JP7203640B2 - Information processing device for working machine, information management system, information processing program for working machine - Google Patents

Description

The present invention relates to an information processing device for working machines, an information management system, and an information processing program for working machines.

2. Description of the Related Art Conventionally, there is known a work machine such as a shovel that detects a danger such as an intrusion of a person into the surrounding area and warns an operator of the occurrence of this danger (see, for example, Patent Document 1).

JP 2007-85091 A

However, there is no technology for improving the safety of the work site by evaluating the actions of operators who recognize danger.

An object of the present invention is to improve the safety of the work site.

A work machine information processing device according to the present invention includes:
hazard detection means for detecting hazards related to the state of the work machine or the surrounding environment;
a notification means for notifying an operator of the working machine of the danger detected by the danger detection means;
Action detection means for detecting the action of the operator after notification by the notification means;
A safety behavior evaluation value is calculated by quantitatively evaluating the behavior of the operator in terms of contribution to safety based on the details of the danger detected by the danger detection means and the behavior of the operator detected by the behavior detection means. and calculating means.

An information management system according to the present invention includes:
A plurality of work machines each equipped with the information processing device for work machines according to any one of claims 1 to 6, and an information management device capable of transmitting and receiving information between the plurality of work machines. , an information management system comprising
The information management device includes storage means for accumulating the safety behavior evaluation values received from the plurality of work machines.

A work machine information processing program according to the present invention includes:
A work machine information processing device equipped with danger detection means for detecting dangers related to the state of the work machine or the surrounding environment,
notification means for notifying an operator of the working machine of the danger detected by the danger detection means;
action detection means for detecting the action of the operator after the notification by the notification means;
A safety behavior evaluation value is calculated by quantitatively evaluating the behavior of the operator in terms of contribution to safety based on the details of the danger detected by the danger detection means and the behavior of the operator detected by the behavior detection means. calculating means;
function as

ADVANTAGE OF THE INVENTION According to this invention, the safety of a work site can be improved.

1 is a side view of a shovel according to an embodiment of the present invention; FIG. 2 is a block diagram showing the system configuration of the excavator of FIG. 1; FIG. It is a figure which shows the detection range by an object detection part. It is a figure which shows the example of a display of safe action evaluation information. It is a flow chart which shows a flow of action evaluation processing. It is a block diagram which shows the system configuration|structure of the information management system in the modification of embodiment of this invention. FIG. 11 is a diagram showing another display example of safety behavior evaluation information;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[Excavator configuration]
First, the configuration of the excavator 100 according to this embodiment will be described. The excavator 100 is an example of the work machine according to the present invention, and is configured to be able to evaluate the behavior of the operator when danger occurs by including the information processing device for the work machine according to the present invention.

FIG. 1 is a side view of a shovel 100 according to this embodiment.
As shown in this figure, the excavator 100 includes a lower traveling body 1, an upper revolving body 3 mounted on the lower traveling body 1 so as to be able to turn via a revolving mechanism 2, a boom 4, an arm 5 and a bucket as attachments. 6 and a cabin 10 in which an operator boards. The attachment is not limited to this as long as a working element (for example, bucket, crusher, crane device, etc.) is provided.

The lower traveling body 1 includes, for example, a pair of left and right crawlers, and each crawler is hydraulically driven by a traveling hydraulic motor (not shown) to cause the excavator 100 to travel.
The upper revolving structure 3 revolves with respect to the lower traveling structure 1 by being driven by a revolving hydraulic motor or an electric motor (both not shown).

The boom 4 is pivotally attached to the center of the front portion of the upper rotating body 3 so as to be able to be raised. An arm 5 is pivotally attached to the tip of the boom 4 so as to be vertically rotatable. rotatably pivoted; Boom 4, arm 5 and bucket 6 are hydraulically driven by boom cylinder 7, arm cylinder 8 and bucket cylinder 9, respectively.
The cabin 10 is a cockpit in which an operator boards, and is mounted on the front left side of the upper swing body 3, for example.

FIG. 2 is a block diagram showing the system configuration of the excavator 100. As shown in FIG.
As shown in this figure, the excavator 100 includes a controller 30, an imaging device 40, an action/posture state sensor 42, an in-vehicle camera 43, an operating device 45, a display device 50, and an audio output device in addition to the above configuration. A device 60 , an external notification device 70 and a communication device 80 are provided. The work machine information processing apparatus according to the present invention includes a controller 30 , an imaging device 40 , a movement/posture state sensor 42 , an in-vehicle camera 43 , an operation device 45 , a display device 50 and an audio output device 60 .

