WO2022091838A1 - 安全評価システムおよび安全評価方法 - Google Patents
安全評価システムおよび安全評価方法 Download PDFInfo
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- WO2022091838A1 WO2022091838A1 PCT/JP2021/038419 JP2021038419W WO2022091838A1 WO 2022091838 A1 WO2022091838 A1 WO 2022091838A1 JP 2021038419 W JP2021038419 W JP 2021038419W WO 2022091838 A1 WO2022091838 A1 WO 2022091838A1
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- 238000011156 evaluation Methods 0.000 title claims abstract description 69
- 238000001514 detection method Methods 0.000 claims abstract description 76
- 238000004364 calculation method Methods 0.000 claims abstract description 71
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- 238000003379 elimination reaction Methods 0.000 abstract 1
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- 239000004065 semiconductor Substances 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/24—Safety devices, e.g. for preventing overload
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2054—Fleet management
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/40—Special vehicles
- B60Y2200/41—Construction vehicles, e.g. graders, excavators
- B60Y2200/412—Excavators
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
Definitions
- the present disclosure relates to a safety evaluation system and a safety evaluation method for work machines.
- the present application claims priority with respect to Japanese Patent Application No. 2020-179855 filed in Japan on October 27, 2020, the contents of which are incorporated herein by reference.
- Patent Document 1 discloses a technique for outputting approach information indicating that an obstacle has been detected around a work machine.
- the approach information according to Patent Document 1 represents the number of times an obstacle is detected.
- An object of the present disclosure is to provide a safety evaluation system and a safety evaluation method capable of appropriately evaluating the safety of a work machine.
- the safety evaluation system has a risk detection unit that detects the risk of an incident related to a work machine, and a time calculation that measures the risk time from the time when the risk occurs to the time when the risk is resolved.
- a unit, an evaluation unit that calculates a safety evaluation index based on the risk time, and an output unit that outputs the safety evaluation index are provided.
- the safety evaluation system can appropriately evaluate the safety of the work machine.
- FIG. 1 is a schematic diagram showing a configuration of a risk management system 1 according to a first embodiment.
- the risk management system 1 presents the user with an incident report relating to the risk of an incident relating to the work machine 100.
- Examples of users include a manager at an operating site or an operator of a work machine 100. By visually recognizing the incident report, the user can study the maintenance of the operation site and give the operator guidance on driving.
- the risk management system 1 includes a work machine 100, a report generation device 300, and a user terminal 500.
- the work machine 100, the report generator 300, and the user terminal 500 are communicably connected via a network.
- the work machine 100 operates at a construction site, for example, when it is a hydraulic excavator, and performs earth and sand excavation work. Further, the work machine 100 issues a warning for notifying the operator of the incident risk when it is determined that there is a predetermined incident risk based on the work state. Details of the incident risk determination will be described later. Examples of incident risks include collision risk, fall risk, and non-compliance risk.
- the work machine 100 shown in FIG. 1 is a hydraulic excavator, but in other embodiments, it may be another work machine. Examples of the work machine 100 include a bulldozer, a dump truck, a forklift, a wheel loader, a motor grader, and the like.
- the report generation device 300 generates incident report data summarizing the risks of incidents related to the work machine 100.
- the user terminal 500 displays or prints the incident report data generated by the report generation device 300.
- FIG. 2 is a diagram showing the configuration of the work machine 100 according to the first embodiment.
- the work machine 100 includes a traveling body 110, a swivel body 130, a working machine 150, a driver's cab 170, and a control device 190.
- the traveling body 110 supports the working machine 100 so as to be able to travel.
- the traveling body 110 is, for example, a pair of left and right tracks.
- the turning body 130 is supported by the traveling body 110 so as to be able to turn around the turning center.
- the working machine 150 is supported by the front portion of the swivel body 130 so as to be driveable in the vertical direction.
- the working machine 150 is hydraulically driven.
- the working machine 150 includes a boom 151, an arm 152, and a bucket 153.
- the base end portion of the boom 151 is attached to the swivel body 130 via a pin.
- the base end portion of the arm 152 is attached to the tip end portion of the boom 151 via a pin.
- the base end of the bucket 153 is attached to the tip of the arm 152 via a pin.
- the portion of the swivel body 130 to which the working machine 150 is attached is referred to as a front portion.
- the driver's cab 170 is provided at the front of the swivel body 130.
- an operating device for operating the work machine 100 and an alarm device for issuing an incident risk alarm are provided in the cab 170.
- the control device 190 controls the traveling body 110, the turning body 130, and the working machine 150 based on the operation of the operator.
- the control device 190 is provided, for example, inside the driver's cab.
- the control device 190 is an example of an operating area presentation device.
- the work machine 100 includes a plurality of sensors for detecting the working state of the work machine 100.
- the work machine 100 includes a position / orientation detector 101, an inclination detector 102, a traveling acceleration sensor 103, a turning angle sensor 104, a boom angle sensor 105, an arm angle sensor 106, a bucket angle sensor 107, and a plurality of image pickup devices. 108, a plurality of radar devices 109 are provided.
- the position / orientation detector 101 calculates the position of the swivel body 130 in the field coordinate system and the direction in which the swivel body 130 faces.
- the position / orientation detector 101 includes two antennas that receive positioning signals from artificial satellites constituting the GNSS.
- the two antennas are installed at different positions on the swivel body 130, respectively.
- the two antennas are provided on the counterweight portion of the swivel body 130.
- the position / orientation detector 101 detects the position of the representative point of the swivel body 130 in the field coordinate system based on the positioning signal received by at least one of the two antennas.
- the position / orientation detector 101 detects the orientation of the swivel body 130 in the field coordinate system using the positioning signals received by each of the two antennas.
- the tilt detector 102 measures the acceleration and angular velocity of the swivel body 130, and detects the tilt (for example, roll angle and pitch angle) of the swivel body 130 with respect to the horizontal plane based on the measurement result.
- the tilt detector 102 is installed, for example, below the driver's cab 170.
- An example of the tilt detector 102 is an IMU (Inertial Measurement Unit).
- the traveling acceleration sensor 103 is provided on the traveling body 110 and detects the acceleration related to the traveling of the work machine 100.
- the turning angle sensor 104 is provided at the turning center of the turning body 130, and detects the turning angles of the traveling body 110 and the turning body 130.
