JP7414265B2 - proximity warning system - Google Patents
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Description
本発明は、例えばフォークリフトやブルドーザなどの移動機器が往来する作業現場において、当該移動機器と作業者とが接近したことを検知して警報を発報する接近警報システムに関する。 TECHNICAL FIELD The present invention relates to an approach warning system that detects the proximity of a mobile device and a worker and issues an alarm at a work site where mobile devices such as forklifts and bulldozers come and go.
かかる接近警報システムとして、誘導磁界（電磁誘導波）と電波を用いたものが知られており、本願出願人は特許文献１において、移動機器側に取り付けられた距離検知制御装置と作業者側に取り付けられたＲＦＩＤタグとの距離により警報のレベルを変えることを可能とし、更に警報を出力する距離を移動機器側で設定可能とした接近検知システムを開示した。
この特許文献１の接近警報システムは、移動機器（距離検知制御装置）と作業者（ＲＦＩＤタグ）との距離により警報のレベルを変えることで、作業者が移動機器に対してどの程度の距離まで接近しているかを把握することができる点で特にメリットがあり、実用化の実績も複数ある。
As such an approach warning system, one using an induced magnetic field (electromagnetic guided wave) and radio waves is known. An approach detection system has been disclosed that allows the level of the alarm to be changed depending on the distance from the attached RFID tag, and further allows the distance at which the alarm is output to be set on the mobile device side.
The approach warning system of Patent Document 1 changes the alarm level depending on the distance between the mobile device (distance detection control device) and the worker (RFID tag), thereby determining how far the worker can reach the mobile device. It is especially advantageous in that it allows you to know whether they are approaching each other, and there are several achievements in practical application.
本願発明者らは、実用化した特許文献１の接近警報システムのユーザより、移動機器に接近した作業者側でも警報を発報するようにしたいとのニーズを受け、ＲＦＩＤタグが誘導磁界を検知したときに警報を発報するタグ警報部をＲＦＩＤタグ側に追加した。
ところが、移動機器の移動方向（移動経路）が限られている（決まっている）作業現場では、その移動方向に接近した作業者に対してのみ警報を発報すればよいところ、誘導磁界は全方位に発信されるため、移動機器の移動方向以外に接近した作業者に対しても警報（不要な警報）が発報されることになる。
In response to the need from users of the approach alarm system of Patent Document 1, which has been put into practical use, to enable alarms to be issued even to workers who approach mobile equipment, the inventors of the present invention developed an RFID tag that detects induced magnetic fields. A tag alarm unit was added to the RFID tag side that issues an alarm when this happens.
However, at work sites where the direction of movement (travel path) of mobile equipment is limited (fixed), it is only necessary to issue an alarm to workers who approach in the direction of movement; however, the induced magnetic field is Since the alarm is transmitted in the same direction, an alarm (unnecessary alarm) will also be issued to a worker who approaches the mobile device in a direction other than the direction in which it is moving.
本発明が解決しようとする課題は、不要な警報の発報を抑制できる接近警報システムを提供することにある The problem to be solved by the present invention is to provide a proximity warning system that can suppress the issuing of unnecessary warnings.
本発明の一観点によれば、次の接近警報システムが提供される。
移動機器と、作業者に取り付けられたＲＦＩＤタグとの接近を検知して警報を発報する接近警報システムであって、
移動機器は、誘導磁界を全方位に発信する誘導磁界発信部と、前記誘導磁界を検知したＲＦＩＤタグから発信される電波を受信する電波受信部と、超音波を特定方位に発信して作業者又は物体を検知する超音波センサと、これらを制御する機器制御部とを備え、
ＲＦＩＤタグは、前記誘導磁界発信部から発信される誘導磁界を検知する磁界センサ部と、前記磁界センサ部が前記誘導磁界を検知したときに電波を発信する電波発信部と、前記磁界センサ部が前記誘導磁界を検知したときに警報を発報するタグ警報部とを備え、
前記機器制御部は、前記超音波センサが作業者又は物体を検知していないときは、前記誘導磁界発信部から誘導磁界を発信させないか、又は前記誘導磁界発信部から発信される誘導磁界の発信範囲を標準の発信範囲より小さくし、前記超音波センサが作業者又は物体を検知したら、前記誘導磁界発信部から発信される誘導磁界の発信範囲を標準の発信範囲とする、接近警報システム。
According to one aspect of the present invention, the following proximity warning system is provided.
