WO2022025037A1 - リスク管理システム - Google Patents
リスク管理システム Download PDFInfo
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- WO2022025037A1 WO2022025037A1 PCT/JP2021/027683 JP2021027683W WO2022025037A1 WO 2022025037 A1 WO2022025037 A1 WO 2022025037A1 JP 2021027683 W JP2021027683 W JP 2021027683W WO 2022025037 A1 WO2022025037 A1 WO 2022025037A1
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Definitions
- the present invention relates to a risk management system.
- Patent Document 1 A technique such as Patent Document 1 is disclosed as an example of the prior art in which the system automatically extracts and records the information at the time when an accident or a favorable event occurs based on the acquired sensor information.
- Patent Document 1 discloses an information processing device that outputs a time, a position, a traveling speed, and the like at a time when the possibility of contact between the transport vehicles is increased for a contact accident between the transport vehicles or a surrounding object.
- Accidents that occur at construction sites include various accidents such as contact accidents as described in Patent Document 1, fall accidents caused by the vehicle body losing balance on slopes, and fall accidents from high places such as cliffs.
- the form is assumed.
- In order to improve the safety of construction sites it is necessary to target various accidents including accidents other than contact, but unlike contact accidents, accidents such as falls and falls are different from contact accidents, and the degree of danger is judged only by location information and speed information. Is difficult. Therefore, it is necessary to utilize various information such as posture information such as the degree of expansion and contraction of the shovel arm and the inclination of the vehicle body, and topographical information such as slopes, cliffs, and weather.
- the present invention has been made in view of the above problems, and an object thereof is to provide a risk management system capable of accurately extracting information necessary for analysis of various accidents involving machines.
- the present invention has a measuring device that measures parameters representing the state of the machine and information around the machine, and the occurrence of an accident involving the machine based on the parameters measured by the measuring device.
- a risk management system including a computer for calculating risk and a recording device capable of recording parameters measured by the measuring device, the computer is based on the parameters measured by the measuring device as the main cause of the accident and The evaluation value of the secondary factor is calculated, and based on the evaluation value of the main factor, the main risk, which is the degree to which the main factor contributes to the occurrence of the accident, is calculated, and the evaluation value of the secondary factor is used.
- the secondary risk which is the degree to which the secondary factor contributes to the occurrence of the accident, is calculated, and the value is equal to or higher than the primary risk and is smaller than the degree of increase or decrease in the secondary risk.
- the integrated risk that increases or decreases is calculated as the occurrence risk, and when the integrated risk exceeds a predetermined threshold, it is measured by the measuring device within a certain time including the time when the integrated risk exceeds the predetermined threshold.
- the parameters shall be recorded in the recording device.
- the factors of an accident are classified into a main factor and a secondary factor, and the degree to which the main factor contributes to the occurrence of the accident (main risk) and the secondary factor are the accident factors.
- the degree of contribution to the occurrence (secondary risk) is calculated, and the accident occurrence risk (integrated risk) is calculated by adding the secondary risk to the main risk.
- FIG. 1 is an overall view showing the configuration of the construction system 1 according to the first embodiment.
- the construction system 1 is composed of a machine 2, a worker 3, an operator 13, a communication facility 4, a server computer 5 as a control device, and the like.
- the machine 2 includes all machines that perform work such as construction machines and transport vehicles that operate at the construction site.
- the machine 2 has a communication device and a control controller, and has a function capable of operating automatically or semi-automatically.
- a hydraulic excavator is taken as an example of the machine 2 and shown in the figure.
- the worker 3 is a person who performs work in the construction site, assists the work of the machine 2, and performs peripheral work that is not directly related to the machine 2.
- the operator 13 is a person who gets on the machine 2 and operates the machine 2.
- a wide variety of sensors are incorporated in the construction system 1 and connected to the server computer 5 via the communication equipment 4.
- the sensors are roughly classified into three types: an environment-installed sensor 6 installed in the environment, a machine-installed sensor 7 installed in the machine 2, and a worker-installed sensor 8 installed in the worker 3.
- the environment-installed sensor 6 is assumed to be a camera that photographs the surroundings, a voice sensor that measures noise, a weather sensor that measures weather information including temperature and humidity, and an illuminance sensor that measures the brightness of the work environment. do.
- the machine-installed sensor 7 includes a camera that captures the surroundings, a Global Navigation Satellite System (GNSS) that measures the position and orientation of the machine 2, an angle sensor that measures the tilt of the vehicle body of the machine 2, the angle of the arm, and the machine. Assume a pressure sensor or the like that measures the load applied to the actuator of 2. It is assumed that the worker-installed sensor 8 is equipped with a GNSS, a heart rate sensor, or the like, and is a wearable device that the worker 3 can directly wear.
- GNSS Global Navigation Satellite System
- a pressure sensor or the like that measures the load applied to the actuator of 2.
- the worker-installed sensor 8 is equipped with a GNSS, a heart rate sensor, or the like, and is a wearable device that the worker 3 can directly wear.
- Communication equipment 4 is equipment that enables all controllers and sensors in the construction site to be connected to the same network, and is composed of wireless LAN (Local Area Network) access points and the like.
- the server computer 5 is a computer connected to the communication network of the communication equipment 4.
- the environment-installed sensor 6, the machine-installed sensor 7, and the worker-installed sensor 8 can be connected to the communication network provided by the communication equipment 4 via their respective communication devices, and are connected to the same network. It is possible to transmit measurement information to the computer 5.
- the environment-installed sensor 6, the machine-installed sensor 7, and the worker-installed sensor 8 are not necessarily one in the field, and a plurality of sensors are optimally used to accurately grasp the situation in the field. It shall be arranged. Further, it is assumed that all these sensor groups are connected to the same communication network provided by the communication equipment 4.
- FIG. 2 is a functional block diagram showing a processing function of the risk management system 10 according to the first embodiment.
- the risk management system 10 is built in the server computer 5, and the information measured by the environment-installed sensor 6, the machine-installed sensor 7, and the worker-installed sensor 8 is the communication equipment. It shall be input via the communication network provided by 4.
- the environment-installed sensor 6 is composed of an ambient environment photographing / recording device 6a and an environment information measuring device 6b. As shown in FIG. 1, these sensors are assumed to be installed on a pole or the like fixed at the site.
- the ambient environment shooting / recording device 6a assumes a camera, microphone, etc., and is not used for risk evaluation of accident occurrence, which will be described later.
- the environmental information measuring device 6b assumes weather information such as rainy weather and dense fog, and illuminance information of the working environment. In this embodiment, it is assumed that these sensors are installed in the environment, but they may be installed in the machine 2 or the worker 3.
- FIG. 3 is a diagram showing an example of mounting a machine-mounted sensor 7 that measures the state of the machine 2.
- the machine-mounted sensor 7 is composed of a machine state measuring device 7a and a surrounding information measuring device 7b, and is installed in the machine 2.
- a hydraulic excavator is assumed as the machine 2.
- the machine 2 includes an articulated front device (front work machine) 21 and a vehicle body, which are configured by connecting a plurality of rotating driven members (boom 24, arm 25, bucket (work tool) 26).