The imaging device 40 is attached to the upper portion of the upper revolving body 3 , photographs the periphery of the excavator 100 , and outputs the image to the controller 30 . The imaging device 40 includes a rearward camera 40B, a left side camera 40L, and a right side camera 40R.
The rear camera 40</b>B is attached to the upper part of the rear end of the upper swinging body 3 and images the rear of the upper swinging body 3 .
The left side camera 40L is attached to the upper left end of the upper revolving body 3 and captures an image of the left side of the upper revolving body 3 .
The right side camera 40R is attached to the upper right end of the upper revolving body 3 and captures an image of the right side of the upper revolving body 3 .
The rear camera 40B, the left side camera 40L, and the right side camera 40R are each mounted in the upper part of the upper revolving body 3 so that the optical axis is directed obliquely downward, and the ground near the excavator 100 to the far side of the excavator 100 can be seen. It has an imaging range (angle of view) in the vertical direction including
The rearward camera 40B, the left side camera 40L, and the right side camera 40R may be attached to the upper surface of the upper swing body 3 . These cameras 40B, 40L, and 40R may be attached so that the optical axes of the cameras 40B, 40L, and 40R are directed obliquely downward so that a part of the upper revolving body 3 is captured in a manner that does not protrude from the side end portion of the upper revolving body 3. .
Since the object to be imaged and part of the upper swing body 3 are simultaneously acquired as images, it can be intuitively determined that the captured image is an image acquired using a camera provided on the excavator 100 . Also, the sense of distance between the target to be imaged and the shovel 100 can be intuitively understood.

The motion/posture state sensor 42 is a sensor that detects the motion state and posture state of the excavator 100 and outputs the detection result to the controller 30 . The motion/posture state sensor 42 includes a boom angle sensor, an arm angle sensor, a bucket angle sensor, a three-axis inertial sensor (IMU: Inertial Measurement Unit), a turning angle sensor, and an acceleration sensor.
These sensors may be composed of stroke sensors of cylinders such as booms, sensors that acquire rotation information such as rotary encoders, etc., or may be replaced by acceleration (which may also include speed and position) acquired by the IMU. good.
The arm angle sensor detects the rotation angle of the arm 5 with respect to the boom 4 (hereinafter referred to as "arm angle").
The bucket angle sensor detects the rotation angle of the bucket 6 with respect to the arm 5 (hereinafter referred to as "bucket angle").
The IMU is attached to each of the boom 4 and arm 5 and detects the acceleration of the boom 4 and arm 5 along three predetermined axes and the angular acceleration of the boom 4 and arm 5 about three predetermined axes.
The turning angle sensor detects a turning angle of the upper turning body 3 with respect to a predetermined angular direction. However, the turning angle is not limited to this, and the turning angle may be detected based on the GPS or IMU sensor provided on the upper turning body 3 .
The acceleration sensor is attached at a position away from the pivot axis of the upper swing body 3 and detects the acceleration at that position of the upper swing body 3 . As a result, it can be determined whether the upper rotating body 3 is rotating or whether the lower traveling body 1 is running based on the detection result of the acceleration sensor.

The in-vehicle camera 43 is provided in the vicinity of the cockpit of the cabin 10 and captures the action of the operator inside the cabin 10 . This in-vehicle camera 43 is installed so as to photograph the operator's face from the front side so that the operator's line of sight (eye movement) can be detected from the acquired image.

The operation device 45 is provided near the cockpit of the cabin 10, and is an operation means for an operator to operate each operation element (the lower traveling body 1, the upper rotating body 3, the boom 4, the arm 5, the bucket 6, etc.). In other words, the operating device 45 is operating means for operating each hydraulic actuator that drives each operating element. The operating device 45 includes, for example, levers, pedals, various buttons, and the like, and outputs operation signals to the controller 30 according to the content of these operations.
Further, the operation device 45 includes various setting means for operating the imaging device 40, the motion/posture state sensor 42, the in-vehicle camera 43, the display device 50, the audio output device 60, the external notification device 70, the communication device 80, and the like. It also serves as an operation means, and outputs an operation command for each of these units to the controller 30 .

