WO2023135873A1 - Dispositif de traitement d'informations, terminal, procédé de traitement d'informations, procédé d'alarme et système d'alarme - Google Patents

Dispositif de traitement d'informations, terminal, procédé de traitement d'informations, procédé d'alarme et système d'alarme Download PDF

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Publication number
WO2023135873A1
WO2023135873A1 PCT/JP2022/037125 JP2022037125W WO2023135873A1 WO 2023135873 A1 WO2023135873 A1 WO 2023135873A1 JP 2022037125 W JP2022037125 W JP 2022037125W WO 2023135873 A1 WO2023135873 A1 WO 2023135873A1
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WIPO (PCT)
Prior art keywords
terminal
area
worker
alarm
positioning
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PCT/JP2022/037125
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English (en)
Japanese (ja)
Inventor
靖久 山崎
純 柴田
一幸 吉野
直登 堀池
慶士 河合
良昌 白崎
敦基 角淵
則之 下条
浩章 須藤
和裕 小坂
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パナソニックＩｐマネジメント株式会社
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Publication of WO2023135873A1 publication Critical patent/WO2023135873A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
    • G08B21/02—Alarms for ensuring the safety of persons
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
    • G08B25/04—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using a single signalling line, e.g. in a closed loop
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B25/00—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems
    • G08B25/01—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium
    • G08B25/10—Alarm systems in which the location of the alarm condition is signalled to a central station, e.g. fire or police telegraphic systems characterised by the transmission medium using wireless transmission systems

Definitions

  • the present disclosure relates to an information processing device, a terminal, an information processing method, an alarm method, and an alarm system.
  • Patent Document 1 if even one worker to be the target of the approach notification exists in the approach notification target area, which is an example of a geofence, an alarm command is output, and if not, A technique is disclosed that does not output an alarm command. At that time, it is also disclosed that the type of warning is changed in stages according to information such as the number of workers detected in the approach notification target area and the distance from the hydraulic excavator.
  • the determination of whether to issue an alert to the person carrying the mobile object is made based only on the distance between the geofence and the mobile object, and other factors other than the distance are not considered. For example, if an alarm is issued even when the distance between the geofence and the moving object is long, safety is likely to be ensured, but excessive alarms are likely to be issued. On the other hand, if the warning is issued only when the distance between the geofence and the moving object is short, it becomes easier to suppress the issuance of excessive warnings, but it becomes difficult to ensure safety. In other words, by considering other factors than the distance between the geofence and the moving object, the appropriateness of additional geofences that provide a better balance between issuing excessive warnings and ensuring safety. There is room for setting.
  • a non-limiting embodiment of the present disclosure includes an information processing device, a terminal, an information processing method, and an information processing device capable of appropriately issuing an alert to a person associated with a mobile object, such as a person carrying a mobile object. It contributes to the provision of warning methods and warning systems.
  • An information processing apparatus according to at least one of a parameter related to an attribute of a worker associated with a terminal and a parameter related to the surrounding situation of the worker, changing the range of the area where the warning should be issued, and whether the terminal is a terminal approaching or entering the area where the warning should be issued based on the position of the terminal and the range of the area where the warning should be issued; and a communication for transmitting a signal for causing the terminal to issue the alarm to the terminal when it is determined that the terminal is a terminal approaching or entering an area where the alarm should be issued.
  • a terminal includes a processing unit that determines the position of the terminal, and based on the position of the terminal and the range of the area where the warning should be issued, the area in which the terminal should issue the alert and an alarm unit that issues an alarm when it is determined that the terminal is approaching or invading the Dependent on at least one of a parameter and a parameter relating to the worker's surroundings.
  • the information processing device performs the , changing the range of the area where the warning should be issued to the worker, and based on the position of the terminal and the range of the area where the warning should be issued, the terminal approaches or enters the area where the warning should be issued; and if it is determined that the terminal is a terminal approaching or entering an area where the warning should be issued, a signal for causing the terminal to issue the warning is transmitted to the terminal. do.
  • An alert method is such that the terminal determines the location of the terminal, and the terminal should issue the alert based on the location of the terminal and the range of the area where the alert should be issued.
  • a terminal is determined to approach or intrude into an area, an alarm is issued, and the range of the area for which the alarm is to be issued is determined by a parameter relating to attributes of a worker associated with the terminal and the worker. and at least one of parameters relating to the surroundings of the device.
  • An alarm system includes a first terminal and a second terminal, wherein the alarm system includes parameters related to attributes of workers associated with the first terminal and changing the range of an area including a specific area including the position of the second terminal, in which a warning is to be issued to the worker, according to at least one of parameters relating to surrounding conditions; Based on the position of one terminal and the range of the area where the warning should be issued, it is determined whether the first terminal is a terminal approaching or entering the area where the warning should be issued, At least one of the first terminal and the second terminal issues the alarm when it is determined that the terminal is approaching or entering the area for which the alarm should be issued.
  • the worker The range of the area where the warning should be issued is changed, and based on the position of the terminal and the range of the area where the warning should be issued, it is determined whether the terminal is approaching or entering the area where the warning should be issued. be. Then, when the terminal is determined to be a terminal approaching or entering an area to issue an alarm, the terminal is provided with a signal for causing the terminal to issue an alarm, or the terminal issues an alarm. As a result, it is possible to issue an appropriate warning to the worker in accordance with the approach or entry into the area where the warning should be issued, taking into account factors other than the distance to the moving object.
  • a diagram showing an example of an alarm system according to Embodiment 1 of the present disclosure A diagram showing an example of a configuration of a positioning terminal according to Embodiment 1
  • a diagram showing an example of a configuration of an upper server according to Embodiment 1 A diagram showing an example of the operation of the positioning terminal according to Embodiment 1
  • a diagram showing an example of the operation of the upper server according to the first embodiment A diagram showing an example of the operation of the upper server according to the first embodiment.
  • a diagram showing an example of the operation of the upper server according to the first embodiment A diagram showing an example of the operation of the upper server according to the first embodiment.
  • a diagram showing an example of an alarm system according to Embodiment 2 of the present disclosure A diagram showing an example of the configuration of a positioning terminal according to Embodiment 2 A diagram showing an example of a configuration of an upper server according to Embodiment 2 Diagram showing an example of the operation of the positioning terminal according to Embodiment 2 A diagram showing an example of the operation of the upper server according to the second embodiment A diagram showing an example of the operation of the upper server according to the second embodiment A diagram showing an example of a dangerous area and a margin area added to the dangerous area according to the embodiment of the present disclosure
  • FIG. 1 is a diagram showing an example of an alarm system 1 according to Embodiment 1 of the present disclosure.
  • One example of a scenario in which the warning system 1 is used includes workers approaching and entering hazardous areas (ie geofences) on a work site. Note that the dangerous area may also be referred to as a no-entry area. An example of such a scenario is described below.
  • the warning system 1 has a positioning terminal 10, a host server 20, a reference station data distribution server 30, a monitor device 40, and a weather information distribution server 50.
  • the alarm system 1 may also be called an information processing system or the like.
  • the positioning terminal 10 is, for example, a dedicated terminal for positioning, a mobile phone, a smartphone, a tablet, or a wearable device (for example, a wristwatch type (or wristband type or ring type) terminal). , a head-mounted display type (or glasses type or goggles type) terminal, an earphone type terminal, a clothing type terminal, a sock type terminal, etc.).
  • the positioning terminal 10 may also be mounted on a construction vehicle as, for example, a dedicated terminal for positioning, a personal computer having a positioning function, a server computer, a wireless terminal such as a smart phone, a tablet, or the like.
  • the positioning terminal 10 may also be called an alarm device or the like.
  • the positioning terminal 10 is an example of a terminal, a first terminal, a second terminal, or an information processing device (corresponding to a representative positioning terminal 10 described later) according to the present disclosure.
  • a plurality of positioning terminals 10 may exist in the alarm system 1 .
  • each of two or more positioning terminals 10 among the plurality of positioning terminals 10 may be carried by each worker of two or more workers and associated with each worker, and the plurality of positioning terminals 10
  • Each of the remaining positioning terminals 10 may be mounted on each construction vehicle and associated with each construction vehicle.
  • the positioning terminal 10 accesses a network including a mobile communication network by a communication method such as LTE (Long Term Evolution), 5G, Beyond 5G, 6G, WiFi (registered trademark), WiGig (registered trademark), WiMAX (registered trademark). , may be connected to the host server 20 and the reference station data distribution server 30 via a network.
  • LTE Long Term Evolution
  • 5G Fifth Generation
  • 6G 6G
  • WiFi registered trademark
  • WiGig registered trademark
  • WiMAX registered trademark
  • the positioning terminal 10 receives radio waves (also referred to as “satellite signals” or “positioning signals”) transmitted from GNSS (Global Navigation Satellite System) satellites (not shown), and uses the received satellite signals. positioning data of the positioning terminal 10 (which may also be referred to as “positioning terminal positioning data” or “positioning terminal data”).
  • the positioning terminal 10 receives correction data for measuring the position of the positioning terminal 10 (positioning the positioning terminal 10) by performing RTK (Real Time Kinematic) calculation from the reference station data distribution server 30 .
  • RTK Real Time Kinematic
  • the positioning terminal 10 performs RTK calculation using the positioning terminal positioning data and the correction data to measure the position of the positioning terminal 10 (velocity and acceleration in some cases).
  • the positions may also be referred to as coordinates (on the earth).
  • the coordinates may be, for example, three-dimensional coordinates of latitude, longitude, and altitude, or two-dimensional coordinates represented by two of latitude, longitude, and altitude (eg, latitude and longitude). .
  • coordinates are two-dimensional coordinates represented by latitude and longitude.
  • the expression “measure a position” includes “determine a position (or coordinates),” “determine a position (or coordinates),” “estimate a position (or coordinates),” “determine a position (or coordinates).” It may be read as the expression “detect”, “calculate the position (or coordinates)”, “calculate the position (or coordinates)", or “derive the position (or coordinates)”. Details of positioning using the RTK calculation will be described later. By using the RTK calculation in this manner, highly accurate position information and the like can be obtained.
  • the positioning terminal 10 transmits the positioning result of the positioning to the upper server 20 .
  • the positioning terminal 10 is notified by the host server 20 that the positioning terminal 10 has entered or is approaching a dangerous area or a margin area added to the outside (periphery) of a dangerous area described later (referred to as an "alarm event").
  • the warning issue command may be expressed as a signal for causing the positioning terminal 10 to issue an alert.
  • the danger area and the margin area are examples of "an area where a worker should be warned" according to the present disclosure.
  • the positioning terminal 10 issues an alarm to, for example, a worker associated with the positioning terminal 10 or a worker driving a construction vehicle associated with the positioning terminal 10, according to the warning issue command.
  • the upper server 20 may be composed of, for example, one or more server computers.
  • the upper server 20 may be called a cloud server.
  • the upper server 20 is an example of an information processing device according to the present disclosure.
  • the upper server 20 sets a dangerous area.
  • Dangerous areas include, for example, an area where earth and sand are piled up with a safety margin added, an area where work tools are gathered with a safety margin added, an area for construction vehicles with a safety margin added, etc. OK. Areas with such added safety margins may be referred to as danger and margin areas.
  • the dangerous/margin area is also an example of a dangerous area.
  • the shape of the dangerous area includes, but is not limited to, circular, elliptical, rectangular, and the like. In the following description, it is assumed that the dangerous area has a circular shape.
