JP6213764B2 - Work management apparatus, work management method and program - Google Patents

Description

  The present invention relates to a work management apparatus, a work management method, and a program.

It is important, for example, to improve the efficiency of an appropriate construction plan and shorten the construction period, for example, to grasp the work situation at the construction site.
Therefore, the following is known as a management system for confirming the operating status of equipment used at a construction site. In other words, in the management system, an acceleration sensor is provided in equipment such as an aerial work vehicle or a crane used at a construction site, and the measurement information of the acceleration sensor is transmitted from the equipment to the equipment management apparatus via the station. The operation status of the device is determined based on the acceleration sensor measurement information received (see, for example, Patent Document 1).

JP2013-54682A

Here, regarding the work using the crane, a cycle of a series of work of moving the crane to the material to be slapped, slinging, moving the sluggish transported material, and removing the transported material at the destination is repeated. . Hereinafter, such an operation cycle is referred to as a “lifting cycle”.
As described above, a plurality of work items are included in the lifting cycle. Therefore, it is necessary to pay attention to the situation of each work in one lifting cycle in order to improve the work efficiency using the crane. Based on this, it is preferable to grasp the situation for each work in one lifting cycle when managing the work using the crane.

  However, in the present situation, when trying to grasp the time for each work in one lifting cycle, for example, the measurer measures with a stopwatch or the like while looking at the work situation. In this case, it is not efficient because it is necessary to secure human resources for the measurer, and it is difficult to grasp a stable and accurate time because it is a human work.

  This invention is made | formed in view of such a situation, and it aims at enabling it to grasp | ascertain now efficiently and correctly the condition for every operation | work in one lifting cycle as an operation | work condition using a crane.

In order to solve the above-described problem, a work management apparatus as one aspect of the present invention is a crane operation information that acquires crane operation information in which a swing angle, an undulation angle, a lift, and a load detected in a crane are associated with time. Based on the crane operation information acquired by the acquisition unit and the crane operation information acquisition unit, the boundary of the predetermined division work divided in the unit work corresponding to one lifting cycle performed using the crane is the previous unit. By analyzing time-series turning angle data, time-series undulation angle data, time-series lift data, and time-series load data after the end time of work as the analysis target, and analyzing changes in the time-series load data of the analysis target according to the time series By searching backwards from the specified load start time and searching after the load start time, the start time of each division work time Searched, based on the boundary to calculate the sorting operation time required for each of the sorting operation, wherein the division operation time, the unit operation history information management unit for generating a unit operation history information indicating the performance of each unit operation Is provided.

  Further, in the above work management apparatus, using unit work history information for a fixed work period, work result information indicating a work result performed in the fixed work period is generated, and the generated work result information is You may further provide the work performance information output part output by a predetermined | prescribed aspect.

  In the above work management device, the transported object management information in which the transported object information related to the transported object to be transported by the crane is associated with the load applied when transporting the transported object and the position of the destination of the transported object is stored. The unit work history information management unit further includes a load in the crane operation information and a hook position of the crane at a movement end timing of the load obtained based on the crane operation information. It is also possible to search the transported object information associated with the combination from the transported object management information and include the searched transported object information in the unit work history information of the corresponding unit work.

  In the work management apparatus, the crane operation information acquisition unit may further use captured image data obtained by imaging an imaging device provided on the crane so as to capture an image of a transported object carried by the crane as crane operation information. The work result information output unit may acquire information indicating captured image data obtained corresponding to each unit work performed in the unit period in the work result information.

The work management method as one aspect of the present invention includes a crane operation information acquisition step of acquiring crane operation information in which a turning angle, an undulation angle, a lift, and a load detected in a crane are associated with time, and the crane operation Based on the crane operation information acquired by the information acquisition step, the boundary of the predetermined division work divided in the unit work equivalent to one lifting cycle performed using the crane is the time after the end time of the previous unit work From the load start time specified by analyzing the change of the time series load data of the analysis target in accordance with the time series with the series turn angle data, time series undulation angle data, time series lift data, and time series load data being analyzed. by searching for the load start time later with searching as dates back to search a start time of each section working time, those Based on the boundary to calculate the sorting operation time required for each of the sorting operation, wherein said sorting operation time, and a unit operation history information management step of generating a unit operation history information indicating the performance of each unit operation.

According to another aspect of the present invention, a program includes a crane operation information acquisition step of acquiring, in a computer, crane operation information in which a swing angle, an undulation angle, a lift, and a load detected in a crane are associated with time, and the crane Based on the crane operation information acquired in the operation information acquisition step, the boundary of the predetermined division work divided in the unit work corresponding to one lifting cycle performed using the crane is determined after the end time of the previous unit work. Load start time specified by analyzing time-series turn angle data, time-series undulation angle data, time-series lift data, and time-series load data as the analysis target and analyzing changes in the time-series load data of the analysis target according to the time series By searching backwards from the load start time and searching after the load start time, Exploring, said section calculates the sorting operation time required for each work, including the sorting operation time, unit operation history information management step of generating a unit operation history information indicating the performance of each unit working on the basis of the boundary And to execute.

  As described above, according to the present invention, as a work situation using a crane, it is possible to efficiently and accurately grasp the situation for each work in one lifting cycle.

It is a figure which shows the structural example of the work management system in this embodiment. It is a figure which shows the structural example of the sensor part with which the crane in this embodiment is provided, and the functional structural example of a work management apparatus. It is a figure which shows the structural example of the crane operation information table which the crane operation information storage part in this embodiment memorize | stores. It is a figure which shows the structural example of the unit work history information table which the unit work history information storage part in this embodiment memorize | stores. In this embodiment, it is a figure which shows the structural example of the unit work log | history information corresponding to one unit work. It is a figure which shows the structural example of the conveyance management information which the conveyance management information storage part in this embodiment memorize | stores. In this embodiment, it is a figure which shows the coordinate space which shows the hook position of a crane. It is a timing chart which shows the example of a calculation procedure of a division | segmentation work time. It is a flowchart which shows the example of a process sequence for preparation of the unit work log | history information for 1 day which the work management apparatus in this embodiment performs. It is a figure which shows the example of 1 aspect at the time of displaying the daily report based on the work performance information which the work management apparatus in this embodiment produced | generated. It is a flowchart which shows the example of a process sequence for the work management apparatus in this embodiment to display the daily report based on work performance information.

