Construction support system, construction support method, construction support program

Abstract

To improve the safety of a work site.SOLUTION: A construction assistance system comprises: an image analysis unit that analyzes image data of a work area photographed by an imaging device provided downward at the tip of a boom of a construction machine and detects an operator and a lifted load in the work area; a height calculation unit that calculates the height of the lifted load by using position information acquired by an antenna provided at the tip of the boom and the inclination angle of the boom; and a position recognition unit that recognizes a positional relationship between the operator and the lifted load in a three-dimensional space on the basis of the operator and the lifted load detected by the image analysis unit and the height of the lifted load calculated by the height calculation unit.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a construction support system and a construction support method. , give Regarding engineering support programs. [Background technology]

[0002] There is known a technology for monitoring the safety of a monitored area by combining an image of the monitored area below the load, taken from a higher position than the load suspended by the crane, with an image of the area that is a blind spot due to the load, and displaying a composite image of the monitored area without blind spots. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-148396 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned conventional technology, the positional relationship between the load and the worker is not taken into consideration. Therefore, the safety of the work site is judged by the crane operator or worker by visually checking the height of the load and based on their own knowledge and experience, which tends to depend on the individual's level of proficiency.

[0005] The present disclosure has been made in consideration of these circumstances, and aims to improve safety at work sites. [Means for solving the problem]

[0006] A construction support system according to one aspect of an embodiment of the present invention comprises: an image analysis unit that analyzes image data of a work area captured by an imaging device provided facing downward at the tip of a boom of a construction machine, and detects a worker and a suspended load within the work area; a height calculation unit that calculates the height of the load using the height of the tip of the boom indicated by position information acquired by an antenna provided at the tip of the boom, the inclination angle of the boom, and the length of the wire wound by a winch; a position recognition unit that recognizes a positional relationship between the worker and the suspended load in three-dimensional space based on the worker and the suspended load detected by the image analysis unit and the height of the suspended load calculated by the height calculation unit; and a distance determination unit that determines whether the distance between the worker and the suspended load is equal to or greater than a threshold value calculated in accordance with the shape or size of the suspended load detected by the image analysis unit, based on the positional relationship between the worker and the suspended load. Send out a signal indicating instructions from the signal person When a signal is received from the transmitter, operation of the operation device for operating the construction machine is permitted. Effect of the Invention

[0007] According to the present disclosure, safety at work sites can be improved. [Brief description of the drawings]

[0008] [Figure 1] 1 is a diagram illustrating an example of a system configuration of a construction support system according to a first embodiment; [Diagram 2] FIG. 2 is a diagram illustrating the interior of a cabin. [Diagram 3] FIG. 2 is a diagram illustrating a hardware-aware configuration of a crane. [Figure 4] FIG. 2 is a diagram illustrating the function of a control device. [Diagram 5] 4 is a flowchart illustrating a process of the control device. [Figure 6] FIG. 11 is a first diagram showing a display example. [Figure 7]FIG. 13 is a second diagram showing a display example. [Figure 8] FIG. 2 is a diagram illustrating another example of the construction support system according to the first embodiment. [Figure 9] FIG. 11 is a diagram illustrating an example of a system configuration of a construction support system according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] First Embodiment Hereinafter, embodiments will be described with reference to the drawings. Fig. 1 is a diagram showing an example of a system configuration of a construction support system according to a first embodiment.

[0010] The construction support system 100 of this embodiment includes a crane 200, a receiver 300, and a transmitter 400, each of which communicates wirelessly or the like.

[0011] The crane 200 is, for example, a crane having a lower traveling body 201, a rotating mechanism 202, an upper rotating body 203, a cabin 204, a boom 205, and the like.

[0012] The lower travelling body 201 is capable of traveling, and the upper rotating body 203 rotates by a rotating mechanism 202. A cabin 204 is provided on the upper rotating body 203. The boom 205 is disposed on the upper part of the upper rotating body 203, and an inclinometer 212 for detecting the elevation angle of the boom 205 is provided.

[0013] Furthermore, a hook 213 is suspended via a wire from the tip of the boom 205. One end of the wire is wound around a winch mounted on the upper rotating body 203, and the hook 213 is raised and lowered by driving this winch to wind and unwind the wire.

[0014] Moreover, the crane 200 of this embodiment includes an antenna 210 for acquiring position information indicating the current position of the crane 200, and an imaging device 211 for capturing an image of the work area including the suspended load 1. The antenna 210 may be, for example, a GNSS (Global Navigation Satellite System) antenna or the like.

