WO2023062807A1

WO2023062807A1 - Physical condition management device, mobile body, physical condition management method, and non-transitory computer-readable medium

Info

Publication number: WO2023062807A1
Application number: PCT/JP2021/038180
Authority: WO
Inventors: 裕介國井; 茂央鈴木; 次朗安倍
Original assignee: 日本電気株式会社
Priority date: 2021-10-15
Filing date: 2021-10-15
Publication date: 2023-04-20

Abstract

Provided is, for example, a physical condition management device (20) that, even in an area beyond the reach of mobile radio waves, manages the physical condition of a worker and is capable of transmitting to the outside when the physical condition is abnormal. The physical condition management device (20) comprises: a communication position storage unit (221) that stores a position at which communication is possible; a physical condition management unit (201) that uses a sensor unit to acquire and manage physical condition information pertaining to the worker; a worker position acquisition unit (202) that acquires position information of the worker; a drive control unit (203) that controls autonomous movement of the mobile body; and a transmission unit (204) that, when the mobile body is at a stored position at which communication is possible, transmits the acquired position information of the worker.

Description

Physical condition management device, mobile object, physical condition management method, and non-temporary computer-readable medium

The present disclosure relates to a physical condition management device, a mobile body, a physical condition management method, a program, and the like.

Sensors such as LiDAR (Light Detection and Ranging) irradiate each measurement point on the object to be measured with a laser, and calculate the distance to each measurement point based on the time it takes to receive the light after irradiating the laser. be able to. By using these sensors while moving, it is possible to obtain the distance to and shape of objects to be measured, such as waterways and tunnels.

In areas where mobile radio waves do not reach, such as mountainous areas and underground facilities, there are cases where workers inspect objects to be measured, such as waterways and tunnels, together with mobile robots equipped with such distance measuring sensors.

Patent Document 1 discloses a monitoring system capable of confirming an abnormality when an abnormality occurs in a person to be monitored. In this monitoring system, when an abnormality occurs in a monitoring subject wearing a biological information acquisition device, a mobile robot moves toward the monitoring subject with the abnormality.

Japanese Patent Application Laid-Open No. 2020-181589

When working with a robot and a worker in an area where mobile radio waves do not reach, no one can grasp the worker's situation when the worker collapses due to poor physical condition. In addition, it is impossible to grasp the positional information of the worker necessary for rescuing the fallen worker.

The present disclosure has been made in order to solve such problems. , physical condition management methods, programs, etc.

The physical condition management device according to the first aspect of the present disclosure includes:
a communication position storage unit that stores communicable positions;
a physical condition management unit that acquires and manages the physical condition information of the worker using the sensor unit;
a worker position acquisition unit that acquires the position information of the worker;
a drive control unit that controls autonomous movement of the mobile body;
and a transmitting unit configured to transmit the acquired location information of the worker when the mobile body is at the stored communicable location.

A moving body according to a second aspect of the present disclosure includes
the physical condition management device;
a sensor unit that acquires physical condition information of a worker;
a point cloud data acquisition unit that acquires point cloud data.

A physical condition management method according to a third aspect of the present disclosure includes:
memorize the communicable position,
Acquire and manage the physical condition information of the worker using the sensor unit,
Acquiring location information of the worker;
control the autonomous movement of mobile bodies,
When the mobile body is at the stored communicable position, the acquired position information of the worker is transmitted.

A non-transitory computer-readable medium according to a fourth aspect of the present disclosure comprises:
a process of storing communicable positions;
A process of acquiring and managing the physical condition information of the worker using the sensor unit;
a process of acquiring location information of the worker;
a process of controlling autonomous movement of a mobile body;
A physical condition management program for causing a computer to execute a process of transmitting the acquired position information of the worker when the mobile body is at the stored communicable position is stored.

With this disclosure, it is possible to provide a physical condition management device, a mobile body, a physical condition management method, a program, etc. that can manage the physical condition of workers even in areas where mobile radio waves do not reach, and can transmit to the outside when the physical condition is abnormal.

1 is a block diagram showing the configuration of a physical condition management apparatus according to Embodiment 1; FIG. 2 is a flowchart showing a physical condition management method according to Embodiment 1; FIG. 10 is a diagram showing an example of measuring the inner wall of a tunnel with a sensor mounted on a moving object according to the second embodiment; FIG. 10 is a control block diagram of a moving body according to the second embodiment; 9 is a flowchart showing a control method according to Embodiment 2; It is a block diagram showing an example of hardware constitutions, such as a physical condition management device, in some embodiments.