- the upper swivel body 22 and the lower traveling body 23 are provided, and the upper swivel body 22 is provided so as to be able to swivel with respect to the lower traveling body 23.
- the base end of the boom 24 of the front device 21 is rotatably supported by the front portion of the upper swing body 22, and one end of the arm 25 rotates to an end portion (tip) different from the base end of the boom 24.
- the bucket 26 is rotatably supported at the other end of the arm 25.
- the operator 13 who gets on the machine 2 gets on the operation room 27 and operates the machine 2 by an operation lever (not shown).
- the upper swivel body 22 is equipped with two GNSS antennas 7a1 and 7a2, transmits a distance signal received from an artificial satellite or the like to a positioning device (not shown), and is a machine 2 in a global coordinate system defined in advance at the construction site. Calculate the position and orientation. Further, the traveling speed of the vehicle body is calculated by numerically differentiating the acquired position information. Further, an inertial measurement unit 7a3 is attached to the upper swing body 22 to calculate the posture of the machine 2 in the roll pitch direction and the angular velocity in the swing direction around the rotation shaft A1. In addition, the rotation angle measuring device 7a4 calculates the rotation angle around the rotation axis A1.
- An inertial measurement unit 7a5 is attached to the boom 24 of the front device 21, an inertial measurement unit 7a6 is attached to the arm 25, and an inertial measurement unit 7a7 is attached to the bucket 26.
- the inertial measuring devices 7a5 to 7a7 measure the acceleration and the angular velocity, respectively, and the angle and the rotational angular velocity of the boom 24 around the rotating shaft A2, the angle and the rotational speed of the arm 25 around the rotating shaft A3, and the rotational speed are measured by a calculation device (not shown).
- the angle and the rotation speed of the bucket 26 around the rotation axis A4 are calculated respectively.
- the angle sensors may be installed near the rotation axes A1 to A3 of the boom 24, the arm 25, and the bucket 26 to directly measure the rotation angle.
- a control valve 28 for controlling the operation of the upper swing body 22, the lower traveling body 23, the boom 24, the arm 25, and the bucket 26 of the machine 2 is mounted.
- the hydraulic control system is equipped with a pressure measuring device group 7a8 that measures the pressure of the pressure oil discharged from the control valve 28 to each actuator that operates each part 22 to 26 of the machine 2, and the load applied to each actuator is large. It shall be possible to measure the pressure.
- the laser sensor 7b1 is attached to the upper swing body 22.
- the laser sensor 7b1 can calculate the distance to obstacles such as walls and buildings, the distance to the terrain boundary line (cliff) where the height difference changes greatly, the inclination of the surrounding terrain, and the like.
- the inclination of the circumference may be estimated from the posture in the roll pitch direction of the machine 2 measured by the inertial measurement unit 7a3.
- the worker position measuring device 8a in the present embodiment is a GNSS provided in the wearable device, and can measure the position of the worker 3 in the site in the same coordinate system as the machine 2.
- a receiver may be attached to the worker 3 and the position of the worker 3 may be measured by a beacon or the like.
- a recording enablement switch 9 for determining whether to record information is provided as a user interface.
- the recording activation switch 9 outputs an activation flag for determining whether or not to record the information stored in the server computer 5 in the recording device 11.
- the recording device 11 may be provided outside the server computer 5 and may be configured to output recorded information from the server computer 5 via the communication network of the communication equipment 4.
- the information output by the measuring devices 6a, 6b, 7a, 7b, 8a and the recording enablement switch 9 is input to the server computer 5.
- the risk management system 10 is composed of a temporary recording device 5a, a factor evaluation parameter extraction unit 5b, a main risk calculation unit 5c, a secondary risk calculation unit 5d, an integrated risk calculation unit 5e, and a recording control unit 5f.
- the temporary recording device 5a temporarily stores the information measured by the measuring devices 6 to 8 having different measurement cycles, organizes the information measured at the same time as one set, and then records the factor evaluation parameter extraction unit 5b. Output to the control unit 5f.
- the measuring devices 6 to 8 are equipped with devices such as GNSS that can measure the time, and each measuring device can output the measured time on the same time axis.
- the factor evaluation parameter extraction unit 5b extracts parameters (factor evaluation parameters) for evaluating factors involved in the occurrence of the target accident type from the measurement information output by the temporary recording device 5a, and sets them as the main factor evaluation parameters. It is output separately for the secondary factor evaluation parameters.
- the main factors are defined as the factors that make it easy to estimate the degree of influence on the occurrence of the target accident. For example, it is a factor that can physically analyze the conditions under which an accident phenomenon occurs, such as the distance between the machine 2 and an obstacle and the posture of the machine 2.
- factors that make it difficult to estimate the degree of impact on the occurrence of the target accident are defined as secondary factors.
- measured values such as factors related to human error such that the operator 13 boarding the machine 2 misses surrounding obstacles due to the blind spot of the machine 2 or weather conditions, or slips generated due to the slope of the terrain or the weather conditions. It is a factor that makes it difficult to determine the occurrence conditions analytically from the above.
- the factors that can be evaluated directly based on the measurement information are the main factors, and the factors that can be evaluated only indirectly based on the measurement information are the secondary factors.
- FIG. 4A shows factors involved in the occurrence of a contact accident between the machine 2 and an obstacle including the worker 3, parameters for evaluating each factor (factor evaluation parameter), and each factor is a factor evaluation parameter. Shows the classification of factors (main factors) or other factors (secondary factors) that can be evaluated directly or analytically.
- the factor evaluation parameters are a part of the parameters directly or indirectly measured by the measuring devices 6 to 8, and are extracted from the temporary recording device 5a for each factor by the factor evaluation parameter extraction unit 5b. Further, the factor evaluation parameter extraction unit 5b also classifies whether each factor is a main factor or a secondary factor.
- the factor evaluation parameter of the factor TA1 is the distance between the machine 2 and the obstacle, and the factor TA1 can be directly evaluated based on the distance between the machine 2 and the obstacle, the factor TA1 is classified as a main factor.
- the factor evaluation parameter of the factor TA2 is the operating direction of the machine 2 and the factor TA2 can be directly evaluated based on the operating direction of the machine 2, the factor TA2 is classified as a main factor.
- the factor evaluation parameters of the factor TA3 are the blind spot of the machine, the weather condition, and the illuminance.
- the factor TA3 is classified as a secondary factor.
- FIG. 4B shows the factors involved in the occurrence of the fall accident of the machine 2, the parameters for evaluating each factor (factor evaluation parameters), and each factor can be evaluated directly or analytically by the factor evaluation parameters. It shows the classification of whether it is a factor (main factor) or another factor (secondary factor).
- the factor evaluation parameter of the factor TB1 is the posture of the machine 2 and the factor TB1 can be directly evaluated by the posture of the machine 2, the factor TB1 is classified as a main factor.
- the factor evaluation parameter of the factor TB2 is the load applied to the machine 2 and the factor TB3 can be directly evaluated by the load of the machine 2, the factor TB2 is classified as the main factor.
- the factor evaluation parameters of the factor TB3 are the inclination of the ground on which the machine 2 works and the meteorological conditions.
