Work time calculation system

Abstract

To solve conventional problems, that is, to provide a working time calculation system capable of calculating a working time of a worker after due consideration of a shape and arrangement of an object.SOLUTION: A working time calculation system for calculating a working time of a mobile body regarding to an object whose position changes, the system includes a receiver, an object radio wave device, a mobile body radio wave device, plane position calculation means, object storage means, mobile body storage means, area setting means, and work determination means. The area setting means reads a planar shape of the corresponding object from the object storage means based on an object identifier, determines a position of the object based on the plane position of the object radio wave device calculated by the plane position calculation means, and then sets an arrangement area and a work area.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technology for calculating the time spent working on an object (hereinafter simply referred to as "object"), and more specifically to a work time calculation system that counts work time using the shape of the object (particularly the shape in a planar view). [Background technology]

[0002] Retaining walls, box culverts, gutters, etc. are sometimes constructed using cast-in-place concrete, but sometimes precast concrete products are used. These products are generally manufactured in factories, and in some cases they are transported and undergo various processes before being completed. Furthermore, specialized workers are assigned to each work area where each process is carried out, meaning that various workers are involved in moving between work areas until the product is completed.

[0003] To determine the appropriate unit price of a product, it is important to consider not only the cost of materials and machinery rentals, but also the labor costs of workers, so it is necessary to understand what type of workers were involved in the production of the product and to what extent. Also, to improve work efficiency by identifying unnecessary work, it is necessary to measure the working hours of each worker.

[0004] There have been various efforts to record which worker worked to what extent on an object, that is, to record the actual working hours. For example, Patent Document 1 proposes a technology in which ID tags are attached to the worker and the object being worked on (object), and when both of them come within the reception range of a receiving antenna, the working hours of the worker on the object are counted. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-115722 Summary of the Invention [Problem to be solved by the invention]

[0006] The technology disclosed in Patent Document 1 makes it possible to record the work time spent on an object for each worker, i.e., to grasp the actual work time, and therefore can be suitably used in situations such as determining the unit price of a product, considering ways to improve work efficiency, and evaluating employees.

[0007] However, the technology disclosed in Patent Document 1 counts work time when the worker (ID tag) and object (ID tag) enter the reception range of the receiving antenna, and is not affected by the shape, size, or position (arrangement) of the object. Therefore, even if the worker is far from the object, that is, even if the worker has no involvement with the object, the work time will be counted as long as the worker and the object are within the reception range of the receiving antenna, which is an inconvenience.

[0008] The object of the present invention is to solve the conventional problems, that is, to provide a work time calculation system that can calculate the work time of a worker while taking into account the shape and arrangement of an object. [Means for solving the problem]

[0009] The present invention focuses on the fact that it identifies an object, sets a work area based on the planar shape corresponding to the object, and determines that a worker is in a "working state" when he or she is inside the work area, and is an invention based on an idea that has not been seen before.

[0010] The work time calculation system of the present invention is a system for calculating the work time of a "mobile body (including a worker and a work robot)" in relation to an "object" whose position changes, and is equipped with a receiving device, an object radio wave device, a mobile body radio wave device, a planar position calculation means, an object storage means, a mobile body storage means, an area setting means, and a work determination means. Of these, the receiving device receives radio waves, the object radio wave device is installed on the object and emits radio waves, the mobile body radio wave device is installed on the mobile body and emits radio waves, and the planar position calculation means is means for determining the "planar position from which radio waves are emitted" in accordance with the radio waves received by the receiving device. However, two or more object radio wave devices are installed on the object. The object storage means is a means for storing an object identifier that identifies an object and the planar shape of the object in association with each other, the mobile object storage means is a means for storing a mobile object identifier that identifies a mobile object and the attribute information of the mobile object in association with each other, the area setting means is a means for setting a placement area of the object based on the planar position and planar shape of the object and for setting a work area expanded from the placement area, and the work determination means is a means for determining that the mobile object is in a "work state (a state in which the mobile object is performing work related to the object)" when the planar position of the mobile object radio wave device obtained by the planar position calculation means is within the work area. The area setting means reads out the planar shape of the corresponding object from the object storage means based on the object identifier related to the object radio wave device, determines the position of the object based on the planar position of the object radio wave device obtained by the planar position calculation means, generates one or more baselines based on the positions of two or more object radio wave devices, and sets the placement area and work area. Furthermore, when the previous baseline orientation (the orientation of the baseline determined previously) and the current baseline orientation (the orientation of the baseline determined currently) differ and the angular difference between the previous baseline orientation and the current baseline orientation is below a predetermined angular difference threshold, the area setting means determines that the previous baseline orientation has not changed and sets the location area of the object.The work determination means then reads out attribute information of the corresponding mobile object from the mobile object storage means based on the mobile object identifier associated with the mobile object radio device, and outputs the time determined to be in a working state as the work time associated with the mobile object.

[0011] The work time calculation system of the present invention may also include a transmitting device instead of a receiving device. In this case, the object-use radio wave device and the mobile-use radio wave device receive radio waves from the transmitting device. The planar position calculation means is a means for determining the "planar positions at which the object-use radio wave device and the mobile-use radio wave device receive radio waves" according to the radio waves received by the object-use radio wave device and the mobile-use radio wave device.

