JP5520688B2 - Contact prevention system, construction machinery and program - Google Patents

Description

  The present invention relates to a contact prevention system, a construction machine, and a program. More particularly, the present invention relates to a contact prevention system that prevents contact between a construction machine and a person, the construction machine, and a program.

  In Patent Document 1, there is no malfunction or blind spot in the detection range, and for the purpose of reliably detecting only the worker, the receiving antenna, the control device, and the alarm output device arranged in the construction machine, There is disclosed a technique that includes a mounted transmitter, calculates a distance between a construction machine and an operator by the control device, and issues an alarm when it is determined that the distance is within a predetermined distance.

  Further, Patent Document 2 discloses a heavy machine approaching person alarm device for notifying an operator of the heavy machine of the approach information of the heavy machine when a heavy machine and an approaching person approaching the heavy machine approach a predetermined distance at a construction site. The approaching person has a wireless tag that transmits ID data for identifying the approaching person, a receiving device that is attached to the heavy equipment and receives the ID data, and is connected to the receiving device, And a notification device that notifies approach information based on the received ID data, and discloses a technique for notifying different approach information for each received ID data by the notification device.

JP 2003-168174 A JP 2007-120110 A

  However, the techniques disclosed in Patent Document 1 and Patent Document 2 do not take into account the movement of an operator or an approaching person, and can always prevent contact between the construction machine and a person with high accuracy. There was a problem that it was not always possible.

  The present invention has been made to solve the above-described problems, and an object thereof is to provide a contact prevention system capable of preventing contact between a construction machine and a person at a higher level, the construction machine, and a program. To do.

In order to achieve the above object, a contact prevention system according to claim 1 includes a human position detecting means for detecting the position of a person existing around a construction machine, and a person indicating the position detected by the human position detecting means. Storage means for storing position information; and human position prediction means for predicting the position of the person after a predetermined time has elapsed based on the person position information at a plurality of times stored in the storage means. The predetermined position of the construction machine based on the position detected by the machine position detecting means, the position detected by the machine position detecting means, and the position predicted by the human position predicting means. A calculation means for calculating the distance between the part of the construction machine and the person after a lapse of time, and information based on the calculation result by the calculation means is displayed by the display means. Comprising a Gosuru control means, and the person position predicting means, said derives the movement speed and movement acceleration of the person based on the person position information of a plurality of time points, the person on the basis of the moving speed and movement acceleration Predict the position of .

  According to the contact prevention system of the first aspect, the position of the person existing around the construction machine is detected by the person position detection means, and the person position information indicating the detected position is stored by the storage means. The storage means includes a RAM (Random Access Memory), an EEPROM (Electrically Erasable and Programmable Read Only Memory), a semiconductor storage element such as a flash EEPROM (Flash EEPROM), a portable recording medium such as a flexible disk, a hard disk, etc. Or an external storage device provided in a server computer connected to a network.

  Here, in the present invention, the position of the person after a predetermined time has elapsed is predicted by the person position prediction means based on the person position information at a plurality of time points stored in the storage means. On the other hand, the position of a predetermined part of the construction machine is detected by the machine position detecting means.

  And in this invention, based on the position detected by the said machine position detection means and the position estimated by the said person position prediction means by the calculating means, the said construction machine after the said predetermined time passed The distance between the part and the person is calculated, and the control means controls the display means to display information based on the calculation result by the calculation means. The display by the display means includes not only visual display by a display device but also audible display by a sound generation device, a ringing device, etc., and permanent visual display by an image forming device.

  Thus, according to the contact prevention system according to claim 1, the position after a predetermined time of a person existing around the construction machine is predicted, and the predicted position and the construction machine are determined in advance. Since the distance to the part is calculated and applied, contact between the construction machine and the person can be prevented at a higher level than when the present invention is not applied.

The present invention is pre-Symbol human position prediction means, said derives the moving speed and movement acceleration of the person based on the person position information of a plurality of time points, the position of the person on the basis of the moving speed and movement acceleration We are predicting a. Thereby, compared with the case where the said moving speed and moving acceleration are not used, a contact with a construction machine and a person can be prevented at a higher level.

In order to achieve the above object, a contact prevention system according to claim 2 includes a human position detecting means for detecting the position of a person existing around a construction machine, and a position detected by the human position detecting means. Storage means for storing the person position information to be shown, and person position prediction for predicting the position of the person after elapse of a predetermined time based on the person position information at a plurality of time points stored in the storage means A position of a predetermined part of the construction machine, a position detected by the machine position detecting means, and a position predicted by the person position predicting means, Calculation means for calculating the distance between the part of the construction machine and the person after a predetermined time has elapsed, and information based on the calculation result by the calculation means is displayed by the display means. And a control means for controlled so, the said machine position detecting means detects the positions of a plurality of sites predetermined for a construction machine, said computing means, a plurality of detected by the machine position detecting means Based on the position and the position predicted by the person position prediction means, the distance between the plurality of parts of the construction machine and the person after the predetermined time has elapsed, the control means, Control is performed so that information based on the shortest distance among the plurality of distances calculated by the calculation means is displayed by the display means. Thereby , compared with the case where this invention is not applied, while a contact with a construction machine and a person can be prevented at a higher level, a contact with a construction machine and a person can be prevented more appropriately.
In order to achieve the above object, a contact prevention system according to claim 3 is configured to detect a position of a person existing around a construction machine, and a position detected by the person position detecting means. Storage means for storing the person position information to be shown, and person position prediction for predicting the position of the person after elapse of a predetermined time based on the person position information at a plurality of time points stored in the storage means A position of a predetermined part of the construction machine, a position detected by the machine position detecting means, and a position predicted by the person position predicting means, Calculation means for calculating the distance between the part of the construction machine and the person after a predetermined time has elapsed, and information based on the calculation result by the calculation means is displayed by the display means. Control means for controlling the machine position, wherein the storage means further stores machine position information indicating the position detected by the machine position detection means, and the machine position information at a plurality of times stored by the storage means Further comprising machine position prediction means for predicting the position of the part after elapse of the predetermined time, and the calculation means includes the position predicted by the machine position prediction means and the human position prediction. The distance is calculated based on the position predicted by the means. Thereby, compared with the case where this invention is not applied, a contact with a construction machine and a person can be prevented at a higher level.
Furthermore, in order to achieve the above object, the contact prevention system according to claim 4 includes a human position detecting means for detecting a position of a person existing around a construction machine, and a position detected by the human position detecting means. Storage means for storing the person position information to be shown, and person position prediction for predicting the position of the person after elapse of a predetermined time based on the person position information at a plurality of time points stored in the storage means A position of a predetermined part of the construction machine, a position detected by the machine position detecting means, and a position predicted by the person position predicting means, Calculation means for calculating the distance between the part of the construction machine and the person after a predetermined time has elapsed, and information based on the calculation result by the calculation means is displayed by the display means. And at least one of the human position detecting means and the mechanical position detecting means detects a position to be detected by a GPS receiver, and the GPS receiver detects its own position. Position information and accuracy information indicating the positioning accuracy of the position are output, and the calculation means outputs the position indicated by the position information output from the GPS receiver together with the position information from the GPS receiver. The distance is calculated in a state where the distance between the part of the construction machine and the person is shortened by the maximum distance in the error range corresponding to the positioning accuracy indicated by the accuracy information. Thereby, compared with the case where the present invention is not applied, the contact between the construction machine and the person can be prevented at a higher level, and the person position detecting means and the machine position detecting means to which the GPS receiver is applied. For at least one of the above, the portability can be improved and the cost can be reduced.
In particular, according to the present invention, the GPS receiver outputs position information indicating its own position and accuracy information indicating the positioning accuracy of the position, and the calculation means is indicated by the position information output from the GPS receiver. In the direction in which the distance between the part of the construction machine and the person is reduced by the maximum distance of the error range corresponding to the positioning accuracy indicated by the accuracy information output from the GPS receiver together with the location information. The distance is calculated while moving. Thereby, compared with the case where the said positioning precision is not used, a contact with a construction machine and a person can be prevented more reliably.

