Construction safety devices

Abstract

The objective is to provide a construction safety device that minimizes false detections by workers and ensures worker safety. [Solution] The construction safety device 1 comprises a detection unit 5 that detects a person 15 using at least two types of sensors from among LiDAR 11, camera 13, millimeter-wave radar detector, and ultrasonic radar; a determination unit 7 that determines whether the person 15 detected by the detection unit 5 has crossed a first boundary 35, which is the outer edge of the restricted area 33 for the person 15, and an alarm generation unit 9 that issues a first alarm when the determination unit 7 determines that the person 15 detected by the detection unit 5 has crossed the first boundary 35 and entered the restricted area 33.

Description

Technical Field

[0006] , ,

[0001] The present invention relates to a safety device for construction work, and particularly relates to a device used to ensure the safety of construction workers when performing construction while imposing construction restrictions on a public road.

Background Art

[0002] In construction work on a public road, there is a risk of accidents in which construction workers (operators) come into contact with general vehicles passing by on the side of the construction site. One of the causes of such accidents is that workers inadvertently deviate from the construction restriction boundary line (the boundary line between the construction site and the lane where general vehicles are traveling) and protrude into the lane where general vehicles are traveling.

[0003] Accidents occur in paving work and the like. In paving work, the clearance from the construction restriction boundary line is very narrow. That is, the width of the working area of the worker is very narrow. Accidents tend to occur frequently around an asphalt paver (asphalt finisher), which is a machine for spreading asphalt paving material (asphalt mixture).

[0004] Therefore, safety monitoring is being carried out by arranging work supervisors and the like, but it is not an efficient monitoring method. In addition, a contact-type sensor for detecting workers is provided on a construction vehicle, and a safety device for restricting the movement of the construction vehicle when the contact-type sensor detects a worker is known (see Patent Document 1).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] By the way, conventional safety devices use contact-type sensors to detect workers, which means that the range in which workers can be detected is narrower compared to systems that use non-contact sensors such as cameras.

[0007] On the other hand, in systems that use non-contact sensors such as cameras to detect workers, there is a risk of false detection of workers, and each time a worker is falsely detected, work may be interrupted.

[0008] The present invention aims to provide a construction safety device that can ensure worker safety while minimizing false detections by workers and avoiding the risk of work being interrupted. [Means for solving the problem]

[0009] A construction safety device according to an aspect of the present invention is a construction safety device having a detection unit that detects a person using at least two types of sensors from among LiDAR, a camera, a millimeter-wave radar detector, and an ultrasonic radar; a determination unit that determines whether the person detected by the detection unit has crossed a first boundary, which is the outer edge of the restricted area, into the restricted area; and an alarm generation unit that issues a first alarm so that it can reach the person when the determination unit determines that the person detected by the detection unit has crossed the first boundary into the restricted area.

[0010] Furthermore, a construction safety device according to an aspect of the present invention includes a prediction unit that predicts whether a person detected by the detection unit is likely to cross a first boundary, which is the outer edge of the restricted area for construction workers, and enter the restricted area, and the alarm generation unit is configured to issue a second alarm that reaches the person when the prediction unit determines that the person is likely to cross the first boundary and enter the restricted area.

[0011] Furthermore, in a construction safety device according to an aspect of the present invention, the prediction unit is configured to predict whether or not there is a risk of the person crossing the first boundary, which is the outer edge of the restricted area, into the restricted area, using the position, direction of movement, and speed of movement of the person detected by the detection unit.

[0012] Furthermore, a construction safety device according to an aspect of the present invention has a boundary setting unit for setting the first boundary, and the boundary setting unit is configured to detect a regulating material installed at or near the first boundary using the detection unit, and to set the first boundary based on the result of this detection.

[0013] Furthermore, in the construction safety device according to an aspect of the present invention, the no-entry area is set upward from the ground surface of the no-entry area, so that the first boundary exists as a surface, the detection unit is configured to measure the distance from the sensor components of the two types of sensors to the person, and the determination unit is configured to use the distance to the person measured by the detection unit to determine whether the person detected by the detection unit has crossed the first boundary, which is the outer edge of the no-entry area for construction workers, and entered the no-entry area.

[0014] Furthermore, a construction safety device according to an aspect of the present invention has a boundary setting unit for setting the first boundary, the boundary setting unit is configured to set the first boundary and to set a second boundary separate from the first boundary based on the detection result of the detection, the second boundary is separated from the first boundary and extends along the first boundary on the side of the two types of sensors, the determination unit is configured to determine whether the person detected by the detection unit has crossed the second boundary and entered the area on the first boundary side, and the alarm generating unit is configured to emit a second alarm that reaches the person when the determination unit determines that the person detected by the detection unit has crossed the second boundary and entered the area on the first boundary side.

Advantages of the Invention

[0015] According to the present invention, an object is to provide a safety device for construction work that can ensure the safety of workers while minimizing false detections by workers and avoiding the possibility of work interruption.

[0016] It has the following effects.

Brief Description of the Drawings

[0017] [Figure 1] It is a plan view showing a state where a construction vehicle and a construction safety device according to an embodiment of the present invention are on a straight road. [Figure 2] It is a view taken in the direction of arrow II in FIG. 1. [Figure 3] It is a block diagram of a construction safety device according to an embodiment of the present invention. [Figure 4] It is a flowchart showing the operation of a construction safety device according to an embodiment of the present invention. [Figure 5] It is a view showing the form of determination in the determination unit of a construction safety device according to an embodiment of the present invention. [Figure 6] It is a view corresponding to FIG. 1, and is a plan view showing a state where a construction vehicle, a construction safety device according to an embodiment of the present invention, etc. are on a curved road. [Figure 7] It is a view showing a mode in which a construction safety device according to an embodiment of the present invention is installed on a road roller.

