Intrusion monitoring system

Abstract

To provide an intrusion monitoring system that improves the reliability of the system by calculating a point cloud used for determining the intrusion of an object within a monitored area based on the state of a work machine placed within the monitored area.SOLUTION: When a control device 5 of an intrusion monitoring system 1 acquires position and orientation data Pi and point cloud data Ti1, the control device calculates, for each unit time, a work machine area A2 defined so as to follow the three-dimensional area occupied by a work machine 200, and the positions of the point cloud in a monitored area A1 and the work machine area A2 based on the point cloud data Ti1. The point cloud located within the work machine area A2 is determined as a work machine point cloud T2 indicating the work machine 200, and the presence or absence of an object that has intruded into the monitored area A1 is determined based on an intrusion determination target point cloud T3, which is a point cloud located outside the work machine area A2 among the point cloud in the monitored area A1.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to an intrusion monitoring system.

Background Art

[0002] Conventionally, there has been an intrusion monitoring system that monitors a work machine area including an area where a work machine such as a crane operates and detects the intrusion of an object into the work machine area. For example, Patent Document 1 discloses a monitoring area setting system that sets a monitoring area for monitoring the intrusion of an object.

[0003] The monitoring area setting system described in Patent Document 1 includes a monitoring area setting means for setting a monitoring area around the work machine, an excluding means for excluding, as an exclusion area, an area within the monitoring area that is the operating range of the work machine, and a LiDAR (point cloud data acquisition unit) for acquiring point cloud data indicating the distance from a reference position to an object located within the monitoring area.

[0004] The monitoring area setting system described in Patent Document 1 calculates, as an exclusion area, the operating range of the work machine where a part of the work machine may move by accumulating the point cloud data indicating the position of the work machine among the point cloud data acquired by the LiDAR. The monitoring area setting system detects the intrusion of an object into the monitoring area based on the point cloud data within the monitoring area after excluding the exclusion area.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] In the monitoring area setting system described in Patent Document 1, a range in which the work machine may move is set as the exclusion area. Therefore, the exclusion area has a size that allows an object to enter from the outside within the monitoring area. Further, the monitoring area setting system excludes a point group within the exclusion area included in the monitoring area from the point group used for determining the intrusion of the object. That is, the monitoring area setting system excludes from the point group used for determining the intrusion of an object into the monitoring area without distinguishing between a point group indicating the position of the work machine operating within the exclusion area and a point group indicating the position of an object that has entered the exclusion area. Therefore, there has been a problem that the larger the operating range of the work machine, the narrower the substantial monitoring target range in the set monitoring area, and the reliability of the system decreases.

[0007] An object of the present invention is to provide an intrusion monitoring system that improves the reliability of the system by calculating a point group used for determining the intrusion of an object in a monitoring target area based on the state of a work machine arranged in the monitoring target area.

Means for Solving the Problems

[0008] The problem to be solved by the present invention is as described above. Next, means for solving this problem will be described.

[0009] That is, an intrusion monitoring system according to an embodiment of the present invention includes a point cloud data generation device that generates point cloud data indicating the positions of objects in a monitoring target area, which is a predetermined three-dimensional area, for each unit time; a storage device that stores the point cloud data from the point cloud data generation device for each unit time; and a control device that determines whether an object has intruded into the monitoring target area by comparing a plurality of the point cloud data stored in the storage device. The intrusion monitoring system has a position and orientation data, which is data related to the position and orientation of a work machine, and an operation data, which is data related to the operation of the work machine, for each unit time, in a state where a work machine having a rotatable turntable and a boom that can be raised, lowered, and extended and supported by the turntable is located in the monitoring target area. The storage device stores parts shape data, which is data related to the shape of each part of the work machine. When the communication device acquires the position and orientation data and the point cloud data, the control device calculates, for each unit time, a work machine area defined along the three-dimensional area occupied by the work machine based on the acquired position and orientation data and the parts shape data, and the positions of the point clouds of the monitoring target area and the work machine area based on the point cloud data. Further, the control device determines a point cloud located within the work machine area as a work machine point cloud indicating the work machine, and determines the presence or absence of an object that has intruded into the monitoring target area by an intrusion determination target point cloud, which is a point cloud located outside the work machine area among the point clouds in the monitoring target area.

[0010] In the above configuration, the control device of the intrusion monitoring system calculates a work machine area, which is the area occupied by the work machine, based on the shape of the work machine located in the monitoring target area and the posture per unit time. That is, the control device calculates, as the work machine area, the area along the space occupied by the work machine per unit time. Since the control device determines the point group located within the calculated work machine area as the work machine point group, it is possible to detect an object that has entered the operation range of the work machine within the monitoring target area. Further, the work machine area is calculated along the area occupied by the work machine per unit time. Therefore, even if the operation range of the work machine changes, the control device determines only the point group indicating the position of the work machine from the point group of the monitoring target area as the work machine point group. In this way, by calculating the point group used for determining the intrusion of an object within the monitoring target area based on the state of the work machine arranged within the monitoring target area, the reliability of the intrusion monitoring system can be improved.

[0011] From another perspective, it is preferable that the intrusion monitoring system of the present invention includes the following configuration. The control device determines the presence or absence of an object that has entered the monitoring target area during the unit time from the difference between a first intrusion determination target point group calculated based on the point group data acquired at an arbitrary first elapsed time and a second intrusion determination target point group calculated based on the point group data acquired at a second elapsed time that is the unit time after the first elapsed time.

[0012] In the above configuration, the control device determines, from the difference between the first intrusion determination target point group and the second intrusion determination target point group, that when a point group not included in the first intrusion determination target point group is included in the second intrusion determination target point group, the point group included only in the second intrusion determination target point group is determined as the point group indicating an object that has intruded into the monitoring target area during the unit time. Therefore, the intrusion monitoring system can detect an object that has intruded into the monitoring target area including the operation range of the work machine during the unit time. Thereby, the reliability of the intrusion monitoring system can be improved by calculating the point group used for determining the intrusion of an object in the monitoring target area based on the state of the work machine disposed in the monitoring target area.

[0013] From another perspective, it is preferable that the intrusion monitoring system of the present invention includes the following configuration. The control device calculates the number of moving point group points, which is the number of points of the work machine point group in the work machine moving area corresponding to the moving part of the work machine in the work machine area, and when the number of moving point group points is outside the predetermined value range, it is determined that at least one of the work machine or the point group data generation device needs to be inspected.

[0014] In the above configuration, when the number of moving point groups is outside the predetermined value range, for example, due to a detection error of a sensor that detects the posture of the work machine, etc., there is a deviation between the position of the moving part of the work machine calculated from the work machine point group and the position of the moving part of the work machine detected by the sensor, or due to an installation direction deviation of the point group data generation device, poor acquisition of the point group due to a failure, or a detection error of the point group data generated by the point group data generation device, etc., it is determined that there is a deviation between the actual position of the moving part of the work machine detected by the sensor and the position of the work machine based on the point group data generated by the point group data generation device. Therefore, it is possible to suppress misdetection of an object that enters the monitoring target area or misdetection of the work machine as an object that enters the monitoring target area due to a detection error of the sensor or an error of the point group data generation device or the like. Thereby, the reliability of the intrusion monitoring system can be improved by calculating a point group used for determining the intrusion of an object in the monitoring target area based on the state of the work machine arranged in the monitoring target area.

[0015] From another perspective, it is preferable that the intrusion monitoring system of the present invention includes the following configuration. The control device calculates the number of points of the work machine fixed point group in the work machine fixed area corresponding to the non-moving part of the work machine in the work machine area, which is the fixed point group number. When the fixed point group number is outside the predetermined value range, the control device determines that it is necessary to inspect the point group data generation device, and when the fixed point group number is within the predetermined value range, the control device determines that it is necessary to inspect the work machine.

[0016] In the above configuration, when the number of moving point clouds is outside the predetermined value range and the number of fixed point clouds is also outside the predetermined value range in the control device, that is, in the work machine, when the point clouds indicating the positions of the moving part and the non-moving part deviate from the work machine area, due to the deviation in the installation direction of the point cloud data generation device, acquisition failure due to a fault, detection error, etc., it is determined that there is a problem with the accuracy of the point cloud data for calculating the position of the entire work machine. Further, when the number of moving point clouds is outside the predetermined value range and the number of fixed point clouds is within the predetermined value range in the control device, that is, in the work machine, when only the point cloud indicating the position of the moving part deviates from the work machine area, it is determined that there is a problem with the accuracy of the work machine area of the moving part of the work machine due to misdetection of the sensor for detecting the operation of the work machine. Thereby, the reliability of the intrusion monitoring system can be improved by calculating the point cloud used for determining the intrusion of an object in the monitoring target area based on the state of the work machine arranged in the monitoring target area.