Note that, in the invention according to any one of claims 1 to 4, as in the invention according to claim 5 , the control unit displays the information indicating the distance calculated by the calculation unit. You may control to display by a means. As a result, the approaching state of the person to the construction machine can be grasped more intuitively, so that the contact between the construction machine and the person can be more effectively prevented.

Further, in the invention according to any one of claims 1 to 5, as in the invention according to claim 6 , the control means further displays the image showing the construction machine and the person. You may control to display by a means. As a result, the approaching state of the person to the construction machine can be grasped more intuitively, so that the contact between the construction machine and the person can be more effectively prevented.

Further, in the invention according to any one of claims 1 to 6, as in the invention according to claim 7 , the control unit has a predetermined threshold for the distance calculated by the calculation unit. Control may be performed so that a warning is displayed by the display means when the following occurs. Thereby, a contact with a construction machine and a person can be prevented more effectively.

Further, in the invention according to any one of claims 1 to 3, as in the invention according to claim 8, the human position detecting means and the mechanical position detecting means are an IC tag and a GPS (Global The position to be detected may be detected wirelessly using Positioning Systems). Thereby, contact with a construction machine and a person can be prevented more simply and accurately. In particular, when at least one of an IC tag and a GPS is used, the IC tag and the GPS are highly portable, widely spread, and can be applied at low cost. Therefore, at least one of the IC tag and the GPS is used. Compared with the case where no one is used, the contact between the construction machine and the person can be prevented more easily and at a lower cost.

Further, in the invention described in claim 4 , as in the invention described in claim 9 , the GPS receiver outputs quality information indicating the quality of GPS as the accuracy information, and the storage means stores the quality. Information and accuracy information indicating the positioning accuracy according to the quality indicated by the quality information are stored in advance in association with each other, and the calculation means corresponds to the quality information output from the GPS receiver. The accuracy information may be read from the storage unit, and the movement may be performed using the read accuracy information. Thereby, contact with a construction machine and a person can be prevented more correctly.

According to a fourth aspect of the present invention, the computing means includes at least one outer position of the person and the construction machine whose position is detected by the GPS receiver, together with position information indicating the detected position. The distance between the part of the construction machine and the person may be calculated in a state where the maximum distance of the error range corresponding to the positioning accuracy indicated by the accuracy information output from the GPS receiver is widened. Also by this, compared with the case where the said positioning accuracy is not used, a contact with a construction machine and a person can be prevented more reliably.

On the other hand, in order to achieve the above object, the construction machine according to claim 10 stores person position information indicating a position detected by a person position detecting means for detecting a position of a person existing around the own construction machine. Storage means; human position prediction means for predicting the position of the person after elapse of a predetermined time based on the person position information at a plurality of points stored in the storage means; and the self- construction machine A predetermined time elapses based on a position detected by the machine position detecting means, a position detected by the machine position detecting means, and a position predicted by the human position predicting means. calculating means and control means for controlling to display the display unit information based on a calculation result by the calculating means with the said portion of the self-construction machine after calculating a distance between the person The person position predicting means derives the movement speed and movement acceleration of the person based on the person position information at the plurality of time points, and predicts the position of the person based on the movement speed and movement acceleration. .

Therefore, according to the construction machine according to the tenth aspect , since it works in the same manner as the invention according to the first aspect, it is higher than the case where the present invention is not applied, similarly to the invention according to the first aspect. At the level, contact between construction machines and people can be prevented.

On the other hand, in order to achieve the above object, the program according to claim 11 sets the computer to the positions of the persons at a plurality of times detected by the person position detecting means for detecting the positions of the persons existing around the construction machine. A person position predicting means for deriving the person's moving speed and moving acceleration based on the moving speed and moving acceleration, and predicting the person's position after elapse of a predetermined time; and the construction machine The position of the construction machine after the predetermined time has elapsed based on the position detected by the machine position detecting means for detecting the position of the predetermined part and the position predicted by the person position predicting means. Calculation means for calculating the distance between the part and the person, and control means for controlling the display means to display information based on the calculation result by the calculation means; It is intended to function with.

Therefore, according to the program of the eleventh aspect , the computer can be operated in the same manner as the invention of the first aspect. In comparison, contact between the construction machine and the person can be prevented at a higher level.

  According to the present invention, a position of a person existing around a construction machine after a predetermined time has been predicted, and a distance between the predicted position and a predetermined part of the construction machine is calculated and applied. Therefore, compared with the case where the present invention is not applied, the effect that the contact between the construction machine and the person can be prevented at a higher level is obtained.

It is a block diagram which shows the whole structure of the contact prevention system which concerns on 1st Embodiment. It is a block diagram which shows the principal part structure of the electric system of the personal computer which concerns on embodiment. It is a schematic diagram which shows the main memory content of the secondary memory | storage part with which the personal computer which concerns on embodiment was equipped. It is a schematic diagram which shows the structure of the machine position log information database which concerns on embodiment. It is a schematic diagram which shows the structure of the person position log information database which concerns on embodiment. It is a schematic diagram which shows the structure of the contact level information database which concerns on embodiment. It is a flowchart which shows the flow of a process of the contact prevention program which concerns on 1st Embodiment. It is a schematic diagram with which it uses for description of the definition (error definition) of the error range with respect to the prediction result of the position of the worker in the contact prevention system which concerns on embodiment. It is a schematic diagram with which it uses for description of the definition (definition by a sector) of the error range with respect to the prediction result of the position of the worker in the contact prevention system which concerns on embodiment. It is the schematic which shows an example of the display screen which concerns on embodiment. It is a block diagram which shows the whole structure of the contact prevention system which concerns on 2nd Embodiment. It is a flowchart which shows the flow of a process of the contact prevention program which concerns on 2nd Embodiment. It is a block diagram which shows the whole structure of the contact prevention system which concerns on 3rd Embodiment. It is a schematic diagram with which it uses for description of the detection error of the position of the GPS receiver which concerns on 3rd Embodiment. It is a schematic diagram which shows the structure of the precision conversion information database which concerns on 3rd Embodiment. It is a flowchart which shows the flow of a process of the contact prevention program which concerns on 3rd Embodiment.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Here, when the present invention is applied to a contact prevention system for preventing contact between a worker who performs work around a construction machine (in this embodiment, a crane truck) and the construction machine at a construction site. Will be described.

