KR102301427B1 - heavy equipment control system through predition of object action patterns - Google Patents

Abstract

The present invention relates to a heavy equipment control system by predicting an action pattern of an object. According to a technical embodiment of the present invention, the heavy equipment control system comprises: a scanning unit provided in at least one part of heavy equipment to selectively acquire information on a work site; a sensing unit for selecting an object from the information on the work site obtained from the scanning unit; an analyzing unit which analyzes the object selected from the sensing unit and calculates an action pattern of the object; and a directing unit which controls the working radius and movement of the heavy equipment by comparing the action pattern of the object with the action pattern of the heavy equipment.

Description

Heavy equipment control system through prediction of object action patterns

The present invention relates to a heavy equipment control system by predicting an action pattern of an object. In more detail, for safety management of the work site, by selectively sensing the object existing at the work site, comparing and analyzing the action pattern of the object and the action pattern of heavy equipment, and controlling the heavy equipment according to the situation of the work site, the work site It is a technical field related to a system that prevents accidents that may occur in advance.

According to the Korea Occupational Safety and Health Agency, 971 people died in accidents among 2,142 industrial accident deaths in 2018, of which 485 were in the construction industry, accounting for half of all businesses. In 2019, the following year, 428 people died from accidents in the construction industry among industrial accident deaths. Although there were 57 fewer people than the previous year, the number of deaths per 10,000 construction workers increased from 1.94 in 2018 to 2.08 in 2019.

Industrial sites in other industries are also dangerous, but the reason why there are so many deaths due to accidents in the construction industry is because the site is much more dynamic than other industries, and the risk increases. In the construction industry, the risks inevitably increase because equipment and people change moment by moment according to the progress of construction in the same space.

Therefore, in order to fundamentally improve the high accident rate at the construction site, it is necessary to implement a safety management system at the construction site, establish a safety management system using wireless communication facilities, and introduce smart safety equipment using the Internet of Things (IoT) and big data. It is necessary to develop smart construction technology.

As an example of a related prior patent document, "a device for providing safety management information at a road construction site and a driving method of the device (Publication No. 10-2019-0013237, hereinafter referred to as Patent Document 1)" exists.

In the case of the invention according to Patent Document 1, the device for providing safety management information at a road construction site according to the embodiment of Patent Document 1 is installed at the work site to receive detection information of the vehicle from a plurality of vehicle detection devices that detect the vehicle. Based on the detection information provided from the communication interface unit and at least one vehicle detection device located in the latter part of the vehicle traveling direction among the plurality of vehicle detection devices, it is determined that an accident-probable event of the vehicle is determined, and the result of the determination is applied to the work site. It may include a control unit for controlling the communication interface to notify the.

As another example of a patent document, "a construction site safety management device (Registration No. 10-1872768, hereinafter referred to as Patent Document 2)" exists.

In the case of the invention according to Patent Document 2, the construction site safety management device includes one or more access points (Access Points, AP) that are disposed at the construction site, sense the state information of the construction site, and transmit the state information; It is capable of receiving status information from the access point, determining whether a dangerous situation has occurred based on the status information, generating notification information when a dangerous situation occurs, and transmitting one or more of the status information and notification information. terminal; and a management server capable of communicating with at least one of the access point and the terminal, and receiving status information and notification information from at least one of the terminal and the access point.

As another example of the patent document, there is "a site-specific safety management device and a method of driving the device (registration number 10-2084565, hereinafter referred to as Patent Document 3)".

In the case of the invention according to Patent Document 3, work characteristic information for the first work area and the second work area of the construction site are stored, and the first user device located in the first work area and the second work area located in the second work area are stored. 2 a storage unit for respectively storing identification information for the user equipment, and selectively to the first user device in the first work area and the second user device in the second work area based on the stored work characteristic information and the stored identification information It may include a control unit for transmitting the work message.

As another example of the patent document, "Heavy Equipment Work Safety Device (Registration No. 10-2104648, hereinafter referred to as Patent Document 4)" exists.