[0017] From another perspective, the intrusion monitoring system of the present invention preferably includes the following configuration. The communication device is configured to be able to acquire operation data related to the operation of the work machine every unit time. When the communication device is not acquiring the operation data and the position of the work machine indicated by the work machine point cloud changes every unit time, the control device determines that the work machine needs to be inspected.

[0018] In the above configuration, when the number of moving point clouds is within the predetermined value range and the position of the work machine based on the work machine point cloud changes although the control device has not acquired the operation data of the work machine, it is determined that the work machine for which the operation signal has not been acquired is operating. Thereby, the reliability of the intrusion monitoring system can be improved by calculating the point cloud used for determining the intrusion of an object in the monitoring target area based on the state of the work machine arranged in the monitoring target area.

[0019] According to another aspect, the intrusion monitoring system of the present invention preferably includes the following configuration. The control device calculates a work machine area bounded by a position that is a predetermined amount away from the boundary surface of the three-dimensional area occupied by the work machine in a direction perpendicular to the boundary surface based on the position and orientation data and the part shape data.

[0020] In the above-described configuration, the control device calculates a work machine area that is larger than the three-dimensional area occupied by the work machine. Therefore, even if the boom deflection or the like that is not reflected in the part shape data, which is data related to the position and orientation data and the shape of each part of the work machine, occurs in the work machine, the work machine point group is located within the work machine area. Therefore, even if the boom of the work machine is deflected or the like, the intrusion monitoring system does not determine the work machine point group as an object that has entered the monitoring target area. As a result, the reliability of the intrusion monitoring system can be improved by detecting an object in the monitoring target area based on the state of the work machine disposed in the monitoring target area.

[0021] According to another aspect, the intrusion monitoring system of the present invention preferably includes the following configuration. When the control device determines that there is an object that has entered the monitoring target area, when it determines that the work machine needs to be inspected, or when it determines that the point group data generation device needs to be inspected, the control device performs control to stop the operation of the work machine.

[0022] In the above-described configuration, the intrusion monitoring system stops the work machine not only when an object has entered the monitoring target area but also when it is determined that the work machine and the point group data generation device need to be inspected. Therefore, contact between the object that has entered the monitoring target area and the work machine can be avoided. As a result, the reliability of the intrusion monitoring system can be improved by detecting an object in the monitoring target area based on the state of the work machine disposed in the monitoring target area.

[0023] From another perspective, it is preferable that the intrusion monitoring system of the present invention includes the following configuration. The work machine is a crane from which a suspended load is suspended from the boom. The communication device is configured to be able to acquire suspended load shape data, which is data related to the shape of the suspended load. The control device includes, based on the position and orientation data and the suspended load shape data, a region including the suspended load extending downward from the tip portion of the boom in the work machine region.

[0024] In the above-described configuration, the control device calculates the work machine region including the region where the suspended load is located, assuming that the crane is transporting the suspended load. Therefore, the control device does not include in the intrusion determination target point group, which is used to determine the presence or absence of an object that has entered the monitoring target region, a point group indicating the position of the suspended load that moves together with the boom. On the other hand, when a swing occurs in the suspended load such that it does not fit within the work machine region, the control device determines that there is an object that has entered the monitoring target region. That is, the intrusion monitoring system monitors the transport state of the suspended load by the crane. Thereby, the reliability of the intrusion monitoring system can be improved by detecting an object in the monitoring target region based on the state of the work machine disposed in the monitoring target region and the transport state of the suspended load by the work machine.

[0025] As used herein, the use of "including", "comprising", "having", and variations thereof identify the presence of the recited features, steps, operations, elements, components, and / or their equivalents, but may include one or more of steps, operations, elements, components, and / or groups thereof.

[0026] As used herein, "attached", "connected", "coupled", and / or their equivalents are used in a broad sense and include both "direct and indirect" attachment, connection, and coupling. Further, "connected" and "coupled" are not limited to physical or mechanical connections or couplings and can include direct or indirect electrical connections or couplings.

[0027] In this specification, embodiments of an intrusion monitoring system according to the present invention will be described.

Effects of the Invention

[0028] According to an embodiment of the present invention, in an intrusion monitoring system having a point cloud data generation device that generates point cloud data indicating the position of an object in a monitoring target area that is a predetermined three-dimensional area every unit time, a communication device that acquires the point cloud data from the point cloud data generation device every unit time, a storage device that stores the point cloud data acquired by the communication device every unit time, and a control device that determines whether or not the object has intruded into the monitoring target area by comparing a plurality of the point cloud data stored in the storage device, the reliability of the intrusion monitoring system can be improved by detecting an object in the monitoring target area based on the state of the work machine disposed in the monitoring target area.

[0029] [Object] As used herein, an object means an object recognized as having a shape. Objects include organic substances such as people, animals, and plants, artificial structures such as buildings, vehicles, and machines, and natural structures such as rocks and the ground.

[0030] [Point cloud] As used herein, a point cloud means a set of points indicating an arbitrary position on the surface of an object. The point cloud includes a plurality of points.

[0031] [Point cloud data] In this specification, point cloud data means a set of three-dimensional coordinates of each of a plurality of points indicating arbitrary positions on the surface of an object, with an arbitrary position as a reference.

[0032] [Monitoring target area] In this specification, the monitoring target area means an area where an intrusion monitoring system detects a change in the position of an object. The monitoring target area is a three-dimensional area. The monitoring target area is set in advance in consideration of the size, state, working range of the working machine, work content, etc. of the work site.

[0033] [Working machine area] In this specification, the working machine area means a space including a three-dimensional area occupied by the working machine. The working machine area is a space. The working machine area is calculated based on the shape and posture of the working machine. The working machine area is a space for distinguishing point cloud data indicating the position of the working machine among the point cloud data in the monitoring target area. The working machine area is calculated based on the posture and shape of the working machine per unit time. That is, the working machine area is an area that changes following the change in the posture and shape of the working machine.

Brief description of the drawings

[0034]

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Mode for Carrying Out the Invention

[0035] Hereinafter, each embodiment will be described with reference to the drawings. In each figure, the same parts are denoted by the same reference numerals, and the description of the same parts will not be repeated. Note that the dimensions of the constituent members in each figure do not faithfully represent the dimensions of the actual constituent members and the dimensional ratios of the respective constituent members, etc.

[0036] (Configuration of Intrusion Monitoring System) The intrusion monitoring system 1 according to the first embodiment of the present invention will be described with reference to FIG. 1. FIG. 1 is a configuration diagram of the intrusion monitoring system 1 according to the first embodiment of the present invention. The intrusion monitoring system 1 is a system that determines whether an object has entered a monitoring target area A1, which is a predetermined three-dimensional area, at a work site where a crane, which is a work machine 200, operates. As shown in FIG. 1, the intrusion monitoring system 1 includes a point cloud data generation device 2, a storage device 3, a system-side communication device 4, and a system-side control device 5.

[0037] The point cloud data generation device 2 measures the three-dimensional coordinates of an arbitrary position with an arbitrary position as the origin. The point cloud data generation device 2 is, for example, LiDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging). LiDAR irradiates a laser in a predetermined three-dimensional space and detects the laser reflected by an object, thereby detecting the three-dimensional coordinates of the points where the laser is reflected on the surface of the object. The point cloud data generation device 2 has a plurality of laser irradiation units 2a and a point cloud data generation unit 2b.

[0038] The laser irradiation unit 2a irradiates a plurality of lasers onto an object. Further, the laser irradiation unit 2a detects the lasers reflected on the surface of the object. The laser irradiation unit 2a measures, for each unit of time, the distance, direction, etc. to the point where the laser is reflected on the surface of the object. Also, the laser irradiation unit 2a has a GNSS receiver (not shown). The plurality of laser irradiation units 2a transmit, to the point cloud data generation unit 2b, installation coordinate data including latitude, longitude, altitude, azimuth, etc. in the global coordinate system of the installation position by the GNSS receiver, and measurement results including the distance, direction, etc. to the point where the laser is reflected, based on the installation coordinate data. The point cloud data generation unit 2b calculates, as point cloud data, the three-dimensional coordinates of the point cloud where the laser is reflected, with an arbitrary position as the origin, based on the installation coordinate data and the measurement results acquired from the plurality of laser irradiation units 2a. The point cloud data generation unit 2b calculates the point cloud data, for example, as three-dimensional coordinates in the global coordinate system.

