Physical condition management device, mobile control system, physical condition management method, and program

Abstract

Provided is, for example, a physical condition management device (20) that, even in an area beyond the reach of mobile radio waves, manages the physical condition of a worker and is capable of transmitting to the outside when the physical condition is abnormal. The physical condition management device (20) comprises: a communication position storage unit (221) that stores a position at which communication is possible; a physical condition management unit (201) that uses a sensor unit to acquire and manage physical condition information pertaining to the worker; a worker position acquisition unit (202) that acquires position information of the worker; a drive control unit (203) that controls autonomous movement of the mobile body; and a transmission unit (204) that, when the mobile body is at a stored position at which communication is possible, transmits the acquired position information of the worker.

Description

[Technical field]

[0001] The present disclosure relates to a physical condition management device, a moving object, a physical condition management method, a program, and the like. [Background technology]

[0002] Sensors such as LiDAR (Light Detection and Ranging) can irradiate each measurement point on the object with a laser and calculate the distance to each measurement point based on the time between the laser irradiation and the reception. By using such sensors while moving, the distance to the object to be measured, such as a waterway or tunnel, and its shape can be obtained.

[0003] In areas where mobile phone signals cannot reach, such as mountainous regions or underground facilities, workers may use mobile robots equipped with such distance measuring sensors to inspect objects to be measured, such as water channels or tunnels.

[0004] Patent Document 1 discloses a monitoring system that can check abnormalities that occur in a monitored person. In this monitoring system, when an abnormality occurs in a monitored person wearing a biometric information acquisition device, a mobile robot moves toward the monitored person where the abnormality occurred. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2020-181589 Summary of the Invention [Problem to be solved by the invention]

[0006] When a robot and a worker are working in an area where mobile phone signals are not available, if the worker falls ill and collapses, no one can know the worker's condition. In addition, the location information of the worker, which is necessary to rescue the collapsed worker, cannot be obtained.

[0007] The present disclosure has been made to solve such problems, and aims to provide a health management device, mobile body, health management method, program, etc. that can manage the health of workers even in areas where mobile phone signals do not reach, and can transmit information to the outside in the event of an abnormality. [Means for solving the problem]

[0008] A physical condition management device according to a first aspect of the present disclosure includes: a communication location storage unit that stores communication available locations; a health condition management unit that acquires and manages health condition information of a worker using the sensor unit; a worker position acquisition unit that acquires position information of the worker; A drive control unit that controls the autonomous movement of the moving body; A transmitting unit transmits the acquired position information of the worker when the mobile body is in the stored communication position.

[0009] A moving body according to a second aspect of the present disclosure includes: The above-mentioned health management device, A sensor unit for acquiring physical condition information of a worker; The system further includes a point cloud data acquisition unit that acquires point cloud data.

[0010] A health management method according to a third aspect of the present disclosure includes: Store communication locations, The sensor unit is used to acquire and manage information on the worker's physical condition. Acquire location information of the worker; Controlling the autonomous movement of moving objects, When the mobile object is in the stored communication position, the acquired position information of the worker is transmitted.

[0011] A non-transitory computer-readable medium according to a fourth aspect of the present disclosure includes: A process of storing communication available positions; A process of acquiring and managing information on the physical condition of a worker using a sensor unit; A process of acquiring location information of the worker; A process for controlling the autonomous movement of a moving object; and a process of transmitting the acquired location information of the worker when the mobile body is in the stored communication position. Effect of the Invention

[0012] The present disclosure makes it possible to provide a health management device, mobile object, health management method, program, etc. that can manage the health of workers even in areas where mobile phone signals do not reach, and can transmit information to the outside if the worker's health becomes abnormal. [Brief description of the drawings]

[0013] [Figure 1] 1 is a block diagram showing a configuration of a physical condition management device according to a first embodiment. [Diagram 2] 1 is a flowchart showing a physical condition management method according to a first embodiment. [Diagram 3] FIG. 11 is a diagram showing an example of measuring the inner wall of a tunnel with a sensor mounted on a moving object according to a second embodiment. [Figure 4] FIG. 11 is a control block diagram of a moving object according to a second embodiment. [Diagram 5] 10 is a flowchart showing a control method according to a second embodiment. [Figure 6] FIG. 2 is a block diagram showing an example of a hardware configuration of a physical condition management device according to some embodiments. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In each drawing, the same or corresponding elements are denoted by the same reference numerals, and duplicated descriptions will be omitted as necessary for clarity of explanation.

