JP7278187B2 - Site management system - Google Patents

Description

The present invention relates to a site management system that manages work sites where work machines and workers work.

At work sites such as civil engineering and construction, a plurality of work machines and a plurality of workers are placed within the site according to the work content, and the work machines and workers perform work while moving within the site. In order to improve safety at work sites and to manage construction work smoothly, it is important to prevent workers from approaching work machines unnecessarily. In order to prevent workers from approaching work machines, it is important not to let workers enter the work area of the work machine unnecessarily. , work must be carried out so as not to encroach on the work area of the work machine. For this reason, conventionally, there has been proposed a system that monitors the work area of a work machine in a work site using an environmental sensor such as a surveillance camera, and issues an alarm to a worker approaching the work area.

For example, in Patent Document 1, "A system for monitoring the surroundings of an object to be monitored existing within a predetermined area, which is installed near each object to be monitored and includes visible sign means (for example, a safety cone). , a monitoring means installed at a place where the marking means can be visually recognized and equipped with an omnidirectional imaging means for acquiring an image within a solid angle of 4π radians; and position information of the marking means based on the image acquired by the imaging means. and based on this position information, an area setting means for setting an area of a predetermined shape (danger zone) around the corresponding object to be monitored, and a predetermined moving body in the area set by the area setting means and a notification means for issuing an alarm when the determination means determines that there is a moving object in the area.

JP 2018-97788 A

By applying the technique of Patent Document 1 to a work site where work machines and workers work, it is possible to make the worker aware of the approach of the worker to the work area using the monitoring system. However, in Patent Document 1, the work area to be monitored can be changed by moving the marking means (safety cone). In order to set the area (danger zone), it is necessary to input setting information such as the shape of the area and the positional relationship with the sign means in advance. Therefore, when applied to a work machine that performs construction work that frequently updates the work area, it is necessary to input information on the set area around the monitored object and to move the sign means each time the work area is updated. This may lead to a decrease in work efficiency.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems. To provide a site management system capable of changing a monitoring area to be monitored by a monitoring device immediately without lowering work efficiency.

The present invention employs the following means to solve the above problems.

A work machine information processing device mounted on a work machine arranged at a work site, a plurality of monitoring devices arranged at the work site, and exchanging information between the work machine information processing device and the plurality of monitoring devices. and a site management device that manages the position and orientation of the work machine based on input information for setting a work area and detection information of the position and orientation of the work machine. and sets the work area, and the site management device sets the detectable area of each of the plurality of monitoring devices installed at the work site and the work machine information processing device set by the work machine information processing device A monitoring device capable of detecting the work area set by the work machine information processing device is specified based on the setting information of the work space, and the specified monitoring device is set by the work machine information processing device. A monitoring area is set based on the setting information of the work area, and whether or not a moving object has entered the monitoring area is monitored based on position information of the detected moving object.

According to the present invention, at a work site where a work machine and a worker work, the site management device is set by the work machine information processing device and the detectable areas of each of a plurality of monitoring devices installed at the work site. Based on the work area setting information , a monitoring device capable of detecting the work area set by the work machine information processing device is identified , and the identified monitoring device detects the setting of the work area set by the work machine information processing device. A monitoring area is set based on the information, and whether or not a moving object has entered the monitoring area is monitored based on the position information of the detected moving object. The monitoring area of the monitoring device can be automatically changed according to the setting information. Therefore, since new work such as movement of visible sign means is not required when changing the work area, the work area can be changed without lowering the work efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows schematic structure of the site management system which concerns on 1st Embodiment. It is a figure showing the outline of the monitoring device concerning a 1st embodiment. 1 is a side view of a hydraulic excavator that is an example of a working machine according to a first embodiment; FIG. It is a figure which shows the processing flow of the processing apparatus of the work machine which concerns on 1st Embodiment. It is a figure which shows an example of the work area which concerns on 1st Embodiment. It is a figure which shows an example of the monitor screen of the setting input device which concerns on 1st Embodiment. 4A and 4B are diagrams showing a work area notification signal, a monitor area notification signal, and an intrusion detection notification signal according to the first embodiment; FIG. It is a figure which shows the processing flow of the processing apparatus of the site management apparatus which concerns on 1st Embodiment. It is a figure which shows the processing flow of the processing apparatus of the monitoring apparatus which concerns on 1st Embodiment. It is a figure which shows the processing flow of the processing apparatus of the work machine which concerns on 1st Embodiment. It is a figure which shows the processing flow in the modification of the processing apparatus of the working machine which concerns on 1st Embodiment. It is a figure showing an example of a monitor screen of a work machine notification device concerning a 1st embodiment. It is a figure which shows an example of the construction scene in a work site. FIG. 10 is a diagram showing another example of a construction scene at a work site; FIG. 10 is a diagram showing another example of a construction scene at a work site; FIG. 10 is a diagram showing another example of a construction scene at a work site; It is a figure which shows schematic structure of the site management system which concerns on 2nd Embodiment. FIG. 10 is a diagram showing first and second intrusion detection notification signals according to the second embodiment; It is a figure which shows the processing flow of the processing apparatus of the monitoring apparatus which concerns on 2nd Embodiment. It is a figure which shows the processing flow of the processing apparatus of the site management apparatus which concerns on 2nd Embodiment. It is a figure which shows the processing flow of the processing apparatus of the working machine which concerns on 2nd Embodiment. It is a figure which shows an example of the monitor screen of the work machine notification apparatus which concerns on 2nd Embodiment.