[First Embodiment]
First, an overall configuration of a contact prevention system 10 to which the present invention is applied will be described with reference to FIG. FIG. 1 is a block diagram showing a functional configuration of the contact prevention system 10 according to the present embodiment.

  As shown in the figure, the contact prevention system 10 according to this embodiment is provided in a construction machine 40, and a personal computer 20 that plays a central role in the system 10 and a person existing around the construction machine 40. A construction position where the construction machine 40 is used, and a machine position detection unit 30 for detecting the position of a predetermined part of the construction machine 40 (hereinafter referred to as “detection target part”) that may come into contact. And a human position detector 50 that is carried by each worker engaged in the work and detects the position of the carried worker.

  The personal computer 20 according to the present embodiment includes a human position prediction unit 21, a distance calculation unit 22, a storage unit 23, a display control unit 24, a display unit 25, a voice output unit 26, a communication unit 27, and a communication unit 28. I have. Further, the machine position detection unit 30 according to the present embodiment is a detection in the construction machine 40 such as a position coordinate detector 31, an orientation detector 32, a turning angle detector 33, a boom length detector 34, and a undulation angle detector 35. Various detectors for detecting the position of the target region are provided.

  The position coordinate detector 31 is for detecting the position of the construction machine 40, the direction detector 32 is for detecting the direction of the lower traveling body of the construction machine 40, and the turning angle detector 33 is for the construction machine. The turning angle of the turning frame (the portion on which the operator of the construction machine 40 rides) with respect to the lower traveling body 40 is detected. The boom length detector 34 detects the boom length of the construction machine 40, and the undulation angle detector 35 detects the boom undulation angle.

  Each of the detectors provided in the machine position detection unit 30 includes a communication unit 36 configured to be able to communicate with the communication unit 27, and the detection result of each detector is information indicating a detection target. (Hereinafter referred to as “detection target specifying information”) and the corresponding communication unit 36 to be transmitted to the personal computer 20. In the contact prevention system 10 according to the present embodiment, the detection result and the detection target specifying information are transmitted every predetermined period (0.1 second in the present embodiment) by the detectors. . In the contact prevention system 10 according to the present embodiment, a position specifying system using GPS is applied as the position coordinate detector 31. However, the present invention is not limited to this, and a position specifying system using a triangulation technique, IC Other position specifying systems such as a position specifying system using tags may be applied.

  Each person position detector 50 possessed by each worker is provided with a communication unit 52 configured to be able to communicate with the communication unit 28, and the detection result by each person position detector 50 corresponds. The data is transmitted to the personal computer 20 via the communication unit 52. In the contact prevention system 10 according to the present embodiment, identification information is individually assigned in advance to each worker in order to identify each worker, and the detection result by each person position detector 50 indicates that the person. It is transmitted to the personal computer 20 together with the identification information given to the worker carrying the position detector 50. In the contact prevention system 10 according to the present embodiment, the detection result and the identification information are transmitted every predetermined period (0.1 seconds in the present embodiment) by each person position detector 50. Yes. Further, in the contact prevention system 10 according to the present embodiment, the position specifying system using GPS is applied as the human position detector 50, but the position specifying system using triangulation technology is not limited thereto, Other position specifying systems such as a position specifying system using an IC tag may be applied.

  Further, in the contact prevention system 10 according to the present embodiment, the communication unit 27, the communication unit 28, the communication unit 36, and the communication unit 52 are adapted to communicate with each other by Bluetooth (Bluetooth). Not limited to a mode in which communication is performed according to another wireless communication standard such as IrDA (Infrared Data Association), or a mode in which communication is performed according to a wired communication standard such as USB (Universal Serial Bus).

  On the other hand, the storage unit 23 provided in the personal computer 20 is detected by each person position detector 50 and receives the person position information indicating the position of each worker received via the communication unit 28, and the machine position detection unit 30. The part position information indicating the position of each detection target part obtained based on the information received through the communication unit 27 is sequentially stored in chronological order. Further, the human position prediction unit 21 predicts the position of each worker after a predetermined time has elapsed based on the human position information at a plurality of times stored in the storage unit 23.

  On the other hand, the distance calculation unit 22 is determined in advance based on the position of each detection target part obtained based on the detection result by the machine position detection unit 30 and the position of each worker predicted by the human position prediction unit 21. The distance between each detection target part and each worker after the given time has elapsed is calculated. Further, the display control unit 24 visually displays information based on the calculation result by the distance calculation unit 22 by the display unit 25 and audibly displays by the audio output unit 26.

  Next, with reference to FIG. 2, the configuration of the main part of the electrical system of the personal computer 20 having a particularly important role in the contact prevention system 10 will be described.

  As shown in the figure, the personal computer 20 according to the present embodiment includes a CPU (central processing unit) 20A that controls the operation of the personal computer 20 as a whole and a work area when the CPU 20A executes various processing programs. A RAM 20B used, a ROM 20C in which various control programs, various parameters, and the like are stored in advance, and a secondary storage unit that functions as a storage unit used for storing various information such as the above-described human position information and part position information ( Here, a hard disk device) 20D, a keyboard 20E used for inputting various types of information, a display 20F used for displaying various types of information, a speaker 20G used for generating various types of audio, and an external device And a communication unit 20H that performs communication with the Ri, these parts are connected to the electrically interconnected by a system bus BUS.

  Therefore, the CPU 20A accesses the RAM 20B, ROM 20C, and secondary storage unit 20D, acquires various input information via the keyboard 20E, displays various information on the display 20F, generates various sounds by the speaker 20G, and the communication unit 20H. Communication with an external device or the like can be performed.

  Note that the CPU 20A in the personal computer 20 functions as the human position prediction unit 21, the distance calculation unit 22, and the display control unit 24, the secondary storage unit 20D functions as the storage unit 23, and the display 20F functions as the display unit 25. The speaker 20G functions as the audio output unit 26, and the communication unit 20H functions as the communication unit 27 and the communication unit 28.

  On the other hand, FIG. 3 schematically shows main storage contents of the secondary storage unit 20D provided in the personal computer 20.

  As shown in the figure, the secondary storage unit 20D has a database area DB for storing various databases, a control program for controlling each unit of the personal computer 20, and an application program for performing various processes. Etc., and a program area PG for storing them.

