JP2022103189A - Work site monitoring device, work site monitoring system, work site monitoring method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique that allows more useful data to be generated for efficiency of a work step.

SOLUTION: A work site monitoring device is provided having a control unit that sorts movement of a moving body by non-contact detection at a work site into movement of a first object and movement of a second object other than the first object in response to work step information related to the work site to determine a risk to the first object by the second object based on at least either the movement of the first object or that of the second object.

SELECTED DRAWING: Figure 1

COPYRIGHT: (C)2022,JPO&INPIT

Description

The present invention relates to a work site monitoring device, a work site monitoring system, a work site monitoring method and a program.

In recent years, various techniques for supporting the work performed at the work site have been disclosed. For example, a technique for displaying work process information created in advance and an image captured at a work site is disclosed (see, for example, Patent Document 1). According to such a technique, it is possible to confirm by video whether the work at the work site is executed according to the work process information.

Further, a technique for attaching a tag to an operator or the like and managing the execution status of the work based on the time read from the tag by a tag reader provided at the work site is disclosed (see Patent Document 2). Further, among the work process information, a technique for displaying a work process in which the biological information of the worker has been in an abnormal state in the past is disclosed (see Patent Document 3). According to such a technique, it is possible to grasp the work process which is presumed to be dangerous from the past experience among the work process information before the on-site work.

Japanese Unexamined Patent Publication No. 2002-175349 Japanese Unexamined Patent Publication No. 2005-326965 Japanese Unexamined Patent Publication No. 2013-80305

However, it is assumed that the danger of the work process can be changed by the movement of the worker and the movement of a non-worker (for example, an object used by the worker) at the work site. Therefore, the correspondence between the work process and the movement of the worker and the movement of the non-worker can be used for grasping the danger of the work process, reviewing the work process, and the like. For example, the correspondence between the work process and the movement of the worker and the movement of the non-worker can also be used to improve the dangerous work process.

Therefore, it is desired to provide a technique capable of generating more useful data for improving the efficiency of the work process.

In order to solve the above problem, according to a certain viewpoint of the present invention, the movement of the moving body based on the non-contact detection at the work site corresponds to the work process information related to the work site, and the movement of the first object. And the movement of the second object other than the first object, and based on at least one of the movement of the first object and the movement of the second object, the said by the second object. A work site monitoring device including a control unit for determining a danger to a first object is provided.

The control unit has the risk of the second object to the first object based on at least one of the movement of the first object and the movement of the second object and the business process information. May be determined.

The first object may be a worker.

The second object may be a person other than the operator.

The control unit may determine the danger based on whether or not there is a movement other than the operator.

The control unit may determine the risk based on whether or not the distance between the worker and a non-worker is below the threshold value.

The control unit may determine that there is a risk when there is a movement other than the worker and when the distance between the worker and the non-worker is less than the threshold value.

Further, according to another aspect of the present invention, the movement of the moving body based on the non-contact detection at the work site is the movement of the first object and the first object in response to the work process information related to the work site. The second object by the second object is based on at least one of a moving body sorting unit that separates the movement of a second object other than the object, and at least one of the movement of the first object and the movement of the second object. A work site monitoring system including a danger determination unit for determining the danger to one object is provided.

Further, according to another aspect of the present invention, the movement of the moving body based on the non-contact detection at the work site is the movement of the first object and the first object in response to the work process information related to the work site. Separated from the movement of a second object other than the object, and based on at least one of the movement of the first object and the movement of the second object, the second object with respect to the first object. A work site monitoring method for determining the danger is provided.

Further, according to another aspect of the present invention, the computer corresponds to the work process information related to the work site, and the movement of the moving body based on the non-contact detection at the work site is the movement of the first object and the above-mentioned. The first object by the second object is separated from the movement of the second object other than the first object, and is based on at least one of the movement of the first object and the movement of the second object. A program for functioning as a work site monitoring device including a control unit for determining a danger to an object is provided.

As described above, the present invention provides a technique capable of generating more useful data for improving the efficiency of a work process.

It is a figure which shows the structural example of the work site monitoring system which concerns on embodiment of this invention. It is a figure which shows the example of the work site seen from above. It is a block diagram which shows the functional composition example of the work site monitoring apparatus which concerns on embodiment of this invention. It is a figure which shows the example of the sensor correspondence information stored by the sensor correspondence information storage part. It is a figure which shows the example of the object information stored by the object information storage unit. It is a figure which shows the example of the work process information stored by the work process information storage unit. It is a figure which shows the example of the work process display screen. It is a figure for demonstrating the detection of the object based on the image | image | image | image | image | image of the work site by a camera. It is a figure for demonstrating the detection of the object based on the measurement result of the work site by a LiDAR sensor. It is a figure which shows the example of the correspondence relation with the movement of a worker, and the movement of a heavy machine. It is a figure which shows the example of the work process information (second work process information) recognized based on the sensing result. It is a figure which shows the example of the result data display screen. It is a figure which shows the example of the image display screen. It is a flowchart which shows the operation example of the work site monitoring apparatus which concerns on embodiment of this invention. It is a figure which shows the hardware composition of the information processing apparatus as an example of the work site monitoring apparatus which concerns on embodiment of this invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the present specification and the drawings, components having substantially the same functional configuration are designated by the same reference numerals, and duplicate description will be omitted.

Further, in the present specification and the drawings, a plurality of components having substantially the same functional configuration may be distinguished by adding different numbers after the same reference numerals. However, if it is not necessary to distinguish each of a plurality of components having substantially the same functional configuration, only the same reference numerals are given. Further, similar components of different embodiments may be distinguished by adding different alphabets after the same reference numerals. However, if it is not necessary to distinguish each of the similar components of different embodiments, only the same reference numerals are given.

(1-1. Overview of the system)
First, a configuration example of the work site monitoring system according to the embodiment of the present invention will be described.

FIG. 1 is a diagram showing a configuration example of a work site monitoring system according to an embodiment of the present invention. As shown in FIG. 1, the work site monitoring system 1 according to the embodiment of the present invention includes a work site monitoring device 10, a camera 21-1 and a camera 21-2, and a LiDAR (Light Detection and Ranking) sensor 22-. It has 1 and a LiDAR sensor 22-2.