An embodiment of a field management system according to the present invention will be described below with reference to the drawings.

(First embodiment)
<Outline/overall composition>
12 to 15 are diagrams showing examples of construction scenes at work sites such as civil engineering and construction.

As shown in FIGS. 12 to 15, at work sites such as civil engineering and construction, a plurality of work machines 1 and a plurality of workers 100a, 100b, and 100c (hereinafter, appropriately represented by reference numeral 100) are arranged in accordance with required work. ) is arranged in the work site, and the work machine 1 and the worker 100 perform work while moving in the work site. In addition, supervisors (work supervisors) who manage construction planning, construction quality, progress, safety measures, and the like are assigned to the work site. A work area 250 is set in the work machine 1, and the work machine 1 performs work in the work area 250 while changing its posture in various ways. The work area 250 changes as the work of the work machine 1 progresses, as shown in FIGS. If the worker 100 does not recognize the work area 250 of the work machine 1 and carelessly enters the work area 250, the work machine 1 and the worker 100 may approach each other. Therefore, it is important to notify the operator of work machine 1 that worker 100 has entered work area 250 .

FIG. 1 is a diagram showing a schematic configuration of a site management system 200 of this embodiment.

The site management system 200 of this embodiment includes a plurality of monitoring devices 210a, 210b, and 210c (hereinafter appropriately represented by reference numeral 210) installed at a work site for detecting the entry of a moving object into a designated monitoring area 260. , the monitoring device 210 that can monitor the work area 250 notified from the work machine 1 is specified, and the specified monitoring device 210 is instructed to set the work area 250 as the monitoring area 260, and the monitoring device 210 detects that the worker 100 has entered the working area 250 of the working machine 1, it notifies that the worker 100 has entered the working machine 1. FIG.

As shown in FIG. 1, the site management system 200 mainly includes a monitoring device 210 installed in the work site, a site management device 220 installed in the work site management office, and the work machine 1. and a work machine information processing device 230 .

The monitoring device 210, the site management device 220, and the work machine information processing device 230 are connected by wireless communication via a wireless network, mobile phone network, or the like in the site.

The work machine information processing device 230 is mounted on the work machine 1 and includes a setting input device 231 , a vehicle body position detection device 232 , a work machine notification device 233 , a processing device 234 and a communication device 235 . The processing device 234 generates a work area notification signal 500 (see FIG. 7A) including the ID of the work machine 1 input by the setting input device 231 and the work area information, and uses the communication device 235 to send the information to the work site. Output to the management device 220 . The work area information includes setting information of work area 250 including the position and orientation of work area 250 calculated based on the detection information of the position and orientation of work machine 1 acquired by vehicle body position detection device 232 .

In addition, based on the intrusion detection notification signal 520 output from the monitoring device 210 or the site management device 220, the processing device 234 uses the work machine notification device 233 when the monitoring result of the monitoring device 210 indicates that there is an intrusion of a moving object. to notify the operator that a worker has entered the work area.

The site management device 220 includes a processing device 221 and a communication device 222 . Based on the work area notification signal 500 received from the work machine information processing apparatus 230 and the detectable area of the monitor apparatus 210, the processor 221 identifies the monitor apparatus 210 that can monitor the work area of the work machine 1, and identifies the identified monitor apparatus. A monitoring area notification signal 510 (see FIG. 7B) containing the ID of the work machine 1 and the work area information for setting the work area 250 as the monitoring area 260 for the communication device 210 is generated. to output a monitoring area notification signal 510 to the monitoring device 210 specified using .

FIG. 2 is a diagram showing an overview of the monitoring device 210. As shown in FIG. The monitoring device 210 has a function of detecting a moving object entering a monitoring area 260 set within a detectable area 270 in which a moving object can be detected as shown in FIG. is determined as a moving object that has entered the monitored area 260, and the worker 100b is determined as a moving object that has not entered the monitored area 260. FIG. The monitoring device 210 comprises an object detection sensor 211, a processing device 212 and a communication device 213 as shown in FIG. The object detection sensor 211 is a device that detects position information of a moving object that exists within a detection range of a camera, LiDAR, or the like, and outputs position information of the detected moving object to the processing device 212 . Based on the position information of the moving object acquired from the object detection sensor 211, the processing device 212 sets the work area 250 included in the monitor area notification signal 510 received from the site management device 220 as the monitor area 260. Make sure that no moving objects enter. When a moving object is intruding into the work area 250, the processing device 212 outputs an intrusion detection notification signal 520 (see (C) of FIG. 7) including an intrusion detection flag indicating presence or absence of intrusion using the communication device 213. do.

Intrusion detection notification signal 520 is transmitted to work machine information processing device 230 mounted on work machine 1 . Then, the work machine notification device 233 is used to issue a warning to notify the operator that the worker has entered the work area 250 of the work machine 1 . This makes it possible to prevent the work machine 1 and the worker 100 from approaching each other.

