JP2023034869A - Monitoring system - Google Patents

Abstract

To provide a monitoring system that can further reliably avoid contact between an object and a worker while avoiding false warnings to the worker.SOLUTION: A monitoring system 20 monitors a monitoring space 10 to prevent contact between an object 11 and workers 12A and 12B. The monitoring system 20 includes a positioning system 30 and a warning system 40. The positioning system 30 uses UWB radio waves to locate, in the monitoring space 10, the position of a worker tag 33, which is a tag that can communicate with a plurality of anchors 31 and is carried by the workers, with respect to the plurality of anchors 31. The warning system 40 sets a danger area 15 in the monitoring space 10 where the object 11 and the workers 12A and 12B may come into contact with each other, based on the anchors 31, and warns the worker 12B carrying the worker tag 33 when the position of the worker tag 33 located by the positioning system 30 is in the danger area 15.SELECTED DRAWING: Figure 1

Description

The present invention relates to a surveillance system that monitors a surveillance space to avoid contact between objects and workers.

At a construction site or the like, it is necessary to ensure the safety of workers. As a system for ensuring the safety of such workers, for example, a system such as that disclosed in Patent Document 1 is known. In the system of Patent Literature 1, a caution area is provided at a construction site. If there is a worker in the caution area who is not in communication with a specific worker involved in the caution area, the worker is warned.

JP 2020-135531 A

However, in the method described in Patent Document 1, when the worker is concentrating on the work, the worker forgets to communicate with a specific worker and warns the worker who does not need to be warned. I was afraid.

A monitoring system that solves the above problems is a monitoring system that monitors a movable object in a monitoring space so that a worker working in the monitoring space does not come into contact with the object, and uses UWB radio waves to: A positioning system for measuring a position of a worker tag possessed by the worker with respect to the plurality of anchors, which is a tag capable of communicating with a plurality of anchors, and a positioning system for positioning the target object and the worker with the anchors as a reference. A dangerous area where there is a possibility of contact is set in the monitoring space, and when the position of the worker tag positioned by the positioning system is in the dangerous area, a worker carrying the worker tag is warned. and an alert system that performs

ADVANTAGE OF THE INVENTION According to this invention, contact of an object and a worker can be avoided more reliably, avoiding a false warning to a worker.

1 is a diagram showing a schematic configuration of an embodiment of a monitoring system; FIG. The figure which shows schematic structure of the monitoring system in 1st Embodiment. FIG. 4 is a diagram showing an example of processing executed by the information processing apparatus in the first embodiment; The figure which shows schematic structure of the monitoring system in 2nd Embodiment. The figure which shows an example of the process which an information processing apparatus performs in 2nd Embodiment.

(Schematic configuration of monitoring system)
A schematic configuration of an embodiment of a monitoring system will be described with reference to FIG.
As shown in FIG. 1, the monitoring system 20 monitors the monitored space 10 so as to avoid contact between an object 11 movable in the monitored space 10 and workers 12A and 12B working in the monitored space 10. is. The monitored space 10 is a space, such as a tunnel or shaft, in which the environment for receiving signals based on the Global Positioning System (GNSS) is poor.

The monitoring system 20 is configured with a positioning system 30 and a warning system 40 .
The positioning system 30 has a data collector 32 in addition to tags that can communicate using UWB (Ultra Wide Band) radio waves and a plurality of anchors 31 . Among the tags, the tag held by the worker is the worker tag 33 . The anchor 31 receives UWB radio waves from the worker tag 33 located within its reception range. Anchor 31 outputs a signal based on the received UWB radio wave to data collector 32 . The data collector 32 calculates the distance from each anchor 31 to the worker tag 33 based on the signal from each anchor 31 . Data collector 32 transmits the calculated distance to warning system 40 as positioning data.

The warning system 40 has an information processing device 42 and a terminal 43 capable of wireless communication via an access point 41 . The access points 41 are installed in various places in the monitored space 10 so that the entire area of the monitored space 10 is included in the communication range of the information processing device 42 and the terminal 43 .