[0012] The work time calculation system of the present invention can also be configured to determine the work status based on a "statistical work unit position." In this case, the planar position calculation means periodically (or intermittently) determines the planar position. The work determination means then statistically processes the planar positions of the mobile radio wave device determined over a predetermined determination period to determine the statistical work unit position, and determines that the work status is in progress when the statistical work unit position is within the work area. The work determination means sequentially determines the statistical work unit position while moving the determination period.

[0013] The work time calculation system of the present invention can also be configured to set the work state for the same mobile object as a "provisional work state" until the work state is determined to exceed a predetermined threshold number of consecutive visits, and to set the work state for the same mobile object as a "definite work state" when the work state is determined to exceed the threshold number of consecutive visits.

[0014] The work time calculation system of the present invention can also be configured to determine that, after being set as a confirmed work state, if the work state of the same mobile object is not determined for a number of consecutive times that exceeds a predetermined exit count threshold, the mobile object is not performing work related to the target object and is in a "non-work state." [Effects of the Invention]

[0015] The operation time calculation system of the present invention has the following effects. (1) The working status of the worker is determined based on the shape and arrangement of the object, so that the actual working time can be grasped more accurately. (2) Since the radio wave device for the object is installed on the object, it is possible to detect the movement of the object, and therefore it is possible to grasp the working time for the moving object. (3) The actual working hours can be recorded for each worker and each object, and by utilizing these records, it is possible to determine the unit price of the product, consider ways to improve work efficiency, evaluate employees, and so on in a rational and efficient manner. (4) When the difference between the previous baseline direction and the current baseline direction is small, it is determined that the object has not moved since the previous time, and the planar position of the object can be determined stably. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a plan view schematically showing a situation in which the operation time calculation system of the present invention is used. [Figure 2] 1 is a block diagram showing the main configuration of an operation time calculation system according to the present invention; [Figure 3] (a) is a plan view showing a schematic representation of a placement area set based on a baseline generated in a rectangular object placement area, and (b) is a plan view showing a schematic representation of a placement area set based on a baseline generated in an L-shaped object placement area. [Figure 4] FIG. 4 is a plan view schematically showing the previous baseline and the current baseline of the object calculated by the planar position calculation means; [Figure 5] FIG. 10 is a model diagram showing a schematic relationship between the determination time and the planar position, the determination result, the determination period, the threshold value for the number of stays, and the threshold value for the number of exits. [Figure 6] FIG. 1 is a flowchart showing an example of the main processing flow of the work time calculation system of the present invention. [Figure 7] FIG. 10 is a flow chart showing an example of a flow of setting a placement area after comparing the previous baseline direction with the current baseline direction, among the main processes of the work time calculation system of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] An example of the work time calculation system of the present invention will be described with reference to the drawings.

[0018] The work time calculation system of the present invention calculates the time spent on work by a moving entity (hereinafter simply referred to as a "mobile body"), such as a worker or a work robot, on an object (i.e., a target object) that is the target of the work. As shown in FIG. 1, when using the work time calculation system 100 of the present invention, a receiving device 101 and a transmitting device are installed near the target object, two or more target radio wave devices 102 are installed on the target object, and a mobile body radio wave device 103 is installed on the mobile body. When installing the mobile body radio wave device 103, the mobile body radio wave device 103 can be attached to the worker's (mobile body's) helmet or clothing, for example. These radio wave devices 102 for the object and radio wave devices 103 for the mobile object are capable of transmitting (or receiving) radio waves, and on the other hand, the receiving device 101 is capable of receiving radio waves from the radio wave devices 102 for the object and radio wave devices 103 for the mobile object (as transmitting means), and the transmitting device is capable of transmitting radio waves to the radio wave devices 102 for the object and radio wave devices 103 for the mobile object (as receiving means). Note that the positions of the objects handled by the work time calculation system 100 can change due to small transport within the work site, removal outside the work site, position adjustment associated with work, etc.

[0019] One of the technical features of the work time calculation system 100 is that it estimates the period during which a mobile object stays near an object as work time. A mobile object is considered to be in the vicinity of an object while performing some kind of work on the object. To determine whether a mobile object is "staying near an object," as shown in Figure 1, an area occupied by the placed object (hereinafter simply referred to as the "placement area") is set, and an area (hereinafter referred to as the "work area") that extends from the placement area (i.e., provides a buffer), is set, and the period during which the mobile object stays within the work area is counted as work time.

[0020] 2 is a block diagram showing the main components of the task time calculation system 100 of the present invention. As shown in this figure, task time calculation system 100 includes a receiving device 101 (or a transmitting device), an object radio wave device 102, a mobile object radio wave device 103, a planar position calculation means 104, an area setting means 105, a task determination means 106, an object storage means 108, and a mobile object storage means 109, and can also include output means 107 such as a display or a printer.

[0021] The planar position calculation means 104, area setting means 105, and task determination means 106 that make up the task time calculation system 100 can be manufactured as dedicated units, or a general-purpose computer device can be used. This computer device includes a processor such as a CPU, memories such as ROM and RAM, and may further include input means such as a mouse and keyboard, and a display (output means 107), and can be configured, for example, by a personal computer (PC) or a cloud server.