As described above, in the present embodiment, work machine information processing device 230 generates setting information including the position and orientation based on input information for setting work area 250 and detection information on the position and orientation of work machine 1. The work area 250 is set by the work site management device 220, and the work area 250 set by the work machine information processing device 230 and the respective detectable areas of the plurality of monitoring devices 210a, 210b, and 210c installed at the work site. based on the setting information , the monitoring device 210 capable of detecting the work area 250 set by the work machine information processing device 230 is specified , and the specified monitoring device 210 is set by the work machine information processing device 230 A monitoring area 260 is set based on the setting information of the work area 250, and whether or not a moving object has entered the monitoring area 260 is monitored based on the position information of the detected moving object.

Monitoring device 210 also transmits a monitoring result as to whether or not a moving object has entered work area 250 to work machine information processing device 230, and work machine information processing device 230 transmits the monitoring result as to whether or not a moving object has entered work area 250. Generate an alarm when present.

Furthermore, work machine information processing device 230 converts setting information including the position and orientation of work area 250 into a work site coordinate system set in the work site, and site management device 220 converts the position and orientation of work area 250 into a work site coordinate system. is converted into the sensor coordinate system set in the specified monitoring device 210, and the monitoring device 210 uses the setting information including the position and orientation of the work area 250 converted into the sensor coordinate system to convert the setting information into the work area 250. Monitor whether a moving object is intruding.

Details of the work machine information processing device 230, the site management device 220, and the monitoring device 210 will be described below.

<Work machine information processing device 230>
FIG. 3 is a side view of a hydraulic excavator that is an example of the working machine according to the first embodiment.

At the work site where the site management system 200 of the present embodiment is introduced, working machines such as a hydraulic excavator, a bulldozer, and a wheel loader are used according to the content of construction. In the following, a case where the work machine information processing device 230 is mounted on a hydraulic excavator as shown in FIG. 3 will be described as an example.

[Work machine 1]
As shown in FIG. 3, the working machine 1 comprises a traveling body 2, a revolving body 3 attached to the upper part of the traveling body 2 so as to be able to turn, and an articulated link mechanism having one end connected to the revolving body 3. It is equipped with a work front 6 that becomes. The work front 6 has a boom 6A whose one end is connected to the revolving body 3, an arm 6B whose one end is connected to the other end of the boom 6A, and a bucket 6C whose one end is connected to the other end of the arm 6B. Each of these members is configured to rotate vertically. A driver's cab 4 is provided on the revolving body 3 . In addition, at a required portion on the revolving body 3, an operation control device is provided, which is composed of an engine constituting a power system, a drive hydraulic circuit for a drive actuator, and the like, and controls start/stop and general operation of the working machine 1. ing. A plurality of operating lever devices 5 are provided in the operator's cab 4 for the operator to input movement instructions to the respective drive actuators. By operating the respective control levers of the plurality of control lever devices 5, various operations using the work front 6 such as running, turning, and the like are performed. In addition to the operation lever device 5, the operator's cab 4 is provided with a working machine notification device 233 for notifying the operator of the working machine 1 of various information, a setting input device 231, and a processing device 234. FIG. The work machine 1 is also provided with a vehicle body position detection device 232 and a communication device 235 .

[Work machine information processing device 230]
The work machine information processing device 230 is a device mounted on the work machine 1, and as described above, includes the setting input device 231, the vehicle body position detection device 232, the work machine notification device 233, the processing device 234 (first processing device ), and a communication device 235 (first communication device).

Details of the vehicle body position detection device 232, the setting input device 231, the processing device 234, and the communication device 235 will be described below with reference to FIGS. do. The work machine notification device 233 will be described later.

[Car body position detector 232]
The vehicle body position detection device 232 is a device that receives radio waves from positioning satellites and outputs three-dimensional position and attitude data of the revolving body 3 that is the vehicle body of the work machine 1 . The vehicle body position detection device 232 includes two GNSS reception antennas for receiving radio waves from positioning satellites, and a position information calculation section for demodulating the received radio waves and calculating the three-dimensional position and orientation of the vehicle body of the working machine 1. and outputs the calculated three-dimensional position and orientation data to the processing device 234 .

[Setting input device 231]
The setting input device 231 is an input device used for setting the work area 250 of the work machine 1 and the like, and the setting input device 231 outputs input information for setting the work area 250 to the processing device 234 .

[Processing device 234]
The processing unit 234 is composed of a microcomputer and peripheral circuits (not shown) including a CPU (not shown), a ROM (Read Only Memory), a RAM (Random Access Memory), and a flash memory. It operates according to a program that

As shown in FIG. 1, the processing device 234 includes a setting input acquisition unit 234a, a work area setting unit 234b, a data communication processing unit 234c, a vehicle body position acquisition unit 234d, and a notification processing unit 234e. . FIG. 4 is a diagram showing the processing flow of the processing device 234. As shown in FIG.

In the processing device 234, the setting input acquisition unit 234a acquires the input information for setting the work area 250 input by the operator using the setting input device 231 (step S701 in FIG. 4).

FIG. 5 is a diagram showing an example of the work area 250 of the work machine 1. As shown in FIG. FIG. 4 is a diagram showing an example of a monitor screen of the setting input device 231. As shown in FIG.