In the following, the camera 21 may be referred to without distinguishing between the camera 21-1 and the camera 21-2. Further, the LiDAR sensor 22-1 and the LiDAR sensor 22-2 are not distinguished from each other, and are also referred to as a LiDAR sensor 22. In the example shown in FIG. 1, two cameras 21 and two LiDAR sensors are installed, but the number of each of the camera 21 and the LiDAR sensor 22 is not limited. The number of cameras 21 may be one or three or more. The number of LiDAR sensors 22 may be one or three or more.

As shown in FIG. 1, the work site monitoring device 10, the camera 21, and the LiDAR sensor 22 can communicate with each other. For example, the work site monitoring device 10, the camera 21, and the LiDAR sensor 22 may be directly connected or may be connected via a network. In the embodiment of the present invention, it is mainly assumed that the work site monitoring device 10, the camera 21, and the LiDAR sensor 22 communicate with each other by wire. However, the work site monitoring device 10 and the camera 21 and the LiDAR sensor 22 may perform wireless communication.

Referring to FIG. 1, a predetermined area (hereinafter, also referred to as “work site”) 80 is shown. At the work site 80, the work process is executed by the worker 60 (or a plurality of work processes are sequentially executed by the worker 60). In the example shown in FIG. 1, one worker 60 exists at the work site 80, and the work process is executed by one worker 60. However, there may be a plurality of workers 60 at the work site 80, and the work process may be executed by the plurality of workers 60. FIG. 2 is a diagram showing an example of a work site 80 seen from above.

In the embodiment of the present invention, as an example of the work process, it is mainly assumed that the work (for example, the work such as construction and civil engineering) is executed by the worker 60. However, as will be described later, the work process executed by the worker 60 is not limited to the construction work. That is, at the work site 80, some work process may be executed by the worker 60. Further, the place where the work process is executed is not particularly limited.

While the work process is being performed by the worker 60, objects other than the worker may also be present at the work site 80. In the example shown in FIG. 1, the heavy machine 70 exists at the work site 80 as an example of an object other than the worker. However, the object other than the worker is not limited to the heavy machine 70. For example, the object other than the worker may be another object (for example, a tool) used in the work process. Further, as an example of the heavy machine 70, a mixer truck, a truck, an excavator car, or the like is assumed, as will be described later. However, the type of the heavy machine 70 is not particularly limited.

In the example shown in FIG. 1, one heavy machine 70 exists at the work site 80, and one heavy machine 70 is used in the work process. However, there are a plurality of heavy machines 70 at the work site 80, and the plurality of heavy machines 70 may be used in the work process. It is assumed that the one or more heavy machines 70 used in the work process may be different for each work process. As an example, it is assumed that a truck is used in a certain work process, but a mixer truck is used in another work process.

In the example shown in FIG. 1, it is mainly assumed that the heavy machine 70 used in the current work process exists at the work site 80. However, there is a possibility that heavy machinery 70, which is not used in the current work process, may exist at the work site 80. For example, there is a possibility that a heavy machine 70 to be used in a work process different from the current work process may be mistakenly present at the work site 80. Alternatively, there is a possibility that a heavy machine 70 that is not used in any work process may be mistakenly present at the work site 80.

The camera 21 continuously captures an imaging range including the work site 80 to obtain a moving image as an imaging result. Here, the position where the camera 21 is installed is not limited. Further, the work site 80 may be the entire imaging range of the camera 21 or may be a part of the imaging range. In this specification, it is mainly assumed that the camera 21 is a fixed camera. However, the camera 21 may be a movable camera. For example, the camera 21 may be a PTZ (pan / tilt / zoom) camera. The moving image obtained by the image taken by the camera 21 is provided to the work site monitoring device 10.

The LiDAR sensor 22 obtains a measurement result by continuously measuring a measurement range including the work site 80. Here, the position where the LiDAR sensor 22 is installed is not limited. Further, the work site 80 may be the entire measurement range of the LiDAR sensor 22 or may be a part of the measurement range. The measurement result obtained by the measurement by the LiDAR sensor 22 is provided to the work site monitoring device 10.

In the embodiment of the present invention, the case where the combination of the camera 21 and the LiDAR sensor 22 is used as an example of the sensor will be mainly described. However, instead of the combination of the camera 21 and the LiDAR sensor 22, another sensor may be used. That is, in the embodiment of the present invention, various sensors capable of non-contactly detecting the movement (that is, the movement of a moving object) of an object (for example, a worker 60 and a heavy machine 70) existing in the work site 80 are cameras. It may be used instead of the combination of 21 and the LiDAR sensor 22.

For example, a depth sensor may be used instead of the LiDAR sensor 22. Alternatively, a radar ranging sensor may be used instead of the LiDAR sensor 22. Alternatively, the camera 21 may be used alone as the sensor.

Here, it is assumed that the danger of the work process can be changed by the movement of the worker 60 and the movement of the heavy machine 70 at the work site 80. Therefore, the correspondence between the work process and the movement of the worker 60 and the movement of the heavy machine 70 can be used for grasping the danger of the work process, reviewing the work process, and the like. For example, the correspondence between the work process and the movement of the worker 60 and the movement of the heavy machine 70 can also be used to improve the dangerous work process.

Therefore, in the embodiment of the present invention, we mainly propose a technique capable of generating more useful data for improving the efficiency of the work process.

The configuration example of the work site monitoring system 1 according to the embodiment of the present invention has been described above.

(1-2. Example of functional configuration of work site monitoring device)
Subsequently, a functional configuration example of the work site monitoring device 10 according to the embodiment of the present invention will be described. FIG. 3 is a block diagram showing a functional configuration example of the work site monitoring device 10 according to the embodiment of the present invention. As shown in FIG. 3, the work site monitoring device 10 according to the embodiment of the present invention includes an operation unit 110, a sensor-compatible information storage unit 121, an object information storage unit 122, a work process information storage unit 123, and a measurement result storage unit. It includes 124, a control unit 130, and a display unit 140.

The operation unit 110 receives an operation input from the operator of the work site monitoring device 10. Further, the operation unit 110 can provide the control unit 130 with the operation received from the operator of the work site monitoring device 10. In the present specification, it is mainly assumed that the operation unit 110 is a mouse and a keyboard. However, the operation unit 110 may be an input device (for example, a touch panel, a button, etc.) other than the mouse and the keyboard.

The control unit 130 includes a CPU (Central Processing Unit) and the like, and its function can be realized by a program stored in a storage unit (not shown) expanded by the CPU into a RAM (Random Access Memory) and executed. .. At this time, a computer-readable recording medium on which the program is recorded may also be provided. Alternatively, the control unit 130 may be configured by dedicated hardware or may be configured by a combination of a plurality of hardware.

