Construction management system and operation machinery

Abstract

A construction management device is provided, which calculates a risk indicating the degree of danger of an accident based on information at least related to the position of a worker measured by a worker position measuring device and a worker biological information measuring device, information at least related to the position of a hydraulic excavator measured by a machine body position measuring device, a machine body posture measuring device, a machine front posture measuring device, and a machine operator biological information measuring device, personal information of workers and operators registered in a worker information registration device, and information about the construction environment from an environment information registration device, and outputs the calculated risk as a coordinate risk associated with the coordinates of the construction environment to a risk display device, and displays it in a mapping table form. By configuring in the above manner, the risk in the construction site can be evaluated more accurately, and the evaluation result can be presented in a more appropriate manner.

Description

Technical Field

[0001] The invention relates to a construction management system and an operating machine. Background Art

[0002] The promotion of i-Construction announced by the Ministry of Land, Infrastructure, Transport and Tourism has promoted the practical application of systems that use ICT (Information and Communication Technology) to improve productivity in construction sites. In addition, measures related to the improvement of productivity and safety have been reviewed, especially those that help improve safety in environments where workers and machines coexist. As a system aimed at improving safety, the following system has begun to be commercialized: the position information obtained from sensors installed on workers or machines is collected to a management server, and the approach of machines to the direction of workers or intrusions into dangerous areas is monitored, warned, and displayed, thereby improving the safety of workers. By introducing such a system, managers at construction sites can easily and in real time grasp dangerous events occurring in the construction site. On the other hand, in existing systems, there are many systems that only use geometric information such as the position or speed of workers and machines to judge dangerous events, and it is not easy to accurately evaluate the degree of danger (hereinafter referred to as risk) of accidents in working conditions such as the close distance between workers and machines.

[0003] Therefore, as a technology for evaluating and prompting risks by considering information other than geometric information such as position information, for example, the following fortification management system is disclosed in Patent Document 1: In a fortification management system that has a storage device and a computing device and provides management information for fortification management of an object fortification, the storage device has a work content information storage unit that stores work information related to the content of each of a plurality of works in the object fortification, and the computing device has a risk assessment unit that evaluates the risk level of each of the plurality of works based on the work information stored in the work content information storage unit.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2017-146735 Summary of the invention

[0007] As an accident that may occur at a construction site, there is, for example, a contact accident between man and machine. As the main cause of a contact accident between man and machine, first of all, it is considered that the cause lies on the machine side, which is the side that brings the risk. This is, for example, when the operator of the machine performs a rough operation, or when the operation is carried out outside the pre-conceived work area. On the other hand, there are also reasons on the human side, which is the side that bears the risk. This is, for example, when an operator who is not scheduled to perform the operation accidentally approaches the machine, or when an operator misjudges the movable range of the machine and approaches the machine that is in operation. Therefore, in order to more accurately evaluate the contact risk, it is necessary to consider the status of both the side that brings the risk and the side that bears the risk.

[0008] However, in the above-mentioned prior art, the risk is evaluated by considering the state of the operator (driver) based on the position information, but the interaction between the main causes of risk caused by the states of the risk-inducing side and the risk-bearing side is not considered. That is, it is assumed that multiple operators and machines are in different states in the construction site, so it is impossible to accurately evaluate the risk of a dangerous event caused by the actions of two individuals such as a contact accident, and it is difficult to present the evaluation results to the manager in an appropriate manner.

[0009] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a construction management system and a work machine that can more accurately evaluate the risks in a construction site and present the evaluation results in a more appropriate manner.

[0010] The present application includes multiple means for solving the above-mentioned problems. For example, it includes: a worker measuring device for measuring the status of a worker; a machine measuring device for measuring the status of a working machine; a worker information registration device, which registers the personal information of the worker and the operator who operates the working machine; an environmental information registration device, which registers information about the construction environment that is the object; and a construction management device, which calculates the risk representing the degree of danger of an accident based on at least the information related to the position of the worker measured by the worker measuring device, at least the information related to the position of the working machine measured by the machine measuring device, the personal information of the worker and the operator registered in the worker information registration device, and the information about the construction environment from the environmental information registration device, and outputs the calculated risk as a coordinate risk associated with the coordinates of the construction environment to a risk display device, and displays it in the form of a mapping table.

[0011] Effects of the Invention

[0012] According to the present invention, the risk in the construction site can be evaluated more accurately, and the evaluation result can be presented in a more appropriate manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a functional block diagram showing the processing functions of the construction management system according to the first embodiment.

[0014] Figure 2 This is a diagram schematically showing the appearance of a hydraulic excavator as an example of a working machine.

[0015] Figure 3 This is a functional block diagram showing the processing functions of the internal risk calculation unit.

[0016] Figure 4 This is a graph showing the risk calculation based on (Formula 1) in a curve form.

[0017] Figure 5 This is a graph that represents the risk calculation curve based on (Formula 2).

[0018] Figure 6 This is a graph that shows the risk calculation curve based on (Formula 3).

[0019] Figure 7 This is a functional block diagram showing the processing functions of the external risk calculation unit.

[0020] Figure 8 This is a graph that represents the risk calculation curve based on (Formula 4).

[0021] Fig. 9 This is a graph that curves the risk calculation based on (Formula 5).

[0022] Fig.10 This is a graph that represents the risk calculation curve based on (Formula 6).

[0023] Fig.11 This is a graph that represents the risk calculation curve based on (Formula 7).

[0024] Fig.12 This is a functional block diagram showing the processing functions of the geometric information calculation unit according to the first embodiment.

[0025] Fig.13 It is a diagram showing the relationship between the center position and radius of the calculation area circle.

[0026] Fig.14 This is a diagram illustrating the definition of a reference point.

[0027] Fig.15 This is a functional block diagram showing the processing functions of the risk integration unit of this embodiment.

[0028] Fig.16 It is a diagram showing the details of the processing function of the calculation area discretization unit.

[0029] Fig.17It is a diagram showing the details of the processing function of the calculation area discretization unit.

[0030] Fig.18 It is a diagram showing the details of the processing function of the calculation area discretization unit.

[0031] Fig.19 This is a graph that represents the risk calculation curve based on (Formula 18).

[0032] Fig. 20 This is a graph that represents the risk calculation curve based on (Formula 19).

[0033] Fig.21 is a graph that illustrates the relationship of a cell to its closest reference point.

[0034] Fig. 22 This is a diagram illustrating the definition of proximity.

[0035] Fig.23 It is a diagram showing the processing contents of the integrated risk calculation unit.

[0036] Fig.24 It is a diagram showing an example of risk display in the risk display device.

[0037] Fig.25 It is a diagram showing an example of risk display in the risk display device.

[0038] Fig.26 This is a flowchart showing the processing contents of the risk calculation processing in the construction management system.

[0039] Fig. 27 It is a diagram showing an example of risk display in the risk display device.

[0040] Fig.28 It is a diagram showing an example of risk display in the risk display device.

[0041] Fig.29 It is a diagram showing an example of risk display in the risk display device.

[0042] Fig.30 It is a diagram showing an example of risk display in the risk display device.

[0043] Fig.31 It is a diagram showing an example of risk display in the risk display device.

[0044] Fig.32 It is a diagram showing an example of risk display in the risk display device.

[0045] Fig.33 It is a diagram showing an example of risk display in the risk display device.

[0046] Fig.34 It is a diagram showing an example of risk display in the risk display device.

[0047] Fig.35 This is a functional block diagram showing the processing functions of the construction management system according to the second embodiment.

[0048] Fig.36 This is a functional block diagram showing the processing functions of the risk integration unit according to the second embodiment.

[0049] Fig.37 It is a diagram showing the processing functions of the risk synthesis unit according to the second embodiment.

[0050] Fig.38 This is a flowchart showing the processing contents of the risk calculation processing in the construction management system according to the second embodiment.

[0051] Fig.39 This is a functional block diagram showing the processing functions of the risk integration unit according to the third embodiment.

[0052] Fig.40 It is a diagram showing the processing function of the risk attenuation unit.

[0053] Fig.41 It is a diagram showing the processing function of the risk attenuation unit.

[0054] Fig.42 It is a diagram showing the processing function of the risk attenuation unit.

[0055] Fig.43 It is a diagram showing the processing function of the risk attenuation unit.

[0056] Fig.44 It is a functional block diagram showing the processing functions of the geometric information calculation unit according to the fourth embodiment.

[0057] Fig.45 This is a diagram for explaining the operation principle of the worker position.

[0058] Fig.46 It is a diagram showing an example of risk display according to the fourth embodiment.

[0059] Fig.47 It is a diagram showing an example of risk display according to the fourth embodiment.

[0060] Fig.48 It is a functional block diagram showing the processing functions of the construction management system according to the fifth embodiment.

[0061] Fig.49 This is a functional block diagram showing the processing functions of the risk integration unit according to the fifth embodiment.

[0062] Fig.50 It is a diagram showing the processing functions of the risk synthesis unit according to the fifth embodiment. DETAILED DESCRIPTION

[0063] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the present embodiment, a hydraulic excavator is illustrated and described as an example of a working machine, but the present invention can also be applied to other working machines used at a construction site.

[0064] <First embodiment>

[0065] Reference Figure 1 to Figure 34 A first embodiment of the present invention will be described.

[0066] This embodiment calculates the risk of an accident (hereinafter referred to as risk) in an environment such as a construction site where workers (people) and machines (working machines) coexist, and displays the calculation results in a mapping table on a risk display device to prompt a construction manager or the like. The risk display device displays the risk of a predetermined area including working machines (in this embodiment, hydraulic excavators) operating at the construction site. In addition, in this embodiment, a case where there is one worker on the side that bears the risk and one working machine (hydraulic excavator) on the side that causes the risk is exemplified and explained.

[0067] Figure 1 This is a functional block diagram showing the processing functions of the construction management system of this embodiment. Figure 2 This is a diagram schematically showing the appearance of a hydraulic excavator as an example of a working machine according to the present embodiment.

[0068] exist Figure 1 In the present invention, the construction management system is composed of an environment information registration device 1, an operator information registration device 2, an operator position measuring device 3, an operator biological information measuring device 4, a machine body position measuring device 5, a machine body posture measuring device 6, a machine front posture measuring device 7, a machine operator biological information measuring device 8, a risk display device 9, and a construction management device 10.

[0069] The display area (IA) that specifies the risk area displayed on the risk display device 9 is registered in advance in the environmental information registration device 1. As the display area (IA), for example, the entire construction site can be set, or a range including the hydraulic excavator 100 and workers located within a certain distance therefrom (a range that requires risk evaluation) can be set.

[0070] In the worker information registration device 2, the worker or operator himself or the construction manager registers in advance the personal information of the worker who works at the construction site and the operator of the hydraulic excavator 100. In the worker information registration device 2, as the worker's personal information (worker personal information) and the operator's personal information (machine operator personal information), the worker's or operator's work experience, the scheduled work for the day, or the physical condition of the day, etc. are registered.