- the boom angle sensor 105 is provided on a pin connecting the swivel body 130 and the boom 151, and detects a boom angle which is a rotation angle of the boom 151 with respect to the swivel body 130.
- the arm angle sensor 106 is provided on a pin connecting the boom 151 and the arm 152, and detects the arm angle which is the rotation angle of the arm 152 with respect to the boom 151.
- the bucket angle sensor 107 is provided on a pin connecting the arm 152 and the bucket 153, and detects the bucket angle which is the rotation angle of the bucket 153 with respect to the arm 152.
- Each of the plurality of image pickup devices 108 is provided on the swivel body 130.
- the imaging range of the plurality of imaging devices 108 covers at least a range that cannot be visually recognized from the driver's cab 170 in the entire circumference of the work machine 100.
- Each of the plurality of radar devices 109 is provided on the swivel body 130.
- the imaging range of the plurality of radar devices 109 covers at least a range that cannot be seen from the driver's cab 170 in the entire circumference of the work machine 100.
- FIG. 3 is a schematic block diagram showing the configuration of the control device 190 according to the first embodiment.
- the control device 190 is a computer including a processor 210, a main memory 230, a storage 250, and an interface 270.
- the storage 250 is a non-temporary tangible storage medium. Examples of the storage 250 include magnetic disks, optical disks, magneto-optical disks, semiconductor memories, and the like.
- the storage 250 may be an internal medium directly connected to the bus of the control device 190, or an external medium connected to the control device 190 via the interface 270 or a communication line.
- the storage 250 stores a program for controlling the work machine 100.
- the program may be for realizing a part of the functions exerted by the control device 190.
- the program may exert its function in combination with another program already stored in the storage 250, or in combination with another program mounted on another device.
- the control device 190 may include a custom LSI (Large Scale Integrated Circuit) such as a PLD (Programmable Logic Device) in addition to or in place of the above configuration.
- PLDs include PAL (Programmable Array Logic), GAL (Generic Array Logic), CPLD (Complex Programmable Logic Device), and FPGA (Field Programmable Gate Array).
- PLDs Programmable Logic Device
- PAL Programmable Array Logic
- GAL Generic Array Logic
- CPLD Complex Programmable Logic Device
- FPGA Field Programmable Gate Array
- the processor 210 functions as an acquisition unit 211, a determination unit 212, and a transmission unit 213 by executing a program.
- the acquisition unit 211 is from a position / orientation detector 101, an inclination detector 102, a traveling acceleration sensor 103, a turning angle sensor 104, a boom angle sensor 105, an arm angle sensor 106, a bucket angle sensor 107, an image pickup device 108, and a radar device 109. Get the measured values for each.
- the measured value of the image pickup apparatus 108 is a captured image.
- at least the position information acquired by the position / orientation detector 101 is always stored at predetermined time intervals during the operation of the work machine 100, so that the operating position is always stored. It is accumulated as historical data.
- the determination unit 212 determines the presence or absence of an incident risk based on the measured value acquired by the acquisition unit 211, and if it is determined that there is an incident risk, outputs an alarm output instruction to the alarm device.
- the alarm device issues an alarm when an alarm output instruction is input to notify the operator of the existence of an incident risk.
- Examples of incident risks include fall risk, collision risk, and compliance violation risk.
- Examples of fall risks include unstable postures on slopes and unstable postures during suspended loads.
- Examples of collision risk include intrusion of obstacles and people into dangerous areas, and inconsistencies between the orientation of the traveling body 110 and the orientation of the turning body 130 (that is, the orientation of the driver's cab 170) during traveling (hereinafter, "traveling"). "Reversal of the orientation of the body 110").
- Examples of the risk of non-compliance include ignoring warnings and reversing the orientation of the vehicle 110 when leaving the seat. In addition, non-fastening of seat belts and drunk driving can be included in the risk of non-compliance.
- the determination unit 212 can determine the presence or absence of a fall risk by calculating the posture of the work machine 100 based on the inclination of the work machine 100 with respect to the horizontal plane detected by the inclination detector 102. Further, the determination unit 212 may determine the presence or absence of a fall risk by calculating the center of gravity of the work machine 100. Further, the posture of the working machine 100 may be calculated by further using the turning angle of the swivel body 130, the angle of the working machine 150, and the like, in addition to the inclination of the working machine 100 with respect to the horizontal plane.
- the determination unit 212 can determine the presence or absence of a collision risk by pattern matching the portion of the image captured by the image pickup apparatus 108 corresponding to the dangerous region. Further, the determination unit 212 can determine the presence / absence of a collision risk by determining the presence / absence of an obstacle in the dangerous area based on the distance data acquired by the radar device 109.
- the transmission unit 213 combines the data indicating the history of the state of the work machine 100 when the alarm is issued (hereinafter referred to as “alarm history data”) and the above-mentioned operating position history data into the report generation device 300. Send to.
- the alarm history data includes information on the time when the alarm output instruction is output, the measured value at that time, and the position of the work machine 100 at that time. From the time when the determination unit 212 determines that there is an incident risk to the time when the determination unit 212 determines that there is no incident risk, the transmission unit 213 associates the time, the measured value, and the position information at that time with the alarm history. Generate data.
- the transmission unit 213 may transmit history data such as alarm history data and operating position history data to the report generation device 300 by batch processing at a predetermined transmission timing, or transmit the history data to the report generation device 300 in real time. You may.
- the acquisition unit 211 records the history data in the storage 250, and the transmission unit 213 transmits this to the report generation device 300.
- the transmission unit 213 may compress and transmit these historical data as necessary.
- the history data transmitted by the transmission unit 213 includes identification information of an operator who operates the work machine 100. The operator identification information is read from the ID key, for example, when the work machine 100 is started.
- FIG. 4 is a schematic block diagram showing the configuration of the report generation device 300 according to the first embodiment.
- the report generator 300 is a computer including a processor 310, a main memory 330, a storage 350, and an interface 370.
- the storage 350 is a tangible storage medium that is not temporary. Examples of the storage 350 include magnetic disks, optical disks, magneto-optical disks, semiconductor memories, and the like.
- the storage 350 may be internal media directly connected to the bus of the report generator 300, or external media connected to the report generator 300 via the interface 370 or a communication line.
- the storage 350 stores a program for generating an incident report.
- the program may be for realizing a part of the functions exerted by the report generation device 300.
- the program may exert its function in combination with another program already stored in the storage 350, or in combination with another program mounted on another device.
