WO2020054876A1 - Work management system, work management device, work management method, and work management program - Google Patents

Work management system, work management device, work management method, and work management program Download PDF

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Publication number
WO2020054876A1
WO2020054876A1 PCT/JP2019/036299 JP2019036299W WO2020054876A1 WO 2020054876 A1 WO2020054876 A1 WO 2020054876A1 JP 2019036299 W JP2019036299 W JP 2019036299W WO 2020054876 A1 WO2020054876 A1 WO 2020054876A1
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WIPO (PCT)
Prior art keywords
work
worker
work management
unit
progress
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PCT/JP2019/036299
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French (fr)
Japanese (ja)
Inventor
千大 和氣
洋 柳下
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株式会社ナイルワークス
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Priority to JP2020546243A priority Critical patent/JP7488570B2/en
Publication of WO2020054876A1 publication Critical patent/WO2020054876A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/02—Agriculture; Fishing; Forestry; Mining
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors

Definitions

  • the present invention relates to a work management system, a work management device, a work management method, and a work management program.
  • Patent Document 1 discloses a flying object capable of automatically flying, which images a plant or a worker in a plant factory, grasps the growth state of the plant, and performs labor management of the worker. However, it was not possible to predict the timing and contents of the next agricultural work process.
  • Patent Literature 2 has a means for recording a work schedule of a project including a plurality of work processes and a current progress status, and project management for predicting the degree of work delay with reference to the work schedule and the progress status.
  • An apparatus is disclosed. However, this apparatus is complicated because it requires an operator or a supervisor to input the progress. In addition, it is not possible to predict the next work start time for a process that is performed intermittently and sequentially.
  • ⁇ Provide a work management system that can easily record and manage the progress of work processes.
  • a work management system is a work management system in which a terminal attachable to a worker and a work management device are connected through a network to manage work having a plurality of processes.
  • the terminal includes: a behavior measurement unit that measures an index indicating the behavior of the worker; and a transmission unit that transmits the measured index indicating the behavior of the worker to a work management device.
  • a work management device an acquisition unit that receives an index indicating the behavior of the worker transmitted from the terminal, and a work that determines the progress of the work of the worker based on information acquired by the acquisition unit.
  • the behavior measurement unit includes a coordinate detection unit that detects a position coordinate of the worker, and an acceleration detection unit that detects an acceleration of the worker, and the work content processing unit includes the position coordinates and the acceleration. May be configured to determine the progress of the operation of the worker based on the information.
  • the progress of the work may be configured to include at least one of a work area where the action is performed, a type of a work process performed by the worker, and information on whether or not the work is completed.
  • the work management apparatus further includes a work management DB having a work management table in which a work area to be worked on, a plurality of steps required in the work area, and an order of the steps are stored in association with each other,
  • the work prediction unit may be configured to predict a next process to be performed based on the progress of the work determined by the work content processing unit and the work management table.
  • the work management table further stores a period that can be opened before the start of the next process after the end of the previous process in the plurality of processes, and the work prediction unit determines the work by the work content processing unit. It may be configured to predict the start time of the next process to be performed based on the progress of the work and the work management table.
  • the work management table further stores information on resources required for each of the steps, and the work prediction unit calculates the progress of the work determined by the work content processing unit, the work management table, May be configured to predict the resources required for the next operation based on.
  • the work prediction unit may be configured to be able to input a constraint condition of a resource, and to be able to predict the amount of another resource based on the constraint condition.
  • the resource may be configured to include at least one of the number of personnel required for the process, the working time, the amount of medicine, the type of agricultural machine, and the number of batteries used for operating the agricultural machine.
  • the plurality of steps are steps related to farm work in a field, and the plurality of steps may be configured to be sequentially and intermittently performed in one field.
  • a work management method is a work management method for managing a work having a plurality of steps, wherein the obtaining step receives an index indicating an action of a worker, and is obtained by the obtaining step.
  • a work management program is a work management program that manages work having a plurality of steps, and is obtained by an acquisition command for receiving an index indicating an action of a worker, and the acquisition command.
  • a work content processing instruction for determining the progress of the worker's work based on the information, and a command for predicting a process to be performed next based on the progress of the work determined by the work content processing command.
  • the computer program can be provided by download via a network such as the Internet, or can be provided by being recorded on various computer-readable recording media such as a CD-ROM.
  • ⁇ Provide a work management system that can easily record and manage the progress of work processes.
  • the work management table stored in the work management DB of the farming cloud includes an example in which (a) the field is a field, and (b) an example in which the field is a field. It is an example of the screen display showing the work status displayed on the display unit of the operation device of the work management system.
  • the work management system is a system that records work performed by a worker or a machine and predicts and notifies the timing and contents of the next work process.
  • the work management system identifies and records the place where the work was performed and the type of work based on information from the worker or a terminal mounted on the machine. Further, the operator is notified of the next work start time and contents based on the record.
  • the machine is, for example, an agricultural machine, and includes a tractor, a cultivator, and the like. It also includes those that operate autonomously and those that require manual operation. Machines also include drones that fly autonomously, especially agricultural drones.
  • the agricultural drone is a drone mainly for spraying a medicine, but may be a monitoring drone.
  • the drone means any type of power means (electric power, prime mover, etc.) and any type of control (wireless or wired, autonomous flight type or manual control type, etc.) It refers to a general flying object having a plurality of rotors.
  • FIG. 1 shows an overall conceptual diagram of a system using an embodiment of the drone 100 for application of medicine.
  • the operating device 401 is a means for transmitting a command to the drone 100 by an operation of the worker 402 and displaying information (for example, a position, a medicine amount, a battery level, a camera image, and the like) received from the drone 100. Yes, and may be realized by a portable information device such as a general tablet terminal that runs a computer program.
  • the drone 100 according to the present invention may be configured to be controlled to perform an autonomous flight, but may be configured to be able to perform a manual operation during a basic operation such as takeoff or return, or in an emergency.
  • an emergency operation device (not shown) having a function dedicated to emergency stop may be used (the emergency operation device has a large emergency stop button and the like so that an emergency operation device can quickly respond in an emergency. It may be a dedicated device provided with).
  • the operation device 401 and the drone 100 are configured to perform wireless communication by Wi-Fi or the like.
  • the wearable terminal 407 separately from or integrated with the operation device 401 may be connected to the farming cloud 405.
  • Terminal 407 may be a wristwatch type, an eyewear type, or an earphone type.
  • the terminal 407 has a shape that does not impair workability even when the worker 402 performs work while wearing it.
  • the terminal 407 measures the position and movement of the worker 402 during the work, and transmits the measured position and movement to the farming cloud 405 through the network. Further, it may be possible to receive information from the farming cloud 405 and notify the worker 402.
  • the terminal 407 may have the same function as the operation device 401. The detailed configuration of terminal 407 will be described later.
  • the field 403 is a field or a field to which the drone 100 is to apply the medicine.
  • the terrain of the field 403 is complicated, and there is a case where a topographic map cannot be obtained in advance, or a case where the topographic map differs from the situation of the site.
  • the field 403 is adjacent to houses, hospitals, schools, other crop fields, roads, railways and the like. Further, an obstacle such as a building or an electric wire may exist in the field 403 in some cases.
  • the base station 404 is a device that provides a master device function or the like of Wi-Fi communication, also functions as an RTK-GPS base station, and is configured to provide an accurate position of the drone 100 (Wi-Fi communication).
  • the communication base unit function and the RTK-GPS base station may be independent devices.
  • the farming cloud 405 is typically a group of computers and related software operated on a cloud service, and is wirelessly connected to the controller 401 via a mobile phone line or the like.
  • the farming cloud 405 may analyze the image of the field 403 captured by the drone 100, grasp the growing condition of the crop, and perform a process for determining a flight route. Further, the stored topographical information of the field 403 may be provided to the drone 100. In addition, the history of the flying and photographed images of the drone 100 may be accumulated, and various analysis processes may be performed.
  • the drone 100 takes off from the landing point 406 outside the field 403 and returns to the landing point 406 after spraying the medicine on the field 403 or when it becomes necessary to replenish or charge the medicine.
  • the flight route (intrusion route) from the departure / arrival point 406 to the target field 403 may be stored in advance in the farming cloud 405 or the like, or may be input by the worker 402 before the start of takeoff.
  • FIG. 2 is a schematic diagram showing the control function of the embodiment of the drone for spraying a medicine.
  • the flight controller 501 is a component that controls the entire drone, and may specifically be an embedded computer including a CPU, a memory, related software, and the like.
  • the flight controller 501 controls the motors 102-1a and 102-1b via control means such as ESC (Electronic Speed Control) based on input information received from the operating device 401 and input information obtained from various sensors described below. , 102-2a, 102-2b, 102-3a, 102-3b, 104-a, and 104-b to control the rotation speed of the drone 100.
  • ESC Electronic Speed Control
  • the actual rotation speeds of the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b are fed back to the flight controller 501, and normal rotation is performed. It is configured to monitor whether it is running.
  • the rotation wing 101 may be provided with an optical sensor or the like, and the rotation of the rotation wing 101 may be fed back to the flight controller 501.
  • the software used by the flight controller 501 can be rewritten through a storage medium or the like for function expansion / change, problem correction, or the like, or through communication means such as Wi-Fi communication or USB. In this case, protection by encryption, checksum, digital signature, virus check software, etc. is performed to prevent rewriting by unauthorized software.
  • a part of the calculation processing used by the flight controller 501 for control may be executed by the operation device 401, the farm cloud 405, or another computer existing in another place. Since the flight controller 501 is highly important, some or all of its components may be duplicated.
  • the battery 502 is a means for supplying power to the flight controller 501 and other components of the drone, and is rechargeable.
  • the battery 502 is connected to the flight controller 501 via a power supply unit including a fuse or a circuit breaker.
  • the battery 502 may be a smart battery having a function of transmitting its internal state (power storage amount, accumulated use time, and the like) to the flight controller 501 in addition to a power supply function.
  • the flight controller 501 communicates with the operation device 401 via the Wi-Fi slave device function 503 and further via the base station 404, receives necessary commands from the operation device 401, and transmits necessary information to the operation device 401. Can be sent to 401. In this case, communication is encrypted so that eavesdropping, impersonation, and takeover of equipment can be prevented.
  • the base station 404 has a function of an RTK-GPS base station in addition to a communication function using Wi-Fi.
  • the GPS module 504 can measure the absolute position of the drone 100 with an accuracy of about several centimeters. Since the GPS module 504 is important, it is desirable to duplicate and multiplex the GPS module 504.In order to cope with the failure of a specific GPS satellite, it is recommended that each redundant GPS module 504 use a different satellite. Control.