[0015] <Embodiment 1> FIG. 1 is a block diagram showing a configuration of a physical condition management device according to the first embodiment. The physical condition management device 20 is realized by a computer having a processor, a memory, etc. The physical condition management device 20 can be mounted on a moving body or the like for use. The moving body here can include various moving bodies such as a cart, a transport robot, a drone, and a water surface drone.

[0016] In some embodiments, the mobile object may have a sensor unit (e.g., a temperature sensor) for acquiring physical condition information of the worker, and a sensor unit (e.g., LiDAR (Light Detection and Ranging)) for acquiring point cloud data of a measurement target, etc. In other embodiments, the worker may carry a worker portable terminal (e.g., a wearable device) having a sensor unit (e.g., a temperature sensor) for acquiring physical condition information of the worker.

[0017] The health management device 20 comprises a communication location memory unit 221 that stores communication locations, a health management unit 201 that acquires and manages health information of the worker using a sensor unit, a worker location acquisition unit 202 that acquires location information of the worker, a drive control unit 203 that controls the autonomous movement of the mobile body, and a transmission unit 204 that transmits the acquired location information of the worker when the mobile body is at a stored communication location.

[0018] The communication position storage unit 221 can store one or more positions where the mobile body can communicate using a mobile phone communication network. An operator may register the communication-enabled positions of the mobile body in advance, and store the communication-enabled position information in the communication position storage unit 221. In some embodiments, while the mobile body is moving autonomously based on map information, the communication-enabled positions and the communication-disabled positions may be automatically registered and stored in association with the map information.

[0019] The physical condition management unit 201 can acquire physical condition information of the worker acquired using various sensors such as a temperature sensor, and can manage the physical condition of the worker over time. The physical condition management unit 201 may detect the posture of the worker based on three-dimensional data acquired using a distance measurement sensor (for example, LiDAR (Light Detection and Ranging)) and estimate the physical condition of the worker based on the posture of the worker. For example, if the posture of the worker is fallen or crouching, it can be estimated that there is an abnormality in the physical condition of the worker. Also, if the distance between the worker and the distance measurement sensor of the moving object is greater than a certain distance (for example, outside the monitoring range), it can be determined that an abnormality has occurred in the worker. On the other hand, if the posture of the worker is upright or walking, it can be estimated that the physical condition of the worker is normal. Also, in some embodiments, the physical condition management unit 201 may acquire physical condition information of the worker (for example, body temperature, heart rate, etc.) via a wearable device (for example, a smart watch, etc.) worn by the worker.

[0020] The worker position acquisition unit 202 can acquire the position information of the worker based on, for example, the position information of the mobile object using a global positioning system (GPS) or the like and the distance between the mobile object and the worker measured by a distance measuring sensor. The worker position acquisition unit 202 can acquire the position information of the worker in association with the acquired time and the acquired position information of the mobile object, and store them in the storage unit.

[0021] The drive control unit 203 controls the drive unit of the moving body and controls the autonomous movement of the moving body. In some embodiments, the drive control unit 203 can control the autonomous movement of the moving body based on map information and position information of the moving body. The drive control unit 203 can control the autonomous movement of the moving body based on images captured by a camera mounted on the moving body.

[0022] When the mobile object is located in a stored communication location, the transmitting unit 204 can wirelessly transmit one or both of the acquired worker's location information and worker's health information to an external server, etc., using a mobile phone communication network.