  The database area DB includes a machine position log information database DB1, a person position log information database DB2, a contact level information database DB3, and a model information database DB4. Hereinafter, the configuration of each database will be described in detail.

  As shown in FIG. 4 as an example, the machine position log information database DB1 is configured to store information on “date and time” and “part position”.

  The date and time is information indicating the date and time when the corresponding part position information is stored in the machine position log information database DB1, and the part position is information indicating the position of the corresponding detection target part at the corresponding date and time. . For example, in the machine position log information database DB1 shown in FIG. 4, the position of the tip of the boom in the construction machine 40 (“boom tip”) at 13:15:20 on May 11, 2009 is the longitude. x11, latitude is y11, and altitude is z11.

  On the other hand, as shown in FIG. 5 as an example, the person position log information database DB2 is configured to store information on “date and time” and “person position”.

  The date and time is information indicating the date and time when the corresponding person position information is stored in the person position log information database DB2, and the person position is information indicating the position of the corresponding worker at the corresponding date and time. For example, in the human position log information database DB2 shown in FIG. 5, the position of the worker assigned “10001” as the identification information at 13:15:20 on May 11, 2009 has a longitude of X11. , The latitude is Y11, and the altitude is Z11.

  By the way, in the contact prevention system 10 which concerns on this Embodiment, the position after the predetermined time of the worker who exists around the construction machine 40 passes is estimated, and the detection target site | part of the said position and the construction machine 40 When the distance between and (hereinafter referred to as “human-machine distance”) is equal to or less than a predetermined distance D, the display 20F increases the possibility of contact for each predetermined distance range. (Hereinafter referred to as “contact level”) a color image (in this embodiment, a linear image) is displayed between the corresponding worker and the detection target part (hereinafter referred to as “contact level display function”). ") Is installed.

  The contact level information database DB3 is provided for this contact level display function. As shown in FIG. 6, as an example, information on “distance range” and “display color” is stored. It is configured.

  The distance range is information indicating the range of the distance, and the display color is information indicating the color of the straight line image when a human-machine distance is included in the corresponding distance range. For example, the contact level information database DB3 shown in FIG. 6 shows that the straight line image is displayed in red by the contact level display function when the human-machine distance is included in the distance range of 0 m or more and less than 1 m. Yes.

  In addition, although illustration is abbreviate | omitted, model information database DB4 is information (henceforth "construction machine model information") which shows the shape and dimension of each part which can comprise the outline shape in the movable range of the movable part of the construction machine 40. FIG. ) Is stored.

  Next, with reference to FIG. 7, the effect | action of the contact prevention system 10 which concerns on this Embodiment is demonstrated. FIG. 7 is a flowchart showing the flow of processing of the contact prevention program executed by the CPU 20A when an execution instruction is received via the keyboard 20E of the personal computer 20, etc., and this program is a secondary storage. Stored in advance in the program area PG of the unit 20D. Here, a case will be described in which the contact level information database DB3 and the model information database DB4 are constructed in advance in order to avoid complications.

  In step 100 of the figure, detection from each detector (position coordinate detector 31, azimuth detector 32, turning angle detector 33, boom length detector 34, and undulation angle detector 35) of the machine position detector 30 is performed. Waiting for reception of the result and detection target specifying information and the detection result and identification information from each person position detector 50, and in the next step 102, the detection result and detection received from each detector of the machine position detector 30 The position of each detection target part is specified based on the target specifying information. In the contact prevention system 10 according to the present embodiment, the position of each detection target part is specified as follows.

  First, construction machine model information is read from the model information database DB4.

  Next, the outer shape of the lower traveling body of the construction machine 40 is configured based on the read construction machine model information, and the outer shape of the lower traveling body, the detection result by the direction detector 32, and the position coordinate detector 31 are detected. Based on the position (the position where the position coordinate detector 31 of the construction machine 40 is installed), the position of the detection target part in the outline shape of the lower traveling body is specified.

  Further, the outer shape of the turning frame of the construction machine 40 is configured based on the construction machine model information, and the outer shape of the turning frame, the detection result by the turning angle detector 33, and the position detected by the position coordinate detector 31 are set. Based on this, the position of the detection target part in the outer shape of the turning frame is specified.

  Further, the outer shape of the boom of the construction machine 40 is configured based on the construction machine model information and the detection result by the boom length detector 34, the outer shape of the boom, the detection result by the undulation angle detector 35, and the position coordinate detector. Based on the position detected by 31, the position of the detection target part in the outline shape of the boom is specified.

  In the next step 104, the position of each worker is specified based on the detection result and identification information received from each person position detector 50, and in step 106, each detection target part specified by the processing in step 102 is specified. The position is stored in the corresponding area of the machine position log information database DB1 as the part position information in association with the date and time at this time, and the position of each worker specified by the processing in step 104 is stored as the person position information. The information is stored in the corresponding area of the position log information database DB2 in association with the date and time at this time.

  In the next step 108, the number of stored part position information and person position information in step 106 after the execution of the contact prevention program is started is a predetermined number X (3 in the present embodiment) or more. If the determination is affirmative, the process proceeds to step 112 described later. If the determination is negative, the process proceeds to step 110 and a predetermined period (in this embodiment, After waiting for 1 second), the process returns to step 100.

  By repeating the steps 100 to 110 described above, the part position information and the person position information of the predetermined number X or more are converted into the machine position log information database DB1 and the person position log information for each predetermined period. Stored in the database DB2.

  In step 112, the person position information is read from the person position log information database DB2 by the predetermined number X retroactively from this time point, and in the next step 114, the person position information is predetermined based on the read person position information. The position of each worker after the elapse of time (1 second in this embodiment) is predicted. Hereinafter, the principle of the method for predicting the position of each worker in the contact prevention system 10 according to the present embodiment will be described.

  The position coordinate of the worker at a certain time T (n) is Pm (n), the position coordinate of the worker at time T (n-1) is Pm (n-1), and the position coordinate at time T (n-2). The position coordinates of the worker are defined as Pm (n-2).

  At this time, an arithmetic expression for predicting the position coordinate Pm (n + 1) of the worker at time T (n + 1) is considered. Each time is assumed to have the following relationship.

  At this time, if Δt ′ is sufficiently small, Pm (n + 1) can be defined by the equation of motion represented by the following equation (1), and the error between the predicted value and the actual position is a sufficiently small value: I can say that.

  Here, when Δt = Δt ′ as in the contact prevention system 10 according to the present embodiment, when expression (1) is expanded, it can be expressed in a form that does not include Δt ′ as in expression (2) below. it can.

  Based on the above principle, in the contact prevention system 10 according to the present embodiment, each work indicated by the human position information at the three time points read out by the process in step 112 is the prediction of the position of each worker in step 114. This is done by substituting each coordinate value of the member's three-dimensional coordinate system into the above equation (2).