[0022] Furthermore, the object storage means 108 and the mobile object storage means 109 can be implemented as a storage device of a general-purpose computer (for example, a personal computer or an external hard disk drive), or can be implemented as a database server. When implemented as a database server, they can be placed on a local network (LAN: Local Area Network), or can be implemented as a cloud server that stores data via the Internet.

[0023] Below, each of the main elements that make up the work time calculation system 100 of the present invention will be described in detail.

[0024] (Radio wave device for target and mobile) In the case where a receiving device is installed, the object radio wave device 102 and the mobile radio wave device 103 can be devices called transmitters that periodically (or intermittently) transmit radio waves. Two or more object radio wave devices 102 are installed on the object to generate a "baseline," which will be described later. Examples of the object radio wave devices 102 and the mobile radio wave devices 103 include BLE tags, beacons, Wi-Fi (registered trademark), and Bluetooth (registered trademark). The radio waves transmitted by the object radio wave device 102 and the mobile radio wave device 103 include a unique identifier (hereinafter referred to as a "transmitter ID") that can identify the device. In other words, the object on which the object radio wave device 102 is installed can be identified by the transmitter ID included in the radio waves transmitted from the object radio wave device 102 (hereinafter referred to as "object radio waves" for convenience). Similarly, the mobile body on which the mobile radio wave device 103 is installed can be identified by the transmitting device ID included in the radio waves transmitted from the mobile radio wave device 103 (hereinafter referred to as "mobile radio waves" for convenience). For convenience, the transmitting device ID included in the object radio waves and capable of identifying the object will be referred to as the "object identifier" and the transmitting device ID included in the mobile radio waves and capable of identifying the mobile body will be referred to as the "mobile body identifier."

[0025] On the other hand, in the case where a transmitting device is installed, the object radio wave device 102 and the mobile radio wave device 103 can be devices called receivers that can receive object radio waves from the transmitting device. Of course, the object radio wave device 102 and the mobile radio wave device 103 receive radio waves every time the transmitting device periodically (or intermittently) transmits the radio waves. Examples of the object radio wave device 102 and the mobile radio wave device 103 include mobile terminals such as smartphones or tablets, and dedicated locators used in the Quuppa Intelligent Locating System (registered trademark), a high-precision real-time positioning system. In this case, the object radio wave device 102 that receives the radio waves has an object identifier, and the mobile radio wave device 103 that receives the radio waves has a mobile identifier.

[0026] (receiving device and transmitting device) As described above, the receiving device 101 is a device called a receiver that is installed near the object and can receive object radio waves from the object radio wave device 102 and mobile radio waves from the mobile radio wave device 103. Of course, the receiving device 101 receives radio waves every time the object radio wave device 102 or the mobile radio wave device 103 periodically (or intermittently) transmits the radio waves. Examples of the receiving device 101 include a mobile terminal such as a smartphone or a tablet, and a dedicated locator used in the high-precision real-time positioning system "Quuppa Intelligent Locating System (registered trademark)." The transmitting device is a device called a transmitter that is installed near the object and transmits radio waves periodically (or intermittently) to the object radio wave device 102 or the mobile radio wave device 103.

[0027] (Object storage means) The object storage means 108 stores information about multiple types of objects, and stores attribute information of the objects in association with object identifiers related to the objects. Here, the attribute information of the object may include the name, type, customer information, material, weight, etc. of the object, as well as dimensions and angles (particularly interior angles) that represent the three-dimensional shape and dimensions and angles that represent the two-dimensional shape (hereinafter referred to as "planar shape"). It may also include the number (two or more) and installation locations of the object-use radio wave devices 102 installed on the object. The installation location of the object-use radio wave device 102 refers to the relative position in the planar shape (external shape and size) of the object. For convenience, this will be referred to as "relative placement" here to distinguish it from the planar position of the object-use radio wave device 102, which will be described later. The relative arrangement and number of the radio wave devices 102 for the object to be installed can be determined in advance according to the planar shape of the object. For example, if the planar shape of the object is rectangular, two or more radio wave devices 102 for the object will be installed at specific positions on the center line in the long axis direction.

[0028] (Mobile storage means) The mobile object storage means 109 stores information about multiple mobile objects, and stores attribute information of the mobile objects in association with the mobile object identifiers associated with the mobile objects. Here, the attribute information of the mobile objects may include the worker's name, occupation, career history, age, and work time history, or the type and model of the work robot, the tasks that can be performed, and the operating time history. The mobile object storage means 109 can also store the work time output by the work time calculation system 100 for each mobile object (i.e., for each mobile object identifier), and can also store the work time after adding (i.e., updating) the work time to the work time history or the operating time history. The object storage means 108 and the mobile object storage means 109 may be implemented in different database servers (or storage devices of a general-purpose computer), or may be implemented as a single database server.