- the factor TB3 is classified as a secondary factor.
- FIG. 4C shows the factors involved in the occurrence of the fall accident of the machine 2, the parameters for evaluating each factor (factor evaluation parameters), and each factor can be evaluated directly or analytically by the factor evaluation parameters. It shows the classification of whether it is a factor (main factor) or another factor (secondary factor).
- the factor evaluation parameter of the factor TC1 is the distance between the machine 2 and the cliff, and the factor TC1 can be directly evaluated based on the distance between the machine 2 and the cliff. Therefore, the factor TC1 is classified as the main factor.
- the factor evaluation parameter of the factor TC2 is the operating direction of the machine 2 and the factor TC2 can be directly evaluated based on the operating direction of the machine 2, the factor TC2 is classified as a main factor.
- the factor evaluation parameters of the factor TC3 are the inclination of the ground on which the machine 2 works and the meteorological conditions.
- the factor TB3 is classified as a secondary factor.
- the main factors and secondary factors for each accident of contact, fall, and fall are not limited to those shown in Fig. 4, and it is assumed that the classification table will be added or changed due to the addition of measuring devices and performance improvement.
- the types of accidents targeted by the present invention are not limited to the three types of contact, fall, and fall, such as the arrival of earth and sand, suspended loads, and heat stroke of the worker 3 due to an increase in heat stress. It targets various accidents. For these accidents as well, it is possible to accurately calculate the risk of accident occurrence by defining the main factors and secondary factors related to the occurrence of the accident.
- FIG. 5 is a diagram showing a processing function of the main risk calculation unit 5c corresponding to a contact accident.
- the main risk calculation unit 5c is composed of the same number of factor evaluation units and risk calculation units as the assumed main factors.
- the main risk calculation unit 5c since two main factors TA1 and TA2 are assumed for the contact accident, the main risk calculation unit 5c has two factor evaluation units 5c1 and 5c2 and two risk calculation units 5c3 and 5c4. Consists of.
- FIG. 5B shows the definition of the geometric information used in the calculation of the factor evaluation units 5c1 and 5c2 in this embodiment.
- the position RPs of a plurality of reference points are defined in advance as values calculated from the vehicle body position XM, the vehicle body orientation ⁇ 1, the boom angle ⁇ 2, the arm angle ⁇ 3, and the bucket angle ⁇ 4 measured by the machine state measuring device 7a. ..
- the center position of the bucket 26 provided in the front device 21 is defined as the reference point RP1
- the four points at the four corners of the upper swivel body 22 are defined as the reference points RP2 to RP5.
- the reference point position RP1 is calculated from the two-dimensional vehicle body position XM in the horizontal direction, the vehicle body orientation ⁇ 1 with respect to the vertical axis with respect to the horizontal plane, the boom angle ⁇ 2, the arm angle ⁇ 3, and the bucket angle ⁇ 4 as shown in the following equation (1).
- f1 is a function for obtaining the translational movement from the vehicle body position XM to the reference point RP1 with the vehicle body orientation ⁇ 1, the boom angle ⁇ 2, the arm angle ⁇ 3, and the bucket angle ⁇ 4 as variables.
- the vehicle body position XM is defined so as to coincide with the position of the rotation shaft A1 as seen from the upper portion of the vehicle body.
- the reference point positions RP2 to RP5 are calculated as the following equations (2) to (5) based on the vehicle body position XM and the vehicle body orientation ⁇ 1.
- f2 is a function for obtaining the translational movement from the vehicle body position XM to the reference point RP2 with the vehicle body orientation ⁇ 1 as a variable
- f3 is a function for obtaining the translational movement from the vehicle body position XM to the reference point RP3 with the vehicle body orientation ⁇ 1 as a variable
- F4 is a function for obtaining the translational movement from the vehicle body position XM to the reference point RP4 with the vehicle body orientation ⁇ 1 as a variable
- f5 is a function for obtaining the translational movement from the vehicle body position XM to the reference point RP5 with the vehicle body orientation ⁇ 1 as a variable. ..
- the reference point velocities RV1 to RV5 at each of the reference points RP1 to RP5 are determined.
- the reference point velocity RV1 is the following formula from the horizontal two-dimensional vehicle body velocity VM, vehicle body orientation ⁇ 1, boom angle ⁇ 2, arm angle ⁇ 3, bucket angle ⁇ 4, turning angular velocity ⁇ 1, boom angular velocity ⁇ 2, arm angular velocity ⁇ 3, and bucket angular velocity ⁇ 4. It is calculated as in (6).
- g1 is a relative speed with respect to the vehicle body speed VM at the reference point RP1 with the vehicle body orientation ⁇ 1, the boom angle ⁇ 2, the arm angle ⁇ 3, the bucket angle ⁇ 4, the turning angular velocity ⁇ 1, the boom angular velocity ⁇ 2, the arm angular velocity ⁇ 3, and the bucket angular velocity ⁇ 4 as variables. It is a function to find.
- the reference point velocities RV2 to RV5 are calculated as the following equations (7) to (10) based on the vehicle body speed VM, the vehicle body direction ⁇ 1, and the turning angular velocity ⁇ 1.
- g2 is a function for obtaining the relative speed with respect to the vehicle body speed VM at the reference point RP2 with the vehicle body orientation ⁇ 1 and the turning angular velocity ⁇ 1 as variables
- g3 is the vehicle body speed VM at the reference point RP3 with the vehicle body orientation ⁇ 1 and the turning angular velocity ⁇ 1 as variables.
- the function for obtaining the relative speed with respect to the vehicle body orientation ⁇ 1 and the turning angular velocity ⁇ 1 are variables in g4, and the function for obtaining the relative speed with respect to the vehicle body speed VM at the reference point RP4. It is a function to obtain the relative speed with respect to the vehicle body speed VM in.
- the worker position WP measured by the worker position measuring device 8a is defined as the position where the worker 3 exists.
- the factor evaluation unit 5c1 calculates the distance MAF1 between the obstacle and the machine 2 as the evaluation value of the main factor TA1.
- the factor evaluation unit 5c2 calculates the angle MAF2 formed by the operating direction of the machine 2 and the obstacle existence direction as the evaluation value of the main factor TA2.
- the distance MAF1 between the obstacle and the machine 2 is the distance between the nearest reference point RPmin closest to the worker position WP among the reference points RP1 to RP5 and the worker position WP, and is as shown in the following equation (11). It is calculated.
- the closest reference point RPmin and the worker position WP are two-dimensional vectors.
- the reference point RP1 is the closest reference point RPmin.
- the angle MAF2 formed by the operating direction of the machine 2 and the obstacle presence direction is the closest operating speed RVmin which is the operating speed of the worker position WP viewed from the closest reference point RPmin and the closest reference point RPmin. It is calculated as the following equation (12) with the angle formed by the direction vector D2.
- direction vectors D1 and D2 are both two-dimensional unit vectors.
- the risk calculation unit 5c3 calculates the risk (main risk MAR1) due to the influence of the main factor TA1 related to the distance between the machine 2 and the obstacle.
- the main risk MAR1 is calculated from the following equation (13) with the main factor evaluation value MAF1 as an input.