Here, as shown in FIG. 3, the control unit 130 includes an information acquisition unit 131, a moving body sorting unit 132, a memory control unit 133, a risk determination unit 134, an error determination unit 135, and a display control unit 136. .. Details of each of these functional units included in the control unit 130 will be described later.

The storage unit (not shown) is a storage device capable of storing programs and data for operating the control unit 130. Further, the storage unit (not shown) can temporarily store various data required in the process of operation of the control unit 130. For example, the storage device may be a non-volatile storage device.

Further, as shown in FIG. 3, the measurement result storage unit 124 has an operator measurement result storage unit 125 and a heavy equipment measurement result storage unit 126. Here, in addition to the worker measurement result storage unit 125 and the heavy machine measurement result storage unit 126, the details of the sensor-compatible information storage unit 121, the object information storage unit 122, and the work process information storage unit 123 will be described later.

The display unit 140 has a function of outputting according to the control of the control unit 130. For example, the display unit 140 can output the screen generated by the control unit 130. Here, the form of the display unit 140 is not particularly limited. For example, the display unit 140 may be a CRT (Cathode Ray Tube) display device, a liquid crystal display (LCD) device, an OLED (Organic Light Emitting Diode) device, or a CRT (Cathode Ray Tube) device. It may be a display device such as a lamp.

In addition, the work site monitoring device 10 includes a communication unit (not shown). The communication unit (not shown) may be a communication interface for communicating with the camera 21-1, the camera 21-2, the LiDAR sensor 22-1, and the LiDAR sensor 22-2. In the embodiment of the present invention, it is mainly assumed that a communication unit (not shown) performs wired communication, but the communication unit (not shown) may perform wireless communication.

In the example shown in FIG. 3, the operation unit 110, the sensor-compatible information storage unit 121, the object information storage unit 122, the work process information storage unit 123, the measurement result storage unit 124, the control unit 130, and the display unit 140 work. It is provided inside the site monitoring device 10. However, some or all of these functional units may be provided outside the work site monitoring device 10.

The functional configuration example of the work site monitoring apparatus 10 according to the embodiment of the present invention has been described above.

(1-3. Detailed functional example of work site monitoring device)
Subsequently, the functional details of the work site monitoring device 10 according to the embodiment of the present invention will be described. First, an example of sensor correspondence information stored by the sensor correspondence information storage unit 121, object information stored by the object information storage unit 122, and work process information stored by the work process information storage unit 123 will be described. do.

(Sensor support information)
FIG. 4 is a diagram showing an example of sensor correspondence information stored by the sensor correspondence information storage unit 121. As shown in FIG. 4, the sensor correspondence information storage unit 121 stores in advance the sensor correspondence information in which the LiDAR coordinates and the camera coordinates are associated with each other. Such sensor correspondence information may be generated in any way.

For example, when the target object is placed in the real space and the coordinates of the target object are measured in the respective coordinate systems (that is, the real space coordinate system, the LiDAR coordinate system, and the camera coordinate system), the real space coordinate system and the LiDAR coordinate system. And the camera coordinate system are associated. Based on this correspondence, the transformation matrix from the LiDAR coordinate system to the real space coordinate system and the transformation matrix from the camera coordinate system to the real space coordinate system are calculated and stored in advance. Then, using these transformation matrices, the position of the object in the real space can be specified from the position of the object in the LiDAR coordinate system, and the position of the object in the real space can be specified from the position of the object in the camera coordinate system.

Similarly, if the transformation matrix from the LiDAR coordinate system to the camera coordinate system is calculated and stored in advance, the object region in the camera coordinate system corresponding to the object region in the LiDAR coordinate system can be obtained by using the transformation matrix. Can be identified.

(Object information)
FIG. 5 is a diagram showing an example of object information stored by the object information storage unit 122. As shown in FIG. 5, the object information storage unit 122 stores in advance object information in which an object name as an example of information indicating an object and a feature amount of the object are associated with each other. In the example shown in FIG. 5, as an example of the feature amount of the heavy machine 70, the feature amount of each of the truck, the excavator car, and the mixer truck is registered in advance, and the feature amount of the worker 60 is registered in advance. However, as will be described below, the object information storage unit 122 may not exist when the feature amount of the object is not used.

(Work process information)
FIG. 6 is a diagram showing an example of work process information stored by the work process information storage unit 123. As shown in FIG. 6, the work process information storage unit 123 stores in advance work process information in which the work order, the work time, the work process name, the operation heavy machine name, and the section name are associated with each other. ing. Here, the work process name is an example of information indicating the work process. The operating heavy machine name is an example of information indicating a heavy machine operating in a work process. The parcel name is an example of information indicating the parcel in which the work process is executed.

Each item of work process information may be provided as needed. For example, if the work order is not used, the work process information may not include the work order, and if the work time is not used, the work process information may not include the work time. However, when the section name is not used, the section name may not be included in the work process information. Further, in the example shown in FIG. 6, the operation heavy machine name is included in the work process information. However, when the worker is determined for each work process, the worker name may be included in the work process information instead of or in addition to the operation heavy machine name.

The work process information stored by the work process information storage unit 123 can be confirmed by the worker 60. For example, when the work process information is displayed by the display unit 140, the worker 60 confirms the work process information by browsing the displayed work process information, and then executes the work process to be executed by himself / herself. It is possible. The work process information may be confirmed by the worker 60 in any way. For example, when the work process information is printed on paper, the worker 60 may confirm the work process information by viewing the work process information printed on the paper.

FIG. 7 is a diagram showing an example of a work process display screen. When the work process display operation (for example, the operation of selecting a work process display button (not shown)) is performed by the worker 60 and the work process display operation is accepted by the operation unit 110, the work process display operation is displayed as shown in FIG. The unit 140 can display the work process display screen U10. The work process display screen U10 includes a correspondence relationship between the work time and the work process (or no work process) executed during the work time.

(Information acquisition department)
The information acquisition unit 131 acquires the sensing result detected by the sensor that can be detected by non-contact. More specifically, the information acquisition unit 131 acquires the image pickup result (moving image) of the work site 80 by the camera 21 from the camera 21 and the measurement result of the work site 80 by the LiDAR sensor 22 from the LiDAR sensor 22.