  • the six-axis gyro sensor 505 is a means for measuring accelerations of the drone body in three directions orthogonal to each other (further, a means for calculating a speed by integrating the accelerations).
  • the six-axis gyro sensor 505 is a means for measuring a change in the attitude angle of the drone body in the above three directions, that is, an angular velocity.
  • the geomagnetic sensor 506 is means for measuring the direction of the drone body by measuring geomagnetism.
  • the air pressure sensor 507 is a means for measuring the air pressure, and can also indirectly measure the altitude of the drone.
  • the laser sensor 508 is a means for measuring the distance between the drone body and the ground surface by using the reflection of laser light, and may use an IR (infrared) laser.
  • the sonar 509 is a means for measuring the distance between the drone body and the surface of the earth using reflection of sound waves such as ultrasonic waves. These sensors may be selected based on the cost objectives and performance requirements of the drone. Further, a gyro sensor (angular velocity sensor) for measuring the inclination of the airframe, a wind sensor for measuring wind power, and the like may be added. Further, these sensors may be duplicated or multiplexed.
  • the flight controller 501 may use only one of them, and in the event of a failure, may switch to the alternative sensor for use.
  • a plurality of sensors may be used at the same time, and if the respective measurement results do not match, it may be determined that a failure has occurred.
  • the flow rate sensors 510 are means for measuring the flow rate of the medicine, and are provided at a plurality of locations on the path from the medicine tank 104 to the medicine nozzle 103.
  • the liquid shortage sensor 511 is a sensor that detects that the amount of the medicine has become equal to or less than a predetermined amount.
  • the multispectral camera 512 is a means for photographing the field 403 and acquiring data for image analysis.
  • the obstacle detection camera 513 is a camera for detecting a drone obstacle. Since the image characteristics and the orientation of the lens are different from those of the multispectral camera 512, the obstacle detection camera 513 may be a device different from the multispectral camera 512.
  • the switch 514 is a means for the operator 402 of the drone 100 to make various settings.
  • the obstacle contact sensor 515 is a sensor for detecting that the drone 100, particularly its rotor or propeller guard, has contacted an obstacle such as an electric wire, a building, a human body, a tree, a bird, or another drone.
  • the cover sensor 516 is a sensor that detects that an operation panel of the drone 100 and a cover for internal maintenance are open.
  • the drug inlet sensor 517 is a sensor that detects that the inlet of the drug tank 104 is open. These sensors may be selected or duplicated or multiplexed depending on the cost objectives and performance requirements of the drone.
  • a sensor may be provided in the base station 404, the operation device 401, or another place outside the drone 100, and the read information may be transmitted to the drone.
  • a wind sensor may be provided in the base station 404, and information on the wind and wind direction may be transmitted to the drone 100 via Wi-Fi communication.
  • the flight controller 501 transmits a control signal to the pump 106, and adjusts the medicine ejection amount and stops the medicine ejection.
  • the current state of the pump 106 (for example, the number of revolutions) is fed back to the flight controller 501.
  • the LED 107 is display means for notifying the drone operator of the status of the drone.
  • a display means such as a liquid crystal display may be used instead of or in addition to the LED.
  • the buzzer 518 is an output unit for notifying a drone state (particularly an error state) by an audio signal.
  • the Wi-Fi slave device function 519 is an optional component for communicating with an external computer or the like for transferring software, for example, separately from the operation device 401.
  • Other wireless communication means such as infrared communication, Bluetooth (registered trademark), ZigBee (registered trademark), NFC, or wired communication means such as USB connection may be used instead of or in addition to the Wi-Fi slave unit function. May be used.
  • the speaker 520 is an output unit that notifies a drone state (especially an error state) by a recorded human voice, a synthesized voice, or the like. Depending on the weather condition, the visual display of the drone 100 during flight may be difficult to see, and in such a case, voice communication is effective.
  • the warning light 521 is a display means such as a strobe light for notifying a drone state (especially an error state). These input / output means may be selected according to the cost target and performance requirements of the drone, and may be duplicated / multiplexed.
  • the farming cloud 405 and the terminal 407 are connected via a network (NW), and exchange information regarding the work of the worker 402 wearing the terminal 407.
  • the farm management cloud 405 is an example of a work management device.
  • the terminal 407 includes the behavior measurement unit 20 and the transmission unit 23.
  • the farming cloud 405, the terminal 407, and the operation device 401 constitute the work management system 1.
  • the behavior measuring unit 20 is a functional unit that measures an index indicating the behavior of the worker 402.
  • the index indicating the behavior is, for example, position information of the worker 402 or information of acceleration.
  • the behavior measuring unit 20 has a coordinate detecting unit 21 and an acceleration detecting unit 22.
  • the coordinate detecting unit 21 is a functional unit that detects position information of the terminal 407 at three coordinates.
  • the coordinate detection unit 21 includes at least one of a Wi-Fi slave device function and a GPS module, and can detect the position coordinates of the terminal 407 based on communication with the base station 404.
  • the acceleration detection unit 22 is a functional unit that detects the acceleration of the terminal 407.
  • the acceleration detection unit 22 is a functional unit that measures acceleration in three directions orthogonal to each other, and is configured by, for example, an acceleration sensor or a six-axis gyro sensor. Note that the acceleration detection unit 22 may be configured to measure only acceleration in a direction where vibration is particularly large in each work.
  • the acceleration detection unit 22 may be configured to be able to acquire velocity information by integrating acceleration.
  • the transmission unit 23 transmits the position information and the acceleration information of the terminal 407 detected by the coordinate detection unit 21 and the acceleration detection unit 22 to the farming cloud 405 via the network (NW).
  • NW network
  • the present embodiment has been described assuming processing and storage on the cloud, it is configured so that some or all of the processing and storage is performed by various devices such as servers connected to a network. You may.
  • the transmitting unit 23 may always transmit the position information and the acceleration information while the terminal 407 is activated, or may detect the start and end of the work and transmit the position information and the acceleration information during the work. For example, the start and end of the work may be detected by determining whether the terminal 407 is in or out of the field based on the position information. In addition, when the acceleration information has a predetermined property, the start and the end of the work may be regarded as being performed.
  • the position information and the acceleration information during the work may be transmitted at any time periodically, or the position information and the acceleration information after the start of the work are accumulated, and the work is started from the immediately preceding work start time based on the detection of the end of the work. Information up to the end time may be transmitted collectively. Further, the position information and the acceleration information during the activation of the terminal 407 may be accumulated, and the position information and the acceleration information in a predetermined time zone may be transmitted based on an appropriate manual input from the worker 402.
  • the farming cloud 405 is a functional unit that acquires and stores information from the terminal 407, and further predicts the start time and content of the next work to be performed by the worker 402 and outputs the information to the terminal 407.
  • the farming cloud 405 includes an acquisition unit 41, a work content processing unit 42, a DB update unit 43, a work prediction unit 44, an output unit 45, and a work management DB 50.
  • the acquisition unit 41 is a functional unit that acquires the position information and the acceleration information of the terminal 407 transmitted from the terminal 407.
  • the work content processing unit 42 is a functional unit that determines the progress of a work based on information acquired by the acquisition unit 41.
  • the progress of the work includes at least one piece of information among a work area, a type of process, and information on whether the work is completed.
  • the work content processing unit 42 includes an area determination unit 421, a process type determination unit 422, and a work completion determination unit 423.
  • the area determining unit 421 is a functional unit that determines an area in which work is being performed based on position information.
  • the work area in which the worker 402 works may be divided into a plurality of areas based on the nature of the work area, or may be arranged at positions separated from each other. Therefore, the coordinates of the work area are stored in advance in the farming cloud 405, and the area determination unit 421 determines which area is performing the work based on the coordinates of the work area and the position information.
  • the work area is, for example, a field, and the work area may be divided into a plurality of areas and managed according to the type of crop to be grown, the type of pesticide to be used, and the use or non-use of the pesticide. Further, the work area may be an enclave physically separated from each other physically.
  • the process type determining unit 422 is a functional unit that determines the type of process performed by the worker 402 based on at least one of the position information, the acceleration information, and the speed information obtained by integrating the acceleration.
  • the process type refers to each agricultural work process such as sowing, pesticide spraying, topdressing, cutting, rice cultivation, rice planting, and rice harvesting.
  • the position information it is possible to determine from the height information of the terminal 407 the posture of the worker 402 and whether or not the worker 402 is riding.
  • the acceleration information of the worker 402 the process type can be determined based on the vibration direction and the vibration width.
  • the speed information of the worker 402 it is possible to determine whether the worker 402 is walking or moving with a riding machine.
  • the farming cloud 405 stores in advance an action determination table in which the position information, the acceleration information, the speed information, and the process type are associated with each other, and the process type determination unit 422 performs an operation by the worker 402 based on the action determination table. Determine the type of process.
  • the process discrimination table may not be changeable, or may be customizable based on information of the worker 402. Further, the learning may be configured based on teacher data input from the worker 402 or an appropriate manager.
  • the work completion determination unit 423 is a functional unit that determines whether each farm work process is completed or is in progress based on at least one of the position information and the acceleration information. In particular, each farm work process in the present embodiment is required to move throughout the work area. Therefore, the work completion determination unit 423 determines that the work is completed when the movement route in the work area includes a predetermined range based on the position information from the start of the work.
  • the DB update unit 43 records the work completion information generated by the work content processing unit 42 in the work management DB 50.
  • the work completion information includes, for example, information on which work has been completed in which area. Further, the work completion information may include information on resources actually applied to the work, and the DB updating unit 43 may record information on resources actually applied to the work management DB 50.
  • the resource information is information relating to resources necessary for completing the work in the work area, and includes, for example, information on the number of workers 402 and work time. Further, the resource information may include information on required resources related to the work, that is, the amount of the medicine to be sprayed in the field or the number of charged batteries required for the work machine to complete the work.
  • the work management DB 50 is a database that stores a work area and a work management table in which a plurality of processes required in the work area are associated with each other. Further, the work management DB 50 stores the execution order of each process, and also stores the time interval between the end of the previous process and the start of the next process. The time period is stored in advance based on the type of the work area, for example, when the work area is a field, and is set in accordance with the type of the crop designated by the user.
  • the work management DB 50 stores resource information of each process.
  • the resource information of each process may be a standard value stored in advance or a value actually applied by the DB updating unit. According to the configuration in which the actually applied values are stored, it is possible to more accurately perform the work prediction described later.
  • the work management DB 50 can record , by the DB updating unit 43, whether or not the work has been completed for each process and information on the resources actually used.
  • FIG. 4A shows an example of the work management table of the field A and the field B.
  • the steps performed in the field are, for example, seeding, insecticidal, sterilizing, topdressing, cutting, and the like, but may be other steps.
