JP6509699B2 - Work performance evaluation device and self-positioning device - Google Patents

Description

  The present invention relates to a work performance evaluation device and a self-positioning device usable therefor.

  The technology of Patent Document 1 is known as a system that measures the position of a worker indoors such as a nuclear power plant and distributes information according to the position. Moreover, the technique of patent document 2 is known as an apparatus which records a person's walk performance indoors. Moreover, the technique of patent document 3 is known as a program which displays a person's walk performance.

Unexamined-Japanese-Patent No. 11-88935 Patent No. 4845068 Patent No. 4408054

  In collecting work results, it is general to check the completion of work (enter the date and time of completion of work and the name of the worker) for each check point of work on a check sheet of a paper or tablet terminal. If you want to improve the accuracy of the work results to be collected, it is necessary to increase the check points and work management confirmation checks, work efficiency is reduced. In the method of recording the work landscape with the surveillance camera and deriving the work record from the video and time, the amount of video data becomes enormous, and the cost of installing the video data analysis device and camera is enormous.

  In the technology of Patent Document 1, the position of the worker is measured using radio waves from a mobile phone or the like. Further, in the technology of Patent Document 2, positioning is performed by combining a self-contained sensor, a GPS (Global Positioning System), a wireless tag system, and the like. However, in nuclear power stations, the use of radio wave emitting devices is strictly restricted, and in many cases, not only RFID (radio frequency identifier) but also wireless LAN (local area network), mobile phone and the like can not be used. This is because it is considered that a device that emits radio waves may affect various devices and measuring instruments such as plant instrumentation and radiation measuring instruments and may malfunction.

  Moreover, although patent document 2 specifies azimuth | direction with a geomagnetic direction sensor similarly, since a power plant is enclosed with heavy thick reinforced concrete and there are many steel installations inside, an accurate azimuth is detected with a geomagnetic direction sensor. In many cases, it can not be identified.

  The embodiment of the present invention measures the position of the worker at various facilities including the nuclear facility where the use of the device emitting the radio wave is restricted, for example, and collects the worker's work record from the locus and time thereof The purpose is

  In order to achieve the above object, a work performance evaluation apparatus according to an embodiment of the present invention is a fixed coordinate signal transmission apparatus installed at a fixed position, and the fixed coordinate signal notifying the coordinate value of the fixed position is fixed. A work performance evaluation device having a fixed coordinate signal transmission device emitting toward a predetermined area near the coordinate signal transmission device, a movable self-positioning device, and a computer disposed at a fixed position outside the predetermined region The self-positioning device, a mobile reception unit that receives the fixed coordinate signal, an acceleration sensor that detects at least two-dimensional acceleration of the self-positioning device, and at least two of the self-positioning devices. Based on outputs of a gyro sensor for detecting a two-dimensional attitude, a moving clock, the acceleration sensor and the gyro sensor, measurement of the self-positioning device The coordinate value is calculated, and the measured coordinate value of the self-positioning device obtained based on the outputs of the acceleration sensor and the gyro sensor by the coordinate value of the self-positioning device obtained by the fixed coordinate signal A coordinate value calculation unit that corrects the corrected coordinate value of the self-positioning device, and the date and time when the corrected coordinate value of the self-positioning device obtained by the coordinate value calculation unit is measured using the moving clock A moving memory for recording together with the computer memory for reading and recording data indicating the relationship between the date and time recorded in the moving memory and the correction coordinate value of the self-positioning device; Displaying data indicating a relationship between date and time recorded in a memory and the corrected coordinate value of the self-positioning device And a display device for displaying a relationship between date and time and the corrected coordinate value of the self-positioning device according to the result of processing by the computer data processing unit. Do.

  Further, the self-positioning device according to the embodiment of the present invention may be disposed near the fixed coordinate signal transmitting device, which is installed at the fixed position and emits the fixed coordinate signal notifying the coordinate value of the fixed position toward the predetermined area in the vicinity. A mobile positioning device capable of moving in and out of a predetermined area, the mobile reception unit receiving the fixed coordinate signal, an acceleration sensor detecting at least two-dimensional acceleration of the self positioning device, the self position Based on outputs of a gyro sensor for detecting at least a two-dimensional attitude of the positioning device, a moving clock, the acceleration sensor and the gyro sensor, the measurement coordinate value of the self-positioning device is calculated, and the fixed coordinate signal Obtained by the coordinate values of the self-positioning device obtained by the method based on the outputs of the acceleration sensor and the gyro sensor. A coordinate value calculation unit that corrects the measured coordinate value of the self-positioning device and calculates a corrected coordinate value of the self-positioning device; and the correction of the self-positioning device obtained by the coordinate value calculation unit And a movement memory for recording coordinate values together with the date and time measured by the movement clock.

  According to the embodiment of the present invention, it is possible to measure the position of the worker and collect the work record of the worker from the trajectory and time.