  • the upper server 20 receives the positioning result transmitted from the positioning terminal 10 . Based on the set dangerous area, the received positioning result, etc., the host server 20 determines whether the positioning terminal 10 carried by the worker and associated with the worker approaches or enters the dangerous area (in other words, (for example, to detect an alarm event). When an alarm event is detected, the host server 20 issues an alarm to warn at least one of the worker associated with the positioning terminal 10 and the worker driving the construction vehicle that the alarm event has occurred. An issue command is generated and transmitted to the corresponding positioning terminal 10 .
  • the upper server 20 collects statistics for each positioning terminal 10 (in other words, workers associated with the positioning terminals 10).
  • statistics taken for each positioning terminal 10 include the cumulative stay time of the worker in the work area where the worker works (may be referred to as cumulative work time) and the number of dangerous area intrusions (dangerous area intrusion). (which may be referred to as frequency).
  • the shape of the work area includes, for example, a perfect circle, an oval, a rectangle, etc., but is not limited to these.
  • the host server 20 also pre-sets (or registers or stores) the work skill level of each worker (in other words, the positioning terminal 10 associated with the worker) in the storage section of the host server 20. back.
  • the host server 20 acquires weather information (rainfall, temperature, etc.) of the work site (in other words, the area around the worker) from the weather information distribution server 50, which will be described later.
  • the host server 20 adds (sets) a margin area outside the dangerous area based on at least one of the cumulative stay time, frequency of entering the dangerous area, work skill level, and weather information. The host server 20 then determines whether the positioning terminal 10 associated with the worker approaches or enters the margin area (in other words, detects an alarm event). When an alarm event is detected, the host server 20 issues an alarm to warn at least one of the worker associated with the positioning terminal 10 and the worker driving the construction vehicle that the alarm event has occurred. An issue command is generated and transmitted to the corresponding positioning terminal 10 .
  • the shape of the area including the dangerous area and the margin area added to the dangerous area includes, for example, a perfect circle, an oval, a rectangle, etc., but is not limited to these. In the following description, it is assumed that the shape of the area including the dangerous area and the margin area added to the dangerous area is a perfect circle. Examples of a dangerous area and a margin area added to the dangerous area (examples 1 and 2) according to the embodiment of the present disclosure are shown in FIG.
  • the upper server 20 associates the identification information of the positioning terminal 10 with the identification information of the worker or the construction vehicle in a table format or list format, for example, and stores the identification information of the positioning terminal 10 in a storage device provided in the upper server 20. can be managed.
  • the host server 20 transmits information such as the set danger area and margin area, the received positioning results, and the positioning terminal 10 to which the warning issue command is to be sent, to the monitor device 40 so as to display the information.
  • the reference station data distribution server 30 transmits to the positioning terminal 10 correction data for positioning the positioning terminal 10 by performing RTK calculation.
  • the correction data may be generated by a reference station (not shown) and transmitted to the reference station data distribution server 30 .
  • a reference station may generate reference station positioning data (which may also be referred to as “correction data,” “reference station positioning data,” or “reference station data”) based on satellite signals transmitted from GNSS satellites.
  • the reference station may periodically transmit the generated correction data to the reference station data distribution server 30 (for example, at a transmission cycle of the order of seconds or less).
  • the monitor device 40 receives information from the host server 20 such as the dangerous area and margin area, the positioning result, and the positioning terminal 10 to which the warning issue command is to be sent.
  • the monitor device 40 displays this information on the display that the monitor device 40 has.
  • the monitor device 40 may be included in the host server 20, may be included in a computer of a user such as a work manager, or may be mounted on a construction vehicle.
  • the weather information distribution server 50 transmits weather information (which may be referred to as weather information) of the work site to the host server 20 .
  • Weather information may include, but is not limited to, rainfall and temperature information at the work site.
  • the weather information distribution server 50 may perform push-type transmission such as periodically transmitting weather information to the host server 20 or transmitting weather information to the host server 20 when updated.
  • a pull-type transmission such as transmitting weather information to the host server 20 in response to a request from 20 may be performed.
  • FIG. 2 is a block diagram showing an example of the configuration of positioning terminal 10 according to Embodiment 1.
  • positioning terminal 10 includes processor 101 , storage unit 102 , alarm unit 103 , GNSS receiver 104 , communication unit 105 , output unit 106 , and bus 107 .
  • the processor 101 may be realized by a processing device such as a central processing unit (CPU). Processor 101 controls overall operation of positioning terminal 10 (eg, other elements of positioning terminal 10).
  • the processor 101 may also be called a processing unit, a control unit, an arithmetic unit, a controller, or the like.
  • the processor 101 generates positioning terminal positioning data using satellite signals from GNSS satellites.
  • the positioning terminal positioning data may be generated by the GNSS receiver 104 and output to the processor 101 .
  • the processor 101 performs RTK calculation using the positioning terminal positioning data and the correction data from the reference station data distribution server 30 to measure (determine) the position, velocity, acceleration and traveling direction of the positioning terminal 10 .
  • the positioning terminal 10 includes a speed sensor and an acceleration sensor
  • the speed and acceleration of the positioning terminal 10 may be measured by the speed sensor and the acceleration sensor, respectively.
  • the velocity and acceleration of the positioning terminal 10 may be determined by obtaining the velocity and acceleration respectively from the . Further, these measurements may be performed at the timing when a satellite signal is received from a GNSS satellite, or may be performed at predetermined intervals such as every 0.2 seconds, every 0.5 seconds, or every second. good too.
  • the processor 101 outputs (that is, stores) the positioning result of the positioning to the storage unit 102 .
  • the positioning result regarding the positioning terminal 10 includes the position (latitude and longitude), speed and traveling direction of the positioning terminal 10 .
  • the processor 101 transmits the positioning result to the host server 20 via the communication unit 105 each time measurement is performed.
  • the processor 101 receives an alarm issuing command from the host server 20 via the communication unit 105 .
  • the processor 101 When the processor 101 receives an alarm issue command from the host server 20, the processor 101 controls the alarm unit 103 to issue an alarm corresponding to the alarm issue command.
  • the warning issuing command includes a warning issuing command for issuing a warning that the positioning terminal 10 is intruding into the margin area.
  • the storage unit 102 may be, for example, one or more of DRAM (Dynamic Random Access Memory), HDD (Hard Disk Drive), SSD (Solid State Drive), and the like.
  • the storage unit 102 acquires various information from other elements and retains the information temporarily or permanently.
  • the storage unit 102 is a general term for so-called primary storage device and secondary storage device. A plurality of storage units 102 may be physically arranged.
  • the storage unit 102 stores, for example, a program executed by the processor 101 to operate the positioning terminal 10, data necessary for operating the positioning terminal 10, data generated by the processor 101, satellites transmitted from GNSS satellites, It stores signals, positioning terminal positioning data, correction data sent from the reference station data distribution server 30, positioning results from the processor 101, warning issuing commands sent from the host server 20, and the like.
  • the warning unit 103 warns against approaching and entering the dangerous area and the margin area added to the dangerous area.
  • the alarm unit 103 may issue an alarm by ringing a buzzer, vibrating the positioning terminal 10, outputting an alarm sound via the output unit 106, or any combination thereof.
  • the warning unit 103 may issue different types of warnings according to the estimated time that the positioning terminal 10 will enter the dangerous area and the margin area added to the dangerous area.
  • the GNSS receiver 104 receives satellite signals transmitted from GNSS satellites.
  • the GNSS receiver 104 may generate positioning terminal positioning data of the positioning terminal 10 using the received satellite signals.
  • GNSS receiver 104 outputs satellite signals to processor 101 and storage unit 102 .
  • the GNSS receiving apparatus 104 outputs the positioning terminal positioning data to the processor 101 and the storage section 102 .
  • the communication unit 105 may be configured using a communication interface capable of communicating with a communication network such as a cellular communication network.
  • a communication unit 105 communicates with an external device via a communication path.
  • the target (communication target) devices with which the communication unit 105 communicates include, for example, the host server 20 and the reference station data distribution server 30 .
  • the communication unit 105 receives the correction data transmitted from the reference station data distribution server 30.
  • the communication unit 105 receives an alarm issuing command transmitted from the host server 20 .
  • the communication unit 105 outputs the received correction data and warning issuing command to the processor 101 and the storage unit 102 .
  • the communication unit 105 transmits the positioning result of the positioning to the host server 20 .
  • the output unit 106 may be configured using an output interface such as a display. Additionally or alternatively, output unit 106 may be configured with an output interface for sound, vibration, or the like.
  • the output unit 106 presents or provides information to the outside. The information presented or provided by the output unit 106 includes positioning results by the processor 101 and the like.
  • the processor 101, storage unit 102, alarm unit 103, GNSS receiver 104, communication unit 105 and output unit 106 are connected to each other via a bus 107 so as to be able to communicate with each other.
  • the configuration of the positioning terminal 10 described above is an example. Some of the components of positioning terminal 10 may be integrated. Also, some of the components of the positioning terminal 10 may be divided into multiple components. Also, some of the components of the positioning terminal 10 may be omitted. Also, other elements may be added to the positioning terminal 10 . For example, an input unit, which may be a touch display, keyboard, mouse, etc., may be added to the positioning terminal 10 .
  • the positioning data illustratively includes pseudorange information, carrier phase information and Doppler frequency information.
  • Pseudorange information is information about the distance between a satellite and a receiver (eg, reference station or positioning terminal 10).
  • the receiver can calculate the distance to the satellite by analyzing the positioning signal. For example, the receiver determines the arrival time of the positioning signal based on the following information.
  • Satellite signal generation time and receiver signal reception time Note that the satellite signal generation time is , is included in the positioning signal message (NAVDATA).
  • the receiver obtains the pseudo-range between the satellite and the receiver by multiplying the arrival time of the positioning signal by the speed of light.
  • Pseudoranges include errors due to differences in satellite clocks and receiver clocks, and so on.
  • Pseudorange information is generated for four or more satellites to reduce errors.
  • the carrier phase information is the phase of the positioning signal received by the receiver.
  • the positioning signal is a predetermined sine wave.
  • the receiver can calculate the phase of the positioning signal by analyzing the received positioning signal.
  • Doppler frequency information is information about the relative velocity between the satellite and the receiver.
  • a receiver can generate Doppler frequency information by analyzing the positioning signal.
  • the RTK computation is a computation for executing the RTK method, which is one of interferometric positioning.
  • the RTK method is a positioning method that uses the carrier wave phase integrated value of the positioning signal transmitted by the satellite to determine the position of a predetermined point.
  • the carrier wave phase integrated value is represented by the sum of (1) the number of waves of the positioning signal and (2) the phase from the satellite to the predetermined point.
  • the frequency (and wavelength) of the positioning signal is known, so the distance between the satellite and the predetermined point can be obtained.
  • the number of waves in the positioning signal is called integer ambiguity or integer bias because it is an unknown quantity.
  • noise removal and integer ambiguity estimation are performed.
  • noise can be removed by calculating a difference called a double difference.
  • the double difference is the difference between the calculated carrier phase integrated values (single difference) of one receiver for two satellites between two receivers (for example, the reference station and the positioning terminal 10). . Since four or more satellites are used in positioning using the RTK method, double differences are calculated for the number of combinations of four or more satellites. For the calculation of the double difference, for example, the reference station positioning data generated by the reference station and the positioning terminal positioning data generated by the positioning terminal 10 are used.
  • the integer ambiguities are estimated by performing the procedure of (1) estimating the float solution by the least squares method and (2) testing the fixed solution based on the float solution.
