "from the warehouse area to the berth area" of the area transition, the work unit "movement for inbound" is defined.

[0067] For example, when the mobile body 2 moves from the warehouse area to the warehouse area (moves within the warehouse area) without holding an object, it can be considered that the mobile body 2 is performing a wasteful operation. Therefore, at the position where "non-holding" of the work unit pattern information corresponds to "from the warehouse area to the warehouse area" of the area transition, the work unit "wasteful movement" is defined.

[0068] In the above, four examples are shown as the patterns of area transition, but it is not limited to this. For example, according to the number of areas where the mobile body 2 moves, the pattern of area transition may be increased.

[0069] In the above, two examples are shown as the patterns of the holding state, but it is not limited to this. For example, to the holding state of the object of the mobile body 2, the type, size, or weight of the object held by the mobile body 2 may be added, and the pattern of the holding state may be increased. For example, when the type of the object is added to the pattern of the holding state, as work units, work units corresponding to the type of the object such as the warehousing and outwarehousing of object A and the warehousing and outwarehousing of object B may be added.

[0070] <Classification of Work Units> As shown in FIG. 6, when the work unit pattern information is defined, based on the holding state of the object of the mobile body 2 and the movement between the areas of the mobile body 2, the work performed by the mobile body 2 is classified (discriminated) in the work units of the work unit pattern information.

[0071] FIG. 7 is a diagram for explaining the classification of work units in the mobile body 2. In FIG. 7, there are shown the work image of the mobile body 2, the holding state of the object of the mobile body 2, the area transition of the mobile body 2, and the work unit of the mobile body 2. The 0 and 1 of the holding state shown in FIG. 7 correspond to the 0 and 1 of the holding state shown in FIG. 6. The A and B of the area transition shown in FIG. 7 correspond to the A and B of the area transition shown in FIG. 6.

[0072] The working units of the mobile body 2 can be delimited, for example, at the switching of the holding state of the mobile body 2. In other words, when the mobile body 2 holds an object or lowers it, it can be considered that some operation in the mobile body 2 has switched, and the working unit can be delimited. For example, at the boundaries of the sections A7a, A7b, A7c, and A7d shown in FIG. 7, the working units of the mobile body 2 can be delimited.

[0073] As shown in section A7a of FIG. 7, the mobile body 2 moves within the birth area without holding an object. In this case, the working unit of the mobile body 2 in section A7a is classified as "non-holding movement" based on the non-holding (0) of the working unit pattern information shown in FIG. 6 and the area transition from the birth area (A) to the birth area (A).

[0074] As shown in section A7b of FIG. 7, the mobile body 2 holds an object and moves from the birth area to the warehouse area. In this case, the working unit of the mobile body 2 in section A7b is classified as "warehousing" based on the holding (1) of the working unit pattern information shown in FIG. 6 and the area transition from the birth area (A) to the warehouse area (B).

[0075] As shown in section A7c of FIG. 7, the mobile body 2 lowers the object and moves from the warehouse area to the birth area. In this case, the working unit of the mobile body 2 in section A7c is classified as "movement for warehousing" based on the non-holding (0) of the working unit pattern information shown in FIG. 6 and the area transition from the warehouse area (B) to the birth area (A).

[0076] As shown in section A7d of FIG. 7, the mobile body 2 holds an object and moves from the birth area to the warehouse area. In this case, the working unit of the mobile body 2 in section A7d is classified as "warehousing_2" (the second warehousing operation) based on the holding (1) of the working unit pattern information shown in FIG. 6 and the area transition from the birth area (A) to the warehouse area (B).

[0077] In this way, the operations performed by the mobile body 2 are classified into work units based on the object holding state of the mobile body 2 and the movement between the areas of the mobile body 2. Therefore, if the object holding state of the mobile body 2 and the movement between the areas of the mobile body 2 can be obtained, by referring to the work unit pattern information shown in FIG. 6, the operations of the mobile body 2 are classified in work units.

[0078] Hereinafter, the acquisition of information on the holding state and the acquisition of information on the area where the mobile body 2 is located (mobile body area information) will be described. Note that the mobile body area information is acquired in order to acquire the movement (area transition) between the areas of the mobile body 2.

[0079] · Acquisition of information on the holding state FIGS. 8A and 8B are diagrams for explaining the acquisition of information on the object holding state in the mobile body 2. Here, for simplicity of explanation, the mobile body 2 is described as a forklift.

[0080] The forklift is provided with a camera 3 for photographing the front of the forklift for hybrid positioning. Since the camera 3 photographs the front of the forklift, the fork portion of the forklift is included in the angle of view of the camera 3. Taking advantage of the fact that the fork portion of the forklift, that is, the portion where the object is held (loaded), is included in the angle of view of the camera 3, the positioning device 1 uses the image data of the camera 3 to acquire information on the object holding state of the forklift.