The information processing device 42 acquires various types of information, and executes various processes based on the acquired various types of information, programs and various data stored in the memory. The information processing device 42 can be configured as a circuit including one or more dedicated hardware circuits such as ASIC, one or more processors that operate according to a computer program (software), or a combination thereof. A processor includes a CPU and memory, such as RAM and ROM, which stores program code or instructions configured to cause the CPU to perform processes. Memory or computer-readable media includes any available media that can be accessed by a general purpose or special purpose computer.

The information processing device 42 has a storage unit 45 that stores area conditions input in advance. Based on the area conditions stored in the storage unit 45, the information processing device 42 sets a coordinate system with one of the plurality of anchors 31 as the origin in the monitored space 10, and sets a dangerous area in the coordinate system of the monitored space 10. 15 is set. The information processing device 42 calculates the coordinates of the worker tag 33 in the coordinate system of the monitored space 10 based on the positioning data transmitted by the data collector 32 . The information processing device 42 warns the worker 12B located in the danger area 15 based on the coordinates of the danger area 15 and the worker tag 33 .

When issuing a warning, the information processing device 42 transmits a warning signal via the access point 41 to the terminal 43 possessed by the worker 12B. The terminal 43 that has received the warning signal notifies the worker 12B that it is located in the dangerous area 15 by emitting a warning sound.

(First embodiment)
A first embodiment of the monitoring system 20 will be described with reference to FIGS. 2 and 3. FIG.
As shown in FIG. 2, in the monitoring system 20 of the first embodiment, the inside of the tunnel 50 is the monitoring space, and the traveling vehicle 52 traveling on the rail equipment 51 laid in the tunnel 50 is the object. The monitoring system 20 monitors the inside of the tunnel 50 so as to avoid contact between the running vehicle 52 and the workers 12C, 12D and 12E. Various tags shown in FIG. 2 are within the reception range of each anchor 31 . Further, the traveling direction of the traveling vehicle 52 is referred to as the X direction, the direction perpendicular to the X direction as viewed from above is referred to as the Y direction, and the height direction is referred to as the Z direction.

In the positioning system 30 of this monitoring system 20 , a plurality of anchors 31 (four in this embodiment) and data collectors 32 are mounted on a traveling vehicle 52 .
In the warning system 40 of this monitoring system 20 , access points 41 are installed at various locations in a tunnel 50 and an information processing device 42 is mounted on a traveling vehicle 52 .

In this monitoring system 20, safety area tags 56A, 56B, and 56C indicating safety areas 55 in the tunnel 50 are installed as tags capable of communicating with a plurality of anchors 31. FIG. The safety area tags 56A, 56B, and 56C are fixed, for example, to handrails of workers' passages installed along the tunnel 50 at positions away from the rail equipment 51 . Although only three safety area tags 56A, 56B, and 56C are shown in FIG. 2, safety area tags are also installed on the +X direction side of the illustrated range.

In the information processing device 42, as area conditions, one anchor 31 serving as the origin in the coordinate system of the tunnel 50, coordinates of other anchors 31 with reference to the anchor 31, dangerous area conditions, and safe area conditions are input in advance. be.

In the danger area condition of the first embodiment, in a top view, coordinates of a circle centered on the anchor 31 serving as the origin and having a danger distance L with a radius of the danger distance L are located on the travel direction side of the traveling vehicle 52 relative to the anchor 31. is defined as the dangerous area 15.

Also, the dangerous area condition includes a condition regarding the dangerous distance L. FIG. Specifically, the danger area condition defines the danger distance L for each traveling speed of the traveling vehicle 52 so that the danger distance L increases as the traveling speed of the traveling vehicle 52 increases.

The safety area condition of the first embodiment is a condition that the worker passage becomes the safety area 55 . Concretely, the safe area condition can be defined as the safe area 55 at the coordinates located on the opposite side of the traveling vehicle 52 in the Y direction with the boundary line 57 connecting the safe area tags 56A, 56B, and 56C in order as the boundary. stipulated.

(Processing executed by information processing device)
A series of processes executed by the information processing device 42 in the monitoring system 20 of the first embodiment will be described. Note that this series of processes is repeatedly executed.

