Work management system and work machine

Abstract

The present application aims to provide a work management system capable of efficiently extracting a high-probability approach event in which a work machine and a worker come into contact. To this end, a management server judges whether or not the work machine and the worker approach based on position information of the work machine measured by a work machine position measuring device and position information of the worker measured by a worker position measuring device, in the case where it is judged that there is an approach, judges an approach state of the approach based on a pre-set approach state definition, according to a state of the work machine measured by a work machine state measuring device when the approach is judged, records the state of the work machine measured when the approach is judged in correspondence with the approach state, and outputs to a display device in correspondence with the approach state.

Description

Operation management system and operating machinery Technical Field

[0001] This invention relates to a work management system for managing the safety of workers operating around machinery. Background Technology

[0002] In civil construction sites, there is a concern about potential contact between workers and construction machinery, creating a need for features to prevent such contact. Specifically, systems are being implemented to prevent such contact before it occurs. These systems centralize location information from sensors installed on both workers and machinery with a management server. The system monitors, warns, and displays inappropriate events such as machinery approaching workers or workers trespassing into prohibited areas. By implementing such systems, site managers can easily and in real-time monitor inappropriate events occurring on-site.

[0003] As an example of prior art, which centralizes the location information of surrounding workers and operating machinery to a management server and alerts monitoring and management personnel to inappropriate events, patent document 1 discloses a technology. Patent document 1 discloses a management device that detects intrusion of obstructions into a designated area around machinery, and generates a table that can confirm the relationship between the degree of intrusion of the obstruction into the designated area and the intrusion-related information based on the history of the detection results and the correlation information at the time of intrusion.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: International Publication No. 2018 / 084161 Summary of the Invention

[0007] Contact between surrounding workers and operating machinery can occur due to human error by either the surrounding workers or the operator of the machinery. From the operator's perspective, possible causes include the operator unintentionally touching the control lever while the machinery is at rest, or operating the machinery carelessly near surrounding workers. From the operator's perspective, possible causes include approaching the machinery from a direction difficult for the operator to visually identify, or failing to communicate before approaching. Therefore, to more accurately assess the probability of a contact event, it is necessary to consider the states of both the surrounding workers and the operating machinery at the time of the approach.

[0008] The system described in Patent Document 1 provides managers with information such as the location and time of the approach being detected, and the operating status of the machinery, but it does not consider the individual situations of the surrounding workers and the machinery operators. Therefore, managers find it difficult to accurately assess the probability of contact in approach events and to select the appropriate information from the large amount of information provided for subsequent risk assessments and safety training for on-site workers. Given the assumption that approach incidents between surrounding workers and machinery will occur frequently, it is desirable for managers to efficiently extract only the approach incidents that should be corrected in the future.

[0009] The present invention was made in view of the above-mentioned problems, and its purpose is to provide an operation management system that can efficiently extract proximity events with high probability of contact between operating machinery and operators.

[0010] To achieve the above objectives, the operation management system of the present invention includes: a management server; and a display device for displaying information output from the management server, wherein the management server is configured to: determine whether the operation machine and the operator are close based on the position information of the operation machine measured by an operation machine position measuring device that measures the position information of the operation machine and the position information of the operator performing work around the operation machine measured by an operator position measuring device that measures the position information of the operator performing work around the operation machine; if it is determined that there is closeness, based on a pre-set closeness state definition, determine the closeness state according to the state of the operation machine measured by an operation machine state measuring device that measures the state of the operation machine when the closeness is determined, record the state of the operation machine measured when the closeness is determined in correspondence with the closeness state, and output the closeness state to the display device in correspondence with the closeness state.

[0011] According to the present invention configured as described above, the determination result of the proximity between the operating machinery and the operator is displayed in correspondence with the proximity state, taking into account the state of the operating machinery at the time of the proximity determination. This allows for the efficient extraction of proximity events with a high probability of contact between the operating machinery and the operator. As a result, the effectiveness and efficiency of risk assessments and safety education conducted by managers can be significantly improved.

[0012] Invention Effects

[0013] The operation management system according to the present invention can efficiently extract proximity events with a high probability of contact between the operating machinery and the operator. Attached Figure Description

[0014] Figure 1 is a schematic diagram showing the operation management system according to the first embodiment of the present invention.

[0015] Figure 2 is a functional block diagram illustrating the processing functions of the job management system according to the first embodiment of the present invention.

[0016] Figure 3 is a diagram showing the processing flow of the proximity determination unit in the first embodiment of the present invention.

[0017] Figure 4 is a diagram showing the processing flow of the proximity state determination unit in the first embodiment of the present invention.

[0018] Figure 5 is a diagram illustrating an example of the proximity state definition in the first embodiment.

[0019] Figure 6 is a diagram showing an example of the proximity result output by the proximity result visualization unit in the first embodiment.

[0020] Figure 7 is a diagram illustrating the effects of the invention according to the first embodiment.

[0021] Figure 8 is a functional block diagram illustrating the processing functions of the job management system according to the second embodiment of the present invention.

[0022] Figure 9 is a diagram illustrating an example of the proximity state definition in the second embodiment of the present invention.

[0023] Figure 10 is a functional block diagram illustrating the processing functions of the job management system according to the third embodiment of the present invention.

[0024] Figure 11 is a diagram showing an example of the proximity result output by the proximity result visualization unit in the third embodiment of the present invention.

[0025] Figure 12 is a diagram showing the processing flow of the proximity state determination unit in the fourth embodiment of the present invention.