Below, embodiments of the present disclosure will be described in detail with reference to the drawings. In each drawing, the same reference numerals are given to the same or corresponding elements, and redundant description will be omitted as necessary for clarity of description.

<Embodiment 1>
1 is a block diagram showing the configuration of a physical condition management apparatus according to a first embodiment; FIG.
The physical condition management device 20 is implemented by a computer having a processor, memory, and the like. The physical condition management device 20 can be used by being mounted on a mobile object or the like. The moving body referred to here can include various moving bodies such as carts, transport robots, drones, and water surface drones.

In some embodiments, the mobile body includes a sensor unit (e.g., temperature sensor) for acquiring physical condition information of the worker, and a sensor unit (e.g., LiDAR (Light Detection and Ranging)). In another embodiment, the worker may possess a worker portable terminal (eg, wearable device) having a sensor unit (eg, temperature sensor) for acquiring the physical condition information of the worker.

The physical condition management device 20 includes a communication location storage unit 221 that stores communicable locations, a physical condition management unit 201 that acquires and manages physical condition information of the worker using a sensor unit, and a worker that acquires the location information of the worker. A position acquisition unit 202, a drive control unit 203 that controls autonomous movement of the mobile body, and a transmission unit that transmits the acquired position information of the worker when the mobile body is at the stored communicable position. 204;

The communication location storage unit 221 can store one or more locations with which the mobile can communicate using the mobile phone communication network. The operator may store the communicable position information in the communication position storage unit 221 by registering the communicable position of the mobile body in advance. In some embodiments, while the mobile body is moving autonomously based on the map information, the communicable positions and the communicable positions may be automatically registered and stored in association with the map information.

The physical condition management unit 201 can acquire the physical condition information of the worker obtained using various sensor units such as a temperature sensor, and manage the physical condition of the worker over time. The physical condition management unit 201 detects the worker's posture based on three-dimensional data acquired using a distance measuring sensor (for example, LiDAR (Light Detection and Ranging)), and detects the worker's physical condition based on the worker's posture. can be estimated. For example, if the worker's posture is lying down or crouching, it can be estimated that the worker's physical condition is abnormal. Further, when the distance between the worker and the distance measuring sensor of the moving body is greater than a certain distance (for example, outside the monitoring range), it may be determined that the worker has become abnormal. On the other hand, if the worker is standing upright or walking, it can be estimated that the worker's physical condition is normal. In some embodiments, the physical condition management unit 201 acquires physical condition information (eg, body temperature, heart rate, etc.) of the worker via a wearable device (eg, smart watch, etc.) worn by the worker. may

The worker position acquisition unit 202, for example, based on the position information of the mobile body using GPS (global positioning system) etc. and the distance between the mobile body and the worker measured by the range sensor, Location information can be acquired. The worker position acquisition unit 202 can acquire position information of the worker in association with the acquired time and the acquired position information of the moving body, and store them in the storage unit.

The drive control unit 203 controls the drive unit of the moving body and controls the autonomous movement of the moving body. In some embodiments, the drive control unit 203 can control autonomous movement of the mobile object based on map information and position information of the mobile object. The drive control unit 203 can control the autonomous movement of the mobile object based on the image captured by the camera mounted on the mobile object.

When the mobile body is at the stored communicable position, the transmission unit 204 uses the mobile phone communication network to send one or both of the acquired worker position information and worker physical condition information to an external device. can be wirelessly transmitted to a server or the like.

FIG. 2 is a flow chart showing the physical condition management method according to the first embodiment.
The communication position storage unit 221 stores (or registers) the communicable position (step S11). The physical condition management unit 201 acquires and manages the physical condition information of the worker using the sensor unit (step S12). The worker position acquisition unit 202 acquires the position information of the worker (step S13). The drive control unit 203 controls autonomous movement of the moving body (step S14). The transmitting unit 204 transmits the acquired position information of the worker when the mobile body is at the stored communicable position (step S15). Also, the program according to the present embodiment is a program for causing a computer to execute the physical condition management method as shown in FIG.

The physical condition management device, physical condition management method, program, etc. according to the first embodiment described above can manage the physical condition of the worker even in areas where mobile radio waves do not reach, and can transmit to the outside when the physical condition is abnormal.