Modes for Carrying Out the Invention

[0018] As shown in FIGS. 1 and 2, the construction safety device 1 according to an embodiment of the present invention is, for example, installed on a construction vehicle 3 and used. As shown in FIG. 3 and the like, the construction safety device 1 includes a detection unit 5, a determination unit 7, and an alarm generation unit 9. In addition, as the construction vehicle 3, not only a new construction vehicle but also an existing construction vehicle 3 that has already been used can be cited.

[0019] For the sake of convenience of explanation here, a predetermined horizontal one direction is defined as the X direction, a predetermined other horizontal direction that is orthogonal to the X direction is defined as the Y direction, and a direction orthogonal to the X direction and the Y direction is defined as the Z direction (vertical direction). Note that, for example, the X direction is taken as the direction of the road width, and the Y direction is taken as the direction of the road extension. Then, the X direction and the Y direction may be inclined with respect to the horizontal plane at an angle such as that of an uphill or a downhill on the road on which the vehicle travels. Also, when the road extends in a straight line, the Y direction and the X direction are in a fixed direction. When the road is curved, the Y direction and the X direction change according to the curve of the road.

[0020] As shown in FIG. 3, the detection unit 5 is configured to detect a person (for example, a construction worker performing construction work; an operator) 15 (see FIGS. 1 and 2) using the LiDAR (lidar) 11 and the camera 13. That is, in order to prevent detection errors, composite detection using the LiDAR 11 and the camera 13 is performed. Note that the detection unit 5 may be configured to detect the person 15 using at least two types of sensors among the LiDAR (lidar) 11, the camera 13, a millimeter-wave radar detector (not shown), and an ultrasonic radar (not shown). Any of the LiDAR 11, the camera 13, the millimeter-wave radar detector, and the ultrasonic radar is a non-contact type sensor. Note that the ultrasonic radar detects the person 15 using ultrasonic waves instead of radio waves.

[0021] The LiDAR 11 is called "Light Detection and Ranging, Laser Imaging Detection and Ranging". As the camera 13, for example, a monocular camera (more specifically, a monocular camera that performs imaging using a single-focus lens is adopted, but a stereo camera may be adopted as the camera 13.

[0022] The LiDAR 11, camera 13, millimeter-wave radar detector, and ultrasonic radar are all capable of detecting the distance between these devices and the person 15. For distance measurement using a monocular camera, techniques such as those utilizing lens aberrations are employed (see, for example, Japanese Patent Publication No. 2023-19521).

[0023] In the configuration in which the detection unit 5 detects a person 15 using the LiDAR 11 and the camera 13, the detection of the person 15 by the detection unit 5 is performed when the person 15 is detected by both the LiDAR 11 and the camera 13.

[0024] Furthermore, in the configuration in which the detection unit 5 detects a person 15 using the LiDAR 11 and the millimeter-wave radar detector, the detection of the person 15 by the detection unit 5 is performed when the person 15 is detected by both the LiDAR 11 and the millimeter-wave radar detector.

[0025] Furthermore, in the configuration in which the detection unit 5 detects a person 15 using the camera 13 and the millimeter-wave radar detector, the detection of a person 15 by the detection unit 5 is performed when a person is detected by the camera 13 and the person 15 is detected by the millimeter-wave radar detector.

[0026] Furthermore, in an embodiment in which the detection unit 5 detects a person 15 using the LiDAR 11, camera 13, and millimeter-wave radar detector, the detection of a person 15 by the detection unit 5 is performed as follows: that is, when a person 15 is detected by at least two of the sensors among the LiDAR 11, camera 13, and millimeter-wave radar detector, detection is performed.

[0027] Furthermore, in an embodiment in which the detection unit 5 detects a person 15 using the LiDAR 11, camera 13, and millimeter-wave radar detector, the detection of a person 15 by the detection unit 5 may be performed as follows: that is, detection may be performed when a person 15 is detected by all sensors (all three types of sensors) of the LiDAR 11, camera 13, and millimeter-wave radar detector.

[0028] Furthermore, the detection unit 5 may be configured to detect people 15 using an ultrasonic measuring instrument (ultrasonic detector; ultrasonic radar) in addition to the LiDAR 11, camera 13, and millimeter-wave radar detector, as described above.

[0029] To explain further, the data obtained from the LiDAR 11, camera 13, and millimeter-wave radar detector (point cloud data, image data, etc.) is sent to a computer 17 (see Figure 3; for example, a PC), where it is processed appropriately by the data processing units of the computer 17, such as the image processing unit 19. Then, the detection unit 5 of the computer 17 detects the person 15. The computer 17 is configured to include a CPU and memory (not shown).

[0030] Furthermore, the computer 17 is equipped with a determination unit 7, a boundary setting unit 23, a prediction unit 25, a pattern storage unit 29, and an input / output unit 31 which consists of a touch panel and the like.

[0031] The sensor components 21 that make up the LiDAR 11, camera 13, etc., are installed in close proximity to each other. The sensor component 21 of the LiDAR 11 is composed of a laser light emitter (laser light emitter) and a detection unit (laser light receiver) for the laser light emitted from the laser light emitter and reflected back by a person. The sensor component 21 of the camera 13 is composed of the lens of the camera 13 and an image sensor such as a CMOS sensor. The sensor component 21 of the millimeter-wave radar detector is composed of a millimeter-wave emitter (radio wave oscillator) and a receiver (radio wave receiver) for the millimeter-waves emitted from the millimeter-wave emitter and reflected back by a person. In any case, the sensor component 21 is a part of the sensor that directly receives light (including laser light) or electromagnetic waves from the object to be measured, and also directly emits light (including laser light) or electromagnetic waves toward the object to be measured.