[0023] FIG. 2 is a flowchart showing the physical condition management method according to the first embodiment. The communication position memory unit 221 stores (or registers) the communication position (step S11). The physical condition management unit 201 acquires and manages the physical condition information of the worker using the sensor unit (step S12). The worker position acquisition unit 202 acquires the position information of the worker (step S13). The drive control unit 203 controls the autonomous movement of the mobile object (step S14). When the mobile object is in a stored communication position, the transmission unit 204 transmits the acquired position information of the worker (step S15). The program according to this embodiment is a program for causing a computer to execute a physical condition management method as shown in FIG. 2.

[0024] The health management device, health management method, program, etc. according to the first embodiment described above can manage the health of a worker even in areas where mobile phone signals cannot reach, and can send a notification to the outside if the worker's health becomes abnormal.

[0025] <Other embodiments> In other embodiments, modifications of the above-described embodiment 1 are assumed. For example, the worker position acquisition unit 202 of the physical condition management device 20 can acquire the position information of the worker in a location where communication is not possible using a mobile phone communication network (for example, in a tunnel, in a mountainous area, etc.). For example, the worker position acquisition unit 202 of the physical condition management device 20 can acquire the position information of the moving object by receiving a GPS (global positioning system) signal, a Global Navigation Satellite System (GLONASS) signal, or a signal of a similar satellite-based positioning system in a location where communication is not possible using a mobile phone communication network. Furthermore, the worker position acquisition unit 202 of the physical condition management device 20 can acquire the distance between the moving object and the worker using a distance measurement sensor (for example, LiDAR) and calculate the position information of the worker. Various known methods can be used as a method for acquiring the position information of the worker.

[0026] In another embodiment, when the physical condition management unit 201 determines that the physical condition of the worker is abnormal, the drive control unit 203 can move the mobile object to a (pre-registered) communication available position (for example, outside a tunnel, near a base station near the top of a mountain). When multiple communication available positions are registered, the drive control unit 203 can move the mobile object to the closest communication available position.

[0027] When the moving body is performing autonomous movement for inspection work and an abnormality in the physical condition of the worker is determined, the drive control unit 203 can stop the inspection work using a distance measurement sensor (for example, LiDAR (Light Detection and Ranging)) and the autonomous movement for the inspection work. After that, the drive control unit 203 can autonomously move the moving body to a (pre-registered) communication possible position.

[0028] In another embodiment, after the mobile object moves to a preregistered communication position, the transmission unit 204 can transmit at least one of the worker's abnormal physical condition information and the location information. The transmission unit 204 can wirelessly transmit one or both of the worker's abnormal physical condition information and the location information to an external server or the like using a mobile phone communication network.

[0029] <Embodiment 2> FIG. 3 is a diagram for explaining an example of detecting an abnormality in a waterway by a moving body equipped with a sensor according to the second embodiment. In FIG. 3, a moving body 2 (e.g., a vehicle, a water surface drone, etc.) equipped with a temperature sensor 4 and a sensor 5 that is a LiDAR travels in the waterway (in the direction of the arrow in FIG. 3) and irradiates a laser from the sensor 5 in various directions to the inner wall of the waterway (measurement object 6). The sensor then receives the reflected laser light from the measurement object. The sensor may irradiate the laser almost continuously in a very short period. Alternatively, the moving body 2 may move to any position and irradiate the laser at each position. The sensor measures the distance to each measurement point based on the time from irradiating a large number of lasers in the surrounding direction to receiving the reflected light. Alternatively, the sensor may obtain the brightness value of the reflected light, and thereby estimate the material of the measurement object (e.g., metal, fabric, etc.). In this way, the distance measurement sensor 5 can obtain point cloud data including measurement data at multiple measurement points measured by the distance measurement sensor 5. For example, the measurement data may include coordinate values ​​on the x-axis, y-axis, and z-axis at each measurement point. As shown in the figure, the water channel has an elongated shape, and its length may be 50 m or more, 100 m or more, 300 m or more, or 1 km or more.

