JP2021188271A - Safety management system and safety management method - Google Patents

Abstract

To execute control so as to prevent a plurality of construction machines or operators from touching each other in a building/civil engineering site.SOLUTION: A safety management system comprises: a highly accurate measuring instrument that measures position-measuring information of each of construction machines or operators in a building/civil engineering site; an acquisition unit that acquires the position-measuring information measured by the highly accurate measuring instrument; a region setting unit that sets prediction regions predicted to be future positions of the construction machines or the operators on the basis of the position-measuring information and position probability information indicating the presence probability of the construction machines or the operators in the building/civil engineering site during traveling of the construction machines; and a control unit that determines whether or not there is overlapping of the prediction regions, and executes control so as to prevent the construction machines or the operators determined to be overlapped from touching each other on the basis of priority given to the construction machines or the operators when it is determined that there is overlapping.SELECTED DRAWING: Figure 1

Description

The present invention relates to a safety management system and a safety management method.

In recent years, unmanned construction machines such as vehicles and construction machines are being introduced at construction and civil engineering sites in order to improve productivity and respond to labor shortages. Along with this, there is an increasing need for a safety management system that prevents contact between unmanned construction equipment, manned construction equipment, and workers.
In the prior art, as an example of a safety management system, a boundary monitoring means using a laser detector and a means for preventing an unmanned construction machine and a manned construction machine from coexisting have been proposed (for example, Patent Document 1 or Patent Document 2).

Patent Document 1 describes a method of monitoring the intrusion of a moving work vehicle into an intrusion prohibited area boundary by a laser detector and controlling the vehicle so as not to enter the intrusion prohibited area. Further, Patent Document 2 describes a traffic control system that avoids interference between a manned construction machine and an unmanned construction machine in the field.

Japanese Unexamined Patent Publication No. 2018-193713 Japanese Unexamined Patent Publication No. 2016-1539887

By the way, since construction machinery and workers move in various directions at various speeds, it is necessary to individually set an area for monitoring contact. However, in Patent Document 1, since the laser detector is fixedly installed near the boundary of the no-entry area, it can monitor only the vicinity of the boundary. Further, in Patent Document 2, the monitoring area is limited to a part of the site. As described above, the conventional technique as described above has a problem that only a limited area can be monitored.

The present invention has been made in view of such circumstances, and an object thereof is to control so that they do not come into contact with each other based on a monitoring area set according to the positions and moving speeds of a construction machine and a worker. It is to provide a safety management system and a safety management method in the construction / civil engineering site that can be used.

In order to solve the above-mentioned problems, one aspect of the present invention is high-precision measurement for measuring position information indicating the position of a measurement target in a construction / civil engineering site, and positioning information including a movement direction, a movement speed, and a measurement time. The first high-precision measuring machine provided in the construction machine which is the first measurement target, and the second high-precision measuring machine carried by the worker who is the second measurement target. And, the acquisition unit that acquires the positioning information measured by the high-precision measuring machine, the positioning information when the construction machine is running, and the presence of the construction machine and the worker in the construction / civil engineering site. There is an overlap between the area setting unit that sets the predicted area predicted as the future position of the construction machine and the worker based on the position probability information indicating the probability, and the predicted area when the construction machine is running. When it is determined whether or not there is an overlap, the construction machine and the worker who are determined to overlap do not come into contact with each other based on the priority given to the construction machine and the worker. It is a safety management system equipped with a control unit that controls such as.

Further, one aspect of the present invention is a high-precision measuring machine that measures positioning information including position information indicating a position of a measurement target in a construction / civil engineering site, a moving direction, a moving speed, and a measurement time. The first high-precision measuring machine provided in the construction machine which is the measurement target, the second high-precision measuring machine carried by the worker who is the second measurement target, and the high-precision measuring machine. The acquisition unit that acquires the positioning information measured by the above, the positioning information when the construction machine is running, and the position probability information indicating the existence probability of the construction machine and the worker in the construction / civil engineering site. It is a safety management method of a safety management system including an area setting unit for setting a prediction area predicted as a future position of the construction machine and the worker based on the above, and the control unit is a running of the construction machine. Occasionally, it is determined whether or not the predicted areas overlap each other, and when it is determined that there is an overlap, the said that it is determined to overlap based on the priority given to the construction machine and the worker. This is a safety management method that controls the construction machine and the workers so that they do not come into contact with each other.

According to the present invention, it is possible to control the construction machine and the worker so that they do not come into contact with each other based on the monitoring area set according to the position and the moving speed of the worker.

