Safety management support system, support control device, method and program

Abstract

To always make it possible to accurately detect a work position regardless of a posture or situation of a work body, thereby improving risk notification performance.SOLUTION: A support control device according to one aspect of the present invention is configured to: receive first position measurement information transmitted from a satellite positioning receiver attached to a work body in a state that a danger area is set for map data including a working space of the work body; determine whether a state of the work body for the danger area is in a preset warning target state or not by comparing the received first position measurement information with the positional information on the danger area set in the map data; and transmit first alarm information to a terminal used by the work body when the work body is determined that it is in the warning target state.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] One aspect of the present invention relates to a safety management support system used to support safety management of workers and work vehicles such as construction machinery at construction sites, for example, for civil engineering and construction work, and a support control device, method, and program used in the system. [Background technology]

[0002] There are various hazards at civil engineering and construction work sites. For example, accidents are more likely to occur at work sites with poor geographical conditions such as large slopes, steps, and muddy areas, or near large construction machinery such as operating cranes, bulldozers, and excavators.

[0003] Therefore, a system has been proposed in which 3D sensors are installed in places where accidents may occur or on moving objects such as construction machinery, and monitoring is carried out to see whether workers are entering dangerous areas photographed by the 3D sensors (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2023-22867 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the system described in Patent Document 1, the photographing position of the worker is obtained based on the image data obtained by the 3D sensor worn by the worker, and if this photographing position is within a danger area, alert information is sent to notify the worker of the danger. Therefore, in situations where visibility is poor, such as when the worker is working in a crouched position, when there are obstacles such as trees, partitions, and buildings around, or when weather conditions are poor due to fog, useful image data cannot be obtained from the 3D sensor, and the worker's position cannot be identified.

[0006] Furthermore, even if a 3D sensor is attached to a work vehicle such as a construction machine and location information is obtained from the image data, useful image data cannot be obtained from the 3D sensor and the position of the work vehicle cannot be identified in poor visibility situations such as when the work vehicle is working in a depression, hole, or inside a building, or in poor weather conditions. In other words, the technology described in Patent Document 1 cannot notify of danger even if a worker, work vehicle, or other working body is in a dangerous area.

[0007] This invention has been made with the above-mentioned circumstances in mind, and one aspect of it is to provide a technology that enables the working position of a worker or other working body to be detected accurately at all times regardless of the posture or situation of the worker or other working body, thereby improving hazard warning performance. [Means for solving the problem]

[0008] In order to solve the above problem, a first aspect of the safety management support system according to the present invention includes a first satellite positioning receiver that measures the working position of a work body based on a positioning signal transmitted from a ranging satellite and transmits first position measurement information, a work body terminal carried by the work body, and a support control device capable of wireless communication between the first satellite positioning receiver and the work body terminal.The support control device receives the first position measurement information transmitted from the first satellite positioning receiver in a state in which a danger area is set in map data including the work location of the work body, and compares the received first position measurement information with the position information of the danger area set in the map data to determine whether the work body is in a preset warning target state with respect to the danger area, and transmits first alarm information to the work body terminal when it is determined that the work body is in the warning target state.

[0009] According to the first aspect of the present invention, the working position of a work object such as a worker or a work vehicle at a work site is measured by a first satellite positioning receiver that uses a positioning signal transmitted from a ranging satellite. Therefore, regardless of the posture of the work object, and even if there are obstacles around the work object, the working position of the work object can be measured at all times. Therefore, it is possible to constantly monitor without interruption whether the state of the work object relative to the dangerous area is in a warning state, and this makes it possible to support the safety of the work object with high accuracy.

[0010] A second aspect of the safety management support system according to the present invention further includes a second satellite positioning receiver that measures the working position of the construction machine based on a positioning signal transmitted from a ranging satellite and transmits second position measurement information.The second position measurement information transmitted from the second satellite positioning receiver is received by a support control device, and based on the received first position measurement information and second position measurement information, it is determined whether the working body has entered or is attempting to enter a preset working area centered on the working position of the construction machine, and when it is determined that the working body has entered or is attempting to enter the working area, second alarm information is transmitted to the working body terminal.

[0011] According to a second aspect of the present invention, the working position of the construction machine such as a crane or bulldozer is measured by a second satellite positioning receiver together with the working position of the working body. Then, based on the relationship between the working position of the working body and the position of the construction machine, it is determined whether the working body has entered or is about to enter the working area of ​​the construction machine, and an alarm is notified to the working body when the working body has entered or is about to enter the working area. Therefore, not only the working body but also the working position of the construction machine can be measured at all times without being affected by its posture or surrounding obstacles. Therefore, it is possible to constantly monitor whether the working body has entered or is about to enter the working area of ​​the construction machine without interruption, which makes it possible to support the safety of the working body with even higher accuracy. Effect of the Invention