- the report generation device 300 may include a custom LSI in addition to or in place of the above configuration. In this case, some or all of the functions realized by the processor may be realized by the integrated circuit.
- Map data of the operation site is recorded in the storage 350 in advance.
- the processor 310 functions as a receiving unit 311, an input unit 312, a calculation unit 313, a generation unit 314, and an output unit 315 by executing a program.
- the receiving unit 311 receives the alarm history data and the history data including the operating position history data from the work machine 100.
- the receiving unit 311 records the received history data in the storage 350.
- the input unit 312 receives the input of the evaluation target of the incident report from the user terminal 500.
- the evaluation target is specified by the period related to the evaluation and the identification information of the operator or the identification information of the operation site.
- the calculation unit 313 calculates a score indicating the magnitude of each of the input evaluation period and the plurality of incident risks related to the evaluation target, based on the alarm history data received by the reception unit 311. Further, the calculation unit 313 calculates the value used for generating the incident report based on the alarm history data received by the reception unit 311 and the calculated score. Further, the calculation unit 313 calculates the staying time of the work machine 100 in each area of the operation site, which will be described later, based on the position history data in which the reception unit 311 is in operation.
- the generation unit 314 generates incident report data indicating an incident report based on the result calculated by the calculation unit 313.
- the output unit 315 outputs the incident report data generated by the generation unit 314 to the user terminal 500.
- FIG. 5 is a flowchart showing a method of calculating a score related to a fall risk according to the first embodiment.
- the calculation unit 313 records the initial value of the score relating to the fall risk representing the perfect score in the main memory 330 (step S101).
- the calculation unit 313 extracts a plurality of data blocks representing the period from the detection of the incident risk to the time when the incident risk is no longer detected from the alarm history data (step S102). For example, the calculation unit 313 can extract a plurality of data blocks by dividing the alarm history data at positions where the times are discontinuous.
- the calculation unit 313 selects a plurality of data blocks one by one (step S103), and processes the selected data blocks from the following steps S104 to S111.
- the calculator 313 measures the tilt detector 102, boom angle sensor 105, arm angle sensor 106, and bucket angle sensor 107 contained in the selected data block, as well as the shape, weight, and shape of each part of the known work machine 100. Based on the position of the center of gravity, the energy stability margin of the work machine 100 at each time is calculated (step S104).
- the energy stability margin is a quantity representing the amount of energy that must be supplied before the work machine 100 falls, and is obtained by the following equation (1).
- FIG. 6 is a diagram showing variables related to the calculation of the energy stability margin.
- E indicates an energy stability margin.
- M indicates the total weight of the work machine 100.
- g indicates gravitational acceleration.
- H indicates the height from the ground contact point of the work machine 100 to the position of the static center of gravity of the work machine 100 in the fall posture.
- x and z indicate the values of the X coordinate and the Z coordinate in the vehicle body coordinate system of the static center of gravity position of the current work machine 100.
- ⁇ indicates the inclination of the work machine 100 with respect to the horizontal plane.
- the calculation unit 313 specifies the minimum value of the energy stability margin in the selected data block (step S105).
- the calculation unit 313 determines whether or not the minimum value of the energy stability margin is equal to or less than the first threshold value (step S106).
- the first threshold is a threshold indicating that a fall may occur.
- the calculation unit 313 subtracts the first deduction score p1 from the score related to the fall risk stored in the main memory 330 (step S107).
- the score is not subtracted.
- the calculation unit 313 subtracts the first deduction number p1 from the score by the number of data blocks in which the minimum value of the energy stability margin is equal to or less than the first threshold value, that is, the number of times the energy stability margin becomes equal to or less than the first threshold value. ..
- the score is subtracted by the product of the number of times the energy stability margin becomes equal to or less than the first threshold value and the first deduction number p1.
- the number of times the energy stability margin falls below the first threshold value can be said to be the number of times an incident risk has occurred.
- the calculation unit 313 determines whether or not the minimum value of the energy stability margin is equal to or less than the second threshold value (step S108).
- the second threshold value is a threshold value indicating that there is a high possibility of falling.
- the second threshold is smaller than the first threshold.
- the calculation unit 313 calculates the risk time from the incident risk occurrence time to the resolution time in the selected data block (step S109). ).
- the risk time is obtained by finding the difference between the first time and the last time of the data block. When the work machine 100 returns after falling, it can be said that the risk time related to the fall risk is the time from the fall to the return.
- the risk time related to the fall risk is the time from the fall to the stop of the control device 190.
- the calculation unit 313 determines whether or not the risk time is equal to or greater than a predetermined threshold value (step S110).
- step S110: YES If the risk time is equal to or greater than a predetermined threshold value (step S110: YES), there is a high possibility that the work machine 100 has fallen. Therefore, the calculation unit 313 subtracts the second deduction number p2 from the score related to the fall risk stored in the main memory 330 (step S111).
- the second deduction number p2 is a value sufficiently larger than the first deduction number p1.
- the energy stability margin is larger than the second threshold value (step S108: NO) or the risk time is less than the threshold value (step S110: NO)
- the second deduction score p2 is not subtracted from the score.
- the calculation unit 313 subtracts the second deduction number p2 from the score by the number of data blocks whose risk time is equal to or greater than the threshold value, that is, the number of times the risk time becomes equal to or greater than the threshold value.
- the score is subtracted by the product of the number of times the risk time exceeds the threshold value and the second deduction number p2.
- the calculation unit 313 calculates the score related to the fall risk by performing the above calculation for each data block. That is, the calculation unit 313 subtracts the sum of the value obtained by multiplying the number of times the risk time exceeds a predetermined threshold value by the second deduction number and the value obtained by multiplying the number of occurrences of the incident risk by the first deduction number from the perfect score. By doing so, the score related to the fall risk is calculated. In another embodiment, the score may be calculated using the zero moment point of the work machine 100 instead of the energy stability margin.
- FIG. 7 is a flowchart showing a method of calculating a score related to a collision risk according to the first embodiment.
- the calculation unit 313 extracts a plurality of data blocks representing the period from the detection of the incident risk to the time when the incident risk is no longer detected from the alarm history data (step S201). That is, the calculation unit 313 extracts a data block indicating the state of the work machine 100 from the detection of the intrusion of at least one obstacle in the warning area to the time when all the obstacles are no longer detected in the warning area. .. FIG.
- the warning area A1 is an area for generating a warning notifying the presence of an obstacle.