[0026] Figure 13 is an example of a method for representing the degree of fault according to the fourth embodiment of the present invention and a diagram showing the effect of the invention.

[0027] Figure 14 is a functional block diagram illustrating the processing functions of the job management system according to the fifth embodiment of the present invention.

[0028] Figure 15 is a diagram illustrating an example of the countermeasure definition for the proximity state definition in the fifth embodiment of the present invention. Detailed Implementation

[0029] Hereinafter, embodiments of the present invention will be described using accompanying drawings, etc. The following description illustrates specific examples of the content of the present invention. The present invention is not limited to these descriptions, and various changes and modifications can be made by those skilled in the art within the scope of the technical concept disclosed in this specification. Furthermore, in all the drawings used to describe the present invention, parts having the same function are labeled with the same reference numerals, and sometimes repeated descriptions are omitted.

[0030] Example 1

[0031] Figure 1 is a schematic diagram showing the operation management system according to the first embodiment of the present invention. The operation management system 500 consists of an operator measuring device 1 installed on the operator 100, a machine measuring device 2 installed on the machine 200, a display device 3, a communication device 4, a management server 10, etc. The operator 100 is a person who works on the construction site, assisting the machine 200 in its operation, and performing peripheral work not directly related to the machine 200. The operator 100 carries the operator measuring device 1 and the communication terminal 5, which are attached to the helmet and work clothes worn by the operator 100. In this embodiment, the operator measuring device 1 has a sensor 1b for measuring the position information of the operator 100 and a data processing device 1a for processing the information measured by the sensor 1b and communicating with the outside. The sensor 1b constitutes an operator position measuring device for measuring the position information of the operator 100. For the sensor 1b, it is assumed that GNSS (Global Navigation Satellite System) and Beacon are used.

[0032] The work machinery 200 includes all machinery operating on the construction site, such as construction machinery and transport vehicles. Figure 1 illustrates a hydraulic excavator 200a and a wheel loader 200b as examples of work machinery 200. The hydraulic excavator 200a is equipped with a mechanical measuring device 2 and a communication terminal 5. In this embodiment, the mechanical measuring device 2 includes: a sensor 2b for measuring the position and orientation of the upper rotating body 201a of the hydraulic excavator 200a; a sensor 2c for measuring the posture of the front device 202a of the hydraulic excavator 200a; a sensor 2d for acquiring the movable state of the hydraulic excavator 200a; and a data processing device 2a for processing the information measured by sensors 2b, 2c, and 2d and communicating with the outside. At least two GNSS antennas are used for sensor 2b, configured to calculate both position and orientation. Furthermore, sensor 2c uses an IMU (Inertial Measurement Unit) and a stroke sensor, and is equipped with links that constitute the front device 202a. Sensor 2D assumes a locking lever sensor that electrically detects the ON / OFF state of the locking lever that locks the vehicle body movement, but sensors that detect the ON / OFF state of the engine and engine speed can also be used.

[0033] The wheel loader 200b includes a mechanical measuring device 2 and a communication terminal 5. In this embodiment, the mechanical measuring device 2 includes: a sensor 2b for measuring the position and orientation of the wheel loader 200b; a sensor 2d for acquiring the movable state of the wheel loader 200b; and a data processing device 2a for processing the information measured by the sensors 2b and 2d and communicating with the outside. At least two GNSS antennas are used for sensor 2b, configured to calculate both position and orientation. Sensor 2d is assumed to be a parking brake sensor that electrically detects the ON / OFF state of the parking brake that locks the vehicle body movement, but sensors that detect the ON / OFF state of the engine and engine speed can also be used.

[0034] The communication device 4 includes communication terminals 5 provided by the operator 100 and the work machinery 200. It is a device capable of connecting all controllers and sensors within the construction site to the same network, and is composed of wireless LAN (Local Area Network) access points, etc. The management server 10 is a computer connected to the communication network of the communication device 4. In this embodiment, the management server 10 is located in the office 300 and connected to a display device 3 installed in a personal computer or similar device used to receive input from users or display output analysis results. Alternatively, the management server 10 can be configured as a virtual device in the cloud, capable of communicating with the cloud via the network path provided by the communication device 4. The communication terminals 5 provided by the operator 100 and the work machinery 200 can connect to the communication network provided by the communication device 4 and can send measurement information to the management server 10 connected to the same network.

[0035] Figure 2 is a functional block diagram illustrating the processing functions of the job management system 500 of this embodiment. The functional block diagram of the job management system 500 consists of an operator measuring device 1, a mechanical measuring device 2, a display device 3, and a management server 10. Furthermore, regarding the mechanical measuring device 2, it is assumed that it is mounted on a hydraulic excavator 200a.

[0036] The operator measurement device 1 includes a data processing unit 1a and a GNSS 1b for measuring the position information of the operator 100. GNSS 1b constitutes the operator position measurement device. The data processing unit 1a sends the individual identification ID, position, and measurement time of the operator 100 holding the operator measurement device 1 to the management server 10 via the communication terminal 5. The machine measurement device 2 consists of the data processing unit 2a, sensors for measuring the position and posture of the upper rotating body 201a of the hydraulic excavator 200a (i.e., right GNSS 2b1 and left GNSS 2b2), and sensors for measuring the posture of the front device 202a of the hydraulic excavator 200a (i.e., boom IMU 2c1, stick IMU 2c2, bucket IMU 2c3, and locking lever sensor 2d). The right GNSS 2b1 and left GNSS 2b2 constitute the machine position measurement device for measuring the position of the machine 200. The boom IMU2c1, stick IMU2c2, bucket IMU2c3, and locking lever sensor 2d constitute a state measurement device for measuring the state of the working machinery 200. The data processing device 2a sends information such as the individual identification ID, position, orientation, forward posture, lever status, and the time when these contents of the machinery equipped with the device are measured to the management server 10 via the communication terminal 5 of the working machinery 200.