- FIG. 5 (c) shows the result of graphing the risk calculation by the equation (13). It is calculated that the main risk MAR1 increases as the distance MAF1 between the obstacle and the machine 2 decreases, and the minimum value is 0 and the maximum value is 1.
- the risk calculation unit 5c4 calculates the risk (main risk MAR2) due to the influence of the main factor TA2 related to the operation direction of the machine 2.
- the main risk MAR2 is calculated from the following equation (14) by inputting the angle MAF2 formed by the operating direction of the machine 2 and the obstacle existence direction.
- FIG. 5D shows the result of graphing the risk calculation by the equation (14). It is calculated so that the main risk MAR2 becomes larger as the absolute value of the angle MAF2 formed by the operating direction of the machine 2 and the obstacle existence direction becomes smaller, and the minimum value is 0 and the maximum value is 1.
- FIG. 6 is a diagram showing a processing function of the secondary risk calculation unit 5d in the case of assuming a contact accident.
- the secondary risk calculation unit 5d is composed of the same number of factor evaluation units and risk calculation units as the assumed secondary factors.
- the secondary risk calculation unit 5d is composed of one factor evaluation unit 5d1 and one risk calculation unit 5d2. Will be done.
- FIG. 6B shows the definition of the geometric information related to the blind spot of the machine 2 calculated by the factor evaluation unit 5d1.
- the secondary factor evaluation value SAF1 is a flag as a result of determining whether or not the worker 3 is present in the blind spot of the machine 2 based on the vehicle body position XM, the vehicle body direction ⁇ 1, and the worker position WP, and is 0 or 1. Take the value of. Based on the angle ⁇ formed by the direction vector D3 of the worker position WP as seen from the vehicle body position XM and the direction vector D4 of the machine 2 calculated from the vehicle body orientation ⁇ 1, a secondary factor as shown in the following equation (15). The evaluation value SAF1 is calculated.
- the secondary factor evaluation value SAF2 is for determining that it is difficult for the operator 13 boarding the machine 2 to visually recognize the surroundings due to the weather and illuminance conditions measured by the surrounding information measuring device 7b. It is a flag.
- the secondary factor evaluation value SAF2 is output so as to be 0 when the weather condition or the illuminance condition is good and the visibility is good, and 1 when the weather condition or the illuminance condition is bad and the visibility is poor.
- the risk calculation unit 5d2 calculates the risk (secondary risk) due to the influence of the secondary factor TA3 related to the human error in which the operator 13 misses the existence of the obstacle.
- the secondary risk SAR1 is calculated by the following equation (16) with the above two flags SAF1 and SAF2 as inputs.
- FIG. 6c is a table showing the risk calculation result by the equation (16). Secondary risk The secondary risk is 0 when both SAF1 and SAF2 are on the safe side, 0.5 when one is on the dangerous side, and 1 when both are on the dangerous side. SAR1 is calculated.
- FIG. 7 is a diagram showing a processing function of the main risk calculation unit 5c in the case of a fall accident.
- the main risk calculation unit 5c is composed of the same number of factor evaluation units and risk calculation units as the assumed main factors.
- the main risk calculation unit 5c since two main factors TB1 and TB2 are assumed for a fall accident, the main risk calculation unit 5c has two factor evaluation units 5c5 and 5c6 and two risk calculation units 5c7 and 5c8. Consists of.
- FIG. 7B shows the definition of the geometric information used in the calculation of the factor evaluation units 5c5 and 5c6 in this embodiment.
- the main factor evaluation value MBF1 is calculated by the following equation (17) based on the inclination angle ⁇ of the terrain measured by the surrounding information measuring device 7b.
- the main factor evaluation value MBF2 is calculated by the following equation (18) based on the boom angle ⁇ 2, the arm angle ⁇ 3, and the bucket angle ⁇ 4 measured by the machine state measuring device 7a.
- f6 is a function for obtaining the distance between the base point A2 of the front device 21 of the machine 2 and the tip TP with the boom angle ⁇ 2, the arm angle ⁇ 3, and the bucket angle ⁇ 4 as variables.
- the main factor evaluation value MBF3 is as follows based on the boom angle ⁇ 2, the arm angle ⁇ 3, the bucket angle ⁇ 4, the boom load P2, the arm load P3, and the bucket load P4 measured by the mechanical state measuring device 7a. It is calculated as in the formula (19).
- f7 is a function for obtaining the force applied to the tip TP of the front device 21 of the machine 2 with the boom angle ⁇ 2, the arm angle ⁇ 3, the bucket angle ⁇ 4, the boom load P2, the arm load P3, and the bucket load P4 as variables. ..
- the risk calculation unit 5c7 calculates the risk (main risk MBR1) due to the influence of the main factor TB1 related to the posture of the machine 2.
- the main risk MBR1 is calculated from the following equation (20) by inputting the main factor evaluation values MBF1 and MBF2.
- FIG. 7 (c) shows the result of graphing the risk calculation by the equation (20). It is calculated so that the main risk MBR1 becomes larger as the slope MBF1 of the terrain becomes larger and the distance MBF2 of the tip TP from the base point A2 of the front device 21 becomes larger, and the minimum value is 0 and the maximum value is 1.
- the risk calculation unit 5c8 calculates the risk (main risk MBR2) due to the influence of the main factor TB2 related to the load applied to the machine 2.
- the main risk MBR2 is calculated from the following equation (21) by inputting the magnitude of the force applied to the tip TP, MBF3.
- FIG. 7 (d) shows the result of graphing the risk calculation by the equation (21). It is calculated that the main risk MBR2 increases as the force MBF3 applied to the tip TP increases, and the minimum value is 0 and the maximum value is 1.
- FIG. 8 is a diagram showing a processing function of the secondary risk calculation unit 5d in the case of a fall accident.
- the secondary risk calculation unit 5d is composed of the same number of factor calculation units and risk calculation units as the assumed secondary factors.
- the secondary risk calculation unit 5d is composed of one factor evaluation unit 5d3 and one risk calculation unit 5d4. Will be done.
- the secondary factor evaluation value SBF1 is a flag as a result of determining whether or not the lower traveling body 23 of the machine 2 is likely to slip based on the inclination angle ⁇ of the terrain measured by the surrounding information measuring device 7b. Takes a value of 0 or 1. With the inclination angle ⁇ as a reference, the secondary factor evaluation value SBF1 is calculated as in the following equation (22).
- ⁇ th is a threshold value for defining whether or not the lower traveling body 23 of the machine 2 is in a slip-prone situation, and is a fixed value defined in advance according to the property of the machine 2 to be used.
- the secondary factor evaluation value SBF2 is a flag for determining that the lower traveling body 23 of the machine 2 is likely to slip due to the weather conditions measured by the surrounding information measuring device 7b.
- the secondary factor evaluation value SBF2 is output so as to be 0 when the weather condition is good and 1 when the weather condition is bad.
- the risk calculation unit 5d4 calculates the risk (secondary risk SBR1) due to the influence of the secondary factor TB3 related to the slip of the machine 2.
- the secondary risk SBR1 is calculated by the following equation (23) with the above two flags SBF1 and SBF2 as inputs.