[0015] The imaging device 211 may be a general camera and may be provided in advance at the tip of the boom 205, or may be attached to the tip of the boom 205. The imaging device 211 is provided at the tip of the boom 205 so that the imaging area is downward, and images the work area from above the suspended load 1. The work area is a part of the work site where the crane 200 performs work. In other words, the work area is an area at the work site where images can be captured by the imaging device 211.

[0016] The receiver 300 is worn by a worker performing work in the working area of ​​the crane 200, and may be, for example, a wristwatch type receiver.

[0017] The receiver 300 receives a warning signal transmitted from the crane 200 or the like. When the receiver 300 of this embodiment receives a warning signal, for example, the receiver 300 may vibrate the main body to notify the worker wearing the receiver 300 of a warning. The receiver 300 may also have a display and an audio output device, and may display on the display that a warning signal has been received, or may output a warning sound or the like indicating that a warning signal has been received.

[0018] The transmitter 400 is carried by a signal person among the workers who gives signals to the operator of the crane 200 who is in the cabin 204. The signal person is a worker designated to give prescribed signals regarding the operation of the crane.

[0019] In the example of Fig. 1, worker P1 does not carry the transmitter 400 and is not the signal person. Meanwhile, worker P2 carries the transmitter 400 and is the signal person. In response to the operation of worker P2 who is the signal person, the transmitter 400 transmits a signal indicating the instructions of the signal person to the crane 200. Although not shown, worker P2 also wears a receiver 300.

[0020] In the construction support system 100 of this embodiment, the control device of the crane 200 calculates the positional relationship between the load 1 suspended from the hook 213 and the worker working in the work area.

[0021] More specifically, in the construction support system 100, the control device of the crane 200 calculates position information including the height of the suspended load and position information of the worker, and determines whether or not the distance between the worker and the suspended load is sufficient based on the three-dimensional positional relationship between the suspended load and the worker based on this position information. The details of the control device of the crane 200 will be described later.

[0022] Then, when the distance between the worker and the suspended load is sufficient and a signal indicating instructions from the signal person is received from the transmitter 400, the construction support system 100 determines that it is possible to continue work using the crane 200.

[0023] Furthermore, the construction support system 100 of this embodiment provides a display component in the cabin 204 of the crane 200 that indicates the status of the crane 200, allowing the operator of the crane 200 to visually understand whether or not work using the crane 200 can be continued.

[0024] The cabin 204 will be described below with reference to Fig. 2. Fig. 2 is a diagram illustrating the interior of the cabin.

[0025] Inside the cabin 204, there are provided a driver's seat 250, a lever operation device 251 for operating the crane 200, an operation pedal 252, and a group of meters 253 that indicate output values ​​of various sensors, etc.

[0026] In addition, a display device 214, an instruction transmission device 215, and a three-color light 216 are arranged inside the cabin 204 of this embodiment. In this embodiment, the display device 214, the instruction transmission device 215, and the three-color light 216 are arranged at positions within the field of view of the driver when the driver sits in the driver's seat 250.

[0027] The display device 214 displays an image captured by the imaging device 211. When the instruction transmission device 215 receives a signal indicating an instruction from the signal person from the transmitter 400, an image saying "signalling" is turned on. In the example of FIG. 2, the instruction transmission device 215 displays an image saying "signalling" on the screen, but the display mode of the instruction transmission device 215 is not limited to this. The instruction transmission device 215 may have any form as long as it can notify the driver seated in the driver's seat 250 that a signal indicating an instruction from the operator P2 who is the signal person has been received.

[0028] The tri-color lamp 216 has light-emitting members of three colors, and lights up in colors according to the state of the crane 200. Specifically, the tri-color lamp 216 has a light-emitting member 216r that emits red light (first color), a light-emitting member 216y that emits yellow light (second color), and a light-emitting member 216g that emits green light (third color).

[0029] In this embodiment, for example, when it is determined that the distance between the worker and the suspended load is insufficient, only the light emitting member 216r of the three-color light 216 is turned on. Also, in this embodiment, for example, when the distance between the worker and the suspended load is sufficient but no instructions have been received from the signal person, only the light emitting member 216y of the three-color light 216 is turned on. Also, in this embodiment, for example, when the distance between the worker and the suspended load is sufficient and instructions have been received from the signal person, only the light emitting member 216g of the three-color light 216 is turned on.

[0030] In this way, the three-color lamp 216 of this embodiment allows the operator to visually grasp the state of the crane 200 by turning on different light-emitting elements depending on the state of the crane 200.

[0031] In the following description, a state in which it is determined that the distance between the operator and the suspended load is insufficient may be referred to as a first state of the crane 200. In the following description, a state in which it is determined that the distance between the operator and the suspended load is sufficient, but no instructions have been received from the signal person may be referred to as a second state. In the following description, a state in which it is determined that the distance between the operator and the suspended load is sufficient, and instructions have been received from the signal person may be referred to as a third state.