BRIEF DESCRIPTION OF THE DRAWINGS The block diagram which shows the structure of the work performance evaluation apparatus which concerns on the 1st Embodiment of this invention. FIG. 2 is a block diagram showing a specific configuration of the fixed coordinate signal transmission device of FIG. 1; FIG. 2 is a block diagram showing a specific configuration of the work completion signal transmission device of FIG. 1; FIG. 2 is a block diagram showing a specific configuration of the computer of FIG. 1; FIG. 2 is a perspective view showing an arrangement example of a self-positioning device and a fixed coordinate signal transmitting device etc. in the first embodiment. FIG. 2 is a plan view showing an arrangement example of the fixed coordinate signal transmission device and the like in the first embodiment. FIG. 7 is a table showing an example of three-dimensional coordinate IDs and three-dimensional coordinate values of each fixed coordinate signal transmission device of FIG. 6; FIG. FIG. 7 is a flow chart showing a calculation procedure of coordinate values accompanying movement of the self-positioning device by the acceleration sensor and the gyro sensor in the first embodiment. FIG. 9 is a table showing an example of changes in coordinate values obtained by the procedure of calculating coordinate values as the self-positioning device of FIG. 8 moves. The figure which shows the example of a change of the coordinate value of FIG. 9 on a XY coordinate. In the first embodiment, the mobile memory of the self-positioning device after the operator carries the self-positioning device and performs predetermined work while passing near the fixed coordinate signal sending device and the work completion signal sending device. The figure which shows the example which displayed the movement path | route of the worker on the display apparatus two-dimensionally based on the data stored in the inside. The figure which shows the example of the data which show correspondence of work place ID stored in fixed position memory of the fixed coordinate signal transmission apparatus of the place which is not a work place in 1st Embodiment, construction name ID, and a construction name. The figure which shows the example of the data which show correspondence of work place ID stored in fixed position memory of the fixed coordinate signal transmission apparatus of work place in 1st Embodiment, construction name ID, and construction name. In 1st Embodiment, it is a figure which shows the example of the data which show the corresponding | compatible of construction name ID and working place ID stored in the movement memory, Comprising: It carries and moves the self-positioning positioning apparatus containing the said movement memory The figure which shows the example of the data which show corresponding | compatible of construction name ID and working place ID which a worker plans to work on the day. FIG. 7 is a diagram showing an example of data indicating correspondence between a construction name ID, a work step ID, and a work name stored in the computer memory in the first embodiment. In the first embodiment, after the operator carries the self-positioning device and passes the vicinity of the fixed coordinate signal sending device and the work completion signal sending device and then performs predetermined work, the movement memory of the self-positioning device is The figure which shows the example of the data stored in. FIG. 7 is a flow chart showing a procedure in a case where a worker carries a self-positioning device and performs a predetermined work while passing near the fixed coordinate signal transmission device and the work completion signal transmission device in the first embodiment. The subflow figure which shows the procedure of the process performed after a self-positioning apparatus receives the signal from a fixed coordinate signal transmission apparatus by each process of FIG. In the first embodiment, after the operator carries the self-positioning device and passes the vicinity of the fixed coordinate signal sending device and the work completion signal sending device and then performs predetermined work, the movement memory of the self-positioning device is The flowchart which shows the procedure which edits the start date and completion date for every operation | work which the worker performed based on the data stored in these. The figure which shows the example which displayed the start date and completion date for every operation | work which the worker performed as a result of edit of FIG. 19 on a display apparatus. The top view which shows those working places vicinity for demonstrating the case where the work performance of the worker who works in a some working place in 1st Embodiment is collected. A flow figure showing a procedure in a case of displaying a plan walk flow line and walk results data on a display in a 1st embodiment. The figure which shows the example which displayed the planned walk flow line and walk performance data two-dimensionally on the display apparatus by the procedure of FIG. FIG. 7 is a partial plan view of a layout for describing a procedure for correcting coordinate values of the self-positioning device using the layout information of a region in which the self-positioning device moves in the first embodiment. The top view which expands and shows the XXV section of FIG. FIG. 7 is a flow chart showing a procedure of correcting coordinate values of the self-positioning device using the layout information of the area in which the self-positioning device moves in the first embodiment. FIG. 2 is a plan view showing an example of a place where accurate geomagnetism can be acquired in a region in which the self-positioning device moves in the first embodiment. FIG. 7 is a flow chart showing a procedure for acquiring the orientation of the self-positioning device using a geomagnetic sensor at a place where accurate geomagnetism can be acquired in the first embodiment. The figure which shows the example of data, such as a worker direction and geomagnetic direction obtained by the procedure of FIG. The block diagram which shows the structure of the measuring device of the work performance evaluation apparatus which concerns on the 2nd Embodiment of this invention. FIG. 31 is a flow chart showing an example of the procedure of measurement using the work result evaluation apparatus including the measuring instrument of FIG. 30; The figure which shows the example of the data recorded on the measuring device memory of the measuring device of FIG. The figure which shows the example of the data of the correlation of the date and time, a coordinate value, and the measured value of a measuring device obtained based on the data of FIG. 32 and the data recorded on a movement memory.

  Hereinafter, an embodiment of a work performance evaluation apparatus according to the present invention will be described with reference to the drawings. Here, parts that are the same as or similar to each other are given the same reference numerals, and redundant descriptions are omitted.

First Embodiment
(Constitution)
FIG. 1 is a block diagram showing the configuration of a work result evaluation apparatus 100 according to the first embodiment of the present invention. FIG. 2 is a block diagram showing a specific configuration of the fixed coordinate signal transmission device 102 of FIG. FIG. 3 is a block diagram showing a specific configuration of the work completion signal transmission device 104 of FIG. FIG. 4 is a block diagram showing a specific configuration of the computer 105 of FIG.

  FIG. 5 is a perspective view showing an arrangement example of the self-positioning device 101 and the fixed coordinate signal transmitting device 102 in the first embodiment. FIG. 6 is a plan view showing an arrangement example of the fixed coordinate signal transmission device 102 and the like in the first embodiment. FIG. 7 is a table showing an example of the three-dimensional coordinate ID and the three-dimensional coordinate value of each of the fixed coordinate signal transmitters 102 of FIG.

  As shown in FIG. 1, the work record evaluation apparatus 100 according to this embodiment includes a self-positioning apparatus 101, a plurality of fixed coordinate signal transmission apparatuses 102, a plurality of work completion signal transmission apparatuses 104, and a computer 105. ing. Although two fixed coordinate signal transmitters 102 and two work completion signal transmitters 104 are shown in FIG. 1, the number of these units is not limited to two.

  The work performance evaluation apparatus 100 measures the position of the worker 70 in a nuclear facility such as a reactor building of a nuclear power plant, and collects the work performance. The computer 105 is fixedly installed in the office 200 in the nuclear power plant. A plurality of work sites are located outside the office 200 within the nuclear power plant. The worker 70 wears (positions) the self-positioning device 101, for example, leaves the office 200, passes through the aisle 111, walks near a plurality of work places, works at the work places, and then Returning to the office 200 with the self-positioning device 101 on.

  As shown in FIGS. 5 and 6, a plurality of fixed coordinate signal transmitters 102 are disposed in the vicinity of a passage 111 through which a worker 70 passes and a work place. In FIG. 6, the position and attitude of the fixed coordinate signal transmission device 102 are indicated by black stars *. A work completion signal transmission device 104 is disposed near the work place.