- FIG. 8B is a table showing the risk calculation results according to the equation (23). If both the secondary factor evaluation value SBF1 and the secondary factor evaluation value SBF2 are on the safe side, it is 0, if one is on the dangerous side, it is 0.5, and if both are on the dangerous side, it is 1.
- the secondary risk SBR1 is calculated as described above.
- FIG. 9 is a diagram showing a processing function of the main risk calculation unit 5c in the case of a fall accident.
- the main risk calculation unit 5c is composed of the same number of factor evaluation units and risk calculation units as the assumed main factors.
- the main risk calculation unit 5c since two main factors TC1 and TC2 are assumed for the fall accident, the main risk calculation unit 5c has two factor evaluation units 5c9, 5c10 and two risk calculation units 5c11, 5c12. Consists of.
- FIG. 9B shows the definition of the geometric information used in the calculation of the factor evaluation units 5c9 and 5c10 in this embodiment.
- the factor evaluation unit 5c9 calculates the distance MCF1 between the cliff CB and the machine 2 as the evaluation value of the main factor TC1.
- the factor evaluation unit 5c2 calculates the angle MAF2 formed by the traveling speed VM of the machine 2 and the existing direction of the cliff CB as the evaluation value of the main factor TC2.
- Distance between cliff CB and machine 2 MCF1 is on a straight line CB indicating a cliff, and is the distance between the latest contact CBmin, which is the closest to the vehicle body position XM of machine 2, and the vehicle body position XM, as shown in the following equation (24). It is calculated to.
- the contact point CBmin and the vehicle body position XM are two-dimensional vectors recently.
- the angle MCF2 formed by the operating direction of the machine 2 and the direction of existence of the cliff is the angle formed by the direction vector D3 of the recent contact CBmin seen from the vehicle body position XM and the direction vector D4 of the traveling speed VM, and is as shown in the following equation (25). It is calculated to.
- direction vectors D3 and D4 are both two-dimensional unit vectors.
- the risk calculation unit 5c11 calculates the risk (main risk MCR1) due to the influence of the main factor TC1 related to the distance MCF1 between the machine 2 and the cliff CB.
- the main risk MCR1 is calculated from the following equation (26) with the main factor evaluation value MCF1 as an input.
- FIG. 9 (c) shows the result of graphing the risk calculation by the equation (26).
- the distance MCF1 between the machine 2 and the cliff CB is calculated so that the main risk MCR1 becomes larger as the distance MCF1 becomes smaller, and the minimum value becomes 0 and the maximum value becomes 1.
- the risk calculation unit 5c12 calculates the risk (main risk MCR2) due to the influence of the main factor TC2 related to the traveling direction of the machine 2.
- the main risk MCR2 is calculated from the following equation (27) by inputting the angle MCF2 formed by the traveling direction of the machine 2 and the cliff existence direction.
- FIG. 9D shows the result of graphing the risk calculation by the equation (27). It is calculated that the main risk MCR2 becomes larger as the absolute value of the angle MCF2 formed by the traveling direction of the machine 2 and the cliff existence direction becomes smaller, and the minimum value is 0 and the maximum value is 1.
- FIG. 10 is a diagram showing a processing function of the secondary risk calculation unit 5d in the case of a fall accident.
- the secondary risk calculation unit 5d is composed of the same number of factor evaluation units and risk calculation units as the assumed secondary factors.
- the secondary risk calculation unit 5d is composed of one factor evaluation unit 5d5 and one risk calculation unit 5d6. Will be done.
- the method of calculating the secondary factor evaluation value SCF1 by the factor evaluation unit 5d5 and the method of calculating the secondary risk SCR1 by the risk calculation unit 5d6 are the same as those of the factor evaluation unit 5d3 and the risk calculation unit 5d4 shown in FIG. Therefore, a detailed description will be omitted.
- the secondary risk SCR1 is calculated according to the table shown in FIG. 10B, and the secondary risk SCR1 takes any value of 0, 0.5, or 1.
- FIG. 11 is a diagram showing a processing function of the integrated risk calculation unit 5e.
- FIG. 11 shows a calculation block when a contact accident is assumed according to the classification table shown in FIG.
- the integrated risk calculation unit 5e integrates the main risk MAR1 and MAR2 output by the main risk calculation unit 5c and the secondary risk SAR1 mainly by the secondary risk calculation unit, and outputs the integrated risk IAR.
- the integrated risk calculation unit 5e is composed of a main risk integration unit 5e1, a secondary risk integration unit 5e2, and a risk integration unit 5e3.
- the main risk integration unit 5e1 integrates the main risks output by the main risk calculation unit 5c as shown in the following equation (28), and outputs the integrated main risk MAR.
- cmi is a weighting factor for the i-th main risk MARi, and is predetermined to be 1 when the sum of cmi is taken.
- the secondary risk integration unit 5e2 integrates the secondary risks output by the secondary risk calculation unit 5d as shown in the following equation (29), and outputs the integrated secondary risk SAR.
- csi is a weighting factor for the i-th secondary risk SARi, and is predetermined to be 1 when the sum of csi is taken.
- the risk integration unit 5e3 integrates the integrated primary risk MAR and the integrated secondary risk SAR as shown in the following formula (30) to calculate the integrated risk IAR.
- sa is a weighting coefficient that determines the influence of the secondary risk SAR, and is predetermined as a constant of 0 or more and 1 or less. The more difficult and inaccurate the estimation of the effect of the assumed secondary factor is, the smaller the value of the weighting factor sa is set, so that the difficulty of estimating the secondary factor reduces the reliability of the risk calculation result. Can be prevented. Since the calculation method of the integrated risk IBR and ICR in the case of a fall and a fall accident is the same as that in the case of the integrated risk IAR of a contact accident, detailed explanation is omitted.
- the recording control unit 5f outputs the integrated risk calculation unit 5e from the measurement information group temporarily recorded in the temporary recording device 5a when the flag output by the recording activation switch 9 is valid.
- the data at the time when any of the integrated risks IAR, IBR, and ICR increased is extracted and stored in the recording device 11.
- the recording control unit 5f generates a recording trigger TG when any of the integrated risks IAR, IBR, and ICR exceeds a preset threshold value TH, and also generates a recording range RA indicating a time range of recorded information. decide.
- FIG. 12 is a diagram showing an example of the output result of the recording control unit 5f.
- the measurement information group output by the temporary recording device 5a is represented as time-series information associated with the measurement time of each of the information output by the measurement devices 6 to 8.
- a certain recording range RA around the time when the recording trigger TG is generated is stored in the recording device 11 as recording information.
- the recording range RA is a value set in advance, and the larger the range, the lower the risk of missing information having a significant effect on the occurrence of an accident, but the amount of information recorded on the recording device 11 becomes enormous.
- the smaller the range the more the information recorded in the recording device 11 can be reduced, but the possibility that the information having a serious influence on the occurrence of the accident is missing increases.
- FIG. 13 is a diagram showing a processing flow of risk calculation and recording according to the first embodiment.