[0081] FIG. 8A shows an image in which a load A8a is held on the fork portion of the forklift. FIG. 8B shows an image of image data in which no load is held on the fork portion of the forklift.

[0082] The positioning device 1 uses existing image analysis techniques to determine whether an object is loaded on the fork portion of the forklift.

[0083] For example, as shown in FIG. 8A, when the fork of the forklift is not included in (not shown in) the image data of camera 3, the positioning device 1 determines that the forklift is holding an object.

[0084] For example, as shown in FIG. 8B, when the fork A8b of the forklift is included in (shown in) the image data of camera 3, the positioning device 1 determines that the forklift is not holding an object.

[0085] In this way, the positioning device 1 determines whether the forklift is holding an object based on the image data of camera 3. That is, the positioning device 1 acquires the holding state of the moving body 2 based on the image data of camera 3.

[0086] The positioning device 1 transmits the positioning result (movement trajectory data) of the moving body 2 including the holding state to the video storage device 12. The movement trajectory data transmitted to the video storage device 12 is transmitted to the work classification device 11. The positioning result (movement trajectory data) of the moving body 2 including the holding state will be described in the following <Movement Trajectory Data>.

[0087] In the above, the positioning device 1 determines whether the forklift is holding an object based on whether the image of the fork is included in the image of camera 3, but it is not limited thereto. For example, the positioning device 1 may acquire information on the holding state of the object based on whether the image of an empty pallet is included in the image of camera 3 or whether the image of an object is included in the image of camera 3.

[0088] Also, the positioning device 1 acquires information on the holding state of the object using the image data of camera 3, but it is not limited thereto. The forklift may be provided with, for example, a weight sensor that measures the weight of the object held by the fork. The positioning device 1 may acquire information on the holding state of the object based on the value of the weight sensor transmitted from the forklift.

[0089] · Acquisition of moving body area information FIG. 9 is a diagram for explaining an area. In FIG. 9, an area A2a in which the moving body 2 shown in FIG. 2 moves is shown. Hatching is applied to the area A2a in FIG. 9 to indicate a birth area A9a and a warehouse area A9b. Note that A and B shown in the parentheses in FIG. 9 correspond to A and B shown in FIGS. 6 and 7.

[0090] Based on the work unit pattern information, a plurality of areas can be set for the area A2a in which the moving body 2 moves. In other words, based on the way of defining the work unit, a plurality of areas can be set for the area A2a in which the moving body 2 moves. For example, when the work unit of the moving body 2 is defined by eight patterns as shown in FIG. 6, the area in which the moving body 2 moves may be classified into two areas, namely, a birth area A9a and a warehouse area A9b, as shown in FIG. 9.

[0091] The work classification device 11 stores information (area information) regarding the area of the area in which the moving body 2 moves. For example, the work classification device 11 stores area information indicating which part of the area A2a is the birth area A9a and which part of the area A2a is the warehouse area A9b.

[0092] FIG. 10 is a diagram showing an example of area information. The area information is stored in the work classification device 11 as described above.

[0093] The area information is indicated, for example, by two-dimensional coordinates in the map information of the area A2a. For example, as shown in FIG. 9, when the area is defined as a quadrilateral, the area information may be defined by the vertices of the quadrilateral as shown in FIG. 10. In this case, it is determined which area the moving body is in based on whether the positioning result of the moving body 2 falls within which quadrilateral indicated by the area information.

[0094] The work classification device 11 receives the positioning result of the moving body 2 via the video storage device 12. The work classification device 11 refers to the area information shown in FIG. 10 based on the received positioning result of the moving body 2 and acquires moving body area information (information on the area where the moving body 2 is located).

[0095] <Moving trajectory data> The positioning device 1 performs hybrid positioning and generates moving trajectory data (positioning results) of the moving object 2.

[0096] FIG. 11 is a diagram for explaining the generation timing of the moving trajectory data. In FIG. 11, a moving route A11a of the moving object 2 is shown. The moving object 2 moves in the direction indicated by the arrow A11b in FIG. 11.

[0097] The positioning device 1 generates moving trajectory data in time series at points A11c, A11d, A11e, A11f, and A11g shown in FIG. 11, for example. Each moving trajectory data at points A11c, A11d, A11e, A11f, and A11g includes information on the holding state of the moving object 2 at the positions of points A11c, A11d, A11e, A11f, and A11g. The generated moving trajectory data is transmitted to the video storage device 12 and also transmitted to the work classification device 11.

