JP2024022037A - Work managing method, work managing system and work managing program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To manage a work region where a work has been carried out across management unit periods without dividing the work region.

SOLUTION: A work managing method includes: obtaining operation information that associates positioning information representing positions of a work device (2) that has carried out a work while moving in a farm field (9) in a drive period (WP14) with time information representing a positioning time when the work device is located at such positions (S01); identifying, for each of predetermined management unit periods (MP1 and MP2), work regions (WA13 and WA21) where the work device has carried out the work in the farm field on the basis of the operation information (S02); and managing, in association with a first management unit period, a combined work region (WA14) obtained by combining the first work region (WA13) where the work has been carried out during the first management unit period with the second work region (WA21) where the work has been carried out during the second management unit period when the drive period is across a predetermined reference time (T1) that divides the first management unit period (MP1) and the second management unit period (MP2) from each other (S04).

SELECTED DRAWING: Figure 3

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to a work management method, a work management system, and a work management program, and can be suitably used, for example, to manage work such as agricultural work in a field.

Patent Document 1 (Japanese Patent No. 5972819) discloses a work management support device and a work management system. The work management support device of Patent Document 1 detects the position of the worker, acquires the time and operating state of the work equipment used by the worker, and records these information in order to manage the work performed by the farm worker in the field. information is automatically recorded on a remote server.

Patent No. 5972819

In Patent Document 1, the premise is that work is recorded by date. However, for example, in crop harvesting work, the harvesting work may extend into the night and even extend beyond midnight due to weather conditions, sharing of agricultural machinery used for harvesting, and the like. In such a case, in Patent Document 1, the unit period for managing work is one day from midnight to midnight, so the work date and time for management is divided at midnight, and the management The upper work area is also divided.

In view of the above circumstances, the present disclosure aims to provide a work management method, a work management system, and a work management program that can manage a work area in which work is performed across management unit periods without dividing it. Let's choose one. Other objects and novel features will become apparent from the description of this specification and the accompanying drawings.

Below, means for solving the problems will be explained using numbers and symbols used in the detailed description. These numbers and symbols are added in parentheses for reference in order to show an example of the correspondence between the claims and the detailed description. Therefore, the scope of the claims should not be construed as being limited by the parenthesized descriptions.

According to one embodiment, the work management method includes the work device (2) that performs work while moving in the field (9) during the drive period (WP14) from the key-on state to the key-off state. The method includes acquiring operation information in which positioning information representing a plurality of positions is associated with time information representing a plurality of positioning times when the working device (2) is located at each of the plurality of positions (S01). The work management method further includes, for each predetermined management unit period (MP1, MP2), a work area (WA13, WA21) in which the work equipment (2) has worked in the field (9) based on the operation information. (S02), and the drive period (WP14) is a predetermined period that separates the first management unit period (MP1) and the second management unit period (MP2) following the first management unit period (MP1). and determining whether or not the reference time (T1) is crossed (S03). The work management method further includes, when the drive period (WP14) straddles the reference time (T1), during the first drive period (WP13) included in the first management unit period (MP1) of the drive period (WP14). Between the first work area (WA13) where the work device (2) worked and the second drive period (WP21) included in the second management unit period (MP2) of the drive period (WP14), the work device (2) 2) includes managing a combined work area (WA14), which is a combination of the second work area (WA21) in which the work was performed, in association with the first management unit period (MP1) (S04).

According to one embodiment, the work management system (1) includes an acquisition section (521), an identification section (522), a determination section (523), and a management section (524). The acquisition unit (521) acquires positioning information representing multiple positions of the working device (2) that performed work while moving in the field (9) during the drive period (WP14) from the key-on state to the key-off state. Operation information is obtained in which the information is associated with time information representing a plurality of positioning times when the work device (2) was located at a plurality of positions. The identification unit (522) identifies the work area (WA13, WA21) in which the work equipment (2) has worked in the field (9) for each predetermined management unit period (MP1, MP2) based on the operation information. Specify. The determination unit (523) determines that the drive period (WP14) is a predetermined reference time at which the first management unit period (MP1) and the second management unit period (MP2) following the first management unit period (MP1) are separated. It is determined whether or not (T1) is to be crossed. When the driving period (WP14) straddles the reference time (T1), the management unit (524) performs the following during the first driving period (WA13) included in the first management unit period (MP1) of the driving period (WP14). Between the first work area (WA13) where the work device (2) performed the work and the second drive period (WA21) included in the second management unit period (MP2) of the drive period (WP14), the work device (2) A combined work area (WA14), which is a combination of the second work area (WA21) in which work is performed by 2), is managed in association with the first management unit period (MP1).