[0071] The worker position measuring device 3 measures the position information of the worker, for example, an RFID tag or a GPS terminal worn or carried by the worker. The worker position measuring device 3 transmits the position information measured by a communication function (not shown) to the outside. In addition, in the worker position measuring device 3, the speed of the worker is calculated and transmitted by numerically differentiating the acquired position information. In addition, the worker position measuring device 3 may be a camera (or a camera) or a laser sensor installed in the construction environment or the working machine, and it may be configured to use these devices to perform external measurement of the position of the worker.

[0072] The worker biological information measuring device 4 is, for example, a wearable terminal directly worn by the worker, which measures the worker's heart rate, electrocardiogram, body temperature and other biological information, and transmits it to the outside using a communication function not shown. In addition, the worker biological information measuring device 4 may be a camera or laser sensor installed in the construction environment or the working machine, and may be configured to use these devices to perform external measurement of the worker's status (biological information).

[0073] like Figure 2 As shown, a hydraulic excavator 100 as a working machine of the present embodiment includes a multi-jointed front working machine 101 formed by connecting a plurality of rotating driven components (a boom 104, an arm 105, and a bucket (working tool) 106), an upper rotating body 102 constituting a vehicle body, and a lower traveling body 103, wherein the upper rotating body 102 is provided to be rotatable relative to the lower traveling body 103. The base end of the boom 104 of the front working machine 101 is rotatably supported at the front of the upper rotating body 102, one end of the arm 105 is rotatably supported at an end (front end) different from the base end of the boom 104, and the bucket 106 is rotatably supported at the other end of the arm 105. Each driven component of the front working machine 101 is rotationally driven by a hydraulic cylinder, and the upper rotating body 102 is rotationally driven relative to the lower traveling body 103 by a hydraulic motor. Furthermore, the upper rotating body 102 is provided with an operator's cabin 110 in which an operator of the hydraulic excavator 100 sits.

[0074] The machine body position measuring device 5 measures information such as the position, orientation (direction of the upper rotating body 102), and moving speed of the hydraulic excavator 100 in the global coordinate system, and is composed of, for example, two GNSS (Global Navigation Satellite System) receiving antennas (GNSS antennas) 101a and 101b installed on the upper part of the upper rotating body 102 and a computing device not shown. GNSS refers to a satellite positioning system that receives positioning signals from multiple positioning satellites to obtain its own position on the earth. The GNSS antennas 101a and 101b receive positioning signals from multiple positioning satellites located above the earth, and use the computing device to perform calculations based on the obtained positioning signals, thereby being able to obtain the positions of the GNSS antennas 101a and 101b in the global coordinate system. Since the mounting positions of the GNSS antennas 101a and 101b relative to the hydraulic excavator 100 are known in advance, the position or orientation (direction) of the hydraulic excavator 100 at the construction site can be acquired as position information by acquiring the positions of the GNSS antennas 101a and 101b in the global coordinate system. In addition, the machine body position measuring device 5 calculates the speed of the hydraulic excavator 100 by numerically differentiating the acquired position information and transmits it.

[0075] The machine body posture measuring device 6 measures the rotation speed and rotation angle of the upper rotating body 102 relative to the lower traveling body 103, and is, for example, an inertial measurement unit (IMU: Inertial Measurement Unit) 102a provided on the upper rotating body 102, and an angle measuring device 103a provided on the rotating portion of the upper rotating body 102 relative to the lower traveling body 103. The inertial measurement device 102a measures the angular velocity and acceleration, and calculates the rotation speed of the upper rotating body 102 around the rotation axis A1 by a computing device (not shown). In addition, the angle measuring device 103a computes the rotation angle of the upper rotating body 102 around the rotation axis A1.

[0076] The machine front posture measuring device 7 measures the rotation angle and rotation speed of each driven member 104 to 106 of the front working machine 101, for example, an inertial measurement unit (IMU) 104a installed on the boom 104 of the hydraulic excavator 100, an inertial measurement unit (IMU) 105a installed on the arm 105, and an inertial measurement unit (IMU) 106a installed on the bucket 106. The inertial measurement units 104a to 106a measure acceleration and angular velocity, respectively, and the angle and angular velocity around the rotation axis A2 of the boom 104, the angle and angular velocity around the rotation axis A3 of the arm 105, and the angle and angular velocity around the rotation axis A4 of the bucket 106 are calculated by a calculation device (not shown). In addition, it is also possible to configure the angle sensor to be provided near the rotation axes A1 to A3 of each of the boom 104, the arm 105, and the bucket 106 to directly measure the rotation angle.

[0077] The machine operator biological information measuring device 8 is a wearable terminal directly worn by the operator in the operation room 110, and measures and transmits the operator's heart rate, electrocardiogram, body temperature, etc. In addition, the machine operator biological information measuring device 8 may be a camera or laser sensor provided in the operation room 110, or may be configured to externally measure the operator's state (biological information) using these devices.

[0078] The risk display device 9 is installed in a construction management company or a management office of a construction site, and presents risks displayed in a map format to a construction manager, etc. The construction manager can appropriately manage risks in the construction site by confirming the risks displayed on the risk display device 9 .

[0079] The construction management device 10 includes an internal information acquisition unit 10a, an external information acquisition unit 10b, an internal risk calculation unit 10c, an external risk calculation unit 10d, a geometric information calculation unit 10e, and a risk integration unit 10f.

[0080] The internal information acquisition unit 10a acquires and collects information obtained by measuring various states of the risk-bearing party (i.e., the worker), acquires the worker's personal information registered in the worker information registration device 2, the worker's position and speed information measured by the worker position measurement device 3, and the worker's biological information measured by the worker biological information measurement device 4, collects this information as the worker's inherent internal risk information, and outputs it to the internal risk calculation unit 10c. In addition, the internal information acquisition unit 10a outputs the worker's position and speed information to the geometric information calculation unit 10e and the risk integration unit 10f.

[0081] The external information acquisition unit 10b acquires and collects information obtained by measuring various states of the side that poses a risk (i.e., the hydraulic excavator 100 as a working machine), acquires the machine operator personal information registered in the operator information registration device 2, the position, speed, and orientation (direction) information of the hydraulic excavator 100 measured by the machine body position measurement device 5, the rotation angle and angular velocity information of the upper rotating body 102 measured by the machine body posture measurement device 6, the angle and angular velocity information of each driven member 104 to 106 of the front working machine 101 measured by the machine front posture measurement device 7, and the operator's biological information measured by the machine operator biological information measurement device 8, and collects this information as external risk information unique to the working machine and outputs it to the external risk calculation unit 10d. In addition, the external information acquisition unit 10b outputs the body information (position and speed information) of the hydraulic excavator 100 to the geometric information calculation unit 10e.

[0082] Figure 3 This is a functional block diagram showing the processing functions of the internal risk calculation unit.

[0083] exist Figure 3 In the example, the internal risk calculation unit 10c is a functional unit for calculating the internal main cause, and includes an internal main cause calculation unit A10c1, an internal main cause calculation unit B10c2, and an internal main cause calculation unit C10c3. The internal risk calculation unit 10c calculates the internal risk (IR1 to IR3) based on the internal risk information (IS1 to IS4) and outputs it to the risk integration unit 10f.

[0084] The internal factor calculation unit A10c1 calculates the internal risk 1 (IR1) based on the following (Formula 1), for example, from the fatigue level (IS1) of the worker as one of the internal risk information.

[0085]

Mathematical formula 1

[0086]

[0087] Here, in the above (Formula 1), CI1 is a coefficient greater than or equal to 0 (zero) and less than or equal to 1 that specifies the maximum value of the internal risk 1 (IR1), and λI1 is a coefficient that adjusts the degree of increase or decrease of the internal risk 1 (IR1) relative to the increase or decrease of the fatigue level (IS1). In addition, the fatigue level (IS1) is a scalar value greater than or equal to 0 (zero) that is inferred from the heart rate, electrocardiogram, and body temperature information of the operator and indicates the fatigue level of the operator.

[0088] Figure 4 This is a graph that plots the risk calculation curve based on the above (Formula 1). Figure 4As shown, with respect to the internal risk 1 (IR1), the greater the fatigue level (IS1), the closer it is to the maximum value 1, and the smaller the fatigue level (IS1), the closer it is to the minimum value 0 (zero).

[0089] The internal factor calculation unit B10c2 calculates the internal risk 2 (IR2) based on the following (Formula 2), for example, based on the number of years of work experience (IS2) of the operator, which is one of the internal risk information.

[0090]

Mathematical formula 2

[0091]

[0092] Here, in the above (Formula 2), CI2 is a coefficient greater than or equal to 0 (zero) and less than or equal to 1 that specifies the maximum value of the internal risk 2 (IR2), and λI2 is a coefficient that adjusts the degree of increase or decrease of the internal risk 2 (IR2) relative to the increase or decrease of the number of years of experience (IS2). In addition, the number of years of work experience (IS2) is a scalar value greater than or equal to 0 (zero) that represents the number of years of experience of the operator.

[0093] Figure 5 This is a graph that converts the risk calculation based on the above (Formula 2) into a curve. Figure 5 As shown, with respect to internal risk 2 (IR2), the smaller the number of years of working experience (IS2), the closer it is to the maximum value 1, and the larger the number of years of working experience (IS2), the closer it is to the minimum value 0 (zero).

[0094] The internal factor calculation unit C10c3 calculates internal risk 3 (IR3) based on the following (Formula 3), for example, based on the worker's scheduled work position (IS3) and the worker position (IS4) which are one of the internal risk information.

[0095]

Mathematical formula 3

[0096]

[0097] Here, in the above (Formula 3), CI3 is a coefficient greater than 0 (zero) and less than 1 that specifies the maximum value of the internal risk 3 (IR3), and λI3 is a coefficient that adjusts the degree of increase or decrease of the internal risk 3 (IR3) relative to the increase or decrease of the reciprocal of the absolute value of the difference between the scheduled operation position (IS3) and the operator position (IS4). In addition, the scheduled operation position (IS3) and the operator position (IS4) are vectors representing two-dimensional positions in the horizontal direction.

[0098] Figure 6 This is a graph that converts the risk calculation based on the above (Formula 3) into a curve. Figure 6As shown, for internal risk 3 (IR3), the larger the absolute value of the difference between the scheduled operation position (IS3) and the operator position (IS4), the closer it is to the maximum value 1, and the smaller the absolute value of the difference between the scheduled operation position (IS3) and the operator position (IS4), the closer it is to the minimum value 0 (zero).

[0099] Figure 7 This is a functional block diagram showing the processing functions of the external risk calculation unit.

[0100] exist Figure 7 In the example, the external risk calculation unit 10d is a functional unit for calculating external causes, and includes an external cause calculation unit A10d1, an external cause calculation unit B10d2, an external cause calculation unit C10d3, and an external cause calculation unit D10d4. The external risk calculation unit 10d calculates external risks (ER1 to ER4) based on external risk information (ES1 to ES5) and outputs the calculated values ​​to the risk integration unit 10f.