[0098] FIG. 12 is a diagram showing an example of the data configuration of the moving trajectory data. As shown in FIG. 12, the moving trajectory data has a cart ID, a cart name, an operator ID, an operator name, a frame number, position coordinates X, Y, a holding state, and a time.

[0099] The cart ID is an identifier assigned to the moving object 2. The cart name is a name assigned to the moving object 2.

[0100] The operator ID is an identifier assigned to the operator who operates the moving object 2. The operator name is the name of the operator who operates the moving object 2.

[0101] The frame number is the frame number of the image captured by the camera 3. The frame number is the frame number of the image frame when the position coordinates described below are measured.

[0102] The position coordinates X, Y are coordinates within the area A2a where the moving object 2 moves. The position coordinates X, Y are obtained by the hybrid positioning of the positioning device 1.

[0103] The holding state indicates the state of holding an object by the moving body 2. For example, the holding state "0" indicates a state where the moving body 2 is not holding an object. The holding state "1" indicates a state where the moving body 2 is holding an object. The holding state is generated based on the image data of the camera 3 as described in the above "acquisition of holding state information".

[0104] The movement trajectory data shown in FIG. 12 is generated by the positioning device 1 mounted on the moving body 2 and transmitted to the video storage device 12. Then, the movement trajectory data is transmitted to the work classification device 11.

[0105] When the work classification device 11 receives the movement trajectory data, it refers to the area information as described in the above "acquisition of moving body area information" and acquires the moving body area information (information on the area where the moving body 2 is located) of the moving body 2.

[0106] For example, the work classification device 11 refers to the area information described in FIG. 10 based on the position coordinates X, Y of the received movement trajectory data of the moving body 2 and acquires the moving body area information of the moving body 2. More specifically, when the position coordinates X, Y of the movement trajectory data are inside the quadrilateral with vertices (xa1, ya1), (xa2, ya2), (xa3, ya3), (xa4, ya4) shown in FIG. 10, the work classification device 11 acquires "birth area (A)" as the moving body area information.

[0107] When the work classification device 11 acquires the moving body area information of the moving body 2, it generates area movement trajectory data (A movement trajectory data) by including it in the movement trajectory data received from the video storage device 12.

[0108] FIG. 13 is a diagram showing an example of the data configuration of the A movement trajectory data. The A movement trajectory data shown in FIG. 13 is different from the movement trajectory data shown in FIG. 12 in that the points have moving body area information.

[0109] The mobile body area information indicates in which area the mobile body 2 is located. For example, the mobile body area information "A" shown in FIG. 13 indicates that the mobile body 2 is located in the berth area.

[0110] <Work unit list> The work classification device 11 generates a work unit list using the work unit pattern information described in FIG. 6 and the A movement trajectory data described in FIG. 13.

[0111] As described in the above <Classification of work units>, the work units of the mobile body 2 can be delimited, for example, at the switching of the holding state of the mobile body 2. Therefore, the work classification device 11 delimits the A movement trajectory data based on the holding state.

[0112] FIG. 14 is a diagram for explaining the delimitation of the A movement trajectory data. FIG. 14 shows the berth area A9a and the warehouse area A9b described in FIG. 9. FIG. 14 shows the movement trajectory A14a of the mobile body 2 indicated by a solid line and the movement trajectory A14b of the mobile body 2 indicated by a dotted line.

[0113] In FIG. 14, the mobile body 2 unloads the load it was holding at point L and moves to point M. The mobile body 2 holds the load at point M and moves to point N. The numbers in the parentheses of L, M, and N shown in FIG. 14 indicate the holding state of the objects of the mobile body 2. Note that point L in FIG. 14 corresponds to, for example, the point of arrow A7e in the work image shown in FIG. 7. Point M in FIG. 14 corresponds to, for example, the point of arrow A7f in the work image shown in FIG. 7. Point N in FIG. 14 corresponds to, for example, the point of arrow A7g in the work image shown in FIG. 7.

[0114] As described above, the mobile body 2 unloads the load it was holding at point L and moves to point M. The mobile body 2 holds the load at point M and moves to point N. Therefore, the A movement trajectory data in the movement trajectory A14a indicated by a solid line includes the holding state of "0". The A movement trajectory data in the movement trajectory A14b indicated by a dotted line includes the holding state of "1".

[0115] The work classification device 11 divides based on the holding state of the A movement trajectory data arranged in time series. In the example of FIG. 14, the work classification device 11 divides the A movement trajectory data arranged in time series from point L to point N in FIG. 14 into the A movement trajectory data from point L to point M and the A movement trajectory data from point M to point N.

[0116] When the work classification device 11 divides the A movement trajectory data while holding it, it refers to the moving body area information within the divided A movement trajectory data and acquires (extracts) the movement (area transition) between the areas of the moving body 2.