[0032] An example is provided in which the sensor components 21 are located in close proximity to each other. The distance between the laser light emitter and laser light receiver of the LiDAR 11 and the lens and image sensor of the camera 13 is within 50 cm (preferably 30 cm, more preferably 20 cm, and even more preferably 10 cm). As the distance measurement value for the LiDAR 11, camera 13, and millimeter-wave radar detector, for example, the average of the distance values ​​detected by the two sensors is adopted.

[0033] The determination unit 7 determines whether the person 15 (either the whole person 15 or a part of the person 15) detected by the detection unit 5 has crossed the first boundary 35, which is the outer edge of the restricted area 33 for construction workers, and entered the restricted area 33. In the configuration shown in Figure 5(a), a part of person 15C has entered the restricted area 33.

[0034] The first boundary 35, which is the outer edge of the restricted area 33 for construction workers 15, is set by the boundary setting unit 23. The boundary setting unit 23 sets the first boundary 35 using the detection results from the detection unit 5. As the restricted area 33 is set in three-dimensional space as shown in Figures 1 and 2, the first boundary 35 is actually the first boundary surface. A further detailed explanation of the boundary setting unit 23 will be given later.

[0035] Furthermore, in addition to detecting a person with the detection unit 5, the detection unit 5 may also be configured to detect the tools (road construction tools such as shovels and rakes) 37 being used by the person 15. The determination unit 7 may then be configured to determine whether, in addition to the person 15 detected by the detection unit 5, at least one of the tools 37 (either the entire tool 37 or a part of the tool 37) has crossed the first boundary 35 into the restricted area 33.

[0036] When the detection unit 5 detects a person 15 or a tool 37 (either the whole person 15 or a part of the person 15; either the whole tool 37 or a part of the tool 37), the determination unit 7 determines that the person 15 has crossed the first boundary 35 and entered the restricted area 33. At this time, the alarm generation unit 9 is configured to issue a first alarm (first warning) so that it reaches the person 15 (the person 15 who has crossed the first boundary 35 and entered the restricted area 33). For example, no alarm is issued for people 15A and 15B shown in Figure 5(a), but the first alarm is issued for person 15C shown in Figure 5(a).

[0037] In other words, the alarm generating unit 9 is configured to individually issue a first alarm to each of the multiple people 15, specifically to each person 15C, so that only the person 15C who has entered the restricted area 33 can be recognized.

[0038] Furthermore, the system may be configured to issue a first alarm to all of the persons 15 when some of the persons 15C enter the restricted area 33. In addition, the system may be configured to issue a first alarm to some of the persons 15C and to persons 15B working near some of the persons 15C when some of the persons 15C enter the restricted area 33.

[0039] Incidentally, suppose that only one of the LiDAR 11, camera 13, or millimeter-wave radar detector detects a person 15, and the determination unit 7 determines that the detected person 15 has crossed the first boundary 35 and entered the restricted area 33. In this case, the alarm generation unit 9 may be configured to issue a separate alarm. This alarm is directed only at the driver 69 (see Figure 7) of the construction vehicle 3 on which the construction safety device 1 is installed. The driver 69 is not shown in Figures 1 and 2.

[0040] Furthermore, it is desirable that this alarm include instructions to "visually confirm whether or not a person has entered the restricted area." If the driver 69 visually confirms that the detected person 15 has actually crossed the first boundary 35 and entered the restricted area 33, the driver 69 of the construction vehicle 3 may manually issue an alarm to the person 15.

[0041] In addition, instead of or in addition to the driver 69, an alarm may be issued to the construction site supervisor that includes the instruction to "visually confirm whether or not a person has entered a restricted area."

[0042] Here, we will use road construction as an example and explain in more detail the installation of asphalt mixture onto the roadbed (leveling and compaction) as an example. Furthermore, we will explain in more detail the restricted access areas 33 in road construction using an example.

[0043] A restricted area 33 can include an area on a public road that includes an open lane. For example, on a two-lane highway or high-standard road, suppose asphalt mixture laying work is being done in one lane, while general vehicles are using the other lane. In this case, the open lane on the public road is the lane used by general vehicles, and the area mainly including this open lane becomes the restricted area 33 for construction workers. Alternatively, suppose on a one-lane road, asphalt mixture laying work is being done in one lane, while general vehicles are using the other lane alternately. In this case, the open lane on the public road is the lane used by general vehicles alternately, and the area mainly including this open lane becomes the restricted area 33 for construction workers.

[0044] The construction safety device 1 is equipped with a prediction unit 25. The prediction unit 25 predicts whether or not there is a risk that a person 15 (either the whole person 15 or a part of the person 15) detected by the detection unit 5 may cross the first boundary 35, which is the outer edge of the restricted area 33 for the construction worker 15, and enter the restricted area 33. The prediction unit 25 may also be equipped with a prediction unit 25 that predicts whether or not there is a risk that a tool 37 (either the whole tool 37 or a part of the tool 37) may enter the restricted area 33.

[0045] Suppose the prediction unit 25 determines that all or part of the person 15 may cross the first boundary 35 and enter the restricted area 33. In this case, the alarm generation unit 9 is configured to issue a second alarm (second warning) to reach the person 15 who may enter the restricted area 33, similar to when the first alarm was issued.

