WO2018042607A1

WO2018042607A1 - Movable body detection system, movable body detection device, and movable body detection method

Info

Publication number: WO2018042607A1
Application number: PCT/JP2016/075728
Authority: WO
Inventors: 孝弘松田; 小坂　忠義; 裕美西浦; 明久石田; 泰毅嶋津; 健二上松
Original assignee: 株式会社日立物流
Priority date: 2016-09-01
Filing date: 2016-09-01
Publication date: 2018-03-08
Also published as: JPWO2018042607A1; JP6636166B2

Abstract

This movable body detection system has: a first device that moves with a first movable body; a second device that moves with a second movable body; and a server device. The first device transmits signals including identification information of the first device, and receives signals transmitted from the second device, and the second device transmits signals including identification information of the second device. The movable detection system also has a plurality of second reception units, and the server device determines, on the basis of the signals received by at least one of the second reception units, whether the positional relationship between the first device and the second device satisfies predetermined conditions, and transmits determination results. Furthermore, on the basis of the signals transmitted from the second device, and the determination results transmitted from a position grasping system, the first device determines whether to output warning, and in the cases where it is determined that the warning is to be outputted, the first device outputs the warning.

Description

Moving object detection system, moving object detection device, and moving object detection method

The present invention relates to a technique for detecting and notifying an approach between moving objects.

For the operation of industrial vehicles such as forklifts, from the viewpoint of work safety, it is one of the important issues to prevent contact accidents between vehicles and workers. 2. Description of the Related Art Conventionally, devices have been developed that reduce the risk of contact by detecting the approach of a vehicle and an operator and issuing a warning or the like.

For example, Patent Document 1 discloses a safety device in which an employee is equipped with a device that generates radio waves, and the forklift is provided with a receiver that receives the radio waves, and when the radio waves are received, a deceleration command and a warning are given to the forklift. ing.

Further, Patent Document 2 discloses a system for confirming the location of a moving object such as a worker or a robot in the work place and issuing an alarm.

Patent Document 1: Japanese Patent Laid-Open No. 9-156899 Patent Document 2: Japanese Patent Laid-Open No. 5-11039

However, since the safety device of Patent Document 1 directly communicates radio waves between the operator and the forklift, the attenuation of the radio wave intensity when there is a shield between the two persons is distinguished from the attenuation of the radio wave intensity due to the distance. There is a problem that accurate detection is difficult.

Moreover, since the system of Patent Document 2 performs calculation of position information identification from signals from a plurality of receiving means, there is a problem that a delay occurs from when the plurality of receiving means receive a signal until an alarm is issued. is there.

In order to solve the above problems, the present invention is a mobile body detection system including a first device that moves together with a first mobile body, a second device that moves together with a second mobile body, and a server device. The first device includes a first transmitter that transmits a signal including identification information of the first device, and a first receiver that receives a signal transmitted from the second device, 2 apparatus has a 2nd transmission part which transmits the signal containing the identification information of the said 2nd apparatus, and the said mobile body detection system further has several 2nd receiving parts each installed in the predetermined position. And determining whether a positional relationship between the first device and the second device satisfies a predetermined condition based on a signal received by at least one of the plurality of second receiving units. And a result of determination by the position determination unit A communication unit, and the first device further outputs a warning based on the signal transmitted from the second transmission unit and the determination result transmitted from the first communication unit. A warning determination unit that determines whether the warning is to be output, and an output unit that outputs the warning when the warning determination unit determines that the warning is to be output.

According to the present invention, the reliability of warning can be improved by selectively detecting the approach of an operator or an industrial vehicle according to the positional relationship. Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

It is a block diagram which shows the structure of the pedestrian detection system of Example 1 of this invention. It is explanatory drawing of the hardware constitutions of the transmitter of Example 1 of this invention. It is explanatory drawing of the hardware constitutions of the receiver of Example 1 of this invention. It is explanatory drawing of the hardware constitutions of the position grasping | storing system of Example 1 of this invention. It is explanatory drawing which shows the example of installation of the position grasping system of Example 1 of this invention. It is explanatory drawing of creation of ID list by the position grasping system of Example 1 of the present invention. It is a flowchart which shows the process after the 1st receiving part of Example 1 of this invention receives a signal until a warning determination part performs determination. It is a flowchart which shows the modification of Example 1 of this invention. It is a block diagram which shows the structure of the pedestrian detection system of Example 2 of this invention. It is a flowchart which shows a process after the 1st receiving part of Example 2 of this invention receives a signal until a warning determination part performs determination. It is a block diagram which shows the structure of the pedestrian detection system of Example 3 of this invention. It is a flowchart which shows operation | movement of the receiver of Example 3 of this invention. It is a flowchart which shows operation | movement of the transmitter of Example 3 of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of the pedestrian detection system according to the first embodiment of the present invention.

The pedestrian detection system detects an approach between an industrial vehicle and a pedestrian in a workplace such as a warehouse or a factory and outputs a warning.

The pedestrian detection system according to this embodiment includes a receiver 100, a transmitter 200, and a position grasping system 300.

The receiver 100 includes a first receiving unit 101, a first ID (identifier) reading unit 102, an intensity acquisition unit 103, an ID determination unit 104, a first communication unit 105, a first ID storage unit 106, and an ID list. A storage unit 107, a warning determination unit 108, a warning display device 109, a speaker 110, and a first transmission unit 111 are provided.

The receiver 100 is installed in an industrial vehicle such as a forklift, and moves in the workplace together with the industrial vehicle.

The transmitter 200 includes a second ID storage unit 201 and a second transmission unit 202.

The transmitter 200 is possessed by a walking worker (also simply referred to as a pedestrian in this specification) and moves in the workplace together with the walking worker. The transmitter 200 may be held by a pedestrian or may be attached to the pedestrian like a pendant or a helmet.

The position grasping system 300 includes a plurality of second reception units 301, a second ID reading unit 302, a position determination unit 303, a list creation unit 304, and a second communication unit 305.

The position grasping system 300 includes a plurality of second receiving units 301 and a server 400. The server 400 includes a second ID reading unit 302, a position determination unit 303, a list creation unit 304, and a second communication unit 305. The server 400 and the plurality of second reception units 301 may be connected to each other by Ethernet or wireless LAN. Can communicate with each other.