[0037] The management server 10 consists of a proximity judgment unit 10a, a proximity status judgment unit 10b, a proximity status definition unit 10c, a recording device 10d, and a proximity result visualization unit 10e.

[0038] Figure 3 is a diagram showing the processing flow of the proximity determination unit 10a in this embodiment. The proximity determination process is executed according to the flow shown in Figure 3(a). Here, we will use the hydraulic excavator 200a, which handles more complex tasks, as an example of the working machine 200. First, in process Fa1, measurement information obtained from the operator measuring device 1 and the machine measuring device 2 is acquired in a time-synchronized manner. Time synchronization refers to the process of aggregating multiple measurement information in a way that the measurement times output by each measuring device 1 and 2 are within a certain fixed time range. Next, in process Fa2, a combination of selecting one operator 100 and one working machine 200 is determined from the multiple combinations of operators 100 and working machines 200.

[0039] Next, in process Fa3, it is determined whether the operator 100 exists within a pre-defined proximity judgment area Ra. Figure 3(b) shows the definition of the proximity judgment area Ra in this embodiment. The proximity judgment area Ra is defined as a circle centered on the position Xm of the working machine 200. The radius of the circle is increased or decreased based on the forward length Lm calculated from the posture of the forward device 202a measured by the mechanical measuring device 2. In this embodiment, the radius of the proximity judgment area Ra is set as the length obtained by adding a fixed margin relative to the forward length Lm. Operators 100 existing within the proximity judgment area Ra are defined as being in a proximity state, and operators 100 existing outside of it are defined as being in a non-proximity state. For example, operator 100a shown in Figure 3(b) is treated as being in a proximity state, and operator 100b is treated as being in a non-proximity state. Furthermore, the representation of the proximity judgment area Ra is not limited to the method described above, and can also be an ellipse or a rectangle, etc.

[0040] Returning to Figure 3(a), in process Fa3, if it is determined that operator 100 is in an approaching state, the process proceeds to process Fa4. On the other hand, if it is determined that operator 100 is not in an approaching state, the process returns to process Fa2 to determine the combination of unprocessed operator 100 and operating machine 200. Next, in process Fa4, it is determined whether approach judgment processing has been performed for all combinations. If there are still combinations that have not undergone approach judgment, the process returns to process Fa2 to determine the combination of unprocessed operator 100 and operating machine 200. On the other hand, if approach judgment processing has been completed for all combinations, the process proceeds to process Fa5, and the information of all combinations after approach judgment is output to the approach state judgment unit 10b, initiating processing in the approach state judgment unit 10b.

[0041] Returning to Figure 2, the proximity status determination unit 10b determines the proximity status of the operator 100 and the operating machinery 200 after proximity determination processing based on the predefined proximity status definition 10c stored in the management server 10.

[0042] Figure 4 is a diagram showing the processing flow of the proximity state determination unit 10b in this embodiment. The proximity state determination process is executed according to the flow shown in Figure 4(a). Here, we will use the hydraulic excavator 200a, which has a relatively complex processing capability, as an example of the working machine 200. First, in process Fb1, information about the operator 100 and the working machine 200 that are determined to be in a proximity state in the proximity determination unit 10a is obtained. At the same time, the operating state of the corresponding working machine 200 is also obtained from the mechanical measuring device 2 in real time. Next, in process Fb2, a combination of one operator 100 and one working machine 200 is selected from the multiple combinations of operators 100 and working machines 200 obtained. Next, in process Fb3, it is determined whether the operation of the working machine 200 being judged is in a movable state based on the lever state obtained from the mechanical measuring device 2. The movable state is defined as a binary flag value indicating whether the lever operation and autonomous action of the working machine 200 are restricted.

[0043] Next, in process Fb4, it is determined whether the working machine 200 is in an operational state. This determination is based on speeds Vm and Ve. Speed ​​Vm is obtained by subtracting the position Xm of the working machine 200 over time, and speed Ve is obtained by subtracting the position Xe of the top of the front device 202a, calculated based on the posture information of the front device 202a, over time. With respect to speeds Vm and Ve, and referring to pre-set thresholds Vth1 and Vth2, a state is defined as operational if at least one of Vth1 > |Vm| or Vth2 > |Ve| is satisfied; otherwise, a state is defined as stationary. Furthermore, conditions for the magnitudes of the machine speed Vm and the speed Ve at the top position of the front device can be determined separately to define the traveling state (traveling speed) of the working machine 200 and the operational state (rotational speeds of the multiple joints of the front device 202a).

[0044] Next, in process Fb5, it is determined whether the operator 100 is within the closest range of the operating machine 200. The determination of whether they are within the closest range is based on the distance between the position Xm of the operating machine 200 and the position Xh of the operator 100, and the distance between the top position Xe of the front device 202a and the position Xh of the operator 100. As shown in Figure 4(b), the distance between the machine position Xm and the operator position Xh is defined as Dm, and the distance between the top position Xe of the front device and the operator position Xh is defined as De. For distances Dm and De, distance thresholds Dth1 and Dth2 are predefined respectively. A condition where either Dth1 > Dm or Dth2 > De is satisfied is defined as a close-range state; a condition where this is not the case is defined as a non-close-range state.