[0039] The plurality of laser irradiation units 2a included in the point cloud data generation device 2 are arranged around the monitoring target area A1 so as to be able to measure an object located within the monitoring target area A1. The point cloud data generation device 2 generates overall point cloud data Ti1 of an object located throughout the monitoring target area A1 based on the installation coordinate data related to the installation position of each laser irradiation unit 2a and the measurement results. The point cloud data generation device 2 is configured to be able to transmit the generated overall point cloud data Ti1 to the system-side control device 5. The monitoring target area A1 is determined by the arrangement of the laser irradiation units 2a.

[0040] The point cloud data generation device 2 irradiates a plurality of lasers onto an object within the monitoring target area A1 by means of a plurality of laser irradiation units 2a. Further, the point cloud data generation device 2 measures, for each unit of time, the distances, directions, etc. to a plurality of points where the plurality of lasers are reflected by detecting the plurality of lasers reflected on the surface of the object by the laser irradiation unit 2a. Based on the measurement results and the installation coordinate data of the plurality of laser irradiation units 2a, the point cloud data generation device 2 generates, for each unit of time, overall point cloud data Ti1 which is a set of three-dimensional coordinates of each of a plurality of points on the surface of the object within the monitoring target area A1 with an arbitrary position as a reference, being a set of a plurality of points of a point cloud.

[0041] The storage device 3 stores the overall point cloud data Ti1 generated by the point cloud data generation device 2 for each unit of time, each data from the system-side control device 5, each data acquired by the system-side communication device 4, and the like. Also, pre-stored in the storage device 3 are part shape data Si which is data related to the shape of each part of the related working machine 200 and suspended load shape data Li which is data related to the shape of the suspended load W suspended from the working machine 200. The storage device 3 is connected to the system-side control device 5.

[0042] The position and orientation data Pi is composed of position data including latitude, longitude, altitude, azimuth, etc. which are the global coordinates of the vehicle 201 (see FIG. 2) of the working machine 200, and orientation data including the turning angle of the turntable 204 (see FIG. 2) of the working device 202 (see FIG. 2) of the working machine 200 with respect to the vehicle 201, the pitching angle and telescopic length of the boom 205 (see FIG. 2) with respect to the vehicle 201, the payout length of the wire rope 208 (see FIG. 2), and the like.

[0043] The part shape data Si includes, for example, the vehicle width, vehicle height, and vehicle length of the vehicle 201 (see Fig. 2) of the working machine 200. The part shape data Si also includes the length in the retracted state, the length in the extended state, the width, height, etc. of each boom member of the boom 205 (see Fig. 2) of the working machine 200. That is, the part shape data Si is an aggregate of data related to the length in the retracted state of the boom 205 (see Fig. 2) of the working machine 200, data related to the length in the extended state, data related to the width and height of each boom member, etc. The part shape data Si indicates the three-dimensional region occupied by the working machine 200.

[0044] The suspended load shape data Li is data related to the shape of the suspended load W (see Fig. 2) carried by the crane which is the working machine 200. The suspended load shape data Li includes, for example, data such as the width, depth, height, maximum dimension, thickness, and posture during lifting of the suspended load W. The suspended load shape data Li indicates the three-dimensional region occupied by the suspended load W during lifting.

[0045] The system-side communication device 4 performs data transmission and reception with the working machine 200 via the working machine-side communication device 219 which is the communication device of the working machine 200 described later. The system-side communication device 4 acquires the position and orientation data Pi which is data related to the position and orientation of the working machine 200 from the working machine 200 every unit time. The system-side communication device 4 transmits a stop signal for the working machine which is a signal for controlling the working machine 200 to the working machine 200 via a wide-area information communication network or the like. The system-side communication device 4 is connected to the system-side control device 5. The system-side communication device 4 is configured to transfer the position and orientation data Pi to the system-side control device 5 when it receives the data.

[0046] The system-side control device 5 determines the presence or absence of an object's intrusion into the monitoring target area A1. Substantially, the system-side control device 5 may have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected by a bus, or may have a configuration consisting of a one-chip LSI or the like. The system-side control device 5 stores various programs and data for controlling the operations of the point cloud data generation device 2, the storage device 3, the system-side communication device 4, etc.

[0047] The system-side control device 5 is connected to the point cloud data generation device 2 and can acquire the overall point cloud data Ti1. The system-side control device 5 can transmit a signal for controlling the operation of the point cloud data generation device 2 to the point cloud data generation device 2.

[0048] The system-side control device 5 is connected to the system-side communication device 4 and can acquire the position and attitude data Pi from the working machine 200. The system-side control device 5 can transmit a signal for controlling the working machine 200 to the working machine 200.

[0049] The system-side control device 5 is connected to the storage device 3 and can acquire the part shape data Si and the suspended load shape data Li. Further, the system-side control device 5 can transmit each data generated per unit time by the system-side control device 5 to the storage device 3.

[0050] Based on the position and attitude data Pi, the part shape data Si, and the suspended load shape data Li, the system-side control device 5 can calculate the working machine area A2, which is an area including the area occupied by the working machine 200 and the suspended load area A3, per unit time. Based on the overall point cloud data Ti1 and the working machine area A2, the system-side control device 5 can determine the presence or absence of an object that has entered the monitoring target area A1 during a unit time.

[0051] (Configuration of the working machine) Next, with reference to FIGS. 2 and 3, the working machine 200 that works in the monitoring target area A1 (see FIG. 4) will be described. FIG. 2 is a schematic configuration diagram of the working machine 200 located in the monitoring target area A1 of the intrusion monitoring system 1. FIG. 3 is a block diagram showing the control configuration of the working machine 200 located in the monitoring target area A1 of the intrusion monitoring system 1. In the present embodiment, the working machine 200 is a mobile crane that can move to an unspecified location. As shown in FIGS. 2 and 3, the working machine 200 includes a vehicle 201, which is a traveling body, and a working device 202.

[0052] As shown in FIG. 2, the vehicle 201 is a moving body that transports the working device 202. The vehicle 201 is provided with outriggers 203. The vehicle 201 can expand the working range of the working machine 200 by extending the outriggers 203 in the width direction of the vehicle 201 and grounding the jack cylinders.

[0053] The working device 202 is a device that lifts the suspended load W by a wire rope 208. The working device 202 includes a slewing platform 204, a boom 205, a hook block 206, a winch 207, a wire rope 208, a cabin 209, etc.

[0054] The slewing platform 204 is a device that slews the working device 202. The slewing platform 204 is configured to be rotatable about the center of an annular bearing as the rotation center. The slewing platform 204 is provided with a slewing hydraulic motor (not shown) which is an actuator. The slewing platform 204 is configured to be slewed in one direction and the other direction by the slewing hydraulic motor. The slewing platform 204 is provided with a slewing sensor 214 (see FIG. 3) that detects the slewing angle which is the angle slewed from the reference position of the slewing platform 204.

[0055] The boom 205 is a beam member that supports the wire rope 208 in a state where the suspended load W can be lifted. The base end of the base boom member of the boom 205 is provided at substantially the center of the slewing platform 204 so as to be swingable in the vertical direction. The boom 205 is configured to be extendable and retractable in the axial direction by moving each boom member with a telescopic hydraulic cylinder (not shown) which is an actuator. Further, the boom 205 is provided with a telescopic sensor 215 (see FIG. 3) that detects the boom length, a weight sensor that detects the weight of the suspended load W, etc. The boom 205 is configured to be able to stand up and fall down by the extension and retraction of a tilting hydraulic cylinder (not shown) which is an actuator for maintaining the posture of the boom 205. Further, the boom 205 is provided with a tilting sensor 216 (see FIG. 3) that detects the tilting angle of the boom 205.

[0056] The hook block 206 is a member for suspending the suspended load W. The hook block 206 has a hook 206a for suspending the suspended load W.

[0057] The winch 207 winds in (hoists) and winds out (lowers) the wire rope 208. The winch 207 is configured such that a drum around which the wire rope 208 is wound is rotated by a wire rope hydraulic motor (not shown) that is an actuator. The winch 207 is provided with a payout sensor 217 (see FIG. 3) for detecting the payout amount of the wire rope 208.