In the case of the invention according to Patent Document 4, it relates to a work safety device for heavy equipment. When the heavy equipment is operated, a laser is irradiated around the heavy equipment to visually express the work area, and a detection target approaching the work area is detected. It includes a sensing unit for controlling the operation, a warning unit for outputting a warning signal to a driver of heavy equipment, and a control unit for controlling the operation of the warning unit by a detection signal output from the sensing unit when a sensing target is sensed through the sensing unit.

Publication No. 10-2019-0013237 Registration No. 10-1872768 Registration No. 10-2084565 Registration No. 10-2104648

The heavy equipment control system through the prediction of an action pattern of an object according to the present invention has been devised to solve the conventional problems as described above, and presents the following problems to be solved.

First, by scanning the work site, we want to select objects that exist in the work site.

Second, by comparing the action pattern of the object that exists in the work site and the action pattern of heavy equipment, it is intended to predict the area with a high probability of occurrence of an accident.

Third, we want to control the movement of heavy equipment according to the distance between the object and the heavy equipment in the work site.

The problems to be solved of the present invention are not limited to those mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

The heavy equipment control system through the action pattern prediction of the object according to the present invention has the following problem solving means for the above problem to be solved.

Heavy equipment control system through the action pattern prediction of the object according to the present invention is provided to at least one or more parts of the heavy equipment, the scan unit (scan unit) for selectively acquiring information on the work site; a sensing unit for selecting an object from the information on the work site obtained from the scanning unit; an analyzing unit that analyzes the object selected from the sensing unit and calculates an action pattern of the object; and a directing unit that compares the action pattern of the object with the action pattern of the heavy equipment and controls the working radius and movement of the heavy equipment.

The sensing unit of the heavy equipment control system through the action pattern prediction of the object according to the present invention, the object sensing unit for detecting a plurality of objects existing in the work site from the information on the work site obtained from the scan unit; a shape sensing unit for selecting a shape of a worker or a vehicle from among the plurality of objects detected by the object sensing unit; and a variation sensing unit configured to detect at least one of a rate of change of a reflection frequency per unit time, a rate of change of a reflected pulse signal per unit time, and a rate of change of a volume per unit time of the worker or the vehicle selected from the shape sensing unit.

The analyzing unit of the heavy equipment control system through the action pattern prediction of the object according to the present invention is the position of the operator or the vehicle from the rate of change of the reflected frequency detected by the variation sensing unit, the rate of change of the reflected pulse signal, or the rate of change of the volume Position unit to analyze the coordinates; a timeline unit for arranging the position coordinates of the operator or the vehicle according to time; and a yield unit for calculating the object action pattern of the worker or the vehicle arranged according to time from the timeline unit.

The directing unit of the heavy equipment control system by predicting the action pattern of the object according to the present invention compares the object action pattern calculated in the yield unit with the action pattern of the heavy equipment, and the worker or the vehicle and the Prediction unit for predicting the risk area where heavy equipment overlaps; and a location unit for selectively designating the location of the heavy equipment in the work site area except for the risk area predicted from the prediction unit.

The prediction unit of the heavy equipment control system through the action pattern prediction of the object according to the present invention, the simulation unit for executing a risk prediction simulation by acquiring the object action pattern and the action pattern of the heavy equipment for a predetermined accumulation time; And by overlapping the object action pattern and the action pattern of the heavy equipment from the risk prediction simulation, it may be characterized in that it comprises an overlap portion for predicting the risk area in which the operator or the vehicle and the heavy equipment overlap.

The location unit of the heavy equipment control system through the action pattern prediction of the object according to the present invention, a dividing unit for arbitrarily dividing the work site into n areas; And it may be characterized in that it comprises a limiting unit for setting the working radius of the heavy equipment by randomly designating the location of the heavy equipment in an area other than the risk area among the areas divided from the n areas.

The directing unit of the heavy equipment control system through the action pattern prediction of the object according to the present invention is a signal unit that provides a warning signal when at least one of the heavy equipment, the operator, or the vehicle enters the risk area ; and a control unit for controlling the speed or direction of the heavy equipment when at least one of the heavy equipment, the operator, or the vehicle enters the risk area.