[0029] (Plane position calculation means) The planar position calculation means 104 is a means for calculating the coordinates of the location where the object radio wave device 102 or the mobile radio wave device 103 is installed based on the radio waves (such as the angle of arrival or radio wave intensity) received by the receiving device 101. The planar position calculation means 104 can be configured to perform calculation processing every time the receiving device 101 or the like receives a radio wave, or can be configured to perform calculation processing at a certain interval between receptions (by thinning out the number of receptions). Generally, radio waves transmitted from a close location are received with high intensity, and conversely, radio waves transmitted from a distant location are received with low intensity. Therefore, the distance can be estimated based on the received radio wave intensity, and the coordinates of the point from which the radio waves were transmitted (hereinafter simply referred to as the "transmission point") can also be calculated. In other words, by using the radio waves received by the receiving device 101 or the like, the coordinates of the object radio wave device 102 or the mobile radio wave device 103 can be calculated, thereby determining the location of the object or the mobile body. As will be described later, based on the intensity of the radio waves received by the receiving device 101, it is possible to determine the two-dimensional coordinates and three-dimensional coordinates of the target radio wave device 102 and the mobile radio wave device 103. Here, two-dimensional coordinates are coordinates that indicate a position projected onto a horizontal plane, while three-dimensional coordinates are coordinates that indicate a position in the vertical direction (i.e., height) in addition to the two-dimensional coordinates. For convenience, two-dimensional coordinates will be referred to as "planar position" here.

[0030] When the receiving device 101 is installed, the planar position calculation means 104 can use the AoA (Angle of Arrival) method by the Quuppa Intelligent Locating System (hereinafter abbreviated as "QILS") described above to calculate the planar position of the transmission point. More specifically, when the receiving device 101 (a locator for QILS) receives target radio waves or mobile radio waves, it acquires the azimuth angle of the radio waves (the direction of the radio waves projected on a horizontal plane) and the elevation angle of the radio waves (the direction of the radio waves projected vertically). The planar position calculation means 104, which has received this information from the receiving device 101, calculates the planar position of the transmission point from the azimuth angle and elevation angle of the radio waves. Alternatively, it may calculate an appropriate distance (hereinafter referred to as the "reception distance") based on the received radio wave intensity, and calculate the planar position of the transmission point using the reception distance as a given condition. When one receiving device 101 is installed, the horizontal position of the transmission point is calculated by assuming the installation height (e.g., altitude) of the transmission point in advance, and when two or more receiving devices 101 are installed, the horizontal position can be calculated while determining the three-dimensional coordinates of the transmission point. However, in principle, the receiving device 101 is fixed and does not move, and its installation position (three-dimensional coordinates) is known.

[0031] Furthermore, the planar position of the transmission point can be determined by other methods besides QILS. For example, two or more receiving devices 101 are installed, and the planar position can be determined based on the radio wave intensity from the transmission points (the object-mounted radio wave device 102 and the mobile radio wave device 103) received by these receiving devices 101. More specifically, the reception distance for each receiving device 101 is determined, a circle is drawn with the reception distance as its radius and the installation position of the receiving device 101 as its center, and the point where the two or more circles intersect is determined as the planar position of the transmission point. In this case, if it is possible to assume that the receiving devices 101 and the transmission points are located on the same plane, two receiving devices 101 are sufficient. However, if such an assumption is not valid, it is necessary to install receiving devices 101 in three or more locations. In this case, the receiving devices 101 are fixed and do not move, and their installation positions (three-dimensional coordinates) are known in principle.

[0032] On the other hand, when a transmitting device is installed, the AoD (Angle of Departure) method by QILS can be used by the planar position calculation means 104 to calculate the coordinates of the position where the target radio wave device 102 or the mobile radio wave device 103 receives the signals (hereinafter referred to as the "reception point"). More specifically, when radio waves transmitted from multiple antennas on the transmitting device side are received by a single antenna on the target radio wave device 102 or the mobile radio wave device 103, the angle can be calculated by observing the phase difference of the received radio waves, and the planar position of the reception point is calculated in the same manner as the AoA method described above. In this case, too, the transmitting device is fixed and does not move, in principle, and its installed position (three-dimensional coordinates) is known.

[0033] Furthermore, when installing a transmitting device, the planar position of the transmitting point can be determined by other methods besides QILS. For example, two or more transmitting devices can be installed, and the planar position of the receiving point can be determined based on the radio wave intensity of the radio waves from these transmitting devices. More specifically, the reception distances for each of the target radio wave device 102 and the mobile radio wave device 103 are calculated, and a circle with a radius equal to the reception distance is drawn with the transmitting device installation location as the center, and the point where the two or more circles intersect is determined as the planar position of the receiving point. In this case, if it is assumed that the transmitting device and the receiving point are located on the same plane, two transmitting devices are sufficient. However, if such an assumption is not valid, it is necessary to install transmitting devices in three or more locations. In this case, two or more transmitting devices are installed, and in principle, these transmitting devices are fixed and do not move, and their installation positions (three-dimensional coordinates) are assumed to be known.

[0034] (area setting means) The area setting means 105 is a means for setting a placement area of an object and also for setting a working area thereof. The area setting means 105 can be configured to set each area each time the planar position calculation means 104 calculates the planar position of a transmission point or a reception point, or can be configured to set each area at certain intervals (by thinning out the calculation results by the planar position calculation means 104). The processing procedure for the area setting means 105 to set the placement area and working area will be described below.