[0032] Next, the hardware configuration of the crane 200 of this embodiment will be described with reference to Fig. 3. Fig. 3 is a diagram for explaining the hardware configuration of the crane.

[0033] The crane 200 of this embodiment has an antenna 210, an imaging device 211, an inclinometer 212, a display device 214, an instruction transmission device 215, a three-color light 216, a communication device 217, a storage device 218, and a control device 220. Each of the antenna 210, the imaging device 211, the inclinometer 212, the display device 214, the instruction transmission device 215, the three-color light 216, the communication device 217, and the storage device 218 is connected to the control device 220.

[0034] The antenna 210 is an antenna for communicating with a satellite positioning system, and acquires position information (coordinate information) including the altitude of the tip of the boom 205. The imaging device 211 captures an image of the work area including the hook 213 and the suspended load 1, and transmits the image data to the control device 220.

[0035] The inclinometer 212 is a sensor that measures the elevation angle of the boom 205 and outputs the measured angle to the control device 220.

[0036] The display device 214 and the instruction transmission device 215 may be, for example, liquid crystal display devices, etc. The display device 214 displays a screen including an image captured by the imaging device 211 and a result of processing by the control device 220.

[0037] The instruction transmission device 215 is controlled to be turned on / off in response to an instruction from the control device 220. The three-color lamp 216 lights up a light-emitting member of a color corresponding to an instruction from the control device 220.

[0038] The communication device 217 communicates with the receiver 300 and the transmitter 400. The storage device 218 stores, for example, a ROM (Read Only Memory) or a RAM (Random Access Memory) that is read and executed by the control device 220. The storage device 218 also stores the results of calculations performed by the control device 220, data used in the calculations, and the like.

[0039] The control device 220 of this embodiment is an arithmetic processing device such as a CPU (Central Processing Unit), and controls the overall operation of the crane 200. Specifically, the control device 220 disables the operation of the lever operating device 251, the operating pedal 252, etc., depending on the processing of the construction support processing unit 230 described later, for example.

[0040] Moreover, the control device 220 reads out and executes a program stored in the storage device 218 to realize functions that will be described later.

[0041] In the present embodiment, the construction support system 100 includes the crane 200, the receiver 300, and the transmitter 400, but is not limited thereto. The construction support system 100 of the present embodiment may be a system including the control device 220 and each device connected to the control device 220. The construction support system 100 may include the control device 220, the storage device 218, and the communication device 217.

[0042] Next, the function of the control device 220 will be described with reference to Fig. 4. Fig. 4 is a diagram for explaining the function of the control device.

[0043] The control device 220 of this embodiment has a construction support processing unit 230. The construction support processing unit 230 is a function that is realized by the control device 220 reading and executing a program stored in the storage device 218. In addition, the construction support processing unit 230 determines the state of the crane 200 and controls the instruction transmission device 215, the three-color light 216, and the communication device 217.

[0044] The construction support processing unit 230 of this embodiment has an image acquisition unit 231, a height calculation unit 232, an image analysis unit 233, a position recognition unit 234, a distance determination unit 235, a reception determination unit 236, a display control unit 237, and a warning output unit 238.

[0045] The image acquisition unit 231 acquires image data of an image captured by the imaging device 211 .

[0046] The height calculation unit 232 calculates the height of the suspended load based on the position information of the tip of the boom 205 acquired by the antenna 210 and the output value of the inclinometer 212. More specifically, the height calculation unit 232 calculates the height of the suspended load 1 using the height of the tip of the boom 205, the hoisting angle of the boom 205, the length of the wire wound by the winch, etc.

[0047] In addition, when the load 1 is not suspended from the hook 213, the height calculation unit 232 may calculate the height of the hook 213 instead of the load 1.

[0048] The image analysis unit 233 analyzes the image data acquired by the image acquisition unit 231, and detects an image of the worker and an image of the suspended load in the working area. The image analysis unit 233 may also acquire information indicating the position of the image of the worker and the position of the image of the suspended load in the image captured by the imaging device 211. In other words, the image analysis unit 233 acquires information indicating the positional relationship between the worker and the suspended load 1 in the captured image.

[0049] The image analysis unit 233 of the present embodiment may be realized by machine learning. The image analysis unit 233 may be realized by any one of supervised learning, unsupervised learning, semi-supervised learning, reinforcement learning, and deep learning among machine learning methods, and may be realized by a combination of these learning methods.

[0050] Furthermore, the image analysis unit 233 may detect the worker and the suspended load within the work area from the image data by pattern matching.