The plurality of second receiving units 301 are arranged in the work place. The server 400 may be installed in or near the work place, but may be installed in a remote place.

The pedestrian detection system according to the present embodiment needs to include at least one receiver 100 and at least one transmitter 200, and generally includes a plurality of receivers 100 and a plurality of transmitters 200. In the present embodiment, an example is shown in which the receiver 100 is mounted on an industrial vehicle and the transmitter 200 is mounted on a pedestrian, but any of these can be mounted on an arbitrary moving body. For this reason, the pedestrian detection system of this invention can also be called a mobile body detection system. For example, a pedestrian may carry the receiver, or the transmitter 200 may be attached to an industrial vehicle. Alternatively, the transmitter 200 may further have the same function as the receiver 100.

The receiver 100 transmits the ID stored in the first ID storage unit 106 by the first transmission unit 111. The first ID storage unit 106 is, for example, a memory that can record an ID that can identify each receiver 100 (that is, each of the receivers 100 is uniquely identified) as electronic information. Become. The first transmission unit 111 is an electromagnetic wave generator capable of transmitting the first ID, and transmits the ID in a data format conforming to a standard such as Bluetooth. The first transmitter 111 may include a microcomputer for reading data from the first ID storage unit 106, a modulator for converting the data format, and an antenna for transmitting electromagnetic waves.

The transmitter 200 transmits the ID stored in the second ID storage unit 201 by the second transmission unit 202. The second ID storage unit 201 is, for example, a memory that can record IDs that can identify each transmitter 200 (that is, each of the transmitters 200 is uniquely identified) as electronic information. Become. The second transmission unit 202 is an electromagnetic wave generator that can transmit the ID of the transmitter, and can transmit the ID in a data format conforming to a standard such as Bluetooth. The second transmission unit 202 may include a microcomputer for reading data from the second ID storage unit 201, a modulator for converting the data format, and an antenna for transmission as electromagnetic waves.

The position grasping system 300 receives the ID of the receiver 100 and the ID of the transmitter 200 by at least one second receiving unit 301. Each second receiving unit 301 includes, for example, an antenna and a decoder, and can receive electromagnetic waves. Information received by each second receiving unit 301 is transmitted to the server 400, and ID information is recognized by the ID reading unit 302. Further, the position determination unit 303 determines the positions of the receiver 100 and the transmitter 200 in the work place.

FIG. 2 is an explanatory diagram of the hardware configuration of the transmitter 200 according to the first embodiment of the present invention.

The transmitter 200 can be realized by the hardware configuration shown in FIG.

The second ID storage unit 201 includes a memory 1001.

The second transmission unit 202 includes a CPU 1002, a wireless controller 1003, and an antenna 1004. The CPU 1002 and the wireless controller 1003 may be integrated as one IC. The memory 1001 may be built in the CPU 1002.

In the present embodiment, the processing executed by the second transmission unit 202 is actually executed by the CPU 1002 controlling the wireless controller 1003 as necessary according to the program stored in the memory 1001.

FIG. 3 is an explanatory diagram of a hardware configuration of the receiver 100 according to the first embodiment of this invention.

The receiver 100 can be realized by the hardware configuration shown in FIG. 3, for example.

The first receiving unit 101 and the first transmitting unit 111 are configured by an antenna 1104 and a wireless controller 1103.

The first ID storage unit 106 and the ID list storage unit 107 are configured by a memory 1101.

The first communication unit 105 includes a wireless controller 1105 and an antenna 1106.

The first ID reading unit 102, the strength acquisition unit 103, the ID determination unit 104, and the warning determination unit 108 can be configured by processing electronically performed by the CPU 1102 according to a program stored in the memory 1101. That is, in the present embodiment, the processing executed by the first ID reading unit 102, the strength acquisition unit 103, the ID determination unit 104, and the warning determination unit 108 is actually executed by the CPU 1102 in accordance with a program stored in the memory 1101. .

The display device 109 is a device that outputs (displays) a warning screen, and includes a display 1107. The speaker 110 is a device that outputs a warning sound, and includes a speaker 1108.

The antenna 1104 and the antenna 1106 may be the same, and the wireless controller 1103 and the wireless controller 1105 may be the same. The CPU 1102 and the wireless controller 1103 or the wireless controller 1105 may be integrated as one IC. The memory 1101 may be built in the CPU 1102.

FIG. 4 is an explanatory diagram of the hardware configuration of the position grasping system 300 according to the first embodiment of the present invention.

The position grasping system 300 can be realized by, for example, the hardware configuration shown in FIG.

The ID reading unit 302, the position determination unit 303, and the list creation unit 304 of the server 400 can be configured by processing electronically performed by the CPU 1211 of the server 400 according to a program stored in the memory 1213. That is, the processing executed by the ID reading unit 302, the position determination unit 303, and the list creation unit 304 in the present embodiment is actually executed by the CPU 1211 according to a program stored in the memory 1213.

The communication unit 305 includes a wireless router 1230 connected to the network 1240 via the communication controller 1212.

The second receiving unit 301 includes a communication controller 1221, a CPU 1222, a wireless controller 1223, and an antenna 1224.

The communication controller 1221 and the wireless controller 1223 may be the same hardware.

The CPU 1222 and the communication controller 1221 or the wireless controller 1223 may be configured as an integrated IC. Further, the

memories

1213 and 1225 may be built in the

CPUs

1211 and 1222, respectively.

FIG. 5 is an explanatory diagram showing an installation example of the position grasping system 300 according to the first embodiment of the present invention.

FIG. 5 is a top view inside the work place 500. In the workplace 500, one or more walking workers who have the transmitter 200 and one or more industrial vehicles equipped with the receiver 100 work simultaneously. The receiver 100-1 is a receiver 100 having an ID value “1001”. The transmitter 200-1 is a transmitter 200 having an ID value “2001”. In the workplace 500, there are a plurality of

non-movable areas

501, 502, 503, 511, 512, and 513 that are inaccessible to industrial vehicles such as shelves or pillars and pedestrians. A plurality of separated passages are formed. A plurality of second receiving units 301-11, 301-12, 301-13, 301-14, 301-15, 301-16, 301-21, 301-22, 301-23, 301-24, 301-25, 301-26, 301-31, 301-32, 301-33, 301-34, 301-35, 301-36, 301-41, 301-42, 301- 43, 301-44, 301-45, and 301-46 are arranged.