According to one embodiment, the work management program is for causing the arithmetic device (52) to execute a predetermined process. This process includes positioning information representing a plurality of positions of the working device (2) that performed work while moving in the field (9) during the driving period (WP14) from the key-on state to the key-off state; This includes acquiring operation information associated with time information representing a plurality of positioning times when the work device (2) was at a plurality of positions (S01). This process further includes, for each predetermined management unit period (MP1, MP2), the work areas (WA13, WA21) in which the work equipment (2) has worked in the field (9) based on the operation information. specifying (S02) and a predetermined criterion by which the driving period (WP14) separates the first management unit period (MP1) and the second management unit period (MP2) following the first management unit period (MP1). and determining whether or not the time (T1) is crossed (S03). This process further includes, when the drive period (WP14) straddles the reference time (T1), work is performed during the first drive period (WP13) included in the first management unit period (MP1) of the drive period (WP14). Between the first work area (WA13) where the device (2) performed work and the second drive period (WP21) included in the second management unit period (MP2) of the drive period (WP14), the work device (2) ) includes managing a combined work area (WA14) that is a combination of the second work area (WA21) in which the second work area (WA21) has been performed, in association with the first management unit period (MP1) (S04).

According to one embodiment, a work area in which work is performed across management unit periods can be managed without being divided.

FIG. 1 is a diagram illustrating a configuration example of a work management system according to an embodiment. FIG. 2 is a block circuit diagram showing a configuration example of a work management device according to an embodiment. FIG. 3 is a flowchart illustrating a configuration example of processing of a working method according to an embodiment. FIG. 4 is a diagram illustrating an example of a pre-merging work period according to one embodiment. FIG. 5 is a diagram illustrating an example of a work area before merging according to one embodiment. FIG. 6 is a diagram illustrating an example of a work period after combination according to an embodiment. FIG. 7 is a diagram illustrating an example of a work area after combination according to one embodiment.

(Embodiment)
BACKGROUND ART In order to automatically manage work such as agricultural work performed by a working device while moving in a field, there is a technology that records positioning information obtained by measuring the position of the working device at each of a plurality of times during the work. By processing positioning information collectively for each management unit period, such as one day, it is possible to perform management efficiently, such as automatically identifying the work area in the field where work was performed on the previous day. can. However, with this type of technology, for work performed across two management unit periods, one work area in which the work was actually performed at one time is divided into two work areas in the data. It may be stored away. In the present disclosure, even for work performed across two management unit periods, processing is automatically performed to combine two divided work areas into one in accordance with the actual situation.

DESCRIPTION OF THE PREFERRED EMBODIMENTS A form for implementing a work management method, a work management system, and a work management program according to the present disclosure will be described below with reference to the accompanying drawings.

As shown in FIG. 1, a work management system 1 according to one embodiment includes a mounting terminal 3 mounted on a work device 2 and a work management device 5. The work management system 1 may further include an external terminal 6. As an example, the external terminal 6 may include a smartphone, a tablet terminal, or the like.

The work equipment 2 includes a work vehicle such as a tractor or a combine harvester that performs agricultural work while moving on the ground in the field 9. The work device 2 may further include a drone that performs agricultural work while flying above the field 9.

The on-board terminal 3, the work management device 5, and the external terminal 6 transmit and receive various information through wireless communication and/or wired communication via the network 4. As an example, the onboard terminal 3 uses position information obtained by measuring the positions of multiple points that the working device 2 passes through while moving in the field 9 using GNSS (Global Navigation Satellite System) or the like. The operation information including the information is transmitted to the work management device 5 via the network 4. The work management device 5 manages work information related to the work area in which the work device 2 performs work based on the received operation information. The external terminal 6 may receive work information managed by the work management device 5 via the network 4 and output it.

As shown in FIG. 2, the work management device 5 according to one embodiment may be configured as a so-called computer. In the example of FIG. 2, the work management device 5 includes a bus 51, a calculation device 52, a storage device 53, a communication device 54, and an input/output device 55. The bus 51 is configured to connect the arithmetic device 52, the storage device 53, the communication device 54, and the input/output device 55 so as to be able to communicate with each other.