(Dynamic sorting part)
The moving body sorting unit 132 corresponds to the work process information (first work process information) registered in the work process information storage unit 123 in advance (for example, in the order corresponding to the work order of the work process in the work process information). Or, when the non-contact detection is performed at the work site 80 (at the time corresponding to the work time of the work process in the work process information), the movement of the moving body based on the non-contact detection is detected by the movement of the worker 60 and the movement of the heavy machine 70. Obtain work site measurement data by separating it into movements.

More specifically, the moving object sorting unit 132 detects an object based on the sensing result, identifies the position of the object based on the detection result of the object, and identifies the type of the object based on the position of the object. This identifies the movement of the moving object. An object based on the sensing result may be detected in any way. In the embodiment of the present invention, the moving body sorting unit 132 uses both the detection of the object based on the image pickup result of the work site 80 by the camera 21 and the detection of the object based on the measurement result of the work site 80 by the LiDAR sensor 22. Will be mainly explained. However, the camera 21 may independently detect the object based on the image pickup result of the work site 80, or the LiDAR sensor 22 may independently detect the object based on the measurement result of the work site 80.

Here, as a method for detecting an object based on the image pickup result of the work site 80 by the camera 21, edge features such as a template matching method using a template image of an object to be detected and HOG (Histograms of Oriented Languages) are used. There are a method, a method of detecting an object by deep learning such as CNN (Convolutional Neural Network) using a large amount of learning data of an object to be detected, and the like. CNN is a method often used in recent years due to its high accuracy.

On the other hand, in the method of detecting an object based on the measurement result of the work site 80 by the LiDAR sensor 22, the background and the ground part are removed from the measurement result of the work site 80 by the LiDAR sensor 22, and the remaining part has a predetermined size. There is a method to detect an area with a size larger than that.

Further, a case where both the detection of the object based on the image pickup result of the work site 80 by the camera 21 and the detection of the object based on the measurement result of the work site 80 by the LiDAR sensor 22 will be described. When the worker 60 and the heavy machine 70 are close to each other, it may be difficult to separate the worker 60 and the heavy machine 70 from the measurement result by the LiDAR sensor 22. By detecting the object area by the LiDAR sensor 22 and detecting the object from the object area based on the image pickup result by the camera 21, the worker 60 and the heavy machine 70 can be separated from each other.

FIG. 8 is a diagram for explaining the detection of an object based on the image pickup result of the work site 80 by the camera 21. FIG. 9 is a diagram for explaining the detection of an object based on the measurement result of the work site 80 by the LiDAR sensor 22. Referring to FIG. 9, the measurement result K2 by the LiDAR sensor is shown. The measurement result K2 by the LiDAR sensor includes the worker 60 and the heavy equipment 70. The moving body sorting unit 132 can detect the object region Qa including the worker 60 and the object region Qb including the heavy equipment 70 from the measurement result K2 by the LiDAR sensor.

Subsequently, as shown in FIG. 8, the moving object sorting unit 132 corresponds to the object region Qa based on the object region Qa and the transformation matrix detected in this way, and the object region Ra in the image pickup result K1 by the camera corresponds to the object region Qa. Can be calculated. Similarly, the moving object sorting unit 132 can calculate the object region Rb in the image pickup result K1 by the camera corresponding to the object region Qb based on the object region Qb and the transformation matrix detected in this way. be. The moving body sorting unit 132 can separate both objects by detecting an object (corresponding to a worker 60) from the object region Ra and detecting an object (corresponding to a heavy machine 70) from the object region Rb. ..

Subsequently, the moving body sorting unit 132 identifies the position of the object based on the detection result of the object. For example, when the moving object sorting unit 132 detects an object (corresponding to the worker 60) from the image pickup result K1 by the camera, it is based on the position of the object (corresponding to the worker 60) and the transformation matrix in the image pickup result K1 by the camera. , The position of the object (corresponding to the worker 60) in the real space may be specified. When the moving body sorting unit 132 detects an object (corresponding to the worker 60) from the measurement result K2 by the LiDAR sensor, the position and conversion matrix of the object (corresponding to the worker 60) in the measurement result K2 by the LiDAR sensor. Based on the above, the position of the worker 60 in the real space may be specified.

Subsequently, the moving body sorting unit 132 identifies the type of the object based on the position of the specified object. Specifically, the moving body sorting unit 132 can identify whether the type of the specified object is the worker 60 or the heavy machine 70. Further, when the moving body sorting unit 132 identifies that the type of the object is the heavy machine 70, it is also possible to identify the type of the heavy machine 70 (for example, a mixer truck, a truck, an excavator car, etc.).

The type of object may be identified in any way. In the embodiment of the present invention, the moving body sorting unit 132 identifies the type of the object based on the image pickup result of the work site 80 by the camera 21 and the type of the object based on the measurement result of the work site 80 by the LiDAR sensor 22. The case where both are used will be mainly described. However, the identification of the object type based on the image pickup result of the work site 80 by the camera 21 may be performed independently, or the identification of the object type based on the measurement result of the work site 80 by the LiDAR sensor 22 is performed independently. You may.

Here, as a method for identifying the type of an object based on the image pickup result of the work site 80 by the camera 21, a template matching method using a template image of an object of the type to be identified, and a deep learning such as CNN are used to identify the type of the object. There is a method of using an image feature amount (for example, object size, aspect ratio, shape, etc.) of an object of a type to be identified. As shown in FIG. 5, such a feature amount is stored by the object information storage unit 122.

On the other hand, in the method of identifying the type of the object based on the measurement result of the work site 80 by the LiDAR sensor 22, the type of the object (for example, the worker) is based on the size of the object reflected in the measurement result of the work site 80 by the LiDAR sensor 22. There is a method for identifying (60, heavy equipment 70, etc.). Further, in the method of identifying the type of the object based on the measurement result of the work site 80 by the LiDAR sensor 22, the type of the object (for example, the worker 60, the heavy machine 70, the worker 60, the heavy machine 70, from the three-dimensional shape data of the object reflected in the measurement result). There is a method for identifying the type of heavy machine 70, etc.).

(Memory control unit)
The storage control unit 133 associates the work site measurement data with the work process information (first work process information) registered in the work process information storage unit 123 in advance, and stores the work site measurement data in the measurement result storage unit 124. Let me. Specifically, the memory control unit 133 sets the work site measurement data in the work process of the work order corresponding to the order in which the work site measurement data is measured, or in the work time corresponding to the time in which the work site measurement data is measured. To link. At this time, the storage control unit 133 stores the movement of the worker 60 in the worker measurement result storage unit 125 and stores the movement of the heavy machine 70 in the heavy equipment measurement result storage unit 126.

