JP2015228123A - Operation analysis system, operation analysis method, and operation analysis program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an operation analysis system capable of more shortening a time required for the measurement or analysis of an operation than a conventional manner, and acquiring a concrete determination result with respect to the operation.SOLUTION: An operation analysis system 1 includes: a position arithmetic part 130 for, on the basis of a signal wirelessly transmitted from a transmitter 110 mounted on an operator 2, and received by a receiver 120 arranged in an operation space, acquiring position information indicating the position of the transmitter in association with a time; an operation time arithmetic part 150 for, on the basis of operation position information in which a plurality of positions including a start point and an end point among positions where the operation should be executed are defined and the position information, calculating a plurality of parameters each representing a positional relation between the plurality of positions and a detection object, and for, on the basis of the plurality of parameters, specifying the start time and finish time of the executed operation to calculate an operation time required for the operation; and a determination part 160 for, on the basis of standard operation time information in which a time when the operation should be executed is preliminarily defined, determining the operation time.

Description

  The present invention relates to a work analysis system, a work analysis method, and a work analysis program for analyzing work.

  In the field improvement of a production line or the like, a method for examining an improvement plan based on an analysis result obtained by analyzing work performed by an operator is known. Conventionally, work analysis has been done by video-taking work on the current line, measuring each work time while observing the image for each worker, each work, and each part, line balance, work effectiveness, etc. This was done by counting each part. When making on-site improvements, based on the results of this calculation, consider improvement plans such as reviewing individual work and streamlining lines.

  For example, in Patent Document 1, a marker is attached to an operator for shooting, and an image obtained thereby is analyzed to obtain a trajectory to which the marker has moved, and the trajectory is compared with features of a reference trajectory. A work analysis device for specifying contents is disclosed.

JP 2000-180162 A

  In the work analysis based on the image obtained by photographing the work, a long time is required for the work photographing, time measurement, and analysis work. In particular, when an analysis is performed by observing a video taken, a time longer than the shooting time is required. For this reason, under the present circumstances, it took a very long time to analyze the work, consider the improvement plan, present it, and implement it. However, prompt proposals for improvement proposals are required at production lines and other sites, so in order to present improvement proposals within a limited time, work is measured and analyzed in a short time, and improvements are made at an early stage. It is better to start studying the draft.

  Also, when observing the video, even if it is known that there is a wasteful movement in the work, it is possible to specify what kind of waste is specifically occurring or determine whether the work efficiency is appropriate or not. It was difficult to obtain a specific determination result for the work performed by the worker.

  The present invention has been made in view of the above, and can reduce the time required for measurement and analysis of work compared to the conventional technique, and can obtain a specific determination result for the work performed by the worker. An object is to provide a work analysis system, a work analysis method, and a work analysis program.

  In order to solve the above-described problems and achieve the object, a work analysis system according to the present invention is wirelessly transmitted from a transmitter attached to a work detection target and disposed in a space in which the work is executed. Based on a signal received by a receiver, a position information acquisition unit that acquires position information representing a three-dimensional position of the transmitter in association with time, and at least the position from which the work is to be performed A plurality of positions including a start point and an end point of work are calculated based on the work position information and the position information defined in advance, and a plurality of parameters respectively representing the positional relationship between the plurality of positions and the detection target are calculated. Work that specifies the start time and end time of the executed work based on a plurality of parameters, and calculates the difference between the start time and end time as the work time required for the work And a determination unit that determines the work time based on standard work time information that is defined in advance, and the work position information includes at least the start point. Including information defining a plurality of regions including a first region centered and a second region centered on the end point, and the plurality of parameters include a boundary surface of the plurality of regions, the detection target, Each of the plurality of regions, the working time calculation unit, the size relationship between the two parameters calculated for each of the two regions adjacent to each other, and the sign of the parameter calculated for each region or The start time and end time are specified based on the rate of change.

  In the work analysis system, the work time calculation unit specifies a period related to each of the plurality of regions based on a magnitude relationship between the two parameters, and a change in the sign of the parameter in the specified period or Based on the sign of the rate of change, the time at which the transmitter has exited is extracted from each of the plurality of regions.

  In the work analysis system, the work time calculation unit specifies a time at which the transmitter has exited from the first area as a start time of the work, and a time at which the transmitter has exited from the second area. Is specified as the end time of the work.

  The work analysis system further includes a trajectory creation unit that creates a trajectory of movement of the transmitter based on the position information.

  In the work analysis system, the trajectory creation unit further includes a display unit that acquires a route on which the work should be performed and displays the trajectory and the route on a screen.

  In the work analysis system, the trajectory creation unit further acquires a route on which the work should be executed, and determines the trajectory based on the route.

  The work analysis system further includes a display unit that displays the trajectory on a screen and highlights an area where a difference between the route and the trajectory is a predetermined value or more.

  In the work analysis system, the trajectory creation unit extracts a work in which a difference between the route and the trajectory is a predetermined value or more.

  The work analysis system includes a transmitter that is mounted on the detection target and wirelessly transmits a signal, a receiver that is disposed in a space in which the work is performed, and that receives the signal transmitted from the transmitter; The wireless communication means further comprising:

  In the work analysis system, the wireless communication unit transmits and receives an ultrasonic signal as the signal.

  In the work analysis system, the wireless communication unit performs communication via a wireless LAN.

  The work analysis method according to the present invention is a work analysis method by a work analysis system, wherein a signal is transmitted wirelessly from a transmitter attached to a work detection target, and is received in a space where the work is performed. A signal transmitting / receiving step for receiving the signal by a transmitter, and a position information acquiring step for acquiring, based on the signal received in the signal transmitting / receiving step, position information representing a three-dimensional position of the transmitter in association with time And a plurality of positions including at least a start point and an end point of the work among positions where the work is to be performed, based on the work position information and the position information defined in advance, and the plurality of positions and the detection target. And calculating a start time and an end time of the executed work based on the plurality of parameters. A work time calculation step for calculating a difference between the start time and the end time as a work time required for the work, and based on standard work time information in which the time for the work to be performed is defined in advance, A determination step of determining the work time, wherein the work position information includes at least a plurality of areas including a first area centered on the start point and a second area centered on the end point. Including the defined information, the plurality of parameters each representing a positional relationship between a boundary surface of the plurality of regions and the detection target, and the work time calculating step includes two adjacent ones of the plurality of regions. The start time and end time are identified based on the magnitude relationship between the two parameters calculated for each region and the sign or rate of change of the parameter calculated for each region And wherein the Rukoto.

  The work analysis program according to the present invention is based on a signal transmitted wirelessly from a transmitter attached to a work detection target and received by a receiver arranged in a space in which the work is executed. A position information acquisition step for acquiring position information representing a three-dimensional position in association with time, and a plurality of positions including at least a start point and an end point of the work among positions where the work is to be executed are defined in advance. And calculating a plurality of parameters representing the positional relationship between the plurality of positions and the detection target based on the work position information and the position information, and starting the work performed based on the plurality of parameters. A work time calculating step of specifying a time and an end time, and calculating a difference between the start time and the end time as a work time required for the work; and the work is executed. A determination step of determining the work time based on standard work time information defined in advance, and the work position information is at least a first area centered on the start point And information defining a plurality of regions including the second region centered on the end point, and the plurality of parameters respectively represent a positional relationship between a boundary surface of the plurality of regions and the detection target, The working time calculation step is based on the magnitude relationship between two parameters calculated for two adjacent areas among the plurality of areas and the sign or change rate of the parameters calculated for each area. The start time and end time are specified.

  According to the present invention, since the start time and end time of the executed work are specified based on the parameter representing the positional relationship between the position where the work should be performed and the position of the work detection target, The time required for the analysis can be shortened as compared with the prior art, and the determination result for the work performed by the worker can be obtained specifically and automatically. Thereby, even within a limited time, it is possible to efficiently consider and present an improvement plan.