[Example of work management system configuration]
FIG. 1 shows a configuration example of a work management system in the present embodiment. The work management system in the present embodiment includes a crane 100 deployed at the work site 1 and a work management device 200 installed in the office 2. In the present embodiment, a case where the crane 100 is a tower crane will be described as an example.

The crane 100 is provided with a turning body 102 with respect to the upper end portion of the mast 101. The swivel body 102 can swivel in the horizontal direction, for example, with the mast 101 as a rotation axis. The revolving body 102 is provided with a driver's seat.
A jib 103 is attached to the swivel body 102. A hook block 105 including a hook 105 a is suspended from the tip of the jib 103 by a wire 104.

The crane 100 of this embodiment includes a sensor unit 110. The sensor unit 110 detects the turning angle, undulation angle, lift, and load of the crane 100.
The turning angle is an angle at which the turning body 102 turns.
The undulation angle is the angle at which the jib 103 is undulating.
The lift is the distance from the tip of the jib 103 to the hook 105a, and changes depending on the amount of winding of the wire 104, for example.
The load is a load applied to the hook 105a.
Information on the turning angle, the undulation angle, the lift, and the load detected by the sensor unit 110 is input to the crane information processing device 130.

The hook block 105 is provided with an imaging device 120. The imaging device 120 is provided so as to image a transported object slung on the hook 105a.
Captured image data obtained by imaging by the imaging device 120 is transmitted by wire or wirelessly and input to the crane information processing device 130.

The crane information processing device 130 generates crane operation information that is time-series data in which the information on the turning angle, the undulation angle, the lift, and the load input from the sensor unit 110 is associated with the time.
The crane information processing apparatus 130 also includes captured image data input from the imaging apparatus 120 in the crane operation information. The captured image data input from the imaging device 120 is a moving image, and the crane information processing device 130 associates the captured image data with the reproduction time at the time of imaging when it is included in the crane operation information.

In addition, the crane 100 includes a communication device 140. The communication device 140 performs communication with the work management device 200 in a wired manner via a slip ring (a rotary connector that can transmit electric power and an electric signal from a stationary body to a rotating body). Note that the communication device 140 may communicate with the work management device 200 wirelessly.
The crane information processing device 130 causes the generated crane operation information to be transmitted from the communication device 140 to the work management device 200.

The work management apparatus 200 calculates the time (separated work time) required for each divided work divided in the unit work corresponding to one lifting cycle based on the received crane operation information. In addition, the work management apparatus 200 generates unit work history information including the calculated section work time as information indicating the results for each work in one lifting cycle.
Further, the work management apparatus 200 uses the unit work history information for one day (an example of the unit period) to show a daily report (unit period work result information) indicating the results of work performed in the corresponding one day work period. Is generated. The work management apparatus 200 can output the generated daily report in a manner such as display.

[Configuration example of sensor unit]
Next, a configuration example of the sensor unit 110 included in the crane 100 will be described with reference to FIG. In the figure, the same parts as those in FIG.
First, the sensor unit 110 will be described. As shown in FIG. 2, the sensor unit 110 in the crane 100 includes a turning angle sensor 111, an undulating angle sensor 112, a lifting sensor 113, and a load sensor 114 in order to detect the turning angle, the undulation angle, the lift, and the load, respectively. .
The turning angle sensor 111 is a sensor that detects the turning angle of the crane 100. Specifically, the turning angle sensor 111 detects the turning angle of the turning body 102 with a predetermined position as a reference.
The undulation angle sensor 112 is a sensor that detects the undulation angle of the crane 100. Specifically, the undulation angle sensor 112 detects the angle of the jib 103 with respect to the horizontal, for example.
The lift sensor 113 is a sensor that detects the lift of the crane 100. Specifically, the head sensor 113 detects the height from the reference level set according to the situation of the work site 1 to the hook 105a as the head based on the distance from the tip of the jib 103 to the hook 105a, for example. .
The load sensor 114 is a sensor that detects a load applied to the hook 105a.

Note that detection methods in each of the turning angle sensor 111, the undulation angle sensor 112, the lift sensor 113, and the load sensor 114 are not particularly limited.
1 and 2, the undulation angle sensor 112, the lift sensor 113, and the load sensor 114 are collectively shown as one sensor unit 110, but the sensor unit 110 is a functional block to the last. The undulation angle sensor 112, the lift sensor 113, and the load sensor 114 may be individually provided at predetermined positions in the crane 100.

In order to generate crane operation information, the crane information processing apparatus 130 executes processing as follows, for example.
That is, the crane information processing device 130 continuously inputs information about the turning angle, the undulation angle, the lift, and the load from the undulation angle sensor 112, the lift sensor 113, and the load sensor 114. Then, time-series data (time-series swivel angle data, time-series undulation angle data, time-series lift data, time-series) are associated with each of the entered swivel angle, undulation angle, lift, and load information. Load data).
The crane information processing apparatus 130 also associates a time with a reproduction time for the captured image data input from the imaging apparatus 120.

  Then, the crane information processing device 130 generates crane operation information from the time-series turning angle data, the time-series undulation angle data, the time-series lift data, the time-series load data, and the captured image data associated with the time. The crane information processing device 130 transmits the generated crane operation information from the communication device 140 to the work management device 200.

[Configuration example of work management device]
Next, a functional configuration example of the work management apparatus 200 will be described with reference to the same FIG. A work management apparatus 200 shown in the figure includes a communication unit 201, a control unit 202, a storage unit 203, an operation unit 204, and a display unit 205.

The communication unit 201 performs communication with the communication device 140 provided in the crane 100.
The control unit 202 executes various controls and processes in the work management apparatus 200.
The control unit 202 of the present embodiment is a functional unit for performing work management using crane operation information input from the crane 100, as a crane operation information acquisition unit 221, a division work time calculation unit 222, and unit work history information management. Unit 223 and work result information output unit 224.