A proximity warning system that detects the approach of a mobile device and an RFID tag attached to a worker and issues an alarm,
The mobile equipment includes an induced magnetic field transmitter that transmits an induced magnetic field in all directions, a radio wave receiver that receives radio waves transmitted from an RFID tag that has detected the induced magnetic field, and an ultrasonic wave that transmits ultrasonic waves in a specific direction to the operator. Or, it is equipped with an ultrasonic sensor that detects objects and a device control unit that controls them,
The RFID tag includes a magnetic field sensor section that detects an induced magnetic field transmitted from the induced magnetic field transmitting section, a radio wave transmitting section that transmits a radio wave when the magnetic field sensor section detects the induced magnetic field, and a magnetic field sensor section that includes the magnetic field sensor section. and a tag alarm unit that issues an alarm when the induced magnetic field is detected,
When the ultrasonic sensor is not detecting a worker or an object, the device control unit does not cause the induced magnetic field transmitter to transmit an induced magnetic field, or causes the induced magnetic field transmitter to transmit an induced magnetic field. A proximity warning system having a range smaller than a standard transmission range, and when the ultrasonic sensor detects a worker or an object, the range of the induction magnetic field transmitted from the induction magnetic field transmitter is set as the standard transmission range.
本発明の接近警報システムは、超音波を特定方位（典型的には移動機器の移動方向）に発信して作業者又は物体を検知する超音波センサを備え、この超音波センサが作業者又は物体を検知していないときは、誘導磁界を発信させないか又は誘導磁界の発信範囲を標準の発信範囲より小さくする。これにより、特定方位（典型的には移動機器の移動方向）以外に接近した作業者に対して不要な警報の発報を抑制できる。 The proximity warning system of the present invention includes an ultrasonic sensor that detects a worker or an object by emitting ultrasonic waves in a specific direction (typically in the moving direction of a mobile device), and the ultrasonic sensor detects the worker or object. When not detected, the induced magnetic field is not transmitted or the induced magnetic field transmission range is made smaller than the standard transmission range. This makes it possible to suppress unnecessary alarms from being issued to workers who approach in a direction other than a specific direction (typically, the moving direction of the mobile device).
図１に本発明の一実施形態である接近検知システムの全体構成を概念的に示し、図２及び図３にこの接近警報システムにおける移動機器及びＲＦＩＤタグの構成をそれぞれブロック図として示している。 FIG. 1 conceptually shows the overall configuration of an approach detection system that is an embodiment of the present invention, and FIGS. 2 and 3 respectively show block diagrams of the configurations of a mobile device and an RFID tag in this approach warning system.
この実施形態において移動機器Ｘは例えばフォークリフトやブルドーザであり、図１において矢印方向が移動機器Ｘの移動方向（進行方向）である。
この移動機器Ｘは、図２に示しているように、誘導磁界を全方位に発信する誘導磁界発信部と、誘導磁界を検知したＲＦＩＤタグから発信される電波を受信する電波受信部と、超音波を特定方位（この実施形態では移動機器Ｘの移動方向）に発信して作業者又は物体を検知する超音波センサと、所定の条件下で警報を発報する機器警報部と、これらを制御する機器制御部とを備えている。なお、超音波センサからの超音波の発信範囲Ｕは図１において実線で概念的に示している。すなわち、この超音波センサは超音波を移動機器Ｘの移動方向（進行方向）に発信する。
In this embodiment, the mobile equipment X is, for example, a forklift or a bulldozer, and the direction of the arrow in FIG. 1 is the moving direction (advance direction) of the mobile equipment X.