The signal unit of the heavy equipment control system through the action pattern prediction of the object according to the present invention, a first sign unit that sounds a first warning signal to warn the operator or the vehicle entering the risk area; and a second sign unit that sounds a second warning signal to warn the heavy equipment that has entered the risk area.

The signal unit of the heavy equipment control system through action pattern prediction of an object according to the present invention, while a preset time elapses from the start of the first warning signal, the reflection frequency change rate detected by the variation sensing unit, the reflection When the pulse signal change rate or the volume change rate converges to 0, it may be characterized in that the control unit arbitrarily stops the operation of the heavy equipment.

The control unit of the heavy equipment control system through the action pattern prediction of the object according to the present invention, at least one of the heavy equipment, the operator, or the vehicle enters the risk area, the distance from the heavy equipment to the operator or the vehicle When is the preset distance, a speed control unit for controlling the working speed or moving speed of the heavy equipment to be reduced; And at least one of the heavy equipment, the operator, or the vehicle enters the risk area, and when the position of the heavy equipment faces the position of the operator or the vehicle, a direction control unit for controlling the operation or movement direction of the heavy equipment to be switched It may be characterized in that it comprises a.

The heavy equipment control system through the prediction of the action pattern of the object according to the present invention of the configuration as described above provides the following effects.

First, it is possible to selectively select an operator and a vehicle by detecting an object existing at the work site.

Second, it is possible to predict the risk area by overlapping the action pattern of the object existing at the work site and the action pattern of the heavy equipment, and set the work radius of the heavy equipment.

Third, when the distance to the object existing in the work site becomes a preset distance, it is possible to provide a warning signal.

Fourth, when the distance to the object existing at the work site becomes a preset distance, it is possible to appropriately adjust the speed, direction, and angle of the heavy equipment.

Effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a conceptual diagram of a heavy equipment control system by predicting an action pattern of an object according to an embodiment of the present invention.
2 is a conceptual diagram of a scan unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention.
3 is a conceptual diagram of a sensing unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention.
4 is a conceptual diagram of a position part of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention.
5 is a conceptual diagram of a timeline part of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention.
6 is a block diagram of a directing unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention.
7 is a block diagram of a prediction unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention.
8 is a conceptual diagram of a simulation unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention.
9 is a conceptual diagram of an overlap portion of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention.
10 is a block diagram of a location unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention.
11 is a conceptual diagram of a dividing unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention.
12 is a conceptual diagram of a limiting unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention.
13 is a block diagram of a signal unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention.
14 is a conceptual diagram of a signal unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention.
15 is a block diagram of a control unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention.
16 is a conceptual diagram of a control unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention.

The heavy equipment control system through the action pattern prediction of the object according to the present invention can apply various changes and can have various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to a specific embodiment, it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

1 is a conceptual diagram of a heavy equipment control system by predicting an action pattern of an object according to an embodiment of the present invention. 2 is a conceptual diagram of a scan unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention. 3 is a conceptual diagram of a sensing unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention. 4 is a conceptual diagram of a position part of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention. 5 is a conceptual diagram of a timeline part of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention. 6 is a block diagram of a directing unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention. 7 is a block diagram of a prediction unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention. 8 is a conceptual diagram of a simulation unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention. 9 is a conceptual diagram of an overlap portion of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention. 10 is a block diagram of a location unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention. 11 is a conceptual diagram of a dividing unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention. 12 is a conceptual diagram of a limiting unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention. 13 is a block diagram of a signal unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention. 14 is a conceptual diagram of a signal unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention. 15 is a block diagram of a control unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention. 16 is a conceptual diagram of a control unit of a heavy equipment control system through prediction of an action pattern of an object according to an embodiment of the present invention.

