JP2017019647A - Notification device and moving system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a notification device and a moving system capable of increasing safety on a moving device.SOLUTION: A notification device 1 used for a moving device 3 that can move a movable body at least in a horizontal surface includes: an image acquisition unit 5 for acquiring an image taken of the surrounding of the movable body from a camera 17 that moves with the movable body at least in a horizontal surface; a moving direction acquisition unit 7 for acquiring a moving direction in the horizontal surface of the movable body; a permissible region setting unit 9 for setting a permissible region in the image based on a predetermined criterion according to the moving direction; a person recognition unit 11 for recognizing a person; a determination unit 13 for determining whether or not the position of the person recognized by the person recognition unit is within the permissible region; and a notification unit 15 for issuing a notification on condition that the determination unit determines that the position is not within the permissible region.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a notification device and a mobile system.

  Conventionally, a three-dimensional movement device such as an overhead crane is known (see Patent Document 1). The three-dimensional movement device includes a hook that can freely move in a three-dimensional space, and the article is moved by hanging the article from the hook. The operator of the three-dimensional movement apparatus operates the three-dimensional movement apparatus by performing operation input to the controller.

Japanese Patent No. 4815627

  If the operator of the three-dimensional movement apparatus is on the planned movement route of the article, the operator may come into contact with the article. This invention is made | formed in view of the above point, and it aims at providing the alerting | reporting apparatus and moving system which can improve the safety | security regarding a moving apparatus.

The first notification device of the present invention is:
An image acquisition unit that is used in a moving device that can move a moving body at least in a horizontal plane, and that acquires an image of the surroundings of the moving body from a camera that moves with the moving body at least in a horizontal plane; A moving direction acquisition unit that acquires a moving direction D in a horizontal plane of the moving body; and an allowable area setting unit that sets an allowable area in the image based on a predetermined reference according to the moving direction D; A person recognition unit for recognizing a person, a determination unit for determining whether a position H of the person recognized by the person recognition unit is within the allowable area, and the determination that the position H is not within the allowable area. A notification unit that performs notification on condition that the unit makes a determination.

  The 1st alerting device of the present invention sets up a permissible field according to movement direction D, and performs a notice when a person's position H is outside a permissible field. This improves the safety of people around the mobile device.

The second notification device of the present invention is:
An informing device used for a moving device capable of moving a moving body at least in a horizontal plane, an image acquisition unit for acquiring an image obtained by photographing the periphery of the moving body, and a moving direction D of the moving body in the horizontal plane A moving direction acquisition unit, a position acquisition unit for acquiring a position P in the horizontal plane of the moving body, and an allowable area in the image based on a predetermined criterion according to the movement direction D and the position P. A permissible area setting unit for setting, a human recognition unit for recognizing a person, a determination unit for determining whether a position H of the person recognized by the human recognition unit is within the permissible area, and the position H A notification unit that performs notification on condition that the determination unit determines that it is not within the permissible region.

  The 2nd alerting device of the present invention sets up a permissible field according to movement direction D and position P in the level surface of a moving body, and performs a notice when a person's position H is outside a permissible field. This improves the safety of people around the mobile device.

3 is a block diagram illustrating an electrical configuration of a notification device 1 and a moving device 3. FIG. 3 is a perspective view illustrating a configuration of a moving device 3. FIG. It is a flowchart showing the process which the alerting | reporting apparatus 1 performs. It is explanatory drawing showing the image 53 which the camera 17 produced. 3 is a block diagram illustrating an electrical configuration of a notification device 1 and a moving device 3. FIG. 3 is a perspective view illustrating a configuration of a moving device 3. FIG. It is a flowchart showing the process which the alerting | reporting apparatus 1 performs. It is explanatory drawing showing the image 65 produced by the camera. 3 is a block diagram illustrating an electrical configuration of a notification device 1 and a moving device 3. FIG. 3 is a perspective view illustrating a configuration of a moving device 3. FIG. FIG. 11A is a perspective view illustrating the configuration of the helmet 69, and FIG. 11B is a plan view illustrating the configuration of the helmet 69.