The crane operation information acquisition unit 221 acquires crane operation information. The crane operation information transmitted from the crane information processing device 130 of the crane 100 is received by the communication unit 201 of the work management device 200. The crane operation information acquisition unit 221 acquires the crane operation information received by the communication unit 201.
The crane operation information acquisition unit 221 stores the acquired crane operation information in the crane operation information storage unit 231 in the storage unit 203.

The sorting work time calculation unit 222 sorts the sorting work for each sorting work divided in unit work equivalent to one lifting cycle performed using the crane 100 based on the crane operation information acquired by the crane operation information acquisition unit 221. Calculate time.
Specifically, the operations using the crane 100 include the movement of the crane to the position where the object to be slapped is placed, the sling, the movement of the slung object to the destination, and the ball of the object at the destination. It is a repetition of a lifting cycle including a series of operations that are further divided, such as removal. Here, the unit work corresponding to one lifting cycle is a plurality of works included in one lifting cycle. The division work time calculation unit 222 calculates the time required for each predetermined division work divided in the unit work corresponding to one lifting cycle as the division work time.

  The unit work history information management unit 223 generates unit work history information. The unit work history information is information indicating a result for each unit work, and includes the divided work time calculated by the divided work time calculation unit 222.

In addition, the unit work history information management unit 223 uses the load in the crane operation information and the hook position (coordinates) of the crane corresponding to the movement end timing of the transported object obtained based on the crane operation information to perform the unit work. Search from the material management information related to the material conveyed by.
The transported object management information is stored in advance in the storage unit 203 in the transported object management information storage unit 233. For each transported object information, the load applied to the hook 105a when the transported object to be transported is lifted by the crane, This is information in which coordinates corresponding to the position of the movement destination of the object are associated.
The unit work history information management unit 223 includes the retrieved transported object in the unit work history information of the corresponding unit work.

  Thus, the unit work history information includes the section work time in the unit work and the transported object information related to the transported object transported by the corresponding unit work. The unit work history information management unit 223 stores the generated unit work history information in the unit work history information storage unit 232 in the storage unit 203.

The work performance information output unit 224 uses the unit work history information of a certain work period to generate work performance information indicating the work performance performed in the certain work period, and the generated work performance information is predetermined. The output is performed according to the mode.
Specifically, the work performance information output unit 224 uses the unit work history information for one day as a fixed work period, and generates work performance information indicating the work performance performed on this day. The work result information for one day generated in this way is handled as “daily report” indicating the result of crane work for one day. The work record information output unit 224 causes the display unit 205 to display the work record information as the daily report generated in this manner in a predetermined manner.

  The storage unit 203 stores various types of information used by the work management apparatus 200. The storage unit 203 shown in the figure includes a crane operation information storage unit 231, a unit work history information storage unit 232, and a transported item management information storage unit 233 in relation to work management using crane operation information.

The crane operation information storage unit 231 stores the crane operation information acquired by the crane operation information acquisition unit 221. The crane operation information storage unit 231 stores crane operation information, for example, with a structure as a crane operation information table.
FIG. 3 shows a structural example of the crane operation information table. The crane operation information table shown in the figure includes time-series turning angle data, time-series undulation angle data, time-series lift data, time-series load data, and captured image data corresponding to each date (for example, year, month, day). Remembered. These time-series turning angle data, time-series undulation angle data, time-series lift data, time-series load data, and captured image data are data acquired on one day indicated by the date. Therefore, in the captured image data, the time is associated with the reproduction time.

The unit work history information storage unit 232 stores the unit work history information generated by the unit work history information management unit 223. The unit work history information storage unit 232 stores unit work history information according to the structure of the unit work history information table.
FIG. 4 shows an example of the structure of the unit work history information table. As shown in the figure, the unit work history information table has a structure storing unit work history information # 1 to #N corresponding to each unit work for one date. These unit work history information # 1 to #N correspond to each of the unit work performed on one day indicated by the date, and the numbers # 1 to #N correspond to the order in which the corresponding unit work is performed. To do. As described above, the unit work history information is managed so as to be divided every day. Thereby, for example, it is possible to efficiently create a daily report that is work result information for each day.

FIG. 5 shows an example of the structure of one unit work history information stored in the unit work history information table shown in FIG.
As shown in the figure, the unit work history information includes transported object information, start / end time, section work time, and required time.
The transported material information is information related to the transported material transported by the crane 100 by the corresponding unit work. Specifically, the transported object information includes, for example, information on the name of the transported object. Moreover, information, such as a load when a conveyed product is suspended, may be included in the conveyed product information.
The start / end time indicates the time when the corresponding unit work is started (start time) and the time when the corresponding unit work is ended (end time).

  The division work time indicates the time required for each division work divided in the corresponding unit work. In the case of this embodiment, there are five types of division work in unit work: movement, sling, lifting, adjustment, and ball removal. Correspondingly, the segmentation work time shown in FIG. 5 includes travel time, sling time, lifting time, adjustment time, and ball removal time.

The movement as the sorting work is the first work in the unit work. For example, the crane 100 is moved from the position when the previous unit work is finished to the position where the object to be transported by the current unit work can be slung. It is work to move. The travel time in the segment work time indicates the time required for the travel work.
The start time at the start / end time of the unit work history information matches the start time of the travel time.

  The sling is an operation to hang a material to be transported on the hook 105a of the crane 100 by this unit operation. The staking time in the section work time indicates the time required for the staking work.

  Lifting is an operation of lifting a transported object hung on the hook 105a by a slinging operation by the crane 100 and moving it to a predetermined position to be removed. The lifting time in the section work time indicates the time required for the lifting work.

  The adjustment is an operation of adjusting the position and orientation of the transported object so that the transported object moved to a predetermined position by the lifting work is correctly placed. The adjustment time in the section work time indicates the time required for adjustment.

  The ball removal is an operation of removing the hook from the transported object that has been placed in the correct position by the adjustment operation. The ball removal time in the division work time indicates the time required for ball removal.

  The required time is the time from the start to completion of the corresponding unit work, and is the same as the time from the start time to the end time.