It is a figure which shows the outline of the structure of the safety management system 1 which concerns on embodiment of this invention. It is a figure which shows the outline of the margin area and the danger area of the construction machine 10 which does not have a turning function of a vehicle body. It is a figure which shows the outline of the margin area and the danger area of the construction machine 10 which has a turning function of a vehicle body. It is a figure which showed an example of the situation which the control unit 35 performs the overlap determination of the construction machine 10a and the construction machine 10b. It is a figure which shows an example of the probability information of the traveling position of a construction machine 10. It is a figure which shows an example of the probability information of the future position of a construction machine 10. It is a figure which showed typically how to select the 1st measurement time T1 and the 2nd measurement time T2. It is a figure which showed the relative position of the 2nd position with respect to the 1st position calculated from the 1st measurement time T1 and the 2nd measurement time T2 in FIG. 7 on the relative coordinates (RX, RY). It is a flowchart which shows an example of the control process of the control device 30 which concerns on this embodiment when the construction machine 10 is running. It is a flowchart which shows an example of the control process of the control device 30 which concerns on this embodiment at the time of work of a construction machine 10.

Hereinafter, a safety management system according to an embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a diagram showing an outline of the configuration of the safety management system 1 according to the embodiment of the present invention.
As shown in FIG. 1, the safety management system 1 includes a plurality of construction machines (first measurement target) (10a, 10b, 10c) and a plurality of workers (second measurement target) (11d, 11e). Is a safety management system for construction and civil engineering sites where is located together, with multiple GNSS (Global Navigation Satellite System) compasses (examples of high-precision measuring machines) (20a, 20b, 20c, 20d, 20e) and a control device 30. To prepare for.

The plurality of construction machines (10a, 10b, 10c) are manned construction machines or unmanned construction machines, and include, for example, types such as automobiles, cranes, excavators, road rollers, bulldozers, dump trucks, and backhoes. In the present embodiment, when an arbitrary construction machine included in the safety management system 1 is shown, or when there is no particular distinction, the construction machine 10 will be described.

A plurality of workers (11d, 11e) move around the site and perform various tasks. In the present embodiment, when an arbitrary worker included in the safety management system 1 is shown, or when there is no particular distinction, the worker 11 will be described.

Identification information for identifying each of the construction machine 10 and the worker 11 is given. In the present embodiment, as a rule for assigning identification information, the identification information of the construction machine 10 includes "K" in the acronym, and the identification information of the worker 11 includes "W" in the acronym. For example, as identification information, K0001 is given to the construction machine 10a, K0002 is given to the construction machine 10b, K0003 is given to the construction machine 10c, W0001 is given to the worker 11d, and W0002 is given to the worker 11e. As will be described in detail later, the control unit 35 distinguishes between the construction machine 10 and the worker 11 based on the identification information.
Further, the construction machine 10 is provided with a receiver, and the worker 11 carries the receiver. This receiver has a function of receiving various instructions (warning instruction or stop instruction described later) transmitted from the control device 30 (control unit 35 described later), a display panel, a speaker, and other output devices. When the receiver receives the warning instruction or the stop instruction from the control device 30, the receiver displays a message corresponding to the warning instruction or the stop instruction on the display panel or outputs the message from the speaker.

The plurality of GNSS compasses (20a, 20b, 20c, 20d, 20e) have two GNSS antennas, and provide position information indicating the positions of the construction machine 10 and the worker 11, the moving direction, the moving speed, and the measurement time. Measure the positioning information included. The GNSS compass 20a to 20c (an example of the first high-precision measuring machine) is provided on the roof of the cabin or the like of the construction machine 10a to 10c (an example of the first measurement target), and the GNSS compass 20d to 20e (the second example) is provided. An example of a high-precision measuring machine) is provided on a helmet or the like of workers 11d to 11e (an example of a second measurement target). In the present embodiment, when an arbitrary GNSS compass included in the safety management system 1 is shown, or when it is not particularly distinguished, it will be described as the GNSS compass 20.
Further, the GNSS compass 20 adds the identification information of the construction machine 10 or the worker 11 in which each is installed to the positioning information, and transmits the identification information to the control device 30 (acquisition unit 32 described later).

The control device 30 includes, for example, a CPU (Central Processing Unit), and as will be described in detail later, controls the construction machine 10 and the worker 11 so as not to come into contact with each other in the construction / civil engineering site.

Next, the details of the configuration of the control device 30 will be described.
The control device 30 includes an input unit 31, an acquisition unit 32, a storage unit 33, an area setting unit 34, a control unit 35, a probability information calculation unit 36, and a superposition unit 37.

The input unit 31 receives various information input through the operation of an input device such as a keyboard or a mouse by the worker 11 and stores it in the storage unit 33 (described later, the construction machine information storage unit 332). Here, the information received by the input unit 31 includes the construction machine information including the total length / width of the construction machine 10, the construction machine type, and the identification information, and the acquisition frequency (for example, 1 Hz) of the positioning information.