  As shown in FIG. 1, the self-positioning device 101 includes an acceleration sensor 11, a gyro sensor 12, a light receiving unit (moving receiving unit) 13, a coordinate value calculating unit 14, a moving memory 15, a moving clock 16, a geomagnetic sensor 17, and barometric pressure. A sensor 18 and an optical signal restoration unit 19 are provided. Here, the acceleration sensor 11 is a three-axis acceleration sensor, the gyro sensor 12 is a three-axis gyro sensor, and the coordinate value calculation unit 14 calculates three-dimensional coordinate values. However, when only planar movement is assumed, the acceleration sensor 11 may be a two-axis acceleration sensor, the gyro sensor 12 may be a two-axis gyro sensor, and the coordinate value calculation unit 14 calculates two-dimensional coordinate values It may be.

  As shown in FIG. 2, the fixed coordinate signal transmission device 102 includes a fixed position light emitting unit 21, an optical signal conversion unit 22, and a fixed position memory 23. As shown in FIG. 3, the work completion signal transmission device 104 includes a work completion light emitting unit 41. As shown in FIG. 4, the computer 105 includes a computer memory 51, a computer data processing unit 52, a display device 53, a plan / result data comparison unit 54, a plan data input unit 55, and a layout input unit 56.

  The fixed position light emitting unit 21 and the operation completion light emitting unit 41 use, for example, an LED, and constantly transmit an optical signal by light blinking. The light receiving unit 13 receives light signals from these LEDs.

  As shown in FIG. 7, the three-dimensional coordinate ID and the three-dimensional coordinate value are recorded in the fixed position memory 23 of each of the plurality of fixed coordinate signal transmitters 102. A signal obtained from the fixed position memory 23 is converted by the light signal conversion unit 22 from an electrical signal to a light blink signal. Then, from the fixed position light emitting unit 21, a light blink signal representing the coordinate value is emitted toward a predetermined area in the vicinity of each fixed position light emitting unit 21.

(Calculating coordinate values based on acceleration sensor and gyro sensor)
First, a method of obtaining the coordinate value of the movement destination of the self-position measuring device 101 by the coordinate value calculation unit 14 using the acceleration sensor 11 and the gyro sensor 12 will be described.

  FIG. 8 is a flow chart showing a calculation procedure of coordinate values accompanying movement of the self-position measuring device 101 by the acceleration sensor 11 and the gyro sensor 12 in the first embodiment. FIG. 9 is a table showing an example of changes in coordinate values obtained by the procedure for calculating coordinate values in accordance with the movement of the self-positioning apparatus 101 of FIG. FIG. 10 is a diagram showing an example of changes in coordinate values of FIG. 9 on XY coordinates.

  It is assumed that the worker 70 wears the self-positioning device 101 and walks in the nuclear facility. First, with the date and time (time) set to dt = dt0, the coordinate values of the self-position measuring device 101 are initialized (step S1). Next, the conversion constant t of the movement distance m and the coordinate value p is input (step S2). Next, as the walking motion, the date and time is advanced to dt + 1 (step S3). At this time, the moving distance m of the self-position measuring device 101 is detected by the acceleration sensor 11 (step S4), and the three-dimensional directions X, Y, Z are detected by the gyro sensor 12 (step S5).

  Next, the three-dimensional directions X, Y, Z and the movement distance m for each unit time of the self-position measuring device 101 are recorded (step S6).

Next, the three-dimensional absolute coordinate values of the movement destination are calculated by the following equation (step S7).
Px (dt + 1) = Px (dt) + m * X
Py (dt + 1) = Py (dt) + m * Y
Pz (dt + 1) = Pz (dt) + m * Z

  The above steps S3 to S7 are continued until the self-positioning device 101 is stopped (No in step S8), and when the self-positioning device 101 is stopped, this calculation is stopped (Yes in step S8).

  An example of the directions X, Y, Z and three-dimensional absolute coordinate values P at the date and time dt0, dt1,..., Dt4 obtained by such a procedure is shown in FIG. Here, the conversion constant t of the movement distance and the coordinate value P is 1. The data of FIG. 9 obtained in this manner is stored in the moving memory 15. The data of FIG. 9 can be represented as shown in FIG. 10 when it is shown in the X-Y plane.

(Coordinate correction using fixed coordinate signal)
Next, a method of correcting the coordinate value of the movement destination of the self-position measuring device 101 calculated using the acceleration sensor 11 and the gyro sensor 12 based on the signal sent from the fixed coordinate signal transmission device 102 will be described.

  There is an error between the moving distance using the acceleration sensor 11 and the gyro sensor 12 and the actual moving distance of the worker 70, and the error is accumulated with time. In addition, when the worker 70 walks on a straight line, the error is relatively small, but in the case of turning a corner or the like, it is affected by vibration or the like, and the gyro sensor 12 erroneously detects, so that an error in direction tends to occur.

  As described above, a plurality of fixed coordinate signal transmitters 102 are installed at such an error prone position.

  Flashing light is constantly emitted from the fixed position light emitting unit 21 of the fixed coordinate signal transmission device 102 and the work completion light emitting unit 41 of the work completion signal transmission device 104. When the self-positioning device 101 moves to the vicinity of the fixed coordinate signal transmitter 102 or the work completion signal transmitter 104, the blinking light emitted from the fixed position light emitter 21 or the work completion signal transmitter 104 is used as the self-positioning device When the light receiving unit 13 receives light, it is understood that the self-positioning device 101 is within a predetermined area near the fixed coordinate signal transmitting device 102 or the work completion signal transmitting device 104 at that time.

  More specifically, the light signal restoration unit 19 restores the signal received by the light receiving unit 13 of the self-positioning device 101 into three-dimensional coordinate ID information, and then sends it to the coordinate value calculation unit 14. Then, the three-dimensional absolute coordinate value calculated from the movement distance detected by the acceleration sensor 11 and the gyro sensor 12 is overwritten. The corrected three-dimensional absolute coordinate values overwritten in this manner are recorded in the movement memory 15 together with the information on the date and time obtained from the movement clock 16.

  The operator 70 carries the self-positioning device 101, walks near a plurality of work places, and carries out work in the work place, and then brings the movement memory 15 into the office 200, where the movement memory 15 is located. The internal data is read into the computer memory 51.