The calculation device 52 includes an acquisition section 521, a identification section 522, a determination section 523, and a management section 524. The storage device 53 includes a work management program storage section 531 and a database 532. The work management program storage unit 531 stores a work management program. Database 532 stores operating information and work information.

The computing device 52 realizes the respective functions of the acquisition section 521, the identification section 522, the determination section 523, and the management section 524 by reading and executing the work management program. Each of the acquisition unit 521, the identification unit 522, the determination unit 523, and the management unit 524 is a virtual functional block that executes processing realized by the arithmetic unit 52 and the storage device 53 in cooperation. The acquisition unit 521 acquires the operating information transmitted from the mounted terminal 3. The specifying unit 522 specifies the work area in which the work device 2 has performed work in the field 9 for each management unit period. The determining unit 523 determines whether the drive period straddles two consecutive management unit periods separated by the reference time. The management unit 524 manages work areas in association with management unit periods. More specific processing of these functional blocks will be described later.

The work management program may be read from an external recording medium 530 and stored in the work management program storage section 531. The recording medium 530 may be a non-transitory and tangible medium.

The communication device 54 communicates with external devices including the onboard terminal 3 and/or the external terminal 6 by wireless communication and/or wired communication via the network 4 .

The input/output device 55 outputs information to the user and receives operations input by the user. As an example, the input/output device 55 includes a display device that outputs an image, a keyboard and/or a mouse that receives input, and the like.

An example of processing of the work management method according to one embodiment will be described with reference to the flowchart of FIG. 3. The processing of the work management method may be started when the work management device 5 is activated. At this time, the processing of the work management method is realized by the arithmetic unit 52 of the work management device 5 executing the work management program.

When the flowchart of FIG. 3 starts, step S01 is executed. In step S01, the acquisition unit 521 of the work management device 5 acquires the operation information transmitted by the loading terminal 3.

More specifically, first, the mounted terminal 3 mounted on the work device 2 generates operation information and transmits it to the work management device 5. Operation information refers to positioning information obtained by measuring the position of the work device 2 at multiple times, time information representing the measurement time at which the position was measured, and status information representing the operation status of the work device 2. 3 was generated in association with each other. The position of the working device 2 may be measured periodically at every predetermined sampling period. The status information indicates whether the work device 2 is in a key-on state or a key-off state. The measurement time may include a plurality of times included in the drive period from when the working device 2 is in the key-on state until it is in the key-off state.

The acquisition unit 521 controls the communication device 54 to receive operation information, and stores the acquired operation information in the database 532.

After step S01, step S02 in FIG. 3 is executed. In step S02, the specifying unit 522 of the work management device 5 specifies a work area for each management unit period. Here, the working area is an area in the field 9 where the working device 2 performs work during the driving period.

More specifically, the specifying unit 522 calculates the work area based on the plurality of positioning points included in the operation information. As an example, the convex hull or concave hull of these plurality of positioning points may be calculated and used as the work area.

Here, the specifying unit 522 specifies the work area by executing batch processing or the like for each management unit period. As an example, the process of identifying a work area for work performed during a certain management unit period may be started after a predetermined time has elapsed from the reference time at which this management unit period ends. At this time, if the entire driving period is included in the management unit period, the work area is correctly specified so as to include all the positioning points measured during the driving period. On the other hand, if the drive period straddles the reference time that separates two consecutive management unit periods, the first management unit period immediately before the reference time in the work area in which the work device 2 worked during this drive period. Only the first portion including only some of the positioning points whose positions were measured is specified as the work area. In addition, the remaining part of the work area in which the work device 2 worked during the driving period is the second part that includes only the remaining positioning points whose positions were measured in the second management unit period immediately after the reference time. Identified as

In the example of FIG. 4, the work device 2 is working during driving periods WP11, WP12, and WP13 included in the first management unit period MP1. Furthermore, the work device 2 is also working during drive periods WP21, WP22, and WP23 included in the subsequent second management unit period MP2. In the example of FIG. 4, drive periods WP11, WP12, and WP13 included in the first management unit period MP1 are shown with relatively sparse hatching, and drive periods WP21, WP22, and WP23 included in the second management unit period MP2 are shown with relatively sparse hatching. It is shown with relatively dense hatching. Here, the last driving period WP13 in the first management unit period MP1 and the first driving period WP21 in the second management unit period MP2 are actually the same driving period, but the reference time T1 is It is divided into two by the border.