  The above formulas (1) to (2) are used for prediction after differentiating the position coordinates twice to obtain the acceleration. If this is not taken into account, the following formula (3) is used. It is also possible to predict in a simpler form.

  However, in the case of these equations, as Δt ′ increases, the value of Pm (n + 1) may increase in error compared to the actual position coordinates. Therefore, in the contact prevention system 10 according to the present embodiment, Pm (n + 1) is defined not as a point but as a surface showing a certain range in consideration of an error. Here, in the contact prevention system 10 according to the present embodiment, it is assumed that the position of the worker does not change rapidly in the vertical direction (Z coordinate direction), and errors are considered only for the X coordinate and Y coordinate components. .

  As this method, two types, a method defined by a circle and a method defined by a sector, are conceivable. In the case of defining by a circle, as shown in FIG. 8 as an example, an error range is represented by a point Pm (n + 1). Is defined by the following equation (4).

  On the other hand, in the case of defining in a sector shape, as shown in FIG. 9 as an example, when a vector from a point Pm (n) to a point Pm (n + 1) is considered, around the Z axis with Pm (n) as the origin It is defined by the following equation (5) as a fan-shaped range connecting two points formed by rotating ± α (deg) and the point Pm (n).

  In the contact prevention system 10 according to the present embodiment, the error range is defined as a sector. Here, in the contact prevention system 10 according to the present embodiment, fixed values are applied as θ and k in the above equation (5). However, the present invention is not limited to this, and the user of the contact prevention system 10 (as an example, construction The operator of the machine 40 may be input via an input unit such as the keyboard 20E.

  In the next step 116, the part position information (that is, the part position information stored in the machine position log information database DB1 by the process of the immediately preceding step 106) of each newest (most recent) detection target part at this time is stored in the machine. The distance between the position of each worker predicted from the processing of step 114 and the position of each detection target part indicated by the read part position information (this implementation) In this form, the Euclidean distance) is calculated as the above-mentioned human-machine distance.

  In the next step 120, the distance between each worker and the detection target part closest to the worker among the human-machine distances obtained by the processing in step 118 is within the predetermined distance D. If there is an affirmative determination, the routine proceeds to step 122, where a predetermined sound (in this embodiment, a buzzer sound) is generated by the speaker 20G and then the step is performed. On the other hand, if the determination is negative, the process proceeds to step 124 without executing the process in step 122 described above.

  In step 124, after reading all the information from the contact level information database DB3, the read information, the construction machine model information read by the process of step 102, the person position information read by the process of step 112, the step Based on the definition of the predicted position and error range of each worker derived by the process of 114, the part position information read by the process of step 116, and the human-machine distance calculated by the process of step 118 In the next step 126, information indicating the display image in the formatted format is configured, and the display image is displayed on the display 20F using the configured information.

  FIG. 10 shows an example of a display image displayed on the display 20F by the process of step 126. As shown in the figure, in this image, the image of the construction machine 40 indicated by the position of the detection target part detected most recently, and the operations present at the positions detected and predicted at the three most recent time points are shown. The image of the worker is displayed as a plan view together with an equidistant line from the plan view outline of the construction machine 40.

  Here, in this image, the contact level information database DB3 stores the distance between each worker and the detection target part closest to the worker among the human-machine distance obtained by the process of step 118 above. When there is something included in the distance range, a linear image is displayed with a corresponding display color between the corresponding worker and the detection target part. In the drawing, the straight line image is schematically shown as a hatched image for convenience.

  Therefore, the operator of the construction machine 40 can easily grasp the positional relationship between each worker and the construction machine 40 by referring to the image.

  In the next step 128, it is determined whether or not a predetermined timing has arrived as a timing for ending the contact prevention program. If a negative determination is made, the process proceeds to step 130, and the predetermined period is reached. While waiting for the passage of time (1 second in the present embodiment), the process returns to step 100. On the other hand, if the determination is affirmative, the contact prevention program is terminated. In the contact prevention system 10 according to the present embodiment, the operator of the construction machine 40 terminates the execution of the contact prevention program through the keyboard 20E as the predetermined timing applied in the processing of step 128. However, the present invention is not limited to this. For example, the timing at which a predetermined work end time is reached at the target construction site, and the power switch of the personal computer 20 is in the OFF state. Needless to say, other timings such as the timing at which the work by the construction machine 40 is completed may be used.

  As described above in detail, in the present embodiment, the position after a predetermined time of a person (a worker in the present embodiment) existing around the construction machine has been predicted and predicted. Since the distance between the position and a predetermined part of the construction machine (the detection target part in the present embodiment) is calculated and applied, the level is higher than when the predicted position of the person is not applied. This prevents contact between construction machines and people.

  In the present embodiment, the movement speed and movement acceleration of a person are derived based on the person position information at a plurality of points in time, and the position of the person is predicted based on the movement speed and movement acceleration. Compared with the case where speed and moving acceleration are not used, contact between the construction machine and the person can be prevented at a higher level.

  In the present embodiment, the positions of a plurality of predetermined parts (detection target parts) of the construction machine are detected, and a predetermined time is determined based on the detected plurality of positions and the predicted position of the person. Since the distance between the plurality of parts of the construction machine after passing and the person is calculated, and control is performed so as to display information based on the shortest distance for each person among the calculated plurality of distances, more It is possible to appropriately prevent contact between the construction machine and a person.

  Further, in the present embodiment, since control is performed so as to display information indicating the calculated distance, it is possible to more intuitively grasp the approaching state of the person to the construction machine. Can be prevented from contacting people.

  Further, in the present embodiment, since control is performed so that an image showing the construction machine and the person is further displayed, the approaching state of the person to the construction machine can be grasped more intuitively. In addition, it is possible to prevent contact between a construction machine and a person.

  Further, in the present embodiment, when the calculated distance is equal to or less than a predetermined threshold, control is performed so as to display a warning (in this embodiment, an audible display by the speaker 20G). It is possible to prevent contact between the construction machine and the person more effectively.

  Furthermore, in the present embodiment, since the position to be detected (the position of the person and the position of the detection target part) is detected wirelessly, the contact between the construction machine and the person can be prevented more easily and accurately. it can.

[Second Embodiment]
First, the configuration of a contact prevention system 10 ′ according to the second embodiment will be described with reference to FIG. FIG. 11 is a block diagram showing a functional configuration of the contact prevention system 10 ′ according to the second embodiment, and the same reference numerals as those in FIG. The description is omitted.

  As shown in FIG. 11, in the contact prevention system 10 ′ according to the second embodiment, only the machine position prediction unit 29 is newly provided between the communication unit 27 and the distance calculation unit 22. Is different from the contact prevention system 10 according to the first embodiment.

  The machine position prediction unit 29 according to the present embodiment uses the position information of a plurality of points stored in the machine position log information database DB1 to determine the position of each detection target part after a predetermined time has elapsed. Predict.