  Thereafter, the computer data processing unit 52 processes the obtained data. As a result, the movement result of the self-positioning apparatus 101 can be displayed on the display device 53 as coordinate values for each date and time. In this case, it is possible to indicate a locus on the X-Y plane or as a three-dimensional locus.

(Correction by barometric pressure sensor)
In the above configuration, based on the pressure measurement value for each unit time obtained by the pressure sensor 18, the movement operation to the upper floor using stairs or the like is higher when the air pressure is higher, and the movement operation to the lower floor is more accurate when the air pressure is lower. Can be determined. Therefore, the coordinate value in the height direction of the self-position measuring device 101 can be corrected based on the output of the air pressure sensor 18.

(Calculation of working time)
Next, a method of calculating the work time of the worker 70 will be described.

  In FIG. 11, in the first embodiment, after the worker 70 carries the self-positioning device 101 and passes the vicinity of the fixed coordinate signal transmitting device 102 and the work completion signal transmitting device 104 after performing a predetermined work FIG. 7 is a diagram showing an example in which the moving route of the worker 70 is two-dimensionally displayed on the display device 53 based on data stored in the moving memory 15 of the self-positioning device 101. In FIG. 11, the black arrows indicate the performance walking flow lines for each unit time of the worker 70, the black asterisks indicate the positions of the fixed coordinate signal transmitter 102, and the + marks indicate the positions of the fixed coordinate signal transmitter 102 and the work completion signal transmitter 104. Represents The + marks also indicate the position of the work place A.

  FIG. 12 is a diagram showing an example of data indicating the correspondence between the work place ID, the construction name ID, and the construction name stored in the fixed position memory 23 of the fixed coordinate signal transmission device 102 of a place other than the work place.

  FIG. 13 is a diagram showing an example of data indicating the correspondence between the work place ID, the construction name ID, and the construction name stored in the fixed position memory 23 of the fixed coordinate signal transmission device 102 of the work place. FIG. 14 is a view showing an example of data indicating the correspondence between the construction name ID and the work place ID stored in the mobile memory 15, and the mobile positioning and moving apparatus 101 including the mobile memory 15 is carried and moved It is a figure which shows the example of the data which show corresponding | compatible with construction name ID and working place ID which the worker 70 is going to work on the day. FIG. 15 is a view showing an example of data indicating correspondences between a construction name ID, a work step ID, and a work name stored in the computer memory 51. As shown in FIG.

  In FIG. 16, in the first embodiment, after the operator 70 carries the position determination device 101 and passes near the fixed coordinate signal transmission device 102 and the work completion signal transmission device 104, the worker 70 performs a predetermined operation. It is a figure which shows the example of the data stored in the movement memory 15 of the self-positioning apparatus 101. FIG.

  FIG. 17 shows a case where the worker 70 carries the self-positioning device 101 and performs predetermined work while passing near the fixed coordinate signal transmission device 102 and the work completion signal transmission device 104 in the first embodiment. It is a flowchart which shows a procedure.

  FIG. 18 is a subflow diagram showing a procedure of processing performed by the self-positioning device 101 after receiving a signal from the fixed coordinate signal transmitting device 102 in each step of FIG.

  At work place A shown in FIG. 11, documents describing work procedures and work steps, check sheets for progress management of work, and the like are installed. In addition, at the work place A, a fixed coordinate signal transmission device 102 is installed. In the fixed position memory 23 of the fixed coordinate signal transmission device 102, as shown in FIG. 12, the work place ID of the place, the construction name ID, and the construction name are recorded in advance.

  A plurality of fixed coordinate signal transmitters 102 are disposed near the path 111 through which the worker 70 passes, and there are also fixed coordinate signal transmitters 102 arranged at places other than the work place. In the fixed position memory 23 of such fixed coordinate signal transmitter 102, as shown in FIG. 13, the work place ID of the place is recorded, but there is no significant data about the construction name ID and the construction name For example, data "ZZZ" is recorded as data representing that there is no significant data.

  When the worker 70 works near the fixed coordinate signal transmitter 102 or passes near the data, the data in the fixed position memory 23 from the fixed position light emitter 21 of the fixed coordinate signal transmitter 102 is the light receiver 13 Sent to

  At the work place A, a work completion signal transmission device 104 is installed together with a check sheet. The work completion light emitting unit 41 of the work completion signal transmission device 104 erroneously receives a signal by weakening the output so that the signal can not be received unless the worker 70 consciously brings the self-positioning device 101 close. To prevent that.

  As shown in FIG. 14, in the movement memory 15 of the self-positioning apparatus 101 carried by the worker 70, the construction name ID and the work place ID of the work scheduled to be performed by the worker 70 are recorded.

  The worker 70 confirms the work procedure before the start of the work at the work place A. At this time, the fixed coordinate signal transmission device 102 records the date and time, the three-dimensional coordinate value, the correction ID information, and the construction name ID in the movement memory 15 of the self-positioning device 101 worn by the operator 70.

  At this time, with regard to the construction name ID, the construction name ID recorded in the fixed position memory 23 of the fixed coordinate signal transmission device 102 and the construction schedule / work of the day recorded in the movement memory 15 of the self-positioning device 101 The location information is collated, and if they coincide, the construction name ID is recorded in the movement memory 15 representing the movement time if they do not coincide. During work, the walking result of the worker 70 is recorded by the self-positioning device 101.

  The operator 70 holds the self-positioning device 101 over the work completion signal transmitting device 104 when signing the work step completion confirmation. As a result, the signal from the work completion signal transmitting device 104 is received by the light receiving unit 13 of the self-positioning device 101, and data "1" is registered in the step flag of the walking result data recorded in the movement memory 15. (Figure 16).

  As described above, at this time, errors have already been accumulated in the walking record data recorded in the self-positioning device 101 worn by the worker 70, but fixed coordinates installed in the work place A The three-dimensional coordinate values are overwritten by the signal transmission device 102, and the date and time, the three-dimensional coordinate values, the correction ID information, and the construction name ID are recorded in the movement memory 15. The fixed coordinate signal transmission device 102 is installed in advance at the entrance of the work place, and only the ID "ZZZ" representing a simple movement time without specific work is registered. It takes a moving time to pass through the fixed coordinate signal transmitting device 102 installed at such an entrance and exit from the work place, and again passing through the fixed coordinate signal transmitting device 102 and returning to the work place.