- the warning area A1 shown in FIG. 8 is a circular area centered on the turning center and having a radius close to the length of the boom 151.
- the control area A2 is an area for generating intervention control for forcibly stopping the work machine 100 so that the work machine 100 does not come into contact with an obstacle.
- the control area A2 shown in FIG. 8 is a circular area centered on the turning center and having a radius shorter than that of the warning area A1.
- the calculation unit 313 selects a plurality of data blocks one by one (step S202), and processes the selected data blocks from the following steps S203 to S209.
- the calculation unit 313 calculates the distance from the work machine 100 to the obstacle for each time based on the captured image of the image pickup device 108 and the measured value of the radar device 109 (step S203). At this time, when a plurality of obstacles are detected from the captured image and the measured value of the radar device 109, the calculation unit 313 calculates the distance of the obstacle closest to the work machine 100. Next, the calculation unit 313 specifies the minimum value of the distance in the selected data block (step S204). The calculation unit 313 calculates the risk time related to the selected data block (step S205). The risk time related to the collision risk is the time from when the obstacle is detected in the warning area to when the obstacle is not detected in the warning area.
- the calculation unit 313 determines whether or not an obstacle exists in the control area centered on the work machine 100 during the period related to the selected data block based on the minimum value of the distance (step S206). When the calculation unit 313 determines that an obstacle exists in the control area (step S206: YES), the calculation unit 313 controls by adding the risk time calculated in step S205 to the control duration stored in the main memory 330. Update the duration (step S207).
- step S206 determines whether or not the obstacle exists in the control area (step S206). ).
- step S208 determines whether or not the obstacle exists in the control area centered on the work machine 100 (step S208). ).
- step S208: YES the calculation unit 313 adds a warning time calculated in step S205 to the warning duration stored in the main memory 330 to give a warning.
- the duration is updated (step S209).
- step S208: NO the calculation unit 313 does not add the risk time.
- the calculation unit 313 calculates the score related to the collision risk based on the calculated control duration and warning duration (step S210). Specifically, the calculation unit 313 calculates the score related to the collision risk based on the following equation (2).
- score indicates the score related to collision risk.
- t1 indicates the warning duration.
- t2 indicates the control duration.
- A indicates a coefficient indicating the strength of the degree of deduction with respect to the risk time.
- B indicates the weight for the presence of an obstacle in the control area.
- T indicates the operating time of the work machine 100. The operating time may be specified by the time of the service meter of the work machine 100.
- the calculation unit 313 calculates the score related to the reversal of the direction of the traveling body 110 so that the closer the measured value of the turning angle sensor 104 is to ⁇ 0 degrees, the larger the value, and the closer to 180 degrees, the smaller the value. For example, the calculation unit 313 calculates the score related to ignoring the alarm so that the value becomes smaller as the elapsed time from the time when the alarm device issues the alarm to the time when the alarm is released increases.
- FIG. 9 is a diagram showing an example of Incident Report R according to the first embodiment.
- the incident report R includes evaluation target information R1, radar chart R2, time chart R3, operating area map R4, tilt frequency image R5, tilt posture image R6, direction-specific obstacle frequency image R7, and distance-specific obstacle frequency image R8. included.
- Evaluation target information R1 is information representing an evaluation target related to the incident report R.
- the evaluation target information R1 includes the machine number of the work machine 100, the name of the operator, and the evaluation period.
- Radar chart R2 represents the score for each of multiple incident risks.
- the radar chart R2 represents the average score, the maximum score and the minimum score of the operators related to the evaluation target, and the average scores of a plurality of operators.
- the time chart R3 shows the time course of the scores of multiple incident risks during the evaluation period.
- the operating area map R4 represents the staying time of the work machine 100 in each area of the operating site, the magnitude of the risk in each area, and the position where the score related to each incident risk is the minimum, that is, the position where the risk is maximum. ..
- the operation area map R4 has a map showing the operation site, a grid that divides the operation site into a plurality of areas, an object showing the staying time and the magnitude of risk in each area, and an incident risk. Includes a pin indicating the maximum position. That is, the report generation device 300 is an example of the operating area presentation device.
- the tilt frequency image R5 represents the number of times that an alarm relating to the fall risk of the work machine 100 for each tilt direction is issued.
- the tilt frequency image R5 includes a machine image, a front detection image, a rear detection image, a left detection image, and a right detection image.
- the machine image represents the work machine 100.
- the forward detection image is arranged in front of the machine image (upper side in the figure) and represents the number of times the fall risk is reported when tilting forward.
- the rearward detection image is arranged behind the machine image (lower side in the figure) and represents the number of times the fall risk is reported when tilting backward.
- the left-side detection image is arranged on the left side (left side in the figure) of the machine image, and represents the number of times the fall risk is issued when tilting to the left.
- the right-side detection image is arranged on the right side (right side in the figure) of the machine image, and represents the number of times the fall risk is issued when tilting to the right.
- the tilted posture image R6 represents the posture of the work machine 100 when the score related to the fall risk is maximized. That is, the tilted posture image R6 represents the posture of the work machine 100 when the tilt angle of the work machine 100 with respect to the horizontal plane is the largest in the period indicated by R1.
- Obstacle frequency image R7 by direction represents the frequency of warnings related to the intrusion risk of obstacles in the vicinity of the work machine 100 by direction.
- the direction-specific obstacle frequency image R7 includes a machine image, a front detection image, a right front detection image, a right rear detection image, a left rear detection image, and a left front detection image.
- the machine image represents the work machine 100.
- the front detection image is arranged in front of the machine image (upper side in the drawing), and represents the frequency with which an obstacle is detected in front of the work machine 100 in the warning area.
- the right front detection image is arranged on the right front side of the machine image (upper right side in the figure), and represents the frequency at which an obstacle is detected in the right front side of the work machine 100 in the warning area.
- the right rear detection image is arranged on the right rear side of the machine image (lower right side in the drawing), and represents the frequency with which an obstacle is detected on the right rear side of the work machine 100 in the alarm area.
- the left rear detection image is arranged on the left rear side (lower left side in the drawing) of the machine image, and represents the frequency at which an obstacle is detected on the left rear side of the work machine 100 in the alarm area.
- the left front detection image is arranged on the left front side (upper left side in the drawing) of the machine image, and represents the frequency at which an obstacle is detected on the left front side of the work machine 100 in the warning area.