[0046] Furthermore, the prediction unit 25 is configured to use the position, direction of movement, and speed of movement of the person 15 detected by the detection unit 5 to predict whether or not there is a risk of the person 15 crossing the first boundary 35, which is the outer edge of the restricted area 33, and entering the restricted area 33.

[0047] An example of the prediction function of the prediction unit 25 will be explained. The detection unit 5 detects a person 15, and at the same time, the detection unit 5 detects the person 15's movement speed and direction in a plan view, for example. The detection of movement speed and direction is performed by the detection unit 5 detecting the person 15 at short time intervals (for example, 0.01 seconds to 0.05 seconds). When the direction of movement of the detected person 15 is towards the first boundary 35, the prediction unit 25 makes a determination based on the distance between the detected person 15 and the first boundary 35, according to the person 15's movement speed. In other words, the prediction unit 25 determines whether or not there is a risk that the person 15 will enter the restricted area 33.

[0048] For example, if the distance is "L" and the speed of movement is "V", the prediction unit 25 will determine that there is a risk of person 15 entering the restricted area 33 when "L / V" becomes smaller than a predetermined threshold (for example, 2 seconds).

[0049] The distance between person 15 and the first boundary 35 is determined using the position of person 15 detected by the detection unit 5 and the position of the first boundary 35 detected by the detection unit 5.

[0050] Furthermore, the detection by the detection unit 5 and the prediction by the prediction unit 25 are performed at predetermined short time intervals (for example, 0.05 seconds to 0.5 seconds). For example, the detection by the detection unit 5 and the prediction by the prediction unit 25 are performed every 0.1 seconds.

[0051] Let's explain this further with an example. In a plan view (see Figure 5(b)), the distance L1 between the centroid of the detected person 15 and a predetermined point on the first boundary 35 (the point closest to the person's centroid) is used as the distance between the detected person 15 and the first boundary 35. In other words, the shortest distance between the centroid of the person 15 and the first boundary 35 is used.

[0052] As shown in Figure 5(b), assume that multiple people 15D, 15E, 15F, and 15G are working. Person 15D is not moving and is stationary, so it will not trigger an alarm. Person 15E is moving at speed VE, but is moving away from the restricted area 33, so it will not trigger an alarm. Person 15F is moving at speed VF, but the value of speed VF is small, so it will not trigger an alarm. Person 15G is moving at speed VG, and the value of speed VG is large, so it will trigger an alarm.

[0053] Furthermore, in a plan view (see Figure 5(c)), if the direction of the velocity vector VH, which indicates the movement speed of the center of gravity of the detected person 15, is oblique, the velocity vector VH is decomposed into a first velocity vector VHA and a second velocity vector VHB. The first velocity vector VHA is a component vector in the direction connecting the center of gravity of person 15 and the point on the first boundary 35 closest to the center of gravity of person 15, and the second velocity vector VHB is a component vector in the direction orthogonal to the first velocity vector VHA. In this case, the velocity indicated by the first velocity vector VHA is adopted as the movement speed of person 15, and the prediction unit 25 makes a prediction.

[0054] Alternatively, the distance L1 may be the distance between a predetermined part of the person 15 closest to the first boundary 35 (for example, the palm of the right hand) and a predetermined point on the first boundary 35. This predetermined point on the first boundary 35 is the point on the first boundary 35 closest to the part of the person 15 closest to the first boundary 35. In this case, the movement speed is the movement speed of the predetermined part of the person 15 closest to the first boundary 35 (for example, the palm of the right hand).

[0055] Alternatively, the distance L1 may be the distance between a predetermined part of the tool 37 held by person 15 that is closest to the first boundary 35 (for example, the spoon part of the shovel held in the hand) and a predetermined point on the first boundary 35. This predetermined point on the first boundary 35 is the point on the first boundary 35 closest to the part of the tool 37 that is closest to the first boundary 35. In this case, the speed of movement is the speed of movement of the predetermined part of the tool 37 that is closest to the first boundary 35 (for example, the spoon part of the shovel held in the hand).

[0056] As described above, the prediction in the prediction unit 25 is performed by detecting the distance L between the person 15 and the first boundary 35, the movement speed V of the person 15, and the direction of movement using the detection unit 5, and then dividing the distance L by the movement speed V. However, the prediction in the prediction unit 25 may be configured in other ways.

[0057] For example, the pattern storage unit 29 of the computer 17 stores multiple types (multiple types; multiple sets) of patterns of the person's actions 15. The prediction unit 25 may then be configured to make a prediction based on whether the pattern of the person's actions 15 detected by the detection unit 5 matches or closely approximates one of the multiple types of patterns of human actions stored in the pattern storage unit 29.

[0058] Specifically, the pattern of a person's movements stored in the pattern memory unit 29 is a combination of the pattern of changes in the person's position, the pattern of changes in the person's movement speed, and the pattern of changes in the person's movement direction. The pattern memory unit 29 stores multiple sets of movement patterns for the person's movements.

[0059] All of the multiple sets of movement patterns for person 15 stored in the pattern memory unit 29 are patterns in which person 15 does not enter the restricted area 33. For example, in a plan view, person 15 is moving along a predetermined arc at a predetermined speed. This movement pattern is such that it is predicted that person 15 will not cross the first boundary 35.

[0060] Furthermore, the detection unit 5 determines that the movement pattern of the person 15 detected by the detection unit 5 matches or is extremely similar to one of the many movement patterns of person 15 stored in the pattern storage unit 29. In this case, it is determined that there is no risk of the person 15 entering the restricted area 33 beyond the first boundary 35, which is the outer edge of the restricted area 33.