[0051] The position recognition unit 234 recognizes the three-dimensional positional relationship between the load 1 and the worker based on the height of the load 1 and information indicating the positional relationship between the worker and the load 1. More specifically, the position recognition unit 234 calculates and acquires the position information indicating the position of the worker and the position information indicating the position of the load 1 as three-dimensional coordinate information.

[0052] In addition, in a state where the load 1 is not suspended from the hook 213, the position recognition unit 234 of this embodiment may detect the hook 213 instead of the load 1 and calculate three-dimensional coordinate information indicating the position of the hook 213.

[0053] The distance determination unit 235 calculates the distance between the worker and the suspended load 1 based on the three-dimensional coordinate information of the worker and the suspended load 1 calculated by the position recognition unit 234, and determines whether or not the worker is sufficiently separated from the suspended load 1. Note that the distance determination unit 235 may determine whether or not the worker and the suspended load 1 are sufficiently separated based on a preset threshold value (predetermined distance).

[0054] The threshold value may be held by the distance determination unit 235. Moreover, this threshold value may be set to change according to the height of the suspended load 1. Specifically, the distance determination unit 235 may hold a function indicating the relationship between the threshold value and the height of the suspended load 1. In this case, the distance determination unit 235 may calculate the threshold value according to the height of the suspended load 1 calculated by the height calculation unit 232.

[0055] Furthermore, the distance determination unit 235 may calculate the threshold value according to, for example, the size and shape of the suspended load 1. In this case, the distance determination unit 235 detects the shape and size of the suspended load 1 by the image analysis unit 233, and calculates the threshold value according to the detected shape and size. The shape and size may be, for example, the lengths of the long and short sides of the rectangular image when the image of the suspended load 1 is a rectangular image, or the diameter of the circular image when the image of the suspended load 1 is a circular image. Furthermore, the distance determination unit 235 of this embodiment may calculate the threshold value with a safety margin added to the shape and size of the suspended load 1.

[0056] The reception determination unit 236 determines whether or not a signal from the transmitter 400 has been received. Specifically, the reception determination unit 236 determines whether or not a signal received by the communication device 217 is a signal transmitted from the transmitter 400. The signal transmitted from the transmitter 400 may be a signal of a predetermined specific frequency, or the like. Furthermore, the signal transmitted from the transmitter 400 may be a signal including identification information for identifying the transmitter 400.

[0057] The display control unit 237 controls the display of the display device 214 , the instruction transmission device 215 , and the three-color light 216 .

[0058] Specifically, the display control unit 237 causes the display device 214 to display an image obtained by superimposing an image indicating the detection of the worker detected by the analysis by the image analysis unit 233 and the suspended load 1 on the image obtained by the image obtaining unit 231. The display control unit 237 also causes the display device 214 to display an image indicating the threshold value held by the distance determination unit 235 on the image obtained by the image obtaining unit 231.

[0059] Furthermore, the display control unit 237 turns on the instruction transmission device 215 when it determines that the reception determination unit 236 has received a signal transmitted from the transmitter 400. Furthermore, the display control unit 237 controls the color to be lit in the three-color light 216 depending on the state of the crane 200.

[0060] The warning output unit 238 outputs a warning signal to the receiver 300 when the state of the crane 200 is the first state, that is, when the operator and the suspended load are not sufficiently separated from each other.

[0061] The processing of the control device 220 of this embodiment will be described below with reference to Fig. 5. Fig. 5 is a flowchart for explaining the processing of the control device. The processing shown in Fig. 5 is started when, for example, the engine of the crane 200 is started (turned on).

[0062] The construction support processing unit 230 of the control device 220 of this embodiment captures an image of a work area using the imaging device 211, and acquires the image data using the image acquisition unit 231 (step S501).

[0063] Next, the construction support processing unit 230 causes the image analysis unit 233 to analyze the image data (step S502), and proceeds to step S505, which will be described later.

[0064] In addition, the construction support processing unit 230 measures the hoisting angle of the boom 205 using the inclinometer 212 (step S503), and calculates the height of the suspended load 1 using the height calculation unit 232 based on the measurement results and the position information acquired by the antenna 210 (step S504), and proceeds to step S505 described later.

[0065] When the construction support processing unit 230 acquires the detection results of the worker and the suspended load and the height of the suspended load 1 by the height calculation unit 232 using the image analysis unit 233, the position recognition unit 234 recognizes the positional relationship between the worker and the suspended load in three-dimensional space (step S505). That is, the position recognition unit 234 acquires coordinate information indicating the position of the worker in three-dimensional space and coordinate information indicating the position of the suspended load 1. Note that the coordinate information in three-dimensional space may be latitude and longitude, or may be three-dimensional coordinate information including the x-coordinate and y-coordinate in the image acquired by the image acquisition unit 231 and the z-coordinate indicating the height calculated by the height calculation unit 232.