- FC1 is a process in which each of the measuring devices 6 to 8 measures information and transmits the measured information to the risk management system 10 together with the measurement time. Information is measured and transmitted asynchronously in different cycles for each of the measuring devices 6 to 8.
- FC2 is a process in which the temporary recording device 5a arranges the time series and temporarily stores the information measured by each of the measuring devices 6 to 8.
- FC3 is a process in which the factor evaluation parameter extraction unit 5b extracts parameters (factor evaluation parameters) for evaluating the factors of each accident from the information temporarily stored by the temporary recording device 5a.
- FC4 is a process in which the main risk calculation unit 5c calculates the main risk MR by inputting the factors classified as the main factors by the factor evaluation parameter extraction unit 5b.
- FC5 is a process in which the secondary risk calculation unit 5d calculates the secondary risk SR by inputting the factors classified as secondary factors by the factor evaluation parameter extraction unit 5b.
- FC6 is a process in which the integrated risk calculation unit 5e calculates the integrated risk IR by inputting the main risk MR calculated by the main risk calculation unit 5c and the secondary risk SR calculated by the secondary risk calculation unit 5d. ..
- FC7 is a process to determine whether the integrated risk IR for all assumed accidents has been calculated.
- FC8 is a process of determining whether or not the recording control unit 5f generates the recording start trigger TG by inputting the integrated risk IR calculated by the integrated risk calculation unit 5e.
- FC9 is a process of generating a recording trigger TG when any of the integrated risk IRs calculated for the assumed accident exceeds the threshold value TH.
- FC10 is a process of extracting measurement information in the recording range RA within a certain range from the time when the recording trigger TG is generated and recording it in the recording device 11.
- FIG. 14 is a diagram showing the effect of improving the evaluation accuracy of the risk of contact accidents.
- FIG. 14A shows a situation in which the machine 2 is turning to the left while the workers 3a, 3b, and 3c are present around the machine 2. Further, it is assumed that the workers 3a and 3b are illuminated by the lighting 15 existing in the surroundings.
- the risk is calculated with the weighting coefficient sa, which determines the influence of the secondary risk SAR represented by the equation (30), as 0.2.
- FIG. 14B shows the result of calculating the risk of the worker 3a. Since the worker 3a is located very close to the bucket 26 of the machine 2 and is located in the turning operation direction of the machine 2, a high main risk MAR is calculated. On the other hand, since the worker 3a has a lighting 15 around it and is located at a position where the operator 13 boarding the machine 2 can easily see it, a secondary risk SAR that causes the operator 13 to overlook the existence of the worker 3a. Is calculated low. In such a situation, when the integration risk is calculated by the procedure shown in this embodiment, the influence of the highly calculated main risk MAR is largely taken into consideration, and the integration risk IAR is also calculated high.
- FIG. 14 (c) shows the result of calculating the risk of the worker 3b. Since the worker 3b does not exist in the operating direction of the machine 2 but is located near the upper swing body 22 of the machine 2, a medium main risk MAR is calculated. In addition, although the worker 3b has lighting 15 around it, it is difficult for the operator 13 on board the machine 2 to see it, and since it is located on the right rear side of the machine 2, the secondary risk SAR is also calculated to be moderate. .. In such a situation, when the integrated risk IAR is calculated by the procedure shown in this example, the effects of both the moderately calculated primary risk MAR and the secondary risk SAR are taken into consideration, and the integrated risk IAR is calculated. Calculated high.
- the primary risk MAR and the secondary risk are calculated to be moderate. Due to the effect of risk SAR, the average risk is calculated to be moderate. This result does not correctly assess the situation where the primary factor for distance and the secondary factor for blind spots have a combined effect.
- FIG. 14 (d) shows the result of calculating the risk of the worker 3c. Since the worker 3c is located at a distant position outside the movable range of the front device 21 of the machine 2, a low main risk MAR is calculated. On the other hand, since the worker 3c has no lighting 15 around it, is difficult to see from the operator 13 boarding the machine 2, and is located behind the machine 2, the secondary risk SAR is calculated high. In such a situation, when the integrated risk is calculated by the procedure shown in this embodiment, the influence of the low-calculated main risk MAR is largely taken into consideration, and the integrated risk IAR is calculated low.
- FIG. 15 is a diagram showing the effect of improving the evaluation accuracy of the risk of a fall accident.
- FIG. 15A shows a machine 2a working in a state where the front device 21 having a suspended load 16 attached to the bucket 26 is extended under good weather conditions, and the front device 21 is extended under bad weather conditions.
- Three types of machines are shown: a machine 2b working in a state of being in a closed state, and a machine 2c working in a state where the front device 21 is contracted under bad weather conditions.
- the risk is calculated with the weighting coefficient sa, which determines the influence of the secondary risk SAR represented by the equation (30), as 0.2.
- FIG. 15B shows the result of calculating the risk of the machine 2a. Since the machine 2a is in an unbalanced state in which the front device 21 is extended and the suspended load 16 is suspended, a high main risk MBR is calculated. On the other hand, since the weather conditions in the working environment are good and the slope is not so large, the secondary risk SBR such that the lower traveling body 23 of the machine 2a slips is calculated to be low. In such a situation, when the integrated risk IBR is calculated by the procedure shown in this embodiment, the influence of the highly calculated main risk MBR is largely considered, and the integrated risk IBR is also calculated high.
- FIG. 15c shows the result of calculating the risk of the machine 2b.
- the machine 2b is in an unbalanced state with the front device 21 extended, but since the bucket 26 is not loaded, a medium main risk MBR is calculated.
- the slope is not so steep, the weather conditions in the working environment are poor, and the lower traveling body 23 of the machine 2b may slip and fall, so the secondary risk SBR is also moderate. It is calculated.
- the integrated risk IBR is calculated by the procedure shown in this example, the influences of both the moderately calculated primary risk MBR and the secondary risk SBR are taken into consideration, and the integrated risk IBR is calculated. Calculated high.
- the primary risk MBR and the secondary risk MBR calculated to the same extent are calculated as secondary. Due to the effect of the risk SBR, the average risk is calculated to be moderate. This result does not correctly evaluate the situation in which the main factor regarding the attitude of the machine 2b and the secondary factor regarding the meteorological conditions have a combined effect.
- FIG. 15 (d) shows the result of calculating the risk of the machine 2c. Since the machine 2c is in a standby position with the front device 21 contracted, a low main risk MBR is calculated. On the other hand, the weather conditions in the working environment are poor, and the slope is steep, so that the lower traveling body 23 of the machine 2c may slip and fall, and the secondary risk SBR is calculated high. In such a situation, when the integrated risk IBR is calculated by the procedure shown in this embodiment, the influence of the low-calculated main risk MBR is largely taken into consideration, and the integrated risk IBR is calculated low.
- FIG. 16 is a diagram showing the effect of improving the evaluation accuracy of the risk of a fall accident.
- FIG. 16A shows a machine 2d running at a low speed in the direction of the cliff near the cliff CB, a machine 2e working on the slope near the cliff CB, and on the slope due to bad weather conditions. However, it shows three types of machines 2f working at a position far from the cliff CB.
- the risk is calculated with the weighting coefficient sa, which determines the influence of the secondary risk SAR represented by the equation (30), as 0.2.