The transported material management information storage unit 233 stores transported material management information.
FIG. 6 shows an example of the structure of the transported article management information. As shown in the figure, in the transported object management information, the load and the coordinates are associated with the transported object information (for example, the name of the transported object). As described above, the load in the transported object management information indicates the load when the transported object indicated by the corresponding transported object information is suspended by the crane 100. The value of the load stored in the transported material management information may be obtained by, for example, a simulation or calculation in advance, or a value actually measured by hanging the corresponding transported material may be used.
The coordinates in the transported object management information represent a position in the plane direction as the position of the transported object. The coordinates are indicated in a coordinate space having the origin of the rotation axis of the crane 100 (for example, the fulcrum of the jib 103), for example.

Returning to FIG.
The operation unit 204 collectively indicates operation devices and operators provided in the work management apparatus 200. For example, the administrator can perform an operation for displaying a daily report using the operation unit 204. In response to this operation, the work performance information output unit 224 causes the display unit 205 to display a daily report for the designated date.
The display unit 205 displays an image according to the control of the control unit 202. As described above, the display unit 205 displays a daily report screen in accordance with the control of the work record information output unit 224.

[Example of processing for generating unit work history information]
Next, a specific example of a process for the unit work history information management unit 223 to generate unit work history information corresponding to one unit work will be described.
The unit work history information management unit 223 according to the present embodiment can represent the position of the hook 105a of the crane 100 as a three-dimensional coordinate when generating the unit work history information. This point will be described with reference to FIG.

FIG. 7A shows the position of the hook 105a in the planar direction. FIG. 7B shows the position of the hook 105a in the height direction corresponding to FIG. 7A.
The origin O of the XY coordinates shown in FIG. 7A corresponds to, for example, the fulcrum (the center of turning) of the jib 103. The figure shows a state where the jib 103 is present at a position where the turning angle is α from the reference turning angle (0 °) corresponding to the Y axis. The undulation angle of the jib 103 of the crane 100 at this time is β as shown in FIG.

  The position of the hook 105 a in the planar direction corresponds to the tip of the jib 103. Accordingly, the hook position plane coordinate P (X, Y) in the plane direction of the hook 105a corresponds to the distance from the origin O to the tip of the jib 103 with a turning angle α as shown in FIG. Position. Thus, the hook position plane coordinates P (X, Y) can be obtained from the turning angle and the undulation angle if the distance from the fulcrum of the jib 103 to the tip is known.

Further, the height H from the reference level shown in FIG. 7B to the hook 105a is the lift. The lift can be obtained from the vertical distance γ from the tip of the jib 103 to the hook 105a, the undulation angle β, the length of the jib 103 and the fulcrum coordinates.
Thus, the position of the hook 105a can be represented by three-dimensional coordinates of the X and Y coordinates in the plane direction and the H coordinate in the height direction.

  Next, with reference to the timing chart of FIG. 8, the unit work history information management unit 223 calculates the division work time (movement time, sling time, lifting time, adjustment time, demount time) in one unit work. An example procedure is described.

In FIG. 8, the turning angle, turning speed, hoisting angle, hoisting speed, lifting head, winding speed, load corresponding to one unit work, and time of sorting work (moving, slinging, lifting, adjusting, removing the ball) The bands are shown over time. Note that the turning speed, the undulation speed, and the winding speed are obtained by differentiating the turning angle indicated by the time series turning angle data, the undulation angle indicated by the time series undulation angle data, and the head indicated by the time series lift data, respectively.
In the following description, the unit work history information management unit 223 changes the values indicated by the time-series turning angle data, the time-series undulation angle data, and the time-series head data when determining whether or not there is a change in the turning angle, the undulation, and the lift. The presence or absence of may be used. Alternatively, the unit work history information management unit 223 may determine whether or not there is a change in the turning angle, the undulation, and the lift depending on whether the turning speed, the undulation speed, and the winding speed are zero.

The unit work history information management unit 223 calculates the divided work time for each of the five divided works according to the following procedure.
The unit work history information management unit 223 calculates time series turning angle data, time series undulation angle data, time series after the end time of the previous unit work in the crane operation information in calculating the division work time corresponding to one unit work. The lift data and time-series load data are analyzed.

  In addition, first, the unit work history information management unit 223 analyzes the change in the time-series load data to be searched according to the time series, so that the load start time when the load changes from 0 to over 0 is obtained. Search for t5. Note that the load to be detected for the state exceeding 0 from the 0 state here is, for example, a component of the load by only the member excluding the load due to the hanging jig.

  Next, the unit work history information management unit 223 analyzes the time-series head data to be searched, and before the load start time t5, the lifting start time t3, which is the timing at which the lift that has not changed so far changes. Explore. Thus, it may be considered that the last lift start timing before the load start time t5 is a timing for starting the lifting work.

Next, the unit work history information management unit 223 searches for the sling start time t2. The sling start time t2 is substantially the same as the hook position plane coordinate P (X, Y) at the load start time t5 searched earlier before the lifting start time t3, and the swivel angle, the undulation angle, and the lift angle. Both of these are the timings that stopped and stopped changing. The unit work history information management unit 223 sets this timing as the staking start time t2.
During the sling operation, the position of the hook 105a of the crane 100 is localized at a position where the sling operation is easy. Therefore, before the lifting work is started, the state in which none of the turning angle, the undulation angle, and the lift is changed may be regarded as a state when the slinging work is performed.

Here, in this embodiment, after searching for the load start time t5, the lifting start time t3 and the sling start time t2 are searched.
For example, there is a possibility that “a timing at which the lift that has not changed so far”, which is a condition for searching for the lifting start time t3, occurs at a timing other than the lifting start time t3. Similarly, “timing at which all of the turning angle, the undulation angle, and the lift stop and no longer change”, which is a condition for searching for the sling start time t2, may also occur at a timing other than the sling start time t2. There is. Considering this point, for example, when the entire period of one unit work is targeted, the possibility of erroneously searching for the lifting start time t3 and the sling start time t2 increases.
On the other hand, the timing at which the loading of the load as the load start time t5 starts appears only when the sling is completed and the transported object is to be lifted.