[0117] In the example of FIG. 14, by moving from point L to point M, the moving body 2 moves from the warehouse area (B) to the berth area (A). Therefore, the work classification device 11 extracts the area transition from B to A. Also, by moving from point M to point N, the moving body 2 moves from the berth area (A) to the warehouse area (B). Therefore, the work classification device 11 extracts the area transition from A to B.

[0118] When the work classification device 11 extracts an area transition, it refers to the work unit pattern information shown in FIG. 6 based on the extracted area transition and the holding state of the A movement trajectory data divided while being held, and acquires the work unit.

[0119] In the example of FIG. 14, the work classification device 11 acquires "movement for warehousing" as the work unit from point L to point M (also refer to "movement for warehousing" shown in the work unit of FIG. 7). The work classification device 11 acquires "warehousing" as the work unit from point M to point N (also refer to "warehousing_2" shown in the work unit of FIG. 7).

[0120] When the work classification device 11 acquires the work unit of the moving body 2, it generates a work unit list of the moving body 2.

[0121] FIG. 15 is a diagram showing an example of the data configuration of the work unit list. In FIG. 15, elements different from those in FIG. 12 will be described.

[0122] The work unit ID is an identifier for the work unit.

[0123] The start area name indicates the area where the mobile body 2 starts the work of the work unit. The end area name indicates the area where the mobile body 2 ends the work of the work unit.

[0124] The work unit name indicates the name of the work of the work unit executed by the mobile body 2.

[0125] The work start date and time indicate the start date and time of the work unit. The work end date and time indicate the end date and time of the work unit.

[0126] The work time indicates the time required for the work of the work unit executed by the mobile body 2.

[0127] The work unit list is generated one for each delimiter of the A movement trajectory data. For example, in the example of FIG. 14, for the A movement trajectory data from point L to point M, one work unit list is generated. For the A movement trajectory data from point M to point N, one work unit list is generated.

[0128] Note that the start area name of the work unit list from point L to point M in FIG. 14 is "B". The end area name is "A". The work unit name is "Inbound movement". The start area name of the work unit list from point M to point N in FIG. 14 is "A". The end area name is "B". The work unit name is "Inbound".

[0129] <Work analysis> The work classification device 11 visualizes the work of the mobile body 2 in response to a request from the terminal 13. The work classification device 11 visualizes the work of the mobile body 2 based on the generated work unit list and displays it on the display of the terminal 13. When the work unit list is obtained, various work analyses as described below become possible.

[0130] · Work performance FIG. 16 is a diagram showing an example of a screen in work results. On screen A16a, the work results for one day of the cart ID "1234" (operator ID "4321") are displayed. The operations A, B, …, H shown at the top of screen A16a indicate work units that the moving body 2 can execute.

[0131] The horizontal axis displayed on screen A16a indicates work units. The work units on the horizontal axis are arranged in chronological order. For example, in the example of FIG. 16, it shows that operations B, A, C, … were executed in order from operation A at the left end.

[0132] The vertical axis displayed on screen A16a indicates the time (seconds) required for the work of the work unit. For example, it can be seen that the leftmost "Operation A" took about 20 seconds. It can be seen that the "Operation B" executed next to the leftmost "Operation A" took about 35 seconds.

[0133] When a cursor is superimposed on the bar graph of the work unit displayed on screen A16a, a pop-up showing the detailed content of the work unit is displayed. For example, when cursor A16c is superimposed on the bar graph of "Operation A" shown by arrow A16b in FIG. 16, a pop-up A16d showing the start time and end time of "Operation A" is displayed. Note that the work classification device 11 can obtain the start time and end time of "Operation A" from the work start date and time and work end date and time included in the work unit list.

[0134] When the bar graph of the work unit displayed on screen A16a is clicked, a video of the work unit is displayed. For example, when cursor A16c is superimposed on and clicked on the bar graph of "Operation A" shown by arrow A16b in FIG. 16, a video of "Operation A" is displayed. Note that the A movement trajectory data used as the basis for creating the work unit list includes frame numbers (see FIG. 13). The work classification device 11 can display the video of the work of the work unit on the display of the terminal 13 by requesting the video corresponding to the frame number from the video storage device 12.

[0135] ·Overall analysis (KPI: Key Performance Indicator) Figure 17A is a diagram showing an example of a screen in the warehousing task cycle. On screen A17a shown in Figure 17A, the warehousing task cycle for trolley ID "1234" (operator ID "4321") is displayed.

[0136] The horizontal axis displayed on screen A17a indicates the date. The vertical axis indicates the total time (seconds) of the warehousing operations for each date. In the example of screen A17a, it can be seen that as days pass, the time required for the warehousing operations in one day is becoming shorter. The date of the warehousing task cycle to be displayed on screen A17a can be specified from terminal 13. Note that the work classification device 11 can obtain the information of the warehousing task cycle from the work unit name "warehousing" included in the work unit list and the work time.