- Each detected image represents the frequency with which obstacles are detected by hue. For example, the lower the detection frequency, the closer to blue, and the higher the detection frequency, the closer to red.
- the detection frequency is obtained, for example, by normalizing the number of detections.
- Obstacle frequency image R8 by distance represents the frequency of warnings related to the intrusion risk of obstacles in the vicinity of the work machine 100 by region.
- the obstacle frequency image R8 by distance includes a machine image, an alarm area detection image, and a control area detection image.
- the machine image represents the work machine 100.
- the warning area detection image is a yellow donut-shaped image arranged at a position corresponding to the warning area surrounding the machine image, and represents the frequency with which an obstacle is detected in the warning area.
- the control area detection image is a red circular image arranged at a position corresponding to the control area surrounding the machine image, and represents the frequency with which an obstacle is detected in the control area. Each detected image represents the number of times an obstacle is detected numerically.
- the acquisition unit 211 of the control device 190 of the work machine 100 acquires measured values from various sensors according to a predetermined sampling cycle while the work machine 100 is in operation.
- the determination unit 212 determines the presence or absence of an incident risk based on the measured value, and if it is determined that there is an incident risk, outputs an alarm output instruction to the alarm device.
- the transmission unit 213 transmits historical data such as alarm history data and operating position history data to the report generation device 300.
- the alarm history data is generated when the determination unit 212 outputs an alarm output instruction.
- the position history data during operation is generated at predetermined time intervals during operation of the work machine 100.
- the receiving unit 311 of the report generation device 300 receives the history data from the work machine 100 and records it in the storage 350. As a result, the historical data of the plurality of work machines 100 is collected in the storage 350 of the report generation device 300.
- FIG. 10 is a flowchart showing the operation of the report generation device 300 according to the first embodiment.
- the user operates the user terminal 500 to access the report generation device 300, thereby transmitting an incident report generation instruction to the report generation device 300.
- Examples of users of the report generation device 300 include an operator of the work machine 100 and an operation site manager.
- the input unit of the report generation device 300 responds to the access and accepts the input of the evaluation target information related to the incident report (step S1).
- Examples of the information to be evaluated include the identification information of the operator related to the evaluation target or the identification information of the operation site, and the evaluation period.
- the calculation unit 313 reads the history data related to the input evaluation target from the storage 350 (step S2). For example, the calculation unit 313 reads out the historical data stored in the storage 350, which is associated with the identification information of the operator related to the evaluation target, the identification information of the operating site, and the evaluation period. The calculation unit 313 calculates the score of each incident risk at each time related to the evaluation period based on the alarm history data among the read history data (step S3). That is, the calculation unit 313 calculates the score related to the fall risk based on the flowchart shown in FIG. 5, and calculates the score related to the collision risk based on the flowchart shown in FIG. 7. If the alarm is not output without the incident risk occurring at a certain time, the alarm history data related to that time does not exist. In this case, the calculation unit 313 sets the score related to the time to the minimum value.
- the calculation unit 313 centers on the work machine 100 based on the position of the obstacle when the distance between the work machine 100 and the obstacle is the shortest calculated in step S204 in each data block of the alarm history data.
- the number of obstacle detections for each direction and the number of obstacle detections for each distance are specified (step S4).
- the number of obstacles detected by direction is the number of times an obstacle is detected in the front, the number of times an obstacle is detected in the front right, the number of times an obstacle is detected in the rear right, and the number of obstacles detected in the rear left.
- the number of obstacle detections by distance is the number of times an obstacle is detected in the warning area and the number of times an obstacle is detected in the control area.
- the calculation unit 313 calculates the average score, the maximum score, and the minimum score for each incident risk (step S5).
- the generation unit 314 generates the radar chart R2 based on the average score, the maximum score, and the minimum score calculated in step S5 (step S6).
- the generation unit 314 generates a time chart R3 showing the change over time of the score of each incident risk based on the score calculated in step S3 (step S7).
- the calculation unit 313 calculates the area where the work machine 100 has stayed for each time based on the operating position history data read in step S2 (step S8).
- the calculation unit 313 calculates the staying time in each area by integrating the staying time in each area (step S9).
- the calculation unit 313 associates the score calculated in step S3 with the area based on the staying time in each area, and calculates the average score of each area (step S10).
- the calculation unit 313 specifies the maximum score of each incident risk among the scores calculated in step S3, and specifies the position related to the score (step S11). For example, the calculation unit 313 specifies the time related to the maximum score, and specifies the position associated with the stay time specified in step S8 as the position related to the maximum score.
- the generation unit 314 divides the map representing the operation site stored in the storage 350 into a plurality of areas by a grid, and the grid related to each area has a size corresponding to the staying time calculated in step S9 and in step S10.
- An operating area map R4 is generated by arranging an object of a color corresponding to the calculated average score and further arranging a pin at a position specified in step S11 (step S12).
- the calculation unit 313 specifies the time when the alarm related to the fall risk is issued based on the score calculated in step S3 (step S13).
- the calculation unit 313 specifies the posture of the work machine 100 at the time when the alarm is issued by using the alarm history data read in step S2 related to the specified time (step S14). That is, the calculation unit 313 specifies the tilt angle, the turning angle, and the angle of the work machine 150 at the time when the alarm is issued.
- the generation unit 314 specifies the direction in which the work machine 100 is most tilted among the front, rear, left, and right sides of the work machine 100 based on the specified posture (step). S15).
- the calculation unit 313 obtains the tilt angle in the front-rear direction and the left-right direction based on the warning history data of the posture, and is based on the larger absolute value of the tilt angle in the front-back direction and the tilt angle in the left-right direction. , Specify the tilt direction.
- the generation unit 314 generates a front detection image, a rear detection image, a left detection image, and a right detection image based on the direction specified in step S15, and arranges each detection image around the machine image.
- Inclined frequency image R5 is generated (step S16). Further, the generation unit 314 identifies the posture related to the highest score among the postures specified in step S14, and reproduces the posture with the three-dimensional model of the work machine 100 (step S17). That is, the generation unit 314 determines the angle of each part of the three-dimensional model of the work machine 100 based on the posture related to the highest score.
- the generation unit 314 generates the tilted posture image R6 by arranging the line of sight in the direction specified in step S15 and rendering the three-dimensional model (step S18).
- the generation unit 314 normalizes the number of obstacle detections for each direction calculated in step S4 to a value in the range of 0 or more and 1 or less (step S19).