[0061] The boundary setting unit 23 will now be explained in detail. As described above, the boundary setting unit 23 is configured to set the first boundary 35. The boundary setting unit 23 is configured to set the first boundary 35 using the detection unit 5. That is, the detection unit 5 detects the regulatory material (for example, a road cone installed on the ground surface of a construction site; see Figures 1 and 6) 39 installed at or near the first boundary 35. Based on the results of this detection, the boundary setting unit 23 is configured to set the first boundary 35.

[0062] Let's explain this in more detail with reference to Figure 1. The method shown in Figure 1 is intended for use on highways and other roads where the spacing between the regulating materials 39 is wide. The boundary setting unit 23 detects the regulating materials 39 installed at the first boundary 35 (for example, on the first boundary 35) using the detection unit 5. The boundary setting unit 23 then sets a straight line (for example, a line segment extending in the Y direction) 41 including the regulating materials 39 as part of the first boundary 35 in a plan view. This first boundary 35 is intended to be set as the boundary when construction is being carried out on a road that extends in a straight line. The spacing between the regulating materials 39 is approximately 20m.

[0063] Further explanation is provided. The first boundary (first boundary in the X direction) 35 (line segment 41) set by the boundary setting unit 23 is located at a predetermined distance (for example, 50 cm to 150 cm) from the sensor assembly 21 in the X direction in a plan view. As described above, the sensor assembly 21 is the part that makes up the sensors 11 and 13 that send data such as images to the detection unit 5. The first boundary 35 (first boundaries 35A and 35B in the Y direction) set by the boundary setting unit 23 is located at a distance of 15 m in the Y direction from the front side of the sensor assembly 21 of the detection unit (front side of the construction vehicle 3) and 10 m in the Y direction from the rear side of the sensor assembly 21 of the detection unit 5 (rear side of the construction vehicle 3).

[0064] Another method for setting the first boundary 35 in the boundary setting unit 23 will be explained with reference to Figure 6. The method shown in Figure 6 is suitable for general roads where the installation intervals of the regulating materials 39 are narrow, and is being adopted in locations with many curves, such as mountainous areas (general roads). In the method shown in Figure 6, the boundary setting unit 23 detects multiple regulating materials 39 (39A to 39E) installed at the first boundary 35 using the detection unit 5. The multiple regulating materials 39 are arranged along the first boundary 35 at predetermined intervals (approximately 2m to 4m).

[0065] The boundary setting unit 23 is configured to set multiple line segments 43 (43A, 43B, 43C, 43D) that connect adjacent restricting members 39 in the extension direction of the first boundary 35 in a plan view as the first boundary 35.

[0066] The first boundary 35 set by the boundary setting unit 23, when viewed from above, appears as a broken line graph consisting of multiple line segments 43 of a predetermined length connected sequentially along the first boundary 35. This first boundary 35 is set as the boundary when performing construction work on a curved road. As the construction vehicle 3 moves, the regulating material 39 is tracked by the detection unit 5, and the multiple line segments 43 of a predetermined length are successively replaced.

[0067] For example, in Figure 6, line segments 43B, 43C, and 43D form the first boundary 35. In this state, when the construction vehicle 3 moves along the first boundary 35 to approximately the upper side of Figure 6, line segments 43A, 43B, and 43C will come to form the first boundary 35.

[0068] As explained with reference to Figure 1, the line segment 43C indicating the first boundary 35 set by the boundary setting unit 23 is located in the X direction at a predetermined distance (for example, 50 cm to 150 cm) from the sensor component 21 of the detection unit 5. The line segment 35A indicating the first boundary (first boundary in the Y direction) 35 set by the boundary setting unit 23 is located in the Y direction at a distance of 15 m in front of the sensor component 21 of the detection unit 5 (front of the construction vehicle). The line segment 35B indicating the first boundary (first boundary in the Y direction) 35 set by the boundary setting unit 23 is located at a distance of 10 m behind the sensor component 21 of the detection unit 5 (rear of the construction vehicle). Note that the second boundary 47 is not shown in Figure 6.

[0069] In the above description, the boundary setting unit 23 sets the first boundary 35 using the restricting material 39, but the boundary setting unit 23 may be configured to set the first boundary 35 without using the restricting material 39.

[0070] This embodiment will be explained in detail. The sensor components 21 of sensors 11 and 13 are assumed to be integrally installed on a construction vehicle (asphalt finisher) 3 for road construction. The sensor components 21 are located at the end of the construction vehicle 3 in the X direction (the end on the side where the first boundary 35 is set). In the Z direction, the sensor components 21 are located, for example, above the upper end of the construction vehicle 3, and in the Y direction, the sensor components 21 are located, for example, in the middle of the construction vehicle 3. The road extends in a long, straight line in the Y direction. The construction vehicle 3 (sensor components 21) is configured to perform construction work while moving only in the Y direction.

[0071] Under these conditions, in a plan view, the boundary setting unit 23 sets the first boundary (first boundary extending in the Y direction) 35 at a predetermined distance (for example, 50 cm to 150 cm) in the X direction from the sensor structure 21. The boundary setting unit 23 sets the first boundary (first boundary extending in the X direction at one end in the Y direction) 35A at a point 15 m in the Y direction in front of the detection unit 5 (front of the construction vehicle 3) from the sensor structure 21. The boundary setting unit 23 also sets the first boundary (first boundary extending in the X direction at the other end in the Y direction) 35B at a point 10 m in the Y direction behind the detection unit 5 (rear of the construction vehicle 3) from the sensor structure 21.