[0101] The external factor calculation unit A10d1 calculates the external risk 1 (ER1) based on the following (Formula 4), for example, based on the fatigue level (ES1) of the machine operator as one of the external risk information.

[0102]

Mathematical formula 4

[0103]

[0104] Here, in the above (Formula 4), CE1 is a coefficient greater than or equal to 0 (zero) and less than or equal to 1 that specifies the maximum value of the external risk 1 (ER1), and λE1 is a coefficient that adjusts the degree of increase or decrease of the external risk 1 (ER1) relative to the increase or decrease of the fatigue level (ES1). In addition, the fatigue level (ES1) is a scalar value greater than or equal to 0 (zero) that is estimated based on the heart rhythm, electrocardiogram, and body temperature information of the machine operator and indicates the fatigue level of the machine operator.

[0105] Figure 8 A graph showing the risk calculation curve based on the above (Formula 4). Figure 8 As shown, with respect to the external risk 1 (ER1), the greater the fatigue level (ES1), the closer it is to the maximum value 1, and the smaller the fatigue level (ES1), the closer it is to the minimum value 0 (zero).

[0106] The external factor calculation unit B10d2 calculates the external risk 2 (ER2) based on the following (Formula 5), ​​for example, based on the number of years of operation experience (ES2) of the machine operator, which is one of the external risk information.

[0107]

Mathematical formula 5

[0108]

[0109] Here, in the above (Formula 5), ​​CE2 is a coefficient greater than or equal to 0 (zero) and less than or equal to 1 that specifies the maximum value of the external risk 2 (ER2), and λE2 is a coefficient that adjusts the degree of increase or decrease of the external risk 2 (ER2) relative to the increase or decrease of the number of years of operating experience (ES2). In addition, the number of years of operating experience (ES2) is a scalar value greater than or equal to 0 (zero) that represents the number of years of experience of the machine operator.

[0110] Fig. 9 This is a graph that converts the risk calculation based on the above (Formula 5) into a curve. Fig. 9 As shown, with respect to external risk 2 (ER2), the smaller the number of years of operating experience (ES2), the closer it is to the maximum value 1, and the larger the number of years of operating experience (ES2), the closer it is to the minimum value 0 (zero).

[0111] The external factor calculation unit C10d3 calculates external risk 3 (ER3) based on the following (Formula 6), for example, based on the planned work position (ES3) of the machine and the body position (ES4) of the working machine (hydraulic excavator 100) as one of the external risk information.

[0112]

Mathematical formula 6

[0113]

[0114] Here, in the above (Formula 6), CE3 is a coefficient greater than 0 (zero) and less than 1 that specifies the maximum value of the external risk 3 (ER3), and λE3 is a coefficient that adjusts the degree of increase or decrease of the external risk 3 (ER3) relative to the increase or decrease of the reciprocal of the absolute value of the difference between the scheduled operation position (ES3) and the vehicle body position (ES4). In addition, the scheduled operation position (ES3) and the vehicle body position (ES4) are vectors representing two-dimensional positions in the horizontal direction.

[0115] Fig.10 This is a graph that converts the risk calculation based on the above (Formula 6) into a curve. Fig.10 As shown, with respect to external risk 3 (ER3), the larger the absolute value of the difference between the scheduled operation position (ES3) and the vehicle body position (ES4), the closer it is to the maximum value 1, and the smaller the absolute value of the difference between the scheduled operation position (ES3) and the vehicle body position (ES4), the closer it is to the minimum value 0 (zero).

[0116] The external factor calculation unit D10d4 calculates the external risk 4 (ER4) based on the following (Formula 7), for example, based on the operation speed (ES5) of the machine which is one of the external risk information.

[0117]

Mathematical formula 7

[0118]

[0119] Here, in the above (Formula 7), CE4 is a coefficient greater than 0 (zero) and less than 1 that specifies the maximum value of the external risk 4 (ER4), and λE4 is a coefficient that adjusts the degree of increase or decrease of the external risk 4 (ER4) relative to the increase or decrease of the reciprocal of the absolute value of the motion speed (ES5). In addition, the motion speed (ES5) is a vector representing a two-dimensional speed in the horizontal direction.

[0120] Fig.11 This is a graph that converts the risk calculation based on the above (Formula 7) into a curve. Fig.11 As shown, for external risk 4 (ER4), the larger the absolute value of the action speed (ES5), the closer it is to the maximum value 1, and the smaller the absolute value of the action speed (ES5), the closer it is to the minimum value 0 (zero).

[0121] Fig.12 It is a functional block diagram showing the processing functions of the geometric information calculation unit.

[0122] exist Fig.12 In the embodiment, the geometric information calculation unit 10e is a functional unit for calculating geometric information, and includes a calculation area determination unit 10e1, a vehicle body reference point position calculation unit 10e2, and a vehicle body reference point speed calculation unit 10e3. The geometric information calculation unit 10e calculates the calculation area (CA), the reference point position group (RP), and the reference point speed group (RV) based on various input information, and outputs them to the risk integration unit 10f.

[0123] The calculation area determination unit 10e1 calculates the risk calculation area (CA) based on the worker position (XW). Fig.13 As shown, the operation area (CA) is a two-dimensional vector composed of two pieces of information, the center position (CAP) and the radius (CAR) of the operation area circle, in the form of CA = (CAP, CAR). The center position (CAP) coincides with the operator position (XW). The radius (CAR) is set in advance before the risk calculation process starts, taking into account the dispersion of the measurement sensors or the calculation cycle of the calculation device.

[0124] The vehicle body reference point position calculation unit 10e2 calculates the positions (RP) of a plurality of reference points pre-defined on the hydraulic excavator 100 (vehicle body) based on the vehicle body position (XM), vehicle body orientation (DM), boom angle (θ2), arm angle (θ3), and bucket angle (θ4). Fig.14As shown, a reference point is defined at the center position of the bucket 106 provided in the front working machine 101. Similarly, reference points are defined at four points at the four corners of the upper rotating body 102. The vehicle body reference point position calculation unit 10e2 calculates the reference point positions (RP1) to (RP5) of each reference point, and aggregates these positions into a reference point position group (RP) and outputs them to the risk integration unit 10f.

[0125] The reference point position (RP1) is calculated based on the following (Formula 8) according to the two-dimensional vehicle body position (XM) in the horizontal direction, the vehicle body orientation (DM) relative to the vertical axis perpendicular to the horizontal plane, the boom angle (θ2), the arm angle (θ3), and the bucket angle (θ4).

[0126]

Mathematical formula 8

[0127] RP1=XM+f1(DM, θ2, θ3, θ4)…(Formula 8)

[0128] Here, in the above (Formula 8), f1 is a function that obtains the parallel movement from the vehicle body position (XM) to the reference point (RP1) with the vehicle body position (DM), the boom angle (θ2), the arm angle (θ3), and the bucket angle (θ4) as variables. In addition, the vehicle body position (XM) is positioned to coincide with the position of the rotation axis (A0) observed from the upper part of the vehicle body. Similarly, the reference point positions (RP2) to (RP5) are calculated based on the vehicle body position (XM) and the vehicle body position (DM) based on the following (Formula 9) to (Formula 12).

[0129]

Mathematical formula 9

[0130] RP2=XM+f2(DM)…(Formula 9)

[0131]

Mathematical formula 10

[0132] RP3=XM+f3(DM)…(Formula 10)

[0133]

Mathematical formula 11

[0134] RP4=XM+f4(DM)…(Formula 11)

[0135]

Mathematical formula 12

[0136] RP5=XM+f5(DM)…(Formula 12)

[0137] Here, in the above (Formula 9) to (Formula 12), f2 is a function for calculating the parallel translation from the vehicle body position (XM) to the reference point position (RP2) with the vehicle body orientation (DM) as a variable, f3 is a function for calculating the parallel translation from the vehicle body position (XM) to the reference point position (RP3) with the vehicle body orientation (DM) as a variable, f4 is a function for calculating the parallel translation from the vehicle body position (XM) to the reference point position (RP4) with the vehicle body orientation (DM) as a variable, and f5 is a function for calculating the parallel translation from the vehicle body position (XM) to the reference point position (RP5) with the vehicle body orientation (DM) as a variable.

[0138] The vehicle body reference point speed calculation unit 10e3 calculates reference point speeds (RV1) to (RV5) as the moving speeds of each reference point based on the vehicle body speed (VM), vehicle body orientation (DM), boom angle (θ2), arm angle (θ3), bucket angle (θ4), rotation angular velocity (ω1), boom angular velocity (ω2), arm angular velocity (ω3), and bucket angular velocity (ω4). The vehicle body reference point speed calculation unit 10e3 calculates the reference point speeds (RV1) to (RV5) of each reference point, aggregates these speeds into a reference point speed group (RV), and outputs them to the risk integration unit 10f.

[0139] The reference point velocity (RV1) is calculated based on the following (Formula 13) according to the two-dimensional vehicle body speed (VM) in the horizontal direction, the vehicle body orientation (DM), the boom angle (θ2), the arm angle (θ3), the bucket angle (θ4), the rotation angular velocity (ω1), the boom angular velocity (ω2), the arm angular velocity (ω3), and the bucket angular velocity (ω4).

[0140]

Mathematical formula 13

[0141] RV1=VM+g1(DM, θ2, θ3, θ4, ω1, ω2, ω3, ω4)…(Equation 13)

[0142] Here, in the above (Formula 13), g1 is a function that obtains the relative speed of the reference point position (RP1) to the vehicle speed (VM) using the vehicle body direction (DM), boom angle (θ2), arm angle (θ3), bucket angle (θ4), rotation angular velocity (ω1), boom angular velocity (ω2), arm angular velocity (ω3), and bucket angular velocity (ω4) as variables. Similarly, the reference point speeds (RV2) to (RV5) are calculated based on the vehicle body speed (VM), the vehicle body direction (DM), and the rotation angular velocity (ω1) based on the following (Formula 14) to (Formula 17).

[0143]

Mathematical formula 14

[0144] RV2=VM+g2(DM,ω1)…(Equation 14)

[0145]

Mathematical formula 15

[0146] RV3=VM+g3(DM,ω1)…(Formula 15)

[0147]

Mathematical formula 16

[0148] RV4=VM+g4(DM,ω1)…(Formula 16)

[0149]

Mathematical formula 17

[0150] RV5=VM+g5(DM,ω1)…(Formula 17)

[0151] Here, in the above (Formula 14) to (Formula 17), g2 is a function for calculating the relative speed of the reference point position (RP2) with respect to the vehicle body speed (VM) using the vehicle body orientation (DM) and the rotational angular velocity (ω1) as variables, g3 is a function for calculating the relative speed of the reference point position (RP3) with respect to the vehicle body speed (VM) using the vehicle body orientation (DM) and the rotational angular velocity (ω1) as variables, g4 is a function for calculating the relative speed of the reference point position (RP4) with respect to the vehicle body speed (VM) using the vehicle body orientation (DM) and the rotational angular velocity (ω1) as variables, and g5 is a function for calculating the relative speed of the reference point position (RP5) with respect to the vehicle body speed (VM) using the vehicle body orientation (DM) and the rotational angular velocity (ω1) as variables.