[0012] That is, according to one aspect of the present invention, it is possible to always accurately detect the working position regardless of the posture or situation of the working body, thereby providing a technology that improves danger warning performance. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of a safety management support system according to a first embodiment of the present invention. [Diagram 2]FIG. 2 is a block diagram showing an example of a hardware configuration of a support control device used in the safety management support system shown in FIG. [Diagram 3] FIG. 3 is a block diagram showing an example of a software configuration of a support control device used in the safety management support system shown in FIG. [Figure 4] FIG. 4 is a flowchart showing an example of a processing procedure and processing contents of the assistance control executed by the control unit of the assistance control device shown in FIG. [Diagram 5] FIG. 5 is a flowchart showing an example of a processing procedure and processing contents of the dangerous area intrusion determination processing of the assistance control procedure shown in FIG. [Figure 6] FIG. 6 is a diagram used to explain the operation of the support control shown in FIG. [Figure 7] FIG. 7 is a block diagram showing an example of a software configuration of a support control device used in a safety management support system according to a second embodiment of the present invention. [Figure 8] FIG. 8 is a flowchart showing an example of a processing procedure and processing contents of the assistance control executed by the control unit of the assistance control device shown in FIG. [Figure 9] FIG. 9 is a flowchart showing an example of the processing procedure and processing contents of the work area intrusion determination processing of the assistance control procedure shown in FIG. [Figure 10] FIG. 10 is a diagram used to explain the operation of the support control shown in FIG. [Figure 11] FIG. 11 is a diagram used to explain the operation of the support control in another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0015] [First embodiment] (Configuration example) (1) System FIG. 1 is a diagram showing an example of the configuration of a safety management support system according to a first embodiment of the present invention.

[0016] The safety management support system according to the first embodiment is applied to, for example, a work site of civil engineering or construction work.

[0017] A satellite positioning receiver GRa is attached to a predetermined part of the worker US, for example, a helmet HM. The worker US also carries a portable terminal UT. Meanwhile, a support control device SVa and a manager terminal MT are installed in, for example, a management center located away from the work site. The support control device SVa is capable of communicating with the satellite positioning receiver GRa, the portable terminal UT, and the manager terminal MT via a network NW.

[0018] The satellite positioning receiver GRa is a receiver that measures the current position based on GNSS signals transmitted from multiple ranging satellites ST1 to STn that make up the Global Navigation Satellite System (GNSS), and is small and lightweight so as not to burden the worker US. The RTK (Real Time Kinematic) method is used for positioning. The RTK method is a method that enables highly accurate position measurement with a word error of within a few centimeters by generating correction information in a positioning core system based on GNSS signals received by two receivers, a fixed station and a mobile station installed at a reference point, and correcting the position measured by the mobile station receiver based on the generated correction information. In the following, the satellite positioning receiver GRa is also called a GNSS receiver.

[0019] The GNSS receiver GRa also has a built-in LTE (Long Term Evolution) (registered trademark) module, and transmits measured position information of the receiver GRa itself, i.e., current position information of the worker US, in real time from the LTE module to the assistance control device SVa via the network NW.

[0020] The mobile terminal UT is, for example, a smartphone, and includes an application for performing a notification process for alert information. The alert notification application receives various types of alert information transmitted from the assistance control device SVa, and notifies the worker US of an intrusion into a dangerous area, for example, by a voice message, a display message, a sound, light emission, vibration, or the like. Note that, in addition to a smartphone, a wrist-type wearable terminal, an HMD (Head Mount Display), smart glasses, a smart ring, or the like may be used as the mobile terminal UT.

[0021] The manager terminal MT is, for example, a personal computer, and is used, under the operation of an operator at the management center, to perform the process of acquiring or creating map data of the work site and sending it to the assistance control device SVa, and the process of setting information indicating danger areas in the map data.

[0022] The network NW includes a wide area network with the Internet at its core, and an access network for accessing the wide area network. The access network may be, for example, a public data communication network using wired or wireless communication, a local area network (LAN) using wired or wireless communication, or a cable television (CATV) network.

[0023] (2) Assistance control device SVa 2 and 3 are block diagrams showing an example of a hardware configuration and a software configuration, respectively, of the assistance control device SVa according to the first embodiment of the present invention.

[0024] The assistance control device SVa is configured by, for example, a server computer installed on the Web or on the cloud. Note that a personal computer used for management purposes in a management center or the like may be used as the assistance control device SVa.

[0025] The assistance control device SVa includes a control unit 1a using a hardware processor such as a central processing unit (CPU). A storage unit having a program storage unit 2 and a data storage unit 3, and a communication interface (hereinafter, the interface is abbreviated as I / F) unit 4 are connected to the control unit 1a via a bus 5.

[0026] The communication I / F unit 4 receives map data and danger area setting data transmitted from the manager terminal MT in accordance with a communication protocol defined by the network NW under the control of the control unit 1a, and also receives location information transmitted from the GNSS receiver GRa. The communication I / F unit 4 is also used to transmit alert information to the mobile terminal UT.