In FIG. 5, work area 250 is the area in which work machine 1 operates, as described above. The work machine 1 performs work only within the set work area 250, and the work area 250 is changed as the work progresses. When the setting input device 231 acquires the input information of the work area 250, the input work area 250 is displayed on the monitor 81 together with the illustration of the work machine 1 as shown in FIG.

As a method for setting the work area 250, for example, the operator of the work machine 1 operates the setting input device 231 according to the work content and work progress while checking the monitor 81 of the setting input device 231 shown in FIG. A method of setting by As another setting method, there is a method of setting the work area 250 for each work process in advance using the setting input device 231 and switching the work area 250 according to work progress.

The vehicle body position acquisition unit 234d acquires the three-dimensional position and orientation data of the vehicle body of the work machine 1 output by the vehicle body position detection device 232 (step S702 in FIG. 4).

The work area setting unit 234b sets the work area 250 in the coordinate system of the work site based on the input information of the work area 250 obtained from the setting input acquisition unit 234a and the vehicle body position acquisition unit 234d and the three-dimensional position and attitude data of the vehicle body. The information is calculated (step S703 in FIG. 4) and the work area notification signal 500 is generated.

FIG. 7A is a diagram showing a work area notification signal 500. FIG. As shown in FIG. 7A, the work area notification signal 500 includes a site management device ID that identifies a site management device that is a transmission destination, and a work machine that is a transmission source in which the work machine information processing device 230 is mounted. 1 and setting information of the work area 250 generated by the work area setting unit 234b.

The data communication processing unit 234c outputs a command to the communication device 235 to transmit the work area notification signal 500 (first notification signal) generated by the work area setting unit 234b to the site management device 220 (step S704 in FIG. 4). .

[Communication device 235]
The communication device 235 is a device that communicates with the site management device 220 using a wireless network within the work site, a mobile phone network, or the like, and transmits the work area notification signal 500 generated by the processing device 234 to the site management device 220. do.

<Field management device 220>
The site management device 220 includes the processing device 221 (second processing device) and the communication device 222 (second communication device) as described above, and is installed in a management office or the like within the work site. The site management device 220 uses an on-site wireless network, a mobile phone network, or the like to collect information necessary to avoid approaching a worker who intrudes into the work area of the work machine 1 and the work machine information. Communicates with processing unit 230 .

1, 2, 7, 8, and 12, the details of each part of the site management device 220 will be described below.

[Processing device 221]
The processing unit 221 includes a CPU (not shown), a ROM (Read Only Memory), a RAM (Random Access Memory), a microcomputer having a storage unit such as a flash memory, and peripheral circuits (not shown). It operates according to a program that

The processing device 221, as shown in FIG. 1, includes a database 221a, a work area monitoring processing unit 221b, a data communication processing unit 221c, and a monitoring device specifying unit 221d.

The database 221a includes IDs for specifying all the monitoring devices 210 arranged at the work site, detectable areas 270 (see FIG. 2) representing the detectable range of moving objects, and objects detected by the monitoring devices 210. It holds the coordinate transformation parameters for transforming the object position into the work site coordinate system.

FIG. 8 is a diagram showing a processing flow of the processing device 221. As shown in FIG.

The data communication processing unit 221c acquires the work area notification signal 500 output by the work machine information processing device 230 and received by the communication device 222 (step S801 in FIG. 8), and transmits the monitoring area notification signal 510 to the monitoring device identification unit 221d. (Second notification signal) is transmitted.

The monitoring device identification unit 221d performs processing to identify the monitoring device 210 whose work area 250 included in the work area notification signal 500 received from the data communication processing unit 221c is included in a part of the detectable area 270. FIG. First, the detectable areas 270 of all the monitoring devices 210 held in the database 221a are obtained on the RAM of the processing device 221 (step S802 in FIG. 8). Next, the monitoring device 210 having the detectable area 270 that overlaps the work area 250 is specified for all the detectable areas 270 developed on the RAM (step S803 in FIG. 8).

For example, as shown in FIG. 12, three monitoring devices 210a, 210b, and 210c are arranged at the work site, and the work machine 1 is working within the work area 250. FIG. When the monitoring device identification unit 221d identifies the monitoring device 210 having the detectable area 270 overlapping the work area 250 for this scene, two monitoring devices 210a and 210b are identified.

The work area monitoring processing unit 221b generates a monitoring area notification signal 510 for making the work area 250 the monitoring area 260 for the monitoring apparatus 210 identified by the monitoring apparatus identification unit 221d. 210 is determined (step S804 in FIG. 8), and if there is an identified monitoring device 210, the work area 250 represented by the work site coordinate system is transformed into the coordinate system of the identified monitoring device 210. process. The coordinate transformation parameters of all the monitoring devices 210 identified by the monitoring device identification unit 221d are obtained from the database 221a, and the monitoring area notification signal 510 is generated (step S805 in FIG. 8).

FIG. 7B is a diagram showing the monitor area notification signal 510. As shown in FIG. As shown in FIG. 7B, the monitoring area notification signal 510 includes the working machine ID, the information of the working area 250 of the working machine 1 converted into the coordinate system of the monitoring device 210, and the site management device that is the transmission source. 220 and the ID of the monitoring device 210 that is the destination.