The acquisition unit 32 acquires the positioning information and the identification information of the construction machine 10 and the worker 11 measured by the GNSS compass 20 according to the acquisition frequency stored in the storage unit 33, and the storage unit 33 (positioning information described later). It is stored in the storage unit 331). For example, when the acquisition frequency of the positioning information is 1 Hz, the acquisition unit 32 acquires the positioning information from the GNSS compass 20 once per second.

The storage unit 33 stores various data used by the control device 30.
The storage unit 33 may be, for example, an HDD (Hard Disk Drive), a flash memory, an EEPROM (Electrically Erasable Programmary Read Only Memory), a RAM (Random Access Read / Ready Memory), a RAM (Random Access Read / Ready Memory, etc.), a ROM (Random Access Read / Write Memory, etc.) , Consists of any combination of these storage media. Further, as the storage unit 33, for example, a non-volatile memory can be used.

Next, the details of the configuration of the storage unit 33 will be described.
The storage unit 33 includes a positioning information storage unit 331, a construction machine information storage unit 332, a priority storage unit 333, a probability information storage unit 334, and a map information storage unit 335.

The positioning information storage unit 331 stores the positioning information of the construction machine 10 and the worker 11 acquired by the acquisition unit 32 in association with the identification information.
The construction machine information storage unit 332 stores the construction machine information of the construction machine 10 received by the input unit 31. For example, the construction machine information storage unit 332 stores the total length / width of the construction machine 10, the construction machine type, and the identification information in association with each other.

The priority storage unit 333 stores the priority assigned to the construction machine 10 and the worker 11.
In the present embodiment, the priority is set to be the lowest for the worker 11 and higher for the construction machine having a larger work loss due to the stoppage of running among the different types of construction machines 10. For example, the priority is set to be higher in the order of worker, automobile, crane, excavator car, road roller, bulldozer, and dump truck. Further, among the construction machines 10 of the same type, the priority is arbitrarily set according to the work situation and the like.

The probability information storage unit 334 stores the position probability information indicating the existence probability of the construction machine 10 and the worker 11 in the construction / civil engineering site in association with the identification information. The position probability information includes the probability information of the traveling position indicating the existence probability of the traveling position (traveling path) of the construction machine 10 and the worker 11, and the future indicating the existence probability of the future position with respect to the current position of the construction machine 10 and the worker 11. It has position probability information.
The details of the calculation method of the probability information of the traveling position and the probability information of the future position will be described later.

The map information storage unit 335 stores map information in the construction / civil engineering site divided into grids at intervals of several centimeters. As will be described in detail later, the map information can be superposed with the position information of the construction machine 10 and the worker 11 and various areas set by the area setting unit 34.

The area setting unit 34 sets a region having a size of the total length × the total width as the construction machine area of the construction machine 10 based on the construction machine information of the construction machine information storage unit 332.
Further, the area setting unit 34 sets the margin area and the dangerous area in the construction machine 10 and the worker 11 based on the moving speed included in the positioning information and the acquisition frequency of the positioning information when the construction machine 10 is running. .. The margin area and the danger area change according to the moving speed or the acquisition frequency of positioning information. For example, the higher the moving speed or the lower the frequency of acquiring positioning information, the larger the margin area and the dangerous area.

Further, the area setting unit 34 is predicted as the future position of the construction machine 10 and the worker 11 by combining the probability information of the traveling position of the probability information storage unit 334 and the probability information of the future position when the construction machine 10 is running. Set the prediction area. Here, the prediction area represents an area where the construction machine 10 and the worker 11 can move in about a few seconds to one minute.

Further, the area setting unit 34 sets a work area in which the construction machine 10 works and a restricted area in which the construction machine 10 is not permitted to enter during the work of the construction machine 10.

Here, the details of the margin area and the danger area will be described with reference to FIGS. 2 and 3.
FIG. 2 is a diagram showing an outline of a margin area and a dangerous area of the construction machine 10 having no turning function of the vehicle body. FIG. 3 is a diagram showing an outline of a margin area and a danger area of the construction machine 10 having a turning function of the vehicle body.

As shown in FIGS. 2 and 3, the margin area includes the construction machine area, the danger area includes the margin area, and the braking distance at which the construction machine 10 can safely stop is included.
In the case of a construction machine 10 (for example, an automobile, a bulldozer, a dump truck) that does not have a turning function of a vehicle body, a construction machine area 41, a margin area 42, and a danger area 43 are set as shown in FIG. In this case, the sizes of the margin area 42 and the danger area 43 are set so that the front side in the traveling direction is larger than the rear side.
On the other hand, in the case of a construction machine 10 (for example, a backhoe) having a turning function of a vehicle body, a construction machine area 41, a margin area 42, and a danger area 43 are set as shown in FIG. In this case, the size of the margin region 42 is the same in the front and the rear in the traveling direction, and the size of the danger region 43 is set so that the front in the traveling direction is larger than the rear.