The display device 50 is provided around the cockpit in the cabin 10 and displays various image information to be notified to the operator under the control of the controller 30 . The display device 50 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display, and may be of a touch panel type that also serves as at least part of the operation device 45 .

The voice output device 60 is provided around the cockpit in the cabin 10 and outputs various voice information to be notified (notified) to the operator under the control of the controller 30 . The audio output device 60 is, for example, a speaker, buzzer, or the like.

The external notification device 70 notifies the workers around the excavator 100, the supervisor at the work site, and the like. The external notification device 70 may include, for example, a light source (lighting device) that lights or flashes toward workers or the like around the excavator 100 . Further, the external notification device 70 may include an external display device that presents image information (character information, drawing information, etc.) to workers or the like around the excavator 100 . The external notification device 70 may also include an external audio output device such as a speaker or a buzzer that outputs audio information to workers or the like around the excavator 100 .

Based on a predetermined wireless communication standard, the communication device 80 exchanges various information with remote external devices, other excavators 100, etc., through a predetermined communication network (for example, a mobile phone network with a base station as an end, an Internet network, etc.). It is a communication device that sends and receives.

The controller 30 is a control device that controls the operation of each part of the excavator 100 to drive and control the excavator 100 . The controller 30 is mounted inside the cabin 10 . The functions of the controller 30 may be realized by arbitrary hardware, software, or a combination thereof, and for example, it is mainly composed of a microcomputer including CPU, RAM, ROM, I/O, and the like.

The controller 30 also includes an object detection unit 301, an instability detection unit 302, an action detection unit 303, an action evaluation unit 304, and an information output unit 305 as functional units that execute various functions. Further, the controller 30 includes a storage section 310 as a storage area defined in internal memory such as EEPROM (Electrically Erasable Programmable Read-Only Memory).

The object detection unit 301 detects a predetermined detection target within a predetermined area around the excavator 100 (for example, within a predetermined distance from the excavator 100) based on the image captured by the imaging device 40, and detects the detection target within the predetermined area. to detect intrusions. Specifically, the object detection unit 301 applies various known image processing techniques, machine learning-based classifiers, and the like to recognize the detection target in the captured image, and to determine the actual position of the recognized detection target and its position. Determine size. The object to be detected is an obstacle that exists around the shovel 100 or that can enter. This detection target includes people such as workers around the excavator 100 , other work machines and vehicles that work around the excavator 100 , and materials that are temporarily placed around the excavator 100 .

FIG. 3 is a diagram showing an example of the detection range of the object detection unit 301. As shown in FIG.
As shown in this figure, object detection unit 301 has detection ranges MAB, MAL, and MAR corresponding to rear camera 40B, left side camera 40L, and right side camera 40R, respectively.
Here, the object detection unit 301 increases a certain performance item related to the detection performance of one detection unit within the scope of the resources of the controller 30 according to the operator's setting operation, The detection performance can be changed by lowering the detection performance of the detection unit of The detection performance includes performance items such as the detectable range of the monitored object (detection range), detection accuracy, detection frequency for each detection cycle (that is, the number of times the monitored object is detected within the detection cycle).

In addition, when the object detection unit 301 detects a detection target within a predetermined area around the excavator 100, the object detection unit 301 outputs an image or sound to the display device 50 and/or the sound output device 60 to notify the operator of the fact. Let The output mode in this case may be changed according to the type of the detected detection target, the distance between the detection target and the shovel 100, and the like. Further, after starting the notification output, the object detection unit 301 stops (cancels) the output based on a predetermined condition (for example, the detection target is no longer detected within a predetermined area).

As shown in FIG. 2, the instability detection unit 302 detects that a state (hereinafter referred to as an "unstable state") occurs in which the stability of the operation of the excavator 100 falls below a predetermined standard. Specifically, the instability detection unit 302 detects information related to the state of the excavator 100 (operating state, control state, etc.) from various sensors mounted on the excavator 100 (for example, the imaging device 40, the motion/posture state sensor 42, etc.). , in-vehicle camera 43, operation device 45, etc.), various actuators (eg, solenoid valves for controlling hydraulic pressure, etc.), various control devices (eg, other functional units of controller 30, etc.). Then, the instability detection unit 302 detects that the excavator 100 is in an unstable state by determining whether the stability of the operation of the excavator 100 is below a predetermined standard based on the acquired information. .