FIG. 1 is a block diagram showing a configuration example of a work analysis system according to Embodiment 1 of the present invention. FIG. 2 is a schematic diagram showing a work site to which the work analysis system shown in FIG. 1 is applied. FIG. 3 is a table showing an example of the data structure of log data output from the position calculation unit shown in FIG. FIG. 4 is a table showing an example of the data structure of the work content information stored in the work content storage unit shown in FIG. FIG. 5 is a table showing an example of the data structure of the work position information stored in the work position storage unit shown in FIG. FIG. 6 is a schematic diagram showing a situation where an operator is working. FIG. 7 is a schematic diagram for explaining the definition of the area including the start point, the passing point, and the end point of the work. FIG. 8 is a table showing an example of the data structure of the standard work time information stored in the standard work time storage unit shown in FIG. FIG. 9 is a flowchart showing the work analysis method according to the first embodiment of the present invention. FIG. 10 is a flowchart showing the work time calculation process shown in FIG. FIG. 11 is a schematic diagram for explaining the definition of the pseudorange. FIG. 12 is a schematic diagram showing the relative position of the transmitter with respect to the start point region, the pass point region, or the end point region. FIG. 13 is a table showing an example of calculating pseudoranges. FIG. 14 is a table showing pseudoranges calculated for a series of log data. FIG. 15 is a graph showing a change in pseudo distance with the start point region, the pass point region, and the end point region. FIG. 16 is a flowchart illustrating the pseudo-range calculation process executed by the work time calculation unit. FIG. 17 is a flowchart illustrating a process for determining the start time, the passing time of the passing point, and the ending time of the work executed by the work time calculation unit. FIG. 18 is a diagram for explaining a process in the case where the pseudorange whose sign is negative is not included. FIG. 19 is a graph showing a change in pseudorange during the processing target period. FIG. 20 is a graph showing a change in pseudorange during the processing target period. FIG. 21 is a graph showing a change in pseudorange during the processing target period. FIG. 22 is a graph showing a change in pseudorange during the processing target period. FIG. 23 is a table showing determination results of work time. FIG. 24 is a block diagram showing a configuration example of a work analysis system according to Embodiment 2 of the present invention. FIG. 25 is a flowchart showing a work analysis method according to the second embodiment of the present invention. FIG. 26 is a flowchart showing the trajectory creation process shown in FIG. FIG. 27 is a schematic diagram illustrating a display example of a trajectory. FIG. 28 is a schematic diagram illustrating a display example of a trajectory. FIG. 29 is a table showing a display example of the trajectory determination result.

  Hereinafter, a work analysis system, a work analysis method, and a work analysis program according to an embodiment of the present invention will be described with reference to the drawings. Note that the present invention is not limited to these embodiments. Moreover, in description of each drawing, the same code | symbol is attached | subjected and shown to the same part.

(Embodiment 1)
FIG. 1 is a block diagram showing a configuration example of a work analysis system according to Embodiment 1 of the present invention. FIG. 2 is a schematic diagram showing a work site to which the work analysis system shown in FIG. 1 is applied. The work analysis system 1 according to the first embodiment is a system that analyzes the work of the worker 2 who performs processing, assembly, and the like. More specifically, the time required for the work performed by the worker 2 (work time) It is a system that measures.

  As shown in FIG. 1, the work analysis system 1 includes a transmitter 110 that wirelessly transmits a signal, a receiver 120 that receives a signal transmitted from the transmitter 110, and outputs a detection signal of the signal, and a reception Based on the detection signal output from the transmitter 120, a position calculation unit 130, which is a position information acquisition unit that acquires position information representing the three-dimensional position of the transmitter 110 in association with time, a storage unit 140, and a position calculation Based on the position information calculated by the unit 130, the work time calculation unit 150 that calculates the time (hereinafter referred to as “work time”) required for the worker 2 to perform work, and the work time calculated by the work time calculation unit 150. A determination unit 160 for determining, an input unit 170 used for inputting commands and information to the work analysis system 1, a display unit 180 for displaying various information, calculation results, and the like. And a control unit 190 for Batch controlled.

  The transmitter 110 and the receiver 120 are wireless communication units that transmit and receive information via ultrasonic signals. The transmitter 110 is attached to a work detection target such as the worker 2 or a tool or work object handled by the worker 2, and an ultrasonic signal including unique identification information (ID number) of the transmitter 110 is transmitted at a predetermined cycle. Send with. FIG. 2 shows an example in which one transmitter 110 is attached to each of the left and right wrists of the worker 2. In addition, the attachment location and the number of attachments of the transmitter 110 are not limited to two. For example, one or a plurality of transmitters 110 may be attached only to the body of the worker 2, or the transmitters 110 may be attached to both the body of the worker 2 and the work object. Even if a plurality of transmitters 110 are used, in the receiver 120, from which transmitter 110 the received ultrasonic signal is transmitted based on the identification information included in the ultrasonic signal. Can be identified.

  A plurality (three in FIG. 2) of receivers 120 are installed at predetermined positions in a space where work is performed, such as a wall or a ceiling of a work site. Each receiver 120 receives the ultrasonic signal transmitted from the transmitter 110 and converts it into an electrical signal, and outputs this electrical signal as a detection signal of the transmitter 110. The detection signal output from each receiver 120 is taken into the position calculation unit 130 via a network NW1 such as a wired or wireless LAN or directly.

  Note that the installation location and the number of installations of the receiver 120 are not particularly limited as long as the position of the transmitter 110 can be detected three-dimensionally, and may be appropriately determined according to the configuration of the work site, the movable range of the worker 2, and the like. . In Embodiment 1, an example in which the transmitter 110 and the receiver 120 that transmit and receive ultrasonic signals are used as wireless communication means will be described, but the configuration of the wireless communication means is not limited to this. For example, a wireless LAN system that wirelessly transmits and receives electrical signals between a transmitter and a receiver may be used.

  The position calculation unit 130 holds the three-dimensional position information of each receiver 120 in advance, and based on the intensity of the detection signal captured from each receiver 120 and the position information of each receiver 120, the transmitter 110 three-dimensional positions are calculated in real time. The position calculation unit 130 associates the position information indicating the position of the transmitter 110 calculated in this way with the time at that time, and sequentially outputs it as log data.

  FIG. 3 is a table showing an example of the data structure of log data output from the position calculation unit 130. The log data structure 200 shown in FIG. 3 includes a time data storage unit 201 that stores time data indicating the timing at which the position of the transmitter 110 is calculated, and an ID storage unit 202 that stores the ID number of the transmitter 110. The x-coordinate data storage unit 203 that stores the x-coordinate data of the transmitter 110, the y-coordinate data storage unit 204 that stores the y-coordinate data of the transmitter 110, and the z-coordinate data of the transmitter 110 are stored. a z-coordinate data storage unit 205. When a plurality of transmitters 110 are used, an ID storage unit and x, y, and z coordinate data storage units are provided for each transmitter 110.

  The transmitter 110, the receiver 120, and the position calculation unit 130 constitute a data construction system that constructs data for performing work analysis. The data construction system may be realized using a commercially available three-dimensional positioning system. As an example, a three-dimensional position measurement system using ultrasonic waves that can measure the position of the transmitter 110 with an error of several tens of millimeters is known.

  The storage unit 140 includes, for example, a semiconductor memory such as a flash memory, a RAM, and a ROM, a recording medium such as an HDD, and a writing / reading device that writes and reads information on the recording medium. The storage unit 140 stores various setting information for the work time calculation unit 150 and the determination unit 160 to perform various calculations based on the log data output from the position calculation unit 130. Specifically, the storage unit 140 includes a work content storage unit 141 that stores work content information that defines the content and order of work to be performed by the worker 2, and each work defined by the work content information is executed. A work position storage unit 142 that stores work position information that defines a position to be performed, and a standard work time storage unit that stores standard work time information that defines a standard work time of each work defined by the work content information 143, and an analysis result storage unit 144 that stores the analysis result of the work analyzed based on the log data output from the position calculation unit 130.