  In the construction name ID, for example, an ID representing a moving time “ZZZ” is recorded in the moving memory 15 in advance. The travel time is a waste of time between office and site, or when it comes to taking tools during work, and it is different from the actual work time to consider the reduction of this time to shorten the process. .

  Next, the flow of the operation will be described with reference to FIG.

  First, the worker 70 moves from the entrance to the work place A (step S21). Next, a subroutine Sub1 described later is performed (step S22). Thereby, NO. "ZZZ" is registered into construction name ID of 1-4, and NO. “011” is registered in the correction ID information of 3.

  Next, the worker 70 confirms the work procedure at the work place A at the start of work (step S23). Next, the subroutine Sub1 is performed again (step S24). Thereby, NO. "101" is registered in the correction ID information of 5, and "AAA" is registered in the construction name ID.

  Next, the worker 70 carries out BBB work of AAA construction (step S25).

  Next, the worker 70 checks the completion of the BBB work at the work place A (step S26). Next, the subroutine Sub1 is performed again (step S27). Thereby, NO. "101" is registered in the correction ID information of No. 6, "AAA" is registered in the construction name ID, and "1" is registered in the step flag.

  Next, the worker 70 carries out the CCC work of the AAA construction (step S28).

  Next, the worker 70 performs a completion check of the CCC work at the work place A (step S29). Next, the subroutine Sub1 is performed again (step S30). Thereby, NO. “101” is registered in the correction ID information of 7, “AAA” is registered in the construction name ID, and “1” is registered in the step flag.

  Next, the worker 70 performs DDD work of AAA construction (step S31).

  Next, the worker 70 checks the completion of the DDD work at the work place A (step S32). Next, the subroutine Sub1 is performed again (step S33). Thereby, NO. "101" is registered in the correction ID information of 8, "AAA" is registered in the construction name ID, and "1" is registered in the step flag.

  Next, the worker 70 moves from the work place A to the entrance (step S34). Next, the subroutine Sub1 is performed again (step S35). Thereby, NO. 9 and NO. “ZZZ” is registered for the construction name ID 10 and NO. “011” is registered in the correction ID information of No. 9.

  Next, the flow of the operation of the subroutine Sub1 will be described with reference to FIG.

  First, the self-positioning device 101 receives a signal from the fixed coordinate signal transmitter 102 (step S41).

  Next, the work place ID (FIG. 12 or 13) received from the fixed coordinate signal transmitter 102 matches the work place ID (FIG. 14) in the movement memory 15, and is received from the fixed coordinate signal transmitter 102. It is determined whether the construction name ID (FIG. 12 or 13) and the construction name ID (FIG. 14) in the movement memory 15 coincide (step S42).

  In the case of Yes at step S42, the work place ID and the construction name ID received from the fixed coordinate signal transmitting device 102 are recorded in the work place ID and the construction name ID in the movement memory 15 (step S43).

  In this case, when the self-positioning device 101 further receives a work completion signal from the work completion signal transmitting device 104, “1” is recorded in the step flag (step S44).

  In the case of No in step S42, the work place ID received from the fixed coordinate signal transmitting device 102 is recorded in the work place ID in the movement memory 15, and "ZZZ" is recorded in the construction name ID in the movement memory 15. (Step S45).

  By performing the above operation, the data shown in FIG. 16 is recorded in the movement memory 15 after the work of one day is finished. An example of data recorded in the movement memory 15 after completion of work on one day is shown in FIG.

  The worker 70 brings the self-position measuring device 101 back to the office 200 after the work on one day, and moves the walking result data for each unit time recorded in the movement memory 15 to the computer memory 51.

  In the computer memory 51, as shown in FIG. 15, data indicating the relationship between a construction name ID, a work step ID, and a work name is prepared in advance.

  The data recorded in the movement memory 15 can be variously rearranged by the computer 105, and the display device 53 can display the work results of the worker 70 at each work place. As a display format at that time, a table format, a two-dimensional or three-dimensional layout format as shown in FIG. 11 or the like can be used.

(Summarization of work hours by work name)
Below, the method to total the work time according to the work name of worker 70 is explained.

  In FIG. 19, in the first embodiment, after the operator 70 carries the position determination device 101 and passes the vicinity of the fixed coordinate signal transmission device 102 and the work completion signal transmission device 104, the worker 70 performs a predetermined operation. FIG. 10 is a flowchart showing a procedure of editing start date and end date and time for each work performed by the worker 70 by the computer 105 based on data stored in the movement memory 15 of the self-positioning device 101. FIG. 20 is a diagram showing an example in which the start date and the end date of each work performed by the worker 70 are displayed on the display device 53 as a result of the editing in FIG.

  As described above, the worker 70 moves the walking record data (FIG. 16) for each unit time recorded in the movement memory 15 to the computer memory 51 after the work of one day is finished.

  Thereafter, using computer data processing unit 52, worker 70 shown in FIG. 20 from date and time, correction ID, construction name ID, step flag data (FIG. 16) and work step ID data for construction name ID (FIG. 15). It is possible to extract the start date and end date according to the work name of. The work step ID data in FIG. 15 is a work step ID and a work name subdivided into one construction name ID and a construction name.

  The procedure will be described with reference to FIG.

  First, the construction name ID (id) of the construction to be focused on is input (step S51).

  Next, one having the construction name ID (FIG. 15) in the computer memory 51 that matches the id input in step S51 is extracted (step S52).

  Next, from the data read from the moving memory 15, one whose construction name ID (FIG. 16) matches the id inputted in step S51 is searched, and the date is registered as the start date of the work (step S53).

  Next, among the data read from the moving memory 15, the construction name ID (FIG. 16) is searched for one having a step flag = 1 from among the ones that match the id input in step S51, The end date and time of the work and the start date and time of the next work are registered (step S54).

  Step S54 is continued until the end of the search (step S55).

  With the above-described operation, it is possible to count work time by work name for the work performed by the worker 70.

(Collection of work results when working in multiple work places)
Next, a method of collecting detailed work results of the workers 70 who work at a plurality of work places will be described.