The data communication processing unit 221c uses the communication device 222 to transmit the monitoring area notification signal 510 generated by the work area monitoring processing unit 221b to the monitoring device 210 identified by the monitoring device identification unit 221d (FIG. 8 step S806).

[Communication device 222]
The communication device 222 is a device that communicates with the monitoring device 210 and the work machine information processing device 230 using an intra-worksite wireless network, a mobile phone network, or the like. It receives the work area notification signal 500 from the work machine information processing device 230 and outputs it to the processing device 221 . In addition, the monitoring area notification signal 510 output from the processing device 221 is transmitted to the designated monitoring device 210 .

<Monitoring Device 210>
The monitoring device 210 includes the object detection sensor 211, the processing device 212 (third processing device), and the communication device 213 (third communication device), as described above.

1, 7, 9, 12 and 15, the details of each part of the monitoring device 210 will be described below.

[Object detection sensor 211]
The object detection sensor 211 is a device that uses an external sensor such as a camera or LiDAR to detect the two-dimensional or three-dimensional position of a moving object such as a worker present within the detection range, and processes the position information of the detected moving object. Output to device 212 . Note that the sensor is not limited to a specific external sensor, and any sensor that can detect the position of a moving object, such as an ultrasonic sensor, a millimeter wave radar, or a stereo camera, may be used.

[Processing device 212]
The processing unit 212 includes a microcomputer and a peripheral circuit (not shown) having a CPU, a ROM (Read Only Memory), a RAM (Random Access Memory), and a flash memory (not shown). It operates according to a program that

The processing device 212, as shown in FIG. 1, includes an object detection unit 212a, a monitoring area intrusion determination unit 212b, a data communication processing unit 212c, and a monitoring area setting unit 212d.

FIG. 9 is a diagram showing a processing flow of the processing device 212. As shown in FIG.

The data communication processing unit 212c acquires the monitoring area notification signal 510 transmitted from the site management apparatus 220 and received by the communication device 213 (step S901 in FIG. 9), and transmits the monitoring area notification signal to the monitoring area setting unit 212d. do. For example, in the scene of FIG. 12, the monitoring area notification signal 510 is transmitted to the two monitoring apparatuses 210, ie, the monitoring apparatus 210a and the monitoring apparatus 210b, and the data communication processing units 212c of the respective monitoring apparatuses 210a and 210b Obtain notification signal 510 .

The monitoring area setting unit 212d sets the working area 250 of the work machine 1 included in the monitoring area notification signal 510 transmitted from the data communication processing unit 212c as the monitoring area 260 (step S902 in FIG. 9). In the scene of FIG. 12 , the monitoring device 210 a and the monitoring device 210 b each set the work area 250 of the work machine 1 as the monitoring area 260 . In the scene of FIG. 15, the monitoring device 210a has a working area 250a of the working machine 1a, the monitoring device 210b has a working area 250a of the working machine 1a and a working area 250b of the working machine 1b, and the monitoring device 210c has a working machine The work area 250b of 1b is set as the monitoring area 260. FIG.

The object detection unit 212a acquires the position information of the moving object detected by the object detection sensor 211 (step S903 in FIG. 9). In the scene of FIG. 12, the monitoring device 210a acquires the position information of the worker 100a and the worker 100b, and the monitoring device 210b acquires the position information of the worker 100b. In the scene of FIG. 15, the monitoring device 210a acquires the position information of the worker 100a, the monitoring device 210b acquires the worker 100b, and the monitoring device 210c acquires the worker 100b and the worker 100c.

The monitoring area entry determination unit 212b determines whether or not the moving object acquired by the object detection unit 212a enters the work area 250 (monitoring area 260) set by the monitoring area setting unit 212d (S905 in FIG. 9). . In the scene of FIG. 12, the monitoring device 210a and the monitoring device 210b determine that the worker 100b has entered the monitoring area 260. In the scene of FIG. In the scene of FIG. 15, the monitoring device 210b and the monitoring device 210c determine that the worker 100b has entered the work area 250b (monitoring area 260). Then, when a moving object has entered the monitoring area 260 and there is a moving object that has entered the monitoring area 60, the monitoring area intrusion determination unit 212b generates an intrusion detection notification signal 520 (third notification signal) (FIG. 9). step S906).

FIG. 7C shows an intrusion detection notification signal 520. FIG. The intrusion detection notification signal 520 is, as shown in FIG. 7C, a signal that includes a work machine ID that is a destination, a monitoring device ID that is a source, and an intrusion detection flag indicating presence of intrusion.

If there is no moving object that has entered the monitoring area 260 , the monitoring area intrusion determination unit 212 b does not generate the intrusion detection notification signal 520 . In the scene of FIG. 12, since there is a moving object intruding into the monitored area 260, both the monitoring device 210a and the monitoring device 210b generate an intrusion detection notification signal 520 (third notification signal) including an intrusion detection flag. be done. In the scene of FIG. 15, since there is a moving object intruding into the monitored area 260, both the monitoring device 210b and the monitoring device 210c output an intrusion detection notification signal 520 (third notification signal) containing an intrusion detection flag. is generated.