In the example of FIG. 5, in the field 9, a work area WA13 where the work device 2 worked during the drive period WP13 and a work area WA21 where the work device 2 worked during the drive period WP21 are: Calculated individually. The work area WA13 is calculated as the convex hull of the positioning point P1, which is positioned during the driving period WP13, among the plurality of positioning points P1 and P2 included in the operation information. Similarly, the work area WA21 is calculated as the convex hull of the positioning point P2, which is positioned during the driving period WP21, among the plurality of positioning points P1 and P2 included in the operation information. In this way, when the drive period, which is actually one, is divided into two on the management data because it crosses the reference time T1, the work area, which is actually one, is divided into two on the management data. divided into Note that when calculating the work areas WA13 and WA21 as convex hulls of the positioning points P1 and P2, in order to approximate the area where the work device 2 actually worked, the convex hulls of the positioning points P1 and P2 are calculated over the entire circumference. , may be expanded outward by a predetermined expansion width. The expansion width may be determined based on the working width of the working device 2 and the position in the working device 2 of a positioning device that performs positioning of the working device 2. As an example of the working width, when the working device 2 includes a tractor and a working machine towed by the tractor, the length in the direction orthogonal to the direction of travel of the tractor is the range in which the working machine works on the field 9. Let the width be the working width. As another example of the working width, if the working device 2 is a rice transplanter, the planting width is the working width, and if the working device 2 is a combine harvester, the harvesting width is the working width. Further, as an example of the enlarged width, when the positioning device is arranged at the center of the working device 2 in the direction of the working width, half of the working width may be set as the enlarged width. As another example of the enlarged width, if the positioning device is arranged offset from the center of the working device 2 in the direction of the working width, the enlarged width may be similarly offset in the direction of the working width. good.

In the present disclosure, in subsequent steps S03 and S04, processing is performed to combine the work areas WA13 and WA21, which have been divided into two parts, into one work area.

After step S02, step S03 in FIG. 3 is executed. In step S03, the determination unit 523 of the work management device 5 determines whether the driving periods WP13 and WP21 straddle the reference time T1.

More specifically, the determination unit 523 selects the first positioning point, which is located at the last positioning time included in the first management unit period MP1 immediately before the reference time T1, among the plurality of positioning points P1 and P2 included in the operation information. When the positioning point P1 and the second positioning point P2, which was located at the first positioning time included in the second management unit period MP2 immediately after the reference time T1, satisfy the following two conditions, the first positioning point P1 It is determined that the driving period WP13 including the positioning time of the second positioning point P2 and the driving period WP21 including the positioning time of the second positioning point P2 are one driving period spanning the reference time T1.

The first condition is that both the first positioning point P1 and the second positioning point P2 are located when the working device 2 is in the key-on state. However, since the working device 2 is in the key-on state during the drive period, the positioning time included in the drive period satisfies the first condition. The second condition is that the time between the positioning time of the first positioning point P1 and the positioning time of the second positioning point P2 is less than or equal to a predetermined threshold. This threshold value is, for example, twice the sampling period. In this case, only one positioning failure near the reference time T1 is allowed.

If the determining unit 523 does not determine that the drive periods WP13 and WP21 straddle the reference time T1 (No), the process of the flowchart in FIG. 3 ends. On the other hand, if the determining unit 523 determines that the driving periods WP13 and WP21 straddle the reference time T1 (Yes), the process proceeds to step S04 in FIG. 3.

In step S04, the management unit 524 of the work management device 5 combines and manages the work areas WA13 and WA21 worked on during the driving periods WP13 and WP21 spanning the reference time T1.

More specifically, in step S03, the management unit 524 combines the two drive periods WP13 and WP21, which were determined to be one drive period spanning the reference time T1, into one drive period, and combines the two drive periods WP13 and WP21 that are determined to be one drive period spanning the reference time T1. The period is managed in association with the management unit period immediately before the reference time T1.