Embodiments of the present invention will be described with reference to the drawings.
<First Embodiment>
1. Configuration of Notification Device 1 and Moving Device 3 The configuration of the notification device 1 and the moving device 3 will be described with reference to FIGS. The notification device 1 is used in combination with the moving device 3. The notification device 1 is a computer that includes a CPU, a RAM, a ROM, and the like. The notification device 1 executes processing to be described later using a program stored in the ROM.

  As shown in FIG. 1, the notification device 1 functionally includes an image acquisition unit 5, a movement direction acquisition unit 7, an allowable area setting unit 9, a person recognition unit 11, a determination unit 13, and a notification unit 15. The function of each unit will be described later.

  The notification device 1 acquires an image from the camera 17. As shown in FIG. 2, the camera 17 is attached to a hoisting machine 29, which will be described later, and images the downward direction to generate an image. Further, the notification device 1 performs notification described later using the display 19 and the speaker 21. The display device 19 includes a liquid crystal display and can display an image. The speaker 21 can output sound.

  The moving device 3 is an overhead crane. As shown in FIG. 2, the moving device 3 includes traveling rails 23A and 23B, saddles 25A and 25B, a crane girder 27, a hoisting machine 29, a support wire 31, a hook 33, a controller 35, a communication cable 37, and a display device 38. Is provided.

  The traveling rails 23A and 23B are laid near the ceiling of the building. The longitudinal directions of the traveling rails 23A and 23B are parallel to each other and belong to a horizontal plane. Hereinafter, the longitudinal direction of the traveling rails 23A and 23B is defined as the X direction.

  The saddle 25A is provided on the traveling rail 23A and is movable in the X direction. The saddle 25B is provided on the traveling rail 23B and is movable in the X direction in conjunction with the saddle 25A. A drive source for moving the saddles 25A and 25B is an X-axis motor 39 described later.

  One end of the crane girder 27 is fixed on the saddle 25A, and the other end is fixed on the saddle 25B. The longitudinal direction of the crane girder 27 is a direction belonging to a horizontal plane, and is a direction orthogonal to the X direction (hereinafter referred to as Y direction). The saddles 25A and 25B and the crane girder 27 are movable together in the X direction.

  The hoisting machine 29 is attached to the crane girder 27 so as to be movable along the Y direction. A drive source for moving the hoisting machine 29 along the Y direction is a Y-axis motor 41 described later. The hoisting machine 29 can wind up and pull out the support wire 31. A drive source for winding and pulling up the support wire 31 is a Z-axis motor 43 described later.

  The hook 33 is attached to the tip of the support wire 31. When the hoisting machine 29 winds up the support wire 31, the hook 33 moves upward, and when the hoisting machine 29 pulls out the support wire 31, the hook 33 moves downward. That is, the hook 33 is movable along the vertical direction (hereinafter sometimes referred to as the Z direction). The hook 33 can suspend an article to be moved.

  The controller 35 is a device that receives an operation input for operating the moving device 3. The controller 35 includes a plurality of switches, and an operation input is performed by operating a specific switch by a specific operation method.

For operation input, X ₁ direction movement start, X ₂ direction movement start, X direction movement stop, Y ₁ direction movement start, Y ₂ direction movement start, Y direction movement stop, Z ₁ direction movement start, Z ₂ direction movement start. And Z direction movement stop.

X ₁ direction movement start along the X direction, represents the start of the movement toward the side of the X ₁ (see FIG. 2). X ₂ direction movement start along the X direction, the X ₁ represents the start of the movement toward the side opposite the X ₂ (see FIG. 2). The Y ₁ direction movement start means the start of movement toward the Y ₁ side (see FIG. 2) along the Y direction. The Y ₂ direction movement start means the start of movement toward the Y ₂ side (see FIG. 2) opposite to Y ₁ along the Y direction. Z ₁ direction movement start, along the Z direction, represents the start of the movement toward the side of the Z ₁ (see FIG. 2). The Z ₂ direction movement start means the start of movement toward the Z ₂ side opposite to Z ₁ (see FIG. 2) along the Z direction.

Stopping movement in the X direction means stopping movement in the X direction. Stopping movement in the Y direction means stopping movement in the Y direction. Stopping movement in the Z direction means stopping movement in the Z direction.
The communication cable 37 transmits a signal representing an operation input received by the controller 35 to a control unit 45 described later. The controller 35 also transmits a signal representing an operation input to the notification device 1.