  • the order is not limited to this.
  • it is stored that the insecticidal operation is performed seven days after the completion of the seeding operation.
  • FIG. 4B shows an example of a work management table for the fields C and D.
  • the steps performed in the rice field may be, for example, rice cultivation, rice planting, sterilization, rice harvesting, and the like, but may be another step, and the order is not limited thereto.
  • the DB update unit 43 may update the work management DB 50 based on a manual input by the worker 402 instead of the work completion information generated by the work content processing unit 42. According to this configuration, it is possible to manage the work that cannot be determined by the terminal 407 and the work content processing unit 42, and the work in which the erroneous determination has occurred.
  • the DB update unit 43 may update the work management DB 50 based on work completion information transmitted from the drone 100, instead of the work completion information generated by the work content processing unit 42. According to this configuration, it is possible to automatically manage the work performed by the drone 100.
  • the work predicting unit 44 shown in FIG. 3 is a functional unit that predicts a process type and a start time of the next process based on information of a work management table stored in the work management DB 50. For example, when information indicating that the seeding in the field A in FIG. 4A is completed is recorded by the DB update unit 43, the work prediction unit 44 refers to the work management DB 50, and the next step is insecticide. Predict that it needs to start 7 days after sowing is complete. Further, the work prediction unit 44 predicts that the drone 100, the four charged batteries 502, and the medicine of 30 l are required in the insecticidal process.
  • the work prediction unit 44 may be configured to be able to input a constraint condition of a resource, and may be able to predict the amount of another resource based on the constraint condition. For example, when the type of the process and the desired work time in a certain field are input, the work prediction unit 44 predicts other resources, that is, the amount of pesticides, the number of personnel, the type of farm machine, the number of necessary batteries 502, and the like. . Also, for a field that is not recorded in the work management table, the information of the necessary resources can be predicted by inputting the farm work area.
  • the output unit 45 shown in FIG. 3 outputs the prediction information of the next process predicted by the work prediction unit 44 to the operation device 401 through the network (NW).
  • the display unit 4011 of the operation device 401 displays the prediction information, for example, as illustrated in FIG.
  • the worker 402 can list the progress of each work area and the work schedule of the next process by the display on the display unit 4011.
  • the contents of the next step can be displayed even when different work is required for each work area.
  • the operating device 401 may transmit the prediction information to the worker 402 in addition to the display or in place of the display, notification by sound or the like may be performed. Further, the terminal 407 may have means for transmitting the prediction information to the worker 402.
  • the work management system can automatically determine the type of a process and manage the work even if the work includes a plurality of processes in which the operations of the respective processes are different. Further, according to the configuration in which the period until the next step is stored, it is possible to manage operations in which each step needs to be performed intermittently, for example, management of agricultural work.
  • the work management system for agriculture has been described as an example, but the technical idea of the present invention is not limited to this, and is applicable to general work management in which a plurality of types of work are sequentially performed. .

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Abstract

[Problem] To provide a work management system for easily recording and managing the progress state of a work process. [Solution] This work management system 1 is for managing work having a plurality of steps and has a terminal 407 wearable by a worker and a work management device 405 which are connected through a network (NW). The terminal is provided with a behavior measurement unit 20 that measures an index indicating the behavior of the worker, and a transmission unit 23 that transmits the measured index indicating the behavior of the worker to the work management device. The work management device is provided with: an acquisition unit 41 that receives the index indicating the behavior of the worker transmitted from the terminal; a work content processing unit 42 that determines the progress of work by the worker on the basis of information acquired by the acquisition unit; and a work prediction unit 44 that predicts a next step to be carried out on the basis of the progress of the work determined by the work content processing unit.

Description

作業管理システム、作業管理装置、作業の管理方法、および作業管理プログラムWork management system, work management device, work management method, and work management program
本願発明は、作業管理システム、作業管理装置、作業の管理方法、および作業管理プログラムに関する。 The present invention relates to a work management system, a work management device, a work management method, and a work management program.
　作業者および自動運転機械により、圃場内で農作業を行うことが一般的に行われている。例えば畑では、播種、殺虫・殺菌、追肥および刈取りといった農作業工程を、作物の生育状況に合わせて間欠的に順次行う必要がある。これらの農作業工程を、いつ、どの圃場で行ったか等を記録することで、ある程度次の工程を行う予測を立てることができる。そこで、農作業工程の進捗状況を自動で記録し、記録に基づいて次の農作業工程の時期や内容を予測するシステムが必要とされている。 農 It is common practice to perform agricultural work in a field by workers and automatic driving machines. For example, in a field, it is necessary to intermittently carry out agricultural work processes such as sowing, insecticide / sterilization, topdressing, and harvesting intermittently according to the growing condition of the crop. By recording when and in which field these agricultural work processes were performed, it is possible to make a prediction to perform the next process to some extent. Therefore, there is a need for a system that automatically records the progress of the agricultural work process and predicts the timing and content of the next farm work process based on the record.
　特許文献１には、植物工場における植物又は作業者を撮像し、植物の生育状況の把握や作業者の労務管理を行う自動飛行可能な飛行体が開示されている。しかしながら、次の農作業工程の時期や内容を予測することはできなかった。 Patent Document 1 discloses a flying object capable of automatically flying, which images a plant or a worker in a plant factory, grasps the growth state of the plant, and performs labor management of the worker. However, it was not possible to predict the timing and contents of the next agricultural work process.
　特許文献２には、複数の作業工程を含むプロジェクトの作業予定と、現在の進捗状況とを記録する手段を有し、作業予定と進捗状況を参照して作業の遅延の程度を予測するプロジェクト管理装置が開示されている。しかしながら、この装置は進捗状況を作業者や監督者が入力する必要があるため、煩雑であった。また、間欠的に順次行われる工程に関し、次の作業開始時期を予測することはできなかった。 Patent Literature 2 has a means for recording a work schedule of a project including a plurality of work processes and a current progress status, and project management for predicting the degree of work delay with reference to the work schedule and the progress status. An apparatus is disclosed. However, this apparatus is complicated because it requires an operator or a supervisor to input the progress. In addition, it is not possible to predict the next work start time for a process that is performed intermittently and sequentially.
特許公開公報　特開２０１４－０３１１１８Patent publication JP-A-2014-031118 特許公開公報　特開２００５－２０８８０４Patent publication JP-A-2005-208804 特許公開公報　特開２００１－１２０１５１Patent publication JP-A-2001-120151 特許公開公報　特開２０１７－１６３２６５Patent publication JP-A-2017-163265
　簡便に作業工程の進捗状況を記録して管理することができる作業管理システムを提供する。 作業 Provide a work management system that can easily record and manage the progress of work processes.
　上記目的を達成するため、本発明の一の観点に係る作業管理システムは、作業者に装着可能な端末と、作業管理装置と、がネットワークを通じて接続され、複数の工程を有する作業を管理する作業管理システムであって、端末は、前記作業者の行動を表す指標を計測する行動計測部と、前記計測される前記作業者の行動を表す指標を作業管理装置に送信する送信部と、を備え、作業管理装置は、前記端末から送信される前記作業者の行動を表す指標を受信する取得部と、前記取得部により取得される情報に基づいて、前記作業者の作業の進捗を判定する作業内容処理部と、前記作業内容処理部により判定される前記作業の進捗に基づいて、次に行うべき工程を予測する作業予測部と、を備える。 In order to achieve the above object, a work management system according to one aspect of the present invention is a work management system in which a terminal attachable to a worker and a work management device are connected through a network to manage work having a plurality of processes. In the management system, the terminal includes: a behavior measurement unit that measures an index indicating the behavior of the worker; and a transmission unit that transmits the measured index indicating the behavior of the worker to a work management device. A work management device, an acquisition unit that receives an index indicating the behavior of the worker transmitted from the terminal, and a work that determines the progress of the work of the worker based on information acquired by the acquisition unit. A work processing unit; and a work prediction unit that predicts a process to be performed next based on the progress of the work determined by the work content processing unit.
　前記行動計測部は、前記作業者の位置座標を検出する座標検出部と、前記作業者の加速度を検出する加速度検出部と、を有し、前記作業内容処理部は、前記位置座標および前記加速度に基づいて、前記作業者の作業の進捗を判定するように構成されていてもよい。 The behavior measurement unit includes a coordinate detection unit that detects a position coordinate of the worker, and an acceleration detection unit that detects an acceleration of the worker, and the work content processing unit includes the position coordinates and the acceleration. May be configured to determine the progress of the operation of the worker based on the information.
　前記作業の進捗は、前記行動が行われる作業エリア、前記作業者が行う作業工程の種類、およびその作業の完了有無の情報のうち少なくとも１個の情報を含むように構成されていてもよい。 The progress of the work may be configured to include at least one of a work area where the action is performed, a type of a work process performed by the worker, and information on whether or not the work is completed.
　前記作業管理装置は、作業対象となる作業エリア、前記作業エリアにおいて必要な複数の工程、および前記工程の順序が関連付けて記憶される作業管理テーブルを有する作業管理ＤＢをさらに備え、
　前記作業予測部は、前記作業内容処理部により判定される前記作業の進捗と、前記作業管理テーブルと、に基づいて、次に行うべき工程を予測するように構成されていてもよい。 The work management apparatus further includes a work management DB having a work management table in which a work area to be worked on, a plurality of steps required in the work area, and an order of the steps are stored in association with each other,
The work prediction unit may be configured to predict a next process to be performed based on the progress of the work determined by the work content processing unit and the work management table.
　前記作業管理テーブルには、前記複数の工程において前工程が終了した後次工程を開始するまでに開ける期間がさらに記憶されていて、前記作業予測部は、前記作業内容処理部により判定される前記作業の進捗と、前記作業管理テーブルと、に基づいて、次に行うべき工程の開始時期を予測するように構成されていてもよい。 The work management table further stores a period that can be opened before the start of the next process after the end of the previous process in the plurality of processes, and the work prediction unit determines the work by the work content processing unit. It may be configured to predict the start time of the next process to be performed based on the progress of the work and the work management table.
　前記作業管理テーブルには、前記工程ごとに必要なリソースの情報がさらに記憶されていて、前記作業予測部は、前記作業内容処理部により判定される前記作業の進捗と、前記作業管理テーブルと、に基づいて、次に行う作業に必要なリソースを予測するように構成されていてもよい。 The work management table further stores information on resources required for each of the steps, and the work prediction unit calculates the progress of the work determined by the work content processing unit, the work management table, May be configured to predict the resources required for the next operation based on.
　前記作業予測部は、リソースの制約条件を入力可能に構成されていて、前記制約条件に基づいて他のリソースの量を予測可能であるように構成されていてもよい。 The work prediction unit may be configured to be able to input a constraint condition of a resource, and to be able to predict the amount of another resource based on the constraint condition.