[0066] Next, the construction support processing unit 230 calculates the distance between the worker and the suspended load 1 from coordinate information indicating the worker's position in three-dimensional space and coordinate information indicating the position of the suspended load 1 using the distance determination unit 235, and determines whether the distance between the worker and the suspended load 1 is greater than a predetermined distance (threshold) (step S506).

[0067] In step S506, if the distance between the worker and the load 1 is less than the predetermined distance, the construction support processing unit 230 causes the display control unit 237 to turn on the red light-emitting element 216r of the three-color lamp 216, and causes the warning output unit 238 to output a warning signal to the worker and the operator of the crane 200 (step S507), and returns to step S501.

[0068] Specifically, the warning output unit 238 transmits a warning signal to all of the receivers 300 worn by the workers. In addition, the display control unit 237 causes the display device 214 to display a warning indicating that the distance between the worker and the suspended load 1 is less than the threshold value.

[0069] Thus, in this embodiment, when the state of the crane 200 is the first state, the tri-color light 216 is illuminated in red.

[0070] In addition, in this embodiment, the control device 220 may disable operations by the lever operating device 251 and the operating pedal 252 in the cabin 204 when the state of the crane 200 is the first state.

[0071] In this way, it is possible to prevent 2000 from operating when the worker and the suspended load 1 are not sufficiently separated from each other.

[0072] In step S506, if the distance between the worker and the suspended load 1 is greater than or equal to a predetermined distance, the construction support processing unit 230 determines, via the reception determination unit 236, whether or not a signal indicating the signaler's instructions has been received from the transmitter 400 (step S508).

[0073] In step S508, if a signal indicating the instruction of the signal person is not received from the transmitter 400, the construction support processing unit 230 causes the display control unit 237 to light up the yellow light-emitting member 216y of the three-color lamp 216 (step S509), and returns to step S501.

[0074] Thus, in this embodiment, when the state of the crane 200 is the second state, the tri-color light 216 is illuminated yellow.

[0075] In this embodiment, even when the crane 200 is in the second state, the operation by the lever operating device 251 and the operating pedal 252 in the cabin 204 may be disabled.

[0076] In this way, it is possible to prevent the crane 200 from being operated without receiving instructions from the signal person.

[0077] In step S508, when a signal indicating an instruction from the signal person is received from the transmitter 400, the construction support processing unit 230 causes the display control unit 237 to light up the green light emitting member 216g of the three-color lamp 216 (step S510).

[0078] Thus, in this embodiment, when the state of the crane 200 is the third state, the tri-color light 216 is illuminated in green.

[0079] Next, the construction support processing unit 230 determines whether or not the engine of the crane 200 has been turned off (step S511). If the engine has not been turned off in step S511, the construction support processing unit 230 returns to step S501.

[0080] In step S511, if the engine is turned off, the construction support processing unit 230 ends the process. In this manner, the construction support processing unit 230 of the present embodiment repeats the process of FIG. 5 while the engine of the crane 200 is turned on.

[0081] Next, a display example of the display device 214 of this embodiment will be described with reference to Fig. 6 and Fig. 7. Fig. 6 is a first diagram for explaining a display example.

[0082] 6 shows a case where the load 1 is not attached to the hook 213. A case where the load 1 is not attached to the hook 213 is, for example, a case where the load 1 attached to the hook 213 is transported to a destination, and after the load 1 is detached from the hook 213 at the destination, the boom 205 is rotated again to move only the hook 213 to another location.

[0083] In this case, the image analysis unit 233 analyzes the image data acquired by the image acquisition unit 231, and detects the hook 213 and the worker instead of the suspended load 1.

[0084] In FIG. 6, an image in which a marker image 61 and a marker image 62 are superimposed on an image acquired by an image acquisition unit 231 is displayed on a display device 214.

[0085] The marker image 61 is an image indicating that the worker P2 has been detected, and the marker image 62 is an image indicating a threshold value to be referred to when the distance determining unit 235 makes a determination. For example, the marker image 61 and the marker image 62 may be displayed in different display modes. Specifically, for example, the marker images may be displayed in different colors or line types.

[0086] When the image analysis unit 233 detects the hook 213 and the worker P2, the position recognition unit 234 recognizes the positional relationship between the hook 213 and the worker P2 in three-dimensional space, and the distance determination unit 235 determines whether the distance between the hook 213 and the worker P2 is greater than or equal to a threshold value.

[0087] 6, the area inside the marker image 62 is an area where the distance from the hook 213 is less than the threshold value. Therefore, the warning output unit 238 outputs a warning signal when the position indicated by the coordinate information of the worker P2 is in the area inside the marker image 62, and the display control unit 237 turns on the three-color lamp 216 in red.