Returning to FIG. 1 again, the configuration of the control device 30 will be described.

The control unit 35 determines whether or not the prediction areas overlap each other when the construction machine 10 is running, and if it determines that there is an overlap, the control unit 35 determines that they overlap based on the priority of the priority storage unit 333. The construction machine 10 and the worker 11 are controlled so as not to come into contact with each other.
Specifically, the control unit 35 refers to another construction machine 10 that may come into contact with the construction machine 10 having the highest priority among the construction machines 10 in which the prediction regions overlap each other. Alternatively, a warning instruction for warning the existence of the worker 11 is transmitted, and a stop instruction for stopping the running is transmitted to the remaining low-priority construction machine 10 and the worker 11. The control unit 35 distinguishes between the construction machine 10 and the worker 11 based on the identification information. For example, in the present embodiment, the control unit 35 determines that the construction machine 10 is the initial letter of the identification information "K", and determines that the worker 11 is the worker 11 if the initial letter of the identification information is "W".

Here, a situation in which the control unit 35 performs the overlap determination will be described with reference to FIG.
FIG. 4 is a diagram showing an example of a situation in which the control unit 35 determines the overlap between the construction machine 10a and the construction machine 10b.
The area setting unit 34 sets the construction machine area 41a, the margin area 42a, the danger area 43a, and the prediction area 44a for the construction machine 10a, and sets the construction machine area 41b, the margin area 42b, and the danger for the construction machine 10b. The area 43b and the prediction area 44b are set. As shown in FIG. 4, when the control unit 35 has an area OA (Overlap Area) where the prediction area 44a and the prediction area 44b overlap, the construction machine 10a and the construction machine 10b are likely to come into contact with each other at a future time. judge. Then, for example, when the priority of the construction machine 10a is higher than the priority of the construction machine 10b, the control unit 35 transmits a warning instruction to warn the contact with the construction machine 10b to the construction machine 10a, and the construction machine 10b A stop instruction to stop traveling is transmitted to the construction machine 10b. In this case, the passenger of the construction machine 10a can drive while paying attention to the front by the warning announcement flowing from the speaker, and the passenger of the construction machine 10b can grasp the content of the stop announcement flowing from the speaker. , It is possible to make a judgment such as stopping the construction machine 10b in a safe place where it does not come into contact with the construction machine 10a, and perform an operation according to the judgment result. This makes it possible to prevent the construction machine 10a and the construction machine 10b from coming into contact with each other.
In addition, there are many places where there is a difference in height in the site, and although the OA appear to overlap on a plane, the heights are actually different, so that the construction machine 10 may not come into contact with each other. Based on the height information included in the position information of the construction machine 10, the control unit 35 determines that the possibility of contact is low for the construction machines 10 having different height levels, but even in that case, the control unit 35 gives a warning instruction regarding the approach. It is transmitted to the construction machine 10.

Further, the control unit 35 determines whether or not there is overlap between the work areas during the work of the construction machine 10, and if it is determined that there is overlap, the construction machines 10 determined to have overlap are in contact with each other. Control not to.
Specifically, the control unit 35 sends a warning instruction to warn of the approach when the construction machine 10 approaches the boundary of the work area, and when the construction machine 10 goes out of the work area, the building is concerned. Send a stop instruction to stop the running of the aircraft.

Further, the control unit 35 determines whether or not there is an overlap between the work area and the restricted area during the work of the construction machine 10, and if it is determined that there is an overlap, the construction machine 10 invades the restricted area. Control not to.
Specifically, when the construction machine 10 approaches the boundary of the exclusion zone, the control unit 35 transmits a warning instruction to warn of the approach.

The probability information calculation unit 36 calculates the probability information of the traveling position of the construction machine 10 and the worker 11 and the probability information of the future position based on the position information and the measurement time included in the positioning information, and the probability information storage unit 334. To memorize.
The probability information calculation unit 36 calculates the probability information of the traveling position by weighting according to the measurement time so that the weight becomes larger as the measurement time is newer. Further, the probability information calculation unit 36 obtains the relative position of the future position with respect to the current position, and calculates the probability information of the future position as the probability that the construction machine 10 and the worker 11 exist at the relative position at the future time.

Here, with reference to FIGS. 5 and 6, the probability information of the traveling position and the probability information of the future position will be described. FIG. 5 is a diagram showing an example of probability information of the traveling position of the construction machine 10. FIG. 6 is a diagram showing an example of probability information of the future position of the construction machine 10.