[0027] The program storage unit 2 is configured by combining a non-volatile memory such as a solid state drive (SSD) as a storage medium that can be written and read at any time, and a non-volatile memory such as a read only memory (ROM), and stores application programs required for executing various control processes according to the first embodiment, in addition to middleware such as an operating system (OS). Hereinafter, the OS and each application program will be collectively referred to as a program.

[0028] The data storage unit 3 is, for example, a combination of a non-volatile memory such as an SSD, which can be written to and read from at any time, and a volatile memory such as a RAM (Random Access Memory), as a storage medium, and the storage area includes a map data storage unit 31 and a worker position storage unit 32, which are storage units necessary for implementing the first embodiment of the present invention.

[0029] The map data storage unit 31 stores the map data of the work site and the setting information of the danger area sent from the manager terminal MT. The worker position storage unit 32 stores the position information of the worker US sent from the GNSS receiver GRa attached to the worker US as the movement trajectory of the worker US in chronological order.

[0030] The control unit 1a includes a map data management processing unit 11, a danger area setting processing unit 12, a worker position acquisition processing unit 13, a danger area intrusion determination processing unit 14, and an alert information transmission processing unit 15a as processing functions necessary for executing the assistance control in the first embodiment of the present invention.

[0031] Each of the processing units 11 to 15a of the control unit 1 is realized by causing a hardware processor of the control unit 1 to execute an application program stored in the program storage unit 2. Note that a part or all of the processing units 11 to 15a may be realized using hardware such as an LSI (Large Scale Integration) or an ASIC (Application Specific Integrated Circuit).

[0032] The map data management processing unit 11 receives map data including a work site transmitted from the manager terminal MT via the communication I / F unit 4, and stores the received map data in the map data storage unit 31. The map data includes location information.

[0033] The danger area setting processing unit 12 receives danger area setting information transmitted from the administrator terminal MT via the communication I / F unit 4, and stores the received danger area setting information in association with a position on the map data stored in the map data storage unit 31.

[0034] The worker position acquisition processing unit 13 receives worker position information transmitted from the GNSS receiver GRa for each worker US at a constant time period via the communication I / F unit 4, and stores the received worker position information, along with the measurement time, in the worker position memory unit 32 as information representing the worker's movement trajectory.

[0035] The danger area intrusion determination processing unit 14 determines whether or not a worker is about to intrude into a danger area and whether or not the worker has already intruded, based on information representing the movement trajectory of the worker stored in the worker position storage unit 32 and position information of the danger area set for the map data stored in the map data storage unit 31. A specific example of this danger area intrusion determination processing will be described in the operation example.

[0036] The alert information transmission processing unit 15a generates alert information corresponding to the contents of the judgment result of the danger area intrusion judgment processing unit 14, and transmits the generated alert information from the communication I / F unit 4 to the portable terminal UT carried by the worker US.

[0037] (Example of operation) Next, an example of the operation of the assistance control device SVa configured as above will be described.

[0038] FIG. 4 is a flowchart showing an example of a processing procedure and processing contents of the assistance control executed by the control unit 1a of the assistance control device SVa.

[0039] (1) Map data management The map data is created as 3D point cloud data in a specific data format based on image data of the work site captured by a 3D sensor mounted on a drone, for example. 3D point cloud data is data rendered using a point cloud (a collection of many points having XYZ coordinate (3D coordinate) information). Note that, as the 3D sensor, for example, a ToF (Time of Flight) camera, a stereo camera, a 3D-LIDAR (Laser Imaging Detection And Ranging), a depth sensor, etc. are used.

[0040] In response to an operation by an operator, the manager terminal MT transmits map data consisting of the above-mentioned three-dimensional point cloud data to the assistance control device SVa together with a map data setting request.

[0041] In response to this, when the control unit 1a of the assistance control device SVa receives the map data setting request in step S40, under the control of the map data management processing unit 11, in step S42, it receives the map data transmitted from the administrator terminal MT via the communication I / F unit 4 and stores the received map data in the map data memory unit 31.

[0042] The map data is updated periodically or irregularly as necessary. For example, the map data is updated every time the dangerous area changes depending on the progress of construction work or the weather.

[0043] (2) Setting danger zones The setting of the danger area is performed by an operator on the administrator terminal MT. For example, every time map data is newly registered or updated, the operator determines the danger area on the administrator terminal MT with the map data displayed, and performs an operation to set the danger area on the map data.

[0044] The manager terminal MT transmits danger area setting information representing the danger area to the assistance control device SVa via the network NW. The danger area setting information includes position information indicating the range of the danger area on the map data. The danger area setting information may include information indicating the type of danger, such as mud, depression, slope, rut, step, etc., and information including the degree of danger.

[0045] In response to this, the control unit 1a of the assistance control device SVa, under the control of the danger area setting processing unit 12, receives the danger area setting information transmitted from the administrator terminal MT via the communication I / F unit 4 in step S42, and stores the received danger area setting information in the map data memory unit 31 in association with the location information contained in the map data.

[0046] (3) Monitoring the work position of the worker US When a request to start monitoring the worker US is input to the manager terminal MT and the control unit 1a of the support control device SVa detects this start request in step S43, the control unit 1a thereafter executes support operations related to the safety of the worker US working at the work site as follows.