  The display device 38 includes a liquid crystal display and can display an image. As shown in FIG. 2, the display device 38 is attached to the hoisting machine 29. The position of the display device 38 is above the operator who operates the controller 35 and in the vicinity of the camera 17. In the display device 38, a display surface 38A for displaying an image is on the lower surface. An operator who operates the controller 35 can see the display surface 38A by looking up. The display device 38 displays the moving direction of the hoisting machine 29 with an arrow.

The moving device 3 having the above configuration can move the hook 33 independently along the X direction, the Y direction, and the Z direction. That is, the hook 33 can be moved in the X direction by moving the saddles 25A, 25B in the X direction on the traveling rails 23A, 23B. The movement in the X direction and the movement toward the side of the X _1, and move toward the side of the X ₂ is.

Further, the hook 33 can be moved in the Y direction by moving the hoisting machine 29 in the Y direction on the crane girder 27. The movement in the Y direction includes a movement toward the Y ₁ side and a movement toward the Y ₂ side.

Therefore, the moving device 3 can move the hook 33 in a horizontal plane (a plane including the X direction and the Y direction). In addition, the moving device 3 can move the hook 33 in the Z direction when the hoisting machine 29 winds up or pulls out the support wire 31. The movement in the Z direction includes a movement toward the Z ₁ side and a movement toward the Z ₂ side.

  As described above, the camera 17 is attached to the hoisting machine 29. The positional relationship between the camera 17 and the hoisting machine 29 is always constant. The camera 17 moves in the horizontal plane together with the hoisting machine 29. Since the hook 33 and the hoisting machine 29 coincide at a position in the horizontal plane (a position projected on the horizontal plane), the camera 17 moves together with the hook 33 on the horizontal plane.

  The optical axis of the camera 17 is downward and is always constant. The angle of view of the camera 17 includes the hook 33 and its surroundings. A controller 35 may be included in the angle of view of the camera 17. Therefore, the camera 17 captures a range including the hook 33 and its surroundings, and creates an image. An image created by the camera 17 is output to the notification device 1.

The relationship between the operation input to the controller 35 and the movement of the hook 33 is as follows. When the hook 33 is stopped in the X direction, when there is an operation input X ₁ direction movement start, start the X-axis motor 39, the hook 33 along the X direction, it starts to move toward the side of the X ₁ To do. Thereafter, while moving toward the side of X _1, when there is an operation input in the X direction movement stop, a few seconds after the operation input, moves toward the side of the X ₁ is stopped.

Further, when the hook 33 is stopped in the X direction, when there is an operation input X ₂ direction movement start, start the X-axis motor 39, the hook 33 along the X direction, toward the side of the X ₂ mobile To start. Thereafter, while moving toward the side of X _2, when there is an operation input in the X direction movement stop, a few seconds after the operation input, moves toward the side of the X ₂ is stopped.

Further, when the hook 33 is stopped in the Y direction, when there is an operation input Y ₁ direction movement start, start the Y-axis motor 41, the hook 33 along the Y direction, toward the side of the Y ₁ moving To start. Thereafter, while moving toward the side of the Y _1, when there is an operation input in the Y direction movement stop, a few seconds after the operation input, it moves toward the side of the Y ₁ is stopped.

Further, when the hook 33 is stopped in the Y direction, when there is an operation input Y ₂ direction movement start, start the Y-axis motor 41, the hook 33 along the Y direction, toward the side of the Y ₂ mobile To start. Thereafter, while moving toward the side of Y _2, when there is an operation input in the Y direction movement stop, a few seconds after the operation input, it moves toward the side of the Y ₂ is stopped.

Further, when the hook 33 is stopped in the Z direction, when there is an operation input of Z ₁ direction movement start, start the Z-axis motor 43, the hook 33 along the Z-direction, toward the side of the Z ₁ mobile To start. Thereafter, while moving toward the side of Z _1, when there is an operation input in the Z direction movement stop, a few seconds after the operation input, the movement toward the side of the Z ₁ stops.

Further, when the hook 33 is stopped in the Z direction, when there is an operation input Z ₂ direction movement start, start the Z-axis motor 43, the hook 33 along the Z-direction, toward the side of the Z ₂ mobile To start. Thereafter, while moving toward the side of Z _2, when there is an operation input in the Z direction movement stop, a few seconds after the operation input, the movement toward the side of the Z ₂ stops.