As shown in FIG. 3, when the information processing device 42 receives the positioning data transmitted by the data collector 32 (step S101), based on the coordinates of the safety area tags 56A, 56B, and 56C and the safety area conditions, the information processing device 42 A passenger passage is set in the safety area 55 (step S102).

Next, the information processing device 42 acquires the traveling direction of the traveling vehicle 52 based on the coordinate changes of the safety area tags 56A, 56B, and 56C in the X direction (step S103), and calculates the traveling speed of the traveling vehicle 52. Calculate (step S104). Then, the information processing device 42 sets the dangerous distance L corresponding to the traveling speed based on the calculated traveling speed and the dangerous area condition (step S105).

Next, the information processing device 42 sets a dangerous area (step S106). Specifically, the information processing device 42 determines the area within the danger distance L set in step S105 with reference to the anchor 31 serving as the origin with respect to the area excluding the safe area 55, and the area acquired in step S103. An area on the traveling direction side of the traveling vehicle 52 is set as a dangerous area 15.例文帳に追加

Then, the information processing device 42 determines whether or not the worker is in the dangerous area 15 based on the coordinates of the worker tag 33 based on the positioning data received in step S101 and the dangerous area 15 set in step S106. (Step S107).

If there is no worker in the dangerous area 15 (step S107: NO), the information processing device 42 terminates the series of processes. On the other hand, if a worker is present in the dangerous area 15 (step S107: YES), the information processing device 42 transmits a warning signal to the terminal 43 possessed by the worker via the access point 41 (step S108). ). Upon receiving the warning signal, the terminal 43 emits a warning sound to notify the worker that it is located in a dangerous area, and the series of processing ends. For example, as shown in FIG. 3, when a worker 12D is in the danger area 15, only the worker 12D in the danger area 15 is warned. On the other hand, the worker 12C in the safe area 55 and the worker 12E outside the dangerous area 15 are not warned.

According to the monitoring system 20 of the first embodiment, the following effects can be obtained.
(1-1) The monitoring system 20 is a system that monitors the traveling vehicle 52 that can move in the tunnel 50 and the workers working in the tunnel 50 so that they do not come into contact with each other. The monitoring system 20 is a positioning system 30 using UWB radio waves, and has a plurality of anchors 31 and a worker tag 33 which is a tag capable of communicating with the plurality of anchors 31 and carried by a worker, A positioning system 30 for positioning the positions of tags with respect to a plurality of anchors 31 in a tunnel 50, and a dangerous area 15 where there is a possibility that a traveling vehicle 52 and a worker may come into contact with each other is set in the tunnel 50 with reference to the anchors 31, and positioning is performed. and a warning system that warns a worker 12D carrying the worker tag 33 when the coordinates of the worker tag 33 positioned by the system 30 are in the dangerous area 15 .

By using UWB radio waves in this way, it is possible to improve the accuracy of the area setting of the dangerous area 15 and the coordinates of the worker 12 even in a space where the signal reception environment based on the global positioning system (GNSS) is poor. . As a result, in addition to erroneous warning to the worker, it is possible to more reliably avoid contact between the traveling vehicle 52, which is the object, and the worker 12D.

(1-2) The monitoring system 20 has safety area tags 56A, 56B, 56C indicating the safety area 55 in the tunnel 50 as tags. The warning system 40 sets the safe area 55 based on the coordinates of the safe area tags 56A, 56B, 56C, and sets the dangerous area 15 in areas other than the safe area 55. FIG. As a result, the safety area 55 can be set according to the installation positions of the safety area tags 56A, 56B, and 56C, and erroneous warnings to workers in the safety area 55 can be avoided.

(1-3) In the monitoring system 20 , multiple anchors 31 are set on the traveling vehicle 52 . The warning system 40 also sets the area around the traveling vehicle 52 as the dangerous area 15 . As a result, the coordinate system of the tunnel 50 is set with the traveling vehicle 52 as the center, so that the dangerous area 15 can be set according to the movement of the traveling vehicle 52 .