  FIG. 4 is a table showing an example of the data structure of work content information stored in the work content storage unit 141. Here, in the production site, for example, each process such as assembly of parts is divided into simplified operations such as “setting part A” and “removing screw B”, and described according to the work order. A working standard book is prepared. The work content information stored in the work position storage unit 142 is constructed based on such a work standard document. As shown in FIG. 4, the work content storage unit 141 includes a work order storage unit 211 in which the work order is stored, and a work content storage unit 212 in which the content of each work is stored. The stored information constitutes work content information 210.

  FIG. 5 is a table showing an example of the data structure of the work position information stored in the work position storage unit 142. As shown in FIG. 5, the information stored in the work position storage unit 142 is associated with the information stored in the work order storage unit 211 and the work content storage unit 212. The work position storage unit 142 stores an ID storage unit 221 that stores the ID number of the transmitter 110 whose position is to be measured in each work, and a start point that stores coordinates of the start point, passing point, and end point of each work. A coordinate storage unit 222, a passing point coordinate storing unit 223, an end point coordinate storing unit 224, a starting point margin storing unit 225 for storing margins provided for the start point, passing point, and end point of each work, a passing point Including the margin storage unit 226 and the end point margin storage unit 227, the information stored in these storage units constitutes the work position information 220.

  Here, the definition method of the start point, the passing point, and the end point of each work will be described with reference to FIGS. Here, the start point is a position where each work should be started, the passing point is a position that should be passed during the work of each work, and the end point is the end of each work. It is a position to be. FIG. 6 is a schematic diagram showing a situation where the worker 2 is working. FIG. 7 is a schematic diagram for explaining the definition of the area centered on the start point, the passing point, and the end point of the work. In FIG. 6, among the transmitters 110 attached to the left and right wrists of the worker 2, the ID number of the transmitter 110 attached to the right hand is 1060, and the ID number of the transmitter 110 attached to the left hand is 1061. And

For example, as shown in FIG. 6, in the work order 1 "setting part A" work (see FIG. 5), the right hand of the worker 2 starts moving from the position P1, passes through the position P2, and moves to the position P3. It will end when it reaches. In this case, the definition of the start point of the work coordinate _{(x 0, y 0, z} 0) as the position P1 of the coordinates (1281,766,1443) is, as a passing point coordinates _{(x 0, y 0, z} 0) The coordinates (1465, 596, 1571) of the position P2 are defined, and the coordinates (948, 603, 1580) of the position P3 are defined as the coordinates (x ₀ , y ₀ , z ₀ ) of the end point. When the coordinates of the transmitter 110 with the ID number 1060 attached to the right hand of the worker 2 sequentially match the coordinates of the start point, the passing point, and the end point defined in this way, the work is started, It can be determined that it has passed through the position and ended.

However, in practice, it is difficult to precisely match the coordinates of the transmitter 110 with a specific point in the three-dimensional space. Therefore, in the first embodiment, as shown in FIG. 7, these start point, passing point, and end point coordinates (x ₀ , y ₀ , z ₀ ) are given a margin according to the work contents. An area is defined. This region is a rectangular parallelepiped region in which margins (Δx, Δy, Δz) are added in the ± direction for each coordinate (x ₀ , y ₀ , z ₀ ). For example, in the case of work of work order 1, areas (1281 ± 70, 766 ± 70, 1443 ± 70) in which margins (70, 70, 70) are provided with respect to the coordinates (1281, 766, 1443) of the start point are It is defined as a starting point area (first area). Similarly, an area (1465 ± 70, 596 ± 150, 1571 ± 200) provided with a margin (70,150,200) with respect to the coordinates (1465,596,1571) of the passing point is defined as a passing point area. Is done. Further, an area (948 ± 120, 603 ± 150, 1580 ± 150) provided with a margin (120, 150, 150) with respect to the coordinates (948, 603, 1580) of the end point is the end point area (second area). ). When the transmitter 110 enters and exits a region having a width centered on each of the start point, the pass point, and the end point, the transmitter 110 is considered to have passed through the start point, the pass point, and the end point.

  In the work position information 220, the position where each work is to be executed is basically defined by the start point, the passing point, and the end point. In the case of work consisting only of movement in one direction, such as the “return driver C” work in FIG. 6, the work position may be defined by the start point and the end point, and the passing point may be omitted. Alternatively, a plurality of passing points may be defined in one operation.

  Further, instead of the position of a specific part (for example, the right hand) of the worker 2, the starting point and the passage are determined depending on the position at which the tool used for the work, the part that is the work object, and the product assembled by the work are arranged. Points and end points may be defined.

  FIG. 8 is a table showing an example of the data structure of the standard work time information stored in the standard work time storage unit 143. As shown in FIG. 8, the standard work time storage unit 143 is associated with information stored in the work order storage unit 211 and the work content storage unit 212 and stores the standard work time set for each work. A standard work time storage unit 231 is included. The information stored here constitutes standard work time information 230.

  Referring to FIG. 1 again, the work time calculation unit 150 calculates the work time based on the log data output from the position calculation unit 130. More specifically, the work time calculation unit 150 takes in the log data output from the position calculation unit 130 via a network NW2 such as a wired or wireless LAN, and stores the work position information 220 stored in the work position storage unit 141. With reference to the start point and end point of the work performed by the worker 2, the time difference corresponding to the start point and the end point is calculated as the work time.

  The determination unit 160 determines whether the work time of each work calculated by the work time calculation unit 150 is within an appropriate range. More specifically, the determination unit 160 refers to the standard work time information 230 stored in the standard work time storage unit 143 and determines whether the work time of each work is within the standard work time range. .

  The input unit 170 includes input devices such as a keyboard, various buttons, and various switches, and a pointing device such as a mouse, and inputs a signal corresponding to an operation performed from the outside by the user to the control unit 190.

  The display unit 180 is a display device such as a CRT display or a liquid crystal display, for example. Under the control of the control unit 190, the display unit 180 displays information such as log data output from the position calculation unit 130 and a determination result by the determination unit 160. indicate. Note that the input unit 170 and the display unit 180 may be integrally configured by a touch panel to which a signal is input by an operation on the display screen.

  The control unit 190 gives instructions to each unit constituting the work analysis system 1, transfers data, and the like, and comprehensively controls the operation of the work analysis system 1.

  These storage unit 140, work time calculation unit 150, and determination unit 160 constitute a data operation system that performs work analysis using data constructed by the data construction system. The data operation system can be realized using, for example, a computer including a CPU having calculation and control functions. In this case, the CPU executes various calculations and controls by reading the calculation program and control program stored in the storage unit 140.

  Note that the configuration of the work analysis system according to the first embodiment is not limited to the configuration illustrated in FIG. For example, the functions of the position calculation unit 130, the work time calculation unit 150, and the determination unit 160 may be executed by a single computer, or these functions may be distributed to a plurality of computers connected via a network. It may be executed. The storage unit 140 may be configured by a server provided on the network. In this case, the work time calculation unit 150 and the determination unit 160 fetch various information from the server via the network and perform calculations.

Next, the work analysis method according to the first embodiment will be described. FIG. 9 is a flowchart showing the work analysis method according to the first embodiment.
First, in step S100, an ultrasonic signal is transmitted from the transmitter 110. In response to this, the receiver 120 receives the ultrasonic signal and outputs a detection signal of the ultrasonic signal (step S200).

  In subsequent step S300, the position calculation unit 130 captures the detection signal output from the receiver 120, and stores in advance the distance between the transmitter 110 and each receiver 120 estimated from the intensity of the detection signal. The position of the transmitter 110 is calculated based on the position information of each receiver 120.