  As shown in FIG. 2, the display 19 described above is provided above the moving device 3, and a screen 19 </ b> A capable of displaying an image faces downward. Therefore, the operator who operates the controller 35 can easily see the screen 19A by turning up. The speaker 21 is also installed above the moving device 3.

  The electrical configuration of the moving device 3 is as shown in FIG. The moving device 3 includes an X-axis motor 39, a Y-axis motor 41, a Z-axis motor 43, a control unit 45, and the controller 35 described above. The X-axis motor 39 is a drive source that moves the saddles 25A and 25B along the X direction. The Y-axis motor 41 is a drive source that moves the hoisting machine 29 along the Y direction. The Z-axis motor 43 is a drive source for the hoisting machine 29 to wind up and pull out the support wire 31.

  The control unit 45 controls the X-axis motor 39, the Y-axis motor 41, and the Z-axis motor 43 according to the operation input received by the controller 35. The control unit 45 includes an X-axis inverter 47, a Y-axis inverter 49, and a Z-axis inverter 51. The X-axis inverter 47 is used to control the X-axis motor 39. The Y-axis inverter 49 is used to control the Y-axis motor 41. The Z-axis inverter 51 is used to control the Z-axis motor 43.

The control unit 45 calculates the moving direction of the hoisting machine 29 based on the operation input received by the controller 35 and displays an arrow indicating the moving direction on the display device 38.
The hook 33 is an example of a moving body. The combination of the notification device 1 and the moving device 3 is an example of a moving system. The controller 35 is an example of an operation unit.

  In FIG. 2, the electrical configuration of the moving device 3 (control unit 45, X-axis inverter 47, Y-axis inverter 49, Z-axis inverter 51, X-axis motor 39, Y-axis motor 41, Z-axis motor 43). The description is omitted for convenience. These electrical configurations can be arranged at appropriately selected locations in FIG.

2. Processing Performed by Notification Device 1 Processing that is repeatedly executed by the notification device 1 every predetermined time will be described with reference to FIGS. In step 1 of FIG. 3, the movement direction acquisition unit 7 acquires the movement direction (hereinafter referred to as movement direction D) of the hook 33 in the horizontal plane from the controller 35.

Specifically, the movement direction acquisition unit 7, the controller 35, an operation input regarding the movement in the X direction during a certain period in the past (X ₁ direction movement start of the operation input, X ₂ direction movement start of the operation input, the X-direction a travel stop of the operation input), moving on the operation input in the Y direction (Y ₁ direction movement start of the operation input, Y ₂ direction movement start of the operation input, the Y-direction movement stop of the operation input) and acquires the.

Then, the moving direction D is determined from the acquired operation input. For example, the operation input direction X ₁ movement start in the past, then, if it is not the operation input X direction movement and moving direction D along the X direction is the direction toward the side of the X ₁ .

Further, there is an operation input in the past X ₂ direction movement start, then, if it is not the operation input X direction movement and moving direction D along the X direction is the direction toward the side of the X ₂ .
Further, there is an operation input in the past in Y ₁ direction movement start, then, if it is not the operation input Y direction movement and moving direction D along the Y-direction is the direction toward the side of Y ₁ .

Further, there is an operation input in the past Y ₂ direction movement start, then, if it is not the operation input Y direction movement and moving direction D along the Y-direction is the direction toward the side of the Y ₂ .
Also, in the past, there is an operation input in the X direction movement stop and the Y direction movement stop, which then, X ₁ direction movement start, X ₂ direction movement start, Y ₁ direction movement start, and among the Y ₂ direction movement start If no operation input is made, the hook 33 is stopped in the horizontal plane.

  In Step 2, the movement direction acquisition unit 7 determines whether or not the hook 33 is moving in the horizontal plane based on the movement direction D acquired in Step 1. If the hook 33 is moving in the horizontal plane, the process proceeds to step 3, and if the hook 33 is stopped in the horizontal plane, the present process is terminated.

  In step 3, the image acquisition unit 5 acquires an image using the camera 17. This image is an image of the range including the hook 33 and its surroundings taken from above. FIG. 4 shows an example of this image 53. The image 53 includes the support wire 31, the hook 33, and the object 55 suspended from the hook 33. The image 53 includes the periphery of the hook 33. The image 53 includes an operator (an example of a person) 57 of the moving device 3. The image 53 may include the controller 35.