  Next, with reference to FIG. 12, an operation of the contact prevention system 10 'according to the second embodiment will be described. FIG. 12 shows the flow of processing of the contact prevention program according to the second embodiment, which is executed by the CPU 20A when an execution instruction is received via the keyboard 20E of the personal computer 20 or the like. This is a flowchart, and the program is stored in advance in the program area PG of the secondary storage unit 20D. Further, steps in FIG. 12 that execute the same processing as in FIG. 7 are denoted by the same step numbers as in FIG. 7, and description thereof is omitted here.

  In step 113 of the figure, the position position information of each detection target part is read from the machine position log information database DB1 by the predetermined number X retroactively from this point of time, and in step 116 ′, the read part position information is read. Based on this, the position of each detection target part after a predetermined time (1 second in the present embodiment) has elapsed is predicted. Note that the method for predicting the position of each detection target part according to the present embodiment is the same as the method for predicting the position of the worker according to the first embodiment, and a description thereof will be omitted here.

  As described above in detail, the second embodiment can achieve the same effects as those of the first embodiment, and can also provide machine position information at a plurality of points in time (in this embodiment, parts Based on the position information), predict the position of a part (detection target part in the present embodiment) after a predetermined time has elapsed, and based on the predicted position of the part and the predicted position of the person Since the distance is calculated, it is possible to prevent the contact between the construction machine and the person at a higher level than when the predicted position of the predetermined part of the construction machine is not applied.

[Third Embodiment]
In the third embodiment, an example in which a GPS receiver is used as the position coordinate detector 31 and the human position detector 50 will be described.

  First, with reference to FIG. 13, the structure of the contact prevention system 10 '' according to the third embodiment will be described. FIG. 13 is a block diagram showing a functional configuration of the contact prevention system 10 ″ according to the third embodiment, and the blocks for executing the same processing as in FIG. 11 are the same as those in FIG. Reference numerals are assigned and explanations thereof are omitted.

  As shown in FIG. 13, the contact prevention system 10 ″ according to the third embodiment includes a position coordinate detector 31 ′ instead of the position coordinate detector 31, and a human position detector 50. The contact prevention system 10 according to the second embodiment is only the point where the human position detector 50 ′ is used instead of and the distance calculation unit 22 ′ is used instead of the distance calculation unit 22. Is different.

  In the contact prevention system 10 '' according to the third embodiment, as the position coordinate detector 31 'and the human position detector 50', position information indicating its own position and accuracy information indicating the positioning accuracy of the position are provided. An output GPS receiver is applied.

  In the GPS receiver according to the present embodiment, NMEA-0183 is applied as a data format to be output. For example, the GGA message includes information shown in Table 1.

  As shown in Table 1, the GGA message includes a GPS quality indicator in field 6.

  Here, as schematically shown in FIG. 14 as an example, the position of the position detected by the GPS receiver for each of the positioning conditions 1 to 5 excluding 0 (impossible positioning) in the GPS quality indicator. The maximum horizontal error with respect to the true position is predetermined. Note that “RTK-Fix” in FIG. 14 corresponds to “real-time kinematic, fix”, “RTK-Float” corresponds to “real-time kinematic, float”, and “D-GPS” is “differential GPS”. Is equivalent to.

  Therefore, in the distance calculation unit 22 ′ according to the third embodiment, the GPS quality index (hereinafter referred to as “machine index information”) output as the accuracy information from the position coordinate detector 31 ′. In the construction machine 40 predicted by the machine position prediction unit 29 using the GPS quality index (hereinafter referred to as “human index information”) output as the accuracy information from the human position detector 50 ′. Each detection target part after the predetermined time has elapsed after correcting the position of the detection target part and the position of each worker predicted by the human position prediction unit 21 to be on the safe side And the distance between each worker.

  In the contact prevention system 10 '' according to the third embodiment, in order to realize the position correction as described above, the database area DB in the secondary storage unit 20D of the personal computer 20 is illustrated as an example in FIG. The accuracy conversion information database DB5 shown in FIG.

  As shown in the figure, the accuracy conversion information database DB5 according to the present embodiment is configured to store information on “GPS quality index” and “horizontal accuracy”.

  The GPS quality indicator is the same information as the information in the field 6 of the GGA message described above, and the horizontal accuracy indicates the maximum error in the horizontal direction of the detection position corresponding to the corresponding quality indicator. Information. In the accuracy conversion information database DB5 shown in the figure, for example, the horizontal accuracy when the GPS quality indicator is “1” is 20 m, and the horizontal accuracy when the GPS quality indicator is “2”. It shows that it is 50 cm.

  Next, with reference to FIG. 16, the operation of the contact prevention system 10 '' according to the third embodiment will be described. FIG. 16 shows the flow of processing of the contact prevention program according to the third embodiment, which is executed by the CPU 20A when an execution instruction is received via the keyboard 20E of the personal computer 20 or the like. This is a flowchart, and the program is stored in advance in the program area PG of the secondary storage unit 20D. Also, steps in FIG. 16 that execute the same processing as in FIG. 12 are assigned the same step numbers as in FIG. 12, and description thereof is omitted here. Furthermore, here, in order to avoid complications, a case will be described in which only one of the numerical values 1 to 5 is output from the GPS receiver as the GPS quality index.

  In step 100 ′ of the figure, from each detector (position coordinate detector 31 ′, azimuth detector 32, turning angle detector 33, boom length detector 34, and undulation angle detector 35) of the machine position detector 30. Detection results, detection target specifying information, and machine index information, and detection results, identification information, and human index information from each person position detector 50 'are awaited.

  In step 117, all information is read from the accuracy conversion information database DB5. In the next step 118 ′, the position of each worker predicted by the process in step 114 and each predicted by the process in step 116 ′. The distance from the position of the detection target part is calculated as follows as the above-mentioned human-machine distance.

  First, the horizontal accuracy corresponding to the latest (most recent) human index information at this time (that is, the human index information received by the process of the previous step 100 ′) is extracted from the information read by the process of step 117. Then, the position of each worker predicted by the processing of step 114 is moved in the direction of the closest detection target part by the distance indicated by the extracted horizontal accuracy.

  Also, the horizontal accuracy corresponding to the latest (most recent) machine index information at this time (that is, the machine index information received by the process of the previous step 100 ′) is extracted from the information read by the process of step 117. Then, the position of each detection target part predicted by the processing of step 116 ′ is moved in the direction of the closest worker by the distance indicated by the extracted horizontal accuracy.

  Then, the distance (Euclidean distance in the present embodiment) between the position of each worker after movement and the position of each detection target part obtained by the above processing is calculated as the above-mentioned human-machine distance.

  As described above in detail, the third embodiment can achieve the same effects as those of the second embodiment, and also has human position detection means (in this embodiment, a human position detector). 50 ′) and the machine position detecting means (in this embodiment, the position coordinate detector 31 ′) detect the position to be detected by the GPS receiver, so that the portability of these means is improved. In addition, the cost can be reduced.