　前記リソースは、前記工程に要する要員数、作業時間、薬剤量、農機の種類、および前記農機の作動に用いるバッテリーの個数の少なくとも１個を含むように構成されていてもよい。 The resource may be configured to include at least one of the number of personnel required for the process, the working time, the amount of medicine, the type of agricultural machine, and the number of batteries used for operating the agricultural machine.
　前記複数の工程は、圃場における農作業に関する工程であり、前記複数の工程は、１の圃場に対し順次間欠的に行われるように構成されていてもよい。 The plurality of steps are steps related to farm work in a field, and the plurality of steps may be configured to be sequentially and intermittently performed in one field.
　本発明の一の観点に係る作業管理方法は、複数の工程を有する作業を管理する作業管理方法であって、作業者の行動を表す指標を受信する取得ステップと、前記取得ステップにより取得される情報に基づいて、前記作業者の作業の進捗を判定する作業内容処理ステップと、前記作業内容処理ステップにより判定される前記作業の進捗に基づいて、次に行うべき工程を予測するステップと、を含む。 A work management method according to one aspect of the present invention is a work management method for managing a work having a plurality of steps, wherein the obtaining step receives an index indicating an action of a worker, and is obtained by the obtaining step. A work content processing step of determining the progress of the worker's work based on information; and a step of predicting a process to be performed next based on the work progress determined by the work content processing step. Including.
　本発明の一の観点に係る作業管理プログラムは、複数の工程を有する作業を管理する作業管理プログラムであって、作業者の行動を表す指標を受信する取得命令と、前記取得命令により取得される情報に基づいて、前記作業者の作業の進捗を判定する作業内容処理命令と、前記作業内容処理命令により判定される前記作業の進捗に基づいて、次に行うべき工程を予測する命令と、をコンピューターに実行させる。
　なお、コンピュータプログラムは、インターネット等のネットワークを介したダウンロードによって提供したり、ＣＤ－ＲＯＭなどのコンピュータ読取可能な各種の記録媒体に記録して提供したりすることができる。 A work management program according to one aspect of the present invention is a work management program that manages work having a plurality of steps, and is obtained by an acquisition command for receiving an index indicating an action of a worker, and the acquisition command. A work content processing instruction for determining the progress of the worker's work based on the information, and a command for predicting a process to be performed next based on the progress of the work determined by the work content processing command. Let the computer run.
The computer program can be provided by download via a network such as the Internet, or can be provided by being recorded on various computer-readable recording media such as a CD-ROM.
　簡便に作業工程の進捗状況を記録して管理することができる作業管理システムを提供する。 作業 Provide a work management system that can easily record and manage the progress of work processes.
本願発明に係る作業管理システムの全体概念図の例である。1 is an example of an overall conceptual diagram of a work management system according to the present invention. 上記作業管理システムが有するドローンの制御機能を表した模式図である。It is the schematic diagram showing the control function of the drone which the said work management system has. 上記作業管理システムが接続される端末および営農クラウドが有する、作業工程の進捗状況を記録して管理する構成に関する機能ブロック図である。It is a functional block diagram about the composition which records and manages the progress of a work process which a terminal and a farming cloud which the work management system is connected have. 上記営農クラウドが有する、作業管理ＤＢに記憶される作業管理テーブルの（a）圃場が畑である場合の例、（b）圃場が田である場合の例である。The work management table stored in the work management DB of the farming cloud includes an example in which (a) the field is a field, and (b) an example in which the field is a field. 上記作業管理システムが有する操作器の表示部に表示される、作業状況を表す画面表示の一例である。It is an example of the screen display showing the work status displayed on the display unit of the operation device of the work management system.
以下、図を参照しながら、本願発明を実施するための形態について説明する。図はすべて例示である。以下の詳細な説明では、説明のために、開示された実施形態の完全な理解を促すために、ある特定の詳細について述べられている。しかしながら、実施形態は、これらの特定の詳細に限られない。また、図面を単純化するために、周知の構造および装置については概略的に示されている。 Hereinafter, embodiments for implementing the present invention will be described with reference to the drawings. The figures are all examples. In the following detailed description, for purposes of explanation, certain specific details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, embodiments are not limited to these specific details. In other instances, well-known structures and devices are shown schematically to simplify the drawings.
本願発明に係る作業管理システムは、作業者又は機械により行われる作業を記録し、次の作業工程の時期や内容を予測して報知するシステムである。作業管理システムは、作業者又は機械が装着する端末からの情報に基づいて、作業が行われた場所および作業種類を特定し、記録する。また、当該記録に基づいて、次の作業開始時期や内容を作業者に通知する。ここで、機械は、例えば農業用機械であり、トラクターや、耕運機などを含む。また、自律動作するものおよび手動操縦を行う必要があるものを含む。また、機械は、自律飛行を行うドローン、特に農業用ドローンを含む。農業用ドローンは、主に薬剤散布を目的としたドローンであるが、監視用ドローンであってもよい。 The work management system according to the present invention is a system that records work performed by a worker or a machine and predicts and notifies the timing and contents of the next work process. The work management system identifies and records the place where the work was performed and the type of work based on information from the worker or a terminal mounted on the machine. Further, the operator is notified of the next work start time and contents based on the record. Here, the machine is, for example, an agricultural machine, and includes a tractor, a cultivator, and the like. It also includes those that operate autonomously and those that require manual operation. Machines also include drones that fly autonomously, especially agricultural drones. The agricultural drone is a drone mainly for spraying a medicine, but may be a monitoring drone.
本願明細書において、ドローンとは、動力手段（電力、原動機等）、操縦方式（無線であるか有線であるか、および、自律飛行型であるか手動操縦型であるか等）を問わず、複数の回転翼を有する飛行体全般を指すこととする。 In the specification of the present application, the drone means any type of power means (electric power, prime mover, etc.) and any type of control (wireless or wired, autonomous flight type or manual control type, etc.) It refers to a general flying object having a plurality of rotors.
図１にドローン100の薬剤散布用途の実施例を使用したシステムの全体概念図を示す。本図は模式図であって、縮尺は正確ではない。操作器401は、作業者402の操作によりドローン100に指令を送信し、また、ドローン100から受信した情報（たとえば、位置、薬剤量、電池残量、カメラ映像等）を表示するための手段であり、コンピューター・プログラムを稼働する一般的なタブレット端末等の携帯情報機器によって実現されてよい。本願発明に係るドローン100は自律飛行を行なうよう制御されるよう構成されていてもよいが、離陸や帰還などの基本操作時、および、緊急時にはマニュアル操作が行なえるようになっていてもよい。携帯情報機器に加えて、緊急停止専用の機能を有する非常用操作機（図示していない）を使用してもよい（非常用操作機は緊急時に迅速に対応が取れるよう大型の緊急停止ボタン等を備えた専用機器であってもよい）。操作器401とドローン100はWi-Fi等による無線通信を行うように構成されている。 FIG. 1 shows an overall conceptual diagram of a system using an embodiment of the drone 100 for application of medicine. This diagram is a schematic diagram, and the scale is not accurate. The operating device 401 is a means for transmitting a command to the drone 100 by an operation of the worker 402 and displaying information (for example, a position, a medicine amount, a battery level, a camera image, and the like) received from the drone 100. Yes, and may be realized by a portable information device such as a general tablet terminal that runs a computer program. The drone 100 according to the present invention may be configured to be controlled to perform an autonomous flight, but may be configured to be able to perform a manual operation during a basic operation such as takeoff or return, or in an emergency. In addition to the portable information device, an emergency operation device (not shown) having a function dedicated to emergency stop may be used (the emergency operation device has a large emergency stop button and the like so that an emergency operation device can quickly respond in an emergency. It may be a dedicated device provided with). The operation device 401 and the drone 100 are configured to perform wireless communication by Wi-Fi or the like.
また、操作器401とは別に、又は一体化したウェアラブル端末407が営農クラウド405に接続されていてもよい。端末407は、腕時計型やアイウェア型、イヤホン型であってもよい。端末407は、作業者402が装着した状態で作業を行う場合にも作業性を損なわない形状である。端末407は、作業者402の作業中の位置および動作を計測し、ネットワークを通じて営農クラウド405に送信する。また、営農クラウド405からの情報を受信して、作業者402に通知することが可能であってもよい。端末407は、操作器401と同様の機能を備えていてもよい。端末407の詳細構成については後述する。 Further, the wearable terminal 407 separately from or integrated with the operation device 401 may be connected to the farming cloud 405. Terminal 407 may be a wristwatch type, an eyewear type, or an earphone type. The terminal 407 has a shape that does not impair workability even when the worker 402 performs work while wearing it. The terminal 407 measures the position and movement of the worker 402 during the work, and transmits the measured position and movement to the farming cloud 405 through the network. Further, it may be possible to receive information from the farming cloud 405 and notify the worker 402. The terminal 407 may have the same function as the operation device 401. The detailed configuration of terminal 407 will be described later.
圃場403は、ドローン100による薬剤散布の対象となる田圃や畑等である。実際には、圃場403の地形は複雑であり、事前に地形図が入手できない場合、あるいは、地形図と現場の状況が食い違っている場合がある。通常、圃場403は家屋、病院、学校、他作物圃場、道路、鉄道等と隣接している。また、圃場403内に、建築物や電線等の障害物が存在する場合もある。 The field 403 is a field or a field to which the drone 100 is to apply the medicine. Actually, the terrain of the field 403 is complicated, and there is a case where a topographic map cannot be obtained in advance, or a case where the topographic map differs from the situation of the site. Usually, the field 403 is adjacent to houses, hospitals, schools, other crop fields, roads, railways and the like. Further, an obstacle such as a building or an electric wire may exist in the field 403 in some cases.
基地局404は、Wi-Fi通信の親機機能等を提供する装置であり、RTK-GPS基地局としても機能し、ドローン100の正確な位置を提供できるように構成されている（Wi-Fi通信の親機機能とRTK-GPS基地局が独立した装置であってもよい）。営農クラウド405は、典型的にはクラウドサービス上で運営されているコンピューター群と関連ソフトウェアであり、操作器401と携帯電話回線等で無線接続されている。営農クラウド405は、ドローン100が撮影した圃場403の画像を分析し、作物の生育状況を把握して、飛行ルートを決定するための処理を行なってよい。また、保存していた圃場403の地形情報等をドローン100に提供してよい。加えて、ドローン100の飛行および撮影映像の履歴を蓄積し、様々な分析処理を行なってもよい。 The base station 404 is a device that provides a master device function or the like of Wi-Fi communication, also functions as an RTK-GPS base station, and is configured to provide an accurate position of the drone 100 (Wi-Fi communication). The communication base unit function and the RTK-GPS base station may be independent devices.) The farming cloud 405 is typically a group of computers and related software operated on a cloud service, and is wirelessly connected to the controller 401 via a mobile phone line or the like. The farming cloud 405 may analyze the image of the field 403 captured by the drone 100, grasp the growing condition of the crop, and perform a process for determining a flight route. Further, the stored topographical information of the field 403 may be provided to the drone 100. In addition, the history of the flying and photographed images of the drone 100 may be accumulated, and various analysis processes may be performed.