[0035] When the receiving device 101 is installed, the receiving device 101 receives object radio waves from the object radio wave device 102, and the area setting means 105 acquires an object identifier contained in the object radio waves. On the other hand, when a transmitting device is installed, the object radio wave device 102 receives radio waves from the transmitting device, and the area setting means 105 acquires an object identifier possessed by the object radio wave device 102. Having acquired the object identifier, the area setting means 105 queries the object storage means 108 using the object identifier, and reads out the planar shape of the corresponding object, the relative position of the object radio wave devices 102, and the number of installed devices (however, two or more). The area setting means 105 also acquires the planar positions and object identifiers of the two or more object radio wave devices 102 calculated by the planar position calculation means 104. The area setting means 105 then generates a line segment (hereinafter referred to as a "baseline") connecting the two or more object radio wave devices 102, and specifies the location area of the object by extending from the base line.

[0036] As described above, two or more object-use radio wave devices 102 are installed on the object, and therefore, as shown in FIG. 3, a baseline connecting the two or more object-use radio wave devices 102 can be generated. For example, in the case of FIG. 3(a), two object-use radio wave devices 102 are installed at both ends of the center line in the long axis direction of an object with a rectangular outer shape, and therefore, a baseline that is the center line in the long axis direction can be generated. In the case of FIG. 3(b), three object-use radio wave devices 102 are installed at both ends and the middle of the center line of the L-shape of the object with an L-shape, and therefore, a baseline that is the center line of the L-shape can be generated. Note that, when generating two baselines in the example of FIG. 3(b), the combination of the object-use radio wave devices 102 that generate the baselines can be stored as attribute information, or the shortest two line segments of the three line segments that can be generated (i.e., the two line segments excluding the longest line segment) can be used as the baselines.

[0037] If a baseline can be generated in this way, it is possible to identify the position where the object is placed (i.e., its planar position and its axial direction), and if its planar shape (external shape and dimensions) is known, it is also possible to identify the extent of the planar area it occupies. For example, in the case of Figure 3(a), if the planar position of the baseline and part of the object's dimensions (in this case, the short side length of a rectangle) are known, the object's placement area can be set by expanding the baseline to both sides (up and down in the figure) as the center. Similarly, in the case of Figure 3(b), if the planar position of the baseline and part of the object's dimensions (in this case, the width direction length) are known, the object's placement area can be set by expanding the baseline to both sides (up and down and left and right in the figure).

[0038] Once the placement area of the object is set, the area setting means 105 sets the work area of the object based on the placement area. Specifically, as shown in FIG. 3, the work area is set by expanding the periphery of the placement area by a predetermined dimension (hereinafter referred to as the "expansion amount"). Note that this expansion amount can be a common value regardless of the object, or can be set individually depending on the type of object (for example, planar shape). In this case, it is recommended that the expansion amount be stored in the object storage means 108 as attribute information of the object.

[0039] However, depending on the object (depending on the record), there may be cases where the planar shape (dimensions and angles representing the planar shape) is not stored as attribute information (i.e., NULL). In this case, it is preferable that the area setting means 105 sets the work area for the object without setting a placement area. That is, the work area is set directly according to the number and relative placement of the object-use radio wave devices 102. For example, if the object-use radio wave devices 102 are installed in two locations, the work area is set as a rectangle expanded from a line segment connecting those two points. Alternatively, if the object-use radio wave devices 102 are installed in three locations, the work area is set by generating three line segments connecting the two points, and expanding the work area from each line segment. Alternatively, the work area is set as an L-shaped area expanded from the shortest two of the three line segments (i.e., the two line segments excluding the longest line segment). However, when the working area is set directly without setting the placement area, the conditions for setting the working area based on the number and relative placement of the object-use radio wave devices 102 are also stored in the object storage means 108 as attribute information of the object.

[0040] (Work judgment means) The work determination means 106 is a means for determining the state in which the mobile body is performing work (hereinafter referred to as "work state"). The work determination means 106 can be configured to make a determination each time the planar position calculation means 104 calculates the planar position of the mobile body radio wave device 103, or can be configured to make a determination at certain intervals (by thinning out the results set by the planar position calculation means 104). The processing procedure by which the work determination means 106 determines the work state will be described below.

[0041] When the receiving device 101 is installed, the receiving device 101 receives mobile radio waves from the mobile radio wave device 103, and the work determination means 106 acquires a mobile identifier contained in the mobile radio waves. On the other hand, when the transmitting device is installed, the mobile radio wave device 103 receives radio waves from the transmitting device, and the work determination means 106 acquires a mobile identifier possessed by the mobile radio wave device 103. Having acquired the mobile identifier, the work determination means 106 queries the mobile storage means 109 using the mobile identifier and reads out attribute information of the corresponding mobile object. The work determination means 106 also acquires the planar position and mobile identifier of the mobile radio wave device 103 calculated by the planar position calculation means 104, and also acquires the work area set by the area setting means 105. When the planar position of the mobile radio wave device 103 is inside the work area, the work determination means 106 determines that the mobile object associated with the mobile radio wave device 103 is working on the target object. The work determination means 106 also outputs the time during which it is determined that the mobile object is in a working state (or the number of times the determination is made if the determination is made periodically) as the work time of the mobile object for the object, and stores it in the object storage means 108.