In an unstable state of the excavator 100, for example, there is a high possibility that the excavator 100 (undercarriage 1) will slide forward or backward due to the reaction force applied to the attachment from the ground during excavation work or leveling work. It includes a state (slip unstable state).
Further, the unstable state of the excavator 100 includes, for example, a state in which the front or rear portion of the excavator 100 (undercarriage 1) is likely to float up due to excavation reaction force or the like (floating unstable state). is included.
In addition, when the excavator 100 is in an unstable state, for example, the vehicle body (undercarriage 1 , revolving mechanism 2 and upper revolving body 3) are likely to vibrate (unstable vibration state).

In addition, when the unstable state of the excavator 100 is detected, the instability detection unit 302 causes the display device 50 and/or the audio output device 60 to output images and sounds for notifying the operator of the fact. The output mode in this case may be changed according to the type and degree of the detected unstable state. In addition, after starting the notification output, the instability detection unit 302 stops (cancels) the output based on a predetermined condition (for example, the unstable state is resolved).

The behavior detection unit 303 detects the behavior of the operator inside the cabin 10 based on the outputs of the in-vehicle camera 43 and the operation device 45 .
The detected operator behavior includes the operator's line of sight. The action detection unit 303 captures the movement of the operator's eyes with the in-vehicle camera 43, and based on the image information, for example, sets the corneal reflection as the reference point and the pupil as the moving point, or sets the inner corner of the eye as the reference point and the iris as the moving point. The line of sight of the operator is detected by using these positional relationships.
Further, the operator's behavior detected includes the details of the operator's operation on the operation device 45 . The behavior detection unit 303 detects the operation content of the excavator 100 by the operator based on the output of the operation device 45 .

The behavior evaluation unit 304 evaluates the behavior of the operator detected by the behavior detection unit 303 from the viewpoint of whether or not it contributes to safety around the excavator 100 . Specifically, the behavior evaluation unit 304 calculates a safety behavior evaluation value by quantitatively evaluating the operator's behavior based on the degree of contribution to safety, and stores this in the storage unit 310 as the safety behavior evaluation information 3101 . The details of the method for calculating the safety behavior evaluation value will be described later.

The information output unit 305 outputs the safe behavior evaluation information 3101 calculated as the safe behavior evaluation value by the behavior evaluation unit 304 and stored in the storage unit 310 as appropriate. For example, the information output unit 305 causes the display device 50 to display the safety behavior evaluation information 3101 .
The output mode at this time is not particularly limited, and for example, only the safe behavior evaluation value may be displayed on the display device 50 .
Alternatively, for example, as shown in FIG. 4, a plurality of pieces of safety behavior evaluation information 3101 (safe behavior evaluation values) regarding the same operator accumulated in the storage unit 310 are stored in predetermined time units (days, weeks in the example of FIG. 4). or month) may be collectively output in a graph for comparison. In this case, it is better to separate the graphs for each type of danger when the operator acts.

Further, the information output unit 305 may output the safety action evaluation information 3101 in a format that can be visually recognized, for example, it may be output on a paper medium by a printer (not shown). In this case, the information may be output from a printer provided in the cabin 10 of the excavator 100, or the information may be transmitted from the communication device 80 to a printer provided in a management center or the like for managing work and output from the printer. may be