[0045] Next, in process Fb6, it is determined whether the operator 100 exists within the blind spot region Rd of the machine 200. The blind spot region Rd is defined as a sector centered on the position Xm of the machine 200. The radius of the sector, similar to that of the proximity determination region Ra, is increased or decreased based on the forward length Lm calculated from the posture of the forward device 202a measured by the mechanical measuring device 2. The range of the sector is predefined as an angle range that is presumably difficult for the operator to visually confirm from the driver's seat of the machine 200. In the example shown in FIG4(c), the rear and right sides of the machine 200, which are difficult to visually confirm from the operator's perspective, are defined as the blind spot region Rd. The operator 100 existing within this proximity determination region Rd is defined as a blind spot state, and the operator 100 existing outside it is defined as a non-blind spot state. For example, the operator 100a shown in FIG4(c) is treated as a blind spot state, and the operator 100b is treated as a non-blind spot state. Furthermore, the representation of the proximity determination region Rd is not limited to the method described above, and can also be an ellipse or a rectangle, etc.

[0046] Returning to Figure 3(a), in process Fb7, the final approach state is determined based on the lock state determined by process Fb3, the action state determined by process Fb4, the distance state determined by process Fb5, the blind spot state determined by process Fb6, and the predefined approach state definition 10c.

[0047] Figure 5 is a diagram illustrating an example of the proximity state definition 10c in this embodiment. The proximity state is determined by a combination of four states: movable state, action state, distance state, and blind spot state, which are respectively assigned as binary labels. In this embodiment, the seven states shown in Figure 5 are defined as proximity states. Furthermore, the proximity states are not limited to those shown in Figure 5, and the required states can be predefined based on the acquired states of the operator 100 and the operating machinery 200.

[0048] Returning to Figure 4(a), after the proximity state is determined by process Fb7, process Fb8 determines whether the proximity state has been determined relative to all combinations. If there are still combinations whose proximity states have not been determined, the process returns to process Fb2 to determine the unprocessed combinations of operator 100 and machine 200. On the other hand, if the proximity state determination process has been completed for all combinations, the process moves to process Fb9, where information on all combinations after the proximity state has been determined, and the IDs of operator 100 and machine 200 related to proximity in their respective proximity states, are output to and saved to a recording device 10d such as a memory.

[0049] Referring back to Figure 2, the recording device 10d records the proximity evaluation results output by the proximity state judgment unit 10b. The proximity evaluation results are the summaries of information regarding the time of proximity occurrence, proximity state, and the respective IDs, positions, orientations, and postures of the relevant operator 100 and machine 200. Furthermore, the recording device 10d inputs search criteria for extracting the data desired by the proximity result visualization unit (described later). The search criteria can be selected from the time range to be displayed, proximity state, and the IDs of the operator 100 or machine 200. Based on these search criteria, matching results are extracted from the proximity evaluation result set recorded in the recording device 10d, and the search results are output to the proximity result visualization unit 10e.

[0050] The proximity result visualization unit 10e generates search conditions for extracting necessary data based on the display conditions input from the display control unit 3a of the display device 3, and outputs them to the recording device 10d. Based on the search results output from the recording device 10d, the results are visualized through lists and diagrams to clearly show each proximity that has occurred and its current state. The visualized results are then output to a display screen 3b, such as a monitor, on the display device 3.

[0051] Figure 6 is a diagram showing an example of the proximity results output by the proximity result visualization unit 10e in this embodiment. Figure 6(a) is an example of visualizing the proximity results by displaying the proximity status as a labeled bar chart with the proximity count as the horizontal axis and the operator 100 and the machine 200 associated with the proximity as the vertical axis. When visualized in the form shown in Figure 6(a), it is clear which operator 100 or which machine 200 is associated with the inappropriate proximity and to what extent. Figure 6(b) is an example of visualizing the proximity results by displaying the proximity status as a labeled bar chart with the proximity time as the horizontal axis and the proximity count as the vertical axis. When visualized in the form shown in Figure 6(b), it is clear when and how many times the inappropriate proximity occurred. Figure 6(c) is an example of visualizing the proximity results by labeling each proximity and topologically mapping each proximity occurrence location onto the graph. When visualized in the form shown in Figure 6(c), it is clear where and how many times the inappropriate proximity occurred in large numbers. Furthermore, the three examples shown in Figure 6 are just one example of visualization methods, and it is also possible to assume the use of other display methods that associate proximity states with each proximity.

[0052] Figure 7 is a diagram illustrating the effects of the invention in this embodiment. Figure 7(a) shows the result without corresponding the number of approaches by the operator 100 and the machine 200 related to the approach with the approach status. Based on the display format of Figure 7(a), operators A100a1 and B100b1, who have a high number of approaches, would be considered as subjects for safety education. However, since it is impossible to determine what kind of approach each operator 100 is related to, it is difficult to provide specific corrective action guidelines from the management side.