Then, the data communication processing unit 212c transmits the intrusion detection notification signal 520 generated by the monitored area intrusion determination unit 212b to the work machine 1 using the communication device 213 (step S907 in FIG. 9). In the scene of FIG. 12, both monitoring device 210a and monitoring device 210b transmit to work machine 1 an intrusion detection notification signal including an intrusion detection flag. Also, in the scene of FIG. 15, both the monitoring device 210b and the monitoring device 210c transmit an intrusion detection notification signal including an intrusion detection flag to the work machine 1b.

[Communication device 213]
The communication device 213 is a device that communicates with the site management device 220 and the work machine information processing device 230 using a wireless network within the work site, a mobile phone network, or the like. It receives the monitoring area notification signal 510 from the field management device 220 and outputs it to the processing device 212 . Also, the intrusion detection notification signal 520 output from the processing device 212 is transmitted to the work machine information processing device 230 of the designated work machine.

[Work machine information processing device 230]
FIG. 10A is a diagram showing a processing flow of processing device 234 when work machine information processing device 230 receives intrusion detection notification signal 520 . FIG. 11 is a diagram showing an example of a monitor screen of the work machine notification device 233. As shown in FIG.

When the communication device 235 of the work machine information processing device 230 receives the intrusion detection notification signal 520 output from the monitoring device 210 , the processing device 234 uses the work machine notification device 233 to notify the operator of the work machine 1 that there is a moving object. In order to notify that the work area has been intruded, as shown in FIG. 10A, the data communication processing unit 234c mounted in the processing device 234 acquires the intrusion detection notification signal 520 (step S1001 in FIG. 10A), and the work machine notification is received. A warning command is output to the device 233 (step S1003 in FIG. 10A). The work machine notification device 233 that has received the alarm command notifies the operator that a moving object has entered the work area by means of sound, light, vibration, or the like. For example, as shown in FIG. 11, the screen of the monitor 81 may display a worker's intrusion. Notification means are not limited, and any method may be used.

If there is no moving object that has entered the monitored area 260, the monitored area intrusion determination unit 212b may generate an intrusion detection notification signal 520 including an intrusion non-detected flag. FIG. 10B is a diagram showing a processing flow in the notification processing unit 234e of the processing device 234 in that case. The notification processing unit 234e checks whether the intrusion flag included in the intrusion detection communication signal indicates whether or not there is an intrusion (step S1002 in FIG. 10B), and outputs an alarm command to the work machine notification device 233 when there is intrusion (FIG. 10B). 10B step S1003).

<effect>
As described above, according to this embodiment, at the work site where the worker 100 and the work machine 1 work, the site management device 220 monitors each of the plurality of monitoring devices 210a, 210b, and 210c installed at the work site. and the setting information of the work area 250 set by the work machine information processing device 230, the monitoring device 210 capable of detecting the work region 250 set by the work machine information processing device 230 is specified . The identified monitoring device 210 sets the monitoring region 260 based on the setting information of the work region 250 set by the work machine information processing device 230, and moves into the monitoring region 260 based on the position information of the detected moving object. Monitor whether an object has entered. Therefore, as shown in FIGS. 13 and 14, when the position of the work area 250 changes, the monitoring devices 210a and 210b monitor the work area 250 in the scene of FIG. 210b and monitor 210c will monitor work area 250. FIG. When the work area 250 is changed in this way, the monitoring area 260 of the monitoring device 210 and the monitoring area 260 that monitors the work area 250 can be automatically changed according to the position and orientation of the work area 250. Since no new work such as movement of visible sign means is required when the area 250 is changed, the work area 250 can be changed without lowering work efficiency.

In addition, since monitoring device 210 transmits the monitoring result as to whether or not a moving object has entered work area 350 to work machine information processing device 230 , work machine information processing device 230 detects whether or not a moving object has entered work area 350 . It is possible to use the monitoring result of whether or not is intruding.

Furthermore, since the work machine information processing device 230 generates an alarm when the monitoring result indicates that a moving object has entered, the operator of the work machine 1 can be notified. It is possible to prevent this from happening.

In addition, work machine information processing device 230 converts setting information including the position and orientation of work area 250 into a work site coordinate system set in the work site, and site management device 220 converts the position and orientation of work area 250 into a work site coordinate system. is converted into the sensor coordinate system set in the specified monitoring device 210, and the monitoring device 210 moves into the work area 250 using the setting information including the position and orientation of the work area converted into the sensor coordinate system. Monitor whether an object has entered. By converting the setting information of the work area 250 from the work site coordinate system to the sensor coordinate system in the site management device 220 in this manner, the amount of calculation in the processing device 212 of the monitoring device 210 can be reduced. can be made cheaper.

(Second embodiment)
A second embodiment of the present invention will be described.

FIG. 16 is a diagram showing a schematic configuration of a site management system 200A of the second embodiment. The site management system 200A mainly includes a monitoring device 210A installed in the work site, a site management device 220A provided in a work site management office or the like, and a work machine information processing device 230A mounted on the work machine 1. consists of

Monitoring device 210A generates position information of a moving object and transmits the monitoring result indicating whether or not a moving object has entered work area 250 and the position information of the moving object. When the monitoring result of the device 210A indicates that a moving object has entered, an alarm is generated and the moving object is displayed on the monitor 81 based on the positional information of the moving object.