[0072] The construction vehicle 3 (sensor assembly 21) moves linearly only in the Y direction. As a result, the first boundaries 35A and 35B extending in the X direction at both ends in the Y direction are changed, but the first boundary (first boundary extending in the Y direction) 35 located at a predetermined distance in the X direction from the sensor assembly 21 remains unchanged.

[0073] In the construction safety device 1, in the configuration where the detection unit 5 detects a person 15 using both the LiDAR 11 and the camera 13, the detection unit 5 also detects the regulated material 39 using both the LiDAR 11 and the camera 13. However, the detection unit 5 may be configured to detect the regulated material 39 using either the LiDAR 11 or the camera 13.

[0074] Incidentally, the restricted area 33 shown in Figure 1 (Figure 6) is set upward from the ground surface 45 of the restricted area 33, as shown in Figure 2. That is, the restricted area 33 is set at a height of 2m to 3m from the ground surface 45. As a result, the first boundary 35 exists as a surface rather than a line in three-dimensional space. In other words, the first boundary 35 exists as a first boundary surface.

[0075] The detection unit 5 is configured to measure the distance from the sensor assembly 21 to the person 15. In the LiDAR 11, the sensor assembly 21 can include, as described above, a laser light emitter and a detection unit for the laser light emitted from the laser light emitter and reflected back by the person. In the camera 13, the sensor assembly 21 can include, as described above, an image sensor such as a CMOS sensor and a lens. In the millimeter-wave radar detector, the sensor assembly 21 can include, as described above, a millimeter-wave emitter and a detection unit for millimeter waves emitted from the millimeter-wave emitter and reflected back by the person. In the ultrasonic radar, the sensor assembly 21 can include an ultrasonic wave emitter and a detection unit for ultrasonic waves emitted from the ultrasonic wave emitter and reflected back by the person.

[0076] The determination unit 7 is configured to determine whether the person 15 or tool 37 detected by the detection unit 5 has entered the restricted area 33, using the distance to the person 15 or tool 37 detected by the detection unit 5.

[0077] Similarly to the judgment unit 7, the prediction unit 25 is configured to predict whether or not the person 15 or tool 37 detected by the detection unit 5 is likely to enter the restricted area 33, using the distance to the person 15 or tool 37 detected by the detection unit 5.

[0078] Incidentally, the boundary setting unit 23 of the construction safety device 1 is configured to set not only a first boundary 35 but also a second boundary 47 (see Figures 1, 2, and 5). As described above, the boundary setting unit 23 detects a traffic control material 39 installed at or near the first boundary 35 using the detection unit 5, and sets the first boundary 35 based on the result of this detection. For example, a road cone installed on the ground surface of a construction site can be used as the traffic control material 39. Furthermore, the boundary setting unit 23 is configured to set a second boundary 47, which is separate from the first boundary 35, in the same way as setting the first boundary 35.

[0079] The second boundary 47 separates from the first boundary 35 and extends along the first boundary 35 on the sensor 11, 13 side (sensor component 21 side). The second boundary 47, like the first boundary 35, also forms a second boundary surface. In plan view, the second boundary 47 extends parallel to the first boundary 35.

[0080] In the configuration in which a second boundary 47 is set, the determination unit 7 is configured to determine whether the person 15 or tool 37 detected by the detection unit 5 has crossed the second boundary 47 and entered the area (warning area) 49 on the first boundary 35 side. In the configuration shown in Figure 5(a), a portion of the person 15B has entered the warning area 49.

[0081] In the configuration in which the second boundary 47 is set, the alarm generation unit 9 is configured to emit a second alarm (second warning) that reaches only person 15B when the determination unit 7 determines that a person 15 or tool 37 detected by the detection unit 5 has entered the warning area 49. The determination unit 7's determination of whether or not a person 15 or tool 37 has entered the warning area 49 is made based on the whole person 15, a part of the person, or the whole tool 37, or a part of the tool.

[0082] Here, we will explain the construction safety devices 1 in more detail. In Figures 1 and 6, the area indicated by reference numeral 51 is a road with the asphalt mixture already laid, and the area indicated by reference numeral 53 is a road before the asphalt mixture is laid. Also, in Figures 1 and 6, the object indicated by reference numeral 3 is an asphalt finisher, which is construction vehicle 3, and the object indicated by reference numeral 55 is a dump truck. The dump truck 55 transports the asphalt mixture to be laid on the road to the asphalt finisher 3.

[0083] The asphalt finisher 3 consists of an asphalt finisher body 57 and a screed 59. The asphalt finisher body 57 is equipped with a driver's seat (not shown), and a computer 17 (input / output unit 31) is installed in the driver's seat area. The LiDAR 11 and camera 13 (sensor assembly 21) are integrally installed at the end of the screed 59 by a rod-shaped sensor assembly mounting body 61. The LiDAR 11 and camera 13 are also positioned at the upper end of the rod-shaped sensor assembly mounting body 61 (see Figure 2).

[0084] As shown in Figure 3, the alarm generation unit 9 is provided with a first alarm generation device 9A and a second alarm generation device 9B. The first alarm generation device 9A, for example, employs a speaker that emits an alarm sound, and is integrally installed on the asphalt paver 3. More specifically, the first alarm generation device 9A is installed at the upper end of the sensor component mounting body 61.

[0085] A speaker 9A with directional properties may be used. A directional speaker 9A is designed to be as unaffected as possible by ambient noise. The directional speaker 9A is configured to be rotatably positioned relative to the sensor assembly mounting body 61. When one of the multiple people 15 enters the restricted area 33, the speaker 9A is rotatably positioned to emit an alarm sound that reaches only the person 15B who has entered the restricted area 33. Examples of alarm sounds that could be used include "Caution: Deviation Limit," "Mr. / Ms. XX, Deviation Limit," or "Mr. / Ms. XX, Return."