[0137] Figure 17B is a diagram showing an example of a screen in the shipping task cycle. On screen A17b shown in Figure 17B, the shipping task cycle for trolley ID "1234" (operator ID "4321") is displayed.

[0138] The horizontal axis displayed on screen A17b indicates the date. The vertical axis indicates the total time (seconds) of the shipping operations for each date. In the example of screen A17b, it can be seen that as days pass, the time required for the shipping operations in one day is becoming shorter. The date of the shipping task cycle to be displayed on screen A17b can be specified from terminal 13. Note that the work classification device 11 can obtain the information of the shipping task cycle from the work unit name "shipping" included in the work unit list and the work time.

[0139] ·Partial analysis (time zone analysis) Figure 18 is a diagram showing an example of a screen in the partial analysis. On screen A18a shown in Figure 18, the daily work ratio by time for all trolleys (all operators) is displayed.

[0140] The horizontal axis displayed on screen A18a indicates the time zone. The vertical axis indicates time (seconds). In the example of screen A18a, the ratios of incoming, outgoing, in-out, other, and breaks for each time zone on February 6 are shown. The date of the operation ratio by time to be displayed on screen A18a can be specified from terminal 13. Note that the operation classification device 11 can acquire the information of the operation ratio by time from the operation unit list for all carts on the date specified by terminal 13.

[0141] ·Partial analysis (daily analysis) Figure 19 is a diagram showing an example of a screen in partial analysis. On screen A19a shown in Figure 19, the operation ratio by time for each day for all carts (all operators) is displayed.

[0142] The horizontal axis displayed on screen A19a indicates the date. The vertical axis indicates time (seconds). In the example of screen A19a, the ratios of incoming, outgoing, in-out, other, and breaks for each day from February 6 to February 10 are shown. The date of the operation ratio by day to be displayed on screen A19a can be specified from terminal 13. Note that the operation classification device 11 can acquire the information of the operation ratio by day from the operation unit list for all carts on the date specified by terminal 13.

[0143] <Operation flow> ·Operation flow of the positioning device Figure 20 is a flowchart showing an operation example of the positioning device 1. The positioning device 1 executes the processing of the flowchart shown in Figure 20, for example, at a certain period.

[0144] The positioning device 1 measures the position of the moving body 2 by hybrid positioning (S1).

[0145] The positioning device 1 acquires the object holding state of the moving body 2 based on the image data of the camera 3 (S2).

[0146] The positioning device 1 generates trajectory data including the positioning result of S1 and the holding state acquired in S2 (S3). For example, the positioning device 1 generates the trajectory data shown in Figure 12.

[0147] The positioning device 1 transmits the movement trajectory data generated in S3 to the video storage device 12 (S4).

[0148] In addition, the video storage device 12 transmits the movement trajectory data transmitted from the positioning device 1 to the work classification device 11.

[0149] ·Operation flow of the work classification device FIG. 21 is a flowchart showing an operation example of generating a work unit list by the work classification device 11. The work classification device 11 executes the processing of the flowchart shown in FIG. 21, for example, at a specific time of a day or in response to a request from the terminal 13. It is assumed that the work classification device 11 receives the movement trajectory data from the video storage device 12 and stores it in the storage unit.

[0150] The work classification device 11 refers to the area information based on the position coordinates included in the movement trajectory data and acquires the moving body area information of the moving body 2 (S11). For example, the work classification device 11 refers to the area information shown in FIG. 10 based on the position coordinates X and Y included in the movement trajectory data shown in FIG. 12 and acquires the moving body area information of the moving body 2.

[0151] The work classification device 11 generates A movement trajectory data by including the moving body area information of the moving body 2 acquired in S11 in the movement trajectory data (S12).

[0152] The work classification device 11 divides the A movement trajectory data arranged in time series generated in S12 based on the holding state included in the A movement trajectory data (S13).

[0153] The work classification device 11 refers to the moving body area information in a series of A movement trajectory data divided based on the holding state and acquires the movement (area transition) between areas of the moving body 2 (S14).

[0154] The work classification device 11 refers to the work unit pattern information shown in FIG. 6 based on the area transition acquired in S14 and the holding state of the A movement trajectory data divided by the holding state, and acquires the work unit (S15).

[0155] The work classification device 11 generates a work unit list based on the work unit acquired in S15 and the A movement trajectory data segmented in S13 (S16). For example, the work classification device 11 generates the work unit list shown in FIG. 15.