When transmitter 200-1 transmits a signal at the location shown in FIG. 5, receivers 301-11, 301-21, and 301-22 receive the signal with strong intensity, and position determination is performed by measuring the received intensity. Unit 303 can grasp the position of transmitter 200-1. Such a grasp of the position may be performed by any method. For example, a known method as described in JP-A-5-11039 can be used. The second ID reading unit 302 reads the ID of the transmitter 200-1 included in the signal received by the receiving unit 301-11 or the like.

The list creation unit 304 creates an ID list for transmission to the receiver 100 from the ID read by the second ID reading unit 302 and the position information determined by the position determination unit 303.

FIG. 6 is an explanatory diagram of creation of an ID list by the position grasping system 300 according to the first embodiment of the present invention.

The position determination system 300 manages, for example, a movable area in the workplace 500 (that is, an area other than the non-movable area shown in FIG. 5) divided into a plurality of areas. The divided areas are, for example, A area 510, B-1 area 521, B-2 area 522, B-3 area 523, B-4 area 524, C area 530, D-1 area 541, and D-2, respectively. They are referred to as area 542, D-3 area 543, D-4 area 544, D-5 area 545, and E area 550. The positions of the transmitter 200 and the receiver 100 existing in the workplace 500 are detected by the position determination unit 303 of the position grasping system 300. In FIG. 6, the location grasping system 300 is not shown, but a plurality of receiving units 301 may be arranged as shown in FIG. 5, and the server 400 may be in any place in the work place 500. It may be outside the workplace 500.

In the example of FIG. 6, two receivers 100 exist in the work place 500. The position determination system 300 detects that the receiver 100-1 having the ID “1001” is in the B-2 area 522 and the receiver 100-2 having the ID “1002” is in the E area 550.

In the example of FIG. 6, four transmitters 200 exist in the work place 500. The positioning system 300 includes a transmitter 200-1 having an ID “2001” in an A area 510, a transmitter 200-2 having an ID “2002” in a B-3 area 523, and a transmitter having an ID “2003”. It is detected that 200-3 is in the D-2 area 542 and the transmitter 200-4 having the ID “2004” is in the E area 550.

The list creation unit 304 lists the IDs of the transmitters 200 whose location is confirmed in the same area or an area adjacent to the location where each receiver 100 is located, from the second communication unit 305 to the receiver. To 100. Here, two adjacent areas mean that they can move directly from one of them to the other, that is, they can move from one to the other without passing through any other area. Even if moving objects in two areas that are not the same or adjacent to each other move in a direction in which they approach each other, a certain amount of time (for example, the processing of the warning determination unit 108 next time) Therefore, it can be said that it is not necessary to be wary of the collision of these moving objects.

The position determination unit 303 may use any method to identify the transmitter 200 whose location is confirmed in the same area as each receiver 100 or in an adjacent area. For example, the memory 1213 of the position determination system 300 includes information that associates the receiving unit 301 that has received a signal from the receiver 100 or the transmitter 200 with the location area of the receiver or the transmitter 200, and areas adjacent to each area. When the position determination unit 303 receives a signal from each receiver 100 and each transmitter 200, the position determination unit 303 refers to the received signal and the above information, and The area corresponding to the reception unit 301 may be specified as the location area of each receiver 100 and each transmitter 200, and the transmitter 200 in the same area as or adjacent to each receiver 100 may be specified.

Alternatively, the memory 1213 may hold the map information of the workplace 500. This map information includes at least information for associating coordinate values in the workplace 500 with areas. Based on this information, an area adjacent to each area can be specified. When at least one of the receiving units 301 receives a signal from each receiver 100 and each transmitter 200, the position determination unit 303 specifies the coordinate values of each receiver 100 and each transmitter 200 based on the received signal. The location area of each receiver 100 and each transmitter 200 can be specified based on the specified coordinate value, and the transmitter 200 in the same area as the receiver 100 or in an adjacent area can be specified.

In FIG. 6, the areas adjacent to the B-2 area 522 where the receiver 100-1 exists are the A area 510 and the C area 530. The list creation unit 304 creates a list of IDs of the transmitters 200 whose locations are confirmed in any of the A area 510, the B-2 area 522, and the C area 530 described above. In the example of FIG. 6, the ID 2001 of the transmitter 200-1 existing in the A area 510 is recorded in the list.

Similarly, for the receiver 100-2, the ID “2003” of the transmitter 200-3 existing in the D-2 area 542 and the ID “2004” of the transmitter 200-4 existing in the E area 550 are displayed. Is recorded in the list.

The location grasping system 300 transmits the created ID list from the second communication unit 305 to the receiver 100. As described above, different ID lists are created for the receivers 100-1 and 100-2 existing at different positions, and ID lists corresponding to the respective receivers are sent.

Each receiver 100 receives the ID list from the position determination system 300 through the first communication unit 105. The 2nd communication part 305 and the 1st communication part 105 communicate by Ethernet or wireless LAN, for example. The received ID list is stored in the ID list storage unit 107.

When the first receiving unit 101 receives an electromagnetic wave from the transmitter 200, the first ID reading unit 102 reads the ID information of the transmitter 200, and the intensity acquisition unit 103 acquires the reception intensity of the electromagnetic wave. Based on the ID information and the reception intensity, the ID determination unit 104 and the warning determination unit 108 make the determination.

FIG. 7 is a flowchart showing a process from when the first receiving unit 101 according to the first embodiment of the present invention receives a signal until the warning determining unit 108 makes a determination.

According to this figure, the processing is started by the signal receiving step S401 in which the first receiving unit 101 receives a signal from the transmitting unit 202 of any transmitter 200.

In the ID acquisition step S402, the first ID reading unit 102 reads the ID of the sender transmitter 200 from the received signal.

In strength acquisition step S403, the strength acquisition unit 103 acquires the received strength of the signal. The reception strength is assumed to be, for example, RSSI strength.

In the ID determination step S404, the ID determination unit 104 determines whether the ID information acquired in the ID acquisition step S402 is included in the ID list stored in the ID list storage unit 107. If the acquired ID information is included in the ID list, the process proceeds to strength determination step S405, and otherwise, the process proceeds to process end step S407.