<Other embodiments>
Other embodiments envision variations of the first embodiment described above. For example, the worker position acquiring unit 202 of the physical condition management device 20 can acquire the worker position information at a position where communication is impossible using a mobile phone communication network (for example, inside a tunnel, in a mountainous area, etc.). For example, the worker position acquisition unit 202 of the physical condition management device 20 can detect a GPS (global positioning system) signal, a global navigation satellite system (GLONASS) signal, or a similar Satellite-based positioning system signals can be received to obtain location information for the mobile. Furthermore, the worker position acquisition unit 202 of the physical condition management device 20 can acquire the distance between the mobile object and the worker using a distance measuring sensor (for example, LiDAR) and calculate the position information of the worker. . Various known methods can be used to acquire the position information of the worker.

In another embodiment, when the physical condition management unit 201 determines that the physical condition of the worker is abnormal, the drive control unit 203 moves the moving body to a (preliminarily registered) communicable position (for example, outside a tunnel or in a mountainous area). (near the base station near the top). When a plurality of communicable positions are registered, the drive control unit 203 may move the moving body to the nearest communicable position.

The drive control unit 203 uses a range sensor (for example, LiDAR (Light Detection and Ranging)) when an abnormality in the physical condition of the worker is determined while the mobile body is moving autonomously for inspection work. It is possible to stop the inspection work and the autonomous movement accompanying the inspection work. After that, the drive control unit 203 can autonomously move the moving body to a communicable position (registered in advance).

In another embodiment, the transmitting unit 204 can transmit at least one of the worker's physical condition abnormality information and location information after the mobile body has moved to a pre-registered communicable position. The transmission unit 204 can wirelessly transmit one or both of the physical condition information and the location information of the worker to an external server or the like using a mobile phone communication network.

<Embodiment 2>
FIG. 3 is a diagram for explaining an example of detecting an abnormality in a water conduit by a moving object equipped with a sensor according to the second embodiment; In FIG. 3, a moving object 2 (for example, a vehicle, a water surface drone, etc.) equipped with a temperature sensor 4 and a LiDAR sensor 5 travels in the water conduit (in the direction of the arrow in FIG. 3), and from the sensor 5 The inner wall of the water conduit (measurement object 6) is irradiated with the laser in various directions. The sensor then receives the reflected laser light from the object to be measured. The sensor may laser almost continuously with a very short period. Alternatively, the movable body 2 may move to any position and irradiate the laser at each position. The sensor measures the distance to each measurement point based on the time it takes from irradiating multiple lasers in the peripheral direction to receiving the reflected light. Alternatively, the sensor can obtain the brightness value of the reflected light, from which the material of the measurement object (eg, metal, fabric, etc.) can be estimated. Thus, the ranging sensor 5 can acquire point cloud data including measurement data at a plurality of measurement points measured by the ranging sensor 5 . For example, measurement data may include coordinate values on the x-axis, y-axis, and z-axis at each measurement point. As shown, the conduit is elongated in shape and its length can be 50m or longer, 100m or longer, 300m or longer, or 1km or longer, and the like.

In this example, based on the acquired point cloud data, abnormal points such as the inner wall of the water conduit are detected. For example, the abnormal location can be determined from the difference in the distance measured by the sensor, that is, the shape of the abnormal location (eg, dent, hole, crack). An abnormal point can be detected using a known abnormal point detection program. In some embodiments, the ranging sensor 5 may be a LiDAR equipped with a device for detecting three-dimensional inertial motion called an IMU (Inertial Measurement Unit). Position information (trajectory data) can be recorded in chronological order.

In this example, the mobile object 2 can be an autonomously mobile robot or drone. In the water conduit inspection work described above, the operator 3 walks after the mobile body 2 autonomously moves, confirms whether or not there is a problem with the autonomous movement of the mobile body 2 and the inspection work, and provides support. However, when the work takes a long time, the worker 3 may be injured or lose consciousness for some reason and cannot move. In such a case, the operator himself/herself cannot call for help from a remote person. Also, when rescuing a worker, it is extremely difficult to locate the worker in an area where mobile phone radio waves do not reach, even if the worker has a mobile phone. When working in the area as described above, it has been common practice so far to ensure that a plurality of workers work in the area where communication is not possible. In other words, even if one worker is injured and cannot move, the rest of the workers can inform the injured person of the condition and position, thereby enabling rescue and prompt search. However, even when multiple workers are involved in the work, in the event of an accident such as inhalation of toxic gas, there have been cases where all workers are unable to move and cannot seek help.