[0156] FIG. 22 is a flowchart showing an operation example in the work analysis of the work classification device 11. The work classification device 11 receives a work analysis request from the terminal 13 (S21).

[0157] The work classification device 11 processes the information of the work unit list according to the work analysis request received in S21 and generates work analysis image data (S22). For example, the work classification device 11 generates work analysis image data for displaying the screens shown in FIGS. 16 to 19.

[0158] The work classification device 11 transmits the work analysis image data generated in S22 to the terminal 13 (S23).

[0159] <Functional block> · Functional block of the positioning device FIG. 23 is a diagram showing an example of the functional block of the positioning device 1. As shown in FIG. 23, the positioning device 1 includes a control unit 21, an IR (Infrared Rays) camera data receiving unit 22, a WEB camera video receiving unit 23, a positioning unit 24, a holding analysis unit 25, a video compression unit 26, and an upload unit 27.

[0160] The control unit 21 controls each part of the positioning device 1. The control unit 21 controls the hybrid positioning of the positioning device 1 and the acquisition of information on the holding state of an object in the moving body 2. For example, the control unit 21 controls the hybrid positioning by referring to a setting file having information such as the map information of the area A2a where the moving body 2 moves. For example, the control unit 21 controls the acquisition of information on the holding state of an object by referring to a model file used for image analysis of the holding state of the object.

[0161] The IR camera data receiving unit 22 receives the data acquired from the IR camera 3a of the camera 3. The WEB camera video receiving unit 23 receives the video data output from the WEB camera 3b of the camera 3.

[0162] The positioning unit 24 performs hybrid positioning based on the image data of the IR camera 3a received by the IR camera data receiving unit 22, and positions the position of the positioning device 1 (mobile body 2).

[0163] The holding analysis unit 25 acquires information on the object holding state of the mobile body 2 based on the video data of the WEB camera 3b received by the WEB camera video receiving unit 23.

[0164] The video compression unit 26 compresses the video data of the WEB camera 3b received by the WEB camera video receiving unit 23.

[0165] The control unit 21 generates movement trajectory data by including the information on the object holding state of the mobile body 2 in the positioning result of the positioning device 1 measured by the positioning unit 24. The upload unit 27 uploads the movement trajectory data and the compressed video data (compressed image) to the video storage device 12 via the wireless network. Note that the frame number of the video data is linked to the frame number included in the movement trajectory data.

[0166] · Functional blocks of the video storage device FIG. 24 is a diagram showing an example of the functional blocks of the video storage device 12. As shown in FIG. 24, the video storage device 12 includes a control unit 31, a receiving unit 32, an API (Application Programming Interface) 33, a movement trajectory data storage unit 34, a storage 35, a screen unit 36, and a carriage master storage unit 37.

[0167] The control unit 31 controls each part of the video storage device 12. For example, the control unit 31 transmits the movement trajectory data stored in the movement trajectory data storage unit 34 to the work classification device 11.

[0168] The receiving unit 32 receives the movement trajectory data and the compressed image uploaded from the positioning device 1. The API 33 stores the movement trajectory data received by the receiving unit 32 in the movement trajectory data storage unit 34. The API 33 stores the compressed image received by the receiving unit 32 in the storage 35.

[0169] In response to the redirect from the work classification device 11, the screen unit 36 accesses the movement trajectory data storage unit 34 and the storage 35, acquires a predetermined compressed image, and transmits it to the terminal 13.

[0170] The cart master storage unit 37 stores information such as the base information of the base where the moving body 2 such as a logistics warehouse works, the cart ID, the cart name, and the camera ID of the camera 3 mounted on the moving body 2.

[0171] ·Function blocks of the work classification device FIG. 25 is a diagram showing an example of the function blocks of the work classification device 11. As shown in FIG. 25, the work classification device 11 includes a visualization master storage unit 41, a control unit 42, a movement trajectory data storage unit 43, an A movement trajectory data storage unit 44, a work unit list storage unit 45, a base information master storage unit 46, and a screen unit 47.

[0172] The visualization master storage unit 41 stores work unit pattern information (see FIG. 6) and area information (see FIG. 10).

[0173] The control unit 42 controls each part of the work classification device 11. The control unit 42 refers to the visualization master storage unit 41 and the movement trajectory data storage unit 43 to generate A movement trajectory data. The control unit 42 stores the generated A movement trajectory data in the A movement trajectory data storage unit 44.

[0174] The control unit 42 refers to the visualization master storage unit 41 and the A movement trajectory data storage unit 44 to generate a work unit list. The control unit 42 stores the generated work unit list in the work unit list storage unit 45.

[0175] In response to a request from the terminal 13, the control unit 42 refers to the work unit list storage unit 45 and performs work analysis. The control unit 42 transmits the image data of the work analysis result to the terminal 13 via the screen unit 47.