(1-4) The warning system 40 acquires the traveling direction of the traveling vehicle 52 and sets the dangerous area 15 according to the acquired traveling direction. As a result, it is possible to avoid erroneous warnings to workers on the opposite side of the travel direction of the traveling vehicle 52 .

(1-5) The warning system 40 acquires the traveling speed of the traveling vehicle 52, and sets the danger area 15 in which the danger distance L increases as the acquired traveling speed of the traveling vehicle 52 increases. As a result, the higher the traveling speed, the farther away the operator can be warned. As a result, the operator can be warned while taking into consideration the braking distance of the traveling vehicle 52 .

(Second embodiment)
A second embodiment of the monitoring system 20 described above will now be described with reference to FIGS. 4 and 5. FIG. Note that the monitoring system 20 of the second embodiment has the same main configuration as the monitoring system 20 of the first embodiment. Therefore, in the second embodiment, portions different from the first embodiment will be described in detail, and the same reference numerals will be given to the same portions as in the first embodiment, and detailed description thereof will be omitted.

As shown in FIG. 4, in the monitoring system 20 of the second embodiment, a vertical shaft 60 leading to a tunnel is used as a monitoring space, and a suspended load 62 that can be moved in the vertical shaft 60 by a crane 61 is used as an object. The monitoring system 20 monitors the shaft 60 to avoid contact between the load 62 and the workers 12F, 12G.

In the positioning system 30 , multiple anchors 31 are installed on the sidewalls 60S of the shaft 60 . The plurality of anchors 31 are installed so that a wide range within the shaft 60 (for example, the entire area within the shaft 60) becomes the reception range while considering the reception range of each anchor 31 . The multiple anchors 31 include multiple first anchors 31A installed near a first depth, and multiple second anchors 31B installed near a second depth deeper than the first depth.

In the positioning system 30, tags that can communicate with the first anchor 31A and the second anchor 31B include a suspended load tag 65 attached to a predetermined position of the suspended load 62 (near the hook position of the crane 61). In the positioning system 30, the data collectors 32 include a first data collector 32A that receives signals from a plurality of first anchors 31A and a second data collector 32B that receives signals from a plurality of second anchors 31B. , contains The first data collector 32A transmits the distances to various tags calculated based on the signals from the first anchors 31A to the information processing device 42 as first positioning data. The second data collector 32B transmits the distances to various tags calculated based on the signals from the second anchors 31B to the information processing device 42 as second positioning data.

In the warning system 40, the access points 41 are installed at various locations such as the sidewall 60S of the vertical shaft 60 so that the entire area within the vertical shaft 60 is within the communication range.
The warning system 40 has an imaging device 67 for imaging the shape of the suspended load 62 as seen from above. The imaging device 67 is installed on the crane 61, for example. The imaging device 67 is configured to be communicable with the information processing device 42 . The imaging device 67 transmits imaging data obtained by imaging the suspended load 62 to the information processing device 42 . The suspended load tag 65 is attached to the suspended load 62 so that the position relative to the imaging device 67 is a predetermined position.

The information processing device 42 has, as area conditions, one anchor (for example, one of the first anchors 31A) serving as the origin in the coordinate system of the monitored space 10, the coordinates of other anchors based on the anchor, Hazardous area conditions are pre-entered.

Based on the coordinates of the suspended load tag 65 and the imaging data from the image pickup device 67, the dangerous area conditions of the second embodiment include coordinates located directly below the suspended load 62 and including the suspended load 62 when viewed from above. It is stipulated that the coordinates included in the tangent circle be the dangerous area 15 .

(Processing executed by information processing device)
A series of processes executed by the information processing device 42 in the monitoring system 20 of the second embodiment will be described. Note that this series of processes is repeatedly executed while the load 62 is being transported using the crane 61 .

As shown in FIG. 5, the information processing device 42 acquires the shape of the suspended load 62 as viewed from above, based on the imaging data from the imaging device 67 (step S201). The information processing device 42 also acquires positioning data (step S202). In step S202, the information processing device 42 receives the first positioning data transmitted by the first data collector 32A and the second positioning data transmitted by the second data collector 32B.