As mentioned above, mobile objects that can move autonomously (for example, robots and drones) have been developed, and some of them are equipped with sensors such as cameras, LiDAR, and temperature sensors. As shown in FIG. 3, the moving object 2 according to the present embodiment has a ranging sensor 5 such as LiDAR and a camera 4 with a temperature sensor. As described above, the distance measurement sensor 5 can acquire point cloud data of the measurement object 6 by the autonomous movement of the mobile body 2 . The ranging sensor 5 can also be called a point cloud data acquisition unit. The distance measurement sensor 5 can also detect the worker's posture (for example, lying down, crouching, standing, etc.) by irradiating the worker with a laser beam. The distance sensor 5 can also measure the distance to the operator. In some embodiments, there may be separate distance sensors for measuring objects and for worker monitoring. The camera 4 with a temperature sensor may be an infrared thermography camera, or may be a camera with a built-in other suitable temperature sensor function. The camera 4 with a temperature sensor may be, for example, a celestial camera capable of photographing the moving object 2 in all directions (360 degrees). In other embodiments, the vehicle may have separate temperature sensors and video cameras. In some embodiments, the mobile object may have a microphone as a sensor and be configured to receive an acoustic response from a measurement object or the like.

The camera 4 with a temperature sensor can photograph the worker 3 walking behind the moving body 2 and measure the worker's body temperature. Also, the worker 3 has a worker portable terminal 30 . Worker portable terminal 30 may be a smart phone, mobile phone, tablet computer, laptop computer, wearable device (eg, smart watch, smart band), or other suitable portable terminal. Worker handheld device 30 may include one or more biometric monitoring devices such as pulse sensors, temperature sensors, or moisture (eg, perspiration) sensors. The worker portable terminal 30 can acquire physical condition information of the worker, such as the user's body temperature, heart rate, and pulse, and transmit the information to the control unit 200 of the mobile body 2 via wireless communication. The worker portable terminal 30 has a position information receiver (not shown) and receives the position information of the worker portable terminal 30 . The location information receiver may, for example, receive global positioning system (GPS) signals, Global Navigation Satellite System (GLONASS) signals, or similar satellite-based positioning system signals. The worker portable terminal 30 can be configured to communicate with the mobile object 2 by wire or wirelessly.

FIG. 4 is a control block diagram of a mobile object according to the second embodiment.
The control unit 200 is, for example, a CPU (Central Processing Unit) and is stored in the control unit of the moving body 2 . The moving body drive section 210 may include a drive circuit, a motor, and the like for driving the drive wheels. The control unit 200 can execute rotation control of the drive wheels by sending a drive signal to the moving body drive unit 210 . Further, the control unit 200 can receive a feedback signal from an encoder or the like from the moving body driving unit 210 and grasp the moving direction of the moving body 2 .

The sensor units 4 and 5 include a distance sensor for measuring the distance and shape of the object to be measured, a temperature sensor for measuring the body temperature of the worker, various sensors for detecting obstacles during movement (e.g., camera, optical sensor, etc.). , proximity sensors, etc.), and other sensors (eg, microphones), which may be distributed in the mobile body 2 . By sending control signals to the sensor units 4 and 5, the control unit 200 drives various sensors and acquires their output signals.

The memory 220 is a non-volatile storage medium, such as a solid state drive. The memory 220 stores various parameter values, functions, lookup tables, etc. used for control in addition to the control program for controlling the moving body 2 . The memory 220 has a communication location storage unit 221 that stores locations where the mobile unit 2 can or cannot communicate using the mobile phone communication network. The memory 220 may store environment map information that expresses the environment in which the mobile body 2 autonomously travels. The communication position storage unit 221 may receive registration of communicable position information of the mobile body from the worker via the worker portable terminal 30 or the user IF 240 and hold the position information.

The memory 220 also has a worker position storage unit 222 that stores and holds worker position information. The worker position storage unit 222 can hold the worker position information in association with the time when the worker position information was acquired.