In FIG. 5, the coordinates (AX, AY) of each grid match the coordinates of the map information of the map information storage unit 335. As shown in FIG. 5, the probability information of the traveling position becomes larger as the number of times the construction machine 10 passes and the measurement time is newer.
The probability information calculation unit 36 counts the number of times the construction machine 10 has passed for each grid based on the position information included in the positioning information, and further weights the construction machine 10 so that the newer the measurement time, the heavier the weight. Calculate position probability information.

In FIG. 6, the coordinates (RX, RY) of each grid represent the relative coordinates with the current position C0 of the construction machine 10 as the origin, and the probability information of the future position is the existence probability at the relative position of the future position viewed from the current position. Represents.

The probability information calculation unit 36 calculates the probability information of the future position by the following procedure.
First, the probability information calculation unit 36 creates a large number of combinations of the first measurement time and the second measurement time X seconds after the first measurement time.
Here, the first measurement time T1 and the second measurement time T2 will be described with reference to FIG. 7. FIG. 7 is a diagram schematically showing how to select the first measurement time T1 and the second measurement time T2.
In FIG. 7, T1 <T1 ′ <T1 ″ <... represents the first measurement time, and T2 <T2 ′ <T2 ″ ＜… represents the second measurement time. Further, TR (Time Rag) represents a time difference (for example, X seconds) between the first measurement time T1 and the second measurement time T2.

Next, the probability information calculation unit 36 uses the first position, which is the position of the first measurement time, and the second position, which is the position of the second measurement time X seconds after the first measurement time, to make a second position. The relative position after X seconds with respect to the first position of the position is obtained.
FIG. 8 is a diagram showing the relative positions of the second positions with respect to the first position calculated from the first measurement time T1 and the second measurement time T2 in FIG. 7 on the relative coordinates (RX, RY). The first position corresponds to the origin C0 of the relative coordinates (RX, RY). The relative position P1 is a relative position calculated from the first position at the first measurement time T1 and the second position at the second measurement time T2. The relative position P2 is a relative position calculated from the first position at the first measurement time T1'and the second position at the second measurement time T2'. The relative position P3 is a relative position calculated from the first position of the first measurement time T1 ″ and the second position of the second measurement time T2 ″.
The probability information calculation unit 36 obtains a relative position for a large number of combinations of the first measurement time and the second measurement time, counts the number of times the construction machine 10 passes through the relative position, and totals the construction machine 10. Calculates the probability information of the future position that exists in the relative position after X seconds.

The superimposing unit 37 superimposes the position information included in the positioning information on the map information of the map information storage unit 335 each time the acquisition unit 32 acquires the positioning information of the construction machine 10 and the worker 11, and the superimposing unit 37 of the building machine 10 The information is displayed on a display device such as a monitor or an information processing terminal such as a tablet owned by the worker 11. This makes it possible to grasp the latest location information in the construction / civil engineering site.
Further, the superimposing unit 37 superimposes the construction machine area 41, the margin area 42, the danger area 43, and the prediction area 44 set by the area setting unit 34 on the map information, respectively, and superimposes the above-mentioned display device, information terminal, or the like. To display.

(Control processing during driving)
Next, with reference to FIG. 9, the control process of the control device 30 when the construction machine 10 is running will be described. FIG. 9 is a flowchart showing an example of control processing of the control device 30 according to the present embodiment when the construction machine 10 is running.

The input unit 31 receives the construction machine information including the total length / width of the construction machine 10 and the construction machine type, and the acquisition frequency of the positioning information, and stores it in the storage unit 33 (step S101).

The area setting unit 34 initially sets the construction machine area 41, the margin area 42, and the danger area 43 based on the construction machine information stored in the storage unit 33 and the acquisition frequency of the positioning information (step S102). In the initial setting, the margin area 42 and the danger area 43 are set, for example, the moving speed is set to 20 km / h, which is the speed limit in the site.

The acquisition unit 32 acquires the positioning information of the construction machine 10 and the worker 11 from the GNSS compass 20 according to the acquisition frequency, and stores the positioning information in the positioning information storage unit 331 (step S103).

The area setting unit 34 sets a margin area 42, a danger area 43, and a prediction area 44 for each of the construction machine 10 and the worker 11 (step S104).
Specifically, the area setting unit 34 is a construction machine indicated by the identification information associated with the positioning information based on the movement speed included in the positioning information of the positioning information storage unit 331 and the acquisition frequency of the positioning information. The margin area 42 and the danger area 43 of the 10 and the worker 11 are set. Further, the area setting unit 34 reads out the probability information of the traveling position and the probability information of the future position from the probability information storage unit 334 for the construction machine 10 and the worker 11 indicated by the identification information, and combines these two probability information. The prediction area 44 is set.