  • Estimation of the float solution by the least squares method is executed by creating simultaneous equations using combinations of double differences generated for each time unit and solving the created simultaneous equations by the least squares method.
  • the reference station positioning data generated by the reference station, the positioning terminal positioning data generated by the positioning terminal 10, and the known coordinates of the reference station are used.
  • a real number estimate of the integer ambiguity estimated in this way is called a float solution (guess solution).
  • the true value of the integer ambiguity is an integer. So the float solution is converted to an integer value by "rounding".
  • a plurality of candidates can be considered for combinations for rounding the float solutions.
  • the correct integer value is tested from among multiple candidates.
  • a solution that is likely to be integer biased by the test is called a fixed solution (precise positioning solution).
  • a quality check is performed using the AR (Ambiguity Ratio) value obtained by the RTK calculation, and the correct integer value is tested based on the result of the quality check.
  • Reference station positioning data generated by the reference station may be used to streamline the narrowing down of integer value candidates.
  • the processor 101 performs interferometric positioning (RTK calculation) by the RTK method using, for example, the positioning terminal positioning data of the positioning terminal 10 and the reference station positioning data of the reference station (that is, the correction data transmitted from the reference station data distribution server 30). Execute to calculate the positioning solution (fixed solution or float solution). A positioning solution obtained by RTK calculation may be referred to as an “RTK positioning solution”.
  • the processor 101 performs a quality check using the AR value obtained by the RTK calculation, and if the AR value is equal to or greater than a predetermined threshold value (eg, 3.0), it is determined that a correct fixed solution has been obtained, and the fixed solution is obtained. is output, and when the AR value is less than a predetermined threshold, it is determined that a correct positioning solution has not been obtained, and a float solution is output.
  • a predetermined threshold value eg, 3.0
  • the processor 101 determines the RTK positioning solution as the position of the positioning terminal 10 (coordinates on the earth).
  • FIG. 3 is a block diagram showing an example of the configuration of the upper server 20 according to Embodiment 1.
  • the host server 20 includes a processor 201 , a storage section 202 , a communication section 203 and a bus 204 .
  • the processor 201 may be realized by a processing device such as a CPU.
  • the processor 201 controls overall operations of the host server 20 (eg, other elements of the host server 20).
  • the processor 201 may also be called a processing unit, a control unit, an arithmetic unit, a controller, or the like.
  • the processor 201 sets the worker's work area. For example, the processor 201 sets the work area based on area information (for example, position information of a virtual boundary line) input by a user such as a work manager via an input unit (not shown). good.
  • area information for example, position information of a virtual boundary line
  • the processor 201 sets a dangerous area. For example, if the hazardous area is not associated with a construction vehicle area, the processor 201 may use area information (e.g., the position of a virtual boundary line) entered by a user, such as a work manager, via an input unit (not shown). information), the risk area may be statically (fixedly) or semi-statically set, which may or may not include a safety margin. Also, when the dangerous area is related to the construction vehicle area, the processor 201 may or may not include a safety margin based on the positioning result of the positioning terminal 10 from the positioning terminal 10 associated with the construction vehicle. Dangerous areas may be set dynamically.
  • area information e.g., the position of a virtual boundary line
  • the processor 201 may use area information (e.g., the position of a virtual boundary line) entered by a user, such as a work manager, via an input unit (not shown). information)
  • the risk area may be statically (fixedly) or semi-statically set, which may or may not include
  • the processor 201 may set the dangerous area by setting the circumference of a predetermined circle centered at the position of the positioning terminal 10 included in the positioning result as a virtual boundary line.
  • the dangerous area in this case includes the position of the positioning terminal 10 associated with the construction vehicle and is associated with the positioning terminal 10 .
  • the safety margin is a margin that can be determined even in consideration of the worker's movement and posture change (falling over, etc.). Considering the height of a general person, about 2 m is sufficient, but the work manager or the like may set an arbitrary margin according to the actual environment.
  • the processor 201 presets (or registers or stores) the work skill level for each worker (the positioning terminal 10 associated with the worker) in the storage unit 202 .
  • work proficiency may include a worker's total work hours and work level.
  • the task proficiency level may be set by the processor 201 based on information input by a user such as a task manager via an input unit (not shown), It may be done based on the results, or both.
  • the processor 201 obtains statistics for each positioning terminal 10 (in other words, workers associated with the positioning terminals 10) based on the positioning results transmitted from the positioning terminals 10.
  • the statistics taken for each positioning terminal 10 may include, for example, the cumulative staying time within the work area and the number of times of intrusion into the dangerous area.
  • the processor 201 acquires the work site weather information transmitted from the weather information distribution server 50 . Then, the processor 201 sets a margin area to be added outside the dangerous area based on at least one of the accumulated stay time, the frequency of entering the dangerous area, the work skill level, and the weather information.
  • the processor 201 may set one threshold or a plurality of stepwise thresholds for determining the proximity of the positioning terminal 10 to the dangerous area or the margin area added outside the dangerous area.
  • Such one or more thresholds may be referred to as intrusion prediction time thresholds. That is, the predicted entry time threshold is a threshold to be compared with the predicted entry time of the positioning terminal 10 into a dangerous area or a margin area added outside the dangerous area, which will be described below.
  • the processor 201 determines not to issue an alarm to the positioning terminal 10 when the distance between the positioning terminal 10 and the center of the dangerous area is equal to or greater than a predetermined distance.
  • Processor 201 may set a predetermined distance as the threshold. This threshold may be referred to as the no-alarm distance threshold.
  • the processor 201 may set thresholds input by a user such as a work manager via the input unit as the predicted intrusion time threshold and the no-warning distance threshold.
  • the processor 201 outputs the predicted intrusion time threshold and the no-warning distance threshold to the storage unit 202 .
  • the processor 201 determines the dangerous area or the margin area of the positioning terminal 10 based on the positioning result and the set dangerous area or Predict the entry time into the margin area (ie, the expected time to reach the danger area or margin area).
  • estimate the penetration time means “estimate the penetration time”, “estimate the penetration time”, “determine the penetration (predicted) time”, and “determine the penetration (predicted) time”.
  • “calculate the intrusion (predicted) time” “calculate the intrusion (predicted) time”, or “deduce the intrusion (predicted) time”.
  • the processor 201 receives the positioning result, the predicted intrusion time threshold, the no-warning distance threshold, and the set danger area or margin area. Based on at least one of , it is determined whether the positioning terminal 10 is approaching or entering the danger area or the margin area (an alarm event is detected).
  • the processor 201 generates an alarm issue command for alerting at least one of the worker associated with the positioning terminal 10 and the worker driving the construction vehicle that the detected alarm event has occurred.
  • Processor 201 outputs an alarm issuing command to storage unit 202 .
  • the processor 201 transmits an alarm issuing command to the corresponding positioning terminal 10 via the communication unit 203 .
  • the processor 201 each time a positioning result is received from the positioning terminal 10 associated with a worker or construction vehicle, the processor 201 outputs the set danger area and margin area, the received positioning result, and an alarm issuing command.
  • the information is transmitted to the monitor device 40 via the communication unit 203 so as to display the information on the positioning terminal 10 to be transmitted.
  • the storage unit 202 may be, for example, one or more of DRAM, HDD, SSD, and the like.
  • the storage unit 202 acquires various information from other elements and retains the information temporarily or permanently.
  • the storage unit 202 is a general term for so-called primary storage device and secondary storage device.
  • a plurality of storage units 202 may be physically arranged.
  • the storage unit 202 stores, for example, a program executed by the processor 201 to operate the host server 20, data necessary for the host server 20 to operate, data generated by the processor 201, and data transmitted from the positioning terminal 10. Positioning results, weather information transmitted from the weather information distribution server 50, intrusion prediction time thresholds, no-warning distance thresholds, information on set danger areas and margin areas, generated warning issuing commands, etc. are stored.
  • the communication unit 203 receives the positioning result transmitted from the positioning terminal 10.
  • the communication unit 203 receives the weather information of the work site transmitted from the weather information distribution server 50 .
  • the communication unit 203 outputs the received positioning results and weather information to the processor 201 and the storage unit 202 .
  • the communication unit 203 transmits an alarm issuing command to the positioning terminal 10 .
  • the processor 201, storage unit 202, and communication unit 203 are connected to each other via a bus 204 so that they can communicate with each other.
  • the configuration of the upper server 20 described above is an example. Some of the components of the upper server 20 may be integrated. Also, some of the components of the upper server 20 may be divided into multiple components. Also, some of the components of the upper server 20 may be omitted. Also, other elements may be added to the host server 20 . For example, an input unit, which may be a touch display, keyboard, mouse, etc., may be added to the host server 20 .
  • the processor 201 determines whether to enter the hazardous area based on at least one of the cumulative work time, the number of dangerous area intrusions, work proficiency (eg, total work time and work level), and weather information (eg, rainfall and temperature). Set the margin area to add. It is determined by a user such as a work manager via an input unit which of the accumulated work time, the number of times of entering the dangerous area, the work proficiency level, and the weather information is used to set the margin area added to the dangerous area. may be selected.
  • the processor 201 determines, among the following Tables 1 to 6, the cumulative work time (corresponding to Table 1), the number of times of entering a dangerous area (corresponding to Table 2), the work skill level (corresponding to Tables 3 and 4), and Using the values described in the table corresponding to the item selected from the weather information (corresponding to Tables 5 and 6), the margin width value of the margin area to be finally added is determined and set.
  • Table 1 shows the relationship between the cumulative work time and margin width. For example, if the working hours are 0 or more and less than 10, the margin width is 0 m, and if the working hours are 10 or more and less than 30, the margin width is 0.5 m, and so on.
  • the total work time is the total time that the worker who owns the positioning terminal 10 has worked at the work site. The longer this time is, the more likely the worker is to be fatigued or let his guard down.
  • the larger (longer) the cumulative work time in the work area is, the higher the probability that the worker will accidentally enter the dangerous area, so the margin width will be larger.
  • the cumulative work time can be said to be a factor (parameter) that can affect the safety of workers associated with terminals.
  • the period for accumulating the work time may be appropriately set by the work manager or the like. For example, if the fatigue of the worker is to be evaluated, the accumulated work time for each day may be used, and if the carelessness of the worker is to be evaluated, the accumulated work time over the entire period of the work may be used. Also, as with the cumulative work time, the margin width may be set in consideration of the future work time allocated to the worker. This is because the longer the working time from now on, the higher the possibility that the worker's fatigue will accumulate in the near future.
  • Table 2 shows the relationship between the number of dangerous area intrusions and the margin width. For example, if the number of times of entering the dangerous area is 0 or more and less than 10 times, the margin width is 0 m, and if the number of times of entering the dangerous area is 10 or more and less than 30 times, the margin width is 0.5 m. be.
  • the number of times of intrusion into the dangerous area indicates that the worker who owns the positioning terminal 10 is less wary of the dangerous area, or that the worker is in charge of work that cannot avoid entering the dangerous area. It is an index that shows As can be seen from Table 2, the greater the number of intrusions into the dangerous area, the higher the possibility that the worker will accidentally enter the dangerous area, so the margin width is set to be large.
  • the number of times of intrusion into a dangerous area can be said to be a factor (parameter) that can affect the safety of workers associated with terminals.
  • the work manager or the like may appropriately set the period during which the number of intrusions into the dangerous area is measured.