[0058] The cabin 209 is mounted on the slewing platform 204. The cabin 209 is provided with a driver's seat (not shown). The driver's seat is provided with operating tools for driving the vehicle 201, a slewing operating tool 210, a lifting and lowering operating tool 211, a telescoping operating tool 212, a drum operating tool 213, etc. for operating the work device 202.

[0059] As shown in FIG. 3, the GNSS receiver 218 is a receiver that constitutes a Global Navigation Satellite System, receives ranging radio waves from satellites, and calculates an azimuth angle that is a numerical representation of the latitude, longitude, altitude, and azimuth, which are the position coordinates of the receiver.

[0060] The work machine side communication device 219 transmits and receives data and control signals to and from the system side control device 5 via the system side communication device 4. The work machine side communication device 219 is provided in the cabin 209. The work machine side communication device 219 is configured to transfer a control signal etc. from the intrusion monitoring system 1 to the work machine side control device 220 of the work machine 200.

[0061] The work machine side control device 220 is a device that controls the actuators of the work machine 200 via each operation valve. The work machine side control device 220 is provided inside the cab 209. Substantially, the work machine side control device 220 may be configured such that a CPU, a ROM, a RAM, an HDD, etc. are connected by a bus, or may be configured of a one-chip LSI or the like. The work machine side control device 220 stores various programs and data for controlling the operations of each actuator, switching valve, sensor, etc.

[0062] The work machine side control device 220 is connected to the swing operation tool 210, the lifting operation tool 211, the telescopic operation tool 212, and the drum operation tool 213, and can acquire the operation amount, which is operation data related to each operation of the swing operation tool 210, the lifting operation tool 211, the telescopic operation tool 212, and the drum operation tool 213.

[0063] The work machine side control device 220 is connected to the work machine side communication device 219, can acquire a control signal from the intrusion monitoring system 1, and can transmit information on the work machine 200 to the intrusion monitoring system 1.

[0064] The work machine side control device 220 is connected to the swing sensor 214, the telescopic sensor 215, the lifting sensor 216, and the payout sensor 217, and can acquire attitude data such as the swing angle of the swing base 204, the lifting angle of the boom 205, the length of the boom 205, the payout amount of the wire rope 208, etc., and the weight of the suspended load W. Further, the work machine side control device 220 is connected to the GNSS receiver 218 and can acquire position data including the azimuth data of the work machine 200.

[0065] The work machine side control device 220 can generate a control signal corresponding to each operation tool based on the operation amounts of the swing operation tool 210, the lifting operation tool 211, the telescopic operation tool 212, and the drum operation tool 213.

[0066] The work machine 200 configured as described above can move the working device 202 to an arbitrary position by driving the vehicle 201. Further, the work machine 200 can raise the boom 205 to an arbitrary elevation angle with a lift hydraulic cylinder (not shown) by operating the lift operating tool 211, and can extend the boom 205 to an arbitrary boom length by operating the telescopic operating tool 212, thereby expanding the lift height and the working radius of the working device 202. Further, the work machine 200 can lift the suspended load W by means of a drum operating tool 213 or the like, and can transport the suspended load W by rotating the turntable 204 by operating the slewing operating tool 210.

[0067] (Control of Intrusion Monitoring System) Next, the intrusion monitoring control of the intrusion monitoring system 1 will be described with reference to FIGS. 4 to 9. FIG. 4 is a top view of the monitoring target area A1 and the work machine area A2 monitored by the intrusion monitoring system 1. FIG. 5 is a side view of the monitoring target area A1 and the work machine area A2 monitored by the intrusion monitoring system 1. FIG. 6 is a top view of the monitoring target area A1 monitored by the intrusion monitoring system 1 and the work machine area A2 in a state where the work machine 200 has slewed. FIG. 7 is a schematic diagram of the overall point cloud T1 of the monitoring target area A1 and the work machine point cloud T2 monitored by the intrusion monitoring system 1 as viewed from above. FIG. 8 is a schematic diagram of the overall point cloud T1 and the work machine point cloud T2 in a state where an object has intruded into the monitoring target area A1 monitored by the intrusion monitoring system 1 as viewed from above. FIG. 9 is a schematic diagram showing the difference between the first intrusion determination target point cloud T3a at the first elapsed time ta and the second intrusion determination target point cloud T3b at the second elapsed time tb in the monitoring target area A1 monitored by the intrusion monitoring system 1. FIG. 10 is a flowchart showing the intrusion monitoring control of the intrusion monitoring system 1.

[0068] As shown in FIGS. 4 and 5, the intrusion monitoring system 1 monitors an object that intrudes into the monitoring target area A1. The intrusion monitoring system 1 can measure the position of an object in the monitoring target area A1 as overall point cloud data Ti1 (see FIG. 1) by the point cloud data generation device 2. The monitoring target area A1 is preset for each work site. The monitoring target area A1 is a three-dimensional area including the area occupied by the work machine 200. That is, the work machine 200 that moves in the monitoring target area A1 is included in the monitoring target area A1.

[0069] The monitoring target area A1 is set, for example, to include a space in which the work machine 200 can be stopped before the track reaches the work machine 200 in the monitoring target area A1 when the track intrudes into the monitoring target area A1 from the periphery of the monitoring target area A1 at a predetermined speed.

[0070] When the system-side control device 5 (see FIG. 1) acquires a signal indicating the start of monitoring of the monitoring target area A1, it transmits a signal to the point cloud data generation device 2 to generate overall point cloud data Ti1 indicating the position of an object including the work machine 200 in the monitoring target area A1 every unit time. The point cloud data generation device 2 irradiates the object in the monitoring target area A1 at the first elapsed time ta (see FIG. 7) with a laser by a plurality of laser irradiation units 2a (see FIG. 1). The point cloud data generation device 2 generates overall point cloud data Ti1 (see FIG. 1) for the overall point cloud T1 (see FIG. 7) of the object located in the monitoring target area A1 at the first elapsed time ta. The system-side control device 5 acquires the overall point cloud data Ti1 generated by the point cloud data generation device 2 at the first elapsed time ta. The overall point cloud data Ti1 is a set of three-dimensional coordinates of each point. The system-side control device 5 stores the overall point cloud data Ti1 acquired at the first elapsed time ta in the storage device 3 (see FIG. 1).

[0071] In addition, the system-side control device 5 calculates, for each unit time, a work implement area A2 for specifying a work implement point group T2 indicating the position of the work implement 200 in the overall point group T1. The system-side control device 5 acquires the position and orientation data Pi of the work implement 200 at the first elapsed time ta via the system-side communication device 4 (see FIG. 1). Based on the acquired position and orientation data Pi, the system-side control device 5 calculates the three-dimensional coordinates of the work implement 200 in the global coordinate system of the vehicle 201 and the slewing platform 204 and boom 205 included in the work device 202.

[0072] Furthermore, based on the part shape data Si and the position and orientation data Pi stored in the storage device 3, the system-side control device 5 arranges the spaces occupied by the vehicle 201, the slewing platform 204, the boom 205, etc. at the three-dimensional coordinate positions of each part of the work implement 200 at the first elapsed time ta, thereby calculating a three-dimensional area within the monitoring target area A1 occupied by the work implement 200 at the first elapsed time ta. The system-side control device 5 calculates, as the work implement area A2 at the first elapsed time ta, a three-dimensional area bounded by a position that is a predetermined amount outward from the boundary surface of the three-dimensional area indicating the shape of the calculated work implement 200. That is, the work implement area A2 is a three-dimensional area offset by a predetermined amount based on the shape of the work implement 200. The work implement area A2 has a buffer space for absorbing various errors and the like around the space occupied by the work implement 200. The buffer space is, for example, a space having a size capable of absorbing measurement errors that may occur from the performance of the normally operating point group data generation device 2.

[0073] The work implement area A2 allows for the deflection of the boom 205 when the suspended load W is suspended and errors in the point group acquired by the point group data generation device 2, etc., due to the buffer space located between the boundary surface of the three-dimensional area occupied by the work implement 200 and the boundary of the work implement area A2. Thereby, it is possible to prevent a state in which each part of the work implement 200 is located outside the work implement area A2 due to deflection or the like.