[0030] In this example, an abnormality such as an inner wall of a water channel is detected based on the acquired point cloud data. For example, an abnormality can be identified from a difference in distance measured by a sensor, that is, the shape of the abnormality (e.g., a dent, a hole, a crack). An abnormality can be detected using a known abnormality detection program. In some embodiments, the distance sensor 5 may be a LiDAR equipped with a device that detects three-dimensional inertial motion called an IMU (Inertial Measurement Unit), and the position information (trajectory data) at the time of acquiring the point cloud data can be recorded in chronological order.

[0031] In this example, the moving body 2 may be an autonomously mobile robot or a drone. In the above-described inspection work of the waterway, the worker 3 follows the autonomous movement of the moving body 2 and walks behind it to check whether there is any problem with the autonomous movement of the moving body 2 or the inspection work, and supports it. However, when the work takes a long time, the worker 3 may become injured or lose consciousness for some reason and become unable to move. In such a case, the worker himself cannot call for rescue from a remote person. Also, in an area where mobile phone signals cannot reach, even if the worker has a mobile phone, the location of the worker cannot be identified, making rescue extremely difficult. When working in such an area, it has been common to have multiple workers work in the communication-deprived area. In other words, even if one worker is injured and cannot move, the remaining workers have been able to inform the injured person of their condition and location, making rescue and rapid search possible. However, even when multiple workers are working together, there have been cases where all workers are unable to move and rescue cannot be called for in the event of an accident such as inhaling toxic gas.

[0032] As described above, autonomously movable mobile bodies (e.g., robots and drones) have been developed, and some of them are equipped with sensors such as cameras, LiDARs, and temperature sensors. As shown in FIG. 3, the mobile body 2 according to this embodiment has a distance measurement sensor 5 such as LiDAR and a camera 4 with a temperature sensor. As described above, the distance measurement sensor 5 can acquire point cloud data of the measurement object 6 by the autonomous movement of the mobile body 2. The distance measurement sensor 5 may also be called a point cloud data acquisition unit. The distance measurement sensor 5 can also irradiate a laser to a worker and detect the posture of the worker (e.g., fallen, crouched, standing, etc.). The distance measurement sensor 5 can also measure the distance to the worker. In some embodiments, a distance measurement sensor for the measurement object and a distance measurement sensor for monitoring the worker may be provided separately. The camera 4 with a temperature sensor may be an infrared thermography camera or another suitable camera with a built-in temperature sensor function. The camera 4 with a temperature sensor may be, for example, a celestial camera that can capture the mobile body 2 in all directions (360 degrees). In other embodiments, the moving object may have a temperature sensor and a video camera separately. In some embodiments, the moving object may have a microphone as a sensor and be configured to receive an acoustic response from the measurement object or the like.

[0033] The camera 4 with the temperature sensor can capture the worker 3 walking behind the moving object 2 and measure the body temperature of the worker. The worker 3 also has a worker mobile terminal 30. The worker mobile terminal 30 can be a smartphone, a mobile phone, a tablet computer, a laptop computer, a wearable device (e.g., a smart watch, a smart band), or other suitable mobile terminal. The worker mobile terminal 30 can include one or more biometric monitoring devices, such as a pulse sensor, a temperature sensor, or a moisture (e.g., sweat) sensor. The worker mobile terminal 30 can obtain the worker's physical condition information, such as the user's body temperature, heart rate, and pulse rate, and transmit the information to the control unit 200 of the moving object 2 via wireless communication. The worker mobile terminal 30 has a position information receiver (not shown) and receives position information of the worker mobile terminal 30. The position information receiver can receive, for example, a global positioning system (GPS) signal, a global navigation satellite system (GLONASS) signal, or a signal of a similar satellite-based positioning system. The worker mobile terminal 30 can be configured to be able to communicate with the moving object 2 in a wired or wireless manner.