In strength determination step S405, the warning determination unit 108 determines whether the reception strength acquired by the strength acquisition unit 103 is higher than an arbitrary strength value (for example, a strength value as a predetermined threshold value). If the received intensity is higher than an arbitrary intensity value, the process proceeds to warning step S406, and otherwise, the process proceeds to process end step S407.

Note that, for example, an appropriate value can be set as the intensity value in S407 in order to reliably issue an alarm regarding a moving body that may come into contact according to the size of the workplace 500 and the arrangement of movable areas. . In addition, this value may be set to 0. In this case, if reception of the signal can be confirmed regardless of the reception strength, it is determined as Yes in step S407, and the process proceeds to step S407.

Further, the transmitter 202 of the transmitter 200 may transmit a signal including information indicating transmission intensity in addition to the ID of the transmitter. In this case, the warning determination unit 108 may compare with a reception intensity threshold corresponding to the transmission intensity in the intensity determination step S405. This makes it possible to determine whether or not to output a warning appropriately even when the transmission intensity differs for each transmitter 200.

In warning step S406, the display device 109 or the speaker 110 outputs a warning display or a warning sound to the driver of the industrial vehicle in which the receiver 100 is installed, thereby causing the receiver 100 and the transmitter 200 to approach each other. Inform.

The process is terminated by the termination step S407.

By performing such a determination process, unnecessary warnings can be prevented. For example, in FIG. 6, the receiver 100-1 can receive signals from the transmitters 200-1, 200-2, and 200-3 by the first receiver 101. A pedestrian who owns the transmitter 200-2 and a pedestrian who owns the transmitter 200-3 exist in an area that is not the same area as the area where the receiver 100-1 is located or an adjacent area. There is no risk of immediate contact with the industrial vehicle where is installed. According to the above processing, since there is no ID of these transmitters 200 in the ID list held by the receiver 100-1, no warning is output. Such processing can increase the reliability of warnings.

FIG. 8 is a flowchart showing a modification of the first embodiment of the present invention.

This modification is composed of the same elements as in FIG. The contents of the list created by the list creation unit 304 of the position grasping system 300 and the processing from when the first reception unit 101 receives a signal until the warning determination unit 108 makes a determination are the processing flow shown in FIG. This is different from the embodiment described with reference to FIGS.

In this modification, the list creation unit 304 creates two types of lists. The first list is a list of IDs of transmitters 200 whose location is confirmed in the same area as the receiver 100. The second list is an ID list of the transmitter 200 whose location is confirmed in an area adjacent to the area where the receiver 100 exists.

In the example of FIG. 6, for receiver 100-1, no ID is registered in the first list, but ID 2001 is registered in the second list. Similarly, for receiver 100-2, ID 2004 is registered in the first list and ID 2003 is registered in the second list. The two types of lists are transmitted to the corresponding receiver 100.

The receiver 100 stores the first list and the second list in the ID list storage unit 107.

When the first receiving unit 101 receives the signal from the transmitter 200, the processing shown in FIG. 8 is performed.

According to this figure, the process is started by the signal reception step S501 in which the first receiving unit 101 receives a signal from the transmitting unit 202 of any transmitter 200.

In the ID acquisition step S502, the first ID reading unit 102 reads the ID information from the received signal.

In strength acquisition step S503, the strength acquisition unit 103 acquires the received strength of the signal. The reception strength is assumed to be RSSI strength, for example.

In the first ID determination step S504, the ID determination unit 104 determines whether the ID information acquired in the ID acquisition step S502 is included in the first ID list stored in the ID list storage unit 107. When the acquired ID information is included in the first ID list, the process proceeds to the first strength determination step S505, and otherwise, the process proceeds to the second ID determination step S507.

In the first intensity determination step S505, the warning determination unit 108 determines whether the reception intensity acquired by the intensity acquisition unit 103 is higher than a first arbitrary intensity value (for example, an intensity value as a predetermined threshold value). . If the received intensity is higher than the first arbitrary intensity value, the process proceeds to the first warning step S506, and otherwise, the process proceeds to the process end step S510.

In the first warning step S506, the display device 109 or the speaker 110 outputs a warning display or a warning sound to the driver of the industrial vehicle in which the receiver 100 is installed, whereby the receiver 100 and the transmitter 200 are output. Announce the approach.

In the second ID determination step S507, the ID determination unit 104 determines whether the ID information acquired in the ID acquisition step S502 is included in the second ID list stored in the ID list storage unit 107. When the acquired ID information is included in the second ID list, the process proceeds to the second strength determination step S508, and otherwise, the process proceeds to the process end step S510.

In the second intensity determination step S508, the warning determination unit 108 determines whether or not the reception intensity acquired by the intensity acquisition unit 103 is higher than a second arbitrary intensity value (for example, an intensity value as a predetermined threshold value). To do. The second arbitrary intensity value may be the same as or different from the first arbitrary intensity value. If the received intensity is higher than the second arbitrary intensity value, the process proceeds to the second warning step S509, and otherwise, the process proceeds to the process end step S510.

In the second warning step S509, the display device 109 or the speaker 110 notifies the approach of the receiver 100 and the transmitter 200 by outputting a warning display or a warning sound. At this time, the color of the warning display, the display content, the volume of the warning sound, or the tone color of the warning sound may be different from the display or warning sound in the first warning step S506.

The process is terminated by the termination step S510.

In this modification, an arbitrary intensity value to be compared with the reception intensity acquired by the intensity acquisition unit 103 may be changed in the warning determination unit 108 in accordance with the positional relationship between the transmitter 200 and the receiver 100. For example, the list creation unit 304 may add an arbitrary strength value to the list as information corresponding to the ID of the transmitter 200 and send it to the receiver 100.

Further, the list creation unit 304 may send the IDs and position information of all transmitters 200 in the work place 500 to the receiver 100 as a list. In this configuration, the position grasping system 300 also sends position information of the receiver 100 to the receiver 100. When the first receiver 101 receives a signal from the transmitter 200 and the ID of the transmitter 200 exists in the ID list, the receiver 100 includes the position information of the receiver 100 and the transmitter 200 in the ID list. The arbitrary intensity value is determined from the position information, and the warning determination unit 108 performs warning determination using the determined arbitrary intensity value for comparison.