In the case of the heavy equipment control system through the action pattern prediction of the object according to the present invention, as shown in FIG. 1 , in the system for controlling the heavy equipment 1 for safety management of the work site, it is mounted on the heavy equipment 1 and works Scans the site, selectively senses objects existing in the work site, analyzes the action pattern of the object, and compares and analyzes the action pattern of the heavy equipment 1 according to the situation of the work site. By controlling the heavy equipment (1), it relates to a system for preventing accidents that may occur in the workplace in advance.

In the case of a heavy equipment control system through prediction of an action pattern of an object according to the present invention, a scan unit 100, a sensing unit 200, an analyzing unit 300 and a directing unit, 400) will be included.

First, in the case of the scan unit 100, as shown in FIG. 2, it is provided to at least one or more parts of the heavy equipment 1, and is configured to selectively acquire information on the work site.

The heavy equipment 1 in the scan unit 100 is various construction machines used in construction work, for example, a scraper, a road roller, a motor grader, a power shovel, an excavator. ) and ready-mixed concrete, etc., are mounted on at least one of such heavy equipment (1) to obtain information on the job site.

In addition, the information on the work site obtained by scanning by the scan unit 100 may be mainly information about the type, shape, size, and location of an object existing in the work site. In this case, the object referred to here corresponds to a person or thing existing in the work site.

In the case of the scan unit 100 of the heavy equipment control system by predicting the action pattern of the object according to the present invention, it includes a photographing unit, a radar unit, and a lighting unit.

The filming unit is configured to selectively acquire images by capturing the situation at the work site in real time. Equipment that can take images, a camera, or CCTV (closed circuit television), etc. Through this, it is possible to acquire the situation on the job site in real time.

In addition, the image acquired from the filming unit selectively senses objects through NVR (Network Video Recorder) equipped with deep learning-based image analysis technology, and the worksite can be analyzed.

The radar unit is provided in the heavy equipment 1 and is configured to scan the work site by emitting a predetermined radio wave. The radar unit performs radio detecting and ranging, radiating microwaves (with a wavelength of 10 to 100 cm) to the work site, receiving radio waves reflected from at least one object existing at the work site, and sending the radio waves to the work site. It is possible to obtain distance, direction, and angle information of an existing object.

The writing unit irradiates a predetermined light, for example, a laser pulse from the heavy equipment 1 to the work site, measures the time of the laser pulse that is reflected from at least one or more objects existing in the work site, and returns an object existing at the work site. distance, speed, direction, temperature, and even 3D information can be obtained.

In addition, the writing unit generally utilizes light having a wavelength of 600-1000 nm, but in some cases, it is preferable to use light in a longer wavelength band.

It is possible to scan the work site from at least one of the photographing unit, the radar unit, and the lighting unit, and through this, it is possible to sense at least one or more objects existing in the work site.

In the case of the sensing unit 200 , as shown in FIG. 3 , an object is selected from the information on the work site obtained from the scanning unit 100 .

In the case of the sensing unit 200 of the heavy equipment control system through the prediction of the action pattern of the object according to the present invention, the object sensing unit 210, the shape sensing unit 220, and the variation sensing ) part 230 is included.

First, the object sensing unit 210 is configured to detect a plurality of objects existing in the work site from the work site information obtained from the scan unit 100 .

The object detected by the object sensing unit 210 may be, for example, all objects constituting the work site, and the worker 10 or manager existing in the work site may also be included in the object.

The shape sensing unit 220 is configured to select at least one of the shapes of the operator 10 or the vehicle 20 from among a plurality of objects detected by the object sensing unit 210 .

The shape sensing unit 220 detects the shape of at least one of the head, neck, torso, arms, hands, legs, feet, upper body, lower body, work clothes, or hard hat of the worker 10, and detects the worker 10 among the plurality of objects. can be distinguished Also, the shape sensing unit 220 may detect the shape of at least one of a body, a bumper, a trunk, a door, a bonnet, a roof, and a wheel of the vehicle 20 to distinguish the vehicle 20 from among a plurality of objects. Through this, the shape sensing unit 220 can select the operator 10 and the vehicle 20 by detecting the shapes of the plurality of objects.