- FIG. 16B shows the result of calculating the risk of the machine 2d. Since the machine 2d runs in the direction of the cliff CB at a position close to the cliff CB, a high main risk MCR is calculated. On the other hand, since it exists on a flat surface and the weather conditions are good, the secondary risk SCR such that the lower traveling body 23 of the machine 2d slips is calculated to be low. In such a situation, when the integrated risk is calculated by the procedure shown in this embodiment, the influence of the highly calculated main risk MCR is largely taken into consideration, and the integrated risk ICR is also calculated high.
- FIG. 16C shows the result of calculating the risk of the machine 2e.
- Machine 2e is located near the cliff CB, but is working in a stopped state, but a moderate main risk MCR is calculated.
- the secondary risk SCR is also calculated to be moderate because the lower traveling body 23 of the machine 2e may slip and fall while working on the slope.
- the integrated risk ICR is calculated by the procedure shown in this example, the influences of both the moderately calculated primary risk MCR and the secondary risk SCR are taken into consideration, and the integrated risk ICR is calculated. Calculated high.
- FIG. 16D shows the result of calculating the risk of the machine 2f. Since the machine 2f is located far from the cliff CB and is working in a stopped state, a low main risk MCR is calculated. On the other hand, since the worker is working on a slope in an environment where the weather is bad and there is a high possibility that the lower traveling body 23 of the machine 2f slips and falls, the secondary risk SCR is calculated high. In such a situation, when the integrated risk ICR is calculated by the procedure shown in this embodiment, the influence of the low-calculated main risk MCR is largely taken into consideration, and the integrated risk ICR is calculated low.
- the control device 5 is based on the parameters measured by the measuring devices 6 to 8. Then, the evaluation values of the main factor and the secondary factor of the accident are calculated, and the main risk, which is the degree to which the main factor contributes to the occurrence of the accident, is calculated based on the evaluation value of the main factor.
- the secondary risk which is the degree to which the secondary factor contributes to the occurrence of the accident, is calculated, and has a value equal to or higher than the primary risk and the secondary risk.
- the integrated risk IR that increases or decreases to a degree smaller than the degree of increase or decrease is calculated as the occurrence risk, and when the integrated risk IR exceeds a predetermined threshold TH, a constant including the time when the integrated risk IR exceeds the predetermined threshold TH.
- the recording device 11 is made to record the parameters measured by the measuring devices 6 to 8 within the time.
- the factors of the accident are classified into the main factor and the secondary factor, and the degree to which the main factor contributes to the occurrence of the accident (main risk MR) and the secondary factor are determined.
- the degree of contribution to the occurrence of an accident (secondary risk SR) is calculated, and the accident occurrence risk (integrated risk IR) is calculated by adding the secondary risk SR to the main risk MR.
- the machine 2 in this embodiment is a construction machine
- the accident includes a fall accident of the construction machine
- the information around the machine 2 includes the weather conditions around the machine 2. This makes it possible to evaluate the risk of accident occurrence (integrated risk IR) in consideration of factors affected by weather conditions.
- the main factor is a factor that can be directly or analytically evaluated by the parameters measured by the measuring devices 6 to 8
- the secondary factor is a factor that can be directly or analyzed by the parameters measured by the measuring devices 6 to 8. It is a factor that cannot be evaluated.
- the risk of accident occurrence is calculated by adding the risk of other factors (secondary risk) to the risk of factors that can be evaluated directly or analytically (main risk). It is possible to improve the evaluation accuracy of the risk of accidents.
- FIG. 17 is a diagram showing a processing flow of risk calculation and recording according to the second embodiment.
- the accident type in which the integrated risk IR exceeds the threshold value TH is confirmed by the processing in the recording control unit 5f in FC11, and the recording information corresponding to the accident type having high risk is selected. ..
- the recording range RA is determined by the FC10, and the measurement information in the range RA is recorded in the recording device 11.
- FIG. 18 is a diagram showing an example of the output result of the recording control unit 5f.
- FIG. 18A shows an example of the selection result of the recording range RAa when the integrated risk IAR related to the contact accident is increased.
- the recording range RAa includes information required as standard such as moving images and sounds around the working environment, vehicle body position XM, and position information of obstacles with which the machine 2 comes into contact. In this embodiment, the worker position WP is assumed as obstacle information.
- FIG. 18 (b) shows an example of the selection result of the recording range RAb when the integrated risk IBR related to the fall accident is increased.
- the recording range RAb includes load information that directly affects the fall of the machine 2 in addition to standard necessary information such as video and audio around the work environment and vehicle body position XM.
- FIG. 18 (c) shows an example of the selection result of the recording range RAc when the integrated risk ICR related to the fall accident is increased.
- the recording range RAc includes the position information of the cliff CB where the machine 2 is expected to fall, in addition to the standardly necessary information such as video and audio around the work environment and the vehicle body position XM.
- the control device 5 in the present embodiment is a measuring device 6 within a certain time including a time when the accident occurrence risk (integrated risk IR) exceeds a predetermined threshold value TH and the occurrence risk exceeds the predetermined threshold value TH.
- the recording device 11 is made to record the information indicating the type of the accident and the parameter (factor evaluation parameter) used for calculating the evaluation value of the main factor or the secondary factor measured by 8 to 8.
- the recording device 11 by selecting the recorded information according to the type of accident that is likely to occur, the recording device 11 is used while minimizing the loss of the recorded information related to the accident. It is possible to effectively reduce the amount of information recorded in.
- FIG. 19 is a functional block diagram showing a processing function of the risk management system 10 according to the third embodiment of the present invention.
- the recording control unit 5f records the recorded information in the recording device 11 and outputs a danger flag to the operation room alarm device 31 provided in the machine 2.
- the operation room alarm device 31 issues an alarm to the operator 13 boarding the operation room 27.
- FIG. 20 is a diagram showing an image of mounting the operation room alarm device 31.
- the operation room alarm device 31 is a voice output device installed in the operation room 27.
- the operation room alarm device 31 is not limited to the voice output device, and may be configured to output an image by lighting an indicator lamp, a monitor, or the like. Further, the operation room alarm device 31 may be configured to be directly attached to the operator 13 boarding the operation room 27.
- the danger flag signal is transmitted to the operation room alarm device 31 by mounting a server computer 5 equipped with a risk management system 10 on the machine 2 and electrically connecting the server computer 5 and the operation room alarm device 31. A method of transmitting via the network provided by the communication equipment 4 can be considered.
- the risk management system 10 is mounted in the operation room 27 of the machine 2 and includes an operation room alarm device 31 that outputs an alarm in response to an instruction from the control device 5, and the control device is a risk of accident occurrence.
- the operation room alarm device 31 When (integrated risk IR) exceeds a predetermined threshold value TH, the operation room alarm device 31 is instructed to output an alarm.
- FIG. 21 is a functional block diagram showing a processing function of the risk management system 10 according to the fourth embodiment.
- the recording control unit 5f records the recorded information in the recording device 11 and sets a danger flag on the machine 2, the worker 3, or the ambient alarm device 41 provided in the surrounding environment. Output.