Returning to FIG. 3, in step 4, the allowable area setting unit 9 sets the allowable area 59 in the image acquired in step 3. An example of the allowable area 59 is shown in FIG.
Specifically, the allowable area setting unit 9 sets the allowable area 59 in the following procedure. First, as shown in FIG. 4, the moving direction D acquired in Step 1 is specified on the image acquired in Step 3.

  The allowable area setting unit 9 stores in advance a reference for determining the allowable area 59 according to the moving direction D. The standard is, for example, a standard that all of the following (i) to (iii) are satisfied. This criterion is a criterion determined from the viewpoint that if the person is in the allowable area, the possibility that the object suspended by the hook 33 and the person can come into contact with each other can be reduced.

(i) The allowable region 59 is a region that is on the opposite side of the movement direction D with respect to the hook 33 and has a certain spread around the extension line 61 in the movement direction D.
(ii) However, the extension line 61 and its vicinity are excluded from the allowable area 59.

(iii) In addition, an area where the distance from the hook 33 is equal to or less than a predetermined threshold is excluded from the allowable area 59.
The permissible area setting unit 9 sets the permissible area 59 in the image 53 based on the above criteria according to the moving direction D.

In step 5, the person recognition unit 11 recognizes a person in the image acquired in step 3 by a known image recognition technique.
In step 6, the person recognition unit 11 acquires the position (hereinafter referred to as position H) of the person recognized in step 5 in the image.

  In step 7, the determination unit 13 determines whether or not the position H acquired in step 6 is within the allowable region set in step 4. If the position H is within the permissible area, or if no person is recognized in step 5, the process is terminated. On the other hand, if the position H is outside the allowable region, the process proceeds to step 8. Note that the image 53 shown in FIG. 4 is an example in which the position H of the operator 57 is within the allowable area 59.

  In step 8, the notification unit 15 performs notification using the display 19 and the speaker 21. Specifically, a warning image is displayed on the display 19 and a warning sound is emitted from the speaker 21.

3. Effects produced by the notification device 1 (1A) The notification device 1 sets an allowable area according to the moving direction D, and performs notification when the position H of the person is outside the allowable area. As a result, the safety of a person around the moving device 3 (for example, an operator of the moving device 3) is improved.

(1B) The notification device 1 acquires the movement direction D from the controller 35. Thereby, the moving direction D can be acquired easily and accurately.
(1C) The camera 17 is provided in the vicinity of the display device 38 that displays the moving direction of the hoisting machine 29. The operator 57 turns his face toward the display device 38 in order to confirm the moving direction of the hoisting machine 29. At that time, the face of the operator 57 inevitably faces the direction of the camera 17 in the vicinity of the display device 38. As a result, the face (especially eyes) of the operator 57 is easily reflected in the image created by the camera 17, so that the human recognition unit 11 can recognize the operator 57 more easily.
<Second Embodiment>
1. Differences from the First Embodiment Since the basic configuration of the second embodiment is the same as that of the first embodiment, description of common configurations will be omitted, and differences will be mainly described. As shown in FIG. 6, the camera 17 is located away from the moving device 3. The position of the camera 17 is constant with respect to absolute coordinates (earth). The direction of the optical axis of the camera 17 is obliquely downward and is always constant.

  The angle of view of the camera 17 includes the hook 33 and its surroundings. Therefore, the camera 17 captures a range including the hook 33 and its surroundings, and creates an image. However, since the hook 33 moves relative to the camera 17, the position of the hook 33 in the image created by the camera 17 varies as the hook 33 moves. An image created by the camera 17 is output to the notification device 1.

A GPS transmitter 62 is attached to the hoist 29. The GPS transmitter 62 acquires the position information of the hoisting machine 29 and transmits the position information to the notification device 1.
As shown in FIG. 5, the notification device 1 functionally includes a position acquisition unit 63. The position acquisition unit 63 acquires position information from the GPS transmitter 62 and performs processing using the position information. Details will be described later.

2. Processing Performed by Notification Device 1 The processing that the notification device 1 repeatedly executes every predetermined time will be described with reference to FIGS. In step 11 of FIG. 7, the movement direction acquisition unit 7 acquires the movement direction D from the controller 35. The method for acquiring the movement direction D is the same as that in the first embodiment.