When outputting the safety behavior evaluation information 3101, the information output unit 305 may also output work-related information related to the work when the safety behavior evaluation information 3101 was acquired ( See Figure 4). The work-related information includes work information, date and time information, weather information, position information, aircraft information, operator information, and the like. The information output unit 305 appropriately acquires this work-related information and stores it in the storage unit 310 .
The work information can include information such as the work (construction) name, work location, work content, excavator owner, work subcontractor, middleman, end user related to the work, and the like. The information output unit 305 acquires work information, for example, based on an input operation through the operating device 45 by the operator.
The date and time information includes date, day of the week, and time. The information output unit 305 acquires date and time information by means of clocking means (for example, RTC (Real Time Clock)) in the controller 30 .
The weather information is weather information at the location and date and time when the excavator 100 is working, and includes information on weather categories such as sunny, cloudy, rainy, and snowy. The information output unit 305 acquires desired weather information from a weather server or website through the communication device 80 . Alternatively, the information output unit 305 may include an illuminance sensor, a raindrop detection sensor, and the like, and acquire weather information based on the illuminance output by these sensors, the presence or absence of rain, and the like.
The position information is information on the position of the excavator 100 and includes information on its longitude and latitude. In addition, the position information may further include altitude information, or may be geocode information such as GeoHash. The information output unit 305 includes, for example, a GNSS (Global Navigation Satellite System) device, and may acquire position information of the excavator 100 based on signals from satellites above the excavator 100. .
The machine body information is identification information of the excavator 100 for specifying the excavator 100, and is, for example, a predetermined machine number, excavator ID, and the like. The information output unit 305 acquires machine information by, for example, reading a machine number or the like pre-recorded in the storage unit 310 or the like.
The operator information is identification information of the operator for specifying the operator who is operating the excavator 100, such as a predefined operator ID. The information output unit 305 acquires operator information, for example, based on an input operation through the operating device 45 by the operator.
Work-related information (work information, date and time information, weather information, position information, aircraft information, operator information, etc.) can be input through the operation device 45 (directly inputting information or selecting from preset information) or , may be obtained automatically using communication technology or information processing technology.
Work-related information may be stored in association with each other.

[Excavator movement]
Next, the operation of the excavator 100 when executing the behavior evaluation process for evaluating the behavior of the operator when danger occurs will be described.
FIG. 5 is a flow chart showing the flow of this action evaluation process.

The behavior evaluation process evaluates the behavior of the operator of the excavator 100 when a danger occurs from a safety standpoint, and outputs the results in a manner that can be recognized by those involved in the work, including the operator himself. It is a process that evaluates the safety of workers and, in turn, improves the safety of the work site. This action evaluation process is executed by causing the CPU to execute a program stored in the internal storage device of the controller 30 .
When the action evaluation process is executed, as shown in FIG. 5, the controller 30 first drives the excavator 100 to start work (step S1). At this time, the display device 50 in the cabin 10 displays an image around the excavator 100 captured by the imaging device 40 .

Next, the controller 30 determines whether or not a danger related to the state of the excavator 100 or its surrounding environment is detected (step S2). In this embodiment, such dangers include entry of obstacles (persons, other work machines, materials, etc.) into a predetermined area around the excavator 100, and an unstable state of the excavator 100 (an unstable sliding state, floating unstable state, vibration unstable state, etc.) is detected.
Specifically, the object detection unit 301 of the controller 30 detects an obstacle entering a predetermined area around the shovel 100 based on the image captured by the imaging device 40 . The object detection unit 301 identifies the position and size of the obstacle from the captured image. Detect condition. Note that the instability detection unit 302 may determine that an unstable state has occurred when a predetermined unstable operation that can cause an unstable state of the excavator 100 is detected.
When it is determined that no danger is detected (step S2; No), the controller 30 shifts the process to step S1 and continues the work.

If it is determined in step S2 that a danger related to the state of the excavator 100 or its surrounding environment has been detected (step S2; Yes), the controller 30 notifies the operator of the detected danger (step S3).
Specifically, the controller 30 notifies the operator that danger has been detected by outputting an alarm sound from the audio output device 60 in the cabin 10 and displaying alarm information on the display device 50 . The notification mode at this time may be changed according to the type and degree of the detected danger (for example, the volume of the warning sound may be changed according to the distance between the detected obstacle and the excavator 100). etc).

Next, the controller 30 detects the action of the operator (step S4).
Specifically, the behavior detection unit 303 of the controller 30 detects the line of sight of the operator based on the image captured by the in-vehicle camera 43, and identifies the operator's visual recognition target. Also, the action detection unit 303 detects the operation content of the excavator 100 by the operator based on the output of the operation device 45 .

Next, the controller 30 calculates the operator's safe behavior evaluation value based on the operator's behavior detected in step S4 (step S5). As described above, the safety action evaluation value is a numerical value obtained by quantitatively evaluating the action taken by the operator in the event of danger in terms of the degree of contribution to safety around the excavator 100 . In this embodiment, the higher the safety behavior evaluation value, the higher the contribution to safety.