  In subsequent step S400, the position calculation unit 130 outputs position information indicating the position of the transmitter 110 as log data in association with the ID number of the transmitter 110 and the calculation time of the position information (see FIG. 3).

  In subsequent step S500, the work time calculation unit 150 sequentially fetches the log data output from the position calculation unit 130, the log data, the work content information 210 (see FIG. 4) stored in the storage unit 140, and the work position. Based on the information 220 (see FIG. 5), the work time required for each work is calculated.

FIG. 10 is a flowchart showing a work time calculation process.
First, in step S <b> 510, the work time calculation unit 150 takes in log data output from the position calculation unit 130.

  In subsequent step S520, the work time calculation unit 150 calculates a pseudorange for the acquired log data. The pseudorange is a start point area, a passing point area, and an end point area (hereinafter, simply referred to as an area) set for each work, and the transmitter 110 is outside or inside the area. It is the parameter introduced in order to determine in which.

  Here, the operation of the worker 2 can be divided by the positional relationship between the transmitter 110 and the start point region, the pass point region, and the end point region defined in the work position information 220. For example, when the transmitter 110 enters a start point area in a certain work and then leaves the start point area, it can be estimated that the work has started. Further, when the transmitter 110 enters the end point area in the work and then leaves the end point area, it can be estimated that the work is finished. Therefore, in the first embodiment, the entry / exit of the transmitter 110 with respect to each region is determined using pseudoranges, and the operation of the worker 2 is divided based on the determination result.

式（１）において、表式Ｍａｘ（ａ１，ａ２，…）は、括弧内の数値ａ１、ａ２、…のうちの最大値を示し、表式Ｍｉｎ（ａ１，ａ２，…）は、括弧内の数値ａ１、ａ２、…のうちの最小値を示す。 FIG. 11 is a schematic diagram for explaining the definition of the pseudorange. As shown in FIG. 11, the pseudo distance D is the coordinates (x ₀ , y ₀ , z ₀ ) of the center point C representing the coordinates (x, y, z), the start point, the passing point, or the end point of the transmitter 110. , And margins (Δx, Δy, Δz) (see FIG. 7) are given by the following equation (1).

In the expression (1), the expression Max (a1, a2,...) Indicates the maximum value among the numerical values a1, a2,... In the parentheses, and the expression Min (a1, a2,. Indicates the minimum value among the numerical values a1, a2,.

When the transmitter 110 exists inside the region R, | x ₀ −x | ≦ Δx, | y ₀ −y | ≦ Δy, and | z ₀ −z | ≦ Δz hold. That is, when all of the values of | x ₀ −x | −Δx, | y ₀ −y | −Δy, and | z ₀ −z | −Δz are negative, the transmitter 110 exists inside the region R. When any of these values is positive, it can be determined that the transmitter 110 exists outside the region R.

  When the transmitter 110 exists outside the region R, the pseudo distance D given by the equation (1) is determined by the transmission of each of the planes facing the transmitter 110 out of the six planes defining the region R and the transmission. It becomes the maximum value of the distance to the machine 110. However, in the case where the transmitter 110 exists inside two planes facing each other, the distance between these two planes is excluded. For example, in FIG. 11, since the transmitter 110 exists inside each of the two yz planes and the two zx planes, the pseudorange D is eventually the upper boundary surface (xy plane) of the region R that the transmitter 110 faces. And the distance.

  On the other hand, when the transmitter 110 exists inside the region R, the pseudo distance D is a value obtained by negating the minimum value of the distances between the boundary surfaces of the region R and the transmitter 110. When the transmitter 110 passes through the boundary surface of the region R and enters the inside from the outside of the region R or exits from the inside of the region R, the pseudorange D becomes zero.

  FIG. 12 is a schematic diagram showing the relative position of the transmitter 110 with respect to the region R. FIG. 13 is a table showing an example in which the pseudo distance with the region R is calculated for the log data indicating the coordinates of the transmitter 110. In FIG. 12, the center point C of the region R is (1056, 710, 1142), and the margin provided for the center point of the region R is (70, 70, 100). Calculated.

As described above, the positional relationship between the transmitter 110 and the region R can be determined by the code of the pseudorange D. For example, since the sign of pseudorange D is positive (D = 107.03) at time 15:47:29 146, it is determined that transmitter 110 exists outside region R (position p _{1 in} FIG. 12). reference). After that, the sign of the pseudo distance D changes from positive to negative between time 15: 47: 29.288 and time 15: 47: 29.423 (D = 30.36 → −19.31). It is determined that the transmitter 110 has passed through the boundary surface of the region R and has entered the region R (see positions p ₂ and p _{3 in} FIG. 12). Then, since the sign of pseudo distance D negative continues, the transmitter 110 is determined to be moving inside the region R (the reference position p ₄ in FIG. 12). Since the sign of the pseudo distance D changes from negative to positive between time 15:47:30 265 and time 15:47:30 407 (D = −0.88 → 4.78), the transmitter It is determined that 110 passes through the boundary surface of the region R and comes out of the region R (see positions p ₅ and p _{6 in} FIG. 12). Then, since the sign of pseudo distance D is a positive continues, the transmitter 110 is determined to be moving outside the area R (see position p ₇ in FIG. 12).

  In this way, by identifying the sign of the pseudo distance D with the region R and extracting the timing when the sign has changed from negative to positive (the transmitter 110 goes out of the region R to the outside) It is possible to specify the actions of the worker 2 such as starting, passing through a passing point, and finishing work. In other words, the pseudorange is a parameter representing the positional relationship between the transmitter 110 and the position where the work from the start point to the end point via the passing point is to be executed.

FIG. 14 is a table showing the pseudoranges calculated for the series of log data shown in FIG. In FIG. 14, parameter i (i = 1, 2,...) Indicates the output order of log data from the position calculation unit 130, and parameter j (j = 1, 2,...) Indicates the work order of the work being executed. Indicates. In addition, in FIG. 14, the pseudo distance DA _i with the start point area, the pseudo distance DB _i with the pass point area, and the end point area with respect to the i-th output data (hereinafter referred to as log data i). All pseudoranges DC _i are shown. FIG. 15 is a graph showing temporal changes of these pseudoranges DA _i , DB _i , and DC _i .

Here, the transmitter 110 (see FIG. 2), along with the movement of the hand of the operator 2, the inside of the start area (pseudo distance DA _i the starting point region is negative) exits to the outside from the (pseudo distance DA _i Is moved away from the starting point region (the pseudorange DA _i becomes larger), while approaching the passing point region (the pseudo distance DB _i with the passing point region becomes smaller), and inside the passing point region Enter (pseudorange DB _i changes negatively). At this time, the magnitude relationship between the pseudoranges DA _i and DB _i with respect to each of the start point region and the passing point region adjacent to each other is
(Pseudo distance DA _i with start point region) ≦ (Pseudo distance DB _i with pass point region)
After the state of
(Pseudo Distance DA _i with Start Point Area)> (Pseudo Distance DB _i with Pass Point Area)
To change.

Thereafter, the transmitter 110 leaves the inside of the passing point area to the outside (the pseudo distance DB _i with the passing point area changes from negative to positive), and then moves away from the passing point area (the pseudo distance DB _i becomes large). On the other hand, it approaches the end point region (the pseudo distance DC _i with the end point region becomes smaller) and enters the end point region (the pseudo distance DC _i changes negatively). At this time, the magnitude relationship of the pseudoranges DB _i and DC _i with each of the adjacent passing point region and end point region is
(Pseudo distance DB _i with passing point region) ≦ (Pseudo distance DC _i with end point region)
After the state of
(Pseudo distance DB _i with passing point region)> (Pseudo distance DC _i with end point region)
To change.