The correspondence relationship between the work process information and the work site measurement data (the correspondence relationship between the work process information and the movement of the worker 60 and the movement of the heavy machine 70) is also used for grasping the danger of the work process and reviewing the work process. Can be used. For example, the correspondence between the work process information and the movement of the worker 60 and the movement of the heavy machine 70 can also be used to improve the dangerous work process. Therefore, the correspondence between the work process information and the work site measurement data can be useful data for improving the efficiency of the work process.

Further, the memory control unit 133 can recognize the work process information (second work process information) based on the sensing result detected by the sensor that can be detected by non-contact. In the embodiment of the present invention, it is mainly assumed that when the storage control unit 133 recognizes the heavy machine 70 from the sensing result, it recognizes that the work process corresponding to the heavy machine 70 is being executed. In the example shown in FIG. 6, when the storage control unit 133 detects the heavy machine "mixer truck" corresponding to the work process G3 as the heavy machine 70, the work process G3 corresponding to the heavy machine 70 is executed. You may recognize it.

However, the memory control unit 133 may recognize the work process corresponding to the movement of the worker 60 based on the worker 60. As an example, when the memory control unit 133 recognizes the worker 60 corresponding to the work process G1 from the sensing result, it may recognize that the work process G1 is being executed. The type of the worker 60 may be identified in any way. For example, when the color of the worker's clothes differs depending on the work process, the type of the worker 60 may be identified by the color of the clothes recognized from the image pickup result by the camera 21.

The storage control unit 133 stores the work process information (second work process information) recognized based on the sensing result detected by the sensor that can be detected by non-contact by the work process information storage unit 123. It is associated with process information (first work process information). More specifically, the memory control unit 133 corresponds to the work process (work order or work time) corresponding to the work process recognized from the sensing result in the work process information (first work process information). Recognized work processes may be associated.

(Danger judgment unit)
The danger determination unit 134 determines the danger to the worker 60 by the heavy machine 70 based on at least one of the movement of the worker 60 and the movement of the heavy machine 70. In this way, if the danger to the worker 60 by the heavy machine 70 is automatically determined, the danger of the work process can be more easily grasped.

As an example, when the heavy machine 70 is moving, it is assumed that the risk to the worker 60 by the heavy machine 70 is higher than when the heavy machine 70 is not moving. Therefore, the danger determination unit 134 may determine the danger (whether or not the worker 60 is in a dangerous state) based on whether or not the heavy equipment 70 is moving. For example, the danger determination unit 134 may recognize whether or not there is a movement of the heavy machine 70 based on the movement of the heavy machine 70 obtained as described above.

The state in which the heavy machine 70 is moving includes a state in which the heavy machine 70 is moving, a state in which a part of the heavy machine 70 is moving, and a state in which the heavy machine 70 can start moving immediately (for example, activation). Medium state, standby state, etc.) may be included. The state in which the heavy machine 70 can start moving immediately may be recognized in any way.

For example, when the predetermined light attached to the heavy machine 70 is turned on in a state where the heavy machine 70 can start moving immediately, the danger determination unit 134 gives an image pickup result by the camera 21 and a LiDAR sensor 22. When the predetermined light lighting of the heavy machine 70 is recognized based on at least one of the measurement results by, it may be determined that the heavy machine 70 is in a state where it can immediately start moving.

As another example, when the distance between the worker 60 and the heavy machine 70 is less than the threshold value, the danger to the worker 60 by the heavy machine 70 is compared with the case where the distance between the worker 60 and the heavy machine 70 is equal to or more than the threshold value. It is assumed that the sex is high. Therefore, even if the danger determination unit 134 determines the danger (whether or not the worker 60 is in a dangerous state) based on whether or not the distance between the worker 60 and the heavy machine 70 is below the threshold value. good. For example, the danger determination unit 134 may calculate the distance between the worker 60 and the heavy machine 70 based on the movements of the worker 60 and the heavy machine 70 obtained as described above.

FIG. 10 is a diagram showing an example of the correspondence between the movement of the worker 60 and the movement of the heavy equipment 70. In the example shown in FIG. 10, the movement of the worker 60 seen from above at the work site 80 (movement of the worker 60 in the xy plane) is represented by a solid line, and is represented by a solid line, and is seen from above the heavy machine 70 at the work site 80. The movement (movement of the heavy machine 70 in the xy plane) is represented by a broken line.

Referring to FIG. 10, at time T31 and time T32, since the distance between the worker 60 and the heavy machine 70 is equal to or greater than the threshold value Dth, it is considered that the worker 60 is not in a dangerous state. On the other hand, at time T33, since the distance between the worker 60 and the heavy machine 70 is below the threshold value Dth, it is considered that the worker 60 is in a dangerous state. The threshold Dth may be invariant or variable depending on the type of the heavy machine 70.

Further, as another example, when there is movement of the heavy machine 70 and the distance between the worker 60 and the heavy machine 70 is below the threshold value, there is no movement of the heavy machine 70, or the worker 60 and the heavy machine 70 are not moving. It is assumed that there is a higher risk to the worker 60 due to the heavy machine 70 than when the distance to and from is greater than or equal to the threshold value. Therefore, the danger determination unit 134 has a danger when the heavy machine 70 moves and the distance between the worker 60 and the heavy machine 70 is less than the threshold value (the worker 60 is in a dangerous state). ) May be determined. On the other hand, the danger determination unit 134 has no danger when the heavy machine 70 does not move or when the distance between the worker 60 and the heavy machine 70 is equal to or larger than the threshold value (when the worker 60 is in a dangerous state). It may be determined that there is no such thing.

For example, when the danger determination unit 134 determines that there is a danger (the worker 60 is in a dangerous state) at a certain time among the movements of the worker 60, the movement of the worker 60 (or the movement of the worker 60). Of the movements of the heavy machine 70), a flag indicating that there is a danger may be associated with the movement at a time when it is determined that there is a danger.

(Error judgment unit)
The error determination unit 135 is a work recognized based on the work process information (first work process information) stored by the work process information storage unit 123 and the sensing result detected by the sensor that can be detected by non-contact. Based on the process information (second work process information), the difference between the first work process information and the second work process information is determined as an error of the second work process information. According to this configuration, by confirming the error, the degree to which the work process at the work site 80 is executed according to the work process information (first work process information) stored by the work process information storage unit 123. Can be grasped.