  In particular, in the third embodiment, the GPS receiver outputs position information indicating its own position and accuracy information indicating the positioning accuracy of the position (in this embodiment, a GPS quality indicator). The position indicated by the position information output from the GPS receiver is the maximum distance of the error range corresponding to the positioning accuracy indicated by the accuracy information output from the GPS receiver together with the position information. Since the distance is calculated in a state where the distance between the part and the person is shortened, contact between the construction machine and the person can be prevented more reliably than when the positioning accuracy is not used. can do.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. Various modifications or improvements can be added to the above-described embodiment without departing from the gist of the invention, and embodiments to which such modifications or improvements are added are also included in the technical scope of the present invention.

  The above embodiments do not limit the invention according to the claims (claims), and all the combinations of features described in the embodiments are essential for the solution means of the invention. Is not limited. The embodiments described above include inventions at various stages, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent elements. Even if some constituent requirements are deleted from all the constituent requirements shown in the embodiment, as long as an effect is obtained, a configuration from which these some constituent requirements are deleted can be extracted as an invention.

  For example, in each of the embodiments described above, the case where the crane vehicle is applied as the construction machine of the present invention has been described. However, the present invention is not limited to this, and other construction such as an excavator car, a bulldozer, etc. It is good also as a form which applies a machine. Also in this case, the same effects as those of the above embodiments can be obtained.

  In each of the above embodiments, the case where the personal computer 20 is mounted on the construction machine 40 and the positional relationship between each worker and the construction machine 40 is grasped by the operator of the construction machine 40 has been described. However, the present invention is not limited to this. For example, the personal computer 20 is provided in a place other than the construction machine 40 such as an office provided at a construction site or a management room provided at a construction company. It is good also as a form which grasps | ascertains the positional relationship of each worker and the construction machine 40 in this place.

  In each of the above embodiments, the case where the position of each detection target part of each worker or construction machine 40 is predicted based on the measured positions at the three most recent times has been described. For example, based on the measured positions at the two most recent time points, a straight line connecting the measured positions at the two most recent time points is the slower measured position in the same length and direction as the straight line. It is good also as a form which makes the end point position at the time of extending from the predicted position. In this case, although the degree of prediction is inferior to that in the above embodiments, the prediction speed can be increased.

  In each of the above embodiments, the case where the person of the present invention is a worker has been described. However, the present invention is not limited to this. For example, in addition to the worker, a child other than the worker is used. One or more combinations of other persons such as an elderly person may be applied as the person of the present invention. Also in this case, the same effects as those of the above embodiments can be obtained.

  In the third embodiment, the case where the personal computer 20 moves the position of the person and the position of each detection target part according to the GPS quality index has been described. However, the present invention is not limited to this. For example, it may be configured to be performed in the human position detector 50 ′ and the position coordinate detector 31 ′. In this case, the calculation load for executing the above movement of the personal computer 20 can be reduced.

  In the third embodiment, the case where both the position of the person and the position of the detection target part are moved according to the corresponding GPS quality index has been described. However, the present invention is limited to this. For example, only one of the position of the person and the position of the detection target part may be moved according to the corresponding GPS quality index. In this case, the calculation load related to the movement can be halved.

  In the third embodiment, the case of correcting the position detection error in the horizontal direction has been described. However, the present invention is not limited to this, and for example, in addition to the correction, the height direction is corrected. It is also possible to correct the position detection error. In this case, since it is generally said that the error with respect to the height direction is about twice the error with respect to the horizontal direction, for example, twice the horizontal accuracy stored in the accuracy conversion information database DB5 is set to the height direction. The form applied as accuracy with respect to can be illustrated. In this case, contact between the construction machine and the person can be prevented at a higher level.

  In the third embodiment, the case where the detection target part and the position of the worker are directly moved according to the GPS quality index has been described. However, the present invention is not limited to this. For example, when the position of the outer position of the construction machine 40 indicated by the construction machine model information stored in the model information database DB4 is moved directly in the outward direction of the construction machine 40 according to the GPS quality indicator While expanding the same distance, the worker is defined as a worker model, and as a result, the outer position of the worker model is expanded by the same distance as when moving directly to the outside of the worker model. It is good also as a form which moves a detection object site | part and a worker's position.

  In the third embodiment, the case where the position of each detection target portion after a predetermined time has been predicted and applied has been described. However, the present invention is not limited to this. For example, the most recent detection position may be applied without predicting the position of each detection target part. In this case, the calculation load required for the prediction can be reduced.

  In the third embodiment, as an example, as shown in FIGS. 14 to 15, a case has been described in which accuracy information corresponding to a GPS quality index output from a GPS receiver is a fixed value. The present invention is not limited to this. For example, the accuracy information may be input to the user via input means such as the keyboard 20E. In this case, the accuracy information can be appropriately changed in accordance with the use of the contact prevention system 10 ″, the height of the required contact prevention effect, and the like, and the convenience can be improved. .

  Furthermore, in each of the above-described embodiments, the system for preventing contact between the construction machine and the person has been described. However, as an application example of the present invention, the system is a system for preventing contact between the construction machine and another construction machine, An example of the modification and application to a system for preventing contact between a construction machine and another structure can be given.

  As an example of this case, the machine position detection unit 30 provided in the construction machine 40 in each of the above embodiments is provided in the other construction machines and other structures in the same manner as the construction machine 40. Instead of calculating the distance between the worker and the construction machine 40 in each of the above embodiments, the position of each detection target part of the other construction machine or the other structure and the position of each detection target part of the construction machine 40 The form which calculates the distance with can be illustrated. In this case, if the other construction machines or other structures are stationary, the positions of the respective detection target parts are fixed, so information indicating the positions is registered in advance. This eliminates the need to provide the machine position detection unit 30. In these cases, the same effects as those of the above embodiments can be obtained.

  In addition, the configuration of the contact prevention system 10 described in the above embodiments (see FIGS. 1 to 3 and 11) is merely an example, and unnecessary components are deleted without departing from the gist of the present invention. It goes without saying that new components may be added.

  The processing flow of the contact prevention program shown in each of the above embodiments (see FIGS. 7 and 12) is also an example, and unnecessary processing steps can be deleted without departing from the gist of the present invention. It goes without saying that new processing steps may be added or the order of the processing steps may be changed.

  The configurations of the various databases shown in the above embodiments (see FIGS. 4 to 6) are also examples, and some information may be deleted or new within the scope not departing from the gist of the present invention. It goes without saying that information may be added or the storage position may be changed.

  Furthermore, the various arithmetic expressions shown in the above embodiments (see Expressions (1) to (5)) are also examples, and unnecessary parameters can be deleted without departing from the gist of the present invention. It goes without saying that new parameters may be added or the order of operations may be changed.