[0074] Also, when the point cloud data generation device 2 is operating normally, it is possible to prevent the point cloud corresponding to the work machine 200 from being located outside the space occupied by the work machine 200 due to measurement errors or the like based on the performance of the point cloud data generation device 2. When it is determined that the point cloud is located outside the work machine area A2 due to a measurement error of the point cloud data generation device 2 that exceeds the measurement error that can be absorbed by the buffer space, a stop signal for the work machine 200 is transmitted to the work machine 200 by the system-side communication device 4.

[0075] The work machine area A2 is defined to follow the three-dimensional area occupied by the work machine 200. The work machine area A2 includes the area occupied by the vehicle 201, the area occupied by the work device 202, and the area occupied by the suspended load W. The area occupied by the vehicle 201 is set to follow the vehicle body and each outrigger 203. The area occupied by the work device 202 is set to follow the slewing platform 204, the boom 205, the hook block 206, the hook 206a, the winch 207, and the wire rope 208 (see FIG. 4).

[0076] As shown in FIG. 6, when the work device 202 of the work machine 200 rotates between the first elapsed time ta and the second elapsed time tb after one unit of time has elapsed, the work machine area A2 is calculated based on the posture of the work device 202 at the second elapsed time tb. In this way, the work machine area A2 is calculated to follow the three-dimensional area occupied by each part of the work device 202 every unit of time even when the positions of the parts of the work device 202 change due to the operation of the work device 202 during one unit of time. In this way, the system-side control device 5 calculates the work machine area A2 so as to follow the movement of the work machine 200. Therefore, the system-side control device 5 calculates the work machine area A2 based on the three-dimensional area currently occupied by the work machine 200, rather than based on a three-dimensional area such as the work range that is the area through which the work machine 200 passes, so that the possibility of including objects other than the work machine 200 can be reduced.

[0077] As shown in FIGS. 4 and 5, the system-side control device 5 calculates a suspended load area A3 for specifying a point group indicating the position of the suspended load W among the entire point group T1. The system-side control device 5 calculates the three-dimensional coordinates of the suspended load W in the global coordinate system at the first elapsed time ta based on the suspended load shape data Li stored in the storage device 3 and the acquired position and orientation data Pi.

[0078] The system-side control device 5 calculates, as the suspended load area A3, a cylindrical three-dimensional area having, as the radius, a boundary that is farthest from the center of the horizontal rotation axis of the hook 206a among the positions that are separated outward by a predetermined amount in the horizontal direction from the boundary surface of the three-dimensional area indicating the shape of the suspended load W with reference to the three-dimensional coordinate position of the suspended load W at the first elapsed time ta. That is, the suspended load area A3 is a cylindrical three-dimensional area that surrounds the suspended load W with a predetermined offset based on the shape of the suspended load W. The system-side control device 5 treats the suspended load area A3 as a part of the work machine area A2. The system-side control device 5 stores the work machine area A2 at the first elapsed time ta in the storage device 3.

[0079] The suspended load area A3 is an area that extends from the tip of the boom 205 to which the wire rope 208 is attached to the ground below. The suspended load area A3 configured in this way ensures that the suspended load W does not exit the suspended load area A3 even when the suspended load W moves vertically due to the raising and lowering of the boom 205 or the retraction (lifting) and extension (lowering) of the wire rope 208.

[0080] The suspended load area A3 has a buffer space for absorbing the rotation and normal range of sway of the suspended load W. The suspended load area A3 allows for the rotation and sway of the suspended load W, errors in the point group acquired by the point group data generation device 2, etc. through the buffer space located between the boundary surface of the three-dimensional area occupied by the suspended load W and the boundary of the work machine area A2. The buffer space of the suspended load area A3 is larger than the buffer space of the work machine area A2.

[0081] As shown in FIG. 5, the buffer space of the suspended load area A3 is set to a range that allows the range in which the suspended load W sways due to ground cutting when the work machine 200 is operated at a normal speed and the turning operation of the work device 202. Thereby, it is possible to prevent the suspended load W from exiting the suspended load area A3 due to the sway of the suspended load W when the work machine 200 is operated at a normal speed. Further, the suspended load area A3 is set to a size such that when the suspended load W sways greatly compared to when the work machine 200 is operated at a normal speed, when the suspended load W sways greatly due to strong wind or the like, the suspended load W exits outside the suspended load area A3. Thereby, it is possible to detect that the movement of the suspended load W is not being performed normally.

[0082] As shown in FIG. 7, at the first elapsed time ta, the system-side control device 5, based on the acquired overall point cloud data Ti1 and the work machine area A2 including the calculated suspended load area A3 (hereinafter simply referred to as "work machine area A2"), among the overall point cloud T1 (black circles within the monitoring target area A1) within the monitoring target area A1 at the first elapsed time ta, identifies the work machine point cloud T2 (black circles within the work machine area A2) indicating the position of the work machine 200. The system-side control device 5 determines that the point cloud located within the work machine area A2 is the work machine point cloud T2 indicating the position of the work machine 200. The system-side control device 5 selects, as the work machine point cloud data Ti2, the point cloud data indicating the position of the work machine point cloud T2 from among the overall point cloud data Ti1 at the first elapsed time ta (see FIG. 1). The system-side control device 5 stores the work machine point cloud data Ti2 in the storage device 3.

[0083] The system-side control device 5 calculates, as the first intrusion determination target point group T3a (refer to the black circles), the point group other than the work machine point group T2 among the entire point group T1 at the first elapsed time ta. The first intrusion determination target point group T3a indicates a point group other than the point group indicating the positions of the moving work machine 200 and the suspended load W in the monitoring target area A1. That is, the first intrusion determination target point group T3a indicates the positions of the objects existing in the monitoring target area A1 excluding the work machine 200 at the first elapsed time ta. The system-side control device 5 calculates the first intrusion determination target point group data Ti3a, which is data other than the work machine point group data Ti2 at the first elapsed time ta among the entire point group data Ti1 at the first elapsed time ta. The system-side control device 5 stores the first intrusion determination target point group data Ti3a in the storage device 3.

[0084] As shown in FIG. 8, the system-side control device 5 acquires the entire point group data Ti1 generated by the point group data generation device 2 at the second elapsed time tb. The system-side control device 5 stores the entire point group data Ti1 (refer to FIG. 1) acquired at the second elapsed time tb in the storage device 3.

[0085] The system-side control device 5 acquires, via the system-side communication device 4, the position and orientation data Pi (refer to FIG. 1) of the work machine 200 at the second elapsed time tb. The system-side control device 5 calculates the work machine area A2 at the second elapsed time tb based on the acquired position and orientation data Pi and the part shape data Si. The system-side control device 5 stores the work machine area A2 at the second elapsed time tb in the storage device 3.

[0086] The system-side control device 5 selects, as the work machine point group data Ti2 (refer to FIG. 1) indicating the position of the work machine point group T2 (the black circles within the work machine area A2), the point group data indicating the positions within the work machine area A2 among the entire point group data Ti1 at the second elapsed time tb. The system-side control device 5 stores the work machine point group data Ti2 at the second elapsed time tb in the storage device 3.

[0087] The system-side control device 5 calculates, as a second intrusion determination target point group T3b (see black circles), a point group other than the work implement point group T2 in the entire point group T1 at the second elapsed time tb. The system-side control device 5 calculates second intrusion determination target point group data Ti3b (see FIG. 1), which is data other than the work implement point group data Ti2 in the entire point group data Ti1 at the second elapsed time tb. The system-side control device 5 causes the storage device 3 to store the second intrusion determination target point group data Ti3b.

[0088] As shown in FIG. 9, the system-side control device 5 calculates the difference between the first intrusion determination target point group data Ti3a and the second intrusion determination target point group data Ti3b. That is, the system-side control device 5 compares the first intrusion determination target point group T3a, which indicates the positions of objects existing in the monitoring target area A1 excluding the work implement 200 at the first elapsed time ta, with the second intrusion determination target point group T3b, which indicates the positions of objects existing in the monitoring target area A1 excluding the work implement 200 at the second elapsed time tb.

[0089] When the difference between the first intrusion determination target point group data Ti3a and the second intrusion determination target point group data Ti3b is equal to or greater than a reference value, the system-side control device 5 determines that there is an object that has intruded into the monitoring target area A1 between the first elapsed time ta and the second elapsed time tb. In the present embodiment, the system-side control device 5 determines that a point group (black circles in the monitoring target area A1 in FIG. 9) that is included in the second intrusion determination target point group T3b and does not exist in the first intrusion determination target point group T3a is an intruding object.