[0152] Fig.15 This is a functional block diagram showing the processing functions of the risk integration unit.

[0153] exist Fig.15 In the embodiment, the risk integration unit 10f is a functional unit for calculating the coordinate risk group (GR), and includes a calculation area discretization unit 10f1, a risk calculation coordinate determination unit 10f2, a relative distance risk calculation unit 10f3, a relative speed risk calculation unit 10f4, and an integrated risk calculation unit 10f5. The risk integration unit 10f calculates the coordinate risk group (GR) based on various input information and outputs it to the risk display device 9.

[0154] The calculation area discretization unit 10f1 determines the area (discretization area (DA)) for calculating risk based on the display area (IA) registered in the environmental information registration device 1 and the calculation area (CA) calculated by the geometric information calculation unit 10e, and outputs it to the risk calculation coordinate determination unit 10f2.

[0155] Figure 16 to Figure 18 It is a diagram showing the details of the processing function of the calculation area discretization unit.

[0156] The operation region discretization unit 10f1 first performs the following operation: Fig.16 as well as Fig.17 As shown, an overlapping area (CA∩IA) where the calculation area (CA) and the display area (IA) overlap is extracted. Here, the display area (IA) is set as a discretized grid area based on a discretization size determined in advance.

[0157] Next, the operation region discretization unit 10f1 performs the following operation: Fig.18 The cells whose center coordinates are included in the repeated area (CA∩IA) are extracted from the cells included in the display area (IA) to determine the discretization area (DA). The discretization size is determined based on the resolution of the sensor that measures the position of the worker (XW), the computing processing capability of the construction management device 10, etc.

[0158] The discretization area (DA) is defined as a collection of cells (Z), and the cells (Z) are represented by a vector array including their two-dimensional center coordinates and numbers. That is, the discretization area (DA) becomes a matrix defined as DA = (Z1, Z2, ..., ZN), and the number of two-dimensional center coordinate vectors constituting the matrix is ​​consistent with the total number of cells (Z) contained in the discretization area (DA). Here, N is the total number of cells contained in the discretization area (DA).

[0159] The risk calculation coordinate determination unit 10f2 selects a cell (Z) from the discretized area (DA) output by the calculation area discretization unit 10f1, and outputs it as a calculation cell (Zi) to the relative distance risk calculation unit 10f3, the relative speed risk calculation unit 10f4, and the integrated risk calculation unit 10f5. Here, i is a natural number representing the number of cells included in the discretized area (DA), and the maximum value is consistent with the total number (N) of cells included in the discretized area (DA). The risk calculation coordinate determination unit 10f2 sequentially selects all cells (Z) included in the discretized area (DA), and performs processing until all these cells are output.

[0160] The relative distance risk calculation unit 10f3 calculates the relative risk 1 (RR1) related to the relative distance based on the calculation cell (Zi) and the reference point position group (RP) determined by the risk calculation coordinate determination unit 10f2. First, the relative distance risk calculation unit 10f3 selects the closest reference point (RPmin) closest to the calculation cell (Zi) from the given reference point position group (RP), and calculates the relative risk 1 (RR1) based on the closest reference point (RPmin) and the calculation cell (Zi) based on the following (Formula 18).

[0161]

Mathematical formula 18

[0162]

[0163] Here, in the above (Formula 18), CR1 is a coefficient greater than 0 (zero) and less than 1 that specifies the maximum value of the relative risk 1 (RR1), and λR1 is a coefficient that adjusts the degree of increase or decrease in the relative risk 1 (RR1) relative to the increase or decrease in the absolute value of the difference between the cell (Zi) and the closest reference point (RPmin).

[0164] Fig.19 This is a graph that converts the risk calculation based on the above (Formula 18) into a curve. Fig.19 As shown, in terms of relative risk 1 (RR1), Fig.21 The smaller the absolute value of the difference between the cell (Zi) and the closest reference point RPmin shown, the closer it is to the maximum value 1, and the larger the absolute value of the difference between the cell (Zi) and the closest reference point RPmin, the closer it is to the minimum value 0 (zero).

[0165] The relative speed risk calculation unit 10f4 calculates the relative risk 2 (RR2) related to the relative speed based on the cell (Zi), the reference point position group (RP), the operator speed (VW), and the reference point speed group (RV) determined by the risk calculation coordinate determination unit 10f2. First, the relative speed risk calculation unit 10f4 selects the closest reference point (RPmin) closest to the cell (Zi) from the given reference point position group (RP), and selects the speed (RVmin) closest to the reference point (RPmin) from the reference point speed group (RV) in the same manner as the calculation of the relative distance risk calculation unit 10f3. Next, the relative speed risk calculation unit 10f4 calculates the relative risk 2 (RR2) based on the relative position (RPmin-Zi) of the closest reference point (RPmin) observed from the cell (Zi) and the relative speed (RVmin-VW) of the closest reference point speed (RVmin) observed from the operator speed (VW) based on the following (Formula 19) and (Formula 20).

[0166]

Mathematical formula 19

[0167]

[0168]

Mathematical formula 20

[0169]

[0170] Here, in the above (Formula 19) and (Formula 20), CR2 is a coefficient greater than 0 (zero) and less than 1 that specifies the maximum value of the relative risk 2 (RR2), and λR2 is a coefficient that adjusts the degree of increase or decrease in the relative risk 2 (RR2) relative to the increase or decrease in the inverse of the absolute value of the proximity degree (EV).

[0171] Fig. 20 This is a graph that converts the risk calculation curve of the above (Formula 19). Fig. 22 As shown in FIG. 1 , the proximity (EV) is defined as the cosine of the relative position vector (RPmin-Zi) and the relative velocity vector (RVmin-VW). In addition, as for the relative risk 2 (RR2), the closer the proximity (EV) is to -1, that is, the closer the direction of the operator and the direction of the relative velocity are to face each other, the closer it is to the maximum value 1, and the farther the proximity (EV) is from -1, the closer it is to the minimum value 0 (zero).

[0172] Fig.23 It is a diagram showing the processing contents of the integrated risk calculation unit.

[0173] like Fig.23 As shown, the integrated risk calculation unit 10f5 integrates risks using an evaluation model of a tree structure constructed by an AND-type operator (LA) and an OR-type operator (LO). Fig.23 In the embodiment, the case where the internal risk group (IR), the external risk group (ER), and the relative risk group (RR) are integrated is illustrated and described.

[0174] The evaluation model is a model in which, for example, seven intermediate events (ME) are linked to one top (root) event (TE). The top event (TE) in the evaluation model is defined as a contact accident between a person and a machine.

[0175] Intermediate event 1 (ME1) is defined as a situation where the machine operator does not sufficiently check the surroundings, resulting in a delay in discovering the surrounding workers. In this case, the external risk (ER1) related to the fatigue of the machine operator, the external risk 2 (ER2) related to the experience of the machine operator, and the internal risk 3 (IR3) related to the work plan of the surrounding workers affect the occurrence of intermediate event 1 (ME1). The probability (MP1) of the occurrence of intermediate event 1 (ME1) is calculated by the following (Formula 21) with the help of the OR operator (LO1).

[0176]

Mathematical formula 21

[0177] MP1=1-(1-ER1)·(1-ER2)·(1-IR3)…(Formula 21)

[0178] Intermediate event 2 (ME2) is defined as a situation where the possibility of danger to nearby workers increases due to the machine operator's erroneous operation of the machine. In this case, external risk 2 (ER2) related to the machine operator's experience and external risk 4 (ER4) related to the machine's operating speed affect the occurrence of intermediate event 2 (ME2). The probability (MP2) of occurrence of intermediate event 2 (ME2) is calculated by the following (Formula 22) with the help of an OR operator (LO2).

[0179]

Mathematical formula 22

[0180] MP2=1-(1-ER2)·(1-ER4)…(Formula 22)

[0181] Intermediate event 3 (ME3) is defined as a situation where the operator does not have time to take evasive action when the machine moves in the direction of the operator. In this case, external risk 4 (ER4) related to the movement speed of the machine affects the occurrence of intermediate event 3 (ME3). The probability (MP3) of occurrence of intermediate event 3 (ME3) is consistent with the external risk (ER4), so it is calculated as follows (Formula 23).

[0182]

Mathematical formula 23

[0183] MP3=ER4…(Formula 23)

[0184] Intermediate event 4 (ME4) is defined as a situation where the operator does not notice the approach of the machine and does not take evasive action. In this case, internal risk 1 (IR1) related to the operator's fatigue, internal risk (IR2) related to the operator's experience, and external risk 3 (ER3) related to the machine's scheduled operation affect the occurrence of intermediate event 4 (ME4). The probability (MP4) of occurrence of intermediate event 4 (ME4) is calculated by the following (Formula 24) with the help of the OR operator (LO3).

[0185]

Mathematical formula 24

[0186] MP4=1-(1-IR1)·(1-IR2)·(1-ER3)…(Formula 24)

[0187] Intermediate event 5 (ME5) is defined as a situation where the machine mistakenly approaches the direction of the surrounding workers. In this case, intermediate event 1 (ME1) in which the machine operator discovers the delay of the worker and intermediate event 2 (ME2) in which the machine operator misoperates the machine affect the occurrence of intermediate event 5 (ME5). The probability (MP5) of occurrence of intermediate event 5 (ME5) is calculated by the following (Formula 25) with the help of the OR operator (LO4).

[0188]

Mathematical formula 25

[0189] MP5=1-(1-MP1)·(1-MP2)…(Formula 25)

[0190] Intermediate event 6 (ME6) is defined as a situation where the worker does not take evasive action even though the machine approaches the worker. In this case, intermediate event 3 (ME3) where the worker does not take evasive action in time and intermediate event 4 (ME4) where the worker does not notice the approach of the machine affect the occurrence of intermediate event 6 (ME6). The probability (MP6) of occurrence of intermediate event 6 (ME6) is calculated by the following (Formula 26) with the help of an OR operator (LO5).

[0191]

Mathematical formula 26

[0192] MP6=1-(1-MP3)·(1-MP4)…(Formula 26)

[0193] Intermediate event 7 (ME7) is defined as a situation where a worker and a machine are approaching each other due to their respective actions. In this case, the relative risk 1 (RR1) related to the relative distance between the worker and the machine, and the relative risk 2 (RR2) related to the action of the machine toward the worker affect the occurrence of intermediate event 7 (ME7). The probability (MP7) of occurrence of intermediate event 7 (ME7) is calculated by the AND operator (LA1) as follows (Formula 27).

[0194]

Mathematical formula 27

[0195] MP7=RR1·RR2…(Formula 27)

[0196] A top event (TE) is defined as a situation where a worker comes into contact with a machine. In this case, the occurrence of a top event (TE) is affected by an intermediate event 5 (ME5) in which the machine mistakenly approaches the surrounding workers, an intermediate event 6 (ME6) in which the worker does not take evasive action against the approach of the machine, and an intermediate event 7 (ME7) in which the worker and the machine are approaching each other. The occurrence probability (TP) of a top event (TE) is calculated by using an AND operator (LA2) in the following manner (Formula 28).