  Therefore, in the present embodiment, after searching for the load start time t5, the lifting start time t3 and the sling start time t2 are searched for only the period before the load start time t5. In this way, the turning angle, the undulation angle, and the lift during the period after the load start time t5 are not searched, so the search accuracy for the lifting start time t3 and the sling start time t2 is improved.

As described above, when searching for the sling start time t2, the unit work history information management unit 223 uses the time series turning angle data and the time series undulation angle data to be searched, and the lifting start time t3. The hook position plane coordinate P (X, Y) for each previous time is obtained. Similarly, the unit work history information management unit 223 uses the time series turning angle data and time series undulation angle data to be searched, and the hook position plane coordinate P (X, Y) at the load start time t5. Ask for.
Then, the unit work history information management unit 223 uses the hook position plane coordinate P (X, Y) at the load start time t5 from the hook position plane coordinates P (X, Y) before the lifting start time t3. What is necessary is just to obtain | require the hook position plane coordinate P (X, Y) of a fixed error range.
For the timing at which any of the turning angle, the undulation angle, and the lift no longer change, the time series turning angle data, the time series undulation angle data, and the time series lift data may be analyzed. In the case of FIG. 8, there are changes in the turning angle, the undulation angle, and the lift before the sling start time t2, but there are no changes in any of the turning angle, the undulation angle, and the lift after the sling start time t2. The turning speed, the undulation speed, and the winding speed are all zero.

Next, the unit work history information management unit 223 searches for the movement start time t1. The movement start time t1 is the start time of the operation of moving the crane to the position where the carrying object is slung.
The movement start time t1 is also the start time of the current unit work. The movement start time t1 is the same as the end time of the previous unit work when the current unit work is performed following the previous unit work. However, when resting or waiting for work, the movement start time t1 may be different from the end time of the previous unit work.

  The unit work history information management unit 223 has the hook position plane coordinate P (X, Y) deviated more than a certain value from the load start time t5 as the movement start time t1, and before the sling start time t2, From the state in which none of the turning angle, the undulation angle, and the lift has changed, the time when at least one of them starts changing is searched.

The load start time t5 is a timing at which a load starts to be applied to the hook 105a by the lifting operation, and the position at this time substantially corresponds to the position at which staking is performed. On the other hand, the position at the movement start time t1 corresponds to the end timing of the previous unit work. Therefore, the hook position plane coordinates P (X, Y) are clearly different at the load start time t5 and the movement start time t1.
In addition, before the sling start time t2, the time at which at least one of the turning angle, the undulation angle, and the lift starts to change from the state in which none of them changes is the position of the transported object in this unit operation. It may be considered that the operation of moving the crane 100 is started.

The unit work history information management unit 223 searches for the suspension time t4. The term “re-hanging” refers to, for example, once lifting a transported object, placing the transported object once again, and performing operations such as correcting the direction of the transported object and adjusting a wire suspended from the hook 105a.
When such a re-hanging operation is performed, the operation of lifting and placing the transported object in a short time is repeated, so a plurality of load start times t5 are searched.
Therefore, when the plurality of load start times t5 are searched, the unit work history information management unit 223 searches for the rehabilitation time t4 and has a time that can be regarded as the same time as the re-loading time t4 from the plurality of load start times t5. Is excluded. Thereby, for example, one true load start time t5 corresponding to the actual ground cutting timing is specified.

The unit work history information management unit 223 has a period in which the load start time t5 and the hook position plane coordinate P (X, Y) are substantially the same, and the load becomes 0 and exceeds 0 again within a predetermined time (for example, 15 seconds). Explore. For example, the unit work history information management unit 223 resuspends the timing exceeding 0 in this period as time t4.
For example, each time the unit work history information management unit 223 searches for one suspending time t4, the unit work history information management unit 223 excludes a plurality of load start times t5 that can be regarded as the same time as the suspending time t4 searched this time. The unit work history information management unit 223 repeats such processing until the load start time t5 becomes one.

  Next, the unit work history information management unit 223 searches for a load release time t8 at which the load changes from 0 to 0 after the load start time t5. In this way, the load release time t8 when the load changes to 0 is the timing when the transported object is moved to the destination, and the ball removal work can be performed thereafter.

  Next, the unit work history information management unit 223 searches for the timing at which any of the turning angle, the undulation angle, and the lift no longer change before the load release time t8 as the movement end time t6.

In addition, the unit work history information management unit 223 searches for the repositioning time t7.
Repositioning means that the transported object that has been moved to the destination is temporarily placed. However, because the orientation of the transported object is different, the transported object is slightly lifted once again to correct the direction of the transported object. Work.
Even when such a repositioning operation is performed, the operation of lifting and placing the transported object in a short time is repeated as in the case of the rehanging, so that a plurality of load release times t8 are searched. .
Therefore, the unit work history information management unit 223 searches for the replacement time t7, and excludes a plurality of load release times t8 that have the same time as the replacement time t7. Thereby, one true load start time t5 corresponding to the timing at which the repositioning is actually completed and the lifting of the transported object is released is specified.

The unit work history information management unit 223 has substantially the same hook position plane coordinate P (X, Y) as that at the load release time t8, and, for example, the load becomes 0 within a predetermined time (for example, 15 seconds). A period that changes from a state to a state exceeding 0 is searched. For example, the unit work history information management unit 223 resets the timing when the load becomes 0 in this period, and sets the time t7.
For example, each time the unit work history information management unit 223 searches for one replacement time t7, the unit work history information management unit 223 excludes a plurality of load release times t8 that may be regarded as the same time as the current replacement time t7. To do. The unit work history information management unit 223 may repeat such processing until the load release time t8 becomes one.

Next, after the load release time t8, the unit work history information management unit 223 has substantially the same hook position plane coordinate P (X, Y) as that at the load release time t8, and the turning angle, the undulation, and the lift. A unit work end time t9 at which at least any one of the changes becomes greater than a certain value is searched for.
The unit work end time t9 is the time when the current unit work is finished, and is the timing when the crane 100 starts moving for the next unit work.