  • the margin width may be set using the number of times of intrusion into the margin area instead of the number of times of intrusion into the dangerous area.
  • the margin area is a safe area compared to the danger area, but since entering the margin area means approaching the danger area, at least the workers outside the margin area are more wary of the danger area. This is because it is assumed to be thin.
  • Table 3 shows the relationship between total work time and margin width. For example, if the total working hours are 0 hours or more and less than 50 hours, the margin width is 1.5 m, and if the total working hours are 50 hours or more and less than 100 hours, the margin width is 1.0 m. be.
  • the total work time is an index showing the familiarity with the work at the work site. As can be seen from Table 3, the longer the total working time, the lower the possibility that the worker will accidentally enter the dangerous area, so the margin width is set to be small.
  • the total work time can be said to be a factor (parameter) that can affect the safety of workers associated with terminals. Note that the total work time and the total work time may be the same time.
  • the total working hours for workers who are in charge of work in or near the hazardous area shall be the total working hours for workers who are in charge of work away from the hazardous area. may apply the cumulative work time. This is because there is a high possibility that a worker with the ability to avoid danger is selected as a worker whose work is in or near a dangerous area.
  • the total working time and the total working time may be different times. In this case, for example, the total working time may be the time that each worker has experienced work including other work sites, and the total work time may be the time that each worker has worked at the current work site.
  • Table 4 shows the relationship between work level and margin width.
  • the margin width is 3.6 m
  • the margin width is 3.2 m
  • the work level is a direct indicator of a worker's degree of familiarity with working at a work site or proficiency with dangerous work.
  • the work level is determined, for example, by the training received by the worker, the qualifications of the worker, and the like. As can be seen from Table 4, it is assumed that the higher (larger) the work level is, the lower the possibility that the worker will accidentally enter the dangerous area, so the margin width is set to be small.
  • the work level can be said to be a factor (parameter) that can affect the safety of workers associated with terminals.
  • Table 5 shows the relationship between rainfall and margin width. For example, if the rainfall is 0 mm or more and less than 1 mm, the margin width is 0 m, and if the rainfall is 1 mm or more and less than 5 mm, the margin width is 0.5 m, and so on. Rainfall is an indicator of the difficulty of work on the job site. As can be seen from Table 5, the greater the amount of rainfall, the greater the likelihood that workers will accidentally enter the hazardous area due to unforeseen circumstances, so the margin width is set to be large. Rainfall can be said to be a factor (parameter) that can affect the safety of workers associated with terminals.
  • Table 6 shows the relationship between temperature and margin width. For example, if the temperature is less than 5 degrees Celsius, the margin width is 1.5 m, if the temperature is 5 degrees Celsius or more and less than 10 degrees Celsius, the margin width is 0.5 m, and so on.
  • Air temperature is an indicator of the difficulty of work at the work site.
  • the margin width is set to be large, as it is assumed that there is a high chance of accidental entry of workers into the hazardous area due to unforeseen circumstances. be.
  • Temperature can be said to be a factor (parameter) that can affect the safety of workers associated with terminals.
  • processor 201 determines the margin width values listed in Table 4 and the margin width values listed in Table 5. may be determined (calculated) and set as the margin width value to be finally added. Even when another item is selected, the processor 201 determines (calculates) and determines (calculates) the value obtained by adding the margin width value described in the table corresponding to the selected item as the margin width value to be finally added. can be set.
  • the margin area for the first worker set in this manner is illustrated in Example 1 of FIG. 12, and the margin area for the second worker set in this way is wider than Example 1. is illustrated in Example 2 of
  • the work experience of the worker such as the cumulative work time in the work area of the worker (in other words, the degree of familiarity with the work of the worker, the degree of skill of the worker), the degree of decrease in attention due to fatigue or carelessness of the worker, Factors (parameters) that can affect the safety of workers associated with terminals, such as the frequency of work in or near hazardous areas, and the surrounding conditions of workers such as the amount of rainfall around workers.
  • the margin width is adaptively set. By setting a margin area having a margin width that is adaptively set in this way, it is possible to appropriately warn workers so that they can work more safely. .
  • the cumulative work time, the number of times of intrusion into a dangerous area, and the work proficiency level are the “parameters related to worker attributes associated with terminals” and “the parameters associated with terminals” according to the present disclosure.
  • Weather information is an example of "parameters related to the worker's surroundings associated with the terminal” according to the present disclosure.
  • the dangerous area may be appropriately read as a margin area added to the dangerous area or an area combining the dangerous area and the margin area.
  • the processor 201 Based on the received (current) position, (current) speed and (current) direction of travel of the positioning terminal 10, and the position of the set boundary line (circumference) of the dangerous area, the processor 201: It is determined whether or not the positioning terminal 10 will enter a dangerous area if it goes straight in the (current) traveling direction at the (current) speed from the (current) position of the positioning terminal 10 .
  • the processor 201 determines that the positioning terminal 10 will enter the dangerous area, the received (current) position, (current) speed and (current) traveling direction of the positioning terminal 10 and the set boundary of the dangerous area Based on the position of the line (circumference), the boundary line (circumference) of the dangerous area when going straight in the (current) traveling direction from the (current) position of the positioning terminal 10 at the (current) speed Calculate the time (that is, predicted intrusion time) (for example, unit: seconds) until reaching the point closest to the positioning terminal 10 above.
  • the time that is, predicted intrusion time
  • the dangerous area may be appropriately read as a margin area added to the dangerous area or an area combining the dangerous area and the margin area.
  • the processor 201 may set stepwise multiple intrusion prediction time thresholds (eg, units: seconds) and no-warning distance thresholds (eg, units: meters).
  • stepwise multiple intrusion prediction time thresholds eg, units: seconds
  • no-warning distance thresholds eg, units: meters.
  • the number of multiple predicted intrusion time thresholds is two will be described below, but it is obvious that the number of multiple predicted intrusion time thresholds may be three or more.
  • one intrusion prediction time threshold may be used instead of using multiple intrusion prediction time thresholds.
  • the two predicted intrusion times are defined as a first predicted intrusion time threshold and a second predicted intrusion time threshold, and the first predicted intrusion time threshold ⁇ second predicted intrusion time threshold.
  • the processor 201 determines that a straight line connecting the position of the positioning terminal 10 and the center (coordinates) of the dangerous area is drawn from the position of the positioning terminal 10.
  • a distance l for example, unit: meter
  • the processor 201 does not generate an alarm issuance command when the no-alarm distance threshold ⁇ distance l.
  • the processor 201 detects an alarm event as the first approach state when distance l ⁇ non-alarm distance threshold and intrusion prediction time ⁇ first intrusion prediction time threshold.
  • the processor 201 detects an alarm event as a second approach state when distance l ⁇ non-alarm distance threshold and first intrusion prediction time threshold ⁇ intrusion prediction time ⁇ second intrusion prediction time threshold.
  • the first approach state is a state in which the positioning terminal 10 is predicted to reach the dangerous area earlier than the second approach state.
  • the no-alarm distance threshold By setting the no-alarm distance threshold in this way, if the distance between the center of the dangerous area and the position of the positioning terminal 10 is equal to or greater than the no-alarm distance threshold (or exceeds the no-alarm distance threshold), an alarm will be issued. Since the alarm is not issued, it is possible to suppress excessive issuing of the alarm.
  • the processor 201 calculates the distance L (for example, unit: meters) between the position of the positioning terminal 10 and the center (coordinates) of the dangerous area. calculate.
  • the processor 201 determines an intrusion warning style according to the calculated distance. For example, if the radius of the dangerous area is r1 (for example, unit: meter), then 0 ⁇ L ⁇ r1/4 (alarm event that is the first intrusion state) or r1/4 ⁇ L ⁇ r1/2 ( r1/2 ⁇ L ⁇ 3r1/4 (alarm event that is the second intrusion state), or 3r1/4 ⁇ L ⁇ r1 (the fourth intrusion state) At least one of the volume of the buzzer sounded by the alarm unit 103 of the positioning terminal 10 and the beep sound period may be changed depending on whether it is an alarm event).
  • r1 for example, unit: meter
  • a criterion different from the radius r1 of the dangerous area may be used. For example, 0m ⁇ L ⁇ 0.5m (alarm event that is the first intrusion state), 0.5m ⁇ L ⁇ 0.8m (alarm event that is the second intrusion state), or 0.8m ⁇
  • the positioning terminal 10 alarms depending on whether L ⁇ 0.9m (alarm event that is the third intrusion state) or 0.9m ⁇ L ⁇ r1 (alarm event that is the fourth intrusion state).
  • the volume and beep sound period of the buzzer sounded by the unit 103 may be changed. In this case as well, the closer the positioning terminal 10 is to the center of the dangerous area, the louder the volume of the buzzer, the shorter the beep period of the buzzer, or both. That is, the closer the positioning terminal 10 is to the center of the dangerous area, the stronger the warning may be issued.
  • the processor 201 calculates the distance L (for example, unit: meters) between the position of the positioning terminal 10 and the center (coordinates) of the dangerous area. calculate.
  • the processor 201 determines the form of the attention alert according to the calculated distance. For example, if the radius of the dangerous area (for example, radius in meters: r1) and the margin area is r2 (for example, in meters), r1 ⁇ L ⁇ r1 + (r2 - r1) / 4 (alarm event that is the first alert state) or r1 + (r2 - r1) / 4 ⁇ L ⁇ r1 + (r2 - r1) / 2 (alarm event that is the second alert state), r1 + (r2 - r1) / 2 ⁇ L ⁇ r1 + 3 (r2 - r1) / 4 (alarm event that is the third alert state), or r1 + 3 (r2 - r1) / 4 ⁇ L ⁇ r2 (th At least one of the volume of the buzzer sounded by the alarm unit 103 of the positioning terminal 10 and the beep sound period may be changed depending on whether it is an alarm event (4 alert
  • the buzzer volume and beep sound cycle may be lower than the above-described buzzer sound volume and beep sound cycle of the intrusion alarm. That is, the volume of the buzzer in this case may be lower than the volume of the buzzer for the intrusion alarm, and the beeping period of the buzzer in this case may be longer than the beeping period of the buzzer for the intrusion alarm.
  • a criterion different from r1 and r2 may be used. For example, r1 ⁇ L ⁇ r1+0.5 (alarm event that is the first alert state), r1+0.5 ⁇ L ⁇ r1+0.8 (alarm event that is the second alert state), or r1+0. 8 ⁇ L ⁇ r1+0.9 (alarm event that is the third alerting state) or r1+0.9 ⁇ L ⁇ r2 (alarm event that is the fourth alerting state).
  • the volume and beep sound period of the buzzer sounded by the alarm unit 103 of the terminal 10 may be changed.
  • the buzzer volume and beep sound cycle may be lower than the above-described buzzer sound volume and beep sound cycle of the intrusion alarm. That is, the volume of the buzzer in this case may be lower than the volume of the buzzer for the intrusion alarm, and the beeping period of the buzzer in this case may be longer than the beeping period of the buzzer for the intrusion alarm.
  • a warning may be issued in two or three stages, or may be issued in five stages or more.
  • the condition for dividing into multiple stages is not limited to the above example.
  • the processor 201 generates an alarm issuance command for an intrusion alarm or a caution alert in the determined manner.
  • the processor 201 When the positioning terminal 10 is in the first proximity state described above, the processor 201 generates an alarm issuing command (the alarm may be referred to as a first attention alert) corresponding to the first proximity state.
  • the manner of the first attention alert corresponding to the first approach state may be different from the manner of the intrusion alert and the manner of the attention alert described above.