  In step 12, the movement direction acquisition unit 7 determines whether or not the hook 33 is moving in the horizontal plane based on the movement direction D acquired in step 11. If the hook 33 is moving in the horizontal plane, the process proceeds to step 13, and if the hook 33 is stopped in the horizontal plane, the present process is terminated.

  In step 13, the image acquisition unit 5 acquires an image using the camera 17. This image is an image of the hook 33 and its surroundings taken obliquely from above. FIG. 8 shows an example of this image 65. The image 65 includes the support wire 31, the hook 33, and the object 55 suspended from the hook 33. Further, the image 65 includes the periphery of the hook 33. The image 65 includes an operator (an example of a person) 57 of the moving device 3.

  In step 14, the position acquisition unit 63 acquires the position information of the hoist 29 from the GPS transmitter 62. The position information includes a position in the horizontal plane and a position in the Z direction. The position acquisition unit 63 acquires the position in the horizontal plane (hereinafter referred to as position P) from the position information of the hoisting machine 29.

Here, since the positions of the hoisting machine 29 and the hook 33 in the horizontal plane coincide with each other, the position P means the position of the hook 33 in the horizontal plane.
In step 15, the allowable area setting unit 9 sets the allowable area 59 in the image acquired in step 13. An example of the allowable area 59 is shown in FIG.

  Specifically, the allowable area setting unit 9 sets the allowable area 59 in the following procedure. First, as shown in FIG. 8, on the image acquired in step 13, the moving direction D acquired in step 11 is specified, and the position P acquired in step 14 is specified.

  The allowable area setting unit 9 stores in advance a reference for determining the allowable area 59 according to the moving direction D and the position P. The standard is, for example, a standard that all the following (iv) to (vi) are satisfied. This criterion is a criterion determined from the viewpoint that if the person is in the allowable area, the possibility that the object suspended by the hook 33 and the person can come into contact with each other can be reduced.

(iv) The permissible area 59 is an area that is on the opposite side of the movement direction D with respect to the position (position P) of the hook 33 and has a certain spread around the extension line 61 in the movement direction D.
(v) However, the extension line 61 and its vicinity are excluded from the allowable area 59.

(vi) In addition, an area where the distance from the hook 33 is equal to or less than a predetermined threshold is excluded from the allowable area 59.
The permissible area setting unit 9 sets the permissible area 59 in the image 65 based on the above criteria according to the moving direction D and the position P.

In step 16, the person recognition unit 11 recognizes a person in the image acquired in step 13 by a known image recognition technique.
In step 17, the person recognition unit 11 acquires the position H in the image of the person recognized in step 16.

  In step 18, the determination unit 13 determines whether or not the position H acquired in step 17 is within the allowable area set in step 15. If the position H is within the allowable area, or if no person is recognized in step 16, the process is terminated. On the other hand, if the position H is outside the allowable region, the process proceeds to step 19. Note that the image 65 shown in FIG. 8 is an example in which the position H of the operator 57 is outside the allowable area 59.

  In step 19, the notification unit 15 performs notification using the display 19 and the speaker 21. Specifically, a warning image is displayed on the display 19 and a warning sound is emitted from the speaker 21.

3. Effects produced by the notification device 1 According to the second embodiment described in detail above, the following effects are obtained in addition to the effects (1A) to (1C) of the first embodiment described above.

(2A) Since the camera 17 does not have to be attached to the hoisting machine 29, the degree of freedom in the arrangement of the camera 17 is wide.
<Third Embodiment>
1. Differences from the First Embodiment Since the basic configuration of the third embodiment is the same as that of the first embodiment, the description of the common configurations will be omitted, and the differences will be mainly described. As shown in FIG. 9, the notification device 1 includes a human sensor 67. The human sensor 67 detects the presence of a person by irradiating infrared rays, ultrasonic waves, visible light or the like and receiving the reflected waves. Further, the human sensor 67 identifies the position of the detected person.

  The human sensor 67 is attached to the hoisting machine 29 as shown in FIG. The position of the human sensor 67 is in the vicinity of the camera 17 and the display device 38, and the human sensor 67 can detect a person (particularly, the operator 57) existing below the human sensor 67.