[0047] (3-1) Acquisition of location information of worker US That is, the control unit 1a of the assistance control device SVa receives position information transmitted in real time from the GNSS receiver GRa attached to the worker US via the communication I / F unit 4 in step S44 under the control of the worker position acquisition processing unit 13. Then, the worker position acquisition processing unit 13 stores the received position information of the worker US in the worker position memory unit 32 at regular intervals, with the identification information of the worker US and the measurement time added. In this way, information indicating the movement trajectory of the worker US during work is stored in the worker position memory unit 32.

[0048] (3-2) Judging whether or not someone is in a dangerous area Every time the control unit 1a of the support control device SVa acquires the position information of the worker US, under the control of the danger area intrusion determination processing unit 14, in step S45, determines the intrusion state of the worker US into the danger area as follows.

[0049] FIG. 5 is a flowchart showing an example of the procedure and contents of the determination process performed by the dangerous area intrusion determination processing unit 14.

[0050] That is, first, in step S451, the danger area intrusion determination processing unit 14 reads movement trajectory information covering a predetermined period of time in the past, including the latest position information, from the worker position storage unit 32. Next, in step S452, the danger area intrusion determination processing unit 14 predicts the destination position of the worker US after a certain time based on the movement trajectory information. Then, in step S453, the danger area intrusion determination processing unit 14 compares the predicted destination position information of the worker US with the position information of the danger area stored in association with the map data in the map data storage unit 31, and determines in step S46 whether the worker US is about to enter the danger area. That is, it predicts the state immediately before the worker US enters the danger area.

[0051] At the same time, in step S454, the danger area intrusion determination processing unit 14 compares the latest position information of the worker US stored in the worker position memory unit 32 with the position information of the danger area stored in the map data memory unit 31, and determines in step S47 whether the worker US has intruded into the danger area.

[0052] When the control unit 1a of the assistance control device SVa determines in step S46 that the worker US is about to enter a dangerous area, under the control of the alert information transmission processing unit 15a, in step S48, it generates alert information for warning that the worker US is about to enter the dangerous area, and transmits the generated intrusion warning alert information to the mobile terminal UT of the worker US from the communication I / F unit 4. As the alert information at this time, for example, a voice message or a display message to the effect that the worker US is about to enter a dangerous area is used.

[0053] In addition to or instead of the message, sound, light, and vibration may be used. In this case, the intermittent cycle of the sound, light, and vibration is set to a relatively long first cycle, and the tone, light color, and vibration amplitude are set to a relatively small first value.

[0054] On the other hand, suppose that it is determined in step S47 that the worker US has entered a dangerous area. In this case, in step S49, the alert information transmission processing unit 15a generates intrusion alert information for notifying that the worker US has entered a dangerous area, and transmits the generated intrusion alert information to the mobile terminal UT of the corresponding worker US from the communication I / F unit 4. As the alert information at this time, for example, a voice message or a display message indicating that the worker US has entered a dangerous area is used.

[0055] In this case, sound, light, and vibration may be used in addition to or instead of the message. In this case, the intermittent cycle of the sound, light, and vibration is set to a second cycle that is shorter than the first cycle, and the tone, light color, and vibration amplitude are also set to second values ​​that are larger than the first values.

[0056] That is, the danger area intrusion determination processing unit 14 determines the state immediately before the worker US enters the danger area and the state immediately after the worker US enters the danger area, and warns the worker US with different alert information for each of these states.

[0057] Furthermore, when the danger area intrusion determination processing unit 14 determines that the worker US has not intruded into the danger area and is not about to intrude, the control unit 1a of the assistance control device SVa determines whether a monitoring end request has been input in step S50. Then, until a monitoring end request is input, the control unit 1a repeatedly executes the process of determining whether the worker US has intruded into the danger area in steps S44 to S50.

[0058] When a request for setting map data is sent from the manager terminal MT during the monitoring period of the worker US, the control unit 1a of the assistance control device SVa may temporarily suspend the process of determining whether the worker US has entered the danger area by steps S44 to S50, and execute the map data update process and the danger area setting process.

[0059] Fig. 6 shows an example of map data MP and danger areas R1 to R6 set for the map data MP. In the figure, UP shows the movement trajectory of a worker US when moving while avoiding the danger areas R1 to R6. Note that similar support control can be performed on the construction machine CM in addition to the worker US, and CP in the figure shows an example of the movement trajectory of the construction machine CM in this case. Therefore, the worker US and the construction machine CM can move while avoiding the danger areas R1 to R6 with support from the support control device SVa, and can work safely.

[0060] In addition, the control unit 1a of the assistance control device SVa can transmit information representing the movement trajectories of the worker US and the construction machine CM stored in the worker position memory unit 32 to the manager terminal MT in response to a request from the manager terminal MT, for example, and display the information. In general, when the worker US and the driver of the construction machine CM move around a work site, even if they are not warned of an area by alert information, if they visually judge the area to be dangerous, they will independently avoid the area and move around. Therefore, by verifying the movement trajectories of the worker US and the construction machine CM, the operator can estimate dangerous areas that could not be identified from the map data and set additional dangerous areas on the map data.