In addition, the monitoring device 210A transmits the monitoring result as to whether or not a moving object has entered the work area and the position information of the moving object to the work machine information processing device 230A via the site management device 220A. The device 220A converts the position information of the moving object from the sensor coordinate system set in the monitoring device 210A to the work site coordinate system set in the work site, and the work machine information processing device 230A converts the position information of the moving object into the work site coordinate system. to the vehicle body coordinate system set in the work machine 1 and used.

Details of the changed parts of the monitoring device 210A, the site management device 220A, and the work machine information processing device 230A will be described below.

(A) of FIG. 17 is a diagram showing the first intrusion detection notification signal transmitted from the monitoring device 210A to the site management device 220A in this embodiment, and (B) of FIG. 220A is a diagram showing a second intrusion detection notification signal transmitted from 220A to work machine information processing device 230A. FIG.

In the first embodiment, only the intrusion detection flag is included in the intrusion detection notification signal 520 generated by the monitoring area intrusion determination unit 212b of the monitoring device 210. However, in the present embodiment, the monitoring device 210A uses the , including the work machine ID corresponding to the monitoring area 260, the intrusion detection flag, and the position information of the detected moving object (moving object position 1, moving object position 2, . . . ), the first intrusion A detection notification signal 530 is generated.

FIG. 18 is a diagram showing a processing flow of the processing device 212A of the monitoring device 210A, and FIG. 19 is a diagram showing a processing flow of the processing device 221A of the site management device 220A.

In the processing device 212A of the monitoring device 210A, as in the first embodiment, the data communication processing unit 212cA acquires the monitoring area notification signal 510 transmitted from the site management device 220 and received by the communication device 213 (see FIG. 18). step S1701), the monitoring area setting unit 212d sets the working area 250 of the working machine 1 included in the monitoring area notification signal 510 transmitted from the data communication processing unit 212c as the monitoring area 260 (step S1702 in FIG. 18). , the object detection unit 212a acquires the position information of the moving object detected by the object detection sensor 211 (step S1703 in FIG. 18).

Next, the processing device 234A determines whether or not a moving object has entered the monitoring area 260 (step S1705 in FIG. 18), as shown in the flowchart of FIG. If it is determined that the intrusion detection flag has been entered, the first intrusion detection notification signal 530 is generated (step S1706 in FIG. 18). 1 Intrusion detection notification signal 530 is generated (step S1707 in FIG. 18). Then, the data communication processing unit 212c transmits the first intrusion detection notification signal 530 generated by the monitored area intrusion determination unit 212bA to the site management device 220A using the communication device 213 (step S1708 in FIG. 18).

Next, as shown in the flowchart of FIG. 19, the processing device 221A of the site management device 220A receives the first intrusion detection notification signal 530 transmitted from the monitoring device 210A (step S1801 of FIG. 19), and then monitors the work area. In the processing unit 221bA, in order to coordinate-transform the position information of the moving object included in the first intrusion detection notification signal 530 into the work site coordinate system, the coordinate transformation parameters of the monitoring device 210A that transmitted the first intrusion detection notification signal 530 are changed to Acquired from the database 221a (step S1802 in FIG. 19). Next, the position information is coordinate-transformed into the work site coordinate system based on the coordinate transformation parameters, and the second intrusion detection includes the intrusion detection flag included in the first intrusion detection notification signal 530 and the coordinate-transformed position information of the moving object. Notification signal 540 is generated (step S1803 in FIG. 19), and second intrusion detection notification signal 540 is transmitted to work machine information processing device 230A provided in the work machine with the work machine ID specified by second intrusion detection notification signal 540. (Step S1804 in FIG. 19).

FIG. 20 is a diagram showing a processing flow of the processing device 234A of the work machine information processing device 230A.

After receiving the second intrusion detection notification signal 540 transmitted from the site management device 220A (step S1901 in FIG. 20), the processing device 234A of the work machine information processing device 230A, as shown in the flowchart of FIG. The intrusion detection notification signal 540 is sent to the coordinate transformation processing section 234f, and the coordinate transformation processing section 234f calculates the position of the moving object included in the second intrusion detection notification signal 540 based on the vehicle body position and orientation obtained from the vehicle body position acquisition section 234d. The information is coordinate-transformed into the vehicle body coordinate system (step S1902 in FIG. 20). At the same time, the coordinate-transformed positional information of the moving object is sent to the notification processing unit 234 e , and the moving object is displayed on the monitor 81 of the monitor-type working machine notification device 233 mounted on the working machine 1 . Then, the intrusion flag included in the second intrusion detection notification signal 540 determines whether there is intrusion or not (step S1903). 234e (step S1904 in FIG. 20), and if there is no intrusion, a command not to display an alarm command is output to the notification processing unit 234e (step S1905 in FIG. 20).

FIG. 21 shows the positions of workers 100a and 100b in the scene shown in FIG. It shows how it is displayed, and since the worker 100b is intruding into the work area 250, an alarm is also displayed.