In step S5, the behavior evaluation unit 304 of the controller 30 calculates a safe behavior evaluation value based on the details of the danger detected in step S2 and the operator's behavior detected in step S4. Here, the content of danger includes the type of danger (in this embodiment, the presence of an obstacle and the unstable state of the excavator 100), the degree of danger (for example, the type of obstacle (person or object), the obstacle distance between the object and the excavator 100, etc.).
Specifically, the behavior evaluation unit 304 calculates a safe behavior evaluation value using a rule base. In other words, the action evaluation unit 304 determines whether the operator's action matches a predetermined evaluation action set in advance, and adds or subtracts points assigned to the evaluation action when the operator's action matches. This is done for all operator actions, and a safe action evaluation value is calculated as the total score at that time.

Examples of evaluation behaviors to which the safety behavior evaluation value is added include the following.
- Check the image of the imaging device 40 by visually recognizing the display device 50 .
- Make the operation of the shovel 100 cautious (slower).
- The operation of the shovel 100 is stopped.
・Check the outside of the cabin 10 visually.
- Operate the external notification device 70 to notify the vicinity of the excavator 100 of the danger.
- When an obstacle is detected in the vicinity, the vehicle body (lower running body 1, upper rotating body 3, attachments, etc.) is moved in a direction away from the obstacle. Alternatively, the work is continued without bringing the vehicle body close to the obstacle.
- When an unstable state of the excavator 100 is detected, operate the excavator 100 so as to eliminate the unstable state. For example, the excavation point and the shovel body are relatively close to each other so that the center of gravity is less likely to separate. In addition, slow down the running speed and operation speed.

Examples of evaluation behaviors for which the safe behavior evaluation value is deducted include the following.
- The excavation operation of the excavator 100 is continued as it is (no change in operation content is observed).

The content of the evaluation action may differ according to the content of the detected danger (type, degree, etc.). Further, even for the same evaluation action, different points may be set according to the content of danger.
Each evaluation action is assigned a score according to its contribution to safety. For example, an evaluation action of "stopping the operation of the excavator 100" has a larger addition than an evaluation action of "moderating the operation of the excavator 100" in that contact between the excavator 100 and an obstacle can be avoided more reliably. Points may be assigned.
Note that the evaluation behavior may be set using machine learning such as Naive Bayes and neural networks.

The calculated safe behavior evaluation value is stored in storage unit 310 as safe behavior evaluation information 3101 . At this time, the stored safety behavior evaluation value is stored in storage unit 310 in association with the above-described work-related information related to the work at the time of the evaluation. The work-related information is acquired by the information output unit 305 in advance or as needed, and stored in the storage unit 310 .

Thereafter, when at least the danger detected in step S2 is resolved and the excavator 100 returns to a sound state, the controller 30 outputs the safe behavior evaluation value calculated in step S5 (step S6).
In this step, the information output unit 305 of the controller 30 makes a graph summarizing the safe action evaluation value calculated in step S5 with the past safe action evaluation value for the same operator (see FIG. 4). , is displayed on the display device 50, or output from a printer (not shown).
It should be noted that the result output in this step S6 may be performed after the work is finished, for example.

Next, the controller 30 determines whether or not the work by the excavator 100 is finished (step S7), and when it is determined that the work is not finished (step S7; No), the process proceeds to step S1. and continue working. As a result, until it is determined that the work is completed, danger detection and its notification, detection of the operator's action and its evaluation are successively executed and repeated.
In addition, when it is determined that the work is finished, for example, the operator stops the power source such as the engine of the shovel 100, so that at least the actuator such as the attachment does not move even if the actuator is operated. (Step S7; Yes), the controller 30 terminates the action evaluation process. In addition, when an electric storage unit is provided, it is possible to activate the imaging device 40 and the controller 30 and execute the above-described process in a state in which the actuator is not moved even if the actuator is operated.

[Technical effect of the present embodiment]
As described above, according to the present embodiment, when a danger related to the state of the excavator 100 or the surrounding environment is detected, the danger is notified to the operator, and the operator's behavior after the notification is detected. Then, based on the content of the detected danger and the behavior of the operator, a safety behavior evaluation value is calculated by quantitatively evaluating the behavior of the operator in terms of the degree of contribution to safety.
As a result, the behavior of the operator of the excavator 100 when danger occurs can be quantitatively evaluated from a safety standpoint, and the safety of the work site can be improved.

In addition, since the calculated safety behavior evaluation value is output in a visible format, the operator himself or other people involved in the work can see this safety behavior evaluation value and reflect it in improving the safety of the work site. .