10, 10 ′, 10 ″ Contact prevention system 20 Personal computer 20A CPU (person position prediction means, machine position prediction means, calculation means, control means)
20D secondary storage unit (storage means)
20F display (display means)
20G speaker (display means)
20H communication part 21 person position prediction part (person position prediction means)
22, 22 'Distance calculation part (calculation means)
23 storage unit (storage means)
24 Display control unit (control means)
25 Display section (display means)
26 Audio output unit (display means)
27 Communication unit 28 Communication unit 29 Machine position prediction unit (machine position prediction means)
30 Machine position detector (machine position detection means)
31, 31 ′ position coordinate detector 36 communication unit 50, 50 ′ human position detector (human position detecting means)
52 Communication part DB1 Machine position log information database DB2 Person position log information database DB3 Contact level information database DB4 Model information database DB5 Accuracy conversion information database

Claims (11)

Human position detecting means for detecting the position of a person existing around the construction machine;
Storage means for storing person position information indicating the position detected by the person position detection means;
Human position prediction means for predicting the position of the person after elapse of a predetermined time based on the person position information at a plurality of times stored in the storage means;
Machine position detecting means for detecting the position of a predetermined part of the construction machine;
Based on the position detected by the machine position detection means and the position predicted by the person position prediction means, the distance between the part of the construction machine and the person after the predetermined time has elapsed is calculated. Computing means for
Control means for controlling the display means to display information based on the calculation result by the calculation means;
Equipped with a,
The person position prediction means derives the movement speed and movement acceleration of the person based on the person position information at the plurality of points in time, and predicts the position of the person based on the movement speed and movement acceleration.
Contact prevention system. Human position detecting means for detecting the position of a person existing around the construction machine;
Storage means for storing person position information indicating the position detected by the person position detection means;
Human position prediction means for predicting the position of the person after elapse of a predetermined time based on the person position information at a plurality of times stored in the storage means;
Machine position detecting means for detecting the position of a predetermined part of the construction machine;
Based on the position detected by the machine position detection means and the position predicted by the person position prediction means, the distance between the part of the construction machine and the person after the predetermined time has elapsed is calculated. Computing means for
Control means for controlling the display means to display information based on the calculation result by the calculation means;
Equipped with a,
The machine position detecting means detects positions of a plurality of predetermined parts of the construction machine;
The calculation means is configured to output the plurality of positions of the construction machine after the predetermined time has elapsed based on the plurality of positions detected by the machine position detection means and the positions predicted by the person position prediction means. Calculate the distance between the part and the person,
The control means controls the display means to display information based on the shortest distance for each person among a plurality of distances calculated by the calculation means.
Contact prevention system. Human position detecting means for detecting the position of a person existing around the construction machine;
Storage means for storing person position information indicating the position detected by the person position detection means;
Human position prediction means for predicting the position of the person after elapse of a predetermined time based on the person position information at a plurality of times stored in the storage means;
Machine position detecting means for detecting the position of a predetermined part of the construction machine;
Based on the position detected by the machine position detection means and the position predicted by the person position prediction means, the distance between the part of the construction machine and the person after the predetermined time has elapsed is calculated. Computing means for
Control means for controlling the display means to display information based on the calculation result by the calculation means;
Equipped with a,
The storage means further stores machine position information indicating the position detected by the machine position detection means,
Further comprising machine position prediction means for predicting the position of the part after elapse of the predetermined time based on the machine position information at a plurality of time points stored by the storage means,
The calculation means calculates the distance based on the position predicted by the machine position prediction means and the position predicted by the person position prediction means.
Contact prevention system. Human position detecting means for detecting the position of a person existing around the construction machine;
Storage means for storing person position information indicating the position detected by the person position detection means;
Human position prediction means for predicting the position of the person after elapse of a predetermined time based on the person position information at a plurality of times stored in the storage means;
Machine position detecting means for detecting the position of a predetermined part of the construction machine;
Based on the position detected by the machine position detection means and the position predicted by the person position prediction means, the distance between the part of the construction machine and the person after the predetermined time has elapsed is calculated. Computing means for
Control means for controlling the display means to display information based on the calculation result by the calculation means;
Equipped with a,
At least one of the human position detection means and the machine position detection means detects a position to be detected by a GPS receiver,
The GPS receiver outputs position information indicating its own position and accuracy information indicating the positioning accuracy of the position,
The calculation means, the position indicated by the position information output from the GPS receiver, the maximum distance of the error range according to the positioning accuracy indicated by the accuracy information output from the GPS receiver together with the position information, The distance is calculated in a state where the distance between the part of the construction machine and the person is reduced.
Contact prevention system. The control means according to claim 1 any one contact prevention system according to claim 4 for controlling so that information indicating the computed distance displayed by said display means by said calculating means. The contact prevention system according to any one of claims 1 to 5 , wherein the control unit controls the display unit to further display an image showing the construction machine and the person. The control means, any one of claims 1 to 6 in which the distance calculated by said arithmetic means is controlled to perform a display indicating a warning by said display means when it becomes less than a predetermined threshold The contact prevention system according to item. The person position detection means and the machine position detecting means, according to claim 1 contact prevention system according to any one of claims 3 to detect the position to be detected by radio. The GPS receiver outputs quality information indicating the quality of GPS as the accuracy information,
The storage means further stores in advance the quality information and the accuracy information indicating the positioning accuracy according to the quality indicated by the quality information in association with each other,
The contact prevention system according to claim 4 , wherein the calculation unit reads the accuracy information corresponding to the quality information output from the GPS receiver from the storage unit, and performs the movement using the read accuracy information. Storage means for storing person position information indicating the position detected by the person position detection means for detecting the position of a person existing around the self-construction machine ;
Human position prediction means for predicting the position of the person after elapse of a predetermined time based on the person position information at a plurality of times stored in the storage means;
A machine position detecting means for detecting a position of a predetermined part of the self- constructed machine;
Based on the position detected by the machine position detecting means and the position predicted by the person position predicting means, the distance between the part of the self- constructed machine and the person after the predetermined time has elapsed. Computing means for computing;
Control means for controlling the display means to display information based on the calculation result by the calculation means;
With
The human position prediction means derives the moving speed and moving acceleration of the person based on the human position information at the plurality of points in time, and predicts the position of the person based on the moving speed and moving acceleration. Computer
The movement speed and the movement acceleration of the person are derived based on the positions of the person at a plurality of time points detected by the person position detection means for detecting the position of the person existing around the construction machine, and the movement speed and the movement acceleration are calculated. Based on a person position prediction means for predicting the position of the person after a predetermined time has elapsed,
Based on the position detected by the machine position detecting means for detecting the position of the predetermined part of the construction machine and the position predicted by the person position predicting means, the time after the predetermined time has elapsed Computing means for computing the distance between the part of the construction machine and the person;
Control means for controlling the display means to display information based on the calculation result by the calculation means;
Program to function as.