- the generation unit 314 converts the normalized number of detections into a hue (step S20).
- the generation unit 314 generates a front detection image, a right front detection image, a right rear detection image, a left rear detection image, and a left front detection image based on the specified hue, and arranges each detection image around the machine image.
- the obstacle detection frequency image R7 for each direction is generated (step S21).
- the generation unit 314 generates a warning area detection image and a control area detection image based on the number of obstacle detections for each distance calculated in step S4, and arranges each detection image around the machine image for each distance.
- An obstacle detection frequency image R8 is generated (step S22).
- the generation unit 314 has the evaluation target information R1 received in step S1, the radar chart R2 generated in step S5, the time chart R3 generated in step S6, the operating area map R4 generated in step S11, and the inclination frequency image generated in step S15.
- An incident report R is generated using R5, the tilted posture image R6 generated in step S17, the direction-specific obstacle detection image R7 generated in step S23, and the distance-specific obstacle detection image R8 generated in step S24 (step). S23).
- the output unit 315 outputs the incident report data related to the generated incident report R to the user terminal 500 that has received access in step S1 (step S24).
- the user of the user terminal 500 can visually recognize the incident report R and recognize the incident risk by displaying or printing the incident report data received by the user terminal 500.
- the user can distribute the displayed or printed incident report R to the operator to make the operator aware of the incident risk.
- the report generator 300 calculates a score based on the risk time from the time when the incident risk occurs to the time when the incident risk is resolved, and displays the radar chart R2 representing the score. Output. As a result, the report generator 300 calculates the score according to the length of time that the state in which the risk exists continues, so that the safety of the work machine 100 can be appropriately evaluated.
- the report generator 300 is based on the sum of the risk times from the time when the obstacle intrusion into the area is detected to the time when the obstacle is no longer detected in the area. Calculate the score for collision risk. As a result, the report generator 300 lowers the score when an obstacle is detected in the warning area for a long time as compared with the case where the obstacle is detected a plurality of times in a short time in the vicinity of the warning area. Can be done.
- the report generator 300 calculates a score related to the fall risk based on the total risk time from the time when the fall risk is detected to the time when the fall risk is no longer detected. .. As a result, the report generator 300 can increase the score when the posture that may simply fall is detected a plurality of times, as compared with the case where the work machine 100 actually falls.
- the report generation device 300 may be configured by a single computer, or the configuration of the report generation device 300 may be divided into a plurality of computers so that the plurality of computers cooperate with each other. By doing so, it may function as a report generation device 300. At this time, a part of the computers constituting the report generation device 300 may be mounted inside the work machine 100, and another computer may be provided outside the work machine 100.
- the report generator 300 identifies the magnitude of the incident risk based on the alarm history data transmitted from the work machine 100, but in other embodiments, it is limited to this. not.
- the control device 190 of the work machine 100 may calculate the score from the alarm history data, generate the history data of the score, and transmit it to the report generation device 300. That is, a part or all of the processes shown in FIGS. 5 and 7 may be performed by the control device 190 of the work machine 100. In this case, the control device 190 may measure the risk time in real time by a timer.
- the control device 190 When measuring the risk time in real time, the control device 190 does not have to calculate the risk time after that when it is determined that the risk time related to the fall exceeds the threshold value. In the above-described embodiment, since the risk time related to the fall is used to determine whether or not the threshold value is exceeded, it is not always necessary to calculate the time until recovery.
- the obstacle detection image R7 by direction and the obstacle detection image R8 by distance represent the number of times the obstacle is detected, but the present invention is not limited to this.
- the direction-specific obstacle detection image R7 and the distance-specific obstacle detection image R8 may represent the total risk time. That is, in another embodiment, the magnitude of the incident risk may be represented by the obstacle detection image R7 by direction and the obstacle detection image R8 by distance instead of the radar chart R2.
- the obstacle detection image R7 for each direction represents the number of times the obstacle is detected by the hue, but the present invention is not limited to this.
- the direction-specific obstacle detection image R7 according to another embodiment may represent the number of times the obstacle is detected by the brightness.
- the number of images showing the direction of the obstacle detection image for each direction is not limited to five.
- the obstacle detection image R8 for each distance represents the number of times the obstacle is detected by a numerical value, but the present invention is not limited to this.
- the distance-based obstacle detection image R8 according to another embodiment may represent the number of times the obstacle is detected by the brightness or hue.
- the report generator 300 when the report generator 300 calculates the score related to the collision risk, all the obstacles in the area are detected from the time when the intrusion of at least one obstacle in the area is detected. It measures the risk time until the time when an object is no longer detected, but it is not limited to this.
- the report generator 300 separates and identifies one or more obstacles from the captured image and the measured values of the radar device 109, and for each obstacle, exits from the time of entry into the region. You may measure the risk time until the time you do.
- the report generator 300 may calculate the score related to the collision risk by substituting the sum of the control duration and the warning duration calculated using the risk time of each obstacle into the equation (2). good.
- the report generator 300 calculates each of the score related to the fall risk and the score related to the collision risk based on the risk time, but the present invention is not limited to this.
- either the fall risk score or the collision risk score may be calculated without being based on risk time.
- the safety evaluation system can appropriately evaluate the safety of the work machine.