[0042] As explained above, the work determination means 106 repeatedly performs a determination, such as each time the area setting means 105 sets a work area, and determines whether the object is in a working state or not (hereinafter referred to as a "non-working state"). As mentioned above, the positions of objects handled by the work time calculation system 100 can change due to small-scale transportation within the work area, removal from the work area, or position adjustment associated with work. Therefore, the area setting means 105 sets a placement area and a work area in response to the movement of the object, and the work determination means 106 determines whether the moving object is in a working state or a non-working state based on the moved work area. In other words, the area setting means 105 repeatedly sets a placement area and a work area, but the results can be unstable, such as when each area moves or returns to its original position. In some cases, the work determination means 106 may determine the working state as if the work area has changed even though the object has not actually moved.

[0043] Therefore, if the change in the object is not so great, the object can be treated as not having moved. More specifically, the area setting means 105 repeatedly generates the baseline of the object, and by comparing the orientation (hereinafter "previous baseline") of the previous baseline (hereinafter "previous baseline") with the orientation (hereinafter "current baseline") of the current baseline (hereinafter "current baseline"), if the previous baseline orientation and the current baseline orientation differ and the difference (hereinafter "baseline angle difference") is below a predetermined threshold (hereinafter "angle difference threshold") (or is equal to or less than the angle difference threshold), the area setting means 105 sets the location area of the object as if the previous baseline (i.e., the previous planar position of the object) has not changed (i.e., maintains the location area based on the previous baseline). 4, for example, the previous baseline is generated based on the planar position of the object-mounted radio wave device 102a previously determined by the planar position calculation means 104, and the current baseline is generated based on the planar position of the object-mounted radio wave device 102b currently determined. Then, after determining a baseline angle difference based on the previous baseline azimuth and the current baseline azimuth, the region setting means 105 sets a placement region based on the previous baseline when this baseline angle difference is equal to or smaller than the angle difference threshold, while the region setting means 105 sets a placement region based on the current baseline position when this baseline angle difference is greater than the angle difference threshold. Alternatively, the region setting means 105 can set a placement region based on the previous baseline when the baseline angle difference is less than the angle difference threshold, while the region setting means 105 can set a placement region based on the current baseline position when this baseline angle difference is greater than or equal to the angle difference threshold.

[0044] As described above, the work determination means 106 repeatedly performs a determination, such as each time the planar position calculation means 104 calculates the planar position of the mobile radio device 103, and determines the working state or non-working state each time. Therefore, the results may be unstable, such as the work state and non-working state being repeatedly determined, and in some cases, the mobile radio device 103 may be determined to be in a working state even when it is actually in a non-working state. Therefore, the work determination means 106 may be configured to determine the working state when the planar position of the mobile radio device 103 is determined to be within the work area at least once, or to determine the working state when the mobile radio device 103 is determined to be within the work area a predetermined number of times consecutively, or to determine the working state when the mobile radio device 103 is determined to be within the work area a predetermined number of times within a predetermined period (hereinafter referred to as a "determination period").

[0045] Alternatively, the working state or non-working state can be determined based on a value (hereinafter referred to as a "statistical work body position") obtained by statistically processing the planar positions of the mobile radio wave device 103 obtained multiple times during a determination period. For example, in FIG. 5, the determination period is a period during which the receiving device 101 receives radio waves three times (e.g., from determination time T01 to determination time T03), during which the planar position calculation means 104 obtains the planar positions of the mobile radio wave device 103 for three times (e.g., planar positions P01 to P03). Therefore, in this case, the statistical work body position is calculated by statistically processing the three planar positions, and the working state or non-working state is determined based on the statistical work body position (depending on whether the statistical work body position is within the work area).

[0046] Because the activity determination means 106 repeatedly determines whether the activity is active or inactive, the determination period naturally transitions over time. Therefore, as shown in FIG. 5, the activity determination means 106 determines the statistical worker position while shifting the determination period, and determines whether the activity is active or inactive based on the results. Note that various statistical methods can be used for the statistical processing here, such as calculating a simple average, a weighted average, a median, or a mode. Furthermore, once the activity determination means 106 determines the activity state, the start time of the determination period can be set as the starting point of the activity state, or the end time of the determination period can be set as the starting point of the activity state, or the median time of the determination period can be set as the starting point of the activity state.

[0047] Even when determining whether a working state or a non-working state is determined based on the statistical worker position, the result can be determined by a single determination of the working state, or the working state can be determined based on a predetermined number of times (hereinafter referred to as the "stay count threshold"). Specifically, the state is set as a "provisional working state" until the number of consecutive times the state is determined to be working exceeds the stay count threshold (or is equal to or greater than the stay count threshold), and then the state is set as a "confirmed working state" once the number of consecutive times the state is determined to be working exceeds the stay count threshold (or is equal to or greater than the stay count threshold). For example, in FIG. 5, the stay count threshold is set to three times, and the state is set as a confirmed working state when the state is determined to be working four times in a row (determination results J24 to J27 in the figure) (determination time T27 in the figure).