Based on the time searched for as described above, the unit work history information management unit 223 performs the division work time (movement time, sling time) for each division work (movement, sling, lifting, adjustment, slack removal) in the unit work. Lifting time, adjustment time, ball removal time) are calculated.
Specifically, the unit work history information management unit 223 calculates the time from the movement start time t1 to the sling start time t2 as the movement time. That is, the movement time can be obtained by calculation of (slap start time t2−movement start time t1).
Further, the unit work history information management unit 223 calculates the time from the sling start time t2 to the lifting start time t3 as a sling time.
The unit work history information management unit 223 calculates the time from the lifting start time t3 to the movement end time t6 as the lifting time.
The unit work history information management unit 223 calculates the time from the movement end time t6 to the load release time t8 as the adjustment time.
The unit work history information management unit 223 calculates the time from the load release time t8 to the unit work end time t9 as a ball removal time.

  Also, the unit work history information management unit 223 carries information on the load associated with the combination of the load in the crane operation information and the coordinates indicating the position of the hook 105a at the movement end timing of the load obtained based on the crane operation information. Is retrieved from the material management information. Then, the unit work history information management unit 223 includes the retrieved transported object information in the unit work history information of the corresponding unit work.

Specifically, the unit work history information management unit 223 acquires the load and the hook position plane coordinate P (X, Y) at the movement end time t6 using the movement end time t6 as the movement end timing of the transported object. At the movement end time t6, the transported object is suspended and a load is applied, and the hook position in the plane direction substantially coincides with the destination of the transported object.
Then, the unit work history information management unit 223 uses the same load at the movement end time t6 and the hook position plane coordinates P (X, Y at the movement end time t6) from the conveyed item information in the conveyance management information. ) Search for the transported goods information associated with the same coordinates.

  Note that the movement end timing for acquiring the transported object information may not be the above movement end time t6. For example, when a repositioning operation is being performed, the timing at which the load detected in the search for the repositioning time t7 exceeds 0 may be set as the movement end timing. In other words, the unit work history information management unit 223 in this case may acquire the load and the hook position plane coordinate P (X, Y) at the timing when the load detected in the search for the replacement time t7 exceeds 0. .

  The unit work history information management unit 223 performs the divided work time (movement time, sling time, lifting time, adjustment time, ball removal time) calculated as described with reference to FIG. The unit work history information shown in FIG. 5 including the information is generated. Note that the start time and the end time at the start / end time in the unit work history information of FIG. 5 may reflect the movement start time t1 and the unit work end time t9 obtained in the calculation of the segment work time, respectively. Further, the required time in the unit work history information is obtained by summing up the respective divided work times or by calculating the time from the start time to the end time.

[Example of processing procedure for generating unit work history information table]
The flowchart of FIG. 9 shows an example of a processing procedure for the unit work history information management unit 223 to generate a unit work history information table for one day.
The unit work history information management unit 223 substitutes 1 as an initial value for a variable n indicating a number corresponding to the order of unit work in one day (step S101).
Further, the unit work history information management unit 223 uses time series turning angle data, time series undulation angle data, time series lift data, time series corresponding to the date on which the unit work history information table should be generated as search target data. Load data is read from the crane operation information storage unit 231 (step S102).

When the unit work history information management unit 223 searches for the time corresponding to the classification of the division work in the subsequent steps S103 to S111, the time series turning angle data, the time series undulation angle data, the time series lift data, and the time series load data The necessary data is analyzed as appropriate.
At this time, in correspondence with the first unit work, the analysis may be started from the head of the time series turning angle data, time series undulation angle data, time series lift data, and time series load data. In correspondence with the unit work of the second and subsequent unit work, the end time of the previous unit work in the time series turning angle data, time series undulation angle data, time series lift data, and time series load data (the current unit work) The analysis may be started from the position of the work start time).

The unit work history information management unit 223 searches each time corresponding to the division work by the following steps S103 to S111.
That is, the unit work history information management unit 223 searches for a load start time t5 at which the load changes from 0 to exceed 0 (step S103).

  Next, the unit work history information management unit 223 searches for a lifting start time t3 that is a timing at which a lifting head is first started retroactively from the load start time t5 (step S104).

  Next, the unit work history information management unit 223 has the hook position plane coordinate P (X, Y) substantially the same as that at the load start time t5 before the lifting start time t3, and the turning angle, the undulation angle, and The timing at which all the heads stop and no longer change is searched for as the sling start time t2 (step S105).

  Next, the unit work history information management unit 223 determines that the hook position plane coordinate P (X, Y) has deviated more than a certain amount from the load start time t5 and before the sling start time t2, From the state in which neither the undulation angle nor the lift has changed, the time at which at least one of them starts changing is searched as the movement start time t1 (step S106).

  When a plurality of load start times t5 are searched, the unit work history information management unit 223 searches for the re-loading time t4, and specifies one load start time t5 based on the searched re-loading time t4 (step S107). ).

Next, the unit work history information management unit 223 searches for the timing when the load changes from 0 to 0 after the load start time t5 as the load release time t8 (step S108).
Next, the unit work history information management unit 223 searches for the timing at which any of the turning angle, the undulation angle, and the lift no longer change before the load release time t8 as the movement end time t6 (step S109).

  Further, when a plurality of load release times t8 are searched, the unit work history information management unit 223 searches for the replacement time t7, and specifies one load release time t8 based on the searched replacement time t7 ( Step S110).

  Next, the unit work history information management unit 223 searches for the unit work end time t9 (step S111). For this reason, the unit work history information management unit 223 has a hook position plane coordinate P (X, Y) substantially the same as that at the load release time t8 after the load release time t8, and the turning angle, undulation, and lift. The timing when the change of at least one of the above becomes larger than a certain level is searched.

Next, based on the time searched in steps S103 to S111, the unit work history information management unit 223 performs the division work time (movement) for each division work (movement, slinging, lifting, adjustment, ball removal) as follows. Time, sling time, lifting time, adjustment time, ball removal time).
That is, the unit work history information management unit 223 calculates the time from the movement start time t1 to the sling start time t2 as the movement time (step S112).
The unit work history information management unit 223 calculates the time from the sling start time t2 to the lifting start time t3 as a sling time (step S113).
The unit work history information management unit 223 calculates the time from the lifting start time t3 to the movement end time t6 as the lifting time (step S114).
The unit work history information management unit 223 calculates the time from the movement end time t6 to the load release time t8 as the adjustment time (step S115).
The unit work history information management unit 223 calculates the time from the load release time t8 to the unit work end time t9 as a ball removal time (step S116).
In addition, about the process of the division | segmentation work time calculation by step S112-S116, the order of a process may be changed.