Similarly, the two work areas WA13 and WA21 corresponding to the two drive periods WP13 and WP21 before the combination are combined into one work area, and the work area after the combination is set to the management unit period immediately before the reference time T1. Manage by matching. Here, the work area after combination may be calculated as a convex hull or a concave hull of a set of positioning points P1 and P2 included in work areas WA13 and WA21 before combination.

In the example of FIG. 6, the drive period WP13 and the drive period WP21, which were separated by the reference time T1 in the example of FIG. 4, are combined and replaced with a drive period WP14. The management unit 524 stores, in the database 532, management data that associates the combined driving period WP14 with the first management unit period MP1.

In the example of FIG. 7, work area WA13 and work area WA21, which were divided into two in the example of FIG. 5, are combined and replaced with work area WA14. In the example of FIG. 7, the combined work area WA14 is a convex hull of the set of the positioning point P1 included in the pre-combined work area WA13 and the positioning point P2 included in the pre-combined work area WA21. The management unit 524 stores, in the database 532, management data that associates the combined work area WA14 with the first management unit period MP1.

Note that the management data representing the combined drive period WP14 and the combined work area WA14 may be referenced using the external terminal 6. At this time, the user operates the external terminal 6 at a desired timing, accesses the database 532 via the network 4, and specifies and requests desired management data. The management unit 524 reads the management data specified in response to this request from the database 532 and transmits it to the external terminal 6. The external terminal 6 outputs the received management data by displaying it on a screen. By displaying the post-combination drive period WP14 and/or the post-combination work area WA14 on the external terminal 6, the user can accurately accurately perform the work actually performed, including the work performed across the reference time T1. can be grasped.

When step S04 in FIG. 3 ends, the process in the flowchart in FIG. 3 also ends.

As described above, according to one embodiment, the work area WA14 in which work has been performed across the management unit periods MP1 and MP2 can be managed without being divided.

Although the invention made by the inventor has been specifically explained based on the embodiments above, the present invention is not limited to the embodiments, and it is possible to make various changes without departing from the gist of the invention. Not even. Moreover, the respective features described in the embodiments can be freely combined within a technically consistent range.

(Additional note)
The work management method, work management system, and work management program described in each embodiment can be described as follows.

The work management method according to the first aspect is
Positioning information representing multiple positions of the working equipment that worked while moving in the field during the driving period from the key-on state to the key-off state, and information on when the working equipment was at each of the plurality of positions. Obtaining operating information associated with time information representing multiple positioning times;
For each predetermined management unit period, identifying a work area in the field where the work device performed the work based on the operation information;
determining whether the drive period straddles a predetermined reference time that separates a first management unit period and a second management unit period following the first management unit period;
When the drive period straddles the reference time, the first work area in which the work device performed the work during the first drive period included in the first management unit period of the drive period, and the drive period A combined work area, which is a combination of a second work area in which the work device performed the work during a second drive period included in the second management unit period, is associated with the first management unit period. including managing.

The work management method according to the second aspect is
A work management method according to a first aspect, comprising:
The said determining is:
Among the plurality of positioning times, when the time from the last positioning time included in the first management unit period to the first positioning time included in the second management unit period is less than or equal to a predetermined threshold, the This includes determining that the drive period straddles the reference time.

The work management method according to the third aspect is
A work management method according to a second aspect, comprising:
The interval between the plurality of positioning times is a predetermined sampling period,
The threshold value is twice the sampling period.

The work management method according to the fourth aspect is
A work management method according to any one of the first to third aspects, comprising:
The said managing is
The method includes managing the work area in association with the type of work performed by the work device in the work area.

The work management system according to the fifth aspect includes:
Positioning information representing multiple positions of the working equipment that worked while moving in the field during the driving period from the key-on state to the key-off state, and information on when the working equipment was at each of the plurality of positions. an acquisition unit that acquires operating information associated with time information representing a plurality of positioning times;
a specifying unit that specifies a work area in which the work device has performed the work in the field, based on the operation information, for each predetermined management unit period;
a determination unit that determines whether the drive period straddles a predetermined reference time that separates a first management unit period and a second management unit period following the first management unit period;
When the drive period straddles the reference time, the first work area in which the work device performed the work during the first drive period included in the first management unit period of the drive period, and the drive period A combined work area, which is a combination of a second work area in which the work device performed the work during a second drive period included in the second management unit period, is associated with the first management unit period. and a management department to manage the system.