  FIG. 21 is a plan view showing the vicinity of the work places for explaining the case where the work results of the workers 70 who work at a plurality of work places are collected in the first embodiment.

  As shown in FIG. 21, it is assumed that the worker 70 works at the work place A and the work place B.

  When the worker 70 starts the work at the work place A, the work procedure is confirmed at the work place A where the check sheet of the work procedure, the work steps, and the work progress management is installed. At this time, the self-positioning apparatus 101 receives the correction ID information = “201” from the fixed coordinate signal transmitting apparatus 102, and it is considered that the construction with the construction ID = “AAA” is started. After completion of the work, the worker 70 moves to the work place A, signs the work step completion confirmation on the check sheet, and receives the work step completion signal by holding the self-positioning device 101 over the work completion signal transmitting device 104 , Construction ID = "AAA" is considered to have been completed.

  Next, the worker 70 moves to the work place B and confirms the work procedure at the place B. At that time, when the self-positioning device 101 receives the correction ID information = “202” from the fixed coordinate signal transmitting device 102, it is considered that the construction of the construction ID = “BBB” is started. After completion of the work, the operator 70 moves to the place B, signs the work step completion confirmation on the check sheet, and receives the work step completion signal by holding the self-positioning device 101 over the work completion signal transmitting device 104, The construction work with construction ID = "BBB" is completed.

  Thus, by bringing the data in the mobile memory 15 back to the office 200 as described above, it is possible to acquire the time from the start to the end of the work for each work step.

(Comparison of plan and actual)
Next, a method of comparing and displaying the actual work time and the planned work time will be described.

  FIG. 22 is a flowchart showing a procedure for displaying planned walking flow lines and walking performance data on the display device 53 in the first embodiment. FIG. 23 is a view showing an example in which planned walking flow lines and walking result data are two-dimensionally displayed on the display device 53 according to the procedure of FIG.

  In FIG. 23, white arrows indicate planned walking flow lines for each unit time of the worker 70, black arrows indicate actual walking flow lines for the unit time of the worker 70, and black asterisks indicate the position of the fixed coordinate signal transmission device 102, + The marks indicate the positions of the fixed coordinate signal transmitter 102 and the work completion signal transmitter 104. The + marks also indicate the position of the work place A.

  On the two-dimensional or three-dimensional layout as shown by the outlined arrows in FIG. 23, the walking flow line for each unit time of the worker 70 is planned in advance for each work step and recorded in the computer memory 51 through the plan data input unit 55 Keep it. The planned work time for each work step is calculated from the planned walking flow line for each unit time, and the plan / result data comparison unit 54 calculates the difference between the planned work time for each work step described above. Then, if it exceeds the allowable error time c [s] defined in advance, planned walking flow lines and walking result data for each unit time of the worker 70 on a two-dimensional or three-dimensional layout as shown in FIG. Display Thereby, the cause of the gap between the plan and the actual result can be easily detected.

  A concrete procedure of the operation will be described with reference to FIG.

First, the planned work time tp (s) and the actual work time tr (s) are obtained by the following equation (step S61).
tp = number of planned walking lines × Δs
tr = actual number of walking lines × Δ s
However, Δs is a unit time (s).

Next, the difference d between the planned work time tp and the actual work time tr is determined by the following equation (step S62).
d = │tp-tr│

  If the difference d is larger than the allowable error time c (s) (Yes at step S63), the planned and actual walking flow line is displayed (step S64).

(Correction by layout information)
Next, a method of correction based on layout information will be described.

  FIG. 24 is a partial plan view of a layout for illustrating the procedure of correcting the coordinate values of the self-position measuring device 101 using the layout information of the area in which the self-position measuring device 101 moves in the first embodiment. is there. FIG. 25 is a plan view showing the XXV portion of FIG. 24 in an enlarged manner. FIG. 26 is a flowchart showing a procedure of correcting the coordinate value of the self-position measuring device 101 using the layout information of the area in which the self-position measuring device 101 moves.

  When the worker 70 changes the walking direction, for example, when the user turns the corner 122 as shown in FIGS. 24 and 25, an error often occurs in the walking direction. Therefore, the passage reference line 121, the corner 122 and the reference angle θi of the corner 122 are defined on the two-dimensional or three-dimensional layout, and are stored in the computer memory 51.

  When the walking result data of the worker 70 recorded by the self-positioning device 101 and copied to the computer memory 51 protrudes from the passage 111 in a two-dimensional or three-dimensional layout, the walk reference line 121 and the walk are taken from the corner 122 The error angle 124 of the action line 123 is measured, and the coordinate value Wn after the corner 122 is corrected to the coordinate point Rn.

As can be seen from FIG. 25, the correction calculation equations in the X-axis direction and the Y-axis direction can be calculated as follows.
θ2 = 180−θi−θp
θ3 = 90−θ2
θ4 = (180−θ2) / 2
θ5 = 180−θ3−θ4
= 180-(90-θi-θp)-(180-θp) / 2
= 180-θi-θp + θp / 2
b = 2a × cos θ4

That is, the correction calculation formula in the X-axis direction is as follows.
x = 2a × cos ((180−θp) / 2) × cos (180−θi−θp / 2)

Similarly, the correction calculation formula in the Y-axis direction is as follows.
y = -2a × cos ((180−θp) / 2) × sin (180−θi−θp / 2)
The procedure of this correction will be described below with reference to FIG.

  First, the passage reference line 121 is plotted on a two-dimensional (2D) layout (step S71). At that time, a reference angle θi is defined.

  Next, the walking flow line 123 is plotted on the 2D layout (step S72).

  Next, it is determined whether the walking flow line 123 has come out of the passage 111 (step S73). When the walking flow line 123 protrudes from the passage 111, the error angle 124 between the passage reference line 121 and the walking flow line 123 is measured from the corner 122 on the 2D layout (step S74). Next, the coordinate value Wn after the corner 122 is corrected to the coordinate point Rn (step S75). Next, it is determined whether to end the plot (step S76), and the plot is continued until the end of the plot.

(Direction correction using geomagnetism)
Below, the correction method of the azimuth | direction which utilized earth magnetism is demonstrated.