[0197]

Mathematical formula 28

[0198] TP=MP5·MP6·MP7…(Formula 28)

[0199] The probability (TP) of the top event (TE) is calculated relative to all cells (Z). The coordinate risk group (GR) is defined as a matrix that connects the scalar value (GRD) representing the magnitude of the risk and the three-dimensional vector GRi = (GRPi, GRDi) including the two-dimensional coordinates (GRP) of the corresponding cell for all cells, expressed as GR = (GR1, GR2, ..., GRN).

[0200] Fig.24 as well as Fig.25 It is a diagram showing an example of risk display in the risk display device.

[0201] The risk display device 9 displays the coordinate risk group (GR) calculated by the construction management device 10 based on the display area (IA) registered in the environmental information registration device 1. In the risk display of the risk display device 9, the coordinate risk group (GR) corresponds to the cell (Z) of the discretized area (DA), and the drawing result of each cell is determined according to the size of the risk. That is, in the risk display device 9, for example, color is used to indicate the size of the risk, and the cell (Z) is drawn in a manner such that the greater the risk, the darker the color. However, in Fig.24 as well as Fig.25 In order to facilitate the illustration, the difference in cell color is indicated by hatching, etc. Fig.24 as well as Fig.25 in Fig.25 The color scale shown in the lower left of exemplifies a pattern (hatched line) indicating that the risk is higher as the position is toward the right.

[0202] like Fig.25 As shown, the coordinate risk (GR) is projected onto the display area (IA) of the risk display device 9. The risk of cells in the area outside the range of the discretized area (DA) where the risk is calculated ((complement of DA)∩IA) is assumed to be the lowest value. Fig.25 In the , the cell is displayed in the lightest color.

[0203] like Fig.25 As shown, the risk display device 9 displays the hydraulic excavator 100, which is the working machine that brings the risk, the worker who bears the risk, and the cell (Z) indicating the calculation result of the risk. These calculation results are updated according to the calculation cycle of the construction management device 10. The faster the update cycle, the more sensitive it can be to respond to the changes in the internal risks of the construction environment, but the update cycle is limited by the number of cells drawn or the number of risk calculations processed.

[0204] Fig.26 This is a flowchart showing the processing contents of the risk calculation processing in the construction management system.

[0205] exist Fig.26 In the risk calculation process, first, as an initial process for starting the cycle process, a preliminary process of registering the operator information via the operator information registration device 2 is performed (step S100), and a preliminary process of registering the environmental information displaying the risk via the environmental information registration device 1 is performed (step S110). In step S100, the personal information of the operator and the machine operator is input via the operator information registration device 2. In step S110, the display area (IA) for calculating and displaying the risk is input via the environmental information registration device 1.

[0206] In the construction management device 10, when the initial processing is completed, first, the information of the measuring devices 3 to 8 installed on the workers and the machines is collected in the internal information acquisition unit 10a and the external information acquisition unit 10b (step S120), the internal risk calculation unit 10c calculates the internal risk group (IR) at the current moment based on the information collected by the internal information acquisition unit 10a (step S130), and the external risk calculation unit 10d calculates the external risk group (ER) at the current moment based on the information collected by the external information acquisition unit 10b (step S140).

[0207] In addition, the geometric information calculation unit 10e calculates the operation area (CA) for calculating the risk, the reference point position group (RP) of the machine at the current moment, and the reference point speed group (RV) based on the geometric information of the operator collected by the internal information acquisition unit 10a and the geometric information of the working machine (hydraulic excavator 100) collected by the external information acquisition unit 10b (step S150).

[0208] Next, the calculation area discretization unit 10f1 of the risk integration unit 10f determines a discretization area (DA) as the risk calculation area at the current time based on the display area (IA) and the calculation area (CA).

[0209] Next, the risk calculation coordinate determination unit 10f2 selects a cell (Zi) for which the calculation has not been completed among the N cells (Zi) (i=1~N: a positive integer) constituting the discretization area (DA) as the cell to be calculated (step S170), and with respect to the selected cell (Zi), the relative distance risk calculation unit 10f3 calculates the relative risk 1 (RR1) related to the relative distance, and the relative speed risk calculation unit 10f4 calculates the relative risk 2 (RR2) related to the relative speed (step S180).

[0210] Next, the integrated risk calculation unit 10f5 uses the evaluation model (refer to Fig.23 ) to calculate the coordinate risk (GR) in the cell (Zi) (step S190).

[0211] Here, it is determined whether the operations for all cells (Zi) (i=1~N) are completed (step S200). When the judgment result is NO, the processing of steps S170~S190 is repeated until the judgment result becomes YES, that is, until the processing of all cells (Zi) is completed.

[0212] In addition, when the judgment result in step S200 is YES, that is, when the calculation for all cells (Zi) constituting the discretization area (DA) is completed, the information of the coordinate risk group (GR) output to the risk display device 9 is updated, thereby updating the risk display displayed on the risk display device (step S210), and returning to the processing of step S120 to perform the risk calculation processing at the next moment.

[0213] In the construction management device 10, the processing of steps S120 to S210 is repeatedly performed in accordance with the calculation cycle, and therefore, the risk display of the risk display device 9, which is the calculation result, is also updated in accordance with the calculation cycle.

[0214] Figure 27 to Figure 30 is a diagram showing an example of risk display in a risk display device. Figure 27 to Figure 30 In the color scale shown in the lower left of FIG. 8 , a pattern indicating that the risk level increases as the image moves to the right is illustrated.

[0215] Fig. 27 This is a diagram showing an example of risk display when both the internal risk of the operator and the external risk of the machine are small. For the operator, it is assumed that the fatigue level is low, the operation experience is rich, and the operation is performed accurately at the predetermined operation position. For the machine, it is assumed that the machine operator has low fatigue level, rich operation experience, and operates the machine at an appropriate speed at the predetermined operation position. In this case, due to the influence of the calculation result of the relative risk, the risk in the direction where the operator approaches the machine is displayed as relatively high, but the overall evaluation is a small risk.

[0216] Fig.28This is a diagram showing an example of risk display in a case where the internal risk of the operator is very low but the external risk of the machine is very high. As for the operator, it is assumed that the fatigue level is very low, the work experience is rich, and the work is accurately performed at the predetermined work position. As for the machine, it is assumed that the machine operator has low fatigue level, rich work experience, and performs the work at the predetermined work position, but operates the machine roughly and at an excessive speed. In this case, the overall risk increases due to the influence of external risks related to the speed of movement. At the same time, in the case where the machine moves in the direction of the operator due to the influence of relative risk, the risk in the direction in which the operator and the machine are approaching is evaluated to be significantly increased.

[0217] Fig.29 This is a diagram showing an example of risk display in a case where the internal risk of the operator is high, but the external risk of the machine is low. As for the operator, it is assumed that the operator has low fatigue and rich work experience, but is in an unscheduled work position. As for the machine, it is assumed that the machine operator has low fatigue and rich work experience, and operates the machine at an appropriate speed in the scheduled work position. In this case, the overall risk is evaluated as high due to the influence of the internal risk related to the scheduled work. However, the movement of the machine has little effect on the external risk, so it is avoided to evaluate the risk in the direction where the operator approaches the machine as too high.

[0218] Fig.30 This is a diagram showing an example of risk display in a case where both the internal risk of the operator and the external risk of the machine are high. As for the operator, it is assumed that the operator has low fatigue and rich working experience, but is in an unscheduled working position. As for the machine, it is assumed that the machine operator has low fatigue and rich working experience, and performs the work at the scheduled working position, but operates the machine roughly and at an excessive speed. In this case, the overall risk is evaluated as very high due to the influence of the internal risk related to the work schedule and the influence of the external risk related to the speed of movement. Moreover, in the case where the machine moves in the direction of the operator due to the influence of the relative risk, the risk in the direction in which the operator and the machine are approaching is evaluated to be significantly increased.

[0219] Reference Figure 31 to Figure 34 The effects of the present embodiment configured as described above will be described.

[0220] Here, as a comparative example, consider a case where risk calculation is performed considering only the relative relationship between the operator and the machine, that is, Fig.23 The result of the intermediate event 7 (ME7) of the evaluation model shown is used as the top event (TE) to calculate the coordinate risk group (GR).

[0221] First, consider a situation where both the internal risk to the operator and the external risk to the machinery are low.

[0222] In the case of the comparative example, the risk is evaluated based on the relative distance and relative speed regardless of the status of the operator and the machine. Fig.31 As shown, when workers are close to machines, the overall risk assessment is too high compared to the risk that can actually be considered.

[0223] In contrast, in this embodiment, the risk is evaluated by taking into account the internal risk of the operator and the external risk of the machine. Therefore, even when the operator is close to the machine, since both the internal risk and the external risk are low, an evaluation close to the risk that can actually be considered can be obtained. Fig.32 As shown, the overall risk is evaluated lower than that of the comparative example. That is, in this embodiment, even in a scene where workers are close to machinery, when there is no major cause of danger to the workers and machinery, the risk is not inappropriately evaluated too high as in the comparative example, and the risk in the construction site can be evaluated more accurately, and the evaluation result can be presented in a more appropriate manner.

[0224] Next, consider a case where one of the internal risk of the worker and the external risk of the machine is high and the other is low.

[0225] In the case of the comparative example, the risk is evaluated based on the relative distance and relative speed regardless of the state of the operator and the machine. Therefore, in the comparative example, the risk may be inappropriately evaluated too low compared to the risk that can actually be considered. In this case, if Fig.33 As shown, the result is similar to the case where both the internal risk and the mechanical external risk are very low (refer to Fig.31 ) have the same evaluation results.

[0226] In contrast, in this embodiment, the risk is evaluated by taking into account the internal risk and external risk of the machine. Therefore, even if one of the internal risk of the operator and the external risk of the machine is high and the other is low, since the main causes of danger caused by the operator and the machine are taken into consideration, Fig.34 As shown, an accurate risk assessment close to the risk that can actually be considered can be performed, and the risk can be reasonably assessed as higher than in the comparative example. That is, in this embodiment, the risk in the construction site can be more accurately assessed, and the assessment result can be presented in a more appropriate manner. Moreover, the construction manager can accurately assess the risk through this embodiment, and can perform early and appropriate notification of dangerous actions or effective reorganization of the construction schedule.

[0227] <Second embodiment>

[0228] Reference Figure 35 to Figure 38 A second embodiment of the present invention will be described.

[0229] This embodiment shows a case where there are two workers, worker 1 and worker 2, who are the workers on the side bearing the risk, and one working machine (hydraulic excavator 100) who is the side causing the risk.

[0230] Fig.35 This is a functional block diagram showing the processing functions of the construction management system of this embodiment. Fig.36 1 is a functional block diagram showing the processing functions of the risk integration unit of the present embodiment. In the figure, the same reference numerals are attached to the same components as those of the first embodiment, and the description thereof will be omitted.