[0088] In the example of FIG. 6, the image of the worker P2 is located outside the marker image 62, and it can be seen that the distance between the worker P2 and the hook 213 is equal to or greater than the threshold.

[0089] In this embodiment, when a signal indicating an instruction from a signal person is received in this state and the state becomes the third state, the boom 205 can be operated.

[0090] In this manner, in this embodiment, even when the suspended load 1 is not attached to the hook 213, the safety of the work site can be improved.

[0091] 7 is a second diagram showing a display example. The example of FIG. 7 shows a case where a suspended load 1 is attached to a hook 213.

[0092] In this case, the image analysis unit 233 analyzes the image data acquired by the image acquisition unit 231, and detects the suspended load 1 and the worker.

[0093] In FIG. 7, an image in which a marker image 61, a marker image 71, and a marker image 72 are superimposed on an image acquired by the image acquisition unit 231 is displayed on the display device 214.

[0094] The marker image 71 is an image indicating that the suspended load 1 has been detected, and the marker image 72 is an image indicating a threshold value to be referred to when the distance determining unit 235 makes a determination. For example, the marker images 61, 71, and 72 may each be displayed in a different display mode. Specifically, for example, each marker image may be displayed in a different color or line type.

[0095] In this embodiment, when the image analysis unit 233 detects the suspended load 1 and the worker P2, the position recognition unit 234 recognizes the positional relationship between the suspended load 1 and the worker P2 in three-dimensional space, and the distance determination unit 235 determines whether the distance between the suspended load 1 and the worker P2 is greater than or equal to a threshold value.

[0096] In the example of FIG. 7, the area inside the marker image 72 is an area where the distance from the suspended load 1 is less than the threshold value.

[0097] Therefore, when the position indicated by the coordinate information of the worker P2 is within the inner area of ​​the marker image 72, the warning output unit 238 outputs a warning signal, and the display control unit 237 turns on the three-color lamp 216 in red.

[0098] 7 is wider than the inner area of ​​the marker image 62 shown in Fig. 6. This is because the suspended load 1 is larger than the hook 213. The inner area of ​​the marker image 72 changes depending on the height of the suspended load 1.

[0099] In the example of FIG. 7, the image of the worker P2 is located outside the marker image 72, and it can be seen that the distance between the worker P2 and the suspended load 1 is equal to or greater than the threshold value.

[0100] In this embodiment, when a signal indicating an instruction from a signal person is received in this state and the state becomes the third state, the boom 205 can be operated.

[0101] Next, another example of the construction support system 100 of the present embodiment will be described with reference to Fig. 8. Fig. 8 is a diagram showing another example of the construction support system of the first embodiment.

[0102] In the construction support system 100A shown in FIG. 8, a plurality of targets 2 are arranged on a suspended load 1, which serve as a reference for image analysis by an image analysis unit 233.

[0103] The target 2 is an object having a specific shape and a predetermined size. In the example of Fig. 2, the target 2 is a sphere. In addition, it is preferable that the color of the target 2 is different from that of the objects arranged in the work site.

[0104] In the example of Figure 8, the image analysis unit 233 of the control device 220 holds information indicating the size of the target 2 in advance, and calculates the vertical movement distance of the suspended load 1 based on changes in the size of the target 2 in the image acquired by the image acquisition unit 231, changes in the distance between the targets 2, etc.

[0105] In this way, by placing multiple targets 2 on the suspended load 1 and calculating the vertical movement distance of the suspended load 1 using images of the targets 2, the calculation accuracy of the height of the suspended load 1 can be improved.

[0106] 8, a plurality of targets 2 are arranged, but the present invention is not limited to this. The number of targets 2 arranged on the suspended load 1 may be one.

[0107] Furthermore, in this embodiment, the antenna 210 is provided at the tip of the boom 205, but is not limited to this. In this embodiment, the antenna 210 may be provided at two or more locations, for example, at the tip of the boom 205 and on the top surface of the upper rotating body 203.

[0108] In the example of FIG. 8, the crane 200 has an antenna 210 at the tip of the boom 205 and an antenna 210A on the top surface of the upper rotating body 203.

[0109] Furthermore, the antenna 210 does not have to be provided at the tip of the boom 205 , and in that case, the antenna 210 may be attached to two or more locations on the top surface of the upper rotating body 203 .

[0110] In this case, the height calculation unit 232 calculates the height of the suspended load 1 based on coordinate information indicating the position of the tip of the boom 205 and coordinate information indicating the position of the top surface of the upper rotating body 203, and the hoisting angle of the boom 205 detected by the inclinometer 212. Therefore, the calculation accuracy of the height of the suspended load 1 can be improved.