For example, when an area as shown in FIG. 6 is set, it is possible to see another mobile body in the area from a mobile body located in a certain area, but a mobile body in an adjacent area is a shelf. There are cases where it is not possible to see through due to shielding. In this way, the degree and type of danger that may be assumed may vary depending on the positional relationship between the moving bodies. As described above, by setting the specified value of the signal reception strength and the warning to be output independently for the same area and the adjacent area, an appropriate warning according to the degree and type of danger is given to the worker. Can be given.

In the above modification, two types of ID lists are created, and the area where the transmitter 200 is located is the same as or adjacent to the receiver 100 depending on which of them contains the ID of the transmitter 200. Which one is determined. However, such an ID list is an example of information indicating whether the area where the transmitter 200 is located is the same area as the receiver 100 or an area adjacent thereto, and may be replaced with information in another form. it can. For example, a list of IDs of the transmitters 200 in either the same area as the receiver 100 or an area adjacent to the receiver 100 is created, and each transmitter 200 is included in the list in the same area as or adjacent to the receiver 100. Information indicating which of the areas to be included may be included.

In the first embodiment including the above modification, it is determined whether or not the transmitter 200 is in the same area as the receiver 100 or an area adjacent thereto. This is an example of a method for determining whether the positional relationship between the transmitter 200 and the receiver 100 satisfies a predetermined condition, that is, whether the transmitter 200 is within the alert range of the receiver 100. . The fact that the transmitter 200 is not within the warning range of the receiver 100 means that, for example, based on the moving speed of each moving object and the position thereof, a predetermined time (for example, the next processing of the warning determination unit 108 is executed). This means that there is no possibility that the moving body that moves together with the transmitter 200 and the moving body that moves together with the receiver 100 will come into contact with each other within a period of time until the time until. The created ID list is an example of information including the determination result. In the above example, it is determined that the transmitter 200 in the same area as the receiver 100 or an area adjacent thereto is within the alert range. However, in the present embodiment, the transmitter within the alert range can be specified by another method.

For example, the server 400 stores the map information of the workplace 500 in the memory 1213, and the position determination unit 303 determines the positions of the receiver 100 and the transmitter 200 in the workplace 500 based on the signal received by the second reception unit 301. Based on the map information, the distance of the shortest route that passes only the movable area between the receiver 100 and the transmitter 200 is measured, and it is determined whether the length of the distance satisfies a predetermined condition. The list creation unit 304 may create an ID list according to the determination result. More specifically, for example, the list creation unit 304 identifies the transmitter 200 whose shortest distance is equal to or less than the first predetermined distance based on the first predetermined distance and the second predetermined distance longer than the first predetermined distance. In addition, the transmitter 200 having the shortest distance equal to or smaller than the second predetermined distance and larger than the first predetermined distance may be added to the ID list 2. These ID lists are used in the same manner as described in the above modification. In this case, the transmitter 200 at which the distance of the shortest route to the receiver 100 is equal to or less than the second predetermined distance is determined as the transmitter 200 within the alert range.

Note that the map information used here may be any information that can search for a movement route between any two points in the work place 500. For example, the position and shape of each movable area in the work place 500 and the distance between them. It may be information indicating the connection relationship.

As described above, in this embodiment, the transmitter 200 whose positional relationship with the receiver 100 satisfies the predetermined condition is determined to be the transmitter 200 within the warning range, and the result of the determination and the receiver 100 is determined to be the transmitter 200. Whether or not to output a warning is determined based on the signal received from.

Further, the threshold value of the reception strength may be changed according to the area where the receiver 100 is located. This is because depending on the work performed in each area, the moving speed tendency of the moving body moving in each area may be different. For example, by setting a low threshold value in areas where mobile objects tend to move relatively fast, and setting a high threshold value in areas where moving objects tend to move relatively slowly, output unnecessary warnings in each area. Necessary warnings can be output properly while suppressing.

In the first embodiment, the list creation unit 304 creates an ID list of the transmitters 200 within the alert range of each receiver 100, and each receiver 100 is identified by the identification information included in the ID list. An alarm is output when the received intensity of the signal received from the device 200 exceeds a predetermined value. This is an example in which a so-called black list is created as the ID list. However, such an ID list is an example, and the list creation unit 304 may create an ID list (so-called white list) of the transmitters 200 outside the alert range of each receiver 100. In that case, each receiver 100 outputs an alarm when the identification information included in the received signal is not included in the ID list and the reception intensity of the signal exceeds a predetermined value. For example, an appropriate one of the black list and the white list can be adopted according to the size of the work place 500, the arrangement of the areas in the workplace 500, the number of moving bodies moving in the workplace 500, and the like. For example, in an environment where the number of transmitters outside the warning range tends to be larger than the number of transmitters 200 within the warning range, a black list is adopted, and the number of transmitters 200 within the warning range is out of the warning range. By adopting a white list in an environment where the number of data tends to be small, the amount of data transmitted from the server 400 to each receiver 100 can be suppressed.

In this embodiment, the warning determination unit 108 may communicate with the control system of the industrial vehicle in addition to the warning by the display device 109 or the speaker 110. By this communication, the industrial vehicle can take measures to avoid a collision such as deceleration.

Next, Example 2 of the present invention will be described. Except for the differences described below, each part of the system of the second embodiment has the same function as each part denoted by the same reference numeral in the first embodiment shown in FIG. 1 to FIG. Is omitted.

FIG. 9 is a block diagram showing the configuration of the pedestrian detection system according to the second embodiment of the present invention.

The pedestrian detection system according to this embodiment includes a receiver 100 and a transmitter 200.

The receiver 100 includes a reception unit 101, an intensity acquisition unit 103, a warning determination unit 108, a warning display device 109, a speaker 110, a first position grasping unit 112, a position information reading unit 113, a map information storage unit 114, and a position determination. Part 115 is provided.

The receiver 100 is installed in an industrial vehicle such as a forklift and moves within the work place.

The transmitter 200 includes an ID storage unit 201, a transmission unit 202, and a second position grasping unit 203.

The transmitter 200 is carried by a walking worker and moves within the workplace. The transmitter 200 may be held by a pedestrian or may be attached to the pedestrian such as a pendant or a helmet.

The receiver 100 grasps the position of the receiver 100 in the work place by the first position grasping unit 112.