[0231] exist Fig.35 In the construction management system, an environment information registration device 1, a worker information registration device 2, a worker 1 measuring device (a worker position measuring device 3a, a worker biological information measuring device 4a), a worker 2 measuring device (a worker position measuring device 3b, a worker biological information measuring device 4b), and a machine measuring device (a machine body position measuring device 5, a machine body posture measuring device 6, a machine front posture measuring device 7, a machine operator biological information measuring device 8), a risk display device 9, and a construction management device 10 are formed.

[0232] The worker information registration device 2 registers personal information of workers (the worker 1 and the worker 2 ) who perform work at a construction site and the operator of a working machine (the hydraulic excavator 100 ).

[0233] The worker position measuring devices 3 a and 3 b measure the position information and speed of the worker 1 and the worker 2 , respectively, and are provided for the worker 1 and the worker 2 , respectively.

[0234] The worker biological information measuring devices 4 a and 4 b measure the biological information of the worker 1 and the worker 2 , respectively, and are provided for the worker 1 and the worker 2 , respectively.

[0235] The construction management device 10 includes an internal information acquisition unit 10a, an external information acquisition unit 10b, an internal risk calculation unit 10c, an external risk calculation unit 10d, a geometric information calculation unit 10e, and a risk integration unit 10f.

[0236] The internal information acquisition unit 10a acquires and collects information obtained by measuring various states of the risk-bearing side (i.e., the worker), and acquires the worker personal information registered in the worker information registration device 2, the worker position and speed information measured by the worker position measurement devices 3a and 3b, and the worker's biological information measured by the worker biological information measurement devices 4a and 4b for each of the worker 1 and the worker 2, and collects these information as the worker-specific internal risk information 1 and internal risk information 2, and outputs them to the internal risk calculation unit 10c. In addition, the internal information acquisition unit 10a outputs the information of the position and speed (VW1, VW2) of the worker 1 and the worker 2 to the geometric information calculation unit 10e and the risk integration unit 10f.

[0237] The internal risk calculation unit 10 c calculates internal risk groups (IR) for the operator 1 and the operator 2 , respectively, and outputs the internal risk groups 1 (IR_1) and 2 (IR_2) to the risk integration unit 10 f .

[0238] The geometric information calculation unit 10e calculates the calculation area (CA) for operator 1 and operator 2 respectively, and outputs the calculation area of ​​operator 1 as calculation area 1 (CA1) and the calculation area of ​​operator 2 as calculation area 2 (CA2) to the risk integration unit 10f.

[0239] exist Fig.36 In the embodiment, the risk integration unit 10f is a functional unit for calculating the composite coordinate risk group (IGR), and includes a calculation area discretization unit 10f1, a risk calculation coordinate determination unit 10f2, a relative distance risk calculation unit 10f3, a relative speed risk calculation unit 10f4, an integrated risk calculation unit 10f5, and a risk synthesis unit 10f6. The risk integration unit 10f calculates the coordinate risk group (GR1, GR2) based on various input information, synthesizes them to calculate the composite coordinate risk group (IGR), and outputs it to the risk display device 9.

[0240] The calculation area discretization unit 10f1 calculates the discretization area 1 (DA1) and the discretization area 2 (DA2) for the operator 1 and the operator 2 respectively based on the calculation area 1 (CA1), the calculation area 2 (CA2), and the display area (IA), and outputs it to the risk calculation coordinate determination unit 10f2.

[0241] The relative distance risk calculation unit 10f3 calculates the relative risk 1 (RR1) for each of the discretization area 1 (DA1) and the discretization area 2 (DA2).

[0242] The relative speed risk calculation unit 10f4 calculates a relative risk 2 (RR2) for each of the worker 1 and the worker 2 based on the worker 1 speed (VW1) and the worker 2 speed (VW2).

[0243] Fig.37 It is a diagram showing the processing function of the risk synthesis unit according to this embodiment.

[0244] like Fig.37 As shown, the risk synthesis unit 10f6 synthesizes the operator 1 coordinate risk group (GR1) and the operator 2 coordinate risk group (GR2) calculated with respect to the operation area 1 (DA1) and the operation area 2 (DA2) of the operator 1 and the operator 2, respectively, and outputs them to the risk display device 9 as a synthesized coordinate risk group (IGR). The risk synthesis unit 10f6 selects the risk that becomes the maximum value for each cell of the same coordinate in the operator 1 coordinate risk group (GR1) and the operator 2 coordinate risk group (GR2), thereby calculating the synthesized coordinate risk group (IGR). That is, the display area that becomes the synthesized coordinate risk group (IGR) is (DA1∪DA2)∩IA, and the risks of multiple operators are synthesized and displayed on the risk display device 9.

[0245] Fig.38 This is a flowchart showing the processing contents of the risk calculation processing in the construction management system according to the present embodiment.

[0246] exist Fig.38 In the risk calculation process, as the initial process for starting the cycle process, the preliminary process of registering the operator information through the operator information registration device 2 (step S100) is performed, and the preliminary process of registering the environmental information displaying the risk through the environmental information registration device 1 (step S110) is performed. In step S100, the personal information of the operator 1, the operator 2, and the machine operator is input through the operator information registration device 2. In addition, in step S110, the display area (IA) for calculating and displaying the risk is input through the environmental information registration device 1.

[0247] In the construction management device 10, when the initial processing is completed, first, the information of the measuring devices 3 to 8 provided in the operator 1, the operator 2, and the operating machine (hydraulic excavator 100) is collected in the internal information acquisition unit 10a and the external information acquisition unit 10b (step S120), and the internal risk calculation unit 10c calculates the internal risk group 1 (IR_1) and the internal risk group 2 (IR_2) at the current moment for the operator 1 and the operator 2 respectively based on the information collected by the internal information acquisition unit 10a (step S130), and the external risk calculation unit 10d calculates the external risk group (ER) at the current moment based on the information collected by the external information acquisition unit 10b (step S140).

[0248] In addition, the geometric information calculation unit 10e calculates the operation area 1 (CA1) and the operation area 2 (CA2) for calculating the risk, the reference point position group (RP) of the machine at the current moment, and the reference point velocity group (RV) for each of the operators 1 and 2 based on the geometric information of the operators 1 and 2 collected by the internal information acquisition unit 10a and the geometric information of the working machine (hydraulic excavator 100) collected by the external information acquisition unit 10b (step S150).

[0249] Next, the calculation area discretization unit 10f1 of the risk integration unit 10f determines the discretization areas (DA1, DA2) as the current risk calculation areas for the operator 1 and the operator 2 respectively based on the display area (IA), the calculation area 1 (CA1), and the calculation area 2 (CA2).

[0250] Next, the risk calculation coordinate determination unit 10f2 selects a cell (Zi) for which calculation has not been completed from among the N cells (Zi) (i=1~N: a positive integer) constituting the discretization area (DA1, DA2) for one of the operator 1 and the operator 2 as the cell for calculation (step S170), and with respect to the selected cell (Zi), the relative distance risk calculation unit 10f3 calculates the relative risk 1 (RR1) related to the relative distance, and the relative speed risk calculation unit 10f4 calculates the relative risk 2 (RR2) related to the relative speed (step S180).

[0251] Next, the integrated risk calculation unit 10f5 uses the evaluation model to calculate the coordinate risk (GR1) in the cell (Zi) based on the relative risk 1 (RR1) calculated by the relative distance risk calculation unit 10f3, the relative risk 2 (RR2) calculated by the relative speed risk calculation unit 10f4, the internal risk group 1 (IR_1) or the internal risk group 2 (IR_2) calculated by the internal risk calculation unit 10c, and the external risk group (ER) calculated by the external risk calculation unit 10d (step S190).

[0252] Here, it is determined whether the operation for all cells (Zi) (i=1~N) is completed (step S200). If the judgment result is NO, the processing of steps S170~S190 is repeated until the judgment result becomes YES, that is, until the processing of all cells (Zi) is completed.

[0253] In addition, when the determination result in step S200 is YES, that is, when the calculation for all cells (Zi) constituting the discretization area (DA) is completed, it is then determined whether the risk calculation for all operators has been completed (step S201). When the determination result in step S201 is NO, that is, when there is no operator who has performed the risk calculation, the process returns to step S130, and the processing of steps S130 to S190 is performed for other operators who have not performed the risk calculation.

[0254] In addition, when the judgment result in step S201 is YES, that is, when the risk calculation for all operators (here, operator 1 and operator 2) is completed, the risk synthesis unit 10f6 synthesizes the coordinate risk groups calculated for each operator (here, the operator 1 coordinate risk group (GR1) and the operator 2 coordinate risk group (GR2)) to calculate a synthesized coordinate risk group (IGR) (step S202), updates the information of the synthesized coordinate risk group (IGR) output to the risk display device 9, thereby updating the risk display displayed on the risk display device 9 (step S210), and returns to the processing of step S120 to perform the risk calculation processing at the next moment.

[0255] In the construction management device 10, the processing of steps S120 to S210 is repeatedly performed in each calculation cycle, and therefore, the risk display of the risk display device 9, which is the calculation result, is also updated in each calculation cycle.

[0256] The other configurations are the same as those of the first embodiment.

[0257] In the present embodiment configured as described above, the same effects as those of the first embodiment can be obtained.

[0258] In addition, since the structure is to take the maximum value of the risks calculated for multiple workers at the work site and combine them into a mapping table, it is possible to minimize the lack of display of important information related to the occurrence of accidents while using one mapping table to display the risks for multiple workers, allowing managers to easily grasp risk assessment.

[0259] In addition, in this embodiment, the case where the coordinate risk groups (GR1, GR2) calculated for the two operators, operator 1 and operator 2, are synthesized to calculate the synthesized coordinate risk group (IGR) is illustrated and explained, but the case where the synthesized coordinate risk group (IGR) is calculated for more than three operators is also the same. That is, when the coordinate risk groups calculated for a plurality of operators are synthesized, the maximum value of the coordinate risk group for each cell is taken to synthesize a mapping table, thereby being able to calculate the synthesized coordinate risk group (IGR) for more than three operators.

[0260] <Third embodiment>

[0261] Reference Figure 39 to Figure 43 A third embodiment of the present invention will be described.

[0262] This embodiment attenuates the evaluation value of risk according to the distance from the current position of the worker.

[0263] Fig.39 1 is a functional block diagram showing the processing functions of the risk integration unit of the present embodiment. In the figure, the same reference numerals are attached to the same components as those of the first embodiment, and the description thereof will be omitted.

[0264] exist Fig.39 In the figure, the risk integration unit 10f is a functional unit that performs calculations on the attenuated coordinate risk group (DGR), and includes an operation area discretization unit 10f1, a risk operation coordinate determination unit 10f2, a relative distance risk calculation unit 10f3, a relative speed risk calculation unit 10f4, an integrated risk calculation unit 10f5, and a risk attenuation unit 10f7.