In the present embodiment, in step 5, the person recognition unit 11 acquires the position H of the person (particularly the operator 57) using the human sensor 67.
According to the third embodiment described above in detail, in addition to the effects (1A) to (1C) of the first embodiment described above, the following effects can be obtained.

(3A) Since the human recognition unit 11 acquires the position H of the person using the human sensor 67, the processing load can be reduced.
<Other embodiments>
As mentioned above, although embodiment of this invention was described, this invention can take a various form, without being limited to the said embodiment.

  (1) In the first and second embodiments, a person may be recognized by a method other than image recognition. For example, a person may hold a GPS transmitter, and the person may be recognized based on position information transmitted by the GPS transmitter.

  (2) In the first to third embodiments, the size, position, shape, etc. of the allowable region can be set as appropriate. For example, the extension line 61 and the vicinity thereof (see FIGS. 4 and 8) may also be included in the allowable region.

  (3) In the first and third embodiments, the camera 17 may be attached to other places. For example, the camera 17 may be attached to the support wire 31, attached to the hook 33, or attached to the object 55 suspended from the hook 33.

  (4) In the first to third embodiments, other forms of notification may be used. For example, a warning light may be turned on or blinked. Further, the moving device 3 may have a function of automatically stopping the movement of the hook 33 when the notification device 1 performs notification.

(5) In the second embodiment, the camera 17 may move following the hook 33.
(6) In the first to third embodiments, the notification device 1 may acquire the direction D by another method. For example, in the first embodiment, in the image of the camera 17 repeatedly acquired every predetermined time, the direction in which the same fixed object moves is recognized, and the direction opposite to that direction is set as the moving direction D. it can. Further, in the first and second embodiments, a GPS transmitter is attached to the hook 33 or the hoisting machine 29, and the movement direction D is determined from the change with time of the position information transmitted by the GPS transmitter. May be obtained. Further, information indicating the moving direction D may be obtained from the control unit 45. Moreover, in the said 2nd Embodiment, the movement direction D may be acquired from the movement direction D by recognizing the hook 33 or the articles | goods suspended by the image of the camera 17 acquired repeatedly every predetermined time.

  (7) In the first to third embodiments, the type of the moving device 3 can be selected as appropriate. The moving device 3 can be, for example, a hoist type overhead crane, a trolley type overhead crane, a swivel mantle type overhead crane, a slide-out type overhead crane, a swivel type overhead crane, an iron making overhead crane, or the like.

  (8) In the first to third embodiments, a moving body other than the hook 33 may be used. For example, a moving body that adsorbs an article by magnetic force, a moving body that adsorbs an article by a vacuum chuck, a moving body that sandwiches and fixes an article like a vise, and the like can be used.

  (9) In the said 3rd Embodiment, the installation position of the human sensitive sensor 67 is not limited to the position mentioned above, It can select suitably. For example, the human sensor 67 can be installed at a position away from the camera 17. Further, the position of the human sensor 67 may be constant with respect to the absolute coordinates (earth).

  (10) The operator 57 can wear the helmet 69 shown in FIGS. 11A and 11B. The helmet 69 includes an identification unit 71 that represents the front-rear direction of the operator 57. The identification unit 71 represents the front-rear direction of the operator 57 by the relative position in the helmet 69. In other words, the identification unit 71 is a position that is visible when the helmet 69 is viewed from above, and is in a front position. When the operator 57 wears the helmet 69, the identification unit 71 is positioned in front of the operator 57 (the face side).

Moreover, the identification part 71 represents the front-back direction of the operator 57 with the shape. That is, the identification unit 71 has a triangular shape, and the sharpest vertex 71A faces forward.
For example, the notification device 1 can perform the following processing. When the human recognition unit 11 of the notification device 1 recognizes the operator 57 from the image of the camera 17 (steps 5 and 16), the human recognition unit 11 also recognizes the position and shape of the identification unit 71 along with the overall shape of the helmet 69. Then, the human recognition unit 11 recognizes the orientation of the face of the operator 57 from the relative position of the identification unit 71 in the overall shape of the helmet 69. That is, of the entire shape of the helmet 69, the side where the identification unit 71 exists is recognized as the face direction of the operator 57. Further, the person recognition unit 11 recognizes the direction of the vertex 71A as the face direction of the operator 57.