[0053] Figure 7(b) shows the results of a labeled bar chart that maps the number of approaches by operator 100 and machine 200 to the detailed LB values ​​of the approach states. The chart clearly shows the detailed LB values ​​of the approach states associated with each operator. Therefore, for operator A100a1, who is easily judged as having a high probability of contact based on the number of approaches, it can be seen that the majority of the approaches are to machines that are not moving, indicating a low probability of contact. Thus, operator B100b1 has a lower priority as a candidate for safety education. On the other hand, for operator B100b1, the majority of the approaches are to machines that are moving, to machines that are in a moving state, to machines that are in a blind spot, or to machines that are moving. Therefore, it can be determined that operator B100b1 has a higher priority as a candidate for safety education compared to operator A100a1, who has a higher number of approaches. Furthermore, by comparing the detailed proximity status with the proximity results of each operator 100 and the operating machinery 200, managers can easily suggest specific corrective action plans. For example, if operator B100b1 has a high number of proximity incidents during machine operations, it is determined that operator B100b1 needs to improve their awareness, especially paying attention to proximity incidents during machine operations.

[0054] (Summarize)

[0055] In this embodiment, the job management system 500 includes: a management server 10; and a display device 3 for displaying information output from the management server 10. The job management system 500 includes: job machine position measuring devices 2b1 and 2b2 for measuring the position information of the working machine 200; job machine state measuring devices 2c1, 2c2, 2c3, and 2d for measuring the state of the working machine 200; and a worker position measuring device 1b for measuring the position information of the worker 100 performing work around the working machine 200. The management server 10 is based on the position information measured by the job machine position measuring devices 2b1 and 2b2. The approximation of the machine 200 and the operator 100 is determined by the position information of the machine 200 and the position information of the operator 100 measured by the operator position measuring device 1b. When the approximation is determined, the approximation state is determined by the state of the machine 200 measured by the machine state measuring devices 2c1, 2c2, 2c3, and 2d when the approximation is determined, based on the pre-set approximation state definition 10c. The state of the machine 200 measured when the approximation is determined is recorded in correspondence with the approximation state, and output to the display device 3 in correspondence with the approximation state.

[0056] According to this embodiment configured as described above, the determination result of the proximity between the operating machinery 200 and the operator 100 is displayed corresponding to the proximity state, taking into account the state of the operating machinery 200 at the time of the proximity determination. This allows for the efficient extraction of proximity events with a high probability of contact between the operating machinery 200 and the operator 100. As a result, the effectiveness and efficiency of risk assessments and safety education conducted by managers can be significantly improved.

[0057] In addition, the machine state measuring device 2d in this embodiment measures the movable state of the machine 200. Therefore, it is possible to determine the approximate state taking into account the movable state of the machine 200.

[0058] Furthermore, the work machine 200 in this embodiment includes a front device 202a with multiple joints, and work machine state measuring devices 2c1, 2c2, and 2c3 measure the angles of each of the multiple joints. Therefore, it is possible to determine the approach state taking into account the posture of the front device 202a.

[0059] In addition, the machine condition measuring devices 2b1, 2b2, 2c1, 2c3, and 2d measure the travel speed of the machine 200 and the rotational speed of each joint of the front device 202a. Therefore, the approach state can be determined by considering both the travel speed of the machine 200 and the operating speed of the front device 202a.

[0060] Furthermore, the approach state definition 10c includes the state in which an operator 100 approaches a movable work machine 200 from a blind spot. This allows for the identification of operators 100 who have a high priority for safety training.

[0061] Furthermore, in this embodiment, the operator measuring device 1, the management server 10, and the display device 3 are described as devices independent of the work machine 200, but these can also be mounted on the work machine 200. A work machine 200 configured in this way can achieve the same effects as in this embodiment.

[0062] Example 2

[0063] Figure 8 is a functional block diagram illustrating the processing function of the job management system 500 according to the second embodiment of the present invention. The operator measuring device 1, as an operator-side avoidance device, includes an alarm device 1c such as a buzzer to urge avoidance of contact with the work machinery 200. The data processing unit 1a outputs the operating time of the alarm device 1c, the ID of the operator holding the device, and the operating status of the alarm device 1c to the proximity status determination unit 10b. Here, the avoidance device held by the operator 100 is not limited to the alarm device 1c, but may also include a wireless device or the like for exchanging information with the operator of the work machinery 200.

[0064] The mechanical measuring device 2 includes an alarm device 2e, such as a buzzer, as a mechanical side avoidance device. The data processing device 2a outputs the operating time of the alarm device 2e, the ID of the mounted machine, and the operating status of the avoidance device to the proximity state determination unit 10b. Here, the avoidance device mounted on the working machine 200 is not limited to the alarm device 2e, but may also include a deceleration control device 7 (shown in FIG14) that automatically slows down and stops the movement of the working machine 200.

[0065] Figure 9 is a diagram illustrating an example of the proximity state definition 10c in this embodiment. The proximity state definition 10c takes into account the binary labels of the operational status of worker-side avoidance devices such as the alarm device 1c held by the worker 100, and the binary labels of the operational status of machine-side avoidance devices such as the alarm device 2e mounted on the machine 200. According to the table of this proximity state definition 10c, it can be interpreted that the probability of contact increases when both the worker-side avoidance device and the machine-side avoidance device are inactive.

[0066] (Summarize)

[0067] The operation management system 500 of this embodiment includes avoidance devices 1c and 2e to prevent contact between the machine 200 and the operator 100. The management server 10 determines the proximity state between the machine 200 and the operator 100 based on a pre-set proximity state definition 10c, according to the state of the machine 200 measured when it is determined that the machine 200 and the operator 100 are approaching, and the working status of the avoidance devices 1c, 2e, and 7 when the proximity is determined. In addition, the avoidance devices 1c, 2e, and 7 in this embodiment are composed of alarm devices 1c and 2e that issue alarms to the operator of the machine 200 or the operator 100, or deceleration control devices 7 that slow down or stop the machine 200.