[0176] The base information master storage unit 46 stores the base information of the base where the mobile body 2 such as a logistics warehouse works and the user information of the user who performs work analysis using the terminal 13.

[0177] <Hardware> FIG. 26 is a diagram showing an example of the hardware of the information processing apparatus 50. The positioning device 1, the work classification device 11, and the video storage device 12 may have the hardware configuration shown in FIG. 26. As shown in FIG. 26, the information processing apparatus 50 includes a processor 51, a storage unit 52, an input unit 53, an output unit 54, and a communication unit 55.

[0178] The processor 51 controls the entire information processing apparatus 50. The processor 51 may be configured by, for example, a CPU (Central Processing Unit).

[0179] The storage unit 52 stores a program for the processor 51 to operate. Further, the storage unit 52 stores data for the processor 51 to perform calculation processing, or data for the processor 51 to control each unit, etc. The storage unit 52 may be configured by a storage device such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, and an HDD (Hard Disk Drive).

[0180] The input unit 53 receives a signal from an input device such as a keyboard or a touch panel and outputs it to the processor 51.

[0181] The output unit 54 outputs a signal from the processor 51 to an output device such as a display.

[0182] The communication unit 55 communicates with other devices via short-range wireless communication such as Wi-Fi or Bluetooth (registered trademark), or via a wireless communication network of 3GPP (registered trademark). The communication unit 55 communicates with other devices via a network cable such as an Ethernet cable, for example.

[0183] The control unit 21, the positioning unit 24, the holding analysis unit 25, and the video compression unit 26 shown in FIG. 23 may have their functions realized by the processor 51. The IR camera data receiving unit 22, the WEB camera video receiving unit 23, and the upload unit 27 may have their functions realized by the communication unit 55.

[0184] The control unit 31 and the API 33 shown in FIG. 24 may have their functions realized by the processor 51. The movement trajectory data storage unit 34, the storage 35, and the cart master storage unit 37 may have their functions realized by the storage unit 52. The receiving unit 32 and the screen unit 36 may have their functions realized by the communication unit 55.

[0185] The control unit 42 shown in FIG. 25 may have its function realized by the processor 51. The visualization master storage unit 41, the movement trajectory data storage unit 43, the A movement trajectory data storage unit 44, and the work unit list storage unit 45 may have their functions realized by the storage unit 52. The screen unit 47 may have its function realized by the communication unit 55.

[0186] <Summary of the Embodiment> As described above, the work classification device 11 receives the positioning result (position information) from the moving body 2 and information regarding the state of holding an object by the moving body 2, and acquires the movement of the moving body 2 between areas based on the positioning result. The work classification device 11 acquires the work unit of the moving body 2 based on the received holding state and the movement of the moving body 2 between the acquired areas. Thereby, the work classification device 11 can classify the work executed by the moving body 2 into work units by using the positioning result of the moving body 2. That is, the positioning result of the moving body 2 is effectively utilized by the work classification device 11.

[0187] <Modification Example 1> Although the positioning device 1 measures the position of the moving body 2 by hybrid positioning, it is not limited thereto. The positioning device 1 may measure the position of the moving body 2 by marker positioning, feature point positioning, or other positioning methods.

[0188] <Modification Example 2> Although the positioning device 1 transmits the positioning result of the moving body 2 and the image of the camera 3 to the video storage device 12, it is not limited thereto. The positioning device 1 may transmit the positioning result of the moving body 2 and the image of the camera 3 to the work classification device 11. In this case, the video storage device 12 in the work classification system is omitted.

[0189] <Modification Example 3> Although the positioning device 1 obtains the object holding state of the moving body 2 based on the image data of the camera 3, it is not limited thereto. The work classification device 11 or the video storage device 12 may obtain the object holding state of the moving body 2 based on the image data of the camera 3.

[0190] <Modification Example 4> Although the work classification device 11 displays the work analysis result of the moving body 2 on the display of the terminal 13, it is not limited thereto. The work classification device 11 may display the work analysis result of the moving body 2 on the display included in the work classification device 11.

[0191] <Modification Example 5> The work analysis device 11 may display the movement trajectory of the moving body 2 on the display of the terminal 13 based on the position coordinates included in the movement trajectory data or the A movement trajectory data. The work analysis device 11 may evaluate whether the moving body 2 is moving on the shortest route based on the movement trajectory of the moving body 2. The work analysis device 11 may evaluate the safety of whether the moving body 2 is moving on a safe route based on the movement trajectory of the moving body 2.

[0192] <Modification Example 6> The work system may also be applied to other than a logistics warehouse. For example, the work system may be applied to a system that delivers parts from a material storage area to each process of a manufacturing line in a factory.