[0061] (effect) As described above, in the first embodiment, the current position of the worker US is measured by having the worker US equipped with a GNSS receiver GRa, and the assistance control device SVa compares the position information of the worker US measured by the GNSS receiver GRa with the position information of a dangerous area set on map data to determine whether the worker US has entered the dangerous area, and transmits alert information to the portable terminal UT carried by the worker US depending on the determination result.

[0062] Therefore, the current position of the worker US can be measured at all times, regardless of the posture of the worker US, for example when the worker US is crouching, or even if there are obstacles such as partitions, trees, buildings, etc. around the worker US. This makes it possible to constantly monitor the intrusion of the worker US into a dangerous area, thereby supporting the safety of the worker US with a high degree of accuracy.

[0063] Moreover, in the first embodiment, when determining whether the worker US has entered the dangerous area, the state of the worker US immediately before entering the dangerous area is predicted from the movement trajectory, and alert information is transmitted based on the prediction result. This makes it possible to give a warning to the worker US immediately before he or she enters the dangerous area, thereby preventing the worker US from falling into a dangerous state.

[0064] Furthermore, if the worker US enters a dangerous area, this state is determined immediately after the intrusion and the worker US is notified by alert information different from the state immediately before the intrusion. This allows the worker US to immediately recognize that he or she has entered a dangerous area, and this enables the worker US to take appropriate action, such as immediately evacuating.

[0065] Furthermore, in the first embodiment, it is possible to update the map data and change the setting of the danger area for the map data even while monitoring the movement of the worker US. Therefore, when the condition of the work site changes due to the progress of the work or the weather, etc., and the range of the danger area and the type and degree of danger change accordingly, it is possible to update the map data each time. As a result, it is possible to always determine whether the worker US has entered the danger area based on the appropriate map data and danger area setting information, thereby making it possible to provide support with high accuracy.

[0066] [Second embodiment] In the second embodiment of the present invention, the position of a worker US is measured by a GNSS receiver GRa, and a GNSS receiver GRb is also attached to a construction machine CM such as a crane to measure its position. In this case, the GNSS receiver GRb also uses an RTK positioning method. In other words, it is possible to measure the position with a measurement error of a few centimeters or less.

[0067] In the second embodiment, a work area in which approach is prohibited is set within a specified range centered on the measured position of the construction machine CM, and a determination is made as to whether the worker US is attempting to enter the work area or has already entered it. Alert information is then generated in accordance with the determination results and transmitted to the mobile terminal UT of the worker US.

[0068] (Configuration example) Fig. 7 is a block diagram showing an example of the software configuration of the support control device SVb used in the safety management support system according to the second embodiment of the present invention. In the figure, the same parts as those in Fig. 3 are given the same reference numerals and detailed explanations are omitted. Also, the hardware configuration of the support control device SVb is the same as that in Fig. 2, so the explanation is omitted.

[0069] The control unit 1b of the support control device SVb further includes a construction machine position acquisition processing unit 16, a work area intrusion determination processing unit 17, and an alert information transmission processing unit 15b in addition to the map data management processing unit 11, the danger area setting processing unit 12, the worker position acquisition processing unit 13, and the danger area intrusion determination processing unit 14. Each of the above processing units 11 to 15b, 16, and 17 is realized by causing the hardware processor of the control unit 1 to execute an application program stored in the program storage unit 2.

[0070] The construction machine position acquisition processing unit 16 acquires position information of the construction machine CM output from the GNSS receiver GRb attached to the construction machine CM to be monitored at regular time intervals via the communication I / F unit 4. Then, the construction machine position acquisition processing unit 16 sequentially stores the acquired position information of the construction machine CM in chronological order in the construction machine position memory unit 33. In other words, the construction machine position acquisition processing unit 16 stores information representing the movement trajectory of the construction machine CM in the construction machine position memory unit 33.

[0071] Each time position information of the worker US is acquired by the worker position acquisition processing unit 13, the work area intrusion determination processing unit 17 predicts the destination position of the worker US after a certain time based on the movement history information of the worker US stored in the worker position memory unit 32. Then, based on the predicted position information of the destination of the worker US and the position information of the construction machine CM acquired by the construction machine position acquisition processing unit 16, the work area intrusion determination processing unit 17 determines whether or not the worker US is attempting to intrude into a work area set within a predetermined radius centered on the position of the construction machine CM, and whether or not the worker US has already intruded.

[0072] The alert information transmission processing unit 15b has a processing function of generating and transmitting alert information in response to the determination result of the intrusion state of the worker US into the danger area, as well as a processing function of generating and transmitting alert information in response to the determination result of the intrusion state of the worker US into the work area of ​​the construction machine CM.

[0073] (Example of operation) Next, the operation of the assistance control device SVb configured as above will be described.