[0090] When the difference between the first intrusion determination target point group data Ti3a and the second intrusion determination target point group data Ti3b is less than the reference value, that is, when the difference between the first intrusion determination target point group data Ti3a and the second intrusion determination target point group data Ti3b is a difference due to measurement error, noise, etc., the system-side control device 5 determines that there is no object that has intruded into the monitoring target area A1 between the first elapsed time ta and the second elapsed time tb.

[0091] When the system-side control device 5 determines that an object has entered the monitoring target area A1 within a unit time, it transmits a control signal for stopping the operation of the work machine 200 to the work machine-side communication device 219 via the system-side communication device 4.

[0092] (Control Flow of Intrusion Monitoring System) Next, with reference to FIG. 10, the intrusion monitoring control of the intrusion monitoring system 1 will be described. FIG. 10 is a flowchart showing the control of the intrusion monitoring system 1. In the intrusion monitoring control, it is assumed that the system-side control device 5 calculates the (n - 1)th intrusion determination target point group data Ti3 at the (n - 1)th elapsed time t(n - 1) (n represents a natural number).

[0093] As shown in FIG. 10, in step S110 of the intrusion monitoring control by the system-side control device 5 of the intrusion monitoring system 1, when the system-side control device 5 acquires the position and attitude data Pi of the work machine 200 and the overall point group data Ti1 existing in the monitoring target area A1 at the (n)th elapsed time t(n) after a unit time has elapsed from the (n - 1)th elapsed time t(n - 1), it shifts the step to step S120.

[0094] In step S120, the system-side control device 5 calculates the work machine area A2 at the (n)th elapsed time t(n) based on the acquired position and attitude data Pi, the part shape data Si and the suspended load shape data Li stored in the storage device 3, and shifts the step to step S130.

[0095] In step S130, the system-side control device 5 specifies the work machine point group data Ti2 indicating the position of the work machine point group T2 located within the work machine area A2 at the (n)th elapsed time t(n) based on the acquired overall point group data Ti1 and the calculated work machine area A2, and shifts the step to step S140.

[0096] In step S140, the system-side control device 5 calculates the (n-1)th intrusion determination target point cloud data Ti3 based on the overall point cloud data Ti1 and the work implement point cloud data Ti2 calculated at the (n-1)th elapsed time t(n-1), calculates the difference between the (n)th intrusion determination target point cloud data Ti3 and the overall point cloud data Ti1 and the work implement point cloud data Ti2 calculated at the (n)th elapsed time t(n), and transfers the step to step S150.

[0097] In step S150, the system-side control device 5 calculates the difference between the (n-1)th intrusion determination target point cloud data Ti3 calculated at the (n-1)th elapsed time t(n-1) and the (n)th intrusion determination target point cloud data Ti3 calculated at the (n)th elapsed time t(n), and transfers the step to step S150.

[0098] In step S160, the system-side control device 5 determines whether the difference between the (n-1)th intrusion determination target point cloud T3 and the (n)th intrusion determination target point cloud T3 is greater than or equal to a reference value. As a result, if it is determined that the difference between the (n-1)th intrusion determination target point cloud T3 and the (n)th intrusion determination target point cloud T3 is greater than or equal to the reference value, the system-side control device 5 transfers the step to step S170.

[0099] On the other hand, if it is determined that the difference between the (n-1)th intrusion determination target point cloud T3 and the (n)th intrusion determination target point cloud T3 is not greater than or equal to the reference value, the system-side control device 5 transfers the step to step S110.

[0100] In step S170, the system-side control device 5 transmits a control signal for stopping the operation of the work implement 200 to the work implement-side communication device 219 via the system-side communication device 4, and terminates the intrusion monitoring control.

[0101] In the above configuration, the system-side control device 5, which is the control device of the intrusion monitoring system 1, calculates the work machine area A2, which is the area occupied by the work machine 200, based on the shape of the work machine 200 located in the monitoring target area A1, its position, attitude, and the shape of the suspended load W per unit time. That is, the system-side control device 5 calculates the work machine area A2 following the movement of the work machine 200. Therefore, the system-side control device 5 can determine the presence or absence of an object that has entered the monitoring target area A1 even when the work machine 200 is moving within the monitoring target area A1, using the intrusion determination target point group T3 that does not include the work machine point group T2 among the overall point group T1. Also, since the work machine area A2 is calculated along the area occupied by the work machine 200 per unit time, a situation where an object that has entered from the outside is located only within the work machine area A2 cannot occur.

[0102] Further, when a point group not included in the first intrusion determination target point group T3a is included in the second intrusion determination target point group T3b, the system-side control device 5 determines the point group included only in the second intrusion determination target point group T3b as the point group indicating an object that has entered the monitoring target area A1 within a unit time. Therefore, the intrusion monitoring system 1 can detect the presence or absence of an object that has entered the monitoring target area A1 per unit time.

[0103] Also, in the above configuration, the system-side control device 5 calculates the work machine area A2 as an area larger than the three-dimensional area occupied by the work machine 200. Therefore, the work machine area A2 is configured to include the work machine point group T2 even when deflection of the boom 205, measurement errors of the point group data generation device 2, etc. that are not reflected in the position and attitude data Pi and the part shape data Si occur in the work machine 200. Note that the work machine area A2 is bounded by a position that is a predetermined amount outward in the direction perpendicular to the boundary surface of the three-dimensional area occupied by the work machine 200. Therefore, the intrusion monitoring system 1 has the robustness not to determine the work machine point group T2 as an object that has entered the monitoring target area A1 even when disturbances such as deflection of the boom 205 occur.

[0104] Further, assuming that the work machine 200 is carrying the suspended load W, the system-side control device 5 calculates the work machine area A2 including the suspended load area A3 where the suspended load W is located. The suspended load area A3 includes a three-dimensional area that moves due to the vertical movement, rotation, and sway of the suspended load W during transportation. Therefore, by moving together with the boom 205, the point group indicating the position of the suspended load W that moves due to vertical movement, rotation, sway, etc. is calculated as the work machine point group T2. On the other hand, when sway occurs in the suspended load W to such an extent that it does not fit within the work machine area A2, the system-side control device 5 transmits a stop signal to the work machine 200. That is, the intrusion monitoring system 1 monitors the conveyance state of the suspended load W by the work machine 200.

[0105] Thereby, the reliability of the intrusion monitoring system 1 can be improved by detecting an object within the monitoring target area A1 based on the state of the work machine 200 arranged within the monitoring target area A1 and the conveyance state of the suspended load W by the work machine 200.

[0106] [Modification Example of Embodiment 1] Next, a modified example of the intrusion monitoring system 1 of the present invention will be described with reference to FIGS. 11 to 16. FIG. 11 is a configuration diagram of an intrusion monitoring system 1 according to a modified example of Embodiment 1 of the present invention. FIG. 12 is a top view of a monitoring target area A1, a work machine moving area A21, and a work machine fixed area A22 monitored by a modified example of the intrusion monitoring system 1. FIG. 13 is a schematic diagram of an overall point cloud T1 of the monitoring target area A1, a work machine moving point cloud T21, and a work machine fixed point cloud T22 monitored by a modified example of the intrusion monitoring system 1 as viewed from above. FIG. 14 is a schematic diagram of a state where the position of the work machine moving point cloud T21 is shifted with respect to the work machine moving area A21 monitored by a modified example of the intrusion monitoring system 1 as viewed from above. FIG. 15 is a schematic diagram of a state where the position of the work machine point cloud T2 is shifted with respect to the work machine area A2 monitored by a modified example of the intrusion monitoring system 1 as viewed from above. FIG. 16 is a flowchart showing inspection necessity determination control in a modified example of the intrusion monitoring system 1. Hereinafter, the same components as those in Embodiment 1 are denoted by the same reference numerals, and the description thereof is omitted, and components different from those in Embodiment 1 will be described. The intrusion monitoring system 1 is different in that it detects a state in which inspection is necessary in the point cloud data generation device 2 or the work machine 200.

[0107] (Inspection Necessity Determination Control of Intrusion Monitoring System) As shown in FIGS. 11 and 12, the system-side control device 5 of the intrusion monitoring system 1 determines whether inspection is necessary for at least one of the work machine 200 and the point cloud data generation device 2. The system-side control device 5 calculates a work machine area A2 for specifying a work machine point cloud T2 indicating the position of the work machine 200 in the overall point cloud T1.