[0086] Furthermore, the speaker 9A may be an omnidirectional speaker, and when one of the people 15B enters the restricted area 33, it may emit an alarm sound that reaches all of the people 15.

[0087] As a second alarm generating device 9B, each of the multiple persons 15 can hold up a portable terminal 63 that they are carrying. The portable terminal 63 is designed to emit vibrations and sounds that can only be felt by the person 15 carrying it. When one of the multiple persons 15 enters the restricted area 33, only the portable terminal 63 of the person 15 who entered the restricted area 33 (person 15B's portable terminal) is designed to emit an alarm (sound and vibration).

[0088] Although the computer 17, LiDAR 11, and camera 13 are connected to each other by wire, the computer 17, LiDAR 11, and camera 13 may also be connected to each other wirelessly. Although the computer 17 and the first alarm generator 9A are connected to each other by wire, the computer 17 and the first alarm generator 9A may also be connected to each other wirelessly. The computer 17 and the second alarm generator 9B (mobile terminal 63) are connected to each other wirelessly.

[0089] Next, the operation of the construction safety device 1 will be explained with reference to Figure 4. First, the boundary setting unit 23 sets the first boundary 35 (S1). Subsequently, the detection unit 5 detects the person 15 (S3). Next, the judgment unit 7 determines whether or not the person 15 has stepped outside the first boundary 35 (S5). If it is determined in step S5 that the person 15 has stepped outside the first boundary 35, the alarm generation unit 9 generates the first alarm (S7).

[0090] If step S5 determines that person 15 is not outside the first boundary 35, the detection unit 5 detects person 15 (S9). Subsequently, the decision unit 7 determines, based on the prediction results from the prediction unit 25, whether or not there is a risk of person 15 going outside the first boundary 35 (S11). If step S11 determines that there is a risk of person 15 going outside the first boundary 35, the alarm generation unit 9 generates a second alarm (S13). If step S11 determines that there is no risk of person 15 going outside the first boundary 35, the process returns to step S1.

[0091] Although the first alarm pattern and the second alarm pattern are identical, the first alarm pattern and the second alarm pattern may be different from each other.

[0092] Furthermore, although the above description of operation explains the case when a person 15 crosses the first boundary 35, the same operation is performed when a person 15 crosses the second boundary 47. In this case, in step S7, the alarm generation unit 9 issues a third alarm, and in step S13, the alarm generation unit 9 issues a fourth alarm.

[0093] The form of the third alarm and the form of the fourth alarm are the same, but the form of the third alarm and the form of the fourth alarm may be different from each other. Furthermore, the form of the third alarm and the form of the fourth alarm are different from the form of the first alarm and the form of the second alarm.

[0094] The construction safety device 1 is configured to include a detection unit 5 that detects a person 15 using at least two types of sensors, including a LiDAR 11, a camera 13, and a millimeter-wave radar detector. The construction safety device 1 is also configured to include an alarm generation unit 9 that emits a first alarm (first warning) that reaches the person 15 when the determination unit 7 determines that the person detected by the detection unit 5 has crossed a first boundary 35 and entered a restricted area 33. This minimizes false detections of people (workers) 15, avoids interruptions to work, and efficiently ensures safety by preventing accidents involving people 15 coming into contact with general vehicles, etc.

[0095] Furthermore, even if person 15 does not deviate from the construction restriction boundary line (first boundary 35), there are cases where the tools (equipment) 37 used by person 15 protrude into the traffic lane and come into contact with other vehicles. To prevent this, in addition to detecting people with the detection unit 5, the detection unit 5 may also be configured to detect the tools (road construction tools such as shovels and rakes) 37 used by person 15.

[0096] The construction safety device 1 is equipped with a prediction unit 25 that predicts whether a person 15 detected by the detection unit 5 is likely to cross the first boundary 35, which is the outer edge of the restricted area 33 for the construction worker 15, and enter the restricted area 33. The alarm generation unit 9 is configured to issue a second alarm that reaches the person 15 when the prediction unit 25 predicts that there is a risk of the person crossing the first boundary 35 and entering the restricted area 33. This further ensures the safety of the person 15.

[0097] Furthermore, in the construction safety device 1, the prediction unit 25 is configured to predict whether or not there is a risk of the person 15 entering the restricted area 33, using the position, direction of movement, and speed of movement of the person 15 detected by the detection unit 5. This allows the prediction unit 25 to make accurate predictions.

[0098] Furthermore, in the construction safety device 1, the boundary setting unit 23 is configured to detect the regulating material 39 with the detection unit 5, and to set the first boundary 35 based on the result of this detection. This allows the first boundary 35 to be set accurately.

[0099] In the construction safety device 1, the detection unit 5 is configured to measure the distance from the sensor component 21 to the person 15. Furthermore, in the construction safety device 1, the judgment unit 7 is configured to use the distance to the person 15 measured by the detection unit 5 to determine whether the person 15 detected by the detection unit 5 has entered the restricted area 33. This makes it possible to accurately and without error determine whether the person has crossed the first boundary 35, which is the outer edge of the restricted area for the person 15, into the restricted area 33.

[0100] In the construction safety device 1, the boundary setting unit 23 is configured to set a second boundary 47 separate from the first boundary 35. The second boundary 47 is separated from the first boundary 35 and extends along the first boundary 35 on the sensor component 21 side. In addition, the construction safety device 1 is configured so that the alarm generation unit 9 emits a second alarm that reaches the person 15 when the determination unit 7 determines that the person 15 detected by the detection unit 5 has crossed the second boundary 47 and entered the area 49 on the first boundary 35 side. This makes it possible to ensure the safety of the person 15 engaged in construction work more reliable while avoiding false detections.