  FIG. 27 is a plan view showing an example of a place where accurate geomagnetism can be acquired in a region in which the self-position measuring device 101 moves in the first embodiment. FIG. 28 is a flow chart showing a procedure for acquiring the orientation of the self-positioning device 101 using the geomagnetic sensor 17 at a place where accurate geomagnetism can be acquired. FIG. 29 is a view showing an example of data of the direction of the worker 70 and the geomagnetic direction obtained in the procedure of FIG.

  Using a commercially available geomagnetic sensor at various locations in the power plant beforehand, the direction of geomagnetism is checked, and where it is possible to acquire the correct geomagnetic direction, as shown in FIG. It is defined on the dimensional layout and recorded in the computer memory 51. As shown in FIG. 29, when the worker 70 enters the "place where accurate geomagnetism can be acquired" on the layout in the walking result data of the worker 70 recorded by the self-positioning device 101 and copied to the computer memory 51. By replacing the value of the worker 70 direction with the value of the geomagnetic direction obtained from the geomagnetic sensor 17, the correct direction is corrected. Note that geomagnetic values are not used except for this "where accurate geomagnetism can be obtained".

  The procedure in this case will be described below with reference to FIG.

  First, No (number) is set to 1 as an initial value (step S81).

  Next, the geomagnetic direction is measured by the geomagnetic sensor 17 (step S82).

  Next, it is determined whether or not accurate geomagnetism can be acquired (step S83). If accurate geomagnetism can be acquired, the orientation of the worker 70 is overwritten with the geomagnetic orientation (step S84).

  The above operation is repeated while incrementing No (number) one by one (step S85).

Second Embodiment
In the second embodiment, in addition to the self-positioning device 101 of the first embodiment, the worker 70 walks carrying the measuring instrument 106 and walks, and various measurements are performed by the measuring instrument 106 while walking or at the destination. Do. All the configurations of the work result evaluation apparatus 100 of the first embodiment are used.

  FIG. 30 is a block diagram showing the configuration of the measuring instrument 106 of the work result evaluation apparatus according to the second embodiment of the present invention. FIG. 31 is a flow chart showing an example of the procedure of measurement using the work result evaluation apparatus including the measuring instrument 106 of FIG. FIG. 32 is a diagram showing an example of data recorded in the measuring device memory 63 of the measuring device 106 of FIG. FIG. 33 is a diagram showing an example of data of correlation between date and time, coordinate values, and measurement values of a measuring device obtained based on the data of FIG. 32 and data recorded in the movement memory 15.

  As measurement data of the measuring instrument 106 carried by the operator 70, in addition to all measurement data necessary for on-site work such as temperature, humidity, current, voltage, distance, weight, pressure, flow rate, torque, atmosphere dose rate, The worker's 70 individual body temperature, heart rate, radiation dose etc. are assumed.

  As shown in FIG. 30, the measuring instrument 106 is constituted by a measuring instrument sensor 61, a measuring instrument clock 62, and a measuring instrument memory 63, and the measured value and the measuring time are recorded in the measuring instrument memory 63. The data recorded in the meter memory 63 is illustrated in FIG.

  The measurement data obtained by the measuring instrument sensor 61 is recorded in the measuring instrument memory 63 together with the date and time data obtained by the measuring instrument clock 62.

  The flow of operation after data acquisition will be described with reference to FIG.

  Data such as measurement data recorded in the measuring instrument memory 63 and coordinate values recorded in the movement memory 15 of the self-positioning device 101 are carried back to the office 200 and moved to the computer memory 51 (steps S91 and S92). Thereafter, the computer data processing unit 52 merges the date and time data as key data (step S93). As a result, data in which measurement values are associated with coordinate values as illustrated in FIG. 33 can be generated, and can also be displayed on a two-dimensional or three-dimensional layout.

  Thus, for example, when measuring and measuring a large number of facilities, it is not necessary to record the measurement results on the data sheet for each facility, and the measurement results for each facility can be recorded only by measurement. In addition, the worker 70 feels a burden by displaying the temperature and heart rate of the worker 70 individual on a two-dimensional or three-dimensional layout or collating it with data at each operation step illustrated in FIG. It can be applied to analysis of work environment improvement such as being able to grasp the work place and work steps.

  Here, since the self-positioning device 101 and the measuring instrument 106 merge date and time data as key data, if each clock adopts one that can receive the date and time of the standard radio wave, the standard date and time are adjusted before use. Good.

[Other embodiments]
In the above description, it is assumed that the worker 70 moves three-dimensionally, but the present invention can be applied to the case where the movement is limited to planar (two-dimensional) movement. In that case, a barometric pressure sensor for sensing movement in the height direction is not necessary. Also, the acceleration sensor 11 and the gyro sensor 12 may be capable of sensing two-dimensional acceleration or posture.

  In the above description, it is assumed that the light flickering signal by the LED is used as the signal transmitted from the fixed coordinate signal transmitting device 102 and the work completion signal transmitting device 104 to the self-positioning device 101. It is also good. Also, instead of using a light emitting device, it is possible to replace it with "ultrasonic communication" which is communication that does not emit radio waves. Furthermore, it is possible to replace the communication with a device such as WIFI (registered trademark), RFID (registered trademark), BlueTooth (registered trademark) or the like if the facility is permitted to receive a device that emits radio waves.

  In the above description, although the example which uses a work performance evaluation device in a nuclear facility was explained, the object of using this device is not limited to a nuclear facility.

  While certain embodiments of the present invention have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the invention. These embodiments can be implemented in other various forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the invention described in the claims and the equivalents thereof as well as included in the scope and the gist of the invention.