  Therefore, the work time calculation unit 150 calculates a pseudo distance with each of two adjacent areas (for the end point area, the start point area of the next work) among the start point area, the passing point area, and the end point area. Based on the calculated magnitude relationship between the two pseudo distances, the pseudo distance is repeatedly calculated while determining whether the transmitter 110 is closest to the start point area, the pass point area, or the end point area.

  FIG. 16 is a flowchart showing details of the pseudo-range calculation process in step S520. First, in step S5201, the work time calculation unit 150 sets the parameter i to 1. In subsequent step S5202, work time calculation unit 150 sets parameter j to 1. Hereinafter, the work order of the parameter j is referred to as work order j.

In step S5203, the work time calculation unit 150, for the log data i, the pseudo distance DA _i with the start point area in the work of the work order j and the pseudo distance DB _i with the passing point area adjacent to the start point area. Is calculated. For example, for the log data i (i = 1) at the beginning of this processing, the pseudo distance DA _i and the passing point area with the starting point area of the work in the work order 1 (part A is set: see FIG. 5) Pseudorange DB _i is calculated.

In step S5204, the work time calculation unit 150 determines the magnitude relationship between the pseudo distance DA _i with the start point area and the pseudo distance DB _i with the passing point area. When the pseudo distance DA _i with the start point area is equal to or less than the pseudo distance DB _i with the passing point area (step S5204: Yes), the work time calculation unit 150 increases the parameter i by 1 (step S5205). Thereafter, the process returns to step S5203. If i = 1 in step S5204, the process proceeds to step S5203 regardless of the values of pseudoranges DA _i and DB _i .

On the other hand, when the pseudo distance DB _i with the passing point area is smaller than the pseudo distance DA _i with the start point area (step S5204: No), the work time calculation unit 150 increases the parameter i by 1 (step S5206). For example, in the case of FIG. 14 and FIG. 15, the pseudorange DA _{i in} the starting point area was smaller than the pseudorange DB _{i in the} passing point area until 15:47:27, 751, whereas 15:47:27 In 888, the pseudorange DB _{i in} the passing point area is smaller than the pseudorange DA _{i in the} starting point area.

In subsequent step S5207, the work time calculation unit 150, for the log data i, the pseudo distance DB _i with the passing point area in the work of the work order j and the pseudo distance with the end point area adjacent to the passing point area. DC _i is calculated (step S5207).

In the following step S5208, the work time calculation unit 150 determines the magnitude relationship between the pseudo distance DB _i with the passing point area and the pseudo distance DC _i with the end point area. When the pseudo distance DB _i with the passing point area is equal to or less than the pseudo distance DC _i with the end point area (step S5208: Yes), the work time calculation unit 150 increases the parameter i by 1 (step S5209). Thereafter, the process returns to step S5207.

On the other hand, when the pseudo distance DC _i with the end point area is smaller than the pseudo distance DB _i with the passing point area (step S5208: No), the work time calculation unit 150 increases the parameter i by 1 (step S5210). For example, in the case of FIGS. 14 and 15, until 15:47:29, 006, the pseudorange DB _i of the passing point region was smaller than the pseudodistance DC _{i of the} end point region, whereas 15:47:29 At second 146, the pseudorange DC _{i in} the end point region is smaller than the pseudorange DB _{i in the} passing point region.

In subsequent step S5211, the work time calculation unit 150, for the log data i, the pseudo distance DC _i to the end point area in the work of the work order j, and the next (work order j + 1) adjacent to the end point area. The pseudo distance DA (j + 1) _i with the starting point area in the work is calculated (step S5211).

In subsequent step S5212, the work time calculation unit 150 determines the magnitude relationship between the pseudo distance DC _i to the end point area and the pseudo distance DA (j + 1) _{i to} the start point area in the next work. When the pseudo distance DC _i with the end point area is equal to or less than the pseudo distance DA (j + 1) _i with the start point area in the next operation (step S5212: Yes), the work time calculation unit 150 increases the parameter i by 1 (step S5212). S5213). Thereafter, the process returns to step S5211.

On the other hand, when the pseudo distance DA (j + 1) _i to the start point area in the next work is smaller than the pseudo distance DC _i to the end point area (step S5212: No), the work time calculation unit 150 increases the parameter i by 1. (Step S5214) Further, the parameter j is incremented by 1 (Step S5215).

  Thereafter, in step S5216, the work time calculation unit 150 determines whether or not the log data i to be calculated exists, and if the log data i exists (step S5216: Yes), the process proceeds to step S5203. To do. On the other hand, when the log data i to be calculated does not exist (step S5216: No), the processing of the work time calculation unit 150 returns to the main routine.

  The pseudo distance calculated in this way is stored in the storage unit 140 in association with log data (position information and time information of the transmitter 110). In addition, when the passing point is not defined as in the operations of the operation orders 4 and 6 illustrated in FIG. 5, the processes in steps S5207 to S5210 are omitted.

  In step S530 subsequent to step S520 shown in FIG. 10, the work time calculation unit 150 determines a work start time, a passing time at a passing point, and an end time for each work. FIG. 17 is a flowchart showing a determination process of the work start time, the passage point passing time, and the end time performed by the work time calculation unit 150.

First, in step S5301, the work time calculation unit 150 takes in the pseudoranges calculated in step S520, and based on these pseudoranges, the transmitter 110 approaches each of the start point region, the pass point region, and the end point region. Ask for a period. Specifically, the point where the magnitude relationship between the pseudo distances calculated for each area with respect to the log data i is inverted is set as a breakpoint between adjacent areas, and the time of the breakpoint and the time of the next breakpoint are Extract the period between. For example, in the case of FIGS. 14 and 15, the magnitude relationship between the pseudorange DA _i with respect to the start point region and the pseudorange DB _i with respect to the pass point region between 15:47:27 and 751 and 15: 47: 27,888. Therefore, the period T11 from 15: 47: 27: 888 is set as the period when the transmitter 110 approaches the starting point area. Further, among the 15 o'clock 47 minutes 29 seconds 006 and 15 o'clock 47 minutes 29 seconds 146, since the magnitude of pseudo distances DC _i pseudo distance DB _i and end regions of the pass point region is inverted, 15 A period T12 from the time 47 minutes 27 seconds 888 to the time 15 hours 47 minutes 29 seconds 006 is a period in which the transmitter 110 approaches the passing point region. Further, a period T13 after 15: 47: 29: 146 is a period in which the transmitter 110 approaches the end point area.

Subsequently, the work time calculation unit 150 executes a process of loop A for each of the periods T11, T12,... Obtained in step S5301. Hereinafter, the periods T11, T12,... Further, the pseudoranges DA _i , DB _i , and DC _i are also represented as pseudoranges D.

  In step S5302, the work time calculation unit 150 determines whether or not there is a pseudorange D having a negative sign within the period T to be processed. If there is a pseudorange D having a negative sign (step S5302: YES), the process proceeds to step S5303.

In step S5303, the work time calculation unit 150 determines that the time when the sign of the pseudorange D has changed from negative to positive is the area where the transmitter 110 corresponds to the period T (the area where the transmitter 110 is closest to the period T). ). For example, in the case of FIGS. 14 and 15, the pseudorange DA _i with respect to the start point region is negative between 15: 47: 27,332 and 15:47:27 (see pseudorange data Q1) in the period T11. Therefore, the time at which the transmitter 110 leaves the starting point area is 15: 47: 27.470. In the period T12, the pseudorange DB _i with respect to the passing point region changes from negative to positive between 15: 47: 28: 588 and 15:47:28 (see pseudorange data Q2). Therefore, 15:47:28 727 is the time when the transmitter 110 leaves the passing point area. Further, in a period T13, are positively changed pseudo distance DC _i from negative end point region between (see pseudo distance data Q3) with 15:00 47 minutes 30 seconds 265 15 o'clock 47 minutes 30 seconds 407 Therefore, this time 15:47:30 407 is the time when the transmitter 110 leaves the end point area.