[0074] Fig. 8 is a flowchart showing an example of the processing procedure and processing contents of the support control executed by the control unit 1b of the support control device SVb. Note that the processing for determining the intrusion state of the worker US into the dangerous area and transmitting alert information is the same as that described in Fig. 4 and Fig. 5, and therefore is not shown in Fig. 8.

[0075] When the control unit 1b of the assistance control device SVb detects receipt of a request to start monitoring in step S43, it executes a process of determining whether the worker US has intruded into the work area of ​​the construction machine CM as follows, in parallel with the process of determining whether the worker US has intruded into the danger area described in Figures 4 and 5.

[0076] That is, in step S51, the control unit 1b of the assistance control device SVb, under the control of the construction machine position acquisition processing unit 16, first acquires position information of the construction machine CM transmitted from the GNSS receiver GRb mounted on the construction machine via the communication I / F unit 4. Then, the construction machine position acquisition processing unit 16 sequentially stores the acquired position information of the construction machine CM together with information indicating the measurement timing in the construction machine position memory unit 33 in a state associated with the identification information of the construction machine CM.

[0077] When the latest position information of the worker US and the construction machine CM is obtained, the control unit 1b of the assistance control device SVb, under the control of the work area intrusion determination processing unit 17, executes a process to determine the intrusion state of the worker US into the work area of ​​the construction machine CM in step S52 as follows.

[0078] FIG. 9 is a flowchart showing an example of the procedure and content of the intrusion state determination process executed by the work area intrusion determination processing unit 17. As shown in FIG.

[0079] That is, first in step S521, the work area intrusion determination processing unit 17 sets a work area to which approach is prohibited within a range of a predetermined radius m centered on the position of the construction machine CM, based on the latest position information of the construction machine CM stored in the construction machine position memory unit 33. For example, when the construction machine CM is a crane truck, the work area intrusion determination processing unit 17 sets a work area WE within a range of a predetermined radius m centered on the position measured by a GNSS receiver GRb attached to the tip of the boom of the construction machine CM, such as a crane truck, as shown in Fig. 10.

[0080] Next, in step S522, the work area intrusion determination processor 17 reads movement trajectory information covering a predetermined period of time in the past, including the latest position information of the worker US, from the worker position memory unit 32. Then, in step S523, the work area intrusion determination processor 17 predicts a position to which the worker US will move after a certain time based on the movement trajectory information.

[0081] Next, in step S524, the work area intrusion determination processing unit 17 compares the position information of the predicted destination of the worker US with position information indicating the work area WE, which is set within a range of a predetermined radius m centered on the position of the construction machine CM, and determines in step S53 whether the worker US is about to intrude into the work area WE. In other words, it predicts the state immediately before the worker US intrudes into the work area WE of the construction machine CM.

[0082] At the same time, in step S525, the work area intrusion determination processing unit 17 compares the latest position information of the worker US stored in the worker position memory unit 32 with the position information indicating the work area WE of the construction machine CM, and determines in step S54 whether the worker US has intruded into the work area WE of the construction machine CM.

[0083] When the control unit 1b of the assistance control device SVb determines in step S53 that the worker US is about to enter the work area WE of the construction machine, in step S55, under the control of the alert information transmission processing unit 15b, it generates alert information for warning that the worker US is about to enter the work area WE of the construction machine CM. Then, the generated intrusion warning alert information is transmitted from the communication I / F unit 4 to the mobile terminal UT of the worker US who is to be warned. As the alert information at this time, for example, a voice message or a display message is used to the effect that the worker US is about to enter the work area WE of the construction machine CM.

[0084] In addition to or instead of the above message, sound, light, and vibration may be used. In this case, the intermittent cycle of the sound, light, and vibration is set to a third cycle different from that when the worker US is about to enter a dangerous area set in the map data, and the tone, light color, and vibration amplitude are also set to a third value different from the first value. This makes it possible to clearly distinguish a state in which the worker US is about to enter the work area WE of the construction machine CM from a state in which the worker US is about to enter a dangerous area set on the map data and to notify the worker US.

[0085] On the other hand, suppose that in step S54 it is determined that a worker US has entered the work area WE of the construction machine CM, for example, as shown in Fig. 10. In this case, in step S56, the alert information transmission processing unit 15b generates intrusion alert information for notifying the worker of the intrusion, and transmits the generated intrusion alert information to the mobile terminal UT of the corresponding worker US from the communication I / F unit 4. The alert information at this time also uses, for example, a voice message or a display message indicating that the worker US has entered the work area WE of the construction machine CM, but instead of or in addition to this, a sound, light emission, and vibration may be selectively used.

[0086] In other words, the work area intrusion determination processing unit 17 determines the state immediately before the worker US enters the work area WE of the construction machine CM, and the state immediately after the worker US enters the work area WE, and based on the determination results of these states, different alert information is generated and notified to the worker US.