The control unit 35 determines whether or not the prediction areas 44 set by the area setting unit 34 overlap each other (step S105). When the control unit 35 determines that there is no overlap (step S105-NO), the control unit 35 returns the process to step S103, and repeats the subsequent processes.

On the other hand, when it is determined that there is an overlap (step S105-YES), the control unit 35 transmits a stop instruction and a warning instruction so that the construction machine 10 and the worker 11 determined to overlap do not come into contact with each other (step). S106). Specifically, the control unit 35 gives a warning instruction to the construction machine 10 having the highest priority to warn the existence of another construction machine 10 or a worker 11 who may come into contact with the construction machine. It is transmitted, and a stop instruction to stop traveling is transmitted to the remaining low-priority construction machine 10 and worker 11.

After step S106, the acquisition unit 32 newly acquires the positioning information of the construction machine 10 and the worker 11 from the GNSS compass 20, and stores it in the positioning information storage unit 331 (step S107).

Similar to step S104, the area setting unit 34 sets the margin area 42 and the danger area 43, respectively, based on the positioning information acquired in step S107 and the acquisition frequency thereof, and the probability information of the traveling position and the probability information of the future position. Are combined to set the prediction region 44 (step S108).

Similar to step S105, the control unit 35 determines whether or not the prediction areas 44 set by the area setting unit 34 overlap each other (step S109). When the control unit 35 determines that there is an overlap (step S109-YES), the control unit 35 returns the process to step S107 and repeats the subsequent processes.

On the other hand, when it is determined that there is no overlap (step S109-NO), the control unit 35 cancels the stop instruction and the warning instruction transmitted in step S108 (step S110). After step S110, the control device 30 returns the process to step S103, and repeats the subsequent processes.

(Control processing during work)
Next, with reference to FIG. 10, the control process of the control device 30 during the work of the construction machine 10 will be described. FIG. 10 is a flowchart showing an example of control processing of the control device 30 according to the present embodiment during the work of the construction machine 10.

The input unit 31 receives the construction machine information indicating the total length and width of the construction machine 10 and the acquisition frequency of the positioning information and stores them in the storage unit 33 (step S201).

The acquisition unit 32 acquires the positioning information of the construction machine 10 and the worker 11 from the GNSS compass 20, and stores it in the positioning information storage unit 331 as the positioning information at the current time (step S202).

The area setting unit 34 sets the work area and the exclusion zone of the construction machine 10 based on the positioning information and the acquisition frequency of the positioning information (step S203).

The control unit 35 determines whether or not the work areas set by the area setting unit 34 overlap each other, or whether or not the work area and the safety area overlap each other (step S204). When the control unit 35 determines that there is no overlap (step S204-NO), the control unit 35 returns the process to step S104, and repeats the subsequent processes.

On the other hand, when the control unit 35 determines that the work areas overlap each other or the work area and the exclusion zone (step S204-YES), the construction machine 10 and the worker 11 determined to overlap each other. A stop instruction and a warning instruction are transmitted so as not to touch each other (step S205).
Specifically, the control unit 35 sends a warning instruction to warn of the approach when the construction machine 10 approaches the boundary of the work area, and when the construction machine 10 goes out of the work area, the building is concerned. Send a stop instruction to stop the running of the aircraft. Further, when the construction machine 10 approaches the boundary of the exclusion zone, the control unit 35 transmits a warning instruction to warn of the approach.

After step S205, the acquisition unit 32 newly acquires the positioning information of the construction machine 10 and the worker 11 from the GNSS compass 20, and stores it in the positioning information storage unit 331 (step S206).

The area setting unit 34 sets the work area and the exclusion zone of the construction machine 10 in the same manner as in step S203 (step S207).

Similar to step S204, the control unit 35 determines whether or not the work areas set by the area setting unit 34 overlap each other, or whether or not the work area and the safety area overlap each other (step). S208).
When the control unit 35 determines that there is an overlap (step S208-YES), the control unit 35 returns the process to step S206, and repeats the subsequent processes. On the other hand, when the control unit 35 determines that there is no overlap (step S208-NO), the process returns to step S202 and the subsequent processes are repeated.

As described above, the safety management system 1 according to the present embodiment includes a GNSS compass 20, an acquisition unit 32, an area setting unit 34, and a control unit 35. The GNSS compass 20 measures positioning information including the position information of the construction machine 10 and the worker 11 in the construction / civil engineering site, the moving direction, the moving speed, and the measurement time. The acquisition unit 32 acquires the positioning information measured by the GNSS compass 20. When the construction machine 10 is running, the area setting unit 34 sets the construction machine 10 and the worker based on the positioning information and the position probability information indicating the existence probability of the construction machine 10 and the worker 11 in the construction / civil engineering site. A prediction area predicted as the future position of 11 is set. The control unit 35 determines whether or not there is an overlap between the predicted areas when the construction machine 10 is running, and if it is determined that there is an overlap, the priority given to the construction machine 10 and the worker 11 is set. Based on this, the construction machine 10 and the worker 11 determined to overlap are controlled so as not to come into contact with each other.