The variation sensing unit 230 detects at least one of the rate of change of the reflection frequency per unit time, the rate of change of the reflected pulse signal per unit time, or the rate of change of volume per unit time of the operator 10 or the vehicle 20 selected from the shape sensing unit 220. is the composition

First, in the case of the variation sensing unit 230, a predetermined radio wave generated from the radar unit is radiated toward a plurality of objects existing in the work site, and the predetermined radio wave reaching the plurality of objects is reflected back as it is, At this time, a change in the reflection frequency per unit time is sensed.

The variation sensing unit 230 is irradiated with a predetermined light generated from the lighting unit toward a plurality of objects existing in the work site, and from the reflected light when the predetermined light reaching the plurality of objects is reflected, pulse power, Pulse width, phase shift, and round trip time can be extracted, and through this, a change in reflected pulse time per unit time is detected.

Also, the variation sensing unit 230 detects changes in volume, area, and size of a plurality of objects per unit time in the image obtained from the photographing unit.

In addition, it is preferable to calculate the reflection frequency change rate per unit time, the reflected pulse signal change rate per unit time, or the volume change rate per unit time data sensed by the variation sensing unit 230, and count the calculated data according to positive, negative, and zero values.

In the case of the analyzing unit 300 , the object selected by the sensing unit 200 is analyzed to calculate an action pattern of the object.

In the case of the analyzing unit 300 of the heavy equipment control system through the action pattern prediction of the object according to the present invention, the position unit 310 , the timeline unit 320 , and the yield unit 330 . ) will be included.

First, the position unit 310 is configured to analyze the position coordinates of the operator 10 or the vehicle 20 from the rate of change of the reflected frequency, the rate of change of the reflected pulse signal, and the rate of change of the volume detected by the variation sensing unit 230 .

The position coordinates of the object analyzed by the position unit 310 are preferably represented as three-dimensional coordinates, as shown in FIG. 4 .

, 오브젝트의

일 경우에, 중장비(1)로부터 오브젝트의 거리는

로서 산출할 수 있게 된다.Using the position coordinates of the operator 10 or the vehicle 20 extracted from the position unit 310, the distance from the heavy equipment 1 to the operator 10 or the distance from the heavy equipment 1 to the vehicle 20 is automatically calculated. can be calculated as For example, the location of the heavy equipment 1

, of the object

In one case, the distance of the object from the heavy equipment 1

can be calculated as

In the case of the timeline unit 320, the position coordinates of the operator 10 or the vehicle 20 are arranged according to time.

As shown in FIG. 5 , the timeline unit 320 aligns the operator 10 or the vehicle 20 sensed for 0 to 24 hours according to time to calculate statistical values. From the statistical result of the operator 10, it is possible to identify a time zone with many workers 10 close to the heavy equipment 1, and if the operator 10 is crowded at 10 am, take measures to strengthen the stability management when working with the heavy equipment 1 be able to take In addition, the collision accident between the heavy equipment 1 and the vehicle 20 can be prevented in advance from the vehicle 20 detection statistical result, and the statistical result for the unsafe driving vehicle 20 can also be obtained, so that the cause of the accident when an accident occurs Of course, it can be accurately identified.

In the case of the yield unit 330 , the object action pattern of the worker 10 or the vehicle 20 arranged according to time is calculated from the timeline unit 320 .

Herein, the object action pattern of the operator 10 or the vehicle 20 means accumulating all information on the movement of the operator 10 or the vehicle 20 at the work site and calculating it as patterned data.

In addition, it is preferable that the yield unit 330 calculates a normal action pattern and an abnormal action pattern by accumulating an object action pattern of the worker 10 or the vehicle 20 .

In addition, it is preferable that the yield unit 330 compares and analyzes information of the operator 10 or the vehicle 20 registered in advance from the server with the operator 10 and vehicle 20 information sensed by the sensing unit 200 . For example, when the number of workers 10 and vehicles 20 that are actually present at the work site and the number of workers 10 registered in advance from the server and the number of vehicles 20 registered in advance are not the same, unauthorized personnel It is possible to search for entry and exit of the vehicle and the unauthorized vehicle 20 .