  On the other hand, if there is no pseudorange D having a negative sign in step S5302 (step S5302: NO), the process proceeds to step S5304. Here, when acquiring log data, for example, the operation of the work point with respect to the coordinates of the start point, the pass point, and the end point, and the start point region, the pass point region, and the end point region set based on these points. Is significantly different, the log data sampling cycle is large and the necessary data could not be acquired, or the operation of the worker 2 was fast and the necessary data could not be acquired. There may be a situation in which the pseudorange D having a negative sign is not extracted from the period obtained in step S5302. In such a case, the work time calculation unit 150 specifies the time when the transmitter 110 leaves each area based on the rate of change of the pseudorange D.

  FIG. 18 is a diagram for explaining processing when the pseudo-distance D having a negative sign is not included. In FIG. 18, since the settings of the start point region, the passing point region, and the end point region when calculating each pseudo distance are different from those in FIG. 14, the pseudo distance values are also different. Also, periods T21, T22, and T23 shown in FIG. 18 are the periods obtained in step S5301, and the period when transmitter 110 is closest to the start point area, the period when transmitter 110 is closest to the pass point area, and the end point area, respectively. Indicates the closest period. Hereinafter, these periods T21, T22, and T23 are also referred to as periods T.

In step S5304, the work time calculation unit 150 calculates the change rate of the pseudo distance D within the period T, and the point where the sign of the change rate of the pseudo distance D changes from negative to positive, that is, from the decrease of the pseudo distance D. Extract the minimum points that start to increase. Each of FIGS. 19 to 22 is a graph showing a change in the pseudo distance D in the period T. FIG. For example, in FIG. 19 and FIG. 20, the minimum points are extracted one by one. In FIGS. 21 and 22, three minimum points are extracted. In the following, among the minimum points extracted from the period T, the minimum point with the oldest corresponding time is set as the first minimum point CP1, the minimum point with the latest corresponding time is set as the last minimum point CP2, and the time is first The local minimum point between and the last is _{defined as} the local minimum point CP _k . When only one minimum point is extracted as shown in FIGS. 19 and 20, the extracted only minimum point is treated as the first minimum point CP1 and the last minimum point CP2.

In the following step S5305, the work time calculation unit 150 checks the pseudo distance D by going back from the first minimum point CP1 and checks the pseudo distance D _CP1 (D _CP1 > 0) at the minimum point CP1 and a predetermined threshold Th. A pseudo distance D that is equal to or greater than the sum (D _CP1 + Th) is searched. For example, the threshold Th may be a fixed value that does not depend on the start point region, the pass point region, and the end point region. Alternatively, when each region is defined, the threshold Th is set based on the margin (Δx, Δy, Δz) added to the coordinates (x ₀ , y ₀ , z ₀ ) of the start point, the passing point, and the end point. May be. Specifically, one of the values Δx, Δy, and Δz (for example, the maximum value, the median value, or the minimum value) of each axis of margin may be used as the threshold Th, or the value Δx of each axis of margin , Δy, Δz (Δx + Δy + Δz) / 3 or the like may be used as the threshold Th.

As a result of the search, when there is a pseudo distance D that is greater than or equal to the sum (D _CP1 + Th) (step S5306: Yes), the work time calculation unit 150 determines that the transmitter 110 uses the time t _CP1 corresponding to the minimum point CP1. It is set as the time when the area corresponding to the period T is entered (step S5307). For example, in FIGS. 19, 21, and 22, the pseudoranges D in the periods Δt 1, Δt 2, and Δt 3 are D ≧ D _CP1 + Th, respectively. Therefore, in this case, the time t _{CP1 at} the minimum point CP1 is the time when the transmitter 110 enters the region.

Specifically, it is assumed that the threshold value Th for the pseudorange DC _{i with} respect to the end point region is set to 80 in the period T23 shown in FIG. The threshold value Th = 80 is an average value of the values of the respective axes of the margins (70, 70, 100) set in the end point region of the “take screw B” operation shown in FIG. In this case, a value obtained by adding the threshold Th to pseudo distance DC _i in the first minimum point CP1 period T23 becomes 0.56 + 80 = 80.56. The pseudo distance 107.03 at the start time of the period T23 exceeds the added value 80.56. Therefore, in this case, the time 15: 47: 29: 564 corresponding to the first minimum point CP1 is the time when the transmitter 110 enters the end point region.

On the other hand, as a result of the search, when there is no pseudo distance D that is equal to or greater than the sum (D _CP1 + Th) (step S5306: No), the work time calculation unit 150 determines the start time of the period T and the transmitter 110 determines the period. It is set as the time when the region corresponding to T is entered (step S5308). For example, in the case of FIG. 20, the pseudo-distance D is at the start time t _start of the period T, smaller than the sum (D _CP1 + Th), pseudo distance D the sum (D _CP1 + Th) or more within the period T are not present . Therefore, in this case, the start time t _start of the period T is the time when the transmitter 110 enters the area.

Specifically, it is assumed that the threshold value Th for the pseudorange DB _i with the passing point region is set to 150 in the period T22 shown in FIG. The threshold value Th = 150 is an average value of the values of the respective axes of the margins (250, 100, 100) set in the passing point region of the “take screw B” operation shown in FIG. In this case, the value obtained by adding the threshold Th to the pseudorange DB _i at the first minimum point CP1 in the period T22 is 51.61 + 150 = 201.61. And even if the time is traced back from the minimum point CP1, the pseudo distance DB _i having the added value 201.61 or more does not exist in the period T22. Therefore, in this case, the start time 15:47:27 888 of the period T22 is the time when the transmitter 110 enters the passing point region.

In the following step S5309, the working time calculation unit 150 checks the pseudo distance D from the last minimum point CP2 and checks the pseudo distance D, and calculates the pseudo distance D _CP2 (D _CP2 > 0) at the minimum point CP2 and the predetermined threshold Th. A pseudo distance D that is greater than or equal to the sum (D _CP2 + Th) is searched. The determination method of this threshold Th is the same as that of step S5305.

As a result of the search, when there is a pseudo distance D that is greater than or equal to the sum (D _CP2 + Th) (step S5310: Yes), the work time calculation unit 150 determines that the time t _CP2 at the minimum point CP2 It is set as the time which came out of the area | region corresponding to T (step S5311). For example, in FIG. 19, FIG. 20, and FIG. 21, the pseudoranges D in the periods Δt4, Δt5, and Δt6 are D ≧ D _CP2 + Th, respectively. Therefore, in this case, the time t _{CP2 at} the minimum point CP2 is the time when the transmitter 110 leaves the area.

Specifically, in the period T22 shown in FIG. 18, when the threshold Th for the pseudo distance DB _i to the passing point region is set to 150, the threshold Th is added to the pseudo distance DB _i at the last minimum point CP2 of the period T22. The value obtained is 1.61 + 150 = 156.61. The pseudorange 200.94 at the end time of the period T22 exceeds the added value 156.61. Therefore, in this case, the time 15:47:28 588 corresponding to the last minimum point CP2 is the time when the transmitter 110 has left the passing point region.

On the other hand, as a result of the search, when there is no pseudo distance D that is equal to or greater than the sum (D _CP2 + Th) (step S5310: No), the work time calculation unit 150 determines the end time of the period T and the transmitter 110 determines the period. It is set as the time which came out of the area | region corresponding to T (step S5312). For example, in the case of FIG. 22, the pseudo distance D at the end time t _end of the period T is smaller than the sum (D _CP2 + Th), and therefore there is no pseudo distance D that is greater than or equal to the sum (D _CP2 + Th) within this period T. . Therefore, in this case, the end time t _end of the period T is the time when the transmitter 110 leaves the area.