通常、ドローン100は圃場403の外部にある発着地点406から離陸し、圃場403に薬剤を散布した後に、あるいは、薬剤補充や充電等が必要になった時に発着地点406に帰還する。発着地点406から目的の圃場403に至るまでの飛行経路（侵入経路）は、営農クラウド405等で事前に保存されていてもよいし、作業者402が離陸開始前に入力してもよい。 Normally, the drone 100 takes off from the landing point 406 outside the field 403 and returns to the landing point 406 after spraying the medicine on the field 403 or when it becomes necessary to replenish or charge the medicine. The flight route (intrusion route) from the departure / arrival point 406 to the target field 403 may be stored in advance in the farming cloud 405 or the like, or may be input by the worker 402 before the start of takeoff.
図2に薬剤散布用ドローンの実施例の制御機能を表した模式図を示す。フライトコントローラー501は、ドローン全体の制御を司る構成要素であり、具体的にはCPU、メモリー、関連ソフトウェア等を含む組み込み型コンピューターであってよい。フライトコントローラー501は、操作器401から受信した入力情報、および、後述の各種センサーから得た入力情報に基づき、ESC（Electronic Speed Control）等の制御手段を介して、モーター102-1a、102-1b、102-2a、102-2b、102-3a、102-3b、104-a、104-bの回転数を制御することで、ドローン100の飛行を制御する。モーター102-1a、102-1b、102-2a、102-2b、102-3a、102-3b、104-a、104-bの実際の回転数はフライトコントローラー501にフィードバックされ、正常な回転が行なわれているかを監視できる構成になっている。あるいは、回転翼101に光学センサー等を設けて回転翼101の回転がフライトコントローラー501にフィードバックされる構成でもよい。 FIG. 2 is a schematic diagram showing the control function of the embodiment of the drone for spraying a medicine. The flight controller 501 is a component that controls the entire drone, and may specifically be an embedded computer including a CPU, a memory, related software, and the like. The flight controller 501 controls the motors 102-1a and 102-1b via control means such as ESC (Electronic Speed Control) based on input information received from the operating device 401 and input information obtained from various sensors described below. , 102-2a, 102-2b, 102-3a, 102-3b, 104-a, and 104-b to control the rotation speed of the drone 100. The actual rotation speeds of the motors 102-1a, 102-1b, 102-2a, 102-2b, 102-3a, 102-3b, 104-a, 104-b are fed back to the flight controller 501, and normal rotation is performed. It is configured to monitor whether it is running. Alternatively, the rotation wing 101 may be provided with an optical sensor or the like, and the rotation of the rotation wing 101 may be fed back to the flight controller 501.
フライトコントローラー501が使用するソフトウェアは、機能拡張・変更、問題修正等のために記憶媒体等を通じて、または、Wi-Fi通信やUSB等の通信手段を通じて書き換え可能になっている。この場合において、不正なソフトウェアによる書き換えが行なわれないように、暗号化、チェックサム、電子署名、ウィルスチェックソフト等による保護を行う。また、フライトコントローラー501が制御に使用する計算処理の一部が、操作器401上、または、営農クラウド405上や他の場所に存在する別のコンピューターによって実行されてもよい。フライトコントローラー501は重要性が高いため、その構成要素の一部または全部が二重化されていてもよい。 The software used by the flight controller 501 can be rewritten through a storage medium or the like for function expansion / change, problem correction, or the like, or through communication means such as Wi-Fi communication or USB. In this case, protection by encryption, checksum, digital signature, virus check software, etc. is performed to prevent rewriting by unauthorized software. In addition, a part of the calculation processing used by the flight controller 501 for control may be executed by the operation device 401, the farm cloud 405, or another computer existing in another place. Since the flight controller 501 is highly important, some or all of its components may be duplicated.
バッテリー502は、フライトコントローラー501、および、ドローンのその他の構成要素に電力を供給する手段であり、充電式である。バッテリー502はヒューズ、または、サーキットブレーカー等を含む電源ユニットを介してフライトコントローラー501に接続されている。バッテリー502は電力供給機能に加えて、その内部状態（蓄電量、積算使用時間等）をフライトコントローラー501に伝達する機能を有するスマートバッテリーであってもよい。 The battery 502 is a means for supplying power to the flight controller 501 and other components of the drone, and is rechargeable. The battery 502 is connected to the flight controller 501 via a power supply unit including a fuse or a circuit breaker. The battery 502 may be a smart battery having a function of transmitting its internal state (power storage amount, accumulated use time, and the like) to the flight controller 501 in addition to a power supply function.
フライトコントローラー501は、Wi-Fi子機機能503を介して、さらに、基地局404を介して操作器401とやり取りを行ない、必要な指令を操作器401から受信すると共に、必要な情報を操作器401に送信できる。この場合に、通信には暗号化を施し、傍受、成り済まし、機器の乗っ取り等の不正行為を防止できるようにしておく。基地局404は、Wi-Fiによる通信機能に加えて、RTK-GPS基地局の機能も備えている。RTK基地局の信号とGPS測位衛星からの信号を組み合わせることで、GPSモジュール504により、ドローン100の絶対位置を数センチメートル程度の精度で測定可能となる。GPSモジュール504は重要性が高いため、二重化・多重化しておくことが望ましく、また、特定のGPS衛星の障害に対応するため、冗長化されたそれぞれのGPSモジュール504は別の衛星を使用するよう制御する。 The flight controller 501 communicates with the operation device 401 via the Wi-Fi slave device function 503 and further via the base station 404, receives necessary commands from the operation device 401, and transmits necessary information to the operation device 401. Can be sent to 401. In this case, communication is encrypted so that eavesdropping, impersonation, and takeover of equipment can be prevented. The base station 404 has a function of an RTK-GPS base station in addition to a communication function using Wi-Fi. By combining the signal from the RTK base station and the signal from the GPS positioning satellite, the GPS module 504 can measure the absolute position of the drone 100 with an accuracy of about several centimeters. Since the GPS module 504 is important, it is desirable to duplicate and multiplex the GPS module 504.In order to cope with the failure of a specific GPS satellite, it is recommended that each redundant GPS module 504 use a different satellite. Control.
６軸ジャイロセンサー505はドローン機体の互いに直交する３方向の加速度を測定する手段（さらに、加速度の積分により速度を計算する手段）である。また、６軸ジャイロセンサー505は、上述の３方向におけるドローン機体の姿勢角の変化、すなわち角速度を測定する手段である。地磁気センサー506は、地磁気の測定によりドローン機体の方向を測定する手段である。気圧センサー507は、気圧を測定する手段であり、間接的にドローンの高度も測定することもできる。レーザーセンサー508は、レーザー光の反射を利用してドローン機体と地表との距離を測定する手段であり、IR（赤外線）レーザーを使用していてもよい。ソナー509は、超音波等の音波の反射を利用してドローン機体と地表との距離を測定する手段である。これらのセンサー類は、ドローンのコスト目標や性能要件に応じて取捨選択してよい。また、機体の傾きを測定するためのジャイロセンサー（角速度センサー）、風力を測定するための風力センサーなどが追加されていてもよい。また、これらのセンサー類は、二重化または多重化されていてもよい。同一目的複数のセンサーが存在する場合には、フライトコントローラー501はそのうちの一つのみを使用し、それが障害を起こした際には、代替のセンサーに切り替えて使用するようにしてもよい。あるいは、複数のセンサーを同時に使用し、それぞれの測定結果が一致しない場合には障害が発生したと見なすようにしてもよい。 The six-axis gyro sensor 505 is a means for measuring accelerations of the drone body in three directions orthogonal to each other (further, a means for calculating a speed by integrating the accelerations). The six-axis gyro sensor 505 is a means for measuring a change in the attitude angle of the drone body in the above three directions, that is, an angular velocity. The geomagnetic sensor 506 is means for measuring the direction of the drone body by measuring geomagnetism. The air pressure sensor 507 is a means for measuring the air pressure, and can also indirectly measure the altitude of the drone. The laser sensor 508 is a means for measuring the distance between the drone body and the ground surface by using the reflection of laser light, and may use an IR (infrared) laser. The sonar 509 is a means for measuring the distance between the drone body and the surface of the earth using reflection of sound waves such as ultrasonic waves. These sensors may be selected based on the cost objectives and performance requirements of the drone. Further, a gyro sensor (angular velocity sensor) for measuring the inclination of the airframe, a wind sensor for measuring wind power, and the like may be added. Further, these sensors may be duplicated or multiplexed. When there are a plurality of sensors for the same purpose, the flight controller 501 may use only one of them, and in the event of a failure, may switch to the alternative sensor for use. Alternatively, a plurality of sensors may be used at the same time, and if the respective measurement results do not match, it may be determined that a failure has occurred.