The work management program according to the sixth aspect includes:
A work management program for realizing predetermined processing by causing a calculation device to execute it,
The processing is
Positioning information obtained by measuring the position of a working device that performs work while moving in a field at a plurality of times included in a drive period from when the working device is in a key-on state until it is in a key-off state, and measurement of the position. obtaining operational information associated with time information representing the measurement time at which the measurement was performed;
For each predetermined management unit period, identifying a work area in the field where the work device performed the work based on the operation information;
determining whether the drive period straddles a predetermined reference time that separates a first management unit period and a second management unit period following the first management unit period;
When the drive period straddles the reference time, the first work area in which the work device performed the work during the first drive period included in the first management unit period of the drive period, and the drive period A combined work area, which is a combination of a second work area in which the work device performed the work during a second drive period included in the second management unit period, is associated with the first management unit period. including managing.

1 Work management system 2 Work device 3 Mounted terminal 4 Network 5 Work management device 51 Bus 52 Arithmetic device 521 Acquisition unit 522 Identification unit 523 Judgment unit 524 Management unit 53 Storage device 530 Recording medium 531 Work management program storage unit 532 Database 54 Communication device 55 Input/output device 6 External terminal 9 Field MP1 Management unit period (first management unit period)
MP2 Management unit period (second management unit period)
P1, P2 Positioning point T1 Reference time WA13, WA21 Work area (work area before combination)
WA14 Work area (work area after combining)
WP11, WP12, WP13, WP14, WP21, WP22, WP23 Drive period

Claims (6)

Positioning information representing multiple positions of the working equipment that worked while moving in the field during the driving period from the key-on state to the key-off state, and information on when the working equipment was at each of the plurality of positions. Obtaining operating information associated with time information representing multiple positioning times;
For each predetermined management unit period, identifying a work area in the field where the work device performed the work based on the operation information;
determining whether the drive period straddles a predetermined reference time that separates a first management unit period and a second management unit period following the first management unit period;
When the drive period straddles the reference time, the first work area in which the work device performed the work during the first drive period included in the first management unit period of the drive period, and the drive period A combined work area, which is a combination of a second work area in which the work device performed the work during a second drive period included in the second management unit period, is associated with the first management unit period. A work management method including: In the work management method according to claim 1,
The said determining is
Among the plurality of positioning times, when the time from the last positioning time included in the first management unit period to the first positioning time included in the second management unit period is less than or equal to a predetermined threshold, A work management method comprising determining that a drive period straddles the reference time. In the work management method according to claim 2,
The interval between the plurality of positioning times is a predetermined sampling period,
The threshold value is twice the sampling period. In the work management method according to any one of claims 1 to 3,
The said managing is
A work management method comprising associating and managing the work area and the type of work performed by the work device in the work area. Positioning information representing multiple positions of the working equipment that worked while moving in the field during the driving period from the key-on state to the key-off state, and information on when the working equipment was at each of the plurality of positions. an acquisition unit that acquires operating information associated with time information representing a plurality of positioning times;
a specifying unit that specifies a work area in which the work device has performed the work in the field, based on the operation information, for each predetermined management unit period;
a determination unit that determines whether the drive period straddles a predetermined reference time that separates a first management unit period and a second management unit period following the first management unit period;
When the drive period straddles the reference time, the first work area in which the work device performed the work during the first drive period included in the first management unit period of the drive period, and the drive period A combined work area, which is a combination of a second work area in which the work device performed the work during a second drive period included in the second management unit period, is associated with the first management unit period. A work management system that includes a management department. A work management program for realizing predetermined processing by causing a calculation device to execute it,
The processing is
Positioning information representing multiple positions of the working equipment that worked while moving in the field during the driving period from the key-on state to the key-off state, and information on when the working equipment was at each of the plurality of positions. Obtaining operating information associated with time information representing multiple positioning times;
For each predetermined management unit period, identifying a work area in the field where the work device performed the work based on the operation information;
determining whether the drive period straddles a predetermined reference time that separates a first management unit period and a second management unit period following the first management unit period;
When the drive period straddles the reference time, the first work area in which the work device performed the work during the first drive period included in the first management unit period of the drive period, and the drive period A combined work area, which is a combination of a second work area in which the work device performed the work during a second drive period included in the second management unit period, is associated with the first management unit period. and managing a work management program.

Images