Specifically, in the period T23 shown in FIG. 18, when the threshold Th for the pseudo distance DC _i to the end point region is set to 80, the threshold Th is added to the pseudo distance DC _i at the last minimum point CP2 of the period T23. The value is 0.56 + 80 = 80.56. And even if the time goes down from the minimum point CP2, the pseudo distance DC _i having the added value of 80.56 or more does not exist within the period T23. Therefore, in this case, the end time 15:47:30 685 of the period T23 is the time when the transmitter 110 leaves the end point region.

  When the processing of loop A for all the periods T extracted in step S5301 is completed, the work time calculation unit 150 starts the work when the transmitter 110 has exited from the start point area, the pass point area, and the end point area, respectively. The time, the time passing through the passing point, and the end time are determined (step S5313). Thereafter, the operation of the work analysis system 1 returns to the main routine.

In subsequent step S540, the work time calculation unit 150 calculates the difference between the work start time and the work end time determined in step S530 as the work time. For example, in the case of FIG. 15, 2 seconds 937, which is the difference between the start time 15:47:27 470 and the end time 15:47:30 407, is calculated as the work time of the work. The calculated work time is stored in the storage unit 140 as a work analysis result.
Thereafter, the operation of the work analysis system 1 returns to the main routine.

  In step S600 following step S500 illustrated in FIG. 9, the determination unit 160 determines whether the work time is appropriate by comparing the work time calculated in step S500 with the standard work time.

  FIG. 23 is a table showing determination results of work time. For example, when the work time is calculated for each work in the work orders 1 to 6, the determination unit 160 reads the standard work time information 230 (see FIG. 8) from the storage unit 140, and calculates the work for each work. Compare time with standard working hours. If the calculated work time is less than or equal to the standard work time, the work time is appropriate (see the circle), and if the calculated work time is longer than the standard work time, the work time is appropriate. It is determined that it is not (see the x mark) This determination result is also stored in the storage unit 140 as the analysis result of the working time.

In subsequent step S700, the control unit 190 outputs the calculation result of the work time by the work time calculation unit 150 and the determination result of the work time by the determination unit 160 as a work analysis result, for example, in a format as shown in FIG. It is displayed on the display unit 180.
Thereafter, the operation of the work analysis system 1 ends.

  As described above, according to the first embodiment, the position calculation unit 130 calculates the position of the transmitter 110 in real time based on the detection signal of the ultrasonic signal transmitted from the transmitter 110, and the transmitter Work analysis including calculation and determination of work time can be automatically performed based on log data representing 110 positions. As a result, the time required for measurement and analysis of work can be shortened as compared with the prior art, and a specific determination result for the work performed by the worker 2 can be obtained. Moreover, according to Embodiment 1, since the determination result of work time is displayed for every work content, the user can grasp | ascertain the work which should be improved instantly. Therefore, the user can efficiently consider an improvement plan even within a limited time.

(Modification 1)
Next, a first modification of the first embodiment of the present invention will be described.
The determination method of the work time performed by the determination unit 160 is not limited to the first embodiment, and may be changed as appropriate according to the work content and the like. For example, when the calculated work time is within a predetermined range (± 10% or the like) with respect to the standard work time, the work time may be determined to be appropriate.

(Embodiment 2)
Next, a second embodiment of the present invention will be described.
FIG. 24 is a block diagram illustrating a configuration example of the work analysis system according to the second embodiment. As shown in FIG. 24, the work analysis system 3 according to Embodiment 2 further includes a trajectory creation unit 310 as compared to the work analysis system shown in FIG. The trajectory creation unit 310 creates a trajectory of the transmitter 110 based on the calculation result of the position of the transmitter 110 by the work time calculation unit 150.

  Hereinafter, the work analysis method according to the second embodiment will be described. FIG. 25 is a flowchart showing a work analysis method according to the second embodiment. Note that steps S100 to S500 shown in FIG. 25 are the same as those in the first embodiment.

  In step S800 following step S500, the trajectory creation unit 310 creates a trajectory of the transmitter 110. FIG. 26 is a flowchart showing a trajectory creation process.

  First, in step S801, the trajectory creation unit 310 creates a trajectory for which the transmitter 110 has moved for each operation based on the coordinates of the transmitter 110 included in the series of log data. More specifically, the trajectory creation unit 310 divides a series of log data at the end time of each work, and creates a trajectory using the log data within the delimited range. This trajectory can be regarded as a work flow line of the worker 2 in each work.

  In subsequent step S802, the trajectory creation unit 310 divides the trajectory created for each work by the start point, the passing point, and the end point, and displays each point on the trajectory so that the divided sections are displayed in different colors. Assign a display color to. In each section, a single color may be used, or the color may be changed, for example, a gradation is added from the start point to the end point of each section.

  In subsequent step S803, the trajectory creation unit 310 acquires an ideal route (standard route) of the flow line for each work. For this standard route, a route calculated by simulation software based on the coordinates of the start point, passing point, and end point defined in the work position information 220 (see FIG. 5) is stored in advance in the storage unit 140 as standard route information. The standard route information is obtained by reading out. Or you may acquire by calculating the shortest path | route with simulation software based on the coordinate of the starting point on the locus | trajectory which the locus | trajectory creation part 310 produced, the passing point, and an end point.

  Thereafter, the operation of the work analysis system 3 returns to the main routine. Subsequent steps S600 and S700 are the same as those in the first embodiment.

In step S900 following step S700, the trajectory creation unit 310 includes standard data including the trajectory data including the coordinate values and color information of the trajectory assigned the display color in step S802, and the standard route coordinate values acquired in step S803. Output route data. In response to this, the control unit 190 causes the display unit 180 to display the trajectory in a three-dimensional manner with the color assigned to each section, and to display the standard route in a three-dimensional manner on the trajectory.
Thereafter, the operation of the work analysis system 3 ends.

FIG. 27 and FIG. 28 are schematic diagrams showing a display example of a trajectory. 27, the locus of the right hand of the worker 2 is shown in the coordinate system (x _R , y _R , z _R ), and in FIG. 28, the locus of the left hand of the worker 2 is shown in the coordinate system (x _L , y _L , z _L ).

As shown in FIG. 27, the section from the starting point P _R1 to the passing point P _{R2 and} the section from the passing point P _R2 to the end point P _R3 are displayed in different colors, and a gradation is given in each section. Similarly, in FIG. 28, the section from the start point P _L1 to the passing point P _L2 , the section from the passing point P _L2 to the end point P _L3 , and the section from the end point P _L3 to the starting point P _L1 are displayed in different colors. There is a gradation inside. In FIGS. 27 and 28, the difference in color is indicated by the difference in pattern.

By displaying the standard routes W _R1 , W _R2 , W _L1 , W _L2 , and W _L3 superimposed on these trajectories, the user compares the two and specifically grasps the wasteful movement of the work flow line. This makes it easier to consider improvement measures.

  27 and 28 show an example in which the locus of the right hand and the left hand of the worker 2 is displayed on different screens, both may be displayed on the same screen. Further, the trajectory illustrated in FIG. 27 and FIG. 28 may be displayed on the same screen as the analysis result of the work time shown in FIG. In this case, when the user selects any of the operations shown in FIG. 23 using the input unit 170, a trajectory corresponding to the selected operation may be displayed on the same screen.

  Further, instead of displaying the trajectory for each work, a trajectory of a series of work (for example, work in work order 1 to 6 shown in FIG. 5) may be displayed simultaneously. Or you may display the locus | trajectory of a several user's desired operation | work simultaneously by operation using the input part 170. FIG.

  Furthermore, the three-dimensional display angle of the trajectory and the standard route may be changed by operating the coordinate axes of the trajectory shown in FIGS. 27 and 28 using the input unit 170.

  As described above, according to the second embodiment of the present invention, since the trajectory of the worker 2 is displayed for each work, each work can be easily analyzed visually. Further, by displaying the standard route so as to overlap the trajectory of the worker 2, it is possible to perform further analysis such as grasping the useless movement of the worker 2.