For example, the error determination unit 135 has the work process information (first work process information) stored by the work process information storage unit 123 and the work process information recognized based on the sensing result (second work process). In the information), the error of the second work process information may be determined based on whether or not the work processes corresponding to the work order or the work time match each other.

FIG. 11 is a diagram showing an example of work process information (second work process information) recognized based on the sensing result. Referring to FIG. 11, in the work order “1” and the work time “T1 to T2”, the heavy machine 70 “truck” exists at the work site 80, and the work process G1 corresponding to the heavy machine 70 “truck” is recognized. Has been done. As shown in FIG. 6, the work process G1 is a work process corresponding to the work order (or work time) in the work process information (first work process information) stored by the work process information storage unit 123. Since it is the same as G1, it is understood that the work process G1 is executed as scheduled at the work site 80.

Further, referring to FIG. 11, in the work order “2” and the work time “T2 to T3”, the heavy machine 70 “excavator car, truck” exists at the work site 80, and the heavy machine 70 “excavator car, truck”. The work process G2 corresponding to the above is recognized. As shown in FIG. 6, the work process G2 is a work process corresponding to the work order (or work time) in the work process information (first work process information) stored by the work process information storage unit 123. Since it is the same as G2, it is understood that the work process G2 is executed as scheduled at the work site 80.

On the other hand, referring to FIG. 11, in the work order “3” and the work time “T3 to T4”, the heavy machine 70 “truck” exists at the work site 80, and the work process G1 corresponding to the heavy machine 70 “truck” is present. Is recognized. As shown in FIG. 6, the work process G1 is a work process corresponding to the work order (or work time) in the work process information (first work process information) stored by the work process information storage unit 123. Since it is different from G3, it is understood that the work process G3 was not executed as scheduled at the work site 80.

The method of error determination by the error determination unit 135 is not limited to the above. For example, the error determination unit 135 has a motion template prepared in advance corresponding to the work process information (first work process information) stored by the work process information storage unit 123, and at least a part of the work site measurement data. Based on the above, a part of the error of the work site measurement data may be determined. For example, the error determination unit 135 may determine the difference between the motion template and at least a part of the work site measurement data as an error of a part of the work site measurement data.

For example, the error determination unit 135 includes a motion template of the worker 60 prepared in advance corresponding to the work process information (first work process information) stored by the work process information storage unit 123, and work site measurement data. The error of the movement of the worker 60 included in the work site measurement data may be determined based on the movement of the worker 60 included in the work site measurement data. For example, the error determination unit 135 determines the difference between the movement template of the worker 60 and the movement of the worker 60 included in the work site measurement data as an error of the movement of the worker 60 included in the work site measurement data. good.

Alternatively, the error determination unit 135 uses the movement template of the heavy machine 70 prepared in advance corresponding to the work process information (first work process information) stored by the work process information storage unit 123 and the work site measurement data. An error in the movement of the heavy machine 70 included in the work site measurement data may be determined based on the movement of the heavy machine 70 included. For example, the error determination unit 135 may determine the difference between the movement template of the heavy machine 70 and the movement of the heavy machine 70 included in the work site measurement data as an error of the movement of the heavy machine 70 included in the work site measurement data.

(Display control unit)
The display control unit 136 corresponds to at least one of the work process information (first work process information) stored by the work process information storage unit 123 and the movement of the worker 60 and the movement of the heavy machine 70. The display unit 140 is controlled so that all the information is displayed simultaneously by the display unit 140. This makes it easier to visually grasp the correspondence between the work process, the movement of the worker, and the movement of the non-worker. Here, at least one of the movement of the worker 60 and the movement of the heavy machine 70 may be the movement of the worker 60, the movement of the heavy machine 70, the movement of the worker 60, and the movement of the heavy machine 70. It may be both movements.

Further, in at least one of the work process information (first work process information) and the movement of the worker 60 and the movement of the heavy machine 70, a part or all of the corresponding information is the work process information (first work process information). ), The work time and the measurement time may be a part or all of the corresponding information in at least one of the movement of the worker 60 and the movement of the heavy machine 70.

FIG. 12 is a diagram showing an example of a result data display screen. Referring to FIG. 12, the display of the result data display screen U20 is controlled by the display control unit 136. The result data display screen U20 includes a movement record display area U21 and a flow line display area U22. In the movement record display area U21, the time during which the heavy machine 70 has moved is shown as the heavy machine movement record along the time axis. Similarly, in the movement record display area U21, the time during which the worker 60 has moved is shown as the worker movement record along the time axis.

Further, in the movement record display area U21, a time zone having a predetermined width before and after the time associated with the flag indicating that there is a danger is indicated as the danger time zone U211. In the flow line display area U22, the movement of the worker 60 (the flow line of the worker) corresponding to the dangerous time zone U211 is shown by a solid line. In the flow line display area U22, the movement of the heavy machine 70 (the flow line of the heavy machine) corresponding to the dangerous time zone U211 is indicated by a broken line. The movement of the worker 60 (the flow line of the worker) and the movement of the heavy machine 70 (the flow line of the heavy machine) shown in the flow line display area U22 may be gradually displayed over time.

Further, the display control unit 136 corresponds to the work process information (first work process information) stored by the work process information storage unit 123 and the second work process information recognized based on the sensing result. The display unit 140 is controlled so that a part or all of the information is displayed simultaneously by the display unit 140. This makes it easier to visually grasp the correspondence between work processes. A part or all of the corresponding information is a part of the information corresponding to the work order or the work time in the work process and the second work process information in the work process information (first work process information). It may be all or all.

Referring to FIG. 12, the result data display screen U20 includes a work process display area U23. In the work process display area U23, the work process name "work process G1" actually executed in the dangerous time zone U211 and the work process name "work process G3" that should have been executed in the dangerous time zone U211 are displayed. include. The work process name "work process G1" actually executed in the dangerous time zone U211 corresponds to the work process G1 corresponding to the work order "3" in the example shown in FIG. 11, and corresponds to the dangerous time zone U211. In the example shown in FIG. 6, the work process name “work process G3” that was supposed to be executed corresponds to the work process G3 corresponding to the work order “3”.

Further, the display control unit 136 controls the display unit 140 so that at least one of the image pickup result by the camera 21 and the measurement result by the LiDAR sensor 22 is displayed by the display unit 140. This makes it easier to visually grasp the state of the worker 60 and the heavy machine 70 at the work site. In the example shown in FIG. 12, the image display button U24 is included in the result data display screen U20, and the imaging result and the measurement result are displayed by the operation of pressing the image display button U24. .. However, the imaging result and the measurement result may be included in the result data display screen U20.