In the case of the directing unit 400, it is a configuration for controlling the working radius of the heavy equipment (1) and the movement of the heavy equipment (1) by comparing the action pattern of the object action pattern and the heavy equipment (1).

In the case of the directing unit 400 of the heavy equipment control system through the action pattern prediction of the object according to the present invention, as shown in FIG. 6, a prediction unit 410, a location unit 420, It includes a signal unit 430 and a control unit 440 .

First, in the case of the prediction unit 410, the object action pattern calculated by the yield unit 330 and the action pattern of the heavy equipment 1 are compared to the operator 10 or the vehicle 20 and the heavy equipment 1 at the job site. It is a configuration that predicts the overlapping risk area (R).

The risk area R predicted by the prediction unit 410 may be defined as an area in which accidents frequently occur or an area with a high probability of occurrence of an accident within the work site.

In the case of the prediction unit 410 of the heavy equipment control system through the action pattern prediction of the object according to the present invention, as shown in Fig. 7, the simulation unit 411 and the overlap unit 412 are will include

In the case of the simulation unit 411, in order to predict the risk region R, the object action pattern and the action pattern of the heavy equipment 1 for a predetermined accumulation time are acquired, and a risk prediction simulation is executed.

As shown in FIG. 8, the simulation unit 411 extracts and enumerates each of the location and action pattern data of the object and the heavy equipment 1 for each time period, so that the action pattern of the object and the action pattern of the heavy equipment 1 are Comparable simulations can be performed.

In the case of the overlapping unit 412, the risk area ( R) is a prediction configuration.

As illustrated in FIG. 9 , the overlap unit 412 may overlap each of the object extracted by time period and the action pattern data of the heavy equipment 1 into one space and overlap. An overlapping area of the object and the heavy equipment 1 can be predicted from the action pattern data of the overlapping object and the heavy equipment 1 . In this case, the overlapping area is defined as a risk area (R), and the risk area (R) means an area with a high probability that an accident may occur due to collision of an object and heavy equipment 1 at a work site.

In the case of the location unit 420 , it is a configuration for selectively designating the location of the heavy equipment 1 in an area excluding the risk area R predicted from the prediction unit 410 .

In the location unit 420, it is preferable to reduce the probability of an accident by dividing the work site into a risk area (R) and a safety area (S) and disposing the heavy equipment (1).

In the case of the location unit 420 of the heavy equipment control system through the action pattern prediction of the object according to the present invention, as shown in FIG. 10, a dividing unit 421 and a limiting unit 422 are included. will do

The dividing unit 421 is configured to arbitrarily divide the work site into n areas, as shown in FIG. 11 .

At this time, the reason why the work site is divided into n areas is because it can be set by displaying the risk area (R) and the safety area (S) on the n areas. By dividing the region into n regions, a necessary region and an unnecessary region can be distinguished in detail and clearly. Therefore, the calculation speed for acquiring work site information is increased mainly in the area corresponding to the risk area (R) among the n areas divided from the dividing unit 421 , thereby enabling fast and efficient analysis.

In the case of the limiting unit 422, it is configured to set the working radius of the heavy equipment 1 by arbitrarily designating the location of the heavy equipment 1 in the region except for the risk region R among the regions divided from the n regions.

As shown in FIG. 12, the limiting unit 422 changes the location of the heavy equipment 1 disposed in the risk area R to the outside of the risk area R, that is, to the safety area S, the heavy equipment 1 ) and object collisions can be prevented.

In the case of the signal unit 430, when at least one of the heavy equipment 1, the operator 10, or the vehicle 20 enters the risk area R, it is configured to provide a warning signal.

In the case of the signal unit 430 of the heavy equipment control system through the action pattern prediction of the object according to the present invention, as shown in FIG. 13 , it includes a first sign unit 431 and a second sign unit 432 . .