[0108] Furthermore, based on the part shape data Si, the system-side control device 5 divides the work implement area A2 into a work implement moving area A21 that indicates the moving parts of the work implement 200 (for example, the slewing platform 204 and the boom 205 (see FIG. 12)) and a work implement fixed area A22 that indicates the position of the non-moving parts of the work implement 200 (for example, the vehicle 201 (see FIG. 12)). In the part shape data Si, the vehicle 201, which is the part fixed during the conveyance of the suspended load W among the members of the work implement 200, and the movable parts relative to the vehicle 201 are registered in advance. In the part shape data Si, for example, the work device 202 is registered as a movable part. The system-side control device 5 causes the storage device 3 to store the work implement moving area A21 and the work implement fixed area A22.

[0109] The work implement moving area A21 is a three-dimensional area for specifying a work implement moving point group T21 that indicates the positions of the moving parts of the work implement 200. The work implement fixed area A22 is a three-dimensional area for specifying a work implement fixed point group T22 that indicates the positions of the non-moving parts of the work implement 200.

[0110] As shown in FIGS. 11 to 13, based on the overall point group data Ti1 (see FIG. 11) acquired per unit time and the work implement moving area A21 (see FIG. 12) calculated per unit time, the system-side control device 5 determines that, among the overall point group T1 in the monitoring target area A1, the point group located within the work implement moving area A21 is the work implement moving point group T21 that indicates the positions of the moving parts of the work implement 200 (see FIG. 13). The system-side control device 5 selects, as the work implement moving point group data Ti21, the point group data indicating the position of the work implement moving point group T21 from among the overall point group data Ti1 acquired per unit time. The system-side control device 5 causes the storage device 3 to store the work implement moving point group data Ti21.

[0111] Further, based on the overall point cloud data Ti1 acquired per unit time and the working machine fixed area A22 (see FIG. 12) calculated per unit time, the system-side control device 5 determines that among the overall point cloud T1 in the monitoring target area A1 at the first elapsed time ta, the point cloud located within the working machine fixed area A22 is the working machine fixed point cloud T22 indicating the position of the non-moving part of the working machine 200 (see FIG. 13). Note that the working machine fixed area A22 is a part of the working machine area A2 calculated based on the position and orientation data Pi, the part shape data Si, and the suspended load shape data Li. The system-side control device 5 selects, as the working machine fixed point cloud data Ti22, the point cloud data indicating the position of the working machine fixed point cloud T22 from among the overall point cloud data Ti1 acquired per unit time. The system-side control device 5 stores the working machine fixed point cloud data Ti22 in the storage device 3.

[0112] The system-side control device 5 calculates the volume of the working machine moving area A21 per unit time. Also, the system-side control device 5 calculates the volume of the three-dimensional area surrounded by the working machine moving point cloud T21 using the working machine moving point cloud data Ti21 per unit time. Further, the system-side control device 5 calculates the volume of the three-dimensional area surrounded by the working machine fixed point cloud T22 using the working machine fixed point cloud data Ti22 per unit time.

[0113] As shown in FIG. 11, the system-side control device 5 calculates, per unit time, the number of points Rm of the moving point cloud, which is the number of points of the working machine moving point cloud T21 within the working machine moving area A21. The system-side control device 5 stores the number of points Rm of the moving point cloud in the storage device 3.

[0114] Next, the system-side control device 5 calculates, per unit time, the number of points Rs of the fixed point cloud, which is the number of points of the working machine fixed point cloud T22 within the working machine fixed area A22. The system-side control device 5 stores the number of points Rs of the fixed point cloud in the storage device 3.

[0115] When the number of moving point groups Rm is outside the predetermined value range, for example, when most of the working machine moving point group T21 is not located within the working machine moving area A21 (see Fig. 14), at least one of the position and orientation data Pi of the working machine 200 and the overall point group data Ti1 of the point group data generation device 2 is likely to include noise, malfunction, misalignment of the installation direction, measurement error, etc. Therefore, when the number of moving point groups Rm is outside the predetermined value range, the system-side control device 5 determines that it is necessary to inspect at least one of the position and orientation data Pi of the working machine 200 and the overall point group data Ti1 of the point group data generation device 2.

[0116] As shown in Fig. 14, when the number of moving point groups Rm is outside the predetermined value range and the number of fixed point groups Rs is within the predetermined value range, a problem occurs in the part related to the movable part of the working machine 200, and it is highly likely that the position of the working machine moving area A21 relative to the working machine 200 is shifted. Therefore, when the number of fixed point groups Rs is within the predetermined value range, the system-side control device 5 determines that it is necessary to inspect the working machine 200.

[0117] As shown in Fig. 15, when the number of moving point groups Rm is outside the predetermined value range and the number of fixed point groups Rs is outside the predetermined value range, a problem occurs in the point group data generation device 2, and it is highly likely that the position of the entire working machine point group T2 relative to the working machine area A2 is shifted. Therefore, when the number of fixed point groups Rs is outside the predetermined value range, the system-side control device 5 determines that it is necessary to inspect the point group data generation device 2.

[0118] When the system-side control device 5 determines that it is necessary to inspect at least one of the working machine 200 and the point group data generation device 2, it transmits a control signal for stopping the operation of the working machine 200 to the working machine-side communication device 219 via the system-side communication device 4.

[0119] (Control flow of inspection necessity determination control) Next, with reference to Fig. 16, the inspection necessity determination control of the intrusion monitoring system 1 will be described. In the intrusion monitoring control, it is assumed that the system-side control device 5 acquires the overall point group data Ti1 every unit time and calculates the working machine area A2 every unit time.

[0120] As shown in FIG. 16, in step S310 of the inspection necessity determination control by the system-side control device 5 of the intrusion monitoring system 1, the system-side control device 5 distinguishes the work machine moving area A21 and the work machine fixed area A22 from the work machine area A2, and shifts the step to step S320.

[0121] In step S320, the system-side control device 5 selects the work machine moving point group data Ti21 of the work machine moving point group T21 located in the work machine moving area A21 and the work machine fixed point group data Ti22 of the work machine fixed point group T22 located in the work machine fixed area A22 from the overall point group data Ti1, and shifts the step to step S330.

[0122] In step S330, the system-side control device 5 calculates the moving point group number Rm based on the work machine moving area A21 and the work machine moving point group data Ti21, calculates the fixed point group number Rs based on the work machine fixed area A22 and the work machine fixed point group data Ti22, and shifts the step to step S340.

[0123] In step S340, the system-side control device 5 determines whether the moving point group number Rm is outside the predetermined value range. As a result, if it is determined that the moving point group number Rm is outside the predetermined value range, the system-side control device 5 shifts the step to step S350.

[0124] On the other hand, if the system-side control device 5 determines that the moving point group number Rm is not outside the predetermined value range, it shifts the step to step S310.

[0125] In step S350, the system-side control device 5 determines whether the fixed point group number Rs is outside the predetermined value range. As a result, if it is determined that the fixed point group number Rs is outside the predetermined value range, the system-side control device 5 shifts the step to step S360.

[0126] On the other hand, when the system-side control device 5 determines that the fixed point cloud point number Rs is not outside the predetermined value range, it causes the process to shift to step S460.

[0127] In step S360, the system-side control device 5 determines that inspection of the point cloud data generation device 2 is necessary, transmits a stop signal to the work machine 200, and ends the inspection necessity determination control.

[0128] In step S460, the system-side control device 5 determines that inspection of the work machine 200 is necessary, transmits a stop signal to the work machine 200, and ends the inspection necessity determination control.

[0129] When the moving point cloud point number Rm is outside the predetermined value range and the fixed point cloud point number Rs is outside the predetermined value range, it is highly likely that the position of the entire work machine point cloud T2 is shifted with respect to the work machine area A2. Also, when the moving point cloud point number Rm is outside the predetermined value range and the fixed point cloud point number Rs is within the predetermined value range, it is highly likely that the position of the work machine moving area A21 is relatively shifted with respect to the work machine 200. Thus, the system-side control device 5 estimates the inspection target from the position of the work machine moving point cloud T21 with respect to the work machine moving area A21 and the position of the work machine fixed point cloud T22 with respect to the work machine fixed area A22. Therefore, it is possible to suppress misdetection of an object invading the monitoring target area A1 due to detection errors of the sensors of the work machine 200 or the like, or misalignment of the installation direction, failure, or error of the point cloud data generation device 2, or misdetection of the work machine 200 as an object invading the monitoring target area A1.