[0068] Based on the above-described embodiment, the proximity status is determined by considering the operating conditions of the avoidance devices 1c, 2e, and 7. As a result, the manager can more accurately and comprehensively grasp the probability of contact when proximity occurs.

[0069] Example 3

[0070] Figure 10 is a functional block diagram illustrating the processing functions of the job management system 500 according to the third embodiment. The job management system 500 includes a camera or similar imaging device 6 that captures images of the work performed by the worker 100 and the work machinery 200. The imaging device 6 outputs the time of image capture and the captured image to the recording device 10d. In this embodiment, the imaging device 6 is configured to be fixed to poles, buildings, etc., installed on-site, and can send information to the management server 10 via the network provided by the communication device 4. Furthermore, the method of installing the imaging device 6 is not limited to the method of this embodiment; it can also be configured to be installed on the helmet worn by the worker 100 or on the exterior of the work machinery 200. Additionally, the number of imaging devices 6 is not limited to one; multiple imaging devices 6 can be installed on-site, each connected to the network provided by the communication device 4.

[0071] Additionally, the management server 10 includes a digital environment reproduction unit 10f that reproduces the movements of the operator 100 and the machine 200 measured by the operator measuring device 1 and the machine measuring device 2 in a digital environment using computer graphics (CG) or the like. The digital environment reproduction unit 10f outputs the reproduced image of the movements of the operator 100 and the machine 200 reproduced in the digital environment to the recording device 10d in a time-corresponding format.

[0072] Figure 11 is a diagram showing an example of the proximity results output by the proximity result visualization unit 10e in this embodiment. Figure 11(a) shows an example of proximity locations labeled and topologically mapped on the graph, and a specific proximity selected via the display control unit 3a of the display device 3. In this embodiment, the user selects a specific proximity (ID: 5) via the mouse cursor MC. Because the results of proximity status labeled are provided to the user, the user can efficiently select proximity locations with particularly high probability of contact and high necessity for risk assessment.

[0073] Figure 11(b) illustrates an example of a method for displaying detailed information about a selected approach. In the example of Figure 11(b), the selected approach's occurrence time, the associated operator 100 and machine 200, their respective IDs, and the approach status are displayed via text T1. Furthermore, image P1 captured by the imaging device 6 at the selected approach's occurrence time is displayed. Alternatively, images from multiple moments before and after the approach's occurrence time can be displayed as an animation. Alternatively, instead of image P1 captured by the imaging device 6, a cropped image of the reproduced image generated by the digital environment reproduction unit 10f can be displayed. By confirming the display of such detailed information, managers can gain a thorough understanding of the situation when a high probability of contact occurs, which is helpful for risk assessment and safety education.

[0074] (Summarize)

[0075] The operation management system 500 of this embodiment has a shooting device 6 for shooting the operation machinery 200 and the operator 100. When the management server 10 determines that the operation machinery 200 and the operator 100 are close, it records the images of the operation machinery 200 and the operator 100 captured by the shooting device 6 at the time of the determination of the closeness and the closeness state, and outputs them to the display device 3.

[0076] Alternatively, in this embodiment, when the management server 10 determines that the working machine 200 and the operator 100 are approaching, it creates a reproduction image that visualizes the actions of the working machine 200 and the operator 100 based on the position information of the working machine 200, the position information of the operator 100, and the state of the working machine 200 measured at the time of the approach, records the reproduction image in correspondence with the approach state, and outputs it to the display device 3.

[0077] According to this embodiment configured as described above, the images of the working machine 200 and the operator 100 are displayed in conjunction with the proximity status, thereby enabling the manager to efficiently and comprehensively grasp the situation when a proximity with a high probability of contact occurs.

[0078] Example 4

[0079] Figure 12 is a diagram showing the processing flow of the proximity state determination unit 10b in the fourth embodiment. The processing flow of the proximity state determination unit 10b shown in Figure 12(a) includes a process Fb10 that determines the degree of error of the operator 100 and the working machine 200 relative to the proximity that has occurred. In the process Fb10, it is implemented based on three speed information: speed Vh, speed Vm, and speed Ve. Speed ​​Vh is obtained by subtracting the position Xh obtained from the operator measuring device 1 in the time direction; speed Vm is obtained by subtracting the position Xm obtained from the machine measuring device 2 in the time direction; and speed Ve is obtained by subtracting the top position Xe of the front device 202a calculated based on the posture information obtained from the machine measuring device 2 in the time direction. Furthermore, the determination of the degree of error is not limited to the method of using speed information, and can also be determined according to the working condition of the avoidance device and the proximity state.

[0080] Figure 12(b) shows the definitions of the state quantities used to determine the degree of negligence. The determination of the degree of negligence of operator 100 utilizes the angles θhm and θhe formed by two straight lines passing through operator position Xh and machine position Xm, and passing through operator position Xh and the top position Xe of the front device, respectively, with the operator's velocity Vh. Thresholds Vth3 relative to the operator's velocity Vh and thresholds θth1 and θth2 relative to the angles θhm and θhe are predefined. When |Vh| > Vth3 and |θhm| < θth1, or |Vh| > Vth3 and |θhe| < θth2 is satisfied, there is a possibility that operator 100 approaches the working machine 200, thus determining that operator 100 is negligent in relation to the occurrence of the approach.