FIG. 13 is a diagram showing an example of the image display screen U30. For example, the image display screen U30 is displayed by the display unit 140 by pressing the image display button U24 shown in FIG. Referring to FIG. 12, the image display screen U30 includes an image pickup result K1 by a camera and a measurement result K2 by a LiDAR sensor. For example, the image display screen U30 may be closed by a predetermined operation, and the screen transition from the image display screen U30 to the result data display screen U20 may be possible.

The functional details of the work site monitoring device 10 according to the embodiment of the present invention have been described above.

(1-4. Operation example of work site monitoring device)
Subsequently, an operation example of the work site monitoring device 10 according to the embodiment of the present invention will be described. FIG. 14 is a flowchart showing an operation example of the work site monitoring device 10 according to the embodiment of the present invention. The operation example shown in FIG. 14 is only an example of the operation of the work site monitoring device 10 according to the embodiment of the present invention. Therefore, the operation of the work site monitoring device 10 according to the embodiment of the present invention is not limited to the operation example shown in FIG.

As shown in FIG. 14, in the work site monitoring device 10, the information acquisition unit 131 acquires the sensing result detected by the sensor that can be detected by non-contact (S11).

Subsequently, the moving body sorting unit 132 corresponds to the work process information (first work process information) registered in advance in the work process information storage unit 123 (for example, corresponds to the work order of the work process in the work process information). When the non-contact detection is made at the work site 80 in order or at the time corresponding to the work time of the work process in the work process information, the movement of the moving body based on the non-contact detection is regarded as the movement of the worker 60. Work site measurement data is obtained by separating it from the movement of the heavy machine 70 (S12).

Subsequently, the memory control unit 133 associates the work site measurement data with the work process information (first work process information) registered in the work process information storage unit 123 in advance, and obtains the work site measurement data for each moving object ( (Apart from the movement of the worker 60 and the movement of the heavy machine 70), it is stored in the measurement result storage unit 124 (S13). Specifically, the memory control unit 133 sets the work site measurement data in the work process of the work order corresponding to the order in which the work site measurement data is measured, or in the work time corresponding to the time in which the work site measurement data is measured. To link.

Subsequently, the danger determination unit 134 determines the danger to the worker 60 by the heavy machine 70 based on at least one of the movement of the worker 60 and the movement of the heavy machine 70 (S14). Subsequently, the error determination unit 135 recognizes based on the work process information (first work process information) stored by the work process information storage unit 123 and the sensing result detected by the sensor that can be detected by non-contact. Based on the work process information (second work process information), the difference between the first work process information and the second work process information is determined as an error of the second work process information (S15).

Subsequently, the display control unit 136 controls the display unit 140 so that various information is displayed by the display unit 140 (S16). As an example, the display control unit 136 corresponds to the work process information (first work process information) stored by the work process information storage unit 123 in at least one of the movement of the worker 60 and the movement of the heavy machine 70. The display unit 140 may be controlled so that a part or all of the information is displayed simultaneously by the display unit 140.

As another example, the display control unit 136 has the work process information (first work process information) stored by the work process information storage unit 123 and the second work process information recognized based on the sensing result. , The display unit 140 may be controlled so that a part or all of the corresponding information is simultaneously displayed by the display unit 140. As another example, the display control unit 136 may control the display unit 140 so that at least one of the image pickup result by the camera 21 and the measurement result by the LiDAR sensor 22 is displayed by the display unit 140.

Subsequently, the control unit 130 determines whether or not to end the operation (S17). When the control unit 130 determines that the operation is to be continued (“No” in S17), the control unit 130 shifts the operation to S11. On the other hand, when the control unit 130 determines that the operation is terminated (“Yes” in S17), the control unit 130 terminates the operation.

The operation example of the work site monitoring apparatus 10 according to the embodiment of the present invention has been described above.

(1-5. Hardware configuration example)
Subsequently, a hardware configuration example of the work site monitoring device 10 according to the embodiment of the present invention will be described. Hereinafter, as a hardware configuration example of the work site monitoring device 10 according to the embodiment of the present invention, a hardware configuration example of the information processing apparatus 900 will be described. The hardware configuration example of the information processing device 900 described below is only an example of the hardware configuration of the work site monitoring device 10. Therefore, as for the hardware configuration of the work site monitoring device 10, an unnecessary configuration may be deleted from the hardware configuration of the information processing apparatus 900 described below, or a new configuration may be added.

FIG. 15 is a diagram showing a hardware configuration of an information processing device 900 as an example of the work site monitoring device 10 according to the embodiment of the present invention. The information processing device 900 includes a CPU (Central Processing Unit) 901, a ROM (Read Only Memory) 902, a RAM (Random Access Memory) 903, a host bus 904, a bridge 905, an external bus 906, and an interface 907. , An input device 908, an output device 909, a storage device 910, and a communication device 911.

The CPU 901 functions as an arithmetic processing device and a control device, and controls the overall operation in the information processing device 900 according to various programs. Further, the CPU 901 may be a microprocessor. The ROM 902 stores programs, calculation parameters, and the like used by the CPU 901. The RAM 903 temporarily stores a program used in the execution of the CPU 901, parameters that appropriately change in the execution, and the like. These are connected to each other by a host bus 904 composed of a CPU bus or the like.

The host bus 904 is connected to an external bus 906 such as a PCI (Peripheral Component Interconnect / Interface) bus via a bridge 905. It is not always necessary to separately configure the host bus 904, the bridge 905, and the external bus 906, and these functions may be implemented in one bus.

The input device 908 includes input means for the user to input information such as a mouse, keyboard, touch panel, buttons, microphones, switches and levers, and an input control circuit that generates an input signal based on the input by the user and outputs the input signal to the CPU 901. It is composed of etc. By operating the input device 908, the user who operates the information processing device 900 can input various data to the information processing device 900 and instruct the processing operation.

The output device 909 includes, for example, a CRT (Cathode Ray Tube) display device, a liquid crystal display (LCD) device, an OLED (Organic Light Emitting Diode) device, a display device such as a lamp, and an audio output device such as a speaker.

The storage device 910 is a device for storing data. The storage device 910 may include a storage medium, a recording device for recording data on the storage medium, a reading device for reading data from the storage medium, a deletion device for deleting data recorded on the storage medium, and the like. The storage device 910 is composed of, for example, an HDD (Hard Disk Drive). The storage device 910 drives a hard disk and stores programs and various data executed by the CPU 901.