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Abstract
Description
本願は、2020年10月27日に日本に出願された特願2020-179855号について優先権を主張し、その内容をここに援用する。
本開示の目的は、作業機械の安全性を適切に評価することができる安全評価システムおよび安全評価方法を提供することにある。
《リスク管理システム1の構成》
以下、図面を参照しながら実施形態について詳しく説明する。
図1は、第1の実施形態に係るリスク管理システム1の構成を示す概略図である。リスク管理システム1は、利用者に作業機械100に係るインシデントが生じるリスクに係るインシデントレポートを提示する。利用者の例としては、稼働現場の管理者または作業機械100のオペレータが挙げられる。利用者は、インシデントレポートを視認することで、稼働現場の整備の検討、およびオペレータによる運転の指導を行うことができる。
利用者端末500は、レポート生成装置300が生成したインシデントレポートデータを表示し、または印刷する。
図2は、第1の実施形態に係る作業機械100の構成を示す図である。
作業機械100は、走行体110、旋回体130、作業機150、運転室170、制御装置190を備える。
走行体110は、作業機械100を走行可能に支持する。走行体110は、例えば左右1対の無限軌道である。
旋回体130は、走行体110に旋回中心回りに旋回可能に支持される。
作業機150は、旋回体130の前部に上下方向に駆動可能に支持される。作業機150は、油圧により駆動する。作業機150は、ブーム151、アーム152、およびバケット153を備える。ブーム151の基端部は、旋回体130にピンを介して取り付けられる。アーム152の基端部は、ブーム151の先端部にピンを介して取り付けられる。バケット153の基端部は、アーム152の先端部にピンを介して取り付けられる。ここで、旋回体130のうち作業機150が取り付けられる部分を前部という。また、旋回体130について、前部を基準に、反対側の部分を後部、左側の部分を左部、右側の部分を右部という。
運転室170は、旋回体130の前部に設けられる。運転室170内には、作業機械100を操作するための操作装置およびインシデントリスクの警報を発するための警報装置が設けられる。
制御装置190は、オペレータの操作に基づいて、走行体110、旋回体130、および作業機150を制御する。制御装置190は、例えば運転室の内部に設けられる。制御装置190は、稼働エリア提示装置の一例である。
位置方位検出器101は、旋回体130の現場座標系における位置および旋回体130が向く方位を演算する。位置方位検出器101は、GNSSを構成する人工衛星から測位信号を受信する2つのアンテナを備える。2つのアンテナは、それぞれ旋回体130の異なる位置に設置される。例えば2つのアンテナは、旋回体130のカウンターウェイト部に設けられる。位置方位検出器101は、2つのアンテナの少なくとも一方が受信した測位信号に基づいて、現場座標系における旋回体130の代表点の位置を検出する。位置方位検出器101は、2つのアンテナのそれぞれが受信した測位信号を用いて、現場座標系において旋回体130が向く方位を検出する。
旋回角センサ104は、旋回体130の旋回中心に設けられ、走行体110と旋回体130の旋回角度を検出する。
ブーム角センサ105は、旋回体130とブーム151とを接続するピンに設けられ、旋回体130に対するブーム151の回転角であるブーム角を検出する。
アーム角センサ106は、ブーム151とアーム152とを接続するピンに設けられ、ブーム151に対するアーム152の回転角であるアーム角を検出する。
バケット角センサ107は、アーム152とバケット153とを接続するピンに設けられ、アーム152に対するバケット153の回転角であるバケット角を検出する。
複数のレーダ装置109は、それぞれ旋回体130に設けられる。複数のレーダ装置109の撮像範囲は、作業機械100の全周のうち、運転室170から視認できない範囲を少なくともカバーする。
制御装置190は、プロセッサ210、メインメモリ230、ストレージ250、インタフェース270を備えるコンピュータである。
なお、取得部211が取得する情報のうち、少なくとも位置方位検出器101によって取得される位置情報は、作業機械100の稼働中は常に所定の時間間隔ごとに記憶されることで、稼働中の位置履歴データとして蓄積される。
図4は、第1の実施形態に係るレポート生成装置300の構成を示す概略ブロック図である。
レポート生成装置300は、プロセッサ310、メインメモリ330、ストレージ350、インタフェース370を備えるコンピュータである。
プロセッサ310は、プログラムを実行することで、受信部311、入力部312、算出部313、生成部314、出力部315として機能する。
また、算出部313は、受信部311が稼働中の位置履歴データに基づいて、後述する稼働現場の各エリアにおける作業機械100の滞在時間を算出する。
ここで、算出部313によるインシデントリスクに係るスコアの算出方法の例について説明する。
まず、転倒リスクに係るスコアの算出方法を説明する。図5は、第1の実施形態に係る転倒リスクに係るスコアの算出方法を示すフローチャートである。算出部313は、満点を表す転倒リスクに係るスコアの初期値をメインメモリ330に記録する(ステップS101)。算出部313は、警報履歴データから、インシデントリスクが検知されてからインシデントリスクが検知されなくなるまでを表す複数のデータブロックを抽出する(ステップS102)。例えば、算出部313は、時刻が不連続となる位置で警報履歴データを分割することで、複数のデータブロックを抽出することができる。算出部313は、複数のデータブロックを1つずつ選択し(ステップS103)、選択されたデータブロックについて以下のステップS104からステップS111の処理を行う。
衝突リスクに係るスコアの算出方法を説明する。図7は、第1の実施形態に係る衝突リスクに係るスコアの算出方法を示すフローチャートである。算出部313は、警報履歴データから、インシデントリスクが検知されてからインシデントリスクが検知されなくなるまでを表す複数のデータブロックを抽出する(ステップS201)。つまり、算出部313は、警告領域内に少なくとも1つの障害物の侵入が検知されてから、警告領域内にすべての障害物が検知されなくなるまでの作業機械100の状態を示すデータブロックを抽出する。図8は、第1の実施形態に係る作業機械100による衝突に係るインシデントリスクの判断基準を示す図である。図8に示すように、作業機械100の制御装置190は、作業機械100の旋回中心を中心とする警告領域A1及び制御領域A2の内部に障害物が存在するか否かを判定することで、衝突に係るインシデントリスクを検知する。警告領域A1は、障害物の存在を通知する警告を発生させる領域である。図8に示す警告領域A1は、旋回中心を中心とし、ブーム151の長さに近い半径を有する円形の領域である。制御領域A2は、作業機械100が障害物に接触しないように作業機械100を強制的に停止させる介入制御を発生させる領域である。図8に示す制御領域A2は、旋回中心を中心とし、警告領域A1より短い半径を有する円形の領域である。
算出部313は、複数のデータブロックを1つずつ選択し(ステップS202)、選択されたデータブロックについて以下のステップS203からステップS209の処理を行う。