The first position grasping unit 112 can be realized by a device such as an indoor GPS (Global Positioning System). Or the 1st position grasping part 112 may use the autonomous navigation which measures displacement by the combination of an acceleration sensor, a gyro sensor, and a geomagnetic sensor, and may use other methods.

The transmitter 200 grasps the position of the transmitter 200 in the work place by the second position grasping unit 203. The configuration of the second position grasping unit 203 is the same as that of the first position grasping unit 112. The transmitter 200 transmits the position information obtained by the second position grasping unit 203 and the ID information stored in the ID storage unit 201 by the transmission unit 202. The configuration of the ID storage unit 201 is the same as that of the first embodiment, and a description thereof is omitted. For example, the position information transmitted by the transmitter 200 is area information obtained by dividing the workplace 500 shown in FIG. 6 into a plurality of areas.

The receiver 100 receives the information transmitted from the transmitter 200 by the receiving unit 101. When the receiving unit 101 receives a signal, a process for determining whether to issue a warning is performed.

Since the hardware configurations of the transmitter 200 and the receiver 100 of the second embodiment are the same as those of the first embodiment, illustration is omitted. However, the map information storage unit 114 is configured by the memory 1101 of the receiver. In addition, the processing executed by the position information reading unit 113 and the position determination unit 115 is actually executed by the CPU 1102 according to a program held in the memory 1101.

FIG. 10 is a flowchart showing processing from when the first receiving unit 101 according to the second embodiment of the present invention receives a signal until the warning determining unit 108 makes a determination.

According to this figure, when the receiving unit 101 receives a signal, the processing is started by the signal receiving step S701.

In position information acquisition step S702, the position information reading unit 113 reads the position information of the transmitter 200 from the received information.

In intensity acquisition step S703, the intensity acquisition unit 103 acquires the intensity of the received signal.

In the warning range determination step S <b> 704, the position determination unit 116 stores the position information of the transmitter 200, the position information of the receiver 100 acquired by the first position grasping unit 112, and the map information storage unit 114. Based on the map information, it is determined whether or not the transmitter 200 exists within the alert range. If it is determined that the transmitter 200 exists within the alert range, the process proceeds to the strength determination step S705. Otherwise, the process ends. The process proceeds to step S707.

Specifically, the position determination unit 116 is within the alert range when the receiver 100 and the transmitter 200 exist in an adjacent area or the same area, for example, as in the process of the list creation unit 304 of the first embodiment. It may be determined that the transmitter 200 exists. In this case, the alert range corresponds to the total area of the area where the receiver 100 is located and the adjacent area.

In the strength determination step S705, the warning determination unit 108 determines whether the radio wave intensity acquired by the strength acquisition unit 103 is greater than or equal to a predetermined intensity value. If the radio wave intensity is greater than or equal to the predetermined intensity value, the process proceeds to warning step S706. In other cases, the process proceeds to an end step S707.

In warning step S706, the display device 109 or the speaker 110 outputs a warning display or a warning sound to the driver of the industrial vehicle in which the receiver 100 is installed, thereby notifying the approach of the receiver 100 and the transmitter 200. To do.

By performing such a determination process, unnecessary warnings can be prevented. Further, the pedestrian detection system according to the present embodiment is compared with the first embodiment by mounting the first position grasping unit 112 on the receiver 100 and the second position grasping unit 203 on the transmitter 200, respectively. Since the position grasping system 300 is omitted, the scale of the system is reduced and the cost is reduced.

In the second embodiment, similarly to the modification of the first embodiment, the threshold value of the reception intensity of the signal corresponding to each of the case where the transmitter 200 is in the same area as the receiver 100 and the case where it is in an adjacent area. When it is determined that a warning is to be output, a warning corresponding to the content may be output.

Next, Example 3 of the present invention will be described. Except for differences described below, each part of the system of the third embodiment has the same function as each part denoted by the same reference numeral in the first embodiment shown in FIGS. Is omitted.

FIG. 11 is a block diagram showing the configuration of the pedestrian detection system according to the third embodiment of the present invention.

The receiver 100 includes a first receiving unit 101, a first ID reading unit 102, an intensity acquisition unit 103, an ID determination unit 104, a first communication unit 105, a first ID storage unit 106, and an ID list storage unit 107. A warning determination unit 108, a warning display device 109, a speaker 110, and a first transmission unit 111. Each component is the same as in the first embodiment, and a description thereof is omitted.

The transmitter 200 includes a second ID storage unit 201, a second transmission unit 202, and a third communication unit 204. The second ID storage unit 201 and the second transmission unit 202 are the same as in the first embodiment, and a description thereof is omitted.

The position grasping system 300 includes a second receiving unit 301, a second ID reading unit 302, a position determining unit 303, a list creating unit 304, and a second communication unit 305. The position grasping system 300 includes a plurality of second receiving units 301 and a server 400. The server 400 includes a second ID reading unit 302, a position determination unit 303, a list creation unit 304, and a second communication unit 305. The server 400 and the second reception unit 301 can communicate with each other by Ethernet or wireless LAN. It is. Each component is the same as in the first embodiment, and a description thereof is omitted.

The hardware configuration of the pedestrian detection system of the present embodiment is the same as that of the first embodiment (see FIGS. 2 to 4). However, the radio controller 1003 of the transmitter 200 according to the present embodiment has a radio signal reception function in order to realize the communication unit 204.

As in the first embodiment, the plurality of second receiving units 301 are arranged in the work place. Server 400 may be located at a remote location.

In addition to the same functions as in the first embodiment, the list creation unit 304 in the position grasping system 300 according to the present embodiment includes the receiver 100 whose location is confirmed in the same area as the location where the transmitter 200 is located or in an adjacent area. The IDs are listed and transmitted to the transmitter 200 through the second communication unit 305.

The third communication unit 204 of the transmitter 200 receives the ID list from the second communication unit 305 of the position grasping system 300.

The first receiving unit 101 of the receiver 100 of this embodiment can change the reception frequency. For example, the reception frequency is normally set to once per second. In this case, for example, the first receiving unit 101 performs a radio signal reception operation once per second for a predetermined time (which is sufficiently shorter than 1 second). When the first communication unit 105 receives the ID list and the ID list includes one or more IDs of the transmitters 200 to be alerted, the receiver 100 sets the reception frequency (for example, 10 times per second). increase.