In the case of the first sign unit 431 , it is configured to sound a first warning signal to warn the operator 10 or the vehicle 20 who have entered the risk area (R).

In the case of the second sign unit 432 , it is configured to sound a secondary warning signal to warn the heavy equipment 1 that has entered the risk area (R).

In addition, during the lapse of a preset time from the start of the first warning signal, when the rate of change of the reflected frequency, the rate of change of the reflected pulse signal, or the rate of change of volume detected by the variation sensing unit 230 converges to 0, the control unit 440 It causes the operation of the heavy equipment (1) to be arbitrarily stopped. Here, the reflection frequency change rate, the reflected pulse signal change rate, or the volume change rate converges to 0 means that there is no change in the movement of the operator 10 or the vehicle 20 despite the first warning signal sounding, ) to prevent accidents in advance.

In addition, if the operation of the heavy equipment 1 is stopped for the reflected frequency change rate, the reflected pulse signal change rate, or the volume change rate to converge to 0, the operator 10 receives a warning of a warning signal even if it enters the risk area R This is because there is no need to stop the operation of the heavy equipment 1 when the worker 10 or the vehicle 20 is to be evacuated immediately.

In the case of the control unit 440, as shown in FIG. 16, when at least one of the heavy equipment 1, the operator 10, or the vehicle 20 enters the risk area R, the speed of the heavy equipment 1 , direction, and angle control.

The control unit 440 automatically controls the speed, direction, angle, working radius, etc. of the heavy equipment 1, even if the operator 10 or the vehicle 20 does not take a separate action to prevent accidents in advance. be able to do

In the case of the control unit 440 of the heavy equipment control system through the prediction of the action pattern of the object according to the present invention, as shown in FIG. 15 , it includes a speed control unit 441 and a direction control unit 442 .

In the case of the speed control unit 441, at least one of the heavy equipment 1, the operator 10, or the vehicle 20 enters the risk area R, and the operator 10 or the vehicle 20 from the heavy equipment 1 It is a configuration to control so that the working speed or moving speed of the heavy equipment (1) is reduced when the distance to the distance becomes a preset distance.

The preset distance in the speed controller 441 is defined as d1 > preset distance > d2. As shown in Fig. 16, when the distance d1 to d2 between the heavy equipment 1 and the operator 10 becomes less than a preset distance, it is preferable that the working speed or the moving speed of the heavy equipment 1 is also reduced or paused. .

In the case of the direction control unit 442, at least one of the heavy equipment 1, the operator 10, or the vehicle 20 enters the risk area R, and the position of the heavy equipment 1 is changed to the operator 10 or the vehicle ( 20) is opposite to the position, that is, when facing, the configuration to control the operation or movement direction of the heavy equipment (1) to be switched.

As shown in FIG. 15 , the direction control unit 442 controls the operator 10 and the heavy equipment 1 to face each other and when the distance between the operator 10 and the heavy equipment 1 is close, the heavy equipment 1 moves with the work direction. It is desirable to change direction to prevent collision accidents.

The scope of the present invention is determined by the matters described in the claims, and parentheses used in the claims are not described for selective limitation, but are used for clear components, and descriptions in parentheses are also interpreted as essential components. should be

1: heavy machinery 10: workers
20: vehicle 100: scan unit
200: sensing unit 210; object sensing unit
220: shape sensing unit 230: variation sensing unit
300: analyzing unit 310: position unit
320: Timeline part 330: Yield part
400: directing unit 410: prediction unit
411: simulation unit 412: overlap unit
420: location unit 421: dividing unit
422: limiting unit 430: signal unit
431: first sign section 432: second sign section
440: control unit 441: speed control unit
442: direction control R: risk area
S: safety area

Claims (10)