  • the first alerting alarm corresponding to the first approaching state may have a lower volume than the above-described buzzer, and the number of times the buzzer sounds may be limited to once, twice, etc. It may be one or both.
  • the processor 201 When the positioning terminal 10 is in the above-described second proximity state, the processor 201 generates an alarm issue command (the alarm may be referred to as a second attention alert) corresponding to the second proximity state.
  • the second alert mode corresponding to the second approaching state may be different from the intrusion alert mode, the alert alert mode, and the first alert alert mode described above.
  • the second attention alert corresponding to the second approaching state may be the volume of the buzzer of the first attention alert even lower than the volume of the buzzer of the first alert alert, and the number of times the buzzer of the first alert alert is sounded may be further increased. It may be restricted or both.
  • the processor 201 When the positioning terminal 10 is in the above-described first proximity state, the processor 201 generates an alarm issue command (this alarm may be referred to as a third alert) corresponding to the first proximity state.
  • the third alert mode corresponding to the first approach state may be different from the intrusion alert mode, the alert alert mode, the first alert alert mode, and the second alert alert mode described above.
  • the third alert warning corresponding to the first approaching state may be the volume of the buzzer of the above-described type, which is further reduced, or the number of times the above-described buzzer is sounded may be further limited. or both.
  • the processor 201 When the positioning terminal 10 is in the above-described second proximity state, the processor 201 generates an alarm issue command (this alarm may be referred to as a fourth attention alert) corresponding to the second proximity state.
  • the format of the fourth alert alert corresponding to the second approaching state is the above-described intrusion alert format, alert alert format, first alert alert format, second alert alert format, and third alert alert format. may differ from the style of For example, the fourth alerting alarm corresponding to the second approaching state may be of a lower volume than the above-described type of buzzer, or the number of times the above-described buzzer is sounded may be further limited. or both.
  • the processor 201 generates an alarm issue command for issuing an alarm that the positioning terminal 10 is entering or is approaching the danger area and the margin area, and the communication unit 203 transmits these warning issuing commands to the positioning terminal 10 .
  • the processor 201 generates different warning issuance commands according to the predicted times so that different types of warnings are issued depending on the predicted times at which the positioning terminal 10 enters the danger area and the margin area, and the communication unit 203 , transmits these warning issuing commands to the positioning terminal 10 .
  • the positioning terminal 10 is determined by the processor 201 to be the positioning terminal approaching or entering the margin area, and when the positioning terminal 10 is determined to be the positioning terminal approaching or entering the danger area, different modes are used. is sent to the positioning terminal 10, the user (worker) of the positioning terminal 10 can be intuitively informed of the degree of caution required.
  • format may be read in other ways.
  • FIG. 4 is a diagram showing an example of the operation of the positioning terminal 10 according to the first embodiment.
  • step S401 the GNSS receiver 104 receives satellite signals transmitted from GNSS satellites.
  • step S402 the communication unit 105 receives the correction data transmitted from the reference station data distribution server 30.
  • step S403 the processor 101 performs RTK calculation using the positioning terminal positioning data and correction data based on the satellite signal, calculates the RTK positioning solution, and obtains the positioning result.
  • step S404 the communication unit 105 transmits the positioning result including the RTK positioning solution to the upper server 20.
  • step S405 the processor 101 or the communication unit 105 determines whether or not the communication unit 105 has received an alarm issuing command (for example, within a predetermined time after transmitting the positioning result).
  • the warning unit 103 If the communication unit 105 receives the warning issuing command (for example, within a predetermined time after transmitting the positioning result) (YES in step S405), the warning unit 103 is designated (determined) by the host server 20 in step S406. Issues an alert in the specified style. The flow then ends.
  • step S405 if the communication unit 105 does not receive the warning issue command (for example, within a predetermined time after transmitting the positioning result) (NO in step S405), the flow ends.
  • FIG. 5 relates to presetting of the host server 20 .
  • step S501 the processor 201 resets the cumulative work time to 0 for each worker (positioning terminal 10 associated with the worker).
  • the cumulative work time may be stored in the storage unit 202, for example.
  • step S502 the processor 201 resets the number of dangerous area intrusions to 0 for each worker (positioning terminal 10 associated with the worker).
  • the number of times of entering the dangerous area may be stored in the storage unit 202, for example.
  • step S ⁇ b>503 the processor 201 sets (or registers or stores) the work skill level of the worker associated with the positioning terminal 10 .
  • Work proficiency may include, for example, a worker's total work hours and work level.
  • step S504 the processor 201 determines whether the work area, the dangerous area, the first intrusion prediction time threshold for issuing the first caution alert, the second intrusion prediction time threshold for issuing the second caution alert, or no alert. Sets the distance threshold. Then, the processing of FIG. 5 ends.
  • the work area may be set through user input.
  • the dangerous area may be set statically or semi-statically through user input, or dynamically set according to the movement of the construction vehicle on which the positioning terminal 10 is mounted.
  • various thresholds may be statically or semi-statically set via user input, or may be fixed in the alarm system 1 . In this manner, the processing of FIG. 5 may be performed as needed.
  • at least S501 to S503 in FIG. 5 may be executed each time a new worker (the positioning terminal 10 associated with the worker) is added.
  • the intrusion prediction time threshold is not set (that is, it is not determined whether or not the positioning terminal 10 is approaching the dangerous area and the margin area), and the no-alarm distance threshold is not set. An example will be described.
  • step S ⁇ b>601 the communication unit 203 receives the positioning result of the positioning terminal 10 transmitted from the positioning terminal 10 .
  • step S602 the processor 201 determines whether or not the positioning terminal 10 exists within the work area based on the set work area and the received positioning result (position of the positioning terminal 10).
  • step S602 When it is determined that the positioning terminal 10 exists within the work area (YES in step S602), the processor 201 increments the cumulative work time by 1 in step S603. Here, the processor 201 increments the cumulative work time by 1, but may increment by the number of seconds corresponding to 1 (for example, the cycle of receiving positioning results from the positioning terminal 10). Flow then proceeds to step S604.
  • step S604 the processor 201 detects the set dangerous area and the received positioning result (positioning result). position of the terminal 10), it is determined whether or not the positioning terminal 10 exists within the danger area.
  • step S604 If it is determined that the positioning terminal 10 exists within the dangerous area (YES in step S604), the processor 201 increments the dangerous area entry count by one in step S605.
  • step S ⁇ b>606 the processor 201 issues an intrusion warning warning issue command to the positioning terminal 10 , and the communication unit 203 transmits this warning issuing command to the positioning terminal 10 . Flow then proceeds to step S607.
  • step S607 the communication unit 203 receives the weather information transmitted from the weather information distribution server 50. receive information;
  • step S608 the processor 201, as described with reference to Tables 1 to 6, for example, based on at least one of the cumulative work time, the number of times of entering the dangerous area, the work skill level, and the weather information, Set the margin area to add to.
  • step S609 the processor 201 determines whether the positioning terminal 10 exists within the margin area based on the set margin area and the received positioning result (position of the positioning terminal 10).
  • step S610 the processor 201 issues an alert issuing command to the positioning terminal 10, and the communication unit 203 A warning issuing command is transmitted to the positioning terminal 10 . Then the flow ends.
  • the dangerous area and the combined area of the dangerous area and the margin area are perfectly circular, but the present disclosure is not limited to this example.
  • the shape of the dangerous area and the combined area of the dangerous area and the margin area can be a part of a perfect circle (sector, arc, etc.), an ellipse or part thereof (half of an ellipse, etc.), a triangle. , polygons such as squares, and other shapes.
  • the center of the dangerous area mentioned above may be replaced by the center of gravity of the dangerous area respectively.
  • both the dangerous area and the dangerous/margin area have the same shape, but they may have different shapes.
  • dangerous areas need to correspond to areas where construction vehicles operate and dangerous areas of scaffolding. , or the hazardous area may leak out of the hazardous area.
  • the warning issued in the dangerous area will make the worker wither, it is desirable that the range of the dangerous area is not too much or too little compared to the range where the danger actually extends.
  • the danger/margin area even if a warning is issued in a somewhat wider range, the effect on workers is small, so even if a standard shape is used, no serious damage will occur.
  • the risk area may be precisely designed, and the risk/margin area may be easily set by adopting a standard shape. Also, even if a standard shape is adopted for the dangerous area, as a result of adopting a shape close to the movable range of the actual construction vehicle, different shapes may be adopted for the dangerous area and the dangerous/margin area. could be. In either case, it is desirable that the danger/margin area is wider than the danger area. Therefore, the center of gravity of the dangerous/margin area and the dangerous area do not necessarily have to match.
  • the center of gravity of the dangerous/margin area is different from the center of gravity of the dangerous area. good too.
  • the example described above is only an example, and a standard shape may be adopted for the dangerous area and another shape may be adopted for the dangerous/margin area. shape may be adopted.
  • the margin area added to the dangerous area is the first outer circumference (circumference) of the dangerous area, the second outer circumference (circumference) separated from the first outer circumference of the dangerous area by a certain distance (width),
  • An example that is set as an area between This example may be similarly applied to Modification 1-1.
  • the straight line portion of the first perimeter of the dangerous area parallel straight line segments separated by a certain distance from the straight line segment are set, and for the curved portion of the first outer periphery of the dangerous area, the curved line segment is set.
  • the margin area added to the dangerous area is the first outer circumference (circumference) of the dangerous area, the second outer circumference (circumference) separated from the first outer circumference of the dangerous area by a certain distance (width),
  • a certain distance width
  • the present disclosure is not limited to this example.
  • a distance longer than a certain distance is separated, and in the direction where safety is confirmed, a distance shorter than the certain distance is separated.
  • the second perimeter may be set based on the topography of the work site. For example, keep a short distance away in directions where it is physically difficult for workers to enter, such as when a wall is installed, and a long distance in directions where workers can easily enter, such as when the terrain is flat. can be
  • the positioning terminals 10 that issue an alarm need not be all of the plurality of positioning terminals 10 .
  • the positioning terminal 10 to issue an alarm may be changeable by designation from the work manager or the like.
  • the host server 20 executes processing according to the present disclosure, such as determination of approach and intrusion into the dangerous area and the margin area
  • the present disclosure is not limited to this example.
  • the representative positioning terminal 10 among the plurality of positioning terminals 10 may receive the positioning results from the individual positioning terminals 10 and execute the processing according to the present disclosure.
  • each positioning terminal 10 may execute processing according to the present disclosure, such as determination of approach to or entry into a dangerous area.
  • each positioning terminal 10 for example, by sharing its own position with the host server 20 or the like, acquires information on the position and range of the dangerous area, the margin area, and the dangerous/margin area existing around itself. , processing such as determination may be performed based on this information.
  • a warning should be issued to the worker according to at least one of the parameters related to the worker's attributes associated with the positioning terminal 10 and the parameters related to the worker's surroundings.
  • a positioning terminal that changes the range of an area (dangerous area, margin area), and approaches or enters an area in which the positioning terminal 10 should issue an alert based on the position of the positioning terminal 10 and the range of the area in which an alert should be issued. is determined.
  • the positioning terminal 10 is provided with an alarm issuing command for causing the positioning terminal 10 to issue an alarm. issues an alarm.
  • Embodiment 2 is implemented in that the RTK calculation is performed by the host server instead of the positioning terminal, that is, the processor of the host server performs positioning terminal position measurement (determination) using the RTK calculation described above.