As a result, the safety management system 1 according to the present embodiment sets the measurement area based on the positions and moving speeds of the construction machine 10 and the worker 11, determines the overlap between the prediction areas, and determines the overlap between the prediction areas based on the priority. It can be controlled so that they do not touch each other.

Further, the safety management method according to the present embodiment includes a GNSS compass 20 for measuring the position information including the position information, the movement direction, the movement speed, and the measurement time of the construction machine 10 and the worker 11 in the construction / civil engineering site, and the GNSS. The acquisition unit 32 that acquires the positioning information measured by the compass 20, the positioning information when the construction machine 10 is running, and the position probability information indicating the existence probability of the construction machine 10 and the worker 11 in the construction / civil engineering site. Based on the above, it is a safety management method of the safety management system 1 including the area setting unit 34 for setting the predicted area predicted as the future position of the construction machine 10 and the worker 11, and the control unit 35 is the construction machine. It is determined whether or not there is overlap between the predicted areas during the running of 10, and if it is determined that there is overlap, it is determined that they overlap based on the priority given to the construction machine 10 and the worker 11. The construction machine 10 and the worker 11 are controlled so as not to come into contact with each other.
As a result, the safety management method according to the present embodiment has the same effect as the safety management system 1 described above, and can be controlled so that the construction machine 10 and the worker 11 in the construction / civil engineering site do not come into contact with each other. ..

The priority according to the present embodiment may be set according to the work situation. For example, the priority of a dump truck with a load on the loading platform can be set to be higher than the priority of an empty dump truck or another type of construction machine 10. In this case, a warning instruction is sent to the high-priority dump truck, and a stop instruction is sent to the low-priority dump truck. As a result, even in a situation where a plurality of construction machines 10 pass each other on the same travel path, it is possible to control the construction machines 10 having an empty loading platform so as to stop at a standby place.

Further, in the present embodiment, an example in which the high-precision measuring machine is the GNSS compass 20 has been described, but the present invention is not limited to this, and for example, a geomagnetic sensor or an inertial measurement unit may be used. As a result, the positions and orientations of the construction machine 10 and the worker 11 can be measured even in a place where GNSS measurement cannot be performed.

Further, in the present embodiment, an example in which the GNSS compass 20 is provided on the helmet of the worker 11 has been described, but the present invention is not limited to this, and for example, the GNSS compass 20 is provided on the clothes or luggage of the worker 11. The GNSS compass 20 may be held directly by the worker 11. As a result, even when the worker 11 is not wearing the helmet, the positioning information of the worker 11 can be measured by using the GNSS compass 20.

Further, in the present embodiment, the control unit 35 distinguishes between the construction machine 10 and the worker 11 based on the rule for assigning the identification information, but the present invention is not limited to this, and for example, the attribute table is referred to. It may be made to distinguish. In this case, the storage unit 33 includes an attribute storage unit 336, and the attribute storage unit 336 stores the identification information of the construction machine 10 and the worker 11 in association with each other as an attribute table. For example, the attribute storage unit 336 stores the attributes of the identification information ID1, ID2, and ID3 as "construction equipment" and the identification information of the attributes ID4 and ID5 as "workers". As a result, even if the construction machine 10 and the worker 11 cannot be distinguished from each other from the rules for assigning the identification information, the two can be distinguished by referring to the attribute table.

The control process in the above-described embodiment may be realized by a computer. In that case, a program for realizing this function may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read by a computer system and executed. The term "computer system" as used herein includes hardware such as an OS and peripheral devices. Further, the "computer-readable recording medium" refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, or a CD-ROM, and a storage device such as a hard disk built in a computer system. Further, a "computer-readable recording medium" is a communication line for transmitting a program via a network such as the Internet or a communication line such as a telephone line, and dynamically holds the program for a short period of time. It may also include a program that holds a program for a certain period of time, such as a volatile memory inside a computer system that is a server or a client in that case. Further, the above program may be for realizing a part of the above-mentioned functions, and may be further realized for realizing the above-mentioned functions in combination with a program already recorded in the computer system. It may be realized by using a programmable logic device such as FPGA (Field Programmable Gate Array).

Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and includes designs and the like within a range that does not deviate from the gist of the present invention.