The communication IF 230 is a communication interface for transmitting and receiving various types of information and control signals to and from external devices (eg, the server 10, the worker's portable terminal 30, etc.) under the control of the control unit 200. Communication IF 230 is, for example, a wireless LAN unit. In order to move autonomously, it may receive environmental map data created in advance by an external device. Also, in some embodiments, control signals for autonomous movement may be received from a server. The user IF 240 is a display panel or the like, and is a user interface for providing information to a user (worker) under the control of the control unit 200 and receiving instructions from the user (worker). The control unit 200 may receive the route for autonomous movement from the worker via the user IF 240 .

The location information receiver 250 receives the location information of the moving object 2. Position information receiver 250 may receive, for example, global positioning system (GPS) signals, Global Navigation Satellite System (GLONASS) signals, or similar satellite-based positioning system signals. The position information of the moving body 2 is sent to the control section 200 .

In some embodiments, the mobile body can have a speaker for transmitting voice to the worker and a notification unit such as a lamp that notifies the worker by blinking.

The control unit 200 also serves as a functional calculation unit that executes various calculations related to control. The physical condition management unit 201 acquires the physical condition of the worker using the physical condition detection information from the various sensors 4 and 5 or the worker portable terminal 30 . The physical condition management unit 201 can detect an abnormality in the physical condition of the worker. For example, the physical condition management unit 201 can use the camera 4 with a temperature sensor to recognize an abnormality in the physical condition of the worker when the worker's body temperature has significantly decreased or increased significantly. The physical condition management unit 201 can recognize an abnormality in the physical condition of the operator when the distance measuring sensor 5 detects the posture of the operator, such as lying down or crouching. In another embodiment, by comparing the heart rate, pulse rate, etc. of the worker with a threshold value, it is possible to recognize an abnormality in the worker's physical condition.

The worker position acquisition unit 202 can acquire the position information of the moving object based on the signal from the position information receiver 250. Also, the worker position acquisition unit 202 can acquire the worker position information based on the position information of the position information receiver 250 of the moving body 2, the distance information to the worker from the distance measuring sensor 5, and the like. When the physical condition management unit 201 recognizes that the physical condition of the worker is abnormal, the worker position acquiring unit 202 can acquire the position information of the worker who has the abnormal physical condition. The acquired worker position information is stored in the worker position storage unit 222 of the memory 220 in association with the acquired time. Various known methods can be used to acquire the position information of the worker. For example, if the ranging sensor 5 is a LiDAR equipped with a device for detecting three-dimensional inertial motion called an IMU (Inertial Measurement Unit), position information (trajectory data) when acquiring point cloud data can be used. can also

The drive control unit 203 transmits a control signal for controlling the movement of the mobile unit 2 to the drive unit 210 of the mobile unit 2 based on the physical condition information of the worker from the physical condition management unit 201 . Specifically, when the drive control unit 203 receives from the physical condition management unit 201 an abnormality in the physical condition of the worker (for example, an abnormality in body temperature, the worker has fallen down, etc.), the drive control unit 203 sends the mobile body 2 to the cellular phone communication. It can be moved to a pre-registered location where communication is possible using the network. Further, in some embodiments, when various sensors detect an abnormality of the worker, the moving body 2 can notify the worker 3 of the abnormality by notifying the worker by voice and lighting the lamp. When the worker 3 determines that the physical condition is abnormally detected, the mobile body 2 can be stopped by canceling the detection of the mobile body 2 via the user IF. After that, the operator 3 can restart the moving body 2 on the spot and have the moving body 2 continue the inspection work. If the worker determines that the physical condition is not a false detection, after a certain period of time (about 10 seconds), the worker can move to the nearest location within the reach of the radio wave of the mobile phone registered in advance. .

The transmission unit 204 can transmit at least one of the worker's status and location information to the outside (for example, a server that manages safety of the worker) via the communication IF 230 using a mobile phone communication network. .

In another embodiment, the control unit 200 may be configured to analyze the acoustic response from the measurement object or the like and detect the position of the measurement object.

FIG. 5 is a sequence diagram showing a control method according to the second embodiment;
First, in the mobile unit 2, a point to which radio waves reach is registered (step S101). In some embodiments, when the mobile body 2 is moving autonomously, a position where communication is possible via a mobile phone communication network (for example, a position outside the water conduit in FIG. 3) may be registered. In another embodiment, even if the worker 3 registers communicable position information by the mobile phone communication network in the communication position storage unit 221 of the mobile body 2 via the user IF 240 of the mobile body 2 or the worker portable terminal 30. good. One or more pieces of communicable location information pre-registered in this manner are stored in the storage unit of the mobile unit 2 .