11 acceleration sensor 12 gyro sensor 13 light receiving unit (moving receiving unit)
14 ... coordinate value calculation unit 15 ... movement memory 16 ... movement clock 17 ... geomagnetic sensor 18 ... pressure sensor 19 ... light signal restoration unit 21 ... fixed position light emitting unit 22 ... light signal conversion unit 23 ... fixed position memory 41 ... work completion light emission Part 51 ... computer memory 52 ... computer data processing part 53 ... display device 54 ... plan and results data comparison part 55 ... plan data input part 56 ... layout information input part 61 ... measuring instrument sensor 62 ... measuring instrument clock 63 ... measuring instrument memory 70 ... worker 100 ... work performance evaluation device 101 ... self-positioning device 102 ... fixed coordinate signal transmission device 104 ... work completion signal transmission device 105 ... computer 106 ... measuring instrument 111 ... passage 121 ... passage reference line 122 ... corner angle 123 ... Walking flow line 124 ... Error angle 200 ... Office

Claims (10)

A fixed coordinate signal transmitting device installed at a fixed position, wherein the fixed coordinate signal transmitting device emits a fixed coordinate signal indicating a coordinate value of the fixed position toward a predetermined area in the vicinity of the fixed coordinate signal transmitting device;
Movable self-positioning device,
A computer disposed at a fixed position outside the predetermined area;
A work performance evaluation device having
The self-positioning device
A mobile reception unit that receives the fixed coordinate signal;
An acceleration sensor for detecting at least two-dimensional acceleration of the self-positioning device;
A gyro sensor for detecting at least a two-dimensional attitude of the self-positioning device;
With moving clock,
The measured coordinate value of the self-positioning device is calculated based on the outputs of the acceleration sensor and the gyro sensor, and the acceleration sensor and the gyro are calculated according to the coordinate value of the self-positioning device obtained by the fixed coordinate signal. A coordinate value calculation unit that corrects the measured coordinate value of the self-positioning device obtained based on the output of the sensor and calculates the corrected coordinate value of the self-positioning device;
A movement memory for recording the corrected coordinate value of the self-positioning device obtained by the coordinate value calculation unit together with the date and time measured by the movement clock;
Equipped with
The computer is
A computer memory for reading and recording data indicating the relationship between the date and time recorded in the movement memory and the corrected coordinate value of the self-positioning device;
A computer data processing unit for processing to display data indicating a relationship between the date and time recorded in the computer memory and the corrected coordinate value of the self-positioning device;
A display device for displaying a relationship between date and time and the corrected coordinate value of the self-positioning device according to the result processed by the computer data processing unit;
The work performance evaluation device characterized by having. The system further includes a work completion signal transmission device which is disposed near the work place installed at the fixed position and emits a work completion signal for specifying the work place toward a predetermined area near the work place,
The mobile reception unit can receive the work completion signal,
The coordinate value calculation unit further corrects the corrected coordinate value of the self-positioning device according to the coordinate value of the self-positioning device obtained by the work completion signal to obtain the corrected coordinate value of the self-positioning device. To be calculated,
The work performance evaluation apparatus according to claim 1, characterized in that The work completion signal transmission device is disposed near each of the plurality of work places;
The self-positioning device is configured to be worn by an operator who performs work corresponding to the plurality of work places and to move.
The computer data processing unit, based on data indicating the relationship between the date and time recorded in the computer memory and the corrected coordinate value of the self-positioning device, the time taken for each work corresponding to the plurality of work places Are configured to calculate and display on the display device,
The work performance evaluation apparatus according to claim 2, characterized in that: The computer data processing unit takes the time taken for each of the plurality of work places based on data indicating the relationship between the date and time recorded in the computer memory and the corrected coordinate value of the self-positioning device. The time taken for the movement is calculated and displayed on the display device.
The work performance evaluation apparatus according to claim 3, characterized in that: The computer further includes a plan data input unit for inputting a plan coordinate value for each date and time of the self-positioning device,
The computer memory is configured to record a planned coordinate value for each date and time of the self-positioning device input from the planning data input unit,
The computer further includes a plan / results data comparison unit that compares the corrected coordinate value of the self-positioning device for each date and time recorded in the computer memory with the planned coordinate value for each date and time.
The display device is configured to display the comparison result of the plan / result data comparison unit.
The work performance evaluation apparatus according to any one of claims 1 to 4, characterized in that The computer further includes a layout information input unit for inputting layout information defining an area where the self-positioning device can move.
The computer memory is configured to record the layout information input from the layout information input unit.
The computer data processing unit is configured to correct the corrected coordinate value of the self-positioning device based on layout information recorded in the computer memory.
The work performance evaluation apparatus according to any one of claims 1 to 5, wherein The self-positioning device further comprises a geomagnetic sensor,
The computer memory records a geomagnetic acquisition available area capable of acquiring geomagnetism,
The coordinate value calculation unit detects an attitude in the horizontal plane of the self-positioning device based on an output of the geomagnetic sensor when the self-positioning device enters the geomagnetic acquisition enabled area, and the self-positioning device Further correcting the corrected coordinate value of to calculate the corrected coordinate value of the self-positioning device.
The work performance evaluation device according to any one of claims 1 to 6, characterized in that It further comprises a measuring device which can move together with the self-positioning device, measures the situation around the self-positioning device, and records the measurement result with date and time
The display device is configured to display a relationship between a date and time and the corrected coordinate value of the self-positioning device, and simultaneously display a measurement result of the measuring device at the date and time.
The work performance evaluation device according to any one of claims 1 to 7, characterized in that The fixed coordinate signal transmitted from the fixed coordinate signal transmission device is transmitted as an optical signal or an ultrasonic wave signal, and is configured to be received by the mobile reception unit.
The work performance evaluation apparatus according to any one of claims 1 to 8, characterized in that It is a self-positioning device capable of moving in and out of the predetermined area in the vicinity of a fixed coordinate signal transmitting apparatus which emits a fixed coordinate signal which is installed at a fixed position and notifies coordinate values of the fixed position toward a predetermined area in the vicinity ,
A mobile reception unit that receives the fixed coordinate signal;
An acceleration sensor for detecting at least two-dimensional acceleration of the self-positioning device;
A gyro sensor for detecting at least a two-dimensional attitude of the self-positioning device;
With moving clock,
The measured coordinate value of the self-positioning device is calculated based on the outputs of the acceleration sensor and the gyro sensor, and the acceleration sensor and the gyro are calculated according to the coordinate value of the self-positioning device obtained by the fixed coordinate signal. A coordinate value calculation unit that corrects the measured coordinate value of the self-positioning device obtained based on the output of the sensor and calculates the corrected coordinate value of the self-positioning device;
A movement memory for recording the corrected coordinate value of the self-positioning device obtained by the coordinate value calculation unit together with the date and time measured by the movement clock;
A self-positioning device characterized by comprising:

Images