Next, the information processing device 42 sets the dangerous area 15 (step S203). Specifically, the information processing device 42 calculates the coordinates of the suspended cargo tag 65 based on the received first positioning data and second positioning data. The information processing device 42 sets the area immediately below the suspended load 62 as the dangerous area 15 based on the coordinates of the suspended load tag 65, the shape of the suspended load 62 based on the imaging data, and the dangerous area conditions.

Then, the information processing device 42 determines whether the worker is in danger based on the coordinates of the worker tag 33 based on the first positioning data and the second positioning data acquired in step S202 and the coordinates of the dangerous area 15 set in step S203. It is determined whether or not the player is in area 15 (step S204).

If there is no worker in the dangerous area 15 (step S204: NO), the information processing device 42 once terminates the series of processes. On the other hand, if there is a worker in the dangerous area 15 (step S204: YES), the information processing device 42 transmits a warning signal to the terminal 43 possessed by the worker via the access point 41 (step S205). ). The terminal 43 that has received the warning signal notifies the worker that it is located in a dangerous area by emitting a warning sound. For example, as shown in FIG. 4, the worker 12G in the danger area 15 is warned.

According to the monitoring system of the second embodiment, in addition to the effects (1-1) described in the first embodiment, the following effects can be obtained. .
(2-1) The monitoring system 20 monitors worker contact with the load 62 movable in the shaft 60 . The monitoring system 20 has a suspended cargo tag 65 mounted on the suspended cargo 62 as a tag. The positioning system 30 has a plurality of anchors 31 installed on the side wall 60S of the vertical shaft 60 according to depth, and measures the positions of the suspended cargo tags 65 with respect to the anchors 31. The warning system 40 measures the suspended cargo tags 65. is set as a dangerous area 15. This makes it possible to avoid contact between the suspended load 62 and workers in the shaft 60 where radio waves such as GPS do not reach.

(2-2) The warning system 40 has an imaging device 67 for imaging the suspended load 62 . The warning system 40 acquires the shape of the load 62 based on the imaging data captured by the imaging device 67 . Based on the acquired shape of the suspended load 62, the warning system 40 can set the area immediately below the suspended load 62 as a dangerous area.

1st Embodiment and 2nd Embodiment can be changed and implemented as follows. The first embodiment, the second embodiment, and the following modifications can be implemented in combination with each other within a technically consistent range.

- In 2nd Embodiment, the warning system 40 acquires the shape of the load 62 based on the imaging data of the imaging device 67. FIG. Not limited to this, the warning system 40 may acquire the shape of the suspended load 62 by manual input to the information processing device 42 .

- In the second embodiment, the warning system 40 sets the area immediately below the suspended load 62 as the dangerous area 15 based on the shape of the suspended load 62 . Not limited to this, the warning system 40 may set the dangerous area 15 as a circle or square area of a predetermined size based on the coordinates of the suspended cargo tag 65 .

- In 2nd Embodiment, when the suspended load 62 is moving horizontally, the information processing apparatus 42 may change the dangerous area 15 according to the advancing direction of the suspended load 62. FIG. Specifically, the information processing device 42 acquires the traveling direction of the suspended load 62 based on the change in the coordinates of the suspended load tag 65 . Then, the information processing device 42 sets the dangerous area 15 so that the acquired traveling direction side becomes larger. Further, the information processing device 42 may change the dangerous area 15 according to the traveling speed of the suspended load 62 . Specifically, the information processing device 42 acquires the traveling speed of the suspended load 62 based on changes in the coordinates of the suspended load tag 65 . Then, the information processing device 42 sets the dangerous area 15 so that the traveling direction side becomes larger as the acquired traveling speed increases. Further, the information processing device 42 may set a long narrow area extending in the direction of travel as the dangerous area 15 .

- In the first embodiment, the dangerous area 15 may be an area of the same size regardless of the traveling speed of the traveling vehicle 52 .
- In 1st Embodiment, the dangerous area 15 may be set not only in the advancing direction side of the traveling vehicle 52 but in the area on the opposite side to the advancing direction of the traveling vehicle 52. FIG.