[0101] Here, we will explain the case where the construction safety device 1 is installed on a road roller 3, which is a construction vehicle other than an asphalt finisher, as shown in Figure 7.

[0102] The road roller 3 comprises a main body 65 and a rotating roller 67. The LiDAR 11 and camera 13 are integrally mounted on the front and rear ends of the main body 65, respectively.

[0103] The LiDAR 11 and camera 13 (detection unit 5) located at the front end of the main body 65 are configured to set up a no-entry zone 33 surrounded by a first boundary 35 in front of the main body 65, for example using a barrier material 39. The LiDAR 11 and camera 13 (detection unit 5) located at the front end of the main body 65 are also configured to detect and determine whether or not there is a person 15 in the no-entry zone 33, for example using the barrier material 39. Normally, the driver 69 of the road roller 3 operates the road roller 3 while looking ahead (to the left in Figure 7).

[0104] When it is determined that there are people 15 in the restricted area 33, the alarm generating unit 9 emits an alarm and also prevents the movement of the road roller 3 (the rotating roller 67 of the road roller 3 is automatically stopped).

[0105] The LiDAR 11 and camera 13 (detection unit 5) located at the rear end of the main unit 65 are configured, for example, using a barrier material 39, to define a restricted area 33 surrounded by a first boundary 35 and a second boundary 47, as well as a warning area 49, behind the main unit 65. They are also configured to detect and determine whether or not a person 15 is present in the restricted area 33 and the warning area 49.

[0106] When it is determined that a person 15 is in the restricted area 33, the alarm generating unit 9 emits an alarm and further prevents the movement of the road roller 3 (the rotating roller 67 of the road roller 3 is automatically stopped). In addition, other construction vehicles such as the asphalt finisher 3 may be automatically stopped in the same manner as when the road roller 3 is automatically stopped.

[0107] Furthermore, when it is determined that a person 15 is in the warning area 49, the alarm generating unit 9 emits an alarm, and the movement of the road roller 3 is slowed down (the speed of the rotating roller 67 of the road roller 3 is automatically slowed down). Note that the construction safety device 1 may also be installed on construction vehicles other than the road roller 3 (for example, a bulldozer).

[0108] Furthermore, the detection unit 5, which uses the LiDAR 11 and camera 13 of the construction safety device 1 to detect people 15, tools 37, and regulated materials 29, is an example of a device that uses a combination of multiple types of non-contact sensors to detect people 15, tools 37, and regulated materials 29.

[0109] Although this embodiment has been described above, this embodiment is not limited to these, and various modifications are possible within the scope of the gist of this embodiment. [Explanation of symbols]

[0110] 1. Safety devices for construction work 5. Detection Unit 7 Judgment section 9. Alarm generation unit 11 LiDAR 13 Cameras 15 people 21 Sensor Components 23 Boundary setting section 25 Prediction Section 33 Restricted Areas 35 The First Boundary 39 Regulated materials 45 Ground surface 47 The Second Boundary 49. The area on the first boundary side (warning area)

Claims

1. A detection unit that detects people using at least two types of sensors from among LiDAR, cameras, millimeter-wave radar detectors, and ultrasonic radar, A determination unit determines whether the person detected by the detection unit has crossed the first boundary, which is the outer edge of the restricted area, and entered the restricted area. When the detection unit determines that a person detected by the detection unit has crossed the first boundary and entered the restricted area, the alarm generation unit issues a first alarm. Safety devices for construction work.

2. The detection unit has a prediction unit that predicts whether or not there is a risk of a person detected by the detection unit crossing a first boundary, which is the outer edge of the restricted area for construction workers, into the restricted area. The construction safety device according to claim 1, wherein the alarm generating unit is configured to issue a second alarm when the prediction unit predicts that the person may cross the first boundary and enter the restricted area.

3. The construction safety device according to claim 2, wherein the prediction unit is configured to predict whether or not there is a risk of the person crossing the first boundary, which is the outer edge of the restricted area, into the restricted area, using the position, direction of movement, and speed of movement of the person detected by the detection unit.

4. It has a boundary setting unit that sets the first boundary, The construction safety device according to any one of claims 1 to 3, wherein the boundary setting unit is configured to detect a regulating material installed at or near the first boundary using the detection unit, and to set the first boundary based on the result of this detection.

5. Since the aforementioned restricted area is set upward from the ground surface of the restricted area, the first boundary exists as a surface. The detection unit is configured to measure the distance from the sensor components of the two types of sensors to the person. The construction safety device according to claim 1, wherein the determination unit is configured to determine, using the distance to the person measured by the detection unit, whether the person detected by the detection unit has crossed the first boundary, which is the outer edge of the restricted area for construction workers, and entered the restricted area.

6. It has a boundary setting unit that sets the first boundary, The boundary setting unit is configured to detect a regulating material installed at or near the first boundary using the detection unit, and to set the first boundary and to set a second boundary separate from the first boundary based on the results of this detection. The second boundary is separate from the first boundary and extends along the first boundary on the side of the two types of sensors. The determination unit is configured to determine whether the person detected by the detection unit has crossed the second boundary and entered the area on the first boundary side. The construction safety device according to claim 1, wherein the alarm generating unit is configured to issue a second alarm when the determination unit determines that a person detected by the detection unit has crossed the second boundary and entered the area on the first boundary side.

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