Next, the worker 3 uses the moving body 2 to perform field work such as acquiring point cloud data of the object to be measured (step S103). For example, as shown in FIG. 3, the moving body 2 is moved inside the water conduit, and the point cloud data of the inner wall of the water conduit, which is the object 6 to be measured, is acquired. The inside of the water conduit in FIG. 3 is an area where communication of the mobile phone communication network is impossible, but it is an area where position information such as GPS signals can be acquired. The moving body 2 can move autonomously while avoiding obstacles in the water conduit using various sensor units, and can acquire point cloud data of the measurement object 6 . At this time, the worker 3 walks after the moving body 2 and confirms whether there is any problem in the operation of the moving body 2. - 特許庁

At this time, the various sensor units 4 and 5 or the worker portable terminal 30 can acquire the physical condition information of the worker 3 and transmit it to the physical condition management unit 201 of the control unit 200 of the moving body 2 . When the physical condition management unit 201 detects abnormal physical condition of the worker 3 from the various sensors 4, 5 or the worker portable terminal 30 (YES in step S105), the physical condition management unit 201 detects the various sensors 4, 5 or The state (physical condition) of the worker 3 and the location information of the worker 3 are recorded from the worker portable terminal 30 (step S107). The state (physical condition) of the worker 3, the location information of the worker 3, and the acquisition time can be recorded as time-series data.

Further, in some embodiments, when the physical condition management unit 201 detects an abnormality in the physical condition of the worker 3 from the various sensors 4, 5 or the worker portable terminal 30 (step S105), the notification unit ( For example, the operator 3 may be notified by a flashing lamp or a speaker). When the worker 3 determines that the physical condition abnormality is falsely detected (NO in step S105 and step S108), the mobile body 2 is stopped by canceling the detection via the user IF 240 or the worker portable terminal 30 (step S109). The worker 3 can restart the moving body 2 on the spot and have the moving body 2 continue the inspection work (for example, the measurement work of the inner wall of the water conduit). On the other hand, when the worker determines that the physical condition abnormality is not an erroneous detection, the physical condition management unit 201 of the control unit 200 of the moving body 2 detects the physical condition of the worker after a certain period of time (for example, after about 10 seconds have passed). It may be determined that an abnormality has occurred.

When the physical condition management unit 201 determines that the physical condition of the worker is abnormal, the moving body 2 autonomously moves to a position where radio waves of the pre-registered mobile phone communication network reach (step S111). The drive control unit 203 can drive the drive unit 210 of the mobile object 2 to move the mobile object 2 to a communicable position stored in the communication position storage unit 221 . At this time, the control unit 200 may temporarily stop the point cloud data acquisition process.

When the mobile body 2 reaches a position where communication is possible, the transmission unit 204 of the control unit 200 wirelessly communicates the status and position information of the worker to the server 10 that manages the safety of the worker using the mobile phone communication network. (step S112). When the server 10 receives the worker's state and position information (step S113), it notifies the worker's state and position information to the server of the rescue center or the like (step S115). Using the worker's state and position information, the rescuer can go to the site where the worker is to rescue and check the worker's situation (step S117). It should be understood that the sequence diagram of FIG. 5 is an example and that various variations and modifications are possible. Note that the program according to the present embodiment is a program for causing a computer to execute the physical condition management method as shown in FIG.

The physical condition management apparatus and the like according to the second embodiment described above manage the physical condition of workers even in areas where mobile radio waves do not reach. can be sent. As a result, the worker's physical condition abnormality and the worker's position can be notified to the outside, and the rescue team can go to the site to rescue the worker in order to confirm the worker's condition.

<Other embodiments>
Various modifications and modifications may be made to the second embodiment described above. For example, the mobile body 2 may wait at the communicable position as it is after transmitting the worker's state and position information to the server 10 of the rescue sensor at the communicable position. The rescuer may first go to a communicable position where the mobile body 2 is waiting, and then the mobile body 2 may autonomously move to the worker's position and guide the rescuer.