In this way, the monitoring device 210 generates the position information of the moving object, transmits the monitoring result indicating whether or not the moving object has entered the work area 250 and the position information of the moving object, and the work machine information processing device 230 , an alarm is generated when the monitoring result indicates that a moving object has entered, and the moving object is displayed on the monitor 81 based on the positional information of the moving object. Therefore, by checking the screen of the monitor 81, the operator of the working machine 1 can confirm the position of the worker who has entered the working area 250, and can also grasp the positions of the workers around the working area 250. It becomes possible to

In addition, the monitoring device 210A transmits the monitoring result as to whether or not a moving object has entered the work area and the position information of the moving object to the work machine information processing device 230A via the site management device 220A. The device 220A converts the position information of the moving object from the sensor coordinate system to the work site coordinate system, and the work machine information processing device 230A converts the position information of the moving object from the work site coordinate system to the vehicle body coordinate system. In this way, in the site management device 220, by converting the setting information of the moving object from the sensor coordinate system to the work site coordinate system, the amount of calculation of the processing devices 212A and 234A of the monitoring device 210A and the work machine information processing device 230A is reduced. Therefore, the work machine information processing device 230A and the monitoring device 210A can be made inexpensive.

1 working machine 2 traveling body 3 revolving body (body)
4 operator's cab 5 operating lever device 6 work front desk 210 monitoring device 220 site management device 230 working machine information processing device 211 object detection sensor 212 processing device (third processing device)
213 communication device (third communication device)
221 processor (second processor)
222 communication device (second communication device)
231 setting input device 232 vehicle body position detection device 233 working machine notification device 234 processing device (first processing device)
235 communication device (first communication device)
212a Object detection unit 212b Monitoring area intrusion determination unit 212c Data communication processing unit 212d Monitoring area setting unit 221a Database 221b Work area monitoring processing unit 221c Data communication processing unit 221d Monitoring device identification unit 234a Setting input acquisition unit 234b Work area setting unit 234c Data Communication processing unit 234d Vehicle position acquisition unit 234e Notification processing unit 234f Coordinate conversion processing unit 500 Work area notification signal 510 Monitoring area notification signal 520 Intrusion detection notification signal 530 First intrusion detection notification signal 540 Second intrusion detection notification signal

Claims (7)

A work machine information processing device mounted on a work machine arranged at a work site, a plurality of monitoring devices arranged at the work site, and exchanging information between the work machine information processing device and the plurality of monitoring devices. A site management system comprising a site management device that manages
The work machine information processing device includes:
setting the work area by generating setting information including the position and orientation based on input information for setting the work area and detection information of the position and orientation of the work machine;
The on-site management device
The above set by the work machine information processing device based on the detectable region of each of the plurality of monitoring devices installed at the work site and the setting information of the work region set by the work machine information processing device. identify a monitoring device capable of detecting the work area ;
The identified monitoring device,
A monitoring area is set based on the setting information of the work area set by the work machine information processing device, and whether or not a moving object has entered the monitoring area is determined based on position information of the detected moving object. A site management system characterized by monitoring. In the field management system according to claim 1,
The site management system, wherein the monitoring device transmits a monitoring result as to whether or not a moving object has entered the work area to the work machine information processing device. In the field management system according to claim 2,
The work machine information processing device generates an alarm when the monitoring result indicates that the moving object has entered. In the field management system according to claim 1,
The work machine information processing device converts setting information including the position and orientation of the work area into a work site coordinate system set for the work site,
The site management device converts setting information including the position and orientation of the work area into a sensor coordinate system set in the specified monitoring device,
The monitoring device uses setting information including the position and orientation of the work area converted into the sensor coordinate system to monitor whether or not a moving object has entered the work area. management system. In the field management system according to claim 1,
The monitoring device generates position information of the moving object, transmits a monitoring result indicating whether or not the moving object has entered the work area, and the position information of the moving object;
The work machine information processing device generates an alarm when the monitoring result indicates that the moving object has entered, and displays the moving object on a monitor based on the position information of the moving object. management system. In the field management system according to claim 5,
The monitoring device transmits a monitoring result indicating whether or not a moving object has entered the work area and position information of the moving object to the work machine information processing device via the site management device,
The site management device converts the position information of the moving object from the sensor coordinate system set in the monitoring device to the work site coordinate system set in the work site, and the work machine information processing device converts the position information of the moving object. is converted from the work site coordinate system to the vehicle body coordinate system set for the work machine. In the field management system according to claim 1,
The work machine information processing device includes:
a setting input device for inputting information for setting the work area;
a vehicle body position detection device that detects the position and attitude of the work machine;
A first for setting the work area based on the input information of the setting input device and the position and attitude of the working machine detected by the vehicle body position detection device, and generating a first notification signal including setting information of the work area. a processor;
a first communication device that transmits the first notification signal to the site management device;
The on-site management device
The plurality of monitoring devices have a database that records detectable areas in which an object can be detected, and based on setting information of the detectable areas recorded in the database and the work area included in the first notification signal. a second processing device that identifies a monitoring device having a detectable area that overlaps with the working area as a monitoring device that can detect the working area, and generates a second notification signal that includes setting information of the working area;
a second communication device that transmits the second notification signal to the specified monitoring device;
The monitoring device
an object detection sensor that detects the position of the moving object;
The monitoring area is set based on the setting information of the work area included in the second notification signal, and the moving object enters the work area based on the position information of the moving object detected by the object detection sensor. a third processing device that generates a third notification signal including the result of monitoring whether or not
and a third communication device that transmits the third notification signal to one of the work machine information processing device and the site management device.

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