  • the RTK calculation is performed by the host server instead of the positioning terminal, that is, the processor of the host server performs positioning terminal position measurement (determination) using the RTK calculation described above.
  • the configurations of the alarm system 1', the positioning terminal 10', and the host server 20' according to Embodiment 2 are the same as the configurations of the alarm system 1, the positioning terminal 10, and the host server 20 according to Embodiment 1, respectively. Therefore, the differences from the first embodiment will be explained.
  • FIG. 7 is a diagram showing an example of an alarm system 1' according to the second embodiment.
  • the warning system 1' has a positioning terminal 10', a host server 20', a reference station data distribution server 30', a monitor device 40, and a weather information distribution server 50.
  • the alarm system 1' may also be referred to as an information processing system or the like.
  • the positioning terminal 10' does not position the positioning terminal 10' by performing RTK calculation. Therefore, the positioning terminal 10' does not need to receive correction data from the reference station data distribution server 30', and transmits the positioning terminal positioning data generated based on the satellite signals received from the GNSS satellites to the host server 20'. If the positioning terminal 10' has a speed sensor and an acceleration sensor, the positioning terminal 10' may transmit the speed and acceleration from the speed sensor and the acceleration sensor to the host server 20'.
  • the positioning terminal 10' is an example of a terminal, a first terminal, a second terminal, or an information processing device (corresponding to a representative positioning terminal 10' described later) according to the present disclosure.
  • the upper server 20' receives the positioning terminal positioning data transmitted from the positioning terminal 10', and receives correction data for performing RTK calculation and positioning the positioning terminal 10' from the reference station data distribution server 30'.
  • the upper server 20' is an example of an information processing device according to the present disclosure.
  • the host server 20' performs RTK calculations using the received positioning terminal positioning data and correction data to measure the position (velocity and acceleration in some cases) of the positioning terminal 10'. Based on the set dangerous area or margin area, the positioning result of the positioning, etc., the upper server 20' detects the approach of the positioning terminal 10' carried by the worker and associated with the worker to the dangerous area or margin area. and determine intrusions (in other words, detect alarm events).
  • the host server 20' may have some or all of the functions of the reference station data distribution server 30'. For example, the host server 20' may receive correction data generated by the reference station from the reference station without going through the reference station data distribution server 30'.
  • the reference station data distribution server 30' performs RTK calculation and transmits correction data for positioning the positioning terminal 10' to the host server 20'.
  • FIG. 8 is a block diagram showing an example of the configuration of a positioning terminal 10' according to Embodiment 2.
  • the positioning terminal 10' includes a processor 101', a storage unit 102', an alarm unit 103, a GNSS receiver 104, a communication unit 105', an output unit 106, a bus 107, Prepare.
  • the positioning terminal 10' does not perform positioning using RTK calculation. Therefore, every time a satellite signal is received from a GNSS satellite, the processor 101' generates positioning terminal positioning data based on the satellite signal and outputs the positioning data to the storage unit 102' and the communication unit 105'.
  • the storage unit 102' does not need to store correction data from the reference station data distribution server 30'.
  • the storage unit 102' stores positioning terminal positioning data.
  • the communication unit 105' transmits the positioning terminal positioning data input from the processor 101' to the host server 20' each time a satellite signal is received from a GNSS satellite.
  • the communication unit 105' may receive the positioning result of the positioning terminal 10' transmitted from the host server 20' and output the received positioning result to the storage unit 102'.
  • the processor 101', storage unit 102', alarm unit 103, GNSS receiver 104, communication unit 105' and output unit 106 are connected to each other via a bus 107 so as to be able to communicate with each other.
  • FIG. 9 is a block diagram showing an example of the configuration of an upper server 20' according to Embodiment 2.
  • the host server 20' includes a processor 201', a storage unit 202, a communication unit 203', and a bus 204.
  • the processor 201 ′ for example, each time the positioning terminal positioning data is received from the positioning terminal 10 ′ associated with the worker, the positioning terminal positioning data and the Based on the correction data, RTK calculation is performed to measure (determine) the position, velocity, acceleration, and traveling direction of the positioning terminal 10'.
  • the processor 201 ′ outputs the positioning result thus positioned to the communication unit 203 ′ and the storage unit 202 .
  • the processor 201' determines the entry time of the positioning terminal 10' into the dangerous area or margin area (that is, it is predicted to reach the dangerous area or margin area). time).
  • the processor 201' moves the dangerous area, which may or may not include a safety margin, based on the positioning result of the positioning terminal 10' associated with the construction vehicle.
  • the processor 201' may set the dangerous area by setting the circumference of a predetermined circle centered at the position of the positioning terminal 10' included in the positioning result as a virtual boundary line.
  • the dangerous area in this case includes the position of the positioning terminal 10' associated with the construction vehicle, and is associated with the positioning terminal 10'.
  • the processor 201′ determines whether the positioning terminal 10′ is approaching the danger area or the margin area. and determine intrusions (detect alarm events).
  • the processor 201' displays information on the set danger area and margin area, the positioning result, and the positioning terminal 10' to which the warning issue command is to be transmitted, via the communication unit 203'. information to the monitor device 40 .
  • the communication unit 203' receives the positioning terminal positioning data transmitted from the positioning terminal 10'.
  • the communication unit 203 ′ outputs the positioning terminal positioning data to the processor 201 ′ and the storage unit 202 .
  • the communication unit 203' may transmit the positioning result to the positioning terminal 10'.
  • the processor 201', storage unit 202 and communication unit 203' are connected to each other via a bus 204 so as to be able to communicate with each other.
  • FIG. 10 is a diagram showing an example of the operation of the positioning terminal 10' according to the second embodiment.
  • step S1001 the GNSS receiver 104 receives satellite signals transmitted from GNSS satellites.
  • the processor 101' generates positioning terminal positioning data based on the satellite signals.
  • step S1003 the communication unit 105' transmits the positioning terminal positioning data to the upper server 20'.
  • step S1004 the processor 101' or the communication unit 105' determines whether or not the communication unit 105' has received an alarm issue command (for example, within a predetermined time after transmitting the positioning terminal positioning data).
  • step S1005 the alarm unit 103 causes the host server 20' to Issues an alarm in a specified (determined) format. The flow then ends.
  • step S1004 if the communication unit 105' does not receive the warning issue command (for example, within a predetermined time after transmitting the positioning terminal positioning data) (NO in step S1004), the flow ends.
  • FIGS 11A and 11B are diagrams showing an example of the operation of the upper server 20' according to the second embodiment. Also here, below, the intrusion prediction time threshold is not set (that is, it is not determined whether or not the positioning terminal 10' is approaching the dangerous area and the margin area), and the non-alarm distance threshold is An example that is not set will be explained.
  • the communication unit 203' receives the positioning terminal positioning data transmitted from the positioning terminal 10'.
  • step S1102 the communication unit 203' receives the correction data transmitted from the reference station data distribution server 30'.
  • step S1103 the processor 201' performs RTK calculation using the positioning terminal positioning data and the correction data, calculates the RTK positioning solution, and obtains the positioning result.
  • step S1104 the processor 201' determines whether the positioning terminal 10' exists within the work area based on the set work area and the received positioning result (position of the positioning terminal 10').
  • step S1104 When it is determined that the positioning terminal 10' exists within the work area (YES in step S1104), the processor 201' increments the cumulative work time by 1 in step S1105.
  • the processor 201' increments the cumulative work time by 1, but may increment by the number of seconds corresponding to 1 (for example, the cycle of receiving the positioning terminal positioning data from the positioning terminal 10'). . Flow then proceeds to step S1106.
  • step S1106 the processor 201' sets the set dangerous area and the received positioning result. Based on (the position of the positioning terminal 10'), it is determined whether or not the positioning terminal 10' exists within the dangerous area.
  • step S1106 If it is determined that the positioning terminal 10' exists within the dangerous area (YES in step S1106), the processor 201' increments the dangerous area entry count by 1 in step S1107.
  • step S1108 the processor 201' issues an alarm issue command for an intrusion alarm to the positioning terminal 10', and the communication unit 203' transmits this alarm issue command to the positioning terminal 10'. Flow then proceeds to step S1109.
  • step S1109 the communication unit 203' receive weather information.
  • step S1110 the processor 201′, as described with reference to Tables 1 to 6, for example, based on at least one of the cumulative work time, the number of times of entering the dangerous area, the work proficiency level, and the weather information. Set the margin area to be added to the area.
  • step S1111 the processor 201' determines whether the positioning terminal 10' exists within the margin area based on the set margin area and the received positioning result (position of the positioning terminal 10').
  • step S1112 If it is determined that the positioning terminal 10′ exists within the margin area (YES in step S1111), in step S1112, the processor 201′ issues an alert issue command to the positioning terminal 10′. ' transmits this alarm issuing command to the positioning terminal 10'. Then the flow ends.
  • Modification 1-1 of the first embodiment may also be applied to the second embodiment.
  • Modification 1-2 of the first embodiment may also be applied to the second embodiment.
  • Modifications 1-3 of the first embodiment may also be applied to the second embodiment.
  • an alarm is issued to the worker according to at least one of the parameters related to the worker's attributes associated with the positioning terminal 10' and the parameters related to the worker's surroundings.
  • the range of the target area (dangerous area, margin area) is changed, and based on the position of the positioning terminal 10' and the range of the area where the warning should be issued, the positioning terminal 10' approaches or enters the area where the warning should be issued. It is determined whether the positioning terminal.
  • an alarm issuing command for causing the positioning terminal 10' to issue an alarm is provided to the positioning terminal 10'.
  • the terminal 10' issues an alarm.
  • the RTK calculation for positioning the positioning terminal 10' is executed not by the positioning terminal 10' but by the host server 20' or the representative positioning terminal 10'. ' processing load can be reduced.
  • the positions of the positioning terminals 10 and 10' were calculated by RTK calculation, but may be calculated using other positioning methods.
  • Other positioning methods include, for example, a conventional GPS method that calculates the positions of the positioning terminals 10 and 10' only from signals from satellites, a differential GPS method that uses correction data different from RTK calculation, and a signal from satellites.
  • a method of using a signal from a beacon placed in the vicinity without using the signal is exemplified.
  • a plurality of positioning methods may be used together to calculate the positions of the positioning terminals 10 and 10'.
  • the method for calculating the position of the positioning terminals 10 and 10' is switched between an environment such as outdoors in which signals from satellites can be received well and an environment such as indoors in which the quality of signals from satellites tends to deteriorate. can be considered. That is, in the above-described embodiments, the positions of the positioning terminals 10 and 10' may be calculated using any positioning method, and it does not matter what positioning method is used. However, in an environment where high-quality signals can be received from satellites, RTK calculation can calculate a position with higher accuracy than other positioning methods. Therefore, it is preferable to use the RTK calculation in an environment where there are few objects that block the signal from the satellite, such as an outdoor construction site, and a positional error is likely to lead to an accident.
  • the intrusion alarm is issued by a buzzer or beep sound, but the intrusion alarm may be issued in another manner. For example, another voice such as "You are approaching a dangerous area" may issue an intrusion alarm. Also, the alert need not be audio.
  • the positioning terminals 10 and 10' are equipped with a light emitting unit such as an LED, the intrusion alarm may be issued by controlling the blinking of the light emitting unit or the intensity of light emission.
  • the positioning terminals 10 and 10' are equipped with a vibrator, an intrusion alarm may be issued by controlling the period and intensity of vibration of the positioning terminals 10 and 10'.