  Further, the unit work history information management unit 223 searches the transported object management information for the transported object information about the transported object transported by the nth unit work (step S117). At this time, as described above, the unit work history information management unit 223 searches for the transported object information from the transported object management information using the load and the hook position plane coordinate P (X, Y) at the movement end time t6 as search conditions. .

The unit work history information management unit 223 generates unit work history information #n including the divided work time calculated in steps S112 to S116 and the transported object information searched in step S117. You may include the load which the time series load data in the movement end time t6 shows as a load of a conveyed product.
The unit work history information management unit 223 stores the generated unit work history information #n in the unit work history information table corresponding to the corresponding date (step S118).

Next, after incrementing the variable n (step S119), the unit work history information management unit 223 determines whether the variable n is greater than the number N of unit work performed on the corresponding date (step S120). ).
When the variable n is less than or equal to the number N of unit operations (step S120—NO), there are still unit operations for which unit operation history information has not been generated. In this case, by returning to step S103, the unit work history information management unit 223 shifts to a process of generating unit work history information corresponding to the next unit work.
When unit work history information # 1 to #N corresponding to all unit work in one day is generated and stored in the unit work history information table, the unit work history information management unit 223 indicates that the variable n is unit work. It is determined that the number N has been exceeded (step S120—YES), and the process for generating unit work history information is terminated.
Thereafter, for example, if it is necessary to generate unit work history information for another day, the unit work history information management unit 223 uses the crane operation information and the transported material management information for the other day. The process shown in FIG.

[Example of daily report display]
The work record information output unit 224 in the work management apparatus 200 of the present embodiment generates work record information as a daily report using the unit work history information for one day generated as described above, and the generated daily report. Can be displayed on the display unit 205.
Here, the control for displaying the daily report by the work performance information output unit 224 is performed in response to an operation for instructing the display of the daily report by the administrator or the like performed on the operation unit 204, for example. That's fine. Alternatively, the work record information output unit 224 may automatically display a daily report on the display unit 205 at a predetermined time.

FIG. 10 shows an example of a daily report display mode. In the daily report shown in the figure, for each work number of 1 to N, items of transported goods, camera images, loads, start time, end time, required time, and work time breakdown are displayed.
In the work number item, a number assigned to each unit work performed in one day is displayed. The work number corresponds to, for example, the order in which unit work is performed.

In the item of the transported item, for example, the name of the transported item is displayed as information indicating the transported item transported by the corresponding unit work. The content of the item of the conveyed item reflects the content of the conveyed item information in the unit work history information.
In the camera image item, a thumbnail of the captured image captured by the imaging device 120 during the period in which the corresponding unit work is performed is displayed. The thumbnail is information indicating captured image data obtained corresponding to each unit work performed in one day.
By viewing the thumbnail displayed in the item of the camera image, the administrator can know, for example, what the transported item is transported by the corresponding unit work. In addition, when the administrator performs an operation for instructing the reproduction of the camera image such as clicking or touching the area of the item of the camera image, for example, the reproduction of the captured image data in the corresponding unit work period is started.

In the item of load, the load measured when the transported object is lifted under the corresponding unit work is displayed.
In the item of the start time, the time when the corresponding unit work is started is displayed.
In the end time item, the time at which the corresponding unit work is ended is displayed.
The time required for the corresponding unit work is displayed in the required time item.

The item of the division work time further includes items of preparation, slinging, moving attachment, ball removal, return, and total time.
In the preparation item, for example, a work time until the sling is completed is displayed.
For example, the time at which the carrying object on which the sling has been ground is displayed in the slack ground cutting item.
In the item of moving attachment, for example, the time until the attachment is performed after the transported object is moved from the ground cut state is displayed.
The time required for the ball removal work is displayed in the item of ball removal.
In the return item, the time required to return the position of the crane 100 to the position where the transported object is placed for the next unit operation after the ball removal is completed is displayed.
The total time item indicates the total time required for each of the above preparation, slinging, moving attachment, ball removal, and return operations.

The work result information output unit 224 can generate the display contents of the items of load and load in the daily report of FIG. 10 using the load information in the unit work history information.
In addition, the work result information output unit 224 ensures that the thumbnails displayed in the camera image items are securely hooked by the transported object such as the load start time t5, the lifting start time t3, and the movement end time t6. It can generate | occur | produce from the picked-up image data of the time multiplied by 105a. As a result, it is possible to reliably obtain a thumbnail showing the transported object.
At this time, the work performance information output unit 224 may generate a thumbnail using captured image data included in the crane operation information.

Also, the time displayed as the start time and end time in the daily report of FIG. 10 can be generated using the start / end time in the unit work history information.
The required time in the daily report of FIG. 10 can be generated using the required time in the unit work history information.

  In addition, the time or time displayed in each item of preparation, slinging out, moving attachment, removing ball, and returning in the work time breakdown is the divided work time (movement time, sling time, lifting time, It is possible to generate using predetermined information in the adjustment time and the ball removal time. As an example, the time to be displayed in each item of ball removal / return in the breakdown of work hours may be generated using the ball removal time and travel time in the unit work history information.

As described above, the work management apparatus 200 according to the present embodiment can calculate the divided work time required for each divided work in the unit work in the work using the crane. In addition, the work management apparatus 200 can display the breakdown of the work time for each unit work in the daily report shown in FIG. 10, for example, using the calculated segmented work time.
That is, the work management apparatus 200 according to the present embodiment can manage the time for each section work in a unit work corresponding to one lifting cycle performed as a crane work. Thereby, for example, since it becomes possible to efficiently and accurately grasp the work status for each division work, it becomes possible to effectively improve the construction efficiency and improve the delay.