[0048] The work determination means 106 can also determine that a mobile body has been placed in a non-working state with respect to the object after the mobile body has been set in a confirmed work state. In this case, the work determination means 106 can be configured to determine the mobile body as being in a non-working state if the planar position (or statistical work body position) of the mobile body radio wave device 103 (i.e., the mobile body) is determined to be outside the work area even once after being set in a confirmed work state. Alternatively, the non-working state can be determined based on a predetermined number of times (hereinafter referred to as the "exit count threshold"). Specifically, when the planar position (or statistical work body position) of the mobile body radio wave device 103 is determined to be outside the work area for a number of consecutive times that exceeds the exit count threshold (or is equal to or greater than the exit count threshold), in other words, when the planar position (or statistical work body position) of the mobile body radio wave device 103 is not determined to be within the work area for a number of consecutive times that exceeds the exit count threshold (or is equal to or greater than the exit count threshold), the mobile body is determined to be in a non-working state with respect to the object. For example, in Figure 5, the exit count threshold is set to 2, and after being set as a confirmed work state at judgment time T27, the statistical work body position of the mobile radio device 103 is judged to be outside the work area three times in a row (judgment results J48 to J50 in the figure), and at that time (judgment time T50 in the figure), the mobile body is placed in a non-working state.

[0049] (Processing flow) The main processing of the task time calculation system 100 of the present invention will be described in detail below with reference to Figure 6. Figure 6 is a flow diagram showing an example of the flow of the main processing of the task time calculation system 100. In this flow diagram, the action to be performed is shown in the center column, the things necessary for that action are shown in the left column, and things resulting from that action are shown in the right column. For convenience, the following description will be given using an example in which a receiving device 101 is installed.

[0050] As shown in Fig. 6, first, the receiving device 101 receives the object radio waves from the object radio wave device 102 (Step 210 in Fig. 6). Next, the planar position calculation means 104 acquires the object radio waves received by the receiving device 101, and determines the planar position of the object radio wave device 102 based on information related to the object radio waves (for example, the strength of the radio waves, the azimuth angle, and the elevation angle), and further generates a baseline of the object based on the planar positions of two or more object radio wave devices 102 (Step 220 in Fig. 6). The baseline generated here is stored in a predetermined storage means.

[0051] Once the baseline of the object is generated, the area setting means 105 sets the placement area of the object (Step 230 in FIG. 6) and also sets its working area (Step 240 in FIG. 6). At this time, the working area can be set by comparing the previous baseline orientation with the current baseline orientation. Specifically, as shown in FIG. 7, the planar position of the object-use radio wave device 102 is first obtained (Step 221 in FIG. 7), and the current baseline is generated based on the result (Step 222 in FIG. 7). Then, the previous baseline orientation is compared with the current baseline orientation, and if they are determined to be the same (No in Step 223 in FIG. 7), the previous placement area is adopted (Step 232 in FIG. 7) and the working area is set. On the other hand, if the previous baseline orientation and the current baseline orientation differ (Yes in Step 223 in FIG. 7), the baseline angle difference is compared with the angle difference threshold. Then, when the baseline angle difference is below the angle difference threshold (below the angle difference threshold) (Yes in Step 223 in Figure 7), the previous placement area is adopted (Step 232 in Figure 7) and the working area is set, and when the baseline angle difference is above the angle difference threshold (exceeds the angle difference threshold) (No in Step 223 in Figure 7), the current placement area is adopted (Step 231 in Figure 7) and the working area is set.

[0052] The receiving device 101 also receives mobile radio waves from the mobile radio wave device 103 (Step 250 in FIG. 6). Next, the planar position calculation means 104 acquires the mobile radio waves received by the receiving device 101 and determines the planar position of the mobile radio wave device 103 based on information related to the mobile radio waves (Step 260 in FIG. 6). Once the planar position of the mobile radio wave device 103 has been determined, the operation determination means 106 identifies the mobile body based on attribute information related to the mobile radio waves.

[0053] Once the work area of the object and the planar position of the mobile radio device 103 are obtained, the work determination means 106 determines whether the object is in a working state or a non-working state. Specifically, when the planar position of the mobile radio device 103 is inside the work area (Yes in Step 270 of FIG. 6), it is provisionally determined that the mobile object associated with the mobile radio device 103 is in a working state with respect to the object. On the other hand, when the planar position of the mobile radio device 103 is outside the work area (No in Step 270 of FIG. 6), it is determined that the mobile object associated with the mobile radio device 103 is in a non-working state with respect to the object. Once the work state or non-working state is determined, the series of processes up to this point (Steps 210 to 280 of FIG. 6) are repeated, and when the work state is determined a number of times in succession that exceeds the stay count threshold, it is set as a "confirmed work state" (Step 280). Then, the work determination means 106 outputs the time determined as the work state to the output means 107 as the work time related to the moving object (Step 290 in FIG. 6). [Industrial Applicability]

[0054] The work time calculation system of the present invention can be used in a variety of situations where it is necessary to understand the relationship between objects and workers, such as manufacturing products in factories or construction sites, rearranging and inventorying products displayed in stores, or transporting objects by delivery companies. [Explanation of symbols]

[0055] 100 Work time calculation system of the present invention 101 (Work time calculation system) receiving device 102 (Work time calculation system) radio wave device for object 103 Mobile radio wave device (for work time calculation system) 104 (Work time calculation system) Planar position calculation means 105 (Work time calculation system) area setting means 106 (Work time calculation system) work determination means 107 (Work time calculation system) output means 108 (Work time calculation system) object storage means 109 Mobile storage means (of the work time calculation system)