- In 1st Embodiment, the information processing apparatus 42 acquired the advancing direction of the traveling vehicle 52 based on the change of the coordinate of safe area tag 56A, 56B, 56C. Not limited to this, the information processing device 42 may acquire an operation signal of an operation lever of the traveling vehicle 52 and acquire the traveling direction based on the acquired operation signal. Further, as a tag, a traveling direction tag for detecting the traveling direction may be fixedly arranged in the monitoring space 10 and the traveling direction of the traveling vehicle 52 may be obtained based on the change of the coordinates of the traveling direction tag.

- In 2nd Embodiment, a safety area may be set in the shaft 60. FIG. In the vertical shaft 60, for example, an area immediately below a portion enclosed by sequentially connecting a plurality of safety area tags 56A, 56B, and 56C can be set as a safety area.

- In 1st Embodiment, a safe area is not restricted to the structure set based on the coordinate of safe area tag 56A, 56B, 56C. For example, the safe area may be set in advance based on BIM (Building Information Modeling) or CIM (Construction Information Modeling) that can virtually reproduce the monitored space 10 . In such a configuration, the model includes the location of the safe area and the location of pre-installed safe area reference tags throughout the tunnel 50 . The information processing device 42 identifies the positions of the safe area relative to the anchors 31 based on the positions of the safe area reference tags and the relative positions of the anchors 31 . This is the same when setting a safe area in the second embodiment.

DESCRIPTION OF SYMBOLS 10... Monitoring space, 11... Object, 12... Worker, 15... Dangerous area, 20... Monitoring system, 30... Positioning system, 31... Anchor, 31A... First anchor, 31B... Second anchor, 32... Data collection device, 32A... first data collector, 32B... second data collector, 33... worker tag, 40... warning system, 41... access point, 42... information processing device, 43... terminal, 45... storage unit, 50 ... Tunnel, 51 ... Rail equipment, 52 ... Running vehicle, 53 ... Terminal, 55 ... Safety area, 56 ... Safety area tag, 57 ... Boundary line, 60 ... Shaft, 60S ... Side wall, 61 ... Crane, 62 ... Lifted load, 65... Suspended load tag, 67... Imaging machine.

Claims (6)

A monitoring system for monitoring a movable object in a monitored space so that a worker working in the monitored space does not come into contact with the object,
a positioning system that uses UWB radio waves to measure the position of a worker tag, which is a tag that can communicate with a plurality of anchors and is possessed by the worker, with respect to the plurality of anchors in the monitored space;
A dangerous area where the worker may come into contact with the object is set in the monitoring space with reference to the anchor, and the position of the worker tag positioned by the positioning system is the dangerous area. and a warning system that warns a worker carrying the worker tag. Having a safe area tag indicating a safe area in the monitored space as the tag,
The positioning system measures positions of the safe area tags with respect to the plurality of anchors;
The surveillance system according to claim 1, wherein the warning system sets a safe area in the monitored space based on the position of the safe area tag, and sets the dangerous area in an area other than the safe area. the monitored space is a space within a tunnel;
wherein the object is a traveling vehicle that travels through the tunnel, and the plurality of anchors are installed on the traveling vehicle;
The monitoring system according to claim 1 or 2, wherein the warning system sets the perimeter of the traveling vehicle as the dangerous area. The monitoring system according to claim 3, wherein the warning system acquires the traveling direction and traveling speed of the traveling vehicle, and sets the dangerous area according to the acquired traveling direction and traveling speed. the monitoring space is a space within a vertical shaft;
The object is a suspended load,
Having a suspended load tag mounted on the suspended load as the tag,
The positioning system is
The plurality of anchors are installed according to the depth of the shaft, and the positions of the suspended cargo tag with respect to the plurality of anchors are measured,
The warning system includes:
The monitoring system according to claim 1 or 2, wherein an area immediately below the suspended cargo tag is set as the dangerous area. The warning system includes:
The monitoring system according to claim 5, wherein the shape of the suspended load is acquired, and an area immediately below the suspended load is set as the dangerous area based on the acquired shape.

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