[0087] Furthermore, when the work area intrusion determination processing unit 17 of the control unit 1b of the assistance control device SVb determines that the worker US has not intruded into the work area WE and is not about to intrude, the control unit 1b determines in step S57 whether a monitoring end request has been input. Then, until a monitoring end request is input, the control unit 1b repeatedly executes the process of determining whether the worker US has intruded into the work area WE of the construction machine CM through steps S51 to S57.

[0088] (effect) As described above, in the second embodiment, the position information of the worker US is obtained from the GNSS receiver GRa, and a GNSS receiver GRb is also attached to the construction machine CM to obtain its position information.A determination is then made as to whether the worker US is about to enter the work area WE of the construction machine CM or has already entered the work area WE, and alert information is sent.

[0089] Therefore, like the worker US, the position of the construction machine CM can be constantly measured without being affected by the posture of the construction machine CM or the surrounding geographical or environmental conditions. Also, when the worker US is about to enter or has entered the work area WE of the construction machine CM, alert information can be sent to the worker US to warn him / her. This makes it possible to prevent accidents in which the worker US comes into contact with the construction machine CM, and further improve the safety of the worker US while working.

[0090] Furthermore, the alert information sent when a worker US is about to enter or has entered a dangerous area on the map data is different from the alert information sent when a worker US is about to enter or has entered the work area WE of the construction machine CM, so that the worker US can identify the content of the warning from the alert information and take appropriate action in each case.

[0091] [Other embodiments] (1) In the first embodiment, the case where the operator manually sets the dangerous area has been described as an example. However, the setting of the dangerous area may be automatically performed by the assistance control device SVa.

[0092] For example, a danger area determination model using SVM or neural network is created in advance. Then, the assistance control device SVb extracts features such as altitude, inclination angle, step, unevenness, color, etc. from the 3D point cloud data of the map data, and inputs the extracted features to the danger area determination model as explanatory variables. Then, information representing the judgment result of the danger area is output from the danger area determination model, and is stored in association with the position on the map data in the map data storage unit 31. Note that the danger area determination model may be configured to determine the type and degree of danger in addition to the range of the danger area, and to include these judgment results in the judgment information of the danger area and output it.

[0093] By automatically setting danger areas using the danger area determination model in this manner, it becomes possible to change the setting information for the danger area in real time and with high accuracy, for example, every time map data is updated and the danger area changes accordingly.

[0094] (2) In the first embodiment, the destination location of the worker US after a certain time period is predicted based on the movement trajectory of the worker US, and the predicted destination location is compared with the location information specified by the danger area setting information to determine whether the worker US is about to enter the danger area.

[0095] However, the present invention is not limited to the above embodiment, and other embodiments such as the following are also possible. That is, when setting danger areas in the map data MP, for example, as shown in FIG. 11, approach judgment areas P1, P2, and P3 are set around the danger areas R1, R2, and R3, respectively. Then, the support control device SVa judges whether the position of the worker US has entered the approach judgment areas P1, P2, and P3, and if it is judged that the worker US has entered, it judges that the worker US is in a state immediately before entering the danger areas R1, R2, and R3, generates approach warning alert information, and notifies the worker US. Also, if it is judged that the position of the worker US has entered the danger areas R1, R2, and R3, it generates alert information notifying the worker US of the entry, and notifies the worker US.

[0096] With this configuration, it is possible to predict the state immediately before the worker US enters the dangerous area and to notify the worker US of that state, thereby making it possible to effectively support the safety of the worker US in this case as well.

[0097] (3) In the second embodiment, when the worker US attempts to enter or has entered the work area WE of the construction machine, alert information is sent to the portable terminal UT of the worker US. However, in addition to the portable terminal UT of the worker US, the alert information may be sent to a portable terminal carried by the operator of the construction machine or an autopilot device equipped in the construction machine.

[0098] In this way, a warning can be given to the worker US and, for example, the operation of the construction machine can be stopped, thereby making it possible to further improve the safety of the worker US.

[0099] (4) Each of the processing functions 11-17 and each of the memory units 31-33 provided in the assistance control devices SVa, SVb may not be concentrated in a single server computer or personal computer, but may be distributed across multiple server computers or personal computers that can transmit data to each other.

[0100] (5) In addition, the functional configuration of the assistance control devices SVa, SVb, their processing procedures and processing contents, the configuration of the map data, the method of setting danger areas and work areas, etc. can be modified in various ways without departing from the spirit of this invention.

[0101] Although the embodiment of the present invention has been described in detail above, the above description is merely an example of the present invention in every respect. It goes without saying that various improvements and modifications can be made without departing from the scope of the present invention. In other words, in implementing the present invention, specific configurations according to the embodiment may be appropriately adopted.