流量センサー510は薬剤の流量を測定するための手段であり、薬剤タンク104から薬剤ノズル103に至る経路の複数の場所に設けられている。液切れセンサー511は薬剤の量が所定の量以下になったことを検知するセンサーである。マルチスペクトルカメラ512は圃場403を撮影し、画像分析のためのデータを取得する手段である。障害物検知カメラ513はドローン障害物を検知するためのカメラであり、画像特性とレンズの向きがマルチスペクトルカメラ512とは異なるため、マルチスペクトルカメラ512とは別の機器であってもよい。スイッチ514はドローン100の作業者402が様々な設定を行なうための手段である。障害物接触センサー515はドローン100、特に、そのローターやプロペラガード部分が電線、建築物、人体、立木、鳥、または、他のドローン等の障害物に接触したことを検知するためのセンサーである。カバーセンサー516は、ドローン100の操作パネルや内部保守用のカバーが開放状態であることを検知するセンサーである。薬剤注入口センサー517は薬剤タンク104の注入口が開放状態であることを検知するセンサーである。これらのセンサー類はドローンのコスト目標や性能要件に応じて取捨選択してよく、二重化・多重化してもよい。また、ドローン100外部の基地局404、操作器401、または、その他の場所にセンサーを設けて、読み取った情報をドローンに送信してもよい。たとえば、基地局404に風力センサーを設け、風力・風向に関する情報をWi-Fi通信経由でドローン100に送信するようにしてもよい。 The flow rate sensors 510 are means for measuring the flow rate of the medicine, and are provided at a plurality of locations on the path from the medicine tank 104 to the medicine nozzle 103. The liquid shortage sensor 511 is a sensor that detects that the amount of the medicine has become equal to or less than a predetermined amount. The multispectral camera 512 is a means for photographing the field 403 and acquiring data for image analysis. The obstacle detection camera 513 is a camera for detecting a drone obstacle. Since the image characteristics and the orientation of the lens are different from those of the multispectral camera 512, the obstacle detection camera 513 may be a device different from the multispectral camera 512. The switch 514 is a means for the operator 402 of the drone 100 to make various settings. The obstacle contact sensor 515 is a sensor for detecting that the drone 100, particularly its rotor or propeller guard, has contacted an obstacle such as an electric wire, a building, a human body, a tree, a bird, or another drone. . The cover sensor 516 is a sensor that detects that an operation panel of the drone 100 and a cover for internal maintenance are open. The drug inlet sensor 517 is a sensor that detects that the inlet of the drug tank 104 is open. These sensors may be selected or duplicated or multiplexed depending on the cost objectives and performance requirements of the drone. Further, a sensor may be provided in the base station 404, the operation device 401, or another place outside the drone 100, and the read information may be transmitted to the drone. For example, a wind sensor may be provided in the base station 404, and information on the wind and wind direction may be transmitted to the drone 100 via Wi-Fi communication.
フライトコントローラー501はポンプ106に対して制御信号を送信し、薬剤吐出量の調整や薬剤吐出の停止を行なう。ポンプ106の現時点の状況（たとえば、回転数等）は、フライトコントローラー501にフィードバックされる構成となっている。 The flight controller 501 transmits a control signal to the pump 106, and adjusts the medicine ejection amount and stops the medicine ejection. The current state of the pump 106 (for example, the number of revolutions) is fed back to the flight controller 501.
LED107は、ドローンの操作者に対して、ドローンの状態を知らせるための表示手段である。LEDに替えて、または、それに加えて液晶ディスプレイ等の表示手段を使用してもよい。ブザー518は、音声信号によりドローンの状態（特にエラー状態）を知らせるための出力手段である。Wi-Fi子機機能519は操作器401とは別に、たとえば、ソフトウェアの転送などのために外部のコンピューター等と通信するためのオプショナルな構成要素である。Wi-Fi子機機能に替えて、または、それに加えて、赤外線通信、Bluetooth（登録商標）、ZigBee（登録商標）、NFC等の他の無線通信手段、または、USB接続などの有線通信手段を使用してもよい。スピーカー520は、録音した人声や合成音声等により、ドローンの状態（特にエラー状態）を知らせる出力手段である。天候状態によっては飛行中のドローン100の視覚的表示が見にくいことがあるため、そのような場合には音声による状況伝達が有効である。警告灯521はドローンの状態（特にエラー状態）を知らせるストロボライト等の表示手段である。これらの入出力手段は、ドローンのコスト目標や性能要件に応じて取捨選択してよく、二重化・多重化してもよい。 The LED 107 is display means for notifying the drone operator of the status of the drone. A display means such as a liquid crystal display may be used instead of or in addition to the LED. The buzzer 518 is an output unit for notifying a drone state (particularly an error state) by an audio signal. The Wi-Fi slave device function 519 is an optional component for communicating with an external computer or the like for transferring software, for example, separately from the operation device 401. Other wireless communication means such as infrared communication, Bluetooth (registered trademark), ZigBee (registered trademark), NFC, or wired communication means such as USB connection may be used instead of or in addition to the Wi-Fi slave unit function. May be used. The speaker 520 is an output unit that notifies a drone state (especially an error state) by a recorded human voice, a synthesized voice, or the like. Depending on the weather condition, the visual display of the drone 100 during flight may be difficult to see, and in such a case, voice communication is effective. The warning light 521 is a display means such as a strobe light for notifying a drone state (especially an error state). These input / output means may be selected according to the cost target and performance requirements of the drone, and may be duplicated / multiplexed.
　図３に示すように、営農クラウド405と端末407とはネットワーク（NW）を通じて接続されており、端末407を装着する作業者402の作業に関する情報の授受を行う。営農クラウド405は、作業管理装置の例である。端末407は、行動計測部20と、送信部23と、を備える。営農クラウド405、端末407および操作器401は、作業管理システム1を構成する。 (3) As shown in FIG. 3, the farming cloud 405 and the terminal 407 are connected via a network (NW), and exchange information regarding the work of the worker 402 wearing the terminal 407. The farm management cloud 405 is an example of a work management device. The terminal 407 includes the behavior measurement unit 20 and the transmission unit 23. The farming cloud 405, the terminal 407, and the operation device 401 constitute the work management system 1.
　行動計測部20は、作業者402の行動を表す指標を計測する機能部である。行動を表す指標とは、例えば作業者402の位置情報や、加速度の情報である。行動計測部20は、座標検出部21と、加速度検出部22と、を有する。 The behavior measuring unit 20 is a functional unit that measures an index indicating the behavior of the worker 402. The index indicating the behavior is, for example, position information of the worker 402 or information of acceleration. The behavior measuring unit 20 has a coordinate detecting unit 21 and an acceleration detecting unit 22.
　座標検出部21は、端末407の３座標の位置情報を検出する機能部である。座標検出部21は、Wi-Fi子機機能およびGPSモジュールの少なくとも１個を備え、基地局404との通信に基づいて、端末407の位置座標を検出することができる。 The coordinate detecting unit 21 is a functional unit that detects position information of the terminal 407 at three coordinates. The coordinate detection unit 21 includes at least one of a Wi-Fi slave device function and a GPS module, and can detect the position coordinates of the terminal 407 based on communication with the base station 404.
　加速度検出部22は、端末407の加速度を検出する機能部である。加速度検出部22は、互いに直交する３方向の加速度を測定する機能部であり、例えば加速度センサー、又は６軸ジャイロセンサーにより構成されている。なお、加速度検出部22は、各作業において特に振動の大きい方向の加速度のみを測定するような構成であってもよい。加速度検出部22は、加速度を積分して速度情報を取得可能に構成されていてもよい。 The acceleration detection unit 22 is a functional unit that detects the acceleration of the terminal 407. The acceleration detection unit 22 is a functional unit that measures acceleration in three directions orthogonal to each other, and is configured by, for example, an acceleration sensor or a six-axis gyro sensor. Note that the acceleration detection unit 22 may be configured to measure only acceleration in a direction where vibration is particularly large in each work. The acceleration detection unit 22 may be configured to be able to acquire velocity information by integrating acceleration.
　送信部23は、座標検出部21および加速度検出部22により検出される、端末407の位置情報および加速度情報を、ネットワーク（NW）を通じて営農クラウド405に送信する。なお、本実施形態においては、クラウド上での処理および記憶を想定して説明しているが、ネットワークに接続されたサーバ等各種装置で一部又は全部の処理および記憶を行うように構成されていてもよい。 The transmission unit 23 transmits the position information and the acceleration information of the terminal 407 detected by the coordinate detection unit 21 and the acceleration detection unit 22 to the farming cloud 405 via the network (NW). Although the present embodiment has been described assuming processing and storage on the cloud, it is configured so that some or all of the processing and storage is performed by various devices such as servers connected to a network. You may.
　送信部23は、端末407の起動中に常に位置情報および加速度情報を送信してもよいし、作業の開始および終了を検知して、作業中の位置情報および加速度情報を送信してもよい。例えば、位置情報により端末407が圃場内に入っていることおよび出ていることを判別して、作業の開始および終了を検知してもよい。また、加速度情報が所定の性質を有している場合に、作業を行っていると見なして作業の開始および終了としてもよい。作業中の位置情報および加速度情報は、定期的に随時送信してもよいし、作業開始以降の位置情報および加速度情報を蓄積しておき、作業終了の検知に基づいて直前の作業開始時刻から作業終了時刻までの情報をまとめて送信してもよい。また、端末407の起動中の位置情報および加速度情報を蓄積しておき、作業者402からの適宜の手動入力に基づいて、所定の時間帯における位置情報および加速度情報を送信してもよい。 The transmitting unit 23 may always transmit the position information and the acceleration information while the terminal 407 is activated, or may detect the start and end of the work and transmit the position information and the acceleration information during the work. For example, the start and end of the work may be detected by determining whether the terminal 407 is in or out of the field based on the position information. In addition, when the acceleration information has a predetermined property, the start and the end of the work may be regarded as being performed. The position information and the acceleration information during the work may be transmitted at any time periodically, or the position information and the acceleration information after the start of the work are accumulated, and the work is started from the immediately preceding work start time based on the detection of the end of the work. Information up to the end time may be transmitted collectively. Further, the position information and the acceleration information during the activation of the terminal 407 may be accumulated, and the position information and the acceleration information in a predetermined time zone may be transmitted based on an appropriate manual input from the worker 402.
　営農クラウド405は、端末407からの情報を取得して記憶し、さらに作業者402が行うべき次の作業の開始時期および内容等を予測して端末407に出力する機能部である。営農クラウド405は、取得部41と、作業内容処理部42と、DB更新部43と、作業予測部44と、出力部45と、作業管理DB50と、を有する。 The farming cloud 405 is a functional unit that acquires and stores information from the terminal 407, and further predicts the start time and content of the next work to be performed by the worker 402 and outputs the information to the terminal 407. The farming cloud 405 includes an acquisition unit 41, a work content processing unit 42, a DB update unit 43, a work prediction unit 44, an output unit 45, and a work management DB 50.
　取得部41は、端末407から送信される端末407の位置情報および加速度情報を取得する機能部である。 The acquisition unit 41 is a functional unit that acquires the position information and the acceleration information of the terminal 407 transmitted from the terminal 407.
　作業内容処理部42は、取得部41により取得される情報に基づいて、作業の進捗を判定する機能部である。作業の進捗は、作業エリア、工程の種類、およびその作業の完了有無の情報のうち少なくとも１個の情報を含む。作業内容処理部42は、エリア判別部421、工程種類判別部422、および作業完了判定部423を有する。 The work content processing unit 42 is a functional unit that determines the progress of a work based on information acquired by the acquisition unit 41. The progress of the work includes at least one piece of information among a work area, a type of process, and information on whether the work is completed. The work content processing unit 42 includes an area determination unit 421, a process type determination unit 422, and a work completion determination unit 423.