  For example, the notification device 1 sets the face orientation of the operator 57 recognized as described above in advance even if the position H is within the allowable range (even if affirmative determination is made in Steps 7 and 18). If it is not within the correct orientation range (for example, within a range having a certain angular spread centered on the direction from the operator 57 toward the hook 33), the notifications in steps 8 and 19 can be performed.

  The identification unit 71 may be provided on the rear side of the helmet 69. Further, the vertex 71A may point behind the operator 57. Further, the identification unit 71 may have another shape (for example, a shape of an arrow pointing forward or backward, a character shape such as “front”, “rear”, etc.). Further, the identification unit 71 may be provided other than the helmet 69. For example, you may provide in the shoulder part of the work clothes which the operator 57 wears, the part of the back of the shoes which the operator 57 wears.

(11) All or part of the configurations of the embodiments may be appropriately selected and combined.
(12) In addition to the notification device 1 and the movement system described above, a system including the movement system as a constituent element (for example, a crane work system including the movement system and the display 19, the speaker 21, and the camera 17), the notification device 1, a program for causing a computer to function, a program for causing a computer to function as the control unit 45 of the mobile device 3, a medium storing these programs, a method of using the notification device 1, a method of using the mobile device 3, and a mobile system The present invention can also be realized in various forms such as a method of using a crane, a method of using a crane work system, and a method of moving an article.

DESCRIPTION OF SYMBOLS 1 ... Notification apparatus, 3 ... Moving apparatus, 5 ... Image acquisition unit, 7 ... Movement direction acquisition unit, 9 ... Permissible area setting unit, 11 ... Human recognition unit, 13 ... Judgment unit, 15 ... Notification unit, 17 ... Camera, DESCRIPTION OF SYMBOLS 19 ... Indicator, 19A ... Screen, 21 ... Speaker, 23A, 23B ... Running rail, 25A, 25B ... Saddle, 27 ... Crane girder, 29 ... Hoisting machine, 31 ... Support wire, 33 ... Hook, 35 ... Controller, 37 ... Communication cable, 39 ... X-axis motor, 41 ... Y-axis motor, 43 ... Z-axis motor, 45 ... Control unit, 47 ... X-axis inverter, 49 ... Y-axis inverter, 51 ... Z-axis inverter, 53 , 65 ... Image, 55 ... Object, 57 ... Operator, 59 ... Allowable area, 61 ... Extension line, 62 ... GPS transmitter, 63 ... Position acquisition unit, 67 ... Human sensor, 6 ... helmet, 71 ... identification unit

Claims (5)

A notification device used in a moving device capable of moving a moving body at least in a horizontal plane,
An image acquisition unit that acquires an image of the periphery of the moving body from a camera that moves with the moving body at least in a horizontal plane;
A moving direction acquisition unit for acquiring a moving direction D in a horizontal plane of the moving body;
An allowable area setting unit for setting an allowable area in the image based on a predetermined reference according to the moving direction D;
A human recognition unit that recognizes people,
A determination unit for determining whether the position H of the person recognized by the person recognition unit is within the allowable area;
A notification unit that performs notification on condition that the determination unit determines that the position H is not within the allowable range;
A notification device comprising: A notification device used in a moving device capable of moving a moving body at least in a horizontal plane,
An image acquisition unit for acquiring an image obtained by photographing the periphery of the moving body;
A moving direction acquisition unit for acquiring a moving direction D in a horizontal plane of the moving body;
A position acquisition unit for acquiring a position P in the horizontal plane of the moving body;
An allowable area setting unit for setting an allowable area in the image based on a predetermined reference according to the moving direction D and the position P;
A human recognition unit that recognizes people,
A determination unit for determining whether the position H of the person recognized by the person recognition unit is within the allowable area;
A notification unit that performs notification on condition that the determination unit determines that the position H is not within the allowable range;
A notification device comprising: The mobile device includes an operation unit that receives an operation input for operating the mobile device,
The notification apparatus according to claim 1, wherein the movement direction acquisition unit acquires the movement direction D from the operation unit.   The notification device according to claim 1, wherein the person recognition unit recognizes a person by the image or a human sensor.   A moving system comprising: the notification device according to claim 1; and the moving device.