In addition, since the safety behavior evaluation value for the same operator is output as a graph comparing changes in predetermined time units (for example, days), changes in the safety behavior of this operator can be easily recognized.

[Modification]
Next, a modification of the above embodiment will be described.
This modification differs from the above-described embodiment in that safe behavior evaluation information acquired by a plurality of excavators 100 is managed by a management server and can be browsed by an information terminal. In addition, the same code|symbol is attached|subjected to the component same as the said embodiment, and the description is abbreviate|omitted.

FIG. 6 is a block diagram showing the system configuration of the information management system 200 in this modified example.
As shown in this figure, an information management system 200 includes a plurality of excavators 100 (100A, 100B, 100C, 100D, . configured with In FIG. 6, illustration of the configuration of the excavator 100 (100B, 100C, 100D) other than the excavator 100A is omitted.

The plurality of excavators 100 can transmit and receive various types of information to and from each other through the communication network 150 by the communication devices 80 provided therein, and can also transmit and receive various types of information to and from each of the management server 400 and the information terminal 500 through the communication network 150. there is

The management server 400 is an example of an information management device according to the present invention, and is, for example, a server device installed in a management center or the like provided outside a work site where a plurality of excavators 100 work. The management server 400 may be an in-house server operated by a company that operates the information management system 200 or a related company, or may be a so-called cloud server.

Specifically, the management server 400 includes a communication device 410 and a control device 420 .
The communication device 410 can transmit and receive various information to and from each of the excavators 100 via the communication network 150 .
The control device 420 controls various operations in the management server 400 . The control device 420 includes a storage section 421 as a storage area defined in an internal memory such as an EEPROM, and stores and manages various types of information in the storage section 421 . For example, the storage unit 421 stores (accumulates) the safety behavior evaluation value (safety behavior evaluation information 3101 ) calculated for each excavator 100 as the safety behavior evaluation information 4210 .

The information terminal 500 is, for example, a portable terminal such as a tablet or smartphone owned by a user. A user can access and view various work records in the information management system 200 through the information terminal 500 . The information terminal 500 may be a stationary or portable computer terminal.
Specifically, information terminal 500 includes communication device 510 , display device 520 , and control device 530 .
The communication device 510 can transmit and receive various information to and from each of the excavators 100 and the management server 400 via the communication network 150 . The display device 520 is, for example, a liquid crystal display or an organic EL (Electroluminescence) display, and may be of a touch panel type that also serves as operation means. The control device 530 controls various operations in the information terminal 500 .

In the information management system 200, while each of the plurality of excavators 100 operates in substantially the same manner as in the above embodiment, each excavator 100 acquires a safe behavior evaluation value (safe behavior evaluation information 3101), which is transmitted to the management server 400. , all safety behavior evaluation values are accumulated in the management server 400 as the safety behavior evaluation information 4210 .

A user possessing the information terminal 500 can view the safe behavior evaluation information 4210 accumulated in the management server 400 via the communication network 150 . In this case, the control device 530 of the information terminal 500 receives the desired safety behavior evaluation information 4210 from the management server 400 through the communication network 150, stores (or temporarily stores) it in, for example, a storage unit (not shown), and displays it on the display device. 520 to display.
The display mode at this time is not particularly limited, and for example, the safe behavior evaluations for each operator may be collectively displayed in one graph as in the above-described embodiment. Alternatively, for example, as shown in FIG. 7, for each business operator participating in construction, the safety behavior evaluation values of a plurality of operators belonging to the business operator are collectively displayed in one graph so that each operator can be compared ( output). Thereby, a plurality of operators can be relatively evaluated from the viewpoint of safety.

The timing of transmitting information from each excavator 100 to the management server 400 is not particularly limited, and may be, for example, after a series of work is completed.
Further, the safe behavior evaluation value and the work-related information may be associated with each excavator 100 for which the safety behavior evaluation value is calculated, or may be performed by the management server 400 . When performed by the management server 400, the work-related information may be transmitted from the excavator 100 to the management server 400, and a configuration (partial function of the information output unit 305 in the excavator 100) capable of acquiring work-related information may be managed. It may be provided in the server 400 .
In addition, the management server 400 may be configured to display (output) information in the same way as the information terminal 500 displays (outputs). In this case, it is sufficient that the control device 420 of the management server 400 can output the same information as that in the information terminal 500 described above from a display device or a printer (not shown) provided in the management server 400 .
Also, the management server 400 may be configured to calculate the safety behavior evaluation value. In this case, the management server 400 pre-stores information necessary for the calculation (e.g., the above-described evaluation behavior). should be calculated.