[0081] The determination of the degree of negligence of the operating machinery 200 utilizes the angles θmh and θeh formed by two straight lines passing through the machine position Xm and the operator position Xh, and passing through the top position Xe of the front device and the operator position Xh, respectively, with respect to the machine speed Vm and the speed Ve of the top position of the front device. Thresholds Vth4 and Vth5 for the machine speed Vm and the speed Ve relative to the top position of the front device, and thresholds θth3 and θth4 for the angles θmh and θeh are predefined. If |Vm| > Vth4 and |θmh| < θth3, or |Ve| < Vth4 and |θeh| > θth4, there is a possibility that the operating machinery 200 is approaching the operator 100, thus determining that the operating machinery 200 is negligent in relation to the approach. Furthermore, in this embodiment, a binary judgment of negligence (negligence or no negligence) is performed for the degree of negligence, but a continuous judgment based on the speed and the size of the angles formed can also be used.

[0082] Figure 13 is an example of a method for representing the degree of negligence in the fourth embodiment and a diagram illustrating the effects of the invention. Figure 13(a) is an example of a bar chart showing the number of approach attempts without reflecting the degree of negligence. In the chart of Figure 13(a), the cumulative number of approach attempts is calculated for both the operator 100 and the machine 200 involved in the approach, in the event of an approach. Therefore, for the operator 100 or the machine 200, who are involved in the approach but have no negligence, although the negligence is low, the number of approach attempts is evaluated as high.

[0083] Figure 13(b) is an example of a bar chart reflecting the degree of negligence and displaying the number of approach attempts. In the chart of Figure 13(b), the cumulative number of approach attempts is only for the operator 100 or the machine 200 judged to be related to the approach and negligent in the case of a certain approach. Therefore, for the operator 100 or the machine 200, which is related to the approach but not negligent, the number of approach attempts is evaluated as less. The example in Figure 13(b) shows the result of fewer approach attempts on the operator 100 side and more approach attempts on the machine 200 side. Since the result reflects the degree of negligence, the result shown is that the number of approach attempts by operator 100 is less and the number of approach attempts by machine 200 is more. This result allows managers to determine that the operator of machine 200 with a higher degree of negligence should be given higher priority for safety training.

[0084] (Summarize)

[0085] In this embodiment, when the management server 10 determines that the operating machinery 200 and the operator 100 are approaching, it calculates the degree of fault of the operator of the operating machinery 200 and the operator 100 relative to the approach based on the measurement information of the operating machinery position measuring devices 2b1, 2b2, the operator position measuring device 1b, and the operating machinery status measuring devices 2c1, 2c2, 2c3, 2d at the time of the approach. The degree of fault is recorded in correspondence with the approach state of the operating machinery 200 and the operator 100 and output to the display device 3.

[0086] According to the above-described embodiment, the degree of error and proximity status of the operator of the work machinery 200 and the operator 100 relative to the proximity are displayed together, thereby enabling the manager to efficiently and accurately identify the operator 100 or the operator of the work machinery 200 who should receive priority training.

[0087] Example 5

[0088] Figure 14 is a functional block diagram illustrating the processing functions of the operation management system 500 according to the fifth embodiment of the present invention. The operation management system 500 of this embodiment, like that of the second embodiment, includes an alarm device 1c held by the operator 100 and an alarm device 2e mounted on the work machinery 200. Furthermore, the operation management system 500 of this embodiment includes a deceleration control device 7 that automatically slows down or stops the movement of the work machinery 200. The alarm devices 1c, 2e, and deceleration control device 7 are configured to receive action commands from the management server 10 via a network provided by the communication device 4. When the work machinery 200 is a hydraulic excavator 200a, the deceleration control device 7 includes valves or the like that cut off or throttle the hydraulic oil supplied to hydraulic actuators such as hydraulic cylinders and hydraulic motors. When the work machinery is a wheel loader 200b, in addition to the aforementioned valves, the deceleration control device 7 also includes brakes or the like.

[0089] Figure 15 is a diagram illustrating an example of a countermeasure for approach state 10c in this embodiment. By pre-defining the correspondence table TA between the approach states and countermeasures shown in Figure 15, the user can arbitrarily set the countermeasures to be implemented based on the approach state. In this embodiment, three countermeasures are prepared: alarm based on alarm devices 1c and 2e, deceleration control of the working machine 200 based on the deceleration control device 7 of the working machine 200, and stop control of the working machine 200 based on the deceleration control device 7 of the working machine 200. This facilitates the use of a system in which countermeasures, such as those that increase the effectiveness of direct contact avoidance with higher alarm levels, are implemented.

[0090] (Summarize)

[0091] In this embodiment, the operation management system 500 is based on the avoidance devices 1c, 2e, and 7 that prevent the operation machinery 200 from contacting the operator 100. The management server 10 outputs instructions corresponding to the proximity state of the operation machinery 200 and the operator 100 to the avoidance devices 1c, 2e, and 7.

[0092] According to the above-described embodiment, the avoidance devices 1c, 2e, and 7 are configured to work appropriately in response to the proximity of the work machinery 200 and the operator 100, thereby enabling appropriate correction of inappropriate actions by the operator 100 or the operator of the work machinery 200 on site.