In another embodiment, the mobile body 2 may move autonomously and return to the worker's position after transmitting the worker's state and position information to the server 10 of the relief sensor at a communicable position. After returning to the position of the worker, the mobile body 2 may continue to manage the physical condition of the worker. That is, the physical condition management unit 201 can continuously record the condition (physical condition) of the worker 3 and the position information of the worker 3 from the various sensors 4 and 5 or the worker portable terminal 30 . After that, when the physical condition management unit 201 determines that the physical condition of the worker who has once experienced an abnormality in physical condition has recovered, the mobile body 2 autonomously moves again to a position where communication is possible, and indicates that the physical condition of the worker has recovered. The information may be transmitted to the server 10 of the rescue sensor.

FIG. 6 is a block diagram showing a hardware configuration example of the physical condition management device 20 of the mobile body 2 and the server 10 (information processing device). Referring to FIG. 6 , the physical condition management device 20 and the server 10 (hereinafter referred to as the physical condition management device 20 and the like) include a network interface 1201 , a processor 1202 and a memory 1203 . The network interface 1201 is used to communicate with other network node devices that make up the communication system. Network interface 1201 may be used to conduct wireless communications. For example, the network interface 1201 may be used for wireless LAN communication defined in IEEE 802.11 series or mobile communication defined in 3GPP (3rd Generation Partnership Project). Alternatively, network interface 1201 may include, for example, an IEEE 802.3 series compliant network interface card (NIC).

The processor 1202 reads and executes software (computer program) from the memory 1203 to perform the processing of the display device 100 described using the flowcharts or sequences in the above embodiments. Processor 1202 may be, for example, a microprocessor, MPU (Micro Processing Unit), or CPU (Central Processing Unit). Processor 1202 may include multiple processors.

The memory 1203 is composed of a combination of volatile memory and non-volatile memory. Memory 1203 may include storage remotely located from processor 1202 . In this case, processor 1202 may access memory 1203 via an I/O interface, not shown.

In the example of FIG. 6, memory 1203 is used to store software modules. The processor 1202 reads and executes these software modules from the memory 1203, thereby performing the processing of the physical condition management apparatus and the like described in the above embodiments.

As described using FIG. 6, each of the processors of the physical condition management device 20 and the like executes one or more programs containing instruction groups for causing the computer to execute the algorithm described using the drawings.

<Other embodiments>
In the above-described embodiment, the hardware configuration is described, but the configuration is not limited to this. The present disclosure can also implement arbitrary processing by causing a CPU to execute a computer program.

In the above example, the program can be stored and supplied to the computer using various types of non-transitory computer readable media. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible discs, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical discs), CD-ROMs (Read Only Memory), CD-Rs, Includes CD-R/W, DVD (Digital Versatile Disc), semiconductor memory (eg, mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)). The program may also be delivered to the computer on various types of transitory computer readable medium. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. Transitory computer-readable media can deliver the program to the computer via wired channels, such as wires and optical fibers, or wireless channels.

It should be noted that the present disclosure is not limited to the above embodiments, and can be modified as appropriate without departing from the scope. For example, in the above-described embodiment, an example of a mobile object that travels on the ground was used, but a mobile object such as a drone that flies in the air can also be used in mountainous areas. In addition, the present disclosure may be implemented by appropriately combining each embodiment.

Some or all of the above embodiments may also be described in the following additional remarks, but are not limited to the following.
(Appendix 1)
a communication position storage unit that stores communicable positions;
a physical condition management unit that acquires and manages the physical condition information of the worker using the sensor unit;
a worker position acquisition unit that acquires the position information of the worker;
a drive control unit that controls autonomous movement of the mobile body;
and a transmission unit configured to transmit the acquired location information of the worker when the mobile body is at the stored communicable location.
(Appendix 2)
The physical condition management device according to appendix 1, wherein the worker position acquisition unit acquires the position information of the worker at a position where communication is not possible.
(Appendix 3)
3. The physical condition management apparatus according to appendix 1 or 2, wherein the drive control unit moves the mobile body to the communicable position when the physical condition management unit determines that the physical condition of the worker is abnormal.
(Appendix 4)
Any one of appendices 1 to 3, wherein after the mobile body moves to the stored communicable position, the transmission unit transmits at least one of the worker's physical condition abnormality information and the location information. The physical condition management device described in .
(Appendix 5)
Further comprising a notification unit that, when the physical condition management unit detects an abnormality in the physical condition of the worker, notifies the worker of the detection of the abnormality,
After the notification, the physical condition management unit determines that the abnormality detection is an erroneous detection according to an instruction from the operator regarding the abnormality detection,
The physical condition management unit determines that the physical condition abnormality of the worker has occurred after a certain period of time has passed without an instruction from the operator regarding the detection of the abnormality after the notification. The physical condition management device described in .
(Appendix 6)
6. The physical condition management device according to any one of appendices 1 to 5, wherein the communication location storage unit stores locations where communication is possible using a mobile phone communication network.
(Appendix 7)
7. The physical condition management device according to any one of appendices 1 to 6, wherein the transmission unit transmits the acquired location information of the worker using a mobile phone communication network at the communicable location.
(Appendix 8)
A physical condition management device according to any one of Appendices 1 to 7;
a sensor unit that acquires physical condition information of a worker;
and a point cloud data acquisition unit that acquires point cloud data.
(Appendix 9)
memorize the communicable position,
Acquire and manage the physical condition information of the worker using the sensor unit,
Acquiring location information of the worker;
control the autonomous movement of mobile bodies,
A physical condition management method, wherein the obtained location information of the worker is transmitted when the mobile body is at the stored communicable location.
(Appendix 10)
a process of storing communicable positions;
A process of acquiring and managing the physical condition information of the worker using the sensor unit;
a process of acquiring location information of the worker;
a process of controlling autonomous movement of a mobile body;
A non-temporary computer-readable program storing a physical condition management program that causes a computer to execute a process of transmitting the acquired position information of the worker when the mobile body is at the stored communicable position. medium.