[0111] In this manner, in this embodiment, it is determined whether or not the worker and the load are sufficiently separated based on the positional relationship between the load and the worker in three-dimensional space. Also, in this embodiment, operation of the crane 200 is permitted only when the worker and the load are sufficiently separated and a signal indicating an instruction from the signal person is received. Furthermore, in this embodiment, an instruction transmission device 215 and a three-color light 216 are provided to allow the operator of the crane 200 to visually grasp these conditions.

[0112] Therefore, according to this embodiment, the operator of the crane 200 can easily grasp the movements of the workers at the work site. Also, in this embodiment, the operator of the crane 200 and the signal person can communicate with each other one-to-one, which prevents the operator from mistakenly following the signals of workers other than the signal person.

[0113] Furthermore, in this embodiment, risk factors in work using the crane 200 can be reduced, and safety at the work site can be improved.

[0114] Second Embodiment The second embodiment will be described below with reference to the drawings. The second embodiment differs from the first embodiment in that the construction support processing unit 230 of the control device 220 of the first embodiment is provided in a management server that manages the crane 200. In the following description of the second embodiment, differences from the first embodiment will be described, and components having the same functional configuration as the first embodiment will be given the same reference numerals as those used in the description of the first embodiment, and descriptions thereof will be omitted.

[0115] Fig. 9 is a diagram showing an example of a system configuration of a construction support system according to the second embodiment. A construction support system 100B shown in Fig. 9 includes a management server 600, a crane 200A, a receiver 300, and a transmitter 400.

[0116] In the construction support system 100B, the management server 600 and the crane 200A communicate with each other via a network or the like. The management server 600 of this embodiment is an information processing device having an arithmetic processing device and a storage device, and has a construction support processing unit 230. The management server 600 does not need to have all of the components of the construction support processing unit 230, and it is sufficient that the management server 600 has an image acquisition unit 231, a height calculation unit 232, an image analysis unit 233, a position recognition unit 234, and a distance determination unit 235.

[0117] The control device 220 of the crane 200A of this embodiment may include the reception determination unit 236, the display control unit 237, and the warning output unit 238 of the construction support processing unit 230.

[0118] The management server 600 of this embodiment receives, from the crane 200A, image data captured by the imaging device 211 and position information indicating the position of the tip of the boom 205 of the crane 200A. Then, upon receiving the image data and position information, the management server 600 performs processing by the construction support processing unit 230 and transmits the processing result to the crane 200A.

[0119] Specifically, when the state of the crane 200A is the first state, the management server 600 instructs the crane 200A to turn on the tri-color light 216 in red and to output a warning signal. When the state of the crane 200A is the second state, the management server 600 instructs the crane 200A to turn on the tri-color light 216 in yellow. When the state of the crane 200A is the third state, the management server 600 instructs the crane 200A to turn on the tri-color light 216 in green.

[0120] In this manner, in this embodiment, by providing the construction support processing unit 230 in the management server 600, the processing load of the crane 200A can be reduced.

[0121] In the example of FIG. 9, the construction support system 100B includes the management server 600, the crane 200A, the receiver 300, and the transmitter 400, but is not limited to this.

[0122] For example, the management server 600 may be realized by a plurality of information processing devices, and the plurality of information processing devices may be the construction support system 100 B. Moreover, the construction support system 100 B of the present embodiment may be the management server 600 itself.

[0123] The present embodiment has been described above with reference to specific examples. However, the present disclosure is not limited to these specific examples. Any design modifications made by a person skilled in the art to these specific examples are also included within the scope of the present disclosure as long as they have the features of the present disclosure. The elements of each of the above-mentioned specific examples and their arrangements, conditions, shapes, etc. are not limited to those exemplified and can be changed as appropriate. The combination of each of the elements of each of the above-mentioned specific examples can be changed as appropriate as long as no technical contradiction occurs.

[0124] In addition, in this embodiment, a crane has been described as an example of a construction machine that hoists a load 1, but this embodiment can also be applied to construction machines other than cranes. This embodiment can be applied to any construction machine that performs work such as hoisting a load.

[0125] In addition, in this embodiment, the instruction transmission device 215 and the tricolor light 216 are arranged inside the cabin 204 of the crane 200, but this is not limiting. The instruction transmission device 215 and the tricolor light 216 may be arranged, for example, outside the cabin 204. Specifically, for example, the instruction transmission device 215 and the tricolor light 216 may be arranged in a position where they can be visually confirmed by workers other than the operator at the work site.