(Modification 2-1)
Next, Modification 2-1 of Embodiment 2 of the present invention will be described.
The trajectory creation unit 310 may further calculate a difference between the two after obtaining the trajectory and the standard route of the transmitter 110. Then, a portion of the trajectory where the difference exceeds a predetermined threshold is displayed on the display unit 180 in a manner different from other portions, such as blinking display.

  It can be said that a portion of the trajectory where the difference from the standard route is large is a portion where the operator 2 has a lot of useless movement. Therefore, the user can more easily grasp the useless movement of the worker 2 by automatically extracting a portion having a large difference and displaying it in a manner different from other portions.

(Modification 2-2)
Next, Modification 2-2 of Embodiment 2 of the present invention will be described.
When the trajectory creation unit 310 acquires the trajectory and the standard route of the transmitter 110 and further calculates the difference between the two, the determination unit 160 extracts a work including a portion where the difference exceeds a predetermined threshold, You may display on the display part 180 as a determination result.

  FIG. 29 is a table showing a display example of the trajectory determination result, in which the trajectory determination result is added to the work time determination result shown in FIG. In FIG. 29, the work content including a portion where the difference between the trajectory of the worker 2 and the standard route exceeds a predetermined threshold is marked with an X. The user can instantly grasp the work content to be improved by referring to such a determination result.

  In the example shown in FIG. 29, the determination results of the trajectory corresponding to the work whose work time determination result is “◯” are all “◯”, but the determination result of the work time is “◯”. In spite of this, there may be an operation in which the determination result of the trajectory is “x”. In this case, the user grasps the useless movement of the worker 2 and makes an improvement so that the determination result of the trajectory becomes “◯”. It is possible to approach time.

  The present invention described above is not limited to the first and second embodiments and the modifications thereof, and can be variously modified according to specifications and the like. For example, some components may be excluded from all the components shown in the first and second embodiments and the modifications thereof. It is apparent from the above description that various other embodiments are possible within the scope of the present invention.

1, 3 Work analysis system 2 Worker 110 Transmitter 120 Receiver 130 Position calculation unit 140 Storage unit 141 Work content storage unit 142 Work position storage unit 143 Standard work time storage unit 144 Analysis result storage unit 150 Work time calculation unit 160 Determination Unit 170 input unit 180 display unit 190 control unit 200 log data structure 201 time data storage unit 202 ID storage unit 203 x coordinate data storage unit 204 y coordinate data storage unit 205 z coordinate data storage unit 210 work content information 211 work order storage unit 212 Work content storage unit 220 Work position information 221 ID storage unit 222 Start point coordinate storage unit 223 Pass point coordinate storage unit 224 End point coordinate storage unit 225 Start point margin storage unit 226 Pass point margin storage unit 227 End point margin storage unit 230 Standard Work time information 231 Standard work Time storage unit 310 Trajectory creation unit

Claims (13)

A position representing a three-dimensional position of the transmitter based on a signal transmitted wirelessly from a transmitter attached to a work detection target and received by a receiver arranged in a space in which the work is performed A location information acquisition unit that acquires information in association with time;
Based on the work position information and the position information in which a plurality of positions including at least a start point and an end point of the work among the positions at which the work is to be executed, the positions of the plurality of positions and the detection target A plurality of parameters representing the respective relationships were calculated, and the start time and end time of the executed work were specified based on the plurality of parameters, and the difference between the start time and end time was required for the work A work time calculation unit for calculating work time;
A determination unit for determining the work time based on standard work time information defined in advance for a time when the work should be performed;
With
The work position information includes at least information defining a plurality of areas including a first area centered on the start point and a second area centered on the end point,
The plurality of parameters respectively represent a positional relationship between a boundary surface of the plurality of regions and the detection target,
The working time calculation unit, based on the magnitude relationship between two parameters calculated for two adjacent areas among the plurality of areas, and the sign or rate of change of the parameters calculated for each area, A work analysis system characterized by specifying the start time and the end time.   The working time calculation unit specifies a period related to each of the plurality of regions based on a magnitude relationship between the two parameters, and based on a change in sign of the parameter or a sign of a change rate in the specified period. The work analysis system according to claim 1, wherein a time at which the transmitter has exited is extracted from each of the plurality of regions.   The work time calculation unit specifies the time when the transmitter has exited from the first area as the start time of the work, and sets the time when the transmitter has exited from the second area as the work end time. The work analysis system according to claim 2, characterized by:   The work analysis system according to claim 1, further comprising a trajectory creation unit that creates a trajectory that the transmitter has moved based on the position information. The trajectory creation unit further acquires a route on which the work should be performed,
The work analysis system according to claim 4, further comprising a display unit that displays the trajectory and the route on a screen.   The work analysis system according to claim 4, wherein the trajectory creation unit further acquires a route on which the work should be executed, and determines the trajectory based on the route.   The work analysis system according to claim 6, further comprising a display unit that displays the trajectory on a screen and highlights an area where a difference between the route and the trajectory is a predetermined value or more.   The work analysis system according to claim 6, wherein the trajectory creation unit extracts a work in which a difference between the route and the trajectory is a predetermined value or more.   Radio communication means comprising: a transmitter that is mounted on the detection target and that wirelessly transmits a signal; and a receiver that is disposed in a space where the work is performed and that receives the signal transmitted from the transmitter. The work analysis system according to claim 1, further comprising:   The work analysis system according to claim 9, wherein the wireless communication unit transmits and receives an ultrasonic signal as the signal.   The work analysis system according to claim 9, wherein the wireless communication unit performs communication via a wireless LAN. A work analysis method by a work analysis system,
A signal transmitting and receiving step of transmitting a signal wirelessly from a transmitter attached to a work detection target, and receiving the signal by a receiver disposed in a space in which the work is performed;
Based on the signal received in the signal transmission / reception step, a position information acquisition step of acquiring position information representing a three-dimensional position of the transmitter in association with time;
Based on the work position information and the position information in which a plurality of positions including at least a start point and an end point of the work among the positions at which the work is to be executed, the positions of the plurality of positions and the detection target A plurality of parameters representing the respective relationships were calculated, and the start time and end time of the executed work were specified based on the plurality of parameters, and the difference between the start time and end time was required for the work A work time calculation step to calculate as work time;
A determination step of determining the work time based on standard work time information defined in advance for a time when the work should be performed;
Including
The work position information includes at least information defining a plurality of areas including a first area centered on the start point and a second area centered on the end point,
The plurality of parameters respectively represent a positional relationship between a boundary surface of the plurality of regions and the detection target,
The working time calculation step is based on the magnitude relationship between two parameters calculated for two adjacent areas among the plurality of areas and the sign or change rate of the parameters calculated for each area. A work analysis method characterized by specifying the start time and the end time. A position representing a three-dimensional position of the transmitter based on a signal transmitted wirelessly from a transmitter attached to a work detection target and received by a receiver arranged in a space in which the work is performed A location information acquisition step for acquiring information in association with time;
Based on the work position information and the position information in which a plurality of positions including at least a start point and an end point of the work among the positions at which the work is to be executed, the positions of the plurality of positions and the detection target A plurality of parameters representing the respective relationships were calculated, and the start time and end time of the executed work were specified based on the plurality of parameters, and the difference between the start time and end time was required for the work A work time calculation step to calculate as work time;
A determination step of determining the work time based on standard work time information defined in advance for a time when the work should be performed;
To the computer,
The work position information includes at least information defining a plurality of areas including a first area centered on the start point and a second area centered on the end point,
The plurality of parameters respectively represent a positional relationship between a boundary surface of the plurality of regions and the detection target,
The working time calculation step is based on the magnitude relationship between two parameters calculated for two adjacent areas among the plurality of areas and the sign or change rate of the parameters calculated for each area. A work analysis program that identifies the start time and the end time.

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