Claims

1. A system for calculating the time it takes for a mobile object, such as a worker or a work robot, to perform work on an object whose position may change, a receiving device for receiving radio waves; two or more object radio wave devices that are installed on the object and transmit radio waves; a mobile radio wave device installed in the mobile body and transmitting radio waves; a plane position calculation means for calculating a plane position from which a radio wave is transmitted in accordance with the radio wave received by the receiving device; an object storage means for storing an object identifier that identifies the object and a planar shape of the object in association with each other; a mobile object storage means for storing a mobile object identifier for identifying the mobile object and attribute information of the mobile object in association with each other; an area setting means for setting a placement area for the object based on the planar position and planar shape of the object, and for setting a working area expanded from the placement area; and an operation determination means for determining that the mobile body is in an operation state where the mobile body is performing an operation relating to the object when the planar position of the mobile body radio wave device calculated by the planar position calculation means is within the operation area, the planar position calculation means periodically or intermittently calculates the planar position; the area setting means reads out from the object storage means a planar shape of the corresponding object based on the object identifier associated with the object radio wave device, determines the position of the object based on the planar position of the object radio wave device calculated by the planar position calculation means, generates one or more base lines based on the positions of two or more object radio wave devices, and sets the placement area and the work area by expanding the base lines as a reference; Furthermore, when a previous baseline orientation, which is the orientation of the baseline determined previously, differs from a current baseline orientation, which is the orientation of the baseline determined currently, and the angular difference between the previous baseline orientation and the current baseline orientation falls below a predetermined angular difference threshold, the area setting means maintains the location area of the object that was set based on the previous planar position of the object; the work determination means reads out attribute information of the mobile body corresponding to the mobile body identifier of the mobile body radio device from the mobile body storage means, and outputs the time determined as the working state as the work time of the mobile body. A work time calculation system characterized by:

2. A system for calculating the time it takes for a mobile object, such as a worker or a work robot, to perform work on an object whose position may change, A transmitter that transmits radio waves; two or more object-use radio wave devices that are installed on the object and receive radio waves; a mobile radio wave device that is installed in the mobile body and receives radio waves; a planar position calculation means for calculating planar positions at which the target radio wave device and the mobile radio wave device receive radio waves in accordance with the radio waves received by the target radio wave device and the mobile radio wave device; an object storage means for storing an object identifier that identifies the object and a planar shape of the object in association with each other; a mobile object storage means for storing a mobile object identifier for identifying the mobile object and attribute information of the mobile object in association with each other; an area setting means for setting a placement area for the object based on the planar position and planar shape of the object, and for setting a working area expanded from the placement area; and an operation determination means for determining that the mobile body is in an operation state where the mobile body is performing an operation relating to the object when the planar position of the mobile body radio wave device calculated by the planar position calculation means is within the operation area, the planar position calculation means periodically or intermittently calculates the planar position; the area setting means reads out from the object storage means a planar shape of the corresponding object based on the object identifier associated with the object radio wave device, determines the position of the object based on the planar position of the object radio wave device calculated by the planar position calculation means, generates one or more base lines based on the positions of two or more object radio wave devices, and sets the placement area and the work area by expanding the base lines as a reference; Furthermore, when a previous baseline orientation, which is the orientation of the baseline determined previously, differs from a current baseline orientation, which is the orientation of the baseline determined currently, and the angular difference between the previous baseline orientation and the current baseline orientation falls below a predetermined angular difference threshold, the area setting means maintains the location area of the object that was set based on the previous planar position of the object; the work determination means reads out attribute information of the mobile body corresponding to the mobile body identifier of the mobile body radio device from the mobile body storage means, and outputs the time determined as the working state as the work time of the mobile body. A work time calculation system characterized by:

3. the planar position calculation means periodically or intermittently calculates the planar position; the work determination means determines a statistical work body position by statistically processing the planar positions of the mobile radio wave device determined during a predetermined determination period, and determines the work state when the statistical work body position is within the work area; The work determination means determines the work state by determining the statistical work body position while moving the determination period.

3. The operation time calculation system according to claim 1 or 2.

4. The planar position calculation means periodically or intermittently calculates the planar position, the work determination means determines whether the mobile body is in a work state or a non-work state each time the planar position calculation means calculates the planar position of the mobile body radio wave device, the non-working state is a state in which the moving body is not in the working state, the work determination means determines the work state of the moving object when the work state is determined for the same moving object a number of times in succession that exceeds a predetermined threshold value of the number of stays of the moving object; 4. The operation time calculation system according to claim 1, wherein the number of the operation times is 1 to 3.

5. the work determination means determines that the moving object is in the non-working state when, after the moving object is determined to be in the working state, the working state is not determined for a number of consecutive times exceeding a predetermined exit count threshold for the same moving object; 5. The operation time calculation system according to claim 4.

6. the area setting means sets the work area without setting the placement area for the object whose planar shape is not stored by the object storage means; 6. The operation time calculation system according to claim 1, wherein the number of the operation time is 1 or more.

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