As shown in FIG. 2, this mobile device An ultrasonic sensor that detects a worker or an object by emitting sound waves in a specific direction (in this embodiment, the moving direction of mobile equipment X), an equipment alarm unit that issues an alarm under predetermined conditions, and controls these The device is equipped with a device control section to Note that the transmission range U of ultrasonic waves from the ultrasonic sensor is conceptually shown by a solid line in FIG. That is, this ultrasonic sensor emits ultrasonic waves in the moving direction (progressing direction) of the mobile device X.
図１において作業者ＡはＲＦＩＤタグａを持ち、移動機器Ｘの移動方向以外に接近している。
このＲＦＩＤタグａは、図３に示しているように、移動機器Ｘの誘導磁界発信部から発信される誘導磁界を検知する磁界センサ部と、この磁界センサ部が誘導磁界を検知したときに誘導磁界を検知した旨の情報及び自己の固有ＩＤ情報を含む電波を発信する電波発信部と、磁界センサ部が誘導磁界を検知したときに警報を発報するタグ警報部と、これらを制御するタグ制御部とを備え、更に直流電源としてバッテリを備えている。
In FIG. 1, worker A has an RFID tag a and is approaching mobile device X in a direction other than the direction of movement.
As shown in FIG. 3, this RFID tag a includes a magnetic field sensor section that detects the induced magnetic field emitted from the induced magnetic field transmitter of the mobile device A radio wave transmitter that transmits radio waves containing information indicating that a magnetic field has been detected and its own unique ID information, a tag alarm unit that issues an alarm when the magnetic field sensor unit detects an induced magnetic field, and a tag that controls these. A control unit is provided, and a battery is further provided as a DC power source.
この実施形態に係る接近警報システムの動作は以下のとおりである。
まず、機器制御部は、超音波センサが作業者又は物体を検知していないときは、誘導磁界発信部から誘導磁界を発信させないか、又は誘導磁界発信部から発信される誘導磁界の発信範囲を標準の発信範囲Ｍｓ（図４参照）より小さい発信範囲Ｍｉ（図１参照）とする。この状態では、超音波を発信する特定方位（この実施形態では移動機器の移動方向）以外に接近した作業者Ａに取り付けられたＲＦＩＤタグａは誘導磁界を検知しないので、そのタグ警報部から警報は発報されない。
The operation of the proximity warning system according to this embodiment is as follows.
First, when the ultrasonic sensor is not detecting a worker or an object, the device control unit either does not transmit the induced magnetic field from the induced magnetic field transmitter or limits the transmission range of the induced magnetic field transmitted from the induced magnetic field transmitter. The transmission range Mi (see FIG. 1) is smaller than the standard transmission range Ms (see FIG. 4). In this state, the RFID tag a attached to the worker A who approaches the worker A in a direction other than the specific direction in which the ultrasonic waves are emitted (in this embodiment, the moving direction of the mobile device) does not detect the induced magnetic field, so the tag alarm unit issues an alarm. will not be reported.
次に、超音波センサが作業者又は物体を検知したら、機器制御部は、誘導磁界発信部から発信される誘導磁界の発信範囲を標準の発信範囲Ｍｓ（図４参照）とする。図４では超音波センサが作業者Ａを検知した場合を示しており、誘導磁界の発信範囲Ｍｓは、図１の発信範囲Ｍｉより拡大されている。この状態では、超音波を発信する特定方位（この実施形態では移動機器の移動方向）に接近した作業者Ａに取り付けられたＲＦＩＤタグａは誘導磁界を検知するので、そのタグ警報部から警報が発報される。 Next, when the ultrasonic sensor detects a worker or an object, the device control unit sets the transmission range of the induced magnetic field transmitted from the induced magnetic field transmitter to the standard transmission range Ms (see FIG. 4). FIG. 4 shows a case where the ultrasonic sensor detects worker A, and the transmission range Ms of the induced magnetic field is expanded from the transmission range Mi in FIG. In this state, the RFID tag a attached to the worker A who approaches the specific direction in which the ultrasonic wave is emitted (in this embodiment, the moving direction of the mobile device) detects the induced magnetic field, so the tag alarm section issues an alarm. Reported.