In addition, the second transmission unit 202 of the transmitter 200 of the present embodiment can change the transmission frequency. For example, the transmission frequency is normally set to once per second. The transmitter 200 increases the transmission frequency (for example, 10 times per second) when the ID list received by the third communication unit 204 includes one or more IDs of the receiver 100 to be alerted.

FIG. 12 is a flowchart showing the operation of the receiver 100 according to the third embodiment of the present invention.

Receiver 100 starts processing from processing start step S1301.

In the initial setting step S1302, the receiver 100 determines the reception frequency to a predetermined initial value such as once per second.

In frequency setting reflection step S1303, the receiver 100 sets the determined reception frequency in the first reception unit 101.

In reception standby step S1304, the first reception unit 101 waits for a time corresponding to the specified reception frequency.

In signal reception step S1305, it is determined whether or not the first receiving unit 101 has received a signal, and the process branches according to the result.

If the signal is received in the signal reception step S1305, the process proceeds to the step S1306 of increasing the number of continuous receptions, and the receiver 100 continues to receive the number of times of continuous reception (that is, the receiver 100 receives the signal including the ID included in the ID list). Increase the number of successful times). When the signal transmitted from the transmitter 200 includes information indicating the transmission frequency of the signal from the transmitter 200, the receiver 100 has succeeded in receiving the signal continuously based on the information. It may be determined whether or not.

In the continuous non-reception count reset step S1307, the receiver 100 sets the count value of the continuous non-reception count (that is, the number of times the receiver 100 has failed to receive a signal including the ID included in the ID list) to zero.

In the continuous reception frequency determination step S1308, the receiver 100 determines whether the count value of the continuous reception frequency is a predetermined value or more.

If the determination in step S1308 is true, the process proceeds to a high frequency setting step S1309, and the receiver 100 sets a high reception frequency. For example, when the reception frequency so far is set to once per second, the setting may be changed to 10 times per second.

In reception processing step S1310, the same reception processing as that shown in FIG. 10 is performed.

Thereafter, the process returns to the frequency setting reflection step S1303, and when the reception frequency is set in the high frequency setting step S1309, the setting is reflected in the first receiving unit 101.

On the other hand, if no signal is received in signal reception step S1305, the process proceeds to step S1311 of increasing the number of consecutive non-reception times, and the receiver 100 increases the count of the number of consecutive non-reception times by one.

In the continuous reception frequency reset step S1312, the receiver 100 sets the count value of the continuous reception frequency to 0.

In continuous non-reception count determination step S1313, the receiver 100 determines whether the count value of the continuous reception count is equal to or greater than a predetermined value.

If the determination in the continuous unreception count determination step S1313 is true, the process proceeds to the processing low frequency setting step S1314, and the receiver 100 sets the reception frequency low. For example, when the reception frequency so far is set to 10 times per second, the setting may be changed to once per second.

Thereafter, the process returns to the frequency setting reflection step S1303, and when the reception frequency is set by the low frequency setting step S1314, the setting is reflected to the first receiving unit 101.

A large number of consecutive non-receptions in the receiver 100 means that the receiver 100 is unlikely to come into contact with the transmitter 200 immediately. In that case, the power consumption of the receiver 100 can be reduced without affecting safety by reducing the frequency of executing the process of receiving a signal by the above process.

FIG. 13 is a flowchart showing the operation of the transmitter 200 according to the third embodiment of the present invention.

When the transmitter 200 receives the ID list by the third communication unit 204, the transmitter 200 starts processing from the list receiving step S1401.

In warning determination step S1402, the transmitter 200 determines whether one or more IDs of the receiver 100 to be warned are included in the received ID list of the receiver 100. As another determination method in this step, for example, the transmitter 200 receives an ID list created for each receiver 100, and the ID of the transmitter 200 is added to the ID list created for any one of the receivers 100. May be specified as a receiver to be wary of. In this case, the positional relationship between the receiver 100 and the transmitter 200 satisfies a predetermined condition.

If the determination in the warning determination step S1402 is true, the process proceeds to a high frequency setting step S1403, and the transmitter 200 sets the frequency with which the transmission unit 202 transmits a signal high. For example, when the previous transmission frequency is set to once per second, the setting may be changed to a higher frequency such as 10 times per second.

If the determination in the warning determination step S1402 is false, the process proceeds to the low frequency setting step S1404, and the transmitter 200 sets the frequency with which the transmission unit 202 transmits a signal high. For example, if the previous transmission frequency is set to 10 times per second, the setting may be changed to a lower frequency such as once per second.

The transmitter 200 may include information indicating the transmission frequency set in step S1403 or S1404 in a signal transmitted at that frequency.

The process ends in an end step S1405.

Since the transmitter 200 that is not in the alert range of any receiver 100 is less likely to come into contact with any receiver 100 immediately, by reducing the frequency of signal transmission by the above processing, The power consumption of transmitter 200 can be reduced without affecting safety.

In addition, this invention is not limited to the above-mentioned Example, Various modifications are included. For example, the above-described embodiments have been described in detail for better understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

In addition, each of the above-described configurations, functions, processing units, processing means, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit. Further, each of the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by the processor. Information such as programs, tables, and files that realize each function is stored in a non-volatile semiconductor memory, a hard disk drive, a storage device such as an SSD (Solid State Drive), or a computer-readable information such as an IC card, SD card, or DVD. It can be stored on a temporary data storage medium.

Also, the control lines and information lines indicate what is considered necessary for the explanation, and not all the control lines and information lines on the product are necessarily shown. Actually, it may be considered that almost all the components are connected to each other.