　エリア判別部421は、位置情報に基づいて、作業が行われているエリアを判別する機能部である。作業者402が作業を行う作業エリアは、作業エリアの性質に基づいて複数に分割されていたり、互いに離れた位置に配置されている場合がある。そこで、営農クラウド405には作業エリアの座標があらかじめ記憶されていて、エリア判別部421は作業エリアの座標と位置情報とに基づいて、いずれのエリアで作業が行われているかを判別する。作業エリアは、例えば圃場であり、生育させる作物の種類や使用する農薬の種類、農薬の使用および不使用の別等により作業エリアを複数に分割して管理されている場合がある。また、作業エリアは、物理的に互いに距離が離れている飛び地になっている場合がある。 The area determining unit 421 is a functional unit that determines an area in which work is being performed based on position information. The work area in which the worker 402 works may be divided into a plurality of areas based on the nature of the work area, or may be arranged at positions separated from each other. Therefore, the coordinates of the work area are stored in advance in the farming cloud 405, and the area determination unit 421 determines which area is performing the work based on the coordinates of the work area and the position information. The work area is, for example, a field, and the work area may be divided into a plurality of areas and managed according to the type of crop to be grown, the type of pesticide to be used, and the use or non-use of the pesticide. Further, the work area may be an enclave physically separated from each other physically.
　工程種類判別部422は、位置情報、加速度情報および加速度を積分して得られる速度情報の少なくとも１個に基づいて、作業者402が行っている工程の種類を判別する機能部である。工程種類とは、例えば播種、農薬散布、追肥、刈取り、田おこし、田植え、稲刈りといった各農作業工程を指す。例えば、位置情報によれば、端末407の高さ情報から、作業者402の姿勢および乗用機械に乗っているか否かを判別可能である。作業者402の加速度情報によれば、その振動方向および振動幅によって工程種類が判別可能である。作業者402の速度情報によれば、作業者402が徒歩であるか乗用機械により移動しているかが判別可能である。営農クラウド405には位置情報、加速度情報および速度情報と、工程種類とが互いに関連づけられる行動判別テーブルがあらかじめ記憶されていて、工程種類判別部422は当該行動判別テーブルに基づいて作業者402が行う工程の種類を判別する。 The process type determining unit 422 is a functional unit that determines the type of process performed by the worker 402 based on at least one of the position information, the acceleration information, and the speed information obtained by integrating the acceleration. The process type refers to each agricultural work process such as sowing, pesticide spraying, topdressing, cutting, rice cultivation, rice planting, and rice harvesting. For example, according to the position information, it is possible to determine from the height information of the terminal 407 the posture of the worker 402 and whether or not the worker 402 is riding. According to the acceleration information of the worker 402, the process type can be determined based on the vibration direction and the vibration width. According to the speed information of the worker 402, it is possible to determine whether the worker 402 is walking or moving with a riding machine. The farming cloud 405 stores in advance an action determination table in which the position information, the acceleration information, the speed information, and the process type are associated with each other, and the process type determination unit 422 performs an operation by the worker 402 based on the action determination table. Determine the type of process.
　工程判別テーブルは、変更不可能なものであってもよいし、作業者402の情報に基づいてカスタマイズ可能であってもよい。また、作業者402や適宜の管理者から入力される教師データに基づいて、学習するように構成されていてもよい。 The process discrimination table may not be changeable, or may be customizable based on information of the worker 402. Further, the learning may be configured based on teacher data input from the worker 402 or an appropriate manager.
　作業完了判定部423は、位置情報および加速度情報の少なくとも1個に基づいて、各農作業工程が完了しているか、又は途中であるかを判定する機能部である。特に、本実施形態における各農作業工程は、作業エリア内をくまなく移動することが求められる。そこで、作業完了判定部423は、作業開始からの位置情報に基づいて、作業エリア内の移動経路が所定の範囲を包含している場合に、作業が完了していると判定する。 The work completion determination unit 423 is a functional unit that determines whether each farm work process is completed or is in progress based on at least one of the position information and the acceleration information. In particular, each farm work process in the present embodiment is required to move throughout the work area. Therefore, the work completion determination unit 423 determines that the work is completed when the movement route in the work area includes a predetermined range based on the position information from the start of the work.
　DB更新部43は、作業内容処理部42により生成された作業完了情報を、作業管理DB50に記録する。作業完了情報は、例えばどのエリアでどの作業を完了したのか、という情報を含む。また、作業完了情報は、当該作業に実際に掛かったリソースの情報を含み、ＤＢ更新部43は、実際に掛かったリソースの情報を作業管理ＤＢ50に記録してもよい。リソースの情報とは、当該作業エリアにおいて作業を完了させるのに必要な資源に関する情報であり、例えば作業者402の人数や作業時間の情報を含む。また、リソースの情報は、作業に関する必要資源の情報、すなわち圃場においては散布される薬剤の量や、作業機械が作業を完了させるのに必要な充電済みバッテリーの個数を含んでいてもよい。 The DB update unit 43 records the work completion information generated by the work content processing unit 42 in the work management DB 50. The work completion information includes, for example, information on which work has been completed in which area. Further, the work completion information may include information on resources actually applied to the work, and the DB updating unit 43 may record information on resources actually applied to the work management DB 50. The resource information is information relating to resources necessary for completing the work in the work area, and includes, for example, information on the number of workers 402 and work time. Further, the resource information may include information on required resources related to the work, that is, the amount of the medicine to be sprayed in the field or the number of charged batteries required for the work machine to complete the work.
　図４（a）および（b）に示すように、作業管理DB50は、作業エリアと、当該作業エリアにおいて必要な複数の工程が関連付けられる作業管理テーブルを記憶しているデータベースである。また、作業管理DB50は、各工程の実施順序が記憶されていて、前工程が終了した後次工程を開始するまでに空ける期間が合わせて記憶されている。当該期間は、作業エリアの種類、例えば作業エリアが圃場である場合、生育させる作物の種類に基づいてあらかじめ記憶されていて、使用者により作物の種類が指定されることにより設定されている。 4) As shown in FIGS. 4A and 4B, the work management DB 50 is a database that stores a work area and a work management table in which a plurality of processes required in the work area are associated with each other. Further, the work management DB 50 stores the execution order of each process, and also stores the time interval between the end of the previous process and the start of the next process. The time period is stored in advance based on the type of the work area, for example, when the work area is a field, and is set in accordance with the type of the crop designated by the user.
　さらに、前述したように、作業管理DB50は、各工程のリソースの情報が記憶されている。各工程のリソースの情報は、あらかじめ記憶されている標準的な値であってもよいし、ＤＢ更新部により実際に掛かった値であってもよい。実際に掛かった値が記憶されている構成によれば、後述する作業予測をより精度良く行うことができる。 Furthermore, as described above, the work management DB 50 stores resource information of each process. The resource information of each process may be a standard value stored in advance or a value actually applied by the DB updating unit. According to the configuration in which the actually applied values are stored, it is possible to more accurately perform the work prediction described later.
　作業管理DB50は、それぞれの工程に関して作業が完了したか否か、また実際に掛かったリソースの情報をDB更新部43により記録可能である。 The work management DB 50 can record , by the DB updating unit 43, whether or not the work has been completed for each process and information on the resources actually used.
　図４（a）は、畑Aおよび畑Bの作業管理テーブルの例を示す。畑において行う工程は、例えば、播種、殺虫、殺菌、追肥、刈取りなどが想定されるが、別の工程であってもよい。また、順序もこれに限られない。例えば、本実施形態では、殺虫作業は、播種の作業完了から7日後に行うことが記憶されている。図４（b）は、田圃Cおよび田圃Dの作業管理テーブルの例を示す。田圃において行う工程は、例えば、田おこし、田植え、殺菌、稲刈り等が想定されるが、別の工程であってもよく、順序もこれに限られない。 FIG. 4A shows an example of the work management table of the field A and the field B. The steps performed in the field are, for example, seeding, insecticidal, sterilizing, topdressing, cutting, and the like, but may be other steps. The order is not limited to this. For example, in the present embodiment, it is stored that the insecticidal operation is performed seven days after the completion of the seeding operation. FIG. 4B shows an example of a work management table for the fields C and D. The steps performed in the rice field may be, for example, rice cultivation, rice planting, sterilization, rice harvesting, and the like, but may be another step, and the order is not limited thereto.
　なお、DB更新部43は、作業内容処理部42により生成された作業完了情報に代えて、作業者402による手動の入力に基づいて作業管理DB50を更新してもよい。この構成によれば、端末407および作業内容処理部42により判定できない作業や、誤判定の起きた作業に関しても管理することが可能である。 Note that the DB update unit 43 may update the work management DB 50 based on a manual input by the worker 402 instead of the work completion information generated by the work content processing unit 42. According to this configuration, it is possible to manage the work that cannot be determined by the terminal 407 and the work content processing unit 42, and the work in which the erroneous determination has occurred.
　なお、DB更新部43は、作業内容処理部42により生成された作業完了情報に代えて、ドローン100から送信される作業完了情報に基づいて作業管理DB50を更新してもよい。この構成によれば、ドローン100で行った作業の管理を自動で行うことが可能である。 The DB update unit 43 may update the work management DB 50 based on work completion information transmitted from the drone 100, instead of the work completion information generated by the work content processing unit 42. According to this configuration, it is possible to automatically manage the work performed by the drone 100.
　図3に示す作業予測部44は、作業管理DB50に記憶されている作業管理テーブルの情報に基づいて、次工程の工程種類と、開始時期を予測する機能部である。例えば、DB更新部43により図4（a）の畑Aにおける播種が完了した旨の情報が記録される場合、作業予測部44は、作業管理DB50を参照して、次の工程は殺虫であり、播種の完了から7日後に開始する必要があると予測する。また、作業予測部44は、殺虫工程において、ドローン100、4個の充電済みバッテリー502、および30lの薬剤が必要であると予測する。 作業 The work predicting unit 44 shown in FIG. 3 is a functional unit that predicts a process type and a start time of the next process based on information of a work management table stored in the work management DB 50. For example, when information indicating that the seeding in the field A in FIG. 4A is completed is recorded by the DB update unit 43, the work prediction unit 44 refers to the work management DB 50, and the next step is insecticide. Predict that it needs to start 7 days after sowing is complete. Further, the work prediction unit 44 predicts that the drone 100, the four charged batteries 502, and the medicine of 30 l are required in the insecticidal process.
　作業予測部44は、リソースの制約条件を入力可能に構成されていて、当該制約条件に基づいて他のリソースの量を予測可能であってもよい。例えば、作業予測部44は、ある圃場における工程の種別と作業希望時間が入力されると、その他のリソース、すなわち農薬量、要員数、および農機の種類や必要なバッテリー502の個数等を予測する。また、作業管理テーブルに記録されていない圃場に関しても、農作業面積を入力することにより、必要なリソースの情報を予測することができる。 The work prediction unit 44 may be configured to be able to input a constraint condition of a resource, and may be able to predict the amount of another resource based on the constraint condition. For example, when the type of the process and the desired work time in a certain field are input, the work prediction unit 44 predicts other resources, that is, the amount of pesticides, the number of personnel, the type of farm machine, the number of necessary batteries 502, and the like. . Also, for a field that is not recorded in the work management table, the information of the necessary resources can be predicted by inputting the farm work area.