[0093] The embodiments of the present invention have been described in detail above, but the present invention is not limited to the above embodiments and includes various modifications. For example, the above embodiments have been described in detail to facilitate understanding of the present invention and are not limited to having all the described configurations. In addition, it is possible to add a part of the configuration of another embodiment to the configuration of a certain embodiment, or to delete a part of the configuration of a certain embodiment or replace a part of another embodiment.

[0094] Explanation of reference numerals in the attached figures

[0095] 1…Operator Position Measurement Device, 1a…Data Processing Device, 1b…GNSS (Operator Position Measurement Device), 1c…Alarm Device (Avoidance Device), 2…Machine Measurement Device, 2a…Data Processing Device, 2b1…Right-side GNSS (Machine Position Measurement Device), 2b2…Left-side GNSS (Machine Position Measurement Device), 2c1…Boom IMU (Machine Status Measurement Device), 2c2…Stick IMU (Machine Status Measurement Device), 2c3…Bucket IMU (Machine Status Measurement Device), 2d…Sensor (Machine Status Measurement Device), 2e…Alarm Device (Avoidance Device), 3…Display Device, 3a…Display 3b… Display screen, 5… Communication terminal, 6… Camera, 7… Deceleration control device (avoidance device), 10… Management server, 10a… Approach judgment unit, 10b… Approach status judgment unit, 10c… Approach status definition, 10d… Recording device, 10e… Approach result visualization unit, 10f… Digital environment reproduction unit, 100, 100a, 100b… Operator, 100a1… Operator A, 100b1… Operator B, 200… Operating machinery, 200a… Hydraulic excavator, 200b… Wheel loader, 201a… Upper rotating body, 202a… Front device, 300… Office, 500… Operation management system.

Claims

1. A job management system comprising: a management server; and a display device for displaying information output from the management server, characterized in that the management server is configured to: store a proximity state definition predefined for a proximity state, the proximity state being composed of a combination of a movable state (whether the operation of the working machinery is restricted), an action state (whether the working machinery is in operation), a distance state between the working machinery and an operator working around the working machinery, and a blind spot state (whether the operator is in a blind spot area of ​​the working machinery), and calculate the movable state based on measurement information from a working machinery state measuring device that measures the state of the working machinery including the posture of the device in front of the working machinery. The system considers the following states: the operational state, the action state, the distance state, and the blind spot state. Based on the position information of the operating machinery measured by a machine position measuring device and the position information of the operator measured by a operator position measuring device, it determines whether the operating machinery and the operator are close. If closeness is determined, based on the definition of closeness, the system calculates the operational state, the action state, the distance state, and the blind spot state when closeness is determined to be present to determine the closeness state of the closeness. The closeness information is recorded corresponding to the closeness state of the closeness, and output to the display device corresponding to the closeness state of the closeness.

2. The job management system according to claim 1, characterized in that, The front device has multiple joints, and the working machinery status measuring device measures the angles of the multiple joints.

3. The job management system according to claim 2, characterized in that, The machine condition measuring device measures the machine's travel speed and the rotation speed of each of the multiple joints.

4. The job management system according to claim 1, characterized in that, The system includes an avoidance device to prevent the working machinery from contacting the operator. The management server determines the proximity state based on the proximity state definition, according to the state of the working machinery measured when the proximity is detected and the working status of the avoidance device when the proximity is detected.

5. The job management system according to claim 4, characterized in that, The avoidance device consists of an alarm device that alerts the operator of the working machinery or the worker, or a deceleration control device that slows down or stops the working machinery.

6. The job management system according to claim 1, characterized in that, The system includes a camera that captures images of the machinery and the operator. When the management server detects an approach, it records the images of the machinery and the operator captured by the camera and the approach status, and outputs them to the display device.

7. The job management system according to claim 1, characterized in that, When the management server detects the approach, it creates a visual representation of the actions of the working machine and the operator based on the position information of the working machine, the position information of the operator, and the state of the working machine measured when the approach is detected. The server records the visual representation of the approach and the corresponding approach state, and outputs it to the display device.

8. The job management system according to claim 1, characterized in that, When the management server detects an approach, it calculates the degree of fault of the operator and the worker in causing the approach based on the measurement information of the machine position measuring device, the operator position measuring device, and the machine status measuring device at the time of the approach. The degree of fault is recorded in correspondence with the approach state and output to the display device.

9. The job management system according to claim 1, characterized in that, The management server outputs instructions corresponding to the proximity state to the avoidance device that prevents the working machinery from contacting the operator.

10. A work machine comprising: a management server; and a display device for displaying information output from the management server, the work machine being characterized in that the management server is configured to: store a proximity state definition predefined for a proximity state, the proximity state being composed of a movable state (whether the work machine is in a state where its operation is restricted), an action state (whether the work machine is in operation), a distance state between the work machine and an operator working around the work machine, and a blind spot state (whether the operator is in a blind spot area of ​​the work machine), and calculate the movable state based on measurement information from a work machine state measuring device that measures the state of the work machine including the posture of the device in front of the work machine. The system considers the following states: the operating state, the action state, the distance state, and the blind spot state. Based on the position information of the operating machinery measured by the operating machinery position measuring device and the position information of the operator measured by the operator position measuring device, the system determines the proximity between the operating machinery and the operator. If proximity is determined, based on the proximity state definition, the system determines the proximity state according to the movable state, the action state, the distance state, and the blind spot state calculated when proximity is determined. The proximity information is recorded in correspondence with the proximity state and output to the display device in correspondence with the proximity state.

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