このように、超音波センサが作業者又は物体を検知したときに誘導磁界の発信範囲を拡大させることで、図１に示すように超音波を発信する特定方位（この実施形態では移動機器の移動方向）以外に接近した作業者Ａに対しては、警報は発報されない。
一方、図４に示すように作業者Ａが超音波を発信する特定方位（この実施形態では移動機器の移動方向）に接近した場合、誘導磁界の発信範囲が拡大されるので、この作業者Ａに対しては警報が発報される。
このように、この実施形態によれば、作業者Ａに対して不要な警報の発報を抑制できる。なお、従来技術（例えば特許文献１）では、誘導磁界の発信範囲は常に標準の発信範囲Ｍｓであるので、図１における作業者Ａに対しても警報（不要な警報）が発報される。
In this way, by expanding the transmission range of the induced magnetic field when the ultrasonic sensor detects a worker or an object, as shown in Figure 1, it is possible to No alarm will be issued to worker A who approaches in a direction other than direction).
On the other hand, as shown in FIG. 4, when worker A approaches a specific direction in which ultrasonic waves are transmitted (in this embodiment, the moving direction of the mobile device), the transmission range of the induced magnetic field is expanded, so that worker A A warning will be issued.
In this way, according to this embodiment, it is possible to suppress issuing of unnecessary warnings to the worker A. In the conventional technology (for example, Patent Document 1), the transmission range of the induced magnetic field is always the standard transmission range Ms, so an alarm (unnecessary alarm) is also issued to the worker A in FIG. 1.
ここで、標準の発信範囲Ｍｓの大きさは適宜設定することができるが、超音波の発信範囲Ｕと同等又はそれ以上の大きさとすることが好ましい。例えば、超音波の発信範囲Ｕ（長さ）は最大で１０ｍ程度であるから、標準の発信範囲Ｍｓ（楕円の長半径）は１２ｍ程度とすることができる。なお、標準の発信範囲Ｍｓの大きさは一種に固定する必要はなく、複数種とすることもできる。すなわち、標準の発信範囲Ｍｓの大きさは可変とすることもできる。 Here, the size of the standard transmission range Ms can be set as appropriate, but it is preferably equal to or larger than the ultrasound transmission range U. For example, since the ultrasonic transmission range U (length) is about 10 m at maximum, the standard transmission range Ms (long axis of the ellipse) can be about 12 m. Note that the size of the standard transmission range Ms does not need to be fixed to one type, and can be set to multiple types. That is, the size of the standard transmission range Ms can also be made variable.
また、超音波センサが作業者又は物体を検知していないときの誘導磁界の発信範囲Ｍｉの大きさも適宜設定することができ、例えば楕円の長半径で０．５～１ｍ程度とすることができる。なお、超音波センサが作業者又は物体を検知していないときは、上述のとおり誘導磁界を発信しないようにすることもできるが、超音波を発信する特定方位（この実施形態では移動機器の移動方向）以外であっても移動機器の間近に接近した作業者に対して警報を発報できるように、超音波センサが作業者又は物体を検知していないときも必要最小限の発信範囲で誘導磁界を発信することが好ましい。この必要最小限の発信範囲の一例が、図１に示す発信範囲Ｍｉである。すなわち、この必要最小限の発信範囲とは、移動機器Ｘの間近の領域をカバーする範囲である。 Furthermore, the size of the transmission range Mi of the induced magnetic field when the ultrasonic sensor is not detecting a worker or object can also be set as appropriate, for example, it can be set to about 0.5 to 1 m as the major axis of the ellipse. . Note that when the ultrasonic sensor does not detect a worker or an object, it is possible to prevent the induction magnetic field from being emitted as described above. Even when the ultrasonic sensor does not detect a worker or an object, guidance is provided within the necessary minimum transmission range so that an alarm can be issued to a worker who approaches a mobile device even if the device is in a direction other than the direction of the device. Preferably, a magnetic field is emitted. An example of this minimum necessary transmission range is the transmission range Mi shown in FIG. That is, this minimum required transmission range is a range that covers the area in the immediate vicinity of mobile device X.