Although the present invention has been described with reference to the embodiments (and examples), the present invention is not limited to the above-described embodiments (and examples). Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention.

2 moving body 4 camera with temperature sensor 5 ranging sensor 6 object to be measured 10 server 20 physical condition management device 30 worker portable terminal 200 control unit 201 physical condition management unit 202 worker position acquisition unit 203 drive control unit 204 transmission unit 210 moving object Drive unit 220 Memory 221 Communication position storage unit 222 Worker position storage unit 230 Communication IF
240 User interface
250 location information receiver 1201 network interface 1202 processor 1203 memory

Claims

a communication position storage unit that stores communicable positions;
a physical condition management unit that acquires and manages the physical condition information of the worker using the sensor unit;
a worker position acquisition unit that acquires the position information of the worker;
a drive control unit that controls autonomous movement of the mobile body;
and a transmission unit configured to transmit the acquired location information of the worker when the mobile body is at the stored communicable location.
The physical condition management device according to claim 1, wherein the worker position acquisition unit acquires position information of the worker at a position where communication is not possible.
The physical condition management device according to claim 1 or 2, wherein, when the physical condition management unit determines that the physical condition of the worker is abnormal, the drive control unit moves the mobile body to the communicable position.
4. The transmitter according to any one of claims 1 to 3, wherein after the moving object moves to the stored communicable position, the transmitting unit transmits at least one of the worker's physical condition abnormality information and the position information. The physical condition management device according to the item.
Further comprising a notification unit that, when the physical condition management unit detects an abnormality in the physical condition of the worker, notifies the worker of the detection of the abnormality,
After the notification, the physical condition management unit determines that the abnormality detection is an erroneous detection according to an instruction from the operator regarding the detection of the abnormality,
5. The physical condition management unit determines that an abnormality in the physical condition of the worker has occurred after a certain period of time has passed without an instruction from the operator regarding the detection of the abnormality after the notification. The physical condition management device according to item 1.
The physical condition management device according to any one of claims 1 to 5, wherein the communication location storage unit stores locations where communication is possible using a mobile phone communication network.
The physical condition management device according to any one of claims 1 to 6, wherein the transmission unit transmits the acquired location information of the worker using a mobile phone communication network at the communicable location. .
The physical condition management device according to any one of claims 1 to 7,
a sensor unit that acquires physical condition information of a worker;
and a point cloud data acquisition unit that acquires point cloud data.
memorize the communicable position,
Acquire and manage the physical condition information of the worker using the sensor unit,
Acquiring location information of the worker;
control the autonomous movement of mobile bodies,
A physical condition management method, wherein the obtained location information of the worker is transmitted when the mobile body is at the stored communicable location.
a process of storing communicable positions;
A process of acquiring and managing the physical condition information of the worker using the sensor unit;
a process of acquiring location information of the worker;
a process of controlling autonomous movement of a mobile body;
A non-temporary computer-readable program storing a physical condition management program that causes a computer to execute a process of transmitting the acquired position information of the worker when the mobile body is at the stored communicable position. medium.