- the surrounding alarm device 41 issues an alarm to the worker 3 existing around the machine 2 when the danger flag is input.
- FIG. 22 is a diagram showing an image of mounting the ambient alarm device 41.
- the ambient alarm device 41 is a voice output device installed on the upper swivel body 22.
- the ambient alarm device 41 is not limited to the voice output device, and may be configured to output an image by lighting an indicator lamp, a monitor, or the like.
- the surrounding alarm device 41 may be configured to be directly attached to the worker 3 in the vicinity or to be installed on a pole or the like fixed at the construction site.
- the danger flag signal is transmitted to the ambient alarm device 41 via a method in which the server computer 5 is mounted on the machine 2 and the server computer 5 and the ambient alarm device 41 are electrically connected, or a network provided by the communication equipment 4. A method of transmitting is conceivable.
- the risk management system 10 is mounted on the machine 2 and includes a surrounding alarm device 41 capable of outputting an alarm in response to an instruction from the control device 5, and the control device 5 has an accident occurrence risk (integrated risk).
- the IR exceeds a predetermined threshold value TH
- the ambient alarm device 41 is instructed to output an alarm.
- the present invention is not limited to the above-mentioned examples, and includes various modifications.
- the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations. It is also possible to add a part of the configuration of another embodiment to the configuration of one embodiment, delete a part of the configuration of one embodiment, or replace it with a part of another embodiment. It is possible.
- Integrated risk calculation unit 5e1 ... Main risk integration unit, 5e2 ... Secondary risk integration unit, 5e3 ... risk integration unit, 6 ... environment-installed sensor (measurement device), 7 ... machine-installed sensor (measurement device), 7a ... machine state measurement device, 7a1, 7a2 ... GNSS antenna, 7a3 ... Inertivity measuring device, 7a4 ... Rotation angle measuring device, 7a5-7a7 ... Inertivity measuring device, 7a8 ... Pressure measuring device group, 7b ... Ambient information measuring device, 7b1 ... Laser sensor, 8 ... Worker-installed sensor (measuring device) , 9 ... Recording enable switch, 10 ... Risk management system, 11 ...
- Recording device 13 ... Operator, 15 ... Lighting, 16 ... Suspended load, 21 ... Front device, 22 ... Upper swivel body, 23 ... Lower traveling body, 24 ... boom, 25 ... arm, 26 ... bucket, 27 ... operation room, 28 ... control valve, 31 ... operation room alarm device, 41 ... ambient alarm device.
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Abstract
Description
加えて、機械状態計測装置7aが計測した車体速度VM、車体方位θ1、ブーム角度θ2、アーム角度θ3、バケット角度θ4、旋回角速度ω1、ブーム角速度ω2、アーム角速度ω3、バケット角速度ω4に基づいて、参照点RP1~RP5各々における参照点速度RV1~RV5が決定される。参照点速度RV1は、水平方向の2次元車体速度VM、車体方位θ1、ブーム角度θ2、アーム角度θ3、バケット角度θ4、旋回角速度ω1、ブーム角速度ω2、アーム角速度ω3、バケット角速度ω4から以下の式(6)のように計算される。
Claims (7)
- 機械の状態および前記機械の周辺の情報を表すパラメータを計測する計測装置と、
前記計測装置で計測したパラメータに基づいて、前記機械が絡む事故の発生リスクを算出する制御装置と、
前記計測装置で計測したパラメータを記録可能な記録装置とを備えたリスク管理システムにおいて、
前記制御装置は、
前記計測装置で計測したパラメータに基づいて、前記事故の主要因および副次的要因の評価値を算出し、
前記主要因の評価値に基づいて、前記主要因が前記事故の発生に寄与する度合いである主リスクを算出し、
前記副次的要因の評価値に基づいて、前記副次的要因が前記事故の発生に寄与する度合いである副次的リスクを算出し、
前記主リスク以上の値を有しかつ前記副次的リスクの増減の度合いより小さい度合いで増減する統合リスクを前記発生リスクとして算出し、
前記統合リスクが所定の閾値を超えた場合に、前記統合リスクが前記所定の閾値を超えた時刻を含む一定時間内に前記計測装置によって計測されたパラメータを前記記録装置に記録させる
ことを特徴とするリスク管理システム。 - 請求項1に記載のリスク管理システムにおいて、
前記制御装置は、前記統合リスクが前記所定の閾値を超えた場合に、前記統合リスクが前記所定の閾値を超えた時刻を含む一定時間内に前記計測装置によって計測された、前記事故の種類を表す情報と前記主要因または前記副次的要因の評価値の算出に使用したパラメータとを前記記録装置に記録させる
ことを特徴とするリスク管理システム。 - 請求項1に記載のリスク管理システムにおいて、
前記機械の操作室に搭載され、前記制御装置からの指示に応じて警報を出力する操作室警報装置を備え、
前記制御装置は、前記統合リスクが前記所定の閾値を超えた場合に、前記操作室警報装置に対して警報を出力するように指示する
ことを特徴とするリスク管理システム。 - 請求項1に記載のリスク管理システムにおいて、
前記機械に搭載され、前記制御装置からの指示に応じて警報を出力可能な周囲警報装置を備え、
前記制御装置は、前記統合リスクが前記所定の閾値を超えた場合に、前記周囲警報装置に対して警報を出力するように指示する
ことを特徴とするリスク管理システム。 - 請求項1に記載のリスク管理システムにおいて、
前記主要因は、前記計測装置で計測したパラメータで直接的または解析的に評価できる要因であり、
前記副次的要因は、前記計測装置で計測したパラメータで直接的または解析的に評価できない要因である
ことを特徴とするリスク管理システム。 - 請求項1に記載のリスク管理システムにおいて、
前記機械は建設機械であり、
前記事故には、前記建設機械の転倒事故が含まれ、
前記機械の周辺の情報には、前記機械の周辺の気象状況が含まれる
ことを特徴とするリスク管理システム。 - 請求項1に記載のリスク管理システムにおいて、
前記制御装置は、前記事故の種類と、前記事故の発生に関与する要因と、前記計測装置で計測したパラメータの一部であって前記要因を評価するための要因評価パラメータと、前記要因が前記主要因であるか前記副次的要因であるかの分類とに基づき、前記要因が前記主要因に分類されている場合は、前記要因に対応する前記要因評価パラメータを用いて前記主要因の評価値を算出し、前記要因が前記副次的要因に分類されている場合は、前記要因に対応する前記要因評価パラメータを用いて前記副次的要因の評価値を算出する
ことを特徴とするリスク管理システム。
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JP2016081087A (ja) * | 2014-10-09 | 2016-05-16 | 株式会社日立製作所 | 運転特性診断装置、運転特性診断システム、運転特性診断方法、情報出力装置、情報出力方法 |
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JP2006188353A (ja) * | 2005-01-07 | 2006-07-20 | Sumitomonacco Materials Handling Co Ltd | 作業車両管理システム |
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JP2016081087A (ja) * | 2014-10-09 | 2016-05-16 | 株式会社日立製作所 | 運転特性診断装置、運転特性診断システム、運転特性診断方法、情報出力装置、情報出力方法 |
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