[0130] Also, when an object invades the monitoring target area A1, and when inspection of the work machine 200 or the point cloud data generation device 2 is necessary, the system-side control device 5 transmits a stop signal to the work machine 200. Therefore, the intrusion monitoring system 1 can avoid contact between the object that has invaded the monitoring target area A1 and the work machine 200. Thereby, the reliability of the intrusion monitoring system 1 can be improved by detecting an object in the monitoring target area A1 based on the state of the work machine 200 arranged in the monitoring target area A1.

[0131] (Other Embodiments) As described above, embodiments of the present invention have been explained. However, the above-described embodiments are merely examples for implementing the present invention. Therefore, without being limited to the above-described embodiments, it is possible to appropriately modify and implement the above-described embodiments within the scope not departing from the gist thereof.

[0132] In each of the above-described embodiments, when an object enters the monitoring target area A1 or when it is necessary to inspect the work machine 200 or the point cloud data generation device 2, the intrusion monitoring system 1 transmits a stop signal to the work machine 200. However, the intrusion monitoring system may be configured to acquire operation data related to the operation of the work machine by a communication device every unit time and determine the necessity of inspecting the work machine. The system-side control device determines that it is necessary to inspect the work machine when the position of the work machine indicated by the work machine point cloud changes every unit time in a state where the communication device has not acquired the operation data.

[0133] The system-side control device determines the necessity of inspecting the work machine by comparing the operation data, which is information inside the work machine, with the work machine point cloud data, which is information outside the work machine. Thereby, the reliability of the intrusion monitoring system 1 can be improved.

[0134] In each of the above-described embodiments, the work machine area A2 is bounded by a position that is a predetermined amount outward in a direction perpendicular to the boundary surface of the three-dimensional area occupied by the work machine 200. However, the predetermined amount may be set according to the shape, function, load, etc. of each part of the work machine.

[0135] In each of the above-described embodiments, the work machine 200 is configured as a mobile crane. However, the work machine only needs to have a working device having a slewing platform and a boom that can be extended, retracted, and raised and lowered.

[0136] In each of the above-described embodiments, the LiDAR that constitutes the point cloud data generation device 2 has a GNSS receiver for detecting the installation position. However, the point cloud data generation device may not have a GNSS receiver. The point cloud data generation device may be configured such that an operator inputs the installation position.

[0137] In each of the above-described embodiments, the point cloud data generation device 2 is constituted by three LiDARs. However, the point cloud data generation device may be constituted by two or fewer or four or more LiDARs.

[0138] In each of the above-described embodiments, the intrusion monitoring systems 1 and 1A detect the intrusion of an object into the monitoring target area A1 where one work machine 200 is located. However, the intrusion monitoring system may be configured to detect the intrusion of an object into a monitoring target area where a plurality of work machines are located. The intrusion monitoring system acquires the position and orientation data from each work machine and calculates the work machine area corresponding to each work machine.

Industrial Applicability

[0139] The present invention can be used for an intrusion monitoring system.

Explanation of Signs

[0140] 1 Intrusion monitoring system 2 Point cloud data generation device 2a Laser irradiation unit 2b Data generation unit 3 Storage device 4 System-side communication device 5 System-side control device 200 Work machine 201 Vehicle 202 Working device 203 Outrigger 204 Slewing platform 205 Boom 206 Hook block 206a Hook 207 Winch 208 Wire rope 209 Cabin 210 Swivel operating tool 211 Lifting and lowering operating tool 212 Telescoping operating tool 213 Drum operating tool 214 Sensor for swiveling 215 Sensor for telescoping 216 Sensor for lifting and lowering 217 Sensor for payout 218 GNSS receiver 219 Communication device on the working machine side 220 Control device on the working machine side A1 Monitoring target area A2 Working machine area A3 Suspended load area A21 Working machine movement area A22 Working machine fixed area T1 Overall point cloud T2 Working machine point cloud T21 Working machine movement point cloud T22 Working machine fixed point cloud T3a First intrusion determination target point cloud T3b Second intrusion determination target point cloud Ti1 Overall point cloud data Ti2 Working machine point cloud data Ti21 Working machine movement point cloud data Ti22 Working machine fixed point cloud data Ti3 Intrusion determination target point cloud data Ti3a First intrusion determination target point cloud data Ti3b Second intrusion determination target point cloud data Pi Position and attitude data Si Parts shape data Li Suspended load shape data Rm Number of points in the movement point cloud Rs Number of points in the fixed point cloud ta First elapsed time tb Second elapsed time

Claims

1. A point cloud data generation device that generates point cloud data indicating the positions of objects in a monitoring target area, which is a predetermined three-dimensional area, for each unit time, A storage device that stores the point cloud data from the point cloud data generation device for each unit time, An intrusion monitoring system having a control device that determines whether an object has entered the monitoring target area by comparing a plurality of the point cloud data stored in the storage device, In a state where a work machine having a rotatable turntable and a boom that can be raised, lowered, and extended and is supported by the turntable is located in the monitoring target area, A communication device that acquires position and orientation data, which is data related to the position and orientation of the work machine, for each unit time, The storage device Stores part shape data, which is data related to the shape of each part of the work machine, The control device When the communication device acquires the position and orientation data and the point cloud data, based on the acquired position and orientation data and the part shape data, a work machine area defined along the three-dimensional area occupied by the work machine, and the positions of the point clouds in the monitoring target area and the work machine area based on the point cloud data are calculated for each unit time, Determines a point cloud located within the work machine area as a work machine point cloud, and determines the presence or absence of an object that has entered the monitoring target area by an intrusion determination target point cloud, which is a point cloud located outside the work machine area among the point clouds in the monitoring target area. An intrusion monitoring system.

2. In the intrusion monitoring system according to Claim 1, The control device Based on the difference between a first intrusion determination target point cloud calculated based on the point cloud data acquired at an arbitrary first elapsed time and a second intrusion determination target point cloud calculated based on the point cloud data acquired at a second elapsed time that is one unit time after the first elapsed time, determines the presence or absence of an object that has entered the monitoring target area during the unit time. An intrusion monitoring system.

3. In the intrusion monitoring system according to Claim 1 or 2, The control device Calculates the number of points of the work machine point cloud in a work machine movement area corresponding to the moving part of the work machine among the work machine areas, which is the number of moving point clouds, When the number of moving point clouds is outside a predetermined value range, determines that at least one of the work machine or the point cloud data generation device needs to be inspected. An intrusion monitoring system.

4. In the intrusion monitoring system according to Claim 3, The control device calculates the number of points of the fixed point cloud, which is the number of points of the work machine point cloud, in the work machine fixed area corresponding to the part of the work machine area where the work machine does not move; when the number of points of the fixed point cloud is outside the predetermined value range, it is determined that it is necessary to inspect the point cloud data generation device; when the number of points of the fixed point cloud is within the predetermined value range, it is determined that it is necessary to inspect the work machine. An intrusion monitoring system.

5. In the intrusion monitoring system according to claim 3, the communication device is configured to be able to acquire operation data related to the operation of the work machine every unit time; the control device when the position of the work machine indicated by the work machine point cloud changes every unit time in a state where the communication device has not acquired the operation data, it is determined that it is necessary to inspect the work machine. An intrusion monitoring system.

6. In the intrusion monitoring system according to claim 1 or 2, the control device calculates the work machine area bounded by a position that is a predetermined amount away from the boundary surface of the three-dimensional area occupied by the work machine in a direction perpendicular to the boundary surface based on the position and attitude data and the part shape data. An intrusion monitoring system.

7. In the intrusion monitoring system according to claim 4, the control device when it is determined that there is an object that has intruded into the monitoring target area, when it is determined that it is necessary to inspect the work machine, or when it is determined that it is necessary to inspect the point cloud data generation device, performs control to stop the operation of the work machine. An intrusion monitoring system.

8. In the intrusion monitoring system according to claim 1 or claim 2, the work machine is a crane from which a suspended load is suspended from the boom, the communication device is configured to be able to acquire suspended load shape data, which is data related to the shape of the suspended load; the control device includes the area including the suspended load extending downward from the tip of the boom in the work machine area based on the position and attitude data and the suspended load shape data. An intrusion monitoring system.

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