  • multiple intrusion alarms described above may be combined.
  • the strength of the warning may be changed by increasing the intensity of the light or the magnitude of the vibration, or by speeding up the period of the warning.
  • the width of the margin area is set based on information related to the work experience of the worker such as the cumulative work time. may be set. For example, there are various attributes other than work experience that are correlated with the ability to avoid danger, such as the worker's age and physical ability.
  • the weather information may be current weather information, past weather information, or future weather information (forecast, etc.).
  • the weather information is rainy
  • the past weather information is raining
  • the risk of the work site will increase immediately. Since it can be inferred, it is useful to issue a warning to widen the margin area and limit the approach to the dangerous area.
  • the width of the margin area may be determined by integrating judgment results based on a plurality of pieces of current, past, and future weather information. In this case, current weather information that has the greatest impact on current work may be weighted more than past or future weather information and integrated.
  • the weather information is rain or temperature, but other weather information such as wind, fog, pollen scattering, etc. may be used. Wind can make workers stagger, fog can block their visibility, and pollen scattering can cause workers to behave abnormally due to hay fever, such as tears and sneezes. Because there is In other words, the weather information may be any information as long as it affects the work performed by the workers. By setting the width of the margin area wider as the weather indicated by the weather information is likely to adversely affect the workers, danger to the workers can be suppressed.
  • the width of the margin area is changed based on weather information, which is an example of the worker's surrounding conditions.
  • Other surrounding conditions may include, for example, static conditions such as the topography around the worker, and dynamic conditions such as the number of other workers present in the surrounding area.
  • static conditions such as the topography around the worker
  • dynamic conditions such as the number of other workers present in the surrounding area.
  • the width of the margin area should be widened. do.
  • the number of other workers if there are a large number of workers, there is a high possibility that one of them will notice the danger and another will give instructions to avoid the danger.
  • the width of the margin area may be narrower than in the case of .
  • the approach to the dangerous area or the margin area is determined based on the predicted entry time, but other methods may be used for determination. For example, if the current position is inside each area, it may be determined that the area has approached. Similarly, no warning distance threshold need not be provided.
  • the width of the margin area is changed according to information about the worker or the surrounding environment, but the width of the safety margin included in the dangerous area may be changed.
  • changing the width of the dangerous area controls the range in which a stronger warning is issued. Since it is possible to do so, the possibility of avoiding dangers more appropriately increases.
  • the size of the entire area including the dangerous area and the margin area should not be changed, and the ratio of the dangerous area and the margin area within the area should be changed according to the information of the worker or the surrounding environment.
  • the maximum range in which the warning is issued is constant regardless of the worker and the environment, so confusion in recognition of the range in which the warning is issued can be suppressed among workers. If the same warning is given when the vehicle has entered the margin area and when the vehicle has entered the danger area, the width of either area may be changed.
  • a worker and a construction vehicle at a work site have been described as an example.
  • the present disclosure may also be applied to other environments, provided that the environment requires it.
  • An information processing device (representative positioning terminals 10, 10′, upper servers 20, 20′) according to an embodiment of the present disclosure is configured to set parameters related to attributes of workers associated with terminals (positioning terminals 10, 10′). At least one of (cumulative work time, number of times of intrusion into dangerous area, total work time, work level, etc.) and parameters related to the worker's surroundings (rainfall, temperature, wind, fog and pollen scattering, etc.) , the range of the area (dangerous area, margin area) in which the warning should be issued to the worker is changed, and based on the position of the terminal and the range of the area in which the warning should be issued, the terminal A processing unit (processors 101, 101', 201, 201') that determines whether the terminal is approaching or entering an area to issue an alarm, and a terminal that approaches or enters the area to issue the alarm. and a communication unit (communication unit 105, 105', 203, 203') that transmits a signal (aler
  • the range of the area in which the warning is to be issued to the worker is changed according to at least one of the parameters related to the worker's attributes and the parameters related to the surrounding conditions of the worker associated with the terminal. Then, based on the position of the terminal and the range of the area where the warning should be issued, it is determined whether the terminal is approaching or entering the area where the warning should be issued. Then, if the terminal is determined to be a terminal approaching or entering an area for which an alert should be issued, a signal is provided to the terminal to cause the terminal to issue an alert. As a result, it is possible to issue an appropriate warning to the worker according to the approach or entry into the area where the warning should be issued, taking into consideration factors other than the distance to the terminal.
  • the parameters related to the worker's attributes are parameters related to the work experience of the worker.
  • the range of the area where the alarm should be issued is changed according to the work experience of the worker, which may affect the safety of the worker, so that the worker can work more safely. An appropriate warning can be given to workers.
  • the parameters related to the work experience of the worker include the total work time of the worker in the work area where the worker works, the number of times the worker has entered the area where the warning should be issued, including at least one of a total work time of the worker and a work level of the worker;
  • the range of the area where the warning should be issued is changed according to the specific work experience of the worker, which may affect the safety of the worker, so that the worker can work more safely. Thus, the worker can be properly warned.
  • the parameters relating to the surrounding conditions of the worker are parameters relating to the weather surrounding the worker.
  • the range of the area where the alarm should be issued is changed according to the surrounding conditions of the worker, which may affect the safety of the worker, so that the worker can work more safely. An appropriate warning can be given to workers.
  • the weather-related parameters include at least one of rainfall, temperature, wind, fog, and pollen scattering conditions around the worker.
  • the range of the area where the warning should be issued is changed according to the specific surrounding conditions of the worker, which may affect the safety of the worker, so that the worker can work more safely. Thus, the worker can be properly warned.
  • the area in which the warning should be issued includes a specific area (dangerous area) and a margin area added to the perimeter of the specific area,
  • a signal (alert issuance command) for issuing a different type of alarm depending on whether the terminal is determined to be approaching or intruding into an area and when the terminal is determined to be approaching or intruding into the specific area. Send to the terminal.
  • the processing unit changes the range of the area to issue the warning by changing the range of the margin area without changing the range of the specific area.
  • the processing unit changes the range of the area in which the warning should be issued by changing the range of the specific area.
  • the communication unit receives from the terminal (positioning terminal 10) based on RTK (Real Time Kinematic) calculation Receive the location of the terminal.
  • the processing units determine the position of the terminal (positioning terminal 10') based on RTK calculation.
  • a terminal (positioning terminal 10, 10′) includes a processing unit (processor 101, 101′) that determines the position of the terminal, an area (dangerous an alarm unit (alarm unit 103) that issues an alarm when it is determined that the terminal is a terminal approaching or entering the area for which the alarm should be issued, based on the range of area, margin area); and the range of the area for which the warning is to be issued is determined by parameters related to the attributes of the worker associated with the terminal (cumulative work time, number of times of intrusion into the dangerous area, total work time, work level, etc.) and the worker and parameters related to the surrounding conditions (rainfall, temperature, wind, fog, pollen scattering, etc.).
  • the range of the area in which the warning is to be issued to the worker is changed according to at least one of the parameters related to the worker's attributes and the parameters related to the surrounding conditions of the worker associated with the terminal. Then, based on the position of the terminal and the range of the area where the warning should be issued, it is determined whether the terminal is approaching or entering the area where the warning should be issued. Then, when the terminal is determined to be a terminal approaching or entering an area for which an alarm should be issued, the terminal issues an alarm. As a result, it is possible to issue an appropriate warning to the worker according to the approach or entry into the area where the warning should be issued, taking into consideration factors other than the distance to the terminal.
  • the terminal when the terminal transmits the position of the terminal to the information processing device (representative positioning terminal 10, 10', upper server 20, 20'), and the information processing device determines to issue the alarm.
  • a communication unit for receiving a signal (alert issue command) for causing the terminal to issue the alarm, and the alarm unit issues the alarm according to the signal.
  • An information processing method is an operation in which information processing devices (representative positioning terminals 10, 10', upper servers 20, 20') are associated with terminals (positioning terminals 10, 10').
  • Parameters related to worker attributes cumulative work time, number of times of entering dangerous areas, total work time, work level, etc.
  • parameters related to the worker's surroundings rainfall, temperature, wind, fog, pollen scattering, etc.
  • the range of the area (dangerous area, margin area) where the warning should be issued to the worker is changed, and based on the position of the terminal and the range of the area where the warning should be issued , determining whether the terminal is a terminal approaching or intruding into the area to which the warning should be issued, and if it is determined that the terminal is a terminal approaching or intruding into the area to which the alert should be issued, the alert to the terminal (alert issue command) for causing the terminal to issue the
  • the range of the area in which the warning is to be issued to the worker is changed according to at least one of the parameters related to the worker's attributes and the parameters related to the surrounding conditions of the worker associated with the terminal. Then, based on the position of the terminal and the range of the area where the warning should be issued, it is determined whether the terminal is approaching or entering the area where the warning should be issued. Then, if the terminal is determined to be a terminal approaching or entering an area for which an alert should be issued, a signal is provided to the terminal to cause the terminal to issue an alert. As a result, it is possible to issue an appropriate warning to the worker according to the approach or entry into the area where the warning should be issued, taking into consideration factors other than the distance to the terminal.
  • the terminal determines the position of the terminal, and determines the position of the terminal and the area (dangerous area, margin area) where the warning should be issued.
  • an alarm is issued when it is determined that the terminal is a terminal approaching or entering an area in which the alarm is to be issued, and the range of the area in which the alarm is to be issued is determined by the range of the terminal.
  • Associated parameters related to worker attributes cumulative work time, number of times of entering dangerous areas, total work time, work level, etc.
  • parameters related to the worker's surroundings (rainfall, temperature, wind, fog and pollen). scattering situation, etc.).
  • the range of the area in which the warning is to be issued to the worker is changed according to at least one of the parameters related to the worker's attributes and the parameters related to the surrounding conditions of the worker associated with the terminal. Then, it is determined whether the terminal is a positioning terminal approaching or entering the area where the warning should be issued, based on the position of the terminal and the range of the area where the warning should be issued. Then, when the terminal is determined to be a terminal approaching or entering an area for which an alarm should be issued, the terminal issues an alarm. As a result, it is possible to issue an appropriate warning to the worker according to the approach or entry into the area where the warning should be issued, taking into consideration factors other than the distance to the terminal.
  • An alarm system (alarm system 1, 1') according to an embodiment of the present disclosure includes a first terminal (positioning terminal 10, 10') and a second terminal (positioning terminal 10, 10'),
  • the system includes parameters related to the attributes of the worker associated with the first terminal (cumulative work time, number of times of intrusion into dangerous areas, total work time, work level, etc.) and parameters related to the worker's surroundings (rainfall, temperature, wind, fog, pollen scattering, etc.), the area including a specific area including the position of the second terminal, and an area to issue a warning to the worker.
  • the first terminal approaches or enters the area where the warning should be issued; and if it is determined that the first terminal is a terminal approaching or entering the area to which the warning should be issued, at least one of the first terminal and the second terminal determines whether the warning is to be issued. to be issued.
  • the specific area including the position of the second terminal is selected according to at least one of the parameters related to the worker's attributes associated with the first terminal and the parameters related to the surrounding situation of the worker.
  • the range of the area to issue a warning to the worker is changed, and the first terminal approaches or enters the area to issue the warning based on the position of the first terminal and the range of the area to issue the warning. It is determined whether the terminal is a Then, when it is determined that the first terminal is a terminal approaching or entering an area for which an alert should be issued, at least one of the first terminal and the second terminal issues an alert.