[Example of processing procedure for displaying daily report]
The flowchart of FIG. 11 shows an example of a processing procedure for the work performance information output unit 224 to display a daily report. The processing shown in FIG. 11 is executed in response to an operation for instructing the operation unit 204 to display a daily report.
The work performance information output unit 224 obtains the crane operation information and unit work history information on the date specified by the operation for instructing the display of the daily report from the crane operation information storage unit 231 and the unit work history information storage unit 232, respectively. (Step S201).
The work result information output unit 224 generates data to be displayed in the item for each unit work on the specified date using the crane operation information and the unit work history information acquired in step S201 (step S202). Thus, the entire information including the data generated by the work record information output unit 224 in step S202 is the work record information of this embodiment, which is daily report data for displaying a daily report.
The work result information output unit 224 displays the daily report on the display unit 205 using the data generated in step S202 (step S203).
The work record information output unit 224 may store the work record information generated in step S202 in the storage unit 203.

In the description so far, the work management device 200 installed in the office 2 manages the history and results of crane work. For example, a computer system provided in the crane 100 can also be used. A function equivalent to that of the work management apparatus 200 may be executed.
Moreover, in the description so far, the case where the crane 100 is a tower crane is mentioned as an example, However, For example, it is applicable also when the crane 100 is a mobile crane etc.

  A program for realizing the functions of the crane 100 and the work management apparatus 200 described above is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed. You may perform the process of the above-mentioned crane 100 and the work management apparatus 200. FIG. Here, “loading and executing a program recorded on a recording medium into a computer system” includes installing the program in the computer system. The “computer system” here includes an OS and hardware such as peripheral devices. Further, the “computer system” may include a plurality of computer devices connected via a network including a communication line such as the Internet, WAN, LAN, and dedicated line. The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. As described above, the recording medium storing the program may be a non-transitory recording medium such as a CD-ROM. The recording medium also includes a recording medium provided inside or outside that is accessible from the distribution server in order to distribute the program. The code of the program stored in the recording medium of the distribution server may be different from the code of the program that can be executed by the terminal device. That is, the format stored in the distribution server is not limited as long as it can be downloaded from the distribution server and installed in a form that can be executed by the terminal device. Note that the program may be divided into a plurality of parts, downloaded at different timings, and combined in the terminal device, or the distribution server that distributes each of the divided programs may be different. Furthermore, the “computer-readable recording medium” holds a program for a certain period of time, such as a volatile memory (RAM) inside a computer system that becomes a server or a client when the program is transmitted via a network. Including things. The program may be for realizing a part of the functions described above. Furthermore, what can implement | achieve the function mentioned above in combination with the program already recorded on the computer system, what is called a difference file (difference program) may be sufficient.

DESCRIPTION OF SYMBOLS 100 Crane 110 Sensor part 111 Turning angle sensor 112 Lifting angle sensor 113 Lift sensor 114 Load sensor 120 Imaging apparatus 130 Crane information processing apparatus 140 Communication apparatus 200 Work management apparatus 202 Control part 221 Crane operation information acquisition part 222 Classification work time calculation part 223 Unit work history information management unit 224 Work result information output unit

Claims (6)

A crane operation information acquisition unit that acquires crane operation information in which the turning angle, the undulation angle, the lift, and the load detected in the crane are associated with time;
Based on the crane operation information acquired by the crane operation information acquisition unit, the end of the previous unit operation is defined as the boundary of the predetermined division operation divided in the unit operation corresponding to one lifting cycle performed using the crane. Loads specified by analyzing the time-series load data of the analysis target in accordance with the time-series analysis of the subsequent time-series turning angle data, time-series undulation angle data, time-series lift data, and time-series load data. Searching backward from the start time and searching for the load start time and later, search for the start time of each division work time, calculate the division work time required for each of the division work based on the boundary, A unit work history information management unit for generating unit work history information including the section work time and indicating a result for each unit work;
A work management apparatus comprising: Using the unit work history information of a certain work period, work result information indicating the result of work performed in the given work period is generated, and the generated work result information is output in a predetermined manner. The work management apparatus according to claim 1, further comprising an output unit. A transported object management information storage unit for storing transported object management information in which transported object information related to the transported object to be transported by the crane is associated with the load applied when transporting the transported object and the position of the destination of the transported object; Prepared,
The unit work history information management unit
Searched for the transported object information associated with the combination of the load in the crane operating information and the hook position of the crane at the movement end timing of the transported object determined based on the crane operating information. The work management apparatus according to claim 2, wherein the transported object information is included in the unit work history information of the corresponding unit work. The crane operation information acquisition unit
Captured image data obtained by imaging an imaging device provided in the crane so as to image a transported object carried by the crane is further acquired as crane operation information,
The work performance information output unit
The work management apparatus according to claim 2, wherein information indicating captured image data obtained corresponding to each unit work performed in a unit period is included in the work performance information. A crane operation information acquisition step for acquiring crane operation information in which the turning angle, the undulation angle, the lift, and the load detected in the crane are associated with time;
Based on the crane operation information acquired by the crane operation information acquisition step, the boundary of the predetermined division work divided in the unit work equivalent to one lifting cycle performed using the crane is the end time of the previous unit work. Loads specified by analyzing the time-series load data of the analysis target in accordance with the time-series analysis of the subsequent time-series turning angle data, time-series undulation angle data, time-series lift data, and time-series load data. Searching backward from the start time and searching for the load start time and later, search for the start time of each division work time, calculate the division work time required for each of the division work based on the boundary, A unit work history information management step for generating unit work history information including the section work time and indicating a result for each unit work;
A work management method comprising: On the computer,
A crane operation information acquisition step for acquiring crane operation information in which the turning angle, the undulation angle, the lift, and the load detected in the crane are associated with time;
Based on the crane operation information acquired by the crane operation information acquisition step, the boundary of the predetermined division work divided in the unit work equivalent to one lifting cycle performed using the crane is the end time of the previous unit work. Loads specified by analyzing the time-series load data of the analysis target in accordance with the time-series analysis of the subsequent time-series turning angle data, time-series undulation angle data, time-series lift data, and time-series load data. Searching backward from the start time and searching for the load start time and later, search for the start time of each division work time, calculate the division work time required for each of the division work based on the boundary, A unit work history information management step for generating unit work history information including the section work time and indicating a result for each unit work;
A program for running

Images