[0126] Furthermore, the crane 200 of this embodiment may be operated by remote control, etc., in which case an instruction transmission device 215 and a three-color light 216 may be provided in the remote control room of the crane 200. [Explanation of symbols]

[0127] 100, 100A, 100B Construction Support System 200 Crane 205 Boom 210 Antenna 211 Imaging device 212 Inclinometer 213 Hook 220 Control device 230 Construction Support Department

Claims

1. an image analysis unit that analyzes image data of a work area captured by an imaging device that is provided facing downward at the tip of a boom of a construction machine, and detects a worker and a suspended load within the work area; a height calculation unit that calculates the height of the load using the height of the tip of the boom indicated by position information acquired by an antenna provided at the tip of the boom, the inclination angle of the boom, and the length of the wire wound up by a winch; a position recognition unit that recognizes a positional relationship between the worker and the suspended load in a three-dimensional space based on the worker and the suspended load detected by the image analysis unit and the height of the suspended load calculated by the height calculation unit; and a distance determination unit that determines whether or not the distance between the worker and the suspended load is equal to or greater than a threshold value calculated according to the shape or size of the suspended load detected by the image analysis unit, based on a positional relationship between the worker and the suspended load; A construction support system that allows operation of an operating device for operating the construction machine when the distance between the worker and the suspended load is greater than or equal to the threshold value and a signal is received from a transmitter that emits a signal indicating instructions from a signal person.

2. 2. The construction support system according to claim 1, further comprising: a warning output unit that outputs a warning signal to an operator of the construction machine and to the worker when the distance between the worker and the suspended load is less than the threshold value.

3. A three-color light that changes its color depending on the state of the construction machine; 3. The construction support system according to claim 2, further comprising a display control unit that turns on the tri-color light in a first color when the distance between the worker and the suspended load is less than the threshold value.

4. a reception determination unit that determines whether a signal indicating an instruction from a specific signal person among the workers is received from a transmitter that transmits a signal indicating an instruction from the signal person; an instruction transmission device that lights up when a signal indicating the instruction is received; The display control unit is 4. The construction support system according to claim 3, wherein when the distance between the worker and the suspended load is equal to or greater than the threshold value and the signal indicating the instruction is not received, the tri-color light is lit in a second color.

5. The display control unit is 5. The construction support system according to claim 4, wherein when the distance between the worker and the suspended load is equal to or greater than the threshold value and the signal indicating the instruction is received, the tri-color light is lit in a third color.

6. The display control unit is A construction support system as described in any one of claims 3 to 5, wherein an image showing the worker detected by the image analysis unit, an image showing the suspended load, and an image showing the threshold value are superimposed on an image of the work area and displayed on a display device of the construction machine.

7. An object of a predetermined size is placed on the suspended load, The height calculation unit is The construction support system according to claim 1 , wherein the height of the suspended load is calculated using a vertical movement distance of the suspended load calculated from a change in size of the image of the object.

8. A construction support method using a construction support system, the construction support system comprising: a step of analyzing image data of a work area captured by an imaging device provided facing downward at the tip of a boom of a construction machine, and detecting a worker and a suspended load within the work area; calculating a height of the load using a height of the tip of the boom indicated by position information acquired by an antenna provided at the tip of the boom, an inclination angle of the boom, and a length of a wire wound up by a winch; a step of recognizing a positional relationship between the worker and the suspended load in a three-dimensional space based on the detected worker and the suspended load and the calculated height of the suspended load; and a step of determining whether or not a distance between the worker and the suspended load is equal to or greater than a threshold value calculated according to a shape or size of the suspended load detected in the step of detecting, based on a positional relationship between the worker and the suspended load; A construction support method that allows operation of an operating device for operating the construction machine when the distance between the worker and the suspended load is equal to or greater than the threshold value and a signal is received from a transmitter that emits a signal indicating instructions from a signal person.

9. A process of analyzing image data of a work area captured by an imaging device provided facing downward at the tip of a boom of a construction machine, and detecting a worker and a suspended load within the work area; a process of calculating a height of the load using a height of the tip of the boom indicated by position information acquired by an antenna provided at the tip of the boom, an inclination angle of the boom, and a length of a wire wound up by a winch; A process of recognizing a positional relationship between the worker and the suspended load in a three-dimensional space based on the detected worker and the suspended load and the calculated height of the suspended load; and determining whether or not the distance between the worker and the suspended load is equal to or greater than a threshold value calculated in accordance with the shape or size of the suspended load detected in the detection process, based on a positional relationship between the worker and the suspended load. A construction support program that causes the control device to execute processing to allow operation using an operating device for operating the construction machine when the distance between the worker and the suspended load is greater than or equal to the threshold value and a signal is received from a transmitter that emits a signal indicating instructions from a signal person.

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