  • An information processing apparatus (representative positioning terminals 10, 10', upper servers 20, 20') according to an embodiment of the present disclosure relates to work experience of workers associated with the terminals (positioning terminals 10, 10').
  • a specific area (dangerous area ), and determines whether the terminal enters the margin area based on the position of the terminal and the position of the margin area.
  • 101, 101′, 201, 201′) and a communication unit (communication units 105, 105′, 203 , 203′) and
  • a margin area is added to the perimeter of the specific area according to at least one of the parameters related to the work experience of the worker associated with the terminal and the parameters related to the surrounding situation of the worker. is adaptively set, and the intrusion of the terminal into the margin area is determined. A signal is then provided to the terminal to cause the terminal to alarm upon intrusion of the terminal into the margin area.
  • the communication unit receives from the terminal (positioning terminal 10) based on RTK (Real Time Kinematic) calculation Receive the location of the terminal.
  • the processing units determine the position of the terminal (positioning terminal 10') based on RTK calculation.
  • the parameters related to the work experience of the worker include the total work time of the worker in the work area where the worker works, the number of times the worker entered a specific area,
  • the parameters relating to the worker's ambient conditions include at least one of a total working time and the worker's work level, and the parameter relating to the worker's ambient conditions includes at least one of rainfall and temperature around the worker.
  • the worker's work experience such as the cumulative work time in the worker's work area
  • the worker's surroundings such as the amount of rainfall around the worker
  • the width of the margin area is adaptively set according to factors (parameters) that can affect the .
  • a terminal (positioning terminal 10, 10') communicates with an information processing device (representative positioning terminal 10, 10', upper server 20, 20') to determine the position of the terminal.
  • processors 101, 101' transmit the position of the terminal to the information processing device, and issue an alarm against the terminal's intrusion into a margin area added to the perimeter of a specific area (dangerous area).
  • a communication unit (communication unit 105, 105') that receives a signal (alarm issue command) for the terminal to issue from the information processing device, and an alarm unit (alarm unit 103) that issues an alarm according to the signal.
  • the width of the margin area is defined by parameters related to the work experience of the worker associated with the terminal (cumulative work time, number of times of intrusion into the dangerous area, total work time, work level) and the worker's is adaptively set according to at least one of parameters related to surrounding conditions (rainfall, temperature), and the intrusion of the terminal into the margin area is based on the position of the terminal and the position of the margin area determined by
  • a margin area is added to the perimeter of the specific area according to at least one of the parameters related to the work experience of the worker associated with the terminal and the parameters related to the surrounding situation of the worker. is adaptively set, and the intrusion of the terminal into the margin area is determined. A signal is then provided to the terminal to cause the terminal to alarm upon intrusion of the terminal into the margin area.
  • the processing unit determines the position of the terminal based on RTK calculation.
  • An information processing method is an operation in which information processing devices (representative positioning terminals 10, 10', upper servers 20, 20') are associated with terminals (positioning terminals 10, 10').
  • information processing devices representationative positioning terminals 10, 10', upper servers 20, 20'
  • terminals positioning terminals 10, 10'
  • parameters related to the worker's work experience cumulative work time, number of times of entering dangerous areas, total work time, work level
  • parameters related to the worker's surroundings rainfall, temperature setting the width of the margin area (margin width) added to the perimeter of the area (dangerous area)
  • a signal for causing the terminal to issue an alarm against the intrusion is transmitted to the terminal.
  • a margin area is added to the perimeter of the specific area according to at least one of the parameters related to the work experience of the worker associated with the terminal and the parameters related to the surrounding situation of the worker. is adaptively set, and the intrusion of the terminal into the margin area is determined. A signal is then provided to the terminal to cause the terminal to alarm upon intrusion of the terminal into the margin area.
  • a terminal determines the position of the terminal, and sends the position of the terminal to an information processing device (representative positioning terminal 10, 10', upper server). 20, 20') to cause the terminal to issue an alarm against intrusion of the terminal into a margin area added to the perimeter of a specific area (dangerous area) (alarm issue command);
  • the width of the margin area (margin width) is received from the information processing device and an alarm is issued according to the signal, and the width of the margin area (margin width) is a parameter related to the work experience of the worker associated with the terminal (cumulative work time, intrusion into dangerous area number of times, total work time, work level) and parameters related to the worker's surroundings (rainfall amount, temperature), and the intrusion of the terminal into the margin area is adaptively set according to at least one of , is determined based on the position of the terminal and the position of the margin area.
  • a margin area is added to the perimeter of the specific area according to at least one of the parameters related to the work experience of the worker associated with the terminal and the parameters related to the surrounding situation of the worker. is adaptively set, and the intrusion of the terminal into the margin area is determined. A signal is then provided to the terminal to cause the terminal to alarm upon intrusion of the terminal into the margin area.
  • An alarm system (alarm system 1, 1') according to an embodiment of the present disclosure includes information processing devices (representative positioning terminals 10, 10', upper servers 20, 20') and first terminals (positioning terminals 10, 10'). ) and a second terminal (positioning terminals 10, 10′), and the information processing device includes parameters related to the work experience of the worker associated with the first terminal (total work time, number of times of intrusion into a dangerous area, , total work time, work level) and parameters related to the worker's surroundings (rainfall, temperature), including the position of the second terminal and associated with the second terminal set the width of the margin area (margin width) added to the perimeter of the specific area (dangerous area) where the determining the intrusion of the first terminal, transmitting a first signal (alarm issue command) to the first terminal for causing the first terminal to issue a first alarm against the intrusion, and a second signal (alert issue command) for causing the second terminal to issue a second alarm, and the first terminal receives the first signal from the information processing
  • the width of the margin area is adaptively set, and entry of the first terminal into the margin area is determined.
  • a signal is then provided to the first terminal to cause the first terminal to issue an alarm upon intrusion of the first terminal into the margin area.
  • the notation "... part” used for each component is “... circuitry”, “... assembly”, “... device”, “... ⁇ Unit” or other notation such as “... module” may be substituted.
  • Each functional block used in the description of the above embodiments is partially or wholly realized as an LSI, which is an integrated circuit, and each process described in the above embodiments is partially or wholly implemented as It may be controlled by one LSI or a combination of LSIs.
  • An LSI may be composed of individual chips, or may be composed of one chip so as to include some or all of the functional blocks.
  • the LSI may have data inputs and outputs.
  • LSIs are also called ICs, system LSIs, super LSIs, and ultra LSIs depending on the degree of integration.
  • the method of circuit integration is not limited to LSI, and may be realized with a dedicated circuit, a general-purpose processor, or a dedicated processor. Further, an FPGA (Field Programmable Gate Array) that can be programmed after the LSI is manufactured, or a reconfigurable processor that can reconfigure the connections and settings of the circuit cells inside the LSI may be used.
  • FPGA Field Programmable Gate Array
  • reconfigurable processor that can reconfigure the connections and settings of the circuit cells inside the LSI may be used.
  • the present disclosure may be implemented as digital or analog processing.
  • the present disclosure can be implemented in all kinds of apparatuses, devices, and systems (collectively referred to as communication apparatuses) that have communication functions.
  • communication devices include telephones (cell phones, smart phones, etc.), tablets, personal computers (PCs) (laptops, desktops, notebooks, etc.), cameras (digital still/video cameras, etc.). , digital players (digital audio/video players, etc.), wearable devices (wearable cameras, smartwatches, tracking devices, etc.), game consoles, digital book readers, telehealth and telemedicine • Medicine prescription) devices, vehicles or mobile vehicles with communication capabilities (automobiles, planes, ships, etc.), and combinations of the various devices described above.
  • Communication equipment is not limited to portable or movable equipment, but any type of equipment, device or system that is non-portable or fixed, e.g. smart home devices (household appliances, lighting equipment, smart meters or measuring instruments, control panels, etc.), vending machines, and any other "Things" that can exist on the IoT (Internet of Things) network.
  • smart home devices household appliances, lighting equipment, smart meters or measuring instruments, control panels, etc.
  • vending machines and any other "Things” that can exist on the IoT (Internet of Things) network.
  • Communication includes data communication by cellular system, wireless LAN system, communication satellite system, etc., as well as data communication by a combination of these.
  • Communication apparatus also includes devices such as controllers and sensors that are connected or coupled to communication devices that perform the communication functions described in this disclosure. Examples include controllers and sensors that generate control and data signals used by communication devices to perform the communication functions of the communication device.
  • Communication equipment also includes infrastructure equipment, such as base stations, access points, and any other equipment, device, or system that communicates with or controls the various equipment, not limited to those listed above. .
  • An embodiment of the present disclosure is useful for alert technology that alerts a person associated with a mobile object.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Business, Economics & Management (AREA)
  • Emergency Management (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Alarm Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un dispositif de traitement d'informations comprenant : une unité de traitement pour changer la plage d'une zone pour laquelle un avertissement doit être délivré à un travailleur associé à un terminal conformément à au moins l'un parmi des paramètres relatifs à des attributs du travailleur et des paramètres concernant l'état de l'environnement du travailleur, et déterminer, sur la base de la position du terminal et de la plage de la zone pour laquelle un avertissement doit être délivré, si le terminal s'approche ou s'introduit dans la zone pour laquelle un avertissement doit être délivré ; et une unité de communication pour transmettre, au terminal, un signal pour amener le terminal à émettre un avertissement s'il est déterminé que le terminal s'approche ou s'introduit dans la zone pour laquelle un avertissement doit être délivré.
PCT/JP2022/037125 2022-01-14 2022-10-04 Dispositif de traitement d'informations, terminal, procédé de traitement d'informations, procédé d'alarme et système d'alarme WO2023135873A1 (fr)

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JP2022004435A JP2023103737A (ja) 2022-01-14 2022-01-14 情報処理装置、端末、情報処理方法、警報方法及び警報システム
JP2022-004435 2022-01-14

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07168985A (ja) * 1993-12-13 1995-07-04 Hazama Gumi Ltd 接近警報システム
JP2014031660A (ja) * 2012-08-04 2014-02-20 Kajima Corp 重機周りの接近作業員検知方法及びシステム
JP2019060108A (ja) * 2017-09-26 2019-04-18 日立建機株式会社 作業員接近通知システム
JP2020093890A (ja) * 2018-12-12 2020-06-18 株式会社神鋼エンジニアリング＆メンテナンス クレーン作業監視システム、クレーン作業監視方法、危険状態判定装置、及びプログラム
JP2020125171A (ja) * 2019-02-01 2020-08-20 株式会社Ｆｕｊｉ 作業車両の安全システム
JP2021060837A (ja) * 2019-10-08 2021-04-15 株式会社大林組 警報システム、警報方法及び警報プログラム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07168985A (ja) * 1993-12-13 1995-07-04 Hazama Gumi Ltd 接近警報システム
JP2014031660A (ja) * 2012-08-04 2014-02-20 Kajima Corp 重機周りの接近作業員検知方法及びシステム
JP2019060108A (ja) * 2017-09-26 2019-04-18 日立建機株式会社 作業員接近通知システム
JP2020093890A (ja) * 2018-12-12 2020-06-18 株式会社神鋼エンジニアリング＆メンテナンス クレーン作業監視システム、クレーン作業監視方法、危険状態判定装置、及びプログラム
JP2020125171A (ja) * 2019-02-01 2020-08-20 株式会社Ｆｕｊｉ 作業車両の安全システム
JP2021060837A (ja) * 2019-10-08 2021-04-15 株式会社大林組 警報システム、警報方法及び警報プログラム

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