[0193] The embodiments have been described above with reference to the drawings, but the present disclosure is not limited to such examples. It is obvious that those skilled in the art can conceive of various modifications or variations within the scope described in the claims. Such modifications or variations are also understood to belong to the technical scope of the present disclosure. Also, within the scope not departing from the spirit of the present disclosure, the components in the embodiments may be arbitrarily combined.

[0194] In the above embodiments, the notation “... part” used for each component may be replaced with other notations such as “... circuitry”, “... assembly”, “... device”, “... unit”, or “... module”.

[0195] The present disclosure can be realized by software, hardware, or software in cooperation with hardware. Each functional block used in the description of the above embodiments is realized, in part or in whole, as an LSI which is an integrated circuit, and each process described in the above embodiments may be controlled, in part or in whole, by one LSI or a combination of LSIs. The LSI may be composed of individual chips, or may be composed of one chip including part or all of the functional blocks. The LSI may have data input and output. Depending on the degree of integration, the LSI may also be referred to as an IC, a system LSI, a super LSI, or an ultra LSI.

[0196] The method of integrating into a circuit is not limited to LSI, and it may be realized by an application specific circuit, a general-purpose processor, or a dedicated processor. Also, after manufacturing the LSI, an FPGA (Field Programmable Gate Array) which can be programmed, or a reconfigurable processor which can reconfigure the connection and setting of circuit cells inside the LSI may be used. The present disclosure may be realized as digital processing or analog processing.

[0197] Furthermore, if a technology for integrating circuits that replaces LSI emerges due to advancements in semiconductor technology or other derived technologies, it is natural that the integration of functional blocks may be performed using such technology. The application of biotechnology, etc. may be possible.

Industrial Applicability

[0198] This disclosure

Explanation of Signs

[0199] 1 Positioning device 2 Moving body 3 Camera 11 Work classification device 12 Video storage device 13 Terminal

Claims

1. A task classification device comprising a processor and a communication unit, The communication unit is receiving location information from a mobile object and information regarding a holding state of an object of the mobile object; The processor, Acquire movement of the mobile object between areas based on the location information; The change in the holding state is used as a boundary between task units, and each task of the mobile object is classified into the task units based on the holding state in the boundary task units and the movement of the mobile object between areas. Work classification device.

2. The processor, acquiring task unit pattern information of task units of the mobile object defined based on a holding state of an object in the mobile object and a movement of the mobile object between areas; classifying, by the task unit pattern information, task units corresponding to combinations of holding states in the divided task units and movements of the mobile object between areas, for each task of the mobile object, by the task unit; The task classification apparatus according to claim 1 .

3. The area referenced by the task unit is an area corresponding to the position information of the start point of the task unit and an area corresponding to the position information of the end point of the task unit. The task classification apparatus according to claim 1 .

4. The processor generates a work unit list including the work units and work times of the work units. The task classification apparatus according to claim 1 .

5. The processor analyzes the work of the mobile object based on the work unit list, and outputs the analysis result to a display of a terminal. The task classification apparatus according to claim 4 .

6. The processor generates graph image data of the task time for each task unit of the mobile object based on the task unit list, and displays the graph image data on a display of a terminal. The task classification apparatus according to claim 4 .

7. When a task unit is specified on the display of the terminal, the processor displays a start time and an end time of the specified task unit on the display of the terminal. The task classification apparatus according to claim 6.

8. When a task unit is specified on the display of the terminal, the processor displays an image captured by a camera mounted on the moving object, which is related to the specified task unit, on the display of the terminal. The task classification apparatus according to claim 6.

9. The holding state indicates whether an object is held or not held by the moving body. The task classification apparatus according to claim 1 .

10. The processor, Acquire movement trajectory data of the moving body from the moving body, divide the movement trajectory data arranged in time series based on a retention state, refer to task unit pattern information based on the movement between the acquired areas and the retention state of the divided movement trajectory data, and acquire task units; The task unit list includes movement trajectory data. The task classification apparatus according to claim 4 .

11. A task classification method for a task classification device, comprising: receiving location information from a mobile object and information regarding a holding state of an object of the mobile object; Acquire movement of the mobile object between areas based on the location information; The change in the holding state is used as a boundary between task units, and each task of the mobile object is classified into the task units based on the holding state in the boundary task units and the movement of the mobile object between areas. Work classification method.

12. The work classification device, receiving location information from a mobile object and information regarding a holding state of an object of the mobile object; Acquire movement of the mobile object between areas based on the location information; The change in the holding state is used as a boundary between task units, and each task of the mobile object is classified into the task units based on the holding state in the boundary task units and the movement of the mobile object between areas. A program that executes a process.

Images