It is provided in at least one or more parts of the heavy equipment, the scan unit for selectively acquiring information on the job site (scan unit);
a sensing unit for selecting an object from the information on the work site obtained from the scanning unit;
an analyzing unit that analyzes the object selected from the sensing unit and calculates an action pattern of the object; and
Comprising a directing unit that compares the action pattern of the object and the action pattern of the heavy equipment to control the working radius and movement of the heavy equipment,
The sensing unit is
an object sensing unit configured to detect a plurality of objects existing in the work site from the work site information obtained from the scan unit;
a shape sensing unit for selecting a shape of a worker or a vehicle from among the plurality of objects detected by the object sensing unit; and
A variation sensing unit for detecting at least one of a rate of change of a reflected frequency per unit time, a rate of change of a reflected pulse signal per unit time, and a rate of change of a volume per unit time of the worker or the vehicle selected from the shape sensing unit, characterized in that it comprises a variation sensing unit, characterized in that it comprises an object action Heavy equipment control system through pattern prediction.
delete According to claim 1, wherein the analyzing unit,
a position unit for analyzing the position coordinates of the operator or the vehicle from the rate of change of the reflected frequency detected by the variation sensing unit, the rate of change of the reflected pulse signal, or the rate of change of the volume;
a timeline unit for arranging the position coordinates of the operator or the vehicle according to time; and
A heavy equipment control system through action pattern prediction of an object, characterized in that it comprises a yield unit for calculating the object action pattern of the operator or the vehicle arranged according to time from the timeline unit.
According to claim 3, The directing unit,
a prediction unit that compares the object action pattern calculated in the yield unit with the action pattern of the heavy equipment to predict a risk area in which the operator or the vehicle and the heavy equipment overlap at the work site; and
Heavy equipment control system through action pattern prediction of an object, characterized in that it comprises a location unit for selectively designating the location of the heavy equipment in the work site area excluding the risk area predicted from the prediction unit.
The method of claim 4, wherein the prediction unit,
a simulation unit for acquiring the object action pattern and the heavy equipment action pattern for a predetermined accumulation time, and executing a risk prediction simulation; and
From the risk prediction simulation, the object action pattern and the action pattern of the heavy equipment are overlapped to include an overlap unit for predicting the risk area where the operator or the vehicle and the heavy equipment overlap, predicting the action pattern of the object heavy machinery control system.
The method of claim 5, wherein the location unit,
a dividing unit that arbitrarily divides the work site into n areas; and
Heavy equipment control through action pattern prediction of an object, characterized in that it comprises a limiting unit for setting the working radius of the heavy equipment by randomly designating the location of the heavy equipment in an area other than the risk area among the areas divided from the n areas system.
According to claim 5, The directing unit,
a signal unit providing a warning signal when at least one of the heavy equipment, the operator, or the vehicle enters the risk area; and
When at least one of the heavy equipment, the operator, or the vehicle enters the risk area, the heavy equipment control system through the action pattern prediction of the object further comprises a control unit for controlling the speed or direction of the heavy equipment.
The method of claim 7, wherein the signal unit,
a first sign unit that sounds a first warning signal to warn the operator or the vehicle entering the risk area; and
Heavy equipment control system by predicting an action pattern of an object, characterized in that it includes a second sign unit that sounds a second warning signal to warn the heavy equipment that has entered the risk area.
The method of claim 8, wherein the signal unit,
During the lapse of a preset time from the start of the first warning signal, when the rate of change of the reflected frequency, the rate of change of the reflected pulse signal, or the rate of change of the volume detected by the variation sensing unit converge to 0, the control unit causes the heavy equipment A heavy equipment control system by predicting the action pattern of an object, characterized in that it arbitrarily stops the operation of the
The method of claim 7, wherein the control unit,
When at least one or more of the heavy equipment, the operator, or the vehicle enters the risk area and the distance from the heavy equipment to the operator or the vehicle becomes a preset distance, control so that the working speed or moving speed of the heavy equipment is reduced a speed control unit; and
At least one of the heavy equipment, the operator, or the vehicle enters the risk area, and when the position of the heavy equipment is opposite to the position of the operator or the vehicle, a direction control unit for controlling the operation or movement direction of the heavy equipment to be switched A heavy equipment control system through prediction of an action pattern of an object, characterized in that it includes.

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