[0102] In short, the present invention is not limited to the above-mentioned embodiments as they are, and the components can be modified and embodied in the implementation stage without departing from the gist of the invention. In addition, various inventions can be formed by appropriately combining the multiple components disclosed in the above-mentioned embodiments. For example, some components may be deleted from all the components shown in each embodiment. Furthermore, components from different embodiments may be appropriately combined. [Explanation of symbols]

[0103] US…Worker GRa,GRb...GNSS receiver UT: Mobile terminal SVa, SVb: Support control device MT: Administrator terminal NW…Network ST1~STn…Ranging satellite 1a, 1b...Control section 2...Program memory section 3. Data storage section 4. Communication I / F section 5. Bus 11...Map data management processing section 12...Danger area setting processing section 13...Worker position acquisition processing unit 14...Danger area intrusion detection processing unit 15a, 15b...Alert information transmission processing unit 16...Construction machinery position acquisition processing unit 17...Work area intrusion detection processing unit 31...Map data storage unit 32...Worker position memory section 33...Construction machine position memory section

Claims

1. a first satellite positioning receiver that measures the position of the working body based on a positioning signal transmitted from a ranging satellite and transmits first position measurement information; A terminal used by the working body; an assistance control device capable of wireless communication between the first satellite positioning receiver and the terminal; Equipped with The assistance control device includes: A map storage unit that stores map data including a work location of the work body; A first processing unit that sets a danger area in the map data; a second processing unit that receives the first position measurement information transmitted from the first satellite positioning receiver; a third processing unit that compares the received first position measurement information with position information of the danger area set in the map data to determine whether or not a state of the working body with respect to the danger area is in a preset warning target state; a fourth processing unit that transmits first alarm information to the terminal when it is determined that the work object is in the warning target state; A safety management support system equipped with:

2. a second satellite positioning receiver that measures the position of the construction machine based on the positioning signal transmitted from the ranging satellite and transmits second position measurement information; The assistance control device includes: a fifth processing unit that receives the second position measurement information transmitted from the second satellite positioning receiver; a sixth processing unit that determines whether or not the work body has entered or is about to enter a preset work area centered on the position of the construction machine based on the received first position measurement information and the second position measurement information; a seventh processing unit that transmits second alarm information to the terminal when it is determined that the working body has entered or is about to enter the working area; The safety management support system according to claim 1 , further comprising:

3. A support control device capable of wireless communication between a first satellite positioning receiver that measures a position of a work body based on a positioning signal transmitted from a ranging satellite and transmits first position measurement information, and a terminal used by the work body, A map storage unit that stores map data including a work location of the work body; A first processing unit that sets a danger area in the map data; a second processing unit that receives the first position measurement information transmitted from the first satellite positioning receiver; a third processing unit that compares the received first position measurement information with position information of the danger area set in the map data to determine whether or not a state of the working body with respect to the danger area is in a preset warning target state; a fourth processing unit that transmits first alarm information to the terminal when it is determined that the work object is in the warning target state; An assistance control device comprising:

4. a second satellite positioning receiver that measures a work position of a construction machine based on a positioning signal transmitted from the ranging satellite and transmits second position measurement information; and a fifth processing unit that receives the second position measurement information transmitted from the second satellite positioning receiver; a sixth processing unit that determines whether the working body has entered or is about to enter a preset working area centered on a working position of the construction machine based on the received first position measurement information and the second position measurement information; a seventh processing unit that transmits second alarm information to the terminal when it is determined that the working body has entered or is about to enter the working area; The assistance control device according to claim 3 , further comprising:

5. The second processing unit generates and stores information representing a movement trajectory of the working body based on the received first position measurement information, The third processing unit predicts a state immediately before the working body enters the dangerous area based on the information representing the movement trajectory and position information of the dangerous area, The fourth processing unit transmits first alarm information to the terminal immediately before the working body enters the dangerous area based on a result of the prediction. The assistance control device according to claim 3.

6. the first processing unit sets, as setting information of the danger area, information indicating a range of the danger area and an approach determination area set around the danger area; The third processing unit determines whether or not the working body has entered within the range of the approach determination area and the danger area, The fourth processing unit generates danger warning information when it is determined that the working body has entered the approach determination area and transmits the danger warning information to the terminal, and thereafter generates danger warning information when it is determined that the working body has entered within the danger area and transmits the danger warning information to the terminal. The assistance control device according to claim 3.

7. An assistance control method executed by an information processing device, A process of setting a danger area for map data including a work location of a work body; receiving first position measurement information transmitted from a first satellite positioning receiver that measures the position of the working body based on a positioning signal transmitted from a ranging satellite; a step of comparing the received first position measurement information with position information of the danger area set in the map data to determine whether or not the state of the working body with respect to the danger area is in a preset warning target state; a step of transmitting first alarm information to a terminal used by the work object when it is determined that the work object is in the warning target state; The assistance control method includes:

8. receiving second position measurement information from a second satellite positioning receiver that measures the position of the construction machine based on the positioning signal transmitted from the ranging satellite; a step of determining whether or not the working body has entered a preset peripheral area centered on the working position of the construction machine based on the received first position measurement information and the second position measurement information; transmitting second alarm information to the terminal when it is determined that the working object has entered the surrounding area; The method of claim 7, further comprising:

9. 7. A program for causing a processor included in the assistance control device to execute at least one of the processes executed by the first to seventh processing units included in the assistance control device according to claim 3.

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