[0265] Figure 40 to Figure 43 It is a diagram showing the processing function of the risk attenuation unit.

[0266] Risk reduction unit 10f7 Fig.40 As shown, the attenuation coefficient DR is calculated such that the risk attenuation rate becomes larger for cells farther away from the center position (CAP) of the operation area group (CA) (the current position XW of the operator). For example, the attenuation coefficient (DRi) of the i-th coordinate risk (GRi) is calculated based on the following (Formula 29).

[0267]

Mathematical formula 29

[0268]

[0269] Here, in the above (Formula 29), CD is a coefficient greater than 0 (zero) and less than 1 that specifies the maximum value of the attenuation coefficient (DRi), and λD is a coefficient that adjusts the degree of increase or decrease of the attenuation coefficient (DR) according to the increase or decrease of the reciprocal of the absolute value of the difference between the coordinate (GRPi) of the risk (GRi) and the center position (CAP) of the operation area (CA).

[0270] Fig.41 This is a graph that plots the calculation curve of the attenuation coefficient (DRi) based on the above (Equation 29). Fig.41 As shown, with respect to the attenuation coefficient (DRi), the smaller the absolute value of the difference between the risk coordinate GRPi and the center position CAP, the closer it is to the maximum value 1, and the larger the absolute value of the difference between the risk coordinate GRPi and the center position CAP, the closer it is to the minimum value 0 (zero).

[0271] Fig.42 as well as Fig.43 The following are graphs showing examples of risk calculation results for a case where the attenuation coefficient (DR) is not considered and a case where the attenuation coefficient (DR) is considered. Fig.42 as well as Fig.43 In order to simplify the explanation, the case where the coordinate risk (GR) inside the discretization area (DA) is constant is considered.

[0272] Since the coordinate risk (GR) inside the discretization area (DA) is considered to be constant, in the case Fig.42 As shown, when the attenuation coefficient (DR) is not considered, the risk display result becomes the same for all cells.

[0273] On the other hand, when the coordinate risk (GR) is attenuated by taking into account the attenuation coefficient (DR), the attenuated coordinate risk group (DGR) = (DGRP, DGRD) is calculated based on the following (Formula 30) and (Formula 31).

[0274]

Mathematical formula 30

[0275] DGRPi=GRPi…(Equation 30)

[0276]

Mathematical formula 31

[0277] DGRDi=DRi×GRDi…(Equation 31)

[0278] As shown in (Equation 30) and (Equation 31), in the same coordinate (GRPi) as the coordinate risk (GRi), the magnitude of the operator risk (GRDi) after attenuation is calculated by attenuating the magnitude of the operator risk (DGRDi) by the attenuation coefficient (DRi) of the i-th cell. This process is performed for all cells within the area (DA).

[0279] The other configurations are the same as those of the first embodiment.

[0280] Also in the present embodiment configured as described above, the same effects as those of the first embodiment can be obtained.

[0281] In addition, since it is possible to prevent the risk of a location far from the current position of the worker from being over-evaluated, it is possible to more accurately display the risk at the current time while displaying a wide range of risks.

[0282] <Fourth Embodiment>

[0283] Reference Figures 44 to 47 A fourth embodiment of the present invention will be described.

[0284] In this embodiment, the calculation area (CA) is determined based on the worker speed (VW) in addition to the worker position (XW).

[0285] Fig.44 : is a functional block diagram showing the processing functions of the geometric information operation unit of this embodiment. Fig.45 1 and 2 are diagrams for explaining the operation principle of the worker position. In the diagram, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

[0286] exist Fig.44 In the embodiment, the geometric information calculation unit 10e is a functional unit for calculating geometric information, and includes a calculation area determination unit 10e1, a vehicle body reference point position calculation unit 10e2, and a vehicle body reference point speed calculation unit 10e3. The geometric information calculation unit 10e calculates the calculation area (CA), the reference point position group (RP), and the reference point speed group (RV) based on various input information, and outputs them to the risk integration unit 10f.

[0287] The calculation area determination unit 10e1 calculates the risk calculation area (CA) based on the worker position (XW) and the worker speed (VW). Fig.45 As shown, the worker's planned position (XWP) after Δt seconds is calculated sequentially based on the worker's speed (VW). When the worker's planned position (XWP1) at a certain time is given, the planned position (XWP2) at the next time is calculated as follows (Formula 32).

[0288]

Mathematical formula 32

[0289] XWP2=XWP1+VW·Δt…(Equation 32)

[0290] The calculation of the planned position (XWP) is performed sequentially only a predetermined number of times (T). Therefore, the planned position group (XWP) of the operator is represented by XWP = (XWP1, XWP2, ..., XWPT). Therefore, the calculation area group (CA) is calculated based on the planned position group (XWP) of the operator in the following (Formula 33) and (Formula 34).

[0291]

Mathematical formula 33

[0292] CAPt=XWPt…(Formula 33)

[0293]

Mathematical formula 34

[0294] CARt=CAR…(Formula 34)

[0295] Here, in the above (Formula 33) and (Formula 34), t is the number of the operation area (CA) representing the corresponding prediction time, and the maximum value is consistent with the prediction number (T). That is, the above (Formula 33) means that the center position (CAPt) of the t-th operation area (CAt) is consistent with the t-th operator's scheduled position (XWPt). On the other hand, the above (Formula 34) means that the radius (CARt) of the t-th operation area (CAt) is always a certain value (CAR). In the present embodiment constructed in the above manner, the larger the prediction number (T), the wider the range of risks can be calculated, and the risks can be displayed to prevent accidents before they happen.

[0296] Fig.46 as well as Fig.47 This is a diagram showing an example of risk display according to the present embodiment.

[0297] exist Fig.46 , the result of projecting the operation area group CA relative to the display area IA on the risk display device 9 is shown. In this embodiment, the operator moves in a direction approaching the hydraulic excavator 100 at a speed (VW) and performs operations on four operation areas (CA1) to (CA4). The calculated operation area group (CA) is input to the operation area discretization unit 10f1 and output as a discretized area (DA) to the risk operation coordinate determination unit 10f2. At this time, the discretized area (DA) is as follows: Fig.47 As shown, it is expressed by DA=DA1∪DA2∪DA3∪DA4.

[0298] The other configurations are the same as those of the first embodiment.

[0299] Also in the present embodiment configured as described above, the same effects as those of the first embodiment can be obtained.

[0300] Furthermore, in particular, when a worker moves in a direction approaching the machine, it is possible to detect risks to the worker in advance and display the risks.

[0301] <Fifth Embodiment>

[0302] Reference Figures 48 to 50 A fifth embodiment of the present invention will be described.

[0303] In this embodiment, when there are multiple workers on the risk-bearing side (for example, worker 1, worker 2, and worker 3) and there is one working machine (hydraulic excavator 100) on the risk-inducing side, the coordinate risk groups (GR) of some or all of the workers are arbitrarily selected from multiple coordinate risk groups (GR) calculated for the multiple workers, and these are synthesized to calculate a synthesized coordinate risk group (IGR).

[0304] Fig.48 This is a functional block diagram showing the processing functions of the construction management system of this embodiment. Fig.49 1 is a functional block diagram showing the processing functions of the risk integration unit of the present embodiment. In the figure, the same reference numerals are attached to the same components as those of the second embodiment, and the description thereof is omitted.

[0305] exist Fig.48 In the construction management system, an environment information registration device 1, a worker information registration device 2, a worker 1 measuring device (a worker position measuring device 3a, a worker biological information measuring device 4a), a worker 2 measuring device (a worker position measuring device 3b, a worker biological information measuring device 4b), a worker 3 measuring device (a worker position measuring device 3c, a worker biological information measuring device 4c), a machine measuring device (a machine body position measuring device 5, a machine body posture measuring device 6, a machine front posture measuring device 7, a machine operator biological information measuring device 8), a risk display device 9, a construction management device 10, and a display control device 20 are formed.

[0306] The worker information registration device 2 registers personal information of workers (worker 1 , worker 2 , worker 3 ) working at a construction site and operators of a working machine (hydraulic excavator 100 ).

[0307] The worker position measuring devices 3 a , 3 b , and 3 c measure the position information and speed of the worker 1 , the worker 2 , and the worker 3 , respectively, and are provided for the worker 1 , the worker 2 , and the worker 3 , respectively.

[0308] The worker biological information measuring devices 4a, 4b, 4c measure the biological information of the worker 1, the worker 2, and the worker 3, respectively, and are provided for the worker 1, the worker 2, and the worker 3, respectively.

[0309] The display control device 20 can input a worker selection flag group as an event input. The worker selection flag group is a set of flags that set a selected worker to "1" and set an unselected worker to "0" (zero).

[0310] exist Fig.49 In the embodiment, the risk integration unit 10f is a functional unit for calculating the composite coordinate risk group (IGR), and includes a calculation area discretization unit 10f1, a risk calculation coordinate determination unit 10f2, a relative distance risk calculation unit 10f3, a relative speed risk calculation unit 10f4, an integrated risk calculation unit 10f5, and a risk synthesis unit 10f6. The risk integration unit 10f calculates the coordinate risk group (GR1, GR2, GR3) based on various input information, synthesizes them to calculate the composite coordinate risk group (IGR), and outputs it to the risk display device 9.

[0311] The operation area discretization unit 10f1 performs operations on the discretization area 1 (DA1), the discretization area 2 (DA2), and the discretization area 3 (DA3) for the operator 1, the operator 2, and the operator 3 respectively based on the operation area 1 (CA1), the operation area 2 (CA2), the operation area 3 (CA3), and the display area (IA), and outputs them to the risk operation coordinate determination unit 10f2.

[0312] The relative distance risk calculation unit 10f3 calculates the relative risk 1 (RR1) for each of the discretization area 1 (DA1), the discretization area 2 (DA2), and the discretization area 3 (DA3).

[0313] The relative speed risk calculation unit 10f4 calculates a relative risk 2 (RR2) for each of the worker 1, the worker 2, and the worker 3 based on the worker 1 speed (VW1), the worker 2 speed (VW2), and the worker 3 speed (VW3).

[0314] Fig.50 It is a diagram showing the processing function of the risk synthesis unit according to this embodiment.

[0315] like Fig.50 As shown, the risk synthesis unit 10f6 synthesizes only the coordinate risk group selected from the coordinate risk group of operator 1 (GR1), the coordinate risk group of operator 2 (GR2), and the coordinate risk group of operator 3 (GR3) calculated from the operation area 1 (DA1), the operation area 2 (DA2), and the operation area 3 (DA3) relative to operator 1, operator 2, and operator 3 respectively using the operator selection mark group input from the display control device 20, and outputs it to the risk display device 9 as a synthesized coordinate risk group (IGR).