[others]
Although the embodiments of the present invention have been described above, the present invention is not limited to the above embodiments.
For example, in the above-described embodiment, the intrusion of an obstacle in the vicinity of the excavator 100 and the unstable state of the excavator 100 are detected as dangers related to the state of the excavator 100 or the surrounding environment. , may include risks other than these. In this case, if a configuration capable of detecting the danger is required, the configuration is provided in the excavator 100 .

Further, in the above-described embodiment, obstacles around the excavator 100 are detected based on the captured image of the imaging device 40 . However, instead of or in addition to the captured image of the imaging device 40, the excavator 100 can be detected based on detection results (distance images, etc.) of other sensors such as millimeter wave radar, LIDAR (Light Detection And Ranging), stereo cameras, etc. may detect obstacles in the vicinity of In this case, these other sensors are provided on excavator 100 .

Moreover, the working machine according to the present invention may be a working machine other than a shovel, such as a wheel loader, an asphalt finisher, a forklift, or a crane.
Also, the information management system according to the present invention may include these different work machines.
Other details shown in the embodiments can be changed as appropriate without departing from the scope of the invention.

30 controller 40 imaging device 42 motion/posture state sensor 43 in-vehicle camera 45 operation device 50 display device 60 audio output device 80 communication device 100 excavator 200 information management system 301 object detection unit 302 instability detection unit 303 behavior detection unit 304 behavior evaluation unit 305 Information output unit 310 Storage unit 400 Management server 420 Control device 421 Storage unit 500 Information terminal 3101 Safety behavior evaluation information 4210 Safety behavior evaluation information

Claims (9)

hazard detection means for detecting hazards related to the state of the work machine or the surrounding environment;
a notification means for notifying an operator of the working machine of the danger detected by the danger detection means;
Action detection means for detecting the action of the operator after notification by the notification means;
A safety behavior evaluation value is calculated by quantitatively evaluating the behavior of the operator in terms of contribution to safety based on the details of the danger detected by the danger detection means and the behavior of the operator detected by the behavior detection means. a calculating means;
Information processing device for work machines. An output means for outputting the safe behavior evaluation value calculated by the calculation means in a visible format,
The information processing device for a working machine according to claim 1. The output means outputs the safety behavior evaluation value for the same operator as a graph comparing changes for each predetermined time unit.
The information processing device for a working machine according to claim 2. The calculation means determines whether or not the operator's behavior detected by the behavior detection means matches a predetermined evaluation behavior set in advance, and if the behavior matches, it is assigned to the matching evaluation behavior. calculating the safe behavior evaluation value by adding or subtracting the points obtained;
The information processing device for a working machine according to any one of claims 1 to 3. The danger detection means is
object detection means for detecting an obstacle entering a predetermined area around the working machine;
and an instability detection means for detecting an unstable state of the working machine,
The information processing device for a working machine according to any one of claims 1 to 4. the work machine information processing device is mounted on the work machine,
The information processing device for a work machine according to any one of claims 1 to 5. A plurality of work machines each equipped with the information processing device for work machines according to any one of claims 1 to 6, and an information management device capable of transmitting and receiving information between the plurality of work machines. , an information management system comprising
The information management device comprises storage means for accumulating the safety behavior evaluation values received from the plurality of work machines,
Information management system. The information management device comprises output means for outputting safety behavior evaluation values for a plurality of operators corresponding to the plurality of work machines as a graph for comparison for each operator.
The information management system according to claim 7. A work machine information processing device equipped with danger detection means for detecting dangers related to the state of the work machine or the surrounding environment,
notification means for notifying an operator of the working machine of the danger detected by the danger detection means;
action detection means for detecting the action of the operator after the notification by the notification means;
A safety behavior evaluation value is calculated by quantitatively evaluating the behavior of the operator in terms of contribution to safety based on the details of the danger detected by the danger detection means and the behavior of the operator detected by the behavior detection means. calculating means;
to function as
Information processing program for working machines.

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