The communication device 911 is a communication interface composed of, for example, a communication device for connecting to a network. Further, the communication device 911 may support either wireless communication or wired communication.

The hardware configuration example of the work site monitoring device 10 according to the embodiment of the present invention has been described above.

(1-6. Summary)
As described above, according to the embodiment of the present invention, the movement of the moving body based on the non-contact detection at the work site corresponds to the first work process information registered in advance at the work site. The work site measurement data is obtained by associating the work site measurement data with the moving body sorting unit 132 that obtains work site measurement data by separating the movements of the person and the movements other than the worker, and the first work process information. A work site monitoring device 10 including a storage control unit 133 for storing in a storage unit is provided.

The correspondence relationship between the work process information and the work site measurement data (the correspondence relationship between the work process information and the movement of the worker 60 and the movement of the heavy machine 70) is also used for grasping the danger of the work process and reviewing the work process. Can be used. For example, the correspondence between the work process information and the movement of the worker 60 and the movement of the heavy machine 70 can also be used to improve the dangerous work process. Therefore, the correspondence between the work process information and the work site measurement data can be useful data for improving the efficiency of the work process.

Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to these examples. It is clear that a person having ordinary knowledge in the field of the art to which the present invention belongs can come up with various modifications or modifications within the scope of the technical ideas described in the claims. , These are also naturally understood to belong to the technical scope of the present invention.

For example, in the above, the case where all of the functional blocks of the control unit 130 are incorporated in the work site monitoring device 10 has been mainly described. However, each functional block included in the control unit 130 may be distributed and exist in a plurality of devices. For example, the information acquisition unit 131, the moving object classification unit 132, the memory control unit 133, the danger determination unit 134, and the error determination unit 135 are incorporated in the monitoring device, and the display control unit 136 is different from the monitoring device (not shown). It may be incorporated in a display control device. At this time, a program for making the computer function as a monitoring device (not shown) may be provided, or a program for making the computer function as a display control device (not shown) may be provided.

Various information used by monitoring devices (information acquisition unit 131, moving object classification unit 132, storage control unit 133, danger determination unit 134, and error determination unit 135) (not shown) can be displayed by a display control device (not shown). It may be transmitted to the display control unit 136), recorded on a recording medium by a monitoring device (not shown), and read from the recording medium by a display control device (not shown).

Examples of various information used by a monitoring device (not shown) include imaging results and measurement results acquired by the information acquisition unit 131, work site measurement data stored and controlled by the storage control unit 133, and movement by the danger determination unit 134. A flag indicating that there is a danger associated with, an error determined by the error determination unit 135, work process information (first work process information) stored by the work process information storage unit 123, and non-contact. Examples thereof include work process information (second work process information) recognized based on the sensing result detected by the sensor that can be detected by.

Further, in the above, as an example of the work process, the case where the work (for example, the work such as construction and civil engineering) is executed by the worker 60 has been mainly described. However, the work process is not limited to construction and civil engineering. For example, the work process may be surgery performed in a medical setting. Then, in the medical field as well, useful data can be generated for improving the efficiency of the work process. At this time, in the above example, the worker may be replaced with a medical worker (for example, a doctor, a nurse, etc.). Further, the heavy machine 70 may be replaced with an instrument or the like used by a medical worker.

Alternatively, the work process may be a manufacturing act in a factory facility. In this case, the worker may be replaced with a worker or the like. Further, the heavy machine 70 may be replaced with a machine tool for manufacturing, a transport vehicle (forklift), or the like.

Further, in the above example, the object information stored by the object information storage unit 122 may be updated as appropriate. For example, the object information stored by the object information storage unit 122 may be updated based on the imaging result and the measurement result acquired by the information acquisition unit 131. That is, a large amount of data (imaging result and measurement result) acquired by the information acquisition unit 131 may be added to the learning data used in each of the object detection and the object type identification by the moving body sorting unit 132. This is expected to improve the accuracy of object detection and object type identification.

1 Work site monitoring system 10 Work site monitoring device 21 Camera 22 LiDAR sensor 60 Worker 70 Heavy equipment 80 Work site 110 Operation unit 121 Sensor-compatible information storage unit 122 Object information storage unit 123 Work process information storage unit 124 Measurement result storage unit 125 Work Person measurement result storage unit 126 Heavy equipment measurement result storage unit 130 Control unit 131 Information acquisition unit 132 Moving object classification unit 133 Storage control unit 134 Danger judgment unit 135 Error judgment unit 136 Display control unit 140 Display unit

Claims (10)

Corresponding to the work process information related to the work site, the movement of the moving body based on the non-contact detection at the work site is classified into the movement of the first object and the movement of the second object other than the first object. A work site monitoring unit comprising a control unit for determining the danger of the second object to the first object based on at least one of the movement of the first object and the movement of the second object. Device. The control unit has the risk of the second object to the first object based on at least one of the movement of the first object and the movement of the second object and the work process information. To judge,
The work site monitoring device according to claim 1. The first object is a worker,
The work site monitoring device according to claim 1. The second object is a person other than the operator.
The work site monitoring device according to claim 3. The control unit determines the danger based on whether or not there is a movement other than the operator.
The work site monitoring device according to claim 4. The control unit determines the risk based on whether or not the distance between the worker and a non-worker is below the threshold value.
The work site monitoring device according to claim 4. The control unit determines that there is a risk when there is a movement other than the worker and when the distance between the worker and the non-worker is less than the threshold value.
The work site monitoring device according to claim 4. Corresponding to the work process information related to the work site, the movement of the moving body based on the non-contact detection at the work site is classified into the movement of the first object and the movement of the second object other than the first object. The moving body sorting part and
A risk determination unit for determining the danger of the second object to the first object based on at least one of the movement of the first object and the movement of the second object.
Worksite monitoring system equipped with. Corresponding to the work process information related to the work site, the movement of the moving body based on the non-contact detection at the work site is classified into the movement of the first object and the movement of the second object other than the first object. A work site monitoring method for determining the danger of the second object to the first object based on at least one of the movement of the first object and the movement of the second object. Computer,
Corresponding to the work process information related to the work site, the movement of the moving body based on the non-contact detection at the work site is classified into the movement of the first object and the movement of the second object other than the first object. A work site monitoring unit comprising a control unit for determining the danger of the second object to the first object based on at least one of the movement of the first object and the movement of the second object. A program to function as a device.

Images