　図3に示す出力部45は、作業予測部44に予測される次工程の予測情報を、ネットワーク（NW）を通じて操作器401に出力する。操作器401が有する表示部4011は、例えば図5に示すように当該予測情報を表示する。作業者402は、表示部4011による表示により、各作業エリアの進捗状況と、次工程の作業予定を一覧することができる。特に、作業管理DB50により作業エリアごとに実施する工程をその順序とともに保持している構成によれば、作業エリアごとに異なる作業が必要な場合でも、次工程の内容を表示することができる。 (3) The output unit 45 shown in FIG. 3 outputs the prediction information of the next process predicted by the work prediction unit 44 to the operation device 401 through the network (NW). The display unit 4011 of the operation device 401 displays the prediction information, for example, as illustrated in FIG. The worker 402 can list the progress of each work area and the work schedule of the next process by the display on the display unit 4011. In particular, according to the configuration in which the work management DB 50 holds the steps to be performed for each work area together with their order, the contents of the next step can be displayed even when different work is required for each work area.
　なお、操作器401が作業者402に予測情報を伝達する手段として、表示に加えて、又は表示に代えて、音等による報知を行ってもよい。また、端末407が作業者402に予測情報を伝達する手段を有していてもよい。 In addition, as a means for the operating device 401 to transmit the prediction information to the worker 402, in addition to the display or in place of the display, notification by sound or the like may be performed. Further, the terminal 407 may have means for transmitting the prediction information to the worker 402.
　本発明に係る作業管理システムは、各工程の動作が異なる複数の工程を含む作業であっても、工程の種類を自動で判別して管理を行うことができる。また、次工程までの期間を記憶する構成によれば、各工程を間欠的に行う必要がある作業、例えば農作業の管理を行うことができる。 The work management system according to the present invention can automatically determine the type of a process and manage the work even if the work includes a plurality of processes in which the operations of the respective processes are different. Further, according to the configuration in which the period until the next step is stored, it is possible to manage operations in which each step needs to be performed intermittently, for example, management of agricultural work.
　なお、本説明においては、農業用の作業管理システムを例に説明したが、本発明の技術的思想はこれに限られるものではなく、複数種類の作業を順次行う作業管理全般に適用可能である。 In the present description, the work management system for agriculture has been described as an example, but the technical idea of the present invention is not limited to this, and is applicable to general work management in which a plurality of types of work are sequentially performed. .
（本願発明による技術的に顕著な効果）
　本発明にかかる作業管理システムにおいては、簡便に作業工程の進捗状況を記録して管理することができる。

  (Technically remarkable effects of the present invention)
In the work management system according to the present invention, the progress of the work process can be easily recorded and managed.

Claims (12)

  1. 　作業者に装着可能な端末と、作業管理装置と、がネットワークを通じて接続され、複数の工程を有する作業を管理する作業管理システムであって、
    　端末は、
    　　前記作業者の行動を表す指標を計測する行動計測部と、
    　　前記計測される前記作業者の行動を表す指標を作業管理装置に送信する送信部と、
    　を備え、
    　作業管理装置は、
    　　前記端末から送信される前記作業者の行動を表す指標を受信する取得部と、
    　　前記取得部により取得される情報に基づいて、前記作業者の作業の進捗を判定する作業内容処理部と、
    　　前記作業内容処理部により判定される前記作業の進捗に基づいて、次に行うべき工程を予測する作業予測部と、
    　を備える、
    作業管理システム。     A work management system that manages work having a plurality of processes, wherein a terminal attachable to a worker and a work management device are connected through a network,
    The terminal is
    An action measuring unit that measures an index indicating the action of the worker,
    A transmission unit that transmits an index representing the measured behavior of the worker to a work management device,
    With
    The work management device
    An acquisition unit that receives an index representing the behavior of the worker transmitted from the terminal,
    Based on information obtained by the obtaining unit, a work content processing unit that determines the progress of the work of the worker,
    Based on the progress of the work determined by the work content processing unit, a work prediction unit that predicts a process to be performed next,
    Comprising,
    Work management system.
  2. 　前記行動計測部は、前記作業者の位置座標を検出する座標検出部と、前記作業者の加速度を検出する加速度検出部と、を有し、前記作業内容処理部は、前記位置座標および前記加速度に基づいて、前記作業者の作業の進捗を判定する、
    請求項１記載の作業管理システム。     The behavior measurement unit has a coordinate detection unit that detects the position coordinates of the worker, and an acceleration detection unit that detects the acceleration of the worker, and the work content processing unit includes the position coordinates and the acceleration Determining the progress of the worker's work based on
    The work management system according to claim 1.
  3. 　前記作業の進捗は、前記行動が行われる作業エリア、前記作業者が行う作業工程の種類、およびその作業の完了有無の情報のうち少なくとも１個の情報を含む、
    請求項１又は２記載の作業管理システム。     The progress of the work includes at least one piece of information among a work area where the action is performed, a type of a work process performed by the worker, and information on whether or not the work is completed.
    The work management system according to claim 1.
  4. 　前記作業管理装置は、作業対象となる作業エリア、前記作業エリアにおいて必要な複数の工程、および前記工程の順序が関連付けて記憶される作業管理テーブルを有する作業管理ＤＢをさらに備え、
    　前記作業予測部は、前記作業内容処理部により判定される前記作業の進捗と、前記作業管理テーブルと、に基づいて、次に行うべき工程を予測する、
    請求項1乃至３のいずれかに記載の作業管理システム。     The work management apparatus further includes a work management DB having a work management table in which a work area to be worked on, a plurality of steps required in the work area, and an order of the steps are stored in association with each other,
    The work prediction unit predicts a process to be performed next based on the progress of the work determined by the work content processing unit and the work management table.
    The work management system according to claim 1.
  5. 　前記作業管理テーブルには、前記複数の工程において前工程が終了した後次工程を開始するまでに開ける期間がさらに記憶されていて、
    　前記作業予測部は、前記作業内容処理部により判定される前記作業の進捗と、前記作業管理テーブルと、に基づいて、次に行うべき工程の開始時期を予測する、
    請求項４記載の作業管理システム。     The work management table further stores a period that can be opened before a next process is started after a previous process is completed in the plurality of processes,
    The work prediction unit predicts a start time of a process to be performed next based on the progress of the work determined by the work content processing unit and the work management table.
    The work management system according to claim 4.
  6. 　前記作業管理テーブルには、前記工程ごとに必要なリソースの情報がさらに記憶されていて、
    　前記作業予測部は、前記作業内容処理部により判定される前記作業の進捗と、前記作業管理テーブルと、に基づいて、次に行う作業に必要なリソースを予測する、
    請求項４又は５記載の作業管理システム。     The work management table further stores information on resources required for each process,
    The work prediction unit predicts a resource required for the next work based on the progress of the work determined by the work content processing unit and the work management table.
    The work management system according to claim 4.
  7. 　前記作業予測部は、リソースの制約条件を入力可能に構成されていて、前記制約条件に基づいて他のリソースの量を予測可能である、
    請求項６記載の作業管理システム。     The work prediction unit is configured to be able to input a constraint condition of a resource, and can predict the amount of another resource based on the constraint condition.
    The work management system according to claim 6.
  8. 前記リソースは、前記工程に要する要員数、作業時間、薬剤量、農機の種類、および前記農機の作動に用いるバッテリーの個数の少なくとも１個を含む、
    請求項６又は７記載の作業管理システム。     The resource includes at least one of the number of personnel required for the process, the working time, the amount of medicine, the type of agricultural machine, and the number of batteries used for operating the agricultural machine,
    The work management system according to claim 6.
  9. 　前記複数の工程は、圃場における農作業に関する工程であり、前記複数の工程は、１の圃場に対し順次間欠的に行われる、
    請求項１乃至８のいずれかに記載の作業管理システム。     The plurality of steps are steps relating to farm work in a field, and the plurality of steps are sequentially performed intermittently on one field.
    The work management system according to claim 1.
  10. 　複数の工程を有する作業を管理する作業管理装置であって、
    　作業者の行動を表す指標を受信する取得部と、
    　前記取得部により取得される情報に基づいて、前記作業者の作業の進捗を判定する作業内容処理部と、
    　前記作業内容処理部により判定される前記作業の進捗に基づいて、次に行うべき工程を予測する作業予測部と、
    　を備える、
    作業管理装置。     A work management device that manages work having a plurality of processes,
    An acquisition unit that receives an index representing an action of the worker;
    Based on information obtained by the obtaining unit, a work content processing unit that determines the progress of the work of the worker,
    Based on the progress of the work determined by the work content processing unit, a work prediction unit that predicts a process to be performed next,
    Comprising,
    Work management device.
  11. 複数の工程を有する作業を管理する作業管理方法であって、
    　作業者の行動を表す指標を受信する取得ステップと、
    　前記取得ステップにより取得される情報に基づいて、前記作業者の作業の進捗を判定する作業内容処理ステップと、
    　前記作業内容処理ステップにより判定される前記作業の進捗に基づいて、次に行うべき工程を予測するステップと、
    　を含む、
    作業管理方法。     A work management method for managing work having a plurality of processes,
    An obtaining step of receiving an index representing an action of the worker;
    A work content processing step of determining a progress of the worker's work based on the information acquired by the acquiring step;
    A step of predicting a process to be performed next, based on the progress of the work determined by the work content processing step;
    including,
    Work management method.
  12. 複数の工程を有する作業を管理する作業管理プログラムであって、
    　作業者の行動を表す指標を受信する取得命令と、
    　前記取得命令により取得される情報に基づいて、前記作業者の作業の進捗を判定する作業内容処理命令と、
    　前記作業内容処理命令により判定される前記作業の進捗に基づいて、次に行うべき工程を予測する命令と、
    　をコンピューターに実行させる、
    作業管理プログラム。

          A work management program for managing work having a plurality of steps,
    An acquisition instruction for receiving an index indicating a worker's behavior;
    A work content processing instruction for determining the progress of the worker's work based on the information acquired by the acquisition instruction;
    An instruction for predicting a process to be performed next, based on the progress of the work determined by the work content processing instruction;
    To make a computer run
    Work management program.

PCT/JP2019/036299 2018-09-14 2019-09-17 Work management system, work management device, work management method, and work management program WO2020054876A1 (en)

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