例えば、算出部313は、旋回角センサ104の計測値が±0度に近いほど値が大きく、180度に近いほど値が小さくなるように走行体110の向きの逆転に係るスコアを算出する。
例えば、算出部313は、警報装置が警報を発した時刻から警報が解除される時刻までの経過時間が大きいほど値が小さくなるように、警報の無視に係るスコアを算出する。
図9は、第1の実施形態に係るインシデントレポートRの一例を示す図である。
インシデントレポートRには、評価対象情報R1、レーダーチャートR2、タイムチャートR3、稼働エリアマップR4、傾斜頻度画像R5、傾斜姿勢画像R6、方向別障害物頻度画像R7、および距離別障害物頻度画像R8が含まれる。
作業機械100の制御装置190の取得部211は、作業機械100の稼働中、所定のサンプリング周期に従って各種センサから計測値を取得する。判定部212は、計測値に基づいてインシデントリスクの有無を判定し、インシデントリスクがあると判定した場合には警報装置に警報の出力指示を出力する。送信部213は、警報履歴データや稼働中の位置履歴データなどの履歴データをレポート生成装置300に送信する。警報履歴データは、判定部212によって警報の出力指示を出力したときに生成される。また稼働中の位置履歴データは、作業機械100の稼働中の所定の時間間隔ごとに生成される。レポート生成装置300の受信部311は、作業機械100から履歴データを受信し、ストレージ350に記録する。これにより、レポート生成装置300のストレージ350には、複数の作業機械100の履歴データが収集される。
図10は、第1の実施形態に係るレポート生成装置300の動作を示すフローチャートである。
利用者は、利用者端末500を操作してレポート生成装置300にアクセスすることで、レポート生成装置300にインシデントレポートの生成指示を送信する。レポート生成装置300の利用者の例としては、作業機械100のオペレータや稼働現場の管理者などが挙げられる。
レポート生成装置300の入力部は、アクセスに応答し、インシデントレポートに係る評価対象の情報の入力を受け付ける(ステップS1)。評価対象の情報の例としては、評価対象に係るオペレータの識別情報または稼働現場の識別情報、および評価期間が挙げられる。なお、評価対象としてオペレータの識別情報が入力された場合、オペレータの個人に係るインシデントレポートが生成され、稼働現場の識別情報が入力された場合、当該稼働現場で作業する複数の作業機械100やオペレータに係るインシデントレポートが生成される。
なお、ある時刻においてインシデントリスクが生じずに警報が出力されない場合、その時刻に係る警報履歴データが存在しない。この場合、算出部313は、当該時刻に係るスコアを最小値に設定する。
次に、生成部314は、ステップS3で算出したスコアに基づいて、各インシデントリスクのスコアの経時変化を表すタイムチャートR3を生成する(ステップS7)。
このように、第1の実施形態によれば、レポート生成装置300は、インシデントリスクの発生時刻からインシデントリスクの解消時刻までのリスク時間に基づいてスコアを算出し、当該スコアを表すレーダーチャートR2を出力する。これにより、レポート生成装置300は、リスクが存在する状態が継続する時間の長さに応じてスコアを算出するため、作業機械100の安全性を適切に評価することができる。
以上、図面を参照して一実施形態について詳しく説明してきたが、具体的な構成は上述のものに限られることはなく、様々な設計変更等をすることが可能である。すなわち、他の実施形態においては、上述の処理の順序が適宜変更されてもよい。また、一部の処理が並列に実行されてもよい。
第1の実施形態においては、距離別障害物検知画像R8は、数値によって障害物の検知回数を表すが、これに限られない。例えば、他の実施形態に係る距離別障害物検知画像R8は、明度や色相によって障害物の検知回数を表してもよい。
Claims (12)
- 作業機械に係るインシデントが生じるリスクを検知するリスク検知部と、
前記リスクの発生時刻から前記リスクの解消時刻までのリスク時間を計測する時間算出部と、
前記リスク時間に基づいて安全評価指標を算出する評価部と、
前記安全評価指標を出力する出力部と
を備える安全評価システム。 - 前記リスク検知部は、前記作業機械を中心とする所定の領域内に障害物が存在するリスクを検知し、
前記時間算出部は、前記領域内に障害物の侵入が検知された時刻から前記領域内に前記障害物が検知されなくなった時刻までの前記リスク時間を計測し、
前記評価部は、前記リスク時間の総和に基づいて前記安全評価指標を算出する
請求項1に記載の安全評価システム。 - 前記領域は、前記作業機械を中心とする第1領域と、前記第1領域の外側の第2領域とを有し、
前記時間算出部は、前記第1領域に係るリスク時間と前記第2領域に係るリスク時間をそれぞれ計測する
請求項2に記載の安全評価システム。 - 前記評価部は、前記第1領域に係るリスク時間と前記第2領域に係るリスク時間とに基づいて前記安全評価指標を算出する
請求項3に記載の安全評価システム。 - 前記評価部は、前記第1領域に係るリスク時間に第1係数を乗算した値と、前記第2領域に係るリスク時間に前記第1係数より小さい第2係数を乗算した値との和に基づいて、前記安全評価指標を算出する
請求項4に記載の安全評価システム。 - 前記時間算出部は、前記領域内に少なくとも1つの障害物の侵入が検知された時刻から、前記領域内にすべての障害物が検知されなくなった時刻までの前記リスク時間を計測する
請求項2から請求項5の何れか1項に記載の安全評価システム。 - 前記リスク検知部は、前記作業機械の姿勢に基づく転倒リスクを検知し、
前記評価部は、前記リスク時間が所定の閾値を超える場合に、前記安全評価指標を減点する
請求項1から請求項6の何れか1項に記載の安全評価システム。 - 前記評価部は、前記リスク時間が所定の閾値を超えた回数に第3係数を乗算した値と、前記リスクの発生回数に前記第3係数より小さい第4係数を乗算した値との和に基づいて、前記安全評価指標を算出する
請求項7に記載の安全評価システム。 - 前記リスク検知部は、前記作業機械の姿勢に基づいて、第1のリスクと前記第1のリスクより転倒可能性の高い第2のリスクとを検知し、
前記時間算出部は、前記第2のリスクに係るリスク時間を計測する
請求項8に記載の安全評価システム。 - 前記評価部は、前記第2のリスクのリスク時間が所定の閾値を超えた回数と、前記第1のリスクの発生回数とに基づいて、前記安全評価指標を算出する
請求項9に記載の安全評価システム。 - 前記評価部は、前記第2のリスクのリスク時間が所定の閾値を超えた回数に前記第3係数を乗算した値と、前記第1のリスクの発生回数に前記第4係数を乗算した値との和に基づいて、前記安全評価指標を算出する
請求項10に記載の安全評価システム。 - 安全評価システムが、作業機械に係るインシデントが生じるリスクを検知するステップと、
前記安全評価システムが、前記リスクの発生時刻から前記リスクの解消時刻までのリスク時間を計測するステップと、
前記安全評価システムが、前記リスク時間に基づいて安全評価指標を算出するステップと、
前記安全評価システムが、前記安全評価指標を出力するステップと
を備える安全評価方法。
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