この実施形態において機器警報部は、上述のとおり所定の条件下で警報を発報する。例えば、電波受信部がＲＦＩＤタグからの電波を受信し、かつ超音波センサが作業者又は物体を検知するという条件で警報を発報するようにすることができる。あるいは、電波受信部がＲＦＩＤタグからの電波を受信するのみという条件で警報を発報するようにすることもでき、これら条件の違いによって異なる種類の警報をそれぞれ発報するようにすることもできる。 In this embodiment, the device alarm section issues an alarm under predetermined conditions as described above. For example, an alarm can be issued on condition that the radio wave receiving unit receives radio waves from the RFID tag and the ultrasonic sensor detects a worker or an object. Alternatively, the alarm can be set to be issued on the condition that the radio wave receiving section only receives radio waves from the RFID tag, and different types of alarms can be issued depending on the difference in these conditions. .
なお、以上の実施形態は、単一の誘導磁界発信部を備えるものであったが、複数の誘導磁界発信部を備えるものとすることもできる。また、以上の実施形態では作業者は一人であったが、作業者は複数人であっても問題なく動作する。 In addition, although the above embodiment was provided with a single induced magnetic field transmitter, it can also be provided with a plurality of induced magnetic field transmitters. Further, in the above embodiment, there is only one operator, but the system can operate without problems even if there are multiple operators.
Ｘ 移動機器
Ａ 作業者
ａ ＲＦＩＤタグ
X Mobile equipment A Worker a RFID tag
Claims (1)
移動機器は、誘導磁界を全方位に発信する誘導磁界発信部と、前記誘導磁界を検知したＲＦＩＤタグから発信される電波を受信する電波受信部と、超音波を特定方位に発信して作業者又は物体を検知する超音波センサと、これらを制御する機器制御部とを備え、
ＲＦＩＤタグは、前記誘導磁界発信部から発信される誘導磁界を検知する磁界センサ部と、前記磁界センサ部が前記誘導磁界を検知したときに電波を発信する電波発信部と、前記磁界センサ部が前記誘導磁界を検知したときに警報を発報するタグ警報部とを備え、
前記機器制御部は、前記超音波センサが作業者又は物体を検知していないときは、前記誘導磁界発信部から誘導磁界を発信させないか、又は前記誘導磁界発信部から発信される誘導磁界の発信範囲を標準の発信範囲より小さくし、前記超音波センサが作業者又は物体を検知したら、前記誘導磁界発信部から発信される誘導磁界の発信範囲を標準の発信範囲とする、接近警報システム。 A proximity warning system that detects the approach of a mobile device and an RFID tag attached to a worker and issues an alarm,
The mobile device includes an induced magnetic field transmitter that transmits an induced magnetic field in all directions, a radio wave receiver that receives radio waves transmitted from an RFID tag that has detected the induced magnetic field, and an ultrasonic wave that transmits ultrasonic waves in a specific direction to the operator. Or, it is equipped with an ultrasonic sensor that detects objects and a device control unit that controls them,
The RFID tag includes a magnetic field sensor section that detects an induced magnetic field transmitted from the induced magnetic field transmitting section, a radio wave transmitting section that transmits a radio wave when the magnetic field sensor section detects the induced magnetic field, and the magnetic field sensor section. and a tag alarm unit that issues an alarm when the induced magnetic field is detected,
When the ultrasonic sensor does not detect a worker or an object, the device control unit may not cause the induced magnetic field transmitting unit to transmit an induced magnetic field, or may cause the induced magnetic field transmitting unit to transmit an induced magnetic field. A proximity warning system having a range smaller than a standard transmission range, and when the ultrasonic sensor detects a worker or an object, the range of the induction magnetic field transmitted from the induction magnetic field transmitter is set as the standard transmission range.
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