1 ... Safety management system, 10, 10a, 10b, 10c ... Construction machinery, 11, 11d, 11e ... Workers, 20, 20a, 20b, 20c, 20d, 20e ... GNSS compass, 32 ... Acquisition unit, 33 ... Storage unit , 34 ... Area setting unit, 35 ... Control unit, 36 ... Probability information calculation unit, 37 ... Superimposition unit, 42, 42a, 42b ... Margin area, 43, 43a, 43b ... Danger area, 44, 44a, 44b ... Prediction area

Claims (10)

It is a high-precision measuring machine that measures positioning information including position information indicating the position of the measurement target in the construction / civil engineering site, movement direction, movement speed, and measurement time, and is the first construction machine to be measured. The first high-precision measuring machine provided, and the second high-precision measuring machine carried by the worker who is the measurement target,
An acquisition unit that acquires the positioning information measured by the high-precision measuring machine, and
The future position of the construction machine and the worker based on the positioning information and the position probability information indicating the existence probability of the construction machine and the worker in the construction / civil engineering site when the construction machine is running. The area setting unit that sets the predicted area predicted as
When the construction machine is running, it is determined whether or not the predicted areas overlap each other, and if it is determined that there is an overlap, the prediction areas overlap based on the priority given to the construction machine and the worker. A control unit that controls the construction machine and the worker to prevent them from coming into contact with each other.
Safety management system equipped with. When the control unit determines that the predicted regions overlap with each other, the control unit contacts the construction machine having the highest priority among the construction machines determined to overlap. Send a warning instruction to warn of the existence of the construction machine or the worker who may be able to do so, and send a stop instruction to stop the running to the remaining low priority construction machine or the worker. To do,
The safety management system according to claim 1. The priority is set higher among the construction machines of different types as the construction machine has a larger work loss due to the stoppage of travel, and is set according to the work situation among the construction machines of the same type. ,
The safety management system according to claim 1 or 2. The area setting unit is
Based on the construction machine information indicating the total length and width of the construction machine, the acquisition frequency of the positioning information, and the movement speed included in the positioning information, a margin area and the margin area are included, and the building is built. Setting a dangerous area including the braking distance where the aircraft can stop safely,
The safety management system according to any one of claims 1 to 3, wherein the safety management system is characterized. The high-precision measuring machine is a GNSS compass having two GNSS (Global Navigation Satellite System) antennas, a geomagnetic sensor, or an inertial measurement unit.
The safety management system according to any one of claims 1 to 4, wherein the safety management system is characterized. Every time the acquisition unit acquires the positioning information of the construction machine and the worker, the position information included in the positioning information is superimposed on the map information in the building / civil engineering site and displayed on the display device. To have a superimposing part to make
The safety management system according to any one of claims 1 to 5, wherein the safety management system is characterized. The position probability information is
Probability information of the traveling position indicating the existence probability of the traveling position of the construction machine and the worker, and
It has the probability information of the future position indicating the existence probability of the future position with respect to the current position of the construction machine and the worker.
The area setting unit is
Setting the prediction area by combining the probability information of the traveling position and the probability information of the future position.
The safety management system according to any one of claims 4 to 6, wherein the safety management system is characterized. The probability information calculation unit includes a probability information calculation unit that calculates the probability information of the traveling position and the probability information of the future position based on the position information and the measurement time included in the positioning information.
The probability information of the traveling position is calculated by weighting according to the measurement time so that the weight becomes larger as the measurement time is newer.
Obtaining the relative position of the future position with respect to the current position, and calculating the probability information of the future position as the probability of being present at the relative position at the future time of the construction machine and the worker.
The safety management system according to claim 7. During the work of the construction machine, the area setting unit sets the work area of the construction machine and the restricted area where the construction machine cannot enter.
When it is determined that the work areas overlap with each other, the control unit controls so that the construction machines determined to overlap do not come into contact with each other.
Controlling the construction machine so that it does not enter the restricted area when it is determined that the work area and the restricted area overlap.
The safety management system according to claim 1. It is a high-precision measuring machine that measures positioning information including position information indicating the position of the measurement target in the construction / civil engineering site, movement direction, movement speed, and measurement time, and is the first construction machine to be measured. The first high-precision measuring machine provided, and the second high-precision measuring machine carried by the worker who is the measurement target,
An acquisition unit that acquires the positioning information measured by the high-precision measuring machine, and
The future position of the construction machine and the worker based on the positioning information and the position probability information indicating the existence probability of the construction machine and the worker in the construction / civil engineering site when the construction machine is running. It is a safety management method of a safety management system equipped with an area setting unit for setting a prediction area predicted as
The control unit determines whether or not there is an overlap between the predicted areas when the construction machine is running, and if it is determined that there is an overlap, the priority given to the construction machine and the worker is set. Based on this, a safety management method for controlling the construction machine and the worker, which are determined to overlap, so as not to come into contact with each other.

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