Claims

A moving body detection system having a first device that moves together with a first moving body, a second device that moves together with a second moving body, and a server device,
The first device includes a first transmission unit that transmits a signal including identification information of the first device, and a first reception unit that receives a signal transmitted from the second device,
The second device has a second transmitter that transmits a signal including identification information of the second device,
The mobile body detection system further includes a plurality of second receiving units each installed at a predetermined position,
The server device includes: a position determination unit that determines whether a positional relationship between the first device and the second device satisfies a predetermined condition based on a signal received by at least one of the plurality of second reception units; A first communication unit that transmits a result of determination by the position determination unit,
The first device further includes:
A warning determination unit that determines whether to output a warning based on the signal transmitted from the second transmission unit and the determination result transmitted from the first communication unit;
An output unit that outputs the warning when the warning determination unit determines to output the warning.
It is a moving body detection system of Claim 1, Comprising:
In the warning determination unit, the positional relationship between the first device and the second device satisfies the predetermined condition, and the intensity of the signal received by the first reception unit from the second transmission unit is a predetermined threshold value. A moving body detection system that determines that the warning is to be output when the value exceeds.
The moving body detection system according to claim 2,
The position determination unit
A plurality of spaces obtained by dividing a space including the first moving body, the second moving body, and the plurality of second receiving sections based on a signal received by at least one of the plurality of second receiving sections. In which area the first device is present, and in which of the plurality of areas the second device is present,
When the second device is in the same area as or adjacent to the first device, it is determined that a positional relationship between the first device and the second device satisfies the predetermined condition. Moving object detection system.
It is a moving body detection system of Claim 3, Comprising:
The first communication unit transmits information indicating whether the second device is in the same area as the first device or an area adjacent thereto,
The predetermined threshold is a first threshold used when the second device is in the same area as the first device, and the second device is in an area adjacent to the same area as the first device. A second threshold used in the case,
The warning determination unit
When the second device is in the same area as the first device and the strength of the signal received by the first receiver from the second transmitter exceeds the first threshold, it is determined to output the warning And
If the second device is in an area adjacent to the area where the first device is located and the strength of the signal received by the first receiver from the second transmitter exceeds the second threshold, the warning is issued. Judge that output
The output unit outputs a different warning depending on whether the second device is in the same area as the first device or an area adjacent thereto.
The moving body detection system according to claim 2,
The server device holds map information of a space including the first moving body, the second moving body, and the plurality of second receiving units,
The position determination unit
Based on a signal received by at least one of the plurality of second receiving units, the position of the first device and the second device in the space is specified,
Based on the map information, the shortest path from the position of the second device to the position of the first device is identified,
When the length of the shortest path satisfies a predetermined condition, it is determined that the positional relationship between the first device and the second device satisfies the predetermined condition.
The moving body detection system according to claim 2,
When it is determined that the positional relationship between the first device and the second device satisfies the predetermined condition, the first communication unit transmits identification information of the second device as a result of the determination,
The warning determination unit includes the identification information of the second device in the determination result transmitted from the first communication unit, and the strength of the signal received by the first reception unit from the second transmission unit When the value exceeds the predetermined threshold, it is determined that the warning is output.
The moving body detection system according to claim 2,
When it is determined that the positional relationship between the first device and the second device does not satisfy the predetermined condition, the first communication unit transmits identification information of the second device as a result of the determination,
The warning determination unit does not include the identification information of the second device in the determination result transmitted from the first communication unit, and the intensity of the signal received by the first reception unit from the second transmission unit When the value exceeds the predetermined threshold, it is determined that the warning is output.
It is a moving body detection system of Claim 1, Comprising:
The second device includes a second communication unit that receives a result of determination by the position determination unit from the server device,
When the positional relationship between the first device and the second device satisfies the predetermined condition, the second transmission unit does not satisfy the predetermined condition when the positional relationship between the first device and the second device is satisfied. A mobile object detection system, wherein a signal including identification information of the second device is transmitted at a frequency higher than the case.
It is a moving body detection system of Claim 1, Comprising:
The first receiver is
A process of receiving a signal from the second device at a set frequency;
A process of receiving a signal from the second device when the number of times the positional relationship with the first device succeeds in receiving a signal from the second device that satisfies the predetermined condition exceeds a predetermined value; Set the frequency to do to the first frequency,
A process of receiving a signal from the second device when the number of times the positional relationship with the first device has failed to continuously receive a signal from the second device that satisfies the predetermined condition exceeds a predetermined value; A moving body detection system, wherein the frequency of performing is set to a second frequency lower than the first frequency.
A moving body detection apparatus that moves together with a moving body,
Holding the map information of the space including the moving body and other moving bodies;
A position grasping unit for obtaining position information of the mobile body detection device;
A receiving unit that receives a signal including position information of the other device from another device that moves together with the other moving body;
Position determination for determining whether a positional relationship between the mobile object detection device and the other device satisfies a predetermined condition based on the position information of the mobile object detection device, the position information of the other device, and the map information And
A warning determination unit that determines whether to output a warning based on a signal received from the other device and a determination result by the position determination unit;
An output unit that outputs the warning when the warning determination unit determines to output the warning.
It is a moving body detection apparatus of Claim 10, Comprising:
In the warning determination unit, the positional relationship between the moving body detection device and the other device satisfies the predetermined condition, and the intensity of the signal received by the reception unit from the other device exceeds a predetermined threshold value. In the case, the moving body detection apparatus determines that the warning is output.
The moving body detection device according to claim 11,
The position determination unit
Based on the position information of the mobile object detection device, the position information of the other device, and the map information, the mobile object detection device is in any of a plurality of areas obtained by dividing the space. Determine in which area the other device is,
When the other device is in the same area as the moving body detection device or an area adjacent thereto, it is determined that a positional relationship between the moving body detection device and the other device satisfies the predetermined condition. A moving body detection device.
The moving body detection device according to claim 11,
The position determination unit
Based on the position information of the moving body detection device, the position information of the other device, and the map information, the shortest path from the position of the other device to the position of the moving body detection device is specified,
When the length of the shortest path satisfies a predetermined condition, it is determined that a positional relationship between the mobile object detection apparatus and the other apparatus satisfies the predetermined condition.
A mobile body detection method executed by a mobile body detection system having a first device that moves together with a first mobile body, a second device that moves together with a second mobile body, and a server device,
The first device includes a first transmission unit that transmits a signal including identification information of the first device, and a first reception unit that receives a signal transmitted from the second device,
The second device has a second transmitter that transmits a signal including identification information of the second device,
The mobile body detection system further includes a plurality of second receiving units each installed at a predetermined position,
The server device includes a first communication unit,
The moving body detection method includes:
The server device determines whether a positional relationship between the first device and the second device satisfies a predetermined condition based on a signal received by at least one of the plurality of second receiving units, and a result of the determination A first procedure for sending
A second procedure for determining whether the first device outputs a warning based on the signal transmitted from the second transmitter and the determination result transmitted from the server device;
And a third procedure for outputting the warning when it is determined that the first device outputs the warning in the second procedure.