[0316] An operation controller corresponding to the number of operators is provided in the risk synthesis unit 10f6. The operation controller controls whether to output the corresponding operator's coordinate risk group (GR) to the subsequent side according to the corresponding operator selection flag. In the present embodiment, the following situation is illustrated: the coordinate risks (GR1, GR2) of operator 1 and operator 2 among the three assumed operators are output to the subsequent side, and the coordinate risk (GR3) of operator 3 is not output to the subsequent side, thereby only displaying the risks for operator 1 and operator 2. At this time, the operator 1 selection flag input to the operation controller 1 and the operator 2 selection flag input to the operation controller 2 are "1", and the operator 3 selection flag input to the operation controller 3 is "0" (zero). In this case, only the operator 1 coordinate risk group (GR1) and the operator 2 coordinate risk group (GR2) are output to the subsequent side and synthesized, and then output to the risk display device 9. That is, the display area (DA) of the composite coordinate risk group (IGR) displayed on the risk display device 9 satisfies DA=DA1∪DA2.

[0317] The other configurations are the same as those of the first embodiment.

[0318] Also in the present embodiment configured as described above, the same effects as those of the first embodiment can be obtained.

[0319] Furthermore, since the operator to be displayed as the operator risk displayed on the risk display device 9 can be arbitrarily changed by the operator selecting the operator, the operator can easily identify the risk factor when the risk is high.

[0320] Next, the features of each of the above-mentioned embodiments will be described.

[0321] (1) In the above-mentioned embodiment, there are provided: a worker measuring device for measuring the state of a worker (for example, a worker position measuring device 3, 3a, 3b, 3c, a worker biological information measuring device 4, 4a, 4b, 4c); a machine measuring device for measuring the state of a working machine (for example, a hydraulic excavator 100) (for example, a machine body position measuring device 5, a machine body posture measuring device 6, a machine front posture measuring device 7, a machine operator biological information measuring device 8); a worker information registration device 2 for registering personal information of the worker and the operator who operates the working machine; and a worker information registration device 2 for registering the personal information of the construction environment to be targeted. An environmental information registration device 1 for storing information; and a construction management device 10, which calculates a risk indicating the degree of danger of an accident based on at least the information related to the position of the worker measured by the worker measuring device, at least the information related to the position of the working machine measured by the machine measuring device, the personal information of the worker and the operator registered in the worker information registration device, and the information of the construction environment from the environmental information registration device, and outputs the calculated risk as a coordinate risk associated with the coordinates of the construction environment to a risk display device 9 and displays it in the form of a mapping table.

[0322] By configuring in the above manner, the risk in the construction site can be evaluated more accurately, and the evaluation result can be presented in a more appropriate manner.

[0323] (2) In addition, in the above-mentioned embodiment, in the construction management system of (1), the construction management device 10 calculates the internal risk caused by the state of the side bearing the risk based on the information of the operator who becomes the side bearing the risk, and calculates the external risk caused by the state of the side bringing the risk based on the information of the working machine (for example, the hydraulic excavator 100) which becomes the side bringing the risk and the operator, and integrates the internal risk, the external risk, and the geometric information of the operator and the working machine to calculate the coordinate risk.

[0324] (3) In addition, in the above-mentioned embodiment, in the construction management system of (1), the construction management device 10 calculates the coordinate risk for each of the plurality of workers based on the respective information of the plurality of workers, the respective personal information of the plurality of workers, the personal information of the operator, and the information of the construction environment, and outputs the result synthesized by taking the maximum value of the coordinate risks associated with the same coordinates to the risk display device 9 in the form of a mapping table and displays it.

[0325] (4) In the above-mentioned embodiment, in the construction management system of (1), the construction management device 10 performs calculations so that the coordinate risk becomes smaller as the coordinate is farther from the position of the worker.

[0326] (5) In the above-mentioned embodiment, in the construction management system of (1), the construction management device 10 expands the calculation range of the coordinate risk in the moving direction of the worker.

[0327] (6) In addition, in the above-mentioned embodiment, in the construction management system of (1), the construction management device 10 synthesizes only the coordinate risks associated with the same coordinates for the pre-selected workers among the multiple workers, and outputs the result to the risk display device in the form of a mapping table for display.

[0328] (7) In addition, in the above-mentioned embodiment, in the construction management system of (1), the worker measuring device includes a worker position measuring device 3, 3a, 3b, 3c for measuring the position-related information of the worker, and a worker biological information measuring device 4, 4a, 4b, 4c for measuring the biological information of the worker, and the construction management device 10 also calculates the risk based on the biological information of the worker measured by the worker biological information measuring device 4, 4a, 4b, 4c.

[0329] (8) In addition, in the above-mentioned embodiment, there are: a lower traveling body 103; an upper rotating body 102 rotatably provided on the lower traveling body; a multi-jointed front working machine 101 mounted on the upper rotating body and composed of a plurality of driven components (e.g., a boom 104, an arm 105, a bucket (working tool) 106) rotatably connected; a mechanical measuring device for measuring the states of the upper rotating body, the front working machine, and the upper rotating body (e.g., a machine body position measuring device 5, a machine body posture measuring device 6, a machine front posture measuring device 7, a machine operator biological information measuring device 8); and a construction management device 10, which is composed of a measuring device for measuring the state of the operator. The risk indicating the degree of danger of an accident is calculated based on at least information related to the position of the worker measured by a worker measuring device (for example, a worker position measuring device 3, 3a, 3b, 3c, a worker biological information measuring device 4, 4a, 4b, 4c) in a certain state, at least information related to the position of the working machine (for example, the hydraulic excavator 100) measured by the machine measuring device, personal information of the worker and the operator who operates the working machine registered in advance, and information on the construction environment, and the calculated risk is output to the risk display device 9 as a coordinate risk associated with the coordinates of the construction environment and displayed in the form of a mapping table.

[0330] <Appendix>

[0331] In addition, the present invention is not limited to the above-mentioned embodiments, and includes various modifications or combinations within the scope of the main purpose. In addition, the present invention is not limited to having all the structures described in the above-mentioned embodiments, including the mode of removing part of the structure. In addition, the above-mentioned various structures, functions, etc. can also be realized by designing some or all of them, for example, as integrated circuits. In addition, the above-mentioned various structures, functions, etc. can also be realized in the form of software by interpreting and executing the program that realizes the respective functions of the processor.

[0332] Description of Reference Numerals

[0333] 1…environmental information registration device, 2…worker information registration device, 3, 3a to 3c…worker position measuring device, 4, 4a to 4c…worker biological information measuring device, 5…machine body position measuring device, 6…machine body posture measuring device, 7…machine front posture measuring device, 8…machine operator biological information measuring device, 9…risk display device, 10…construction management device, 10a…internal information acquisition unit, 10b…external information acquisition unit, 10c…internal risk calculation unit, 10c1 to 10c3…internal main cause calculation unit, 10d…external risk calculation unit, 10d1 to 10d4…external main cause calculation unit, 10e…geometric information calculation unit, 10e1…calculation area determination unit, 10e2…body reference point position 10e3…vehicle reference point speed calculation unit, 10f…risk integration unit, 10f1…calculation area discretization unit, 10f2…risk calculation coordinate determination unit, 10f3…relative distance risk calculation unit, 10f4…relative speed risk calculation unit, 10f5…integrated risk calculation unit, 10f6…risk synthesis unit, 10f7…risk attenuation unit, 20…display control device, 100…hydraulic excavator, 101…front working machine, 101a, 101b…receiving antenna (GNSS antenna), 102…upper rotating body, 102a, 104a~106a…inertial measurement unit (IMU), 103…lower traveling body, 103a…angle measurement device, 104…boom, 105…arm, 106…bucket, 110…operator's cab.

Claims

1. A construction management system, characterized in that: have: A worker measuring device for measuring the status of workers; Mechanical measuring devices for measuring the status of operating machinery; A worker information registration device that registers personal information of the worker and an operator who operates the work machine; An environmental information registration device for registering information of a construction environment to be targeted; as well as A construction management device that calculates a risk indicating the degree of danger of an accident based on information at least related to the position of the worker measured by the worker measuring device, information at least related to the position of the working machine measured by the machine measuring device, personal information of the worker and the operator registered in the worker information registration device, and information about the construction environment from the environment information registration device, outputs the calculated risk as a coordinate risk associated with the coordinates of the construction environment to a risk display device, and displays it in the form of a mapping table, The construction management device calculates internal risks caused by the state of the side bearing the risk based on the information of the worker who bears the risk, and calculates external risks caused by the state of the side bringing the risk based on the information of the work machine and the operator who bring the risk. Based on the internal risks and the external risks, the probability of an intermediate event that is the main cause of an accident between the worker and the work machine is calculated, and based on the probability of the intermediate event, the probability of a top event that is an accident between the worker and the work machine is calculated. The coordinate risk is calculated by integrating the probability of the top event and the geometric information of the worker and the work machine.

2. The construction management system according to claim 1, characterized in that: The construction management device calculates coordinate risks for each of the multiple workers based on their respective information, their respective personal information, the operator's personal information, and the information of the construction environment, and outputs the result of synthesis by taking the maximum value of the coordinate risks associated with the same coordinate to the risk display device in the form of a mapping table, causing the risk display device to display the result.

3. The construction management system according to claim 1, characterized in that: The construction management device performs calculations such that the coordinate risk becomes smaller as the coordinate is farther away from the position of the worker.

4. The construction management system according to claim 1, characterized in that: The construction management device expands the calculation range of the coordinate risk in the moving direction of the worker.

5. The construction management system according to claim 2, characterized in that: The construction management device synthesizes only the pre-selected workers among the multiple workers by taking the maximum value of the coordinate risks associated with the same coordinates, outputs the result in the form of a mapping table to the risk display device, and causes the risk display device to display it.

6. The construction management system according to claim 1, characterized in that: The worker measuring device includes a worker position measuring device for measuring information related to the position of the worker, and a worker biological information measuring device for measuring biological information of the worker. The construction management device further calculates the risk based on the biological information of the worker measured by the worker biological information measuring device.

7. A working machine, characterized in that: have: Lower running body; An upper rotating body rotatably disposed on the lower traveling body; A multi-jointed front working machine, which is mounted on the upper rotating body and is composed of a plurality of driven members rotatably connected; a mechanical measuring device for measuring the states of the upper rotating body, the front working machine, and the upper rotating body; as well as A construction management device that calculates a risk indicating the degree of danger of an accident based on information at least related to the position of the worker measured by a worker measuring device that measures the worker's status, information at least related to the position of the work machine measured by the machine measuring device, personal information of the worker and the operator who operates the work machine registered in advance, and information on the construction environment, outputs the calculated risk to a risk display device as a coordinate risk associated with the coordinates of the construction environment, and displays it in the form of a mapping table. The construction management device calculates internal risks caused by the state of the side bearing the risk based on the information of the worker who bears the risk, and calculates external risks caused by the state of the side bringing the risk based on the information of the work machine and the operator who bring the risk. Based on the internal risks and the external risks, the probability of an intermediate event that is the main cause of an accident between the worker and the work machine is calculated, and based on the probability of the intermediate event, the probability of a top event that is an accident between the worker and the work machine is calculated. The coordinate risk is calculated by integrating the probability of the top event and the geometric information of the worker and the work machine.

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