[0034] FIG. 4 is a control block diagram of the moving object according to the second embodiment. The control unit 200 is, for example, a CPU (Central Processing Unit) and is stored in a control unit of the moving body 2. The moving body driving unit 210 may include a driving circuit, a motor, and the like for driving the driving wheels. The control unit 200 can execute rotation control of the driving wheels by sending a driving signal to the moving body driving unit 210. In addition, the control unit 200 can receive a feedback signal from an encoder or the like from the moving body driving unit 210 to grasp the moving direction of the moving body 2.

[0035] The sensor units 4 and 5 may include a distance sensor for measuring the distance and shape of a measurement target, a temperature sensor for measuring the body temperature of a worker, various sensors (e.g., a camera, an optical sensor, a proximity sensor, etc.) for detecting obstacles during movement, and other sensors (e.g., a microphone), and may be distributed and disposed in the moving body 2. The control unit 200 drives the various sensors by sending control signals to the sensor units 4 and 5 and acquires their output signals.

[0036] The memory 220 is a non-volatile storage medium, and for example, a solid state drive is used. The memory 220 stores various parameter values, functions, lookup tables, etc. used for control, in addition to a control program for controlling the mobile object 2. The memory 220 has a communication position storage unit 221 that stores a position where the mobile object 2 can communicate using a mobile phone communication network or a position where communication is not possible. The memory 220 may store environmental map information that represents an environment in which the mobile object 2 travels autonomously. The communication position storage unit 221 may accept registration of communication-enabled position information of the mobile object from the worker via the worker mobile terminal 30 or the user IF 240, and hold the position information.

[0037] The memory 220 also has a worker position storage unit 222 that stores and holds the worker's position information. The worker position storage unit 222 can hold the worker's position information in association with the time when the worker's position information was acquired.

[0038] The communication IF 230 is a communication interface for transmitting and receiving various information and control signals to and from external devices (e.g., the server 10, the worker mobile terminal 30, etc.) under the control of the control unit 200. The communication IF 230 is, for example, a wireless LAN unit. In order to move autonomously, the communication IF 230 may receive environmental map data created in advance by an external device. In some embodiments, the communication IF 230 may receive a control signal for moving autonomously from a server. The user IF 240 is, for example, a display panel, and is a user interface for providing information to a user (worker) and accepting instructions from the user (worker) under the control of the control unit 200. The control unit 200 may receive a route for autonomous movement from the worker via the user IF 240.

[0039] The position information receiver 250 receives position information of the moving object 2. The position information receiver 250 can receive, for example, a global positioning system (GPS) signal, a Global Navigation Satellite System (GLONASS) signal, or a signal of a similar satellite-based positioning system. The position information of the moving object 2 is sent to the control unit 200.

[0040] In some embodiments, the mobile object may have an alarm unit such as a speaker for audibly notifying the worker, or a lamp for notifying the worker by flashing or the like.

[0041] The control unit 200 also plays a role as a functional calculation unit that executes various calculations related to control. The physical condition management unit 201 acquires the status of the physical condition of the worker using physical condition detection information from the various sensor units 4, 5 or the worker mobile terminal 30. The physical condition management unit 201 can detect the abnormality of the worker's physical condition. For example, the physical condition management unit 201 can recognize the abnormality of the worker's physical condition when the body temperature of the worker is significantly decreased or significantly increased by using the camera 4 with a temperature sensor. The physical condition management unit 201 can recognize the abnormality of the worker's physical condition when the posture of the worker is detected, such as the worker falling or crouching, by using the distance measurement sensor 5. In another embodiment, the abnormality of the worker's physical condition can be recognized by comparing the worker's heart rate, pulse rate, etc. with a threshold value.

[0042] The worker position acquisition unit 202 can acquire the position information of the moving body based on a signal from the position information receiver 250. The worker position acquisition unit 202 can also acquire the position information of the worker based on the position information of the position information receiver 250 of the moving body 2, the distance information to the worker from the distance measurement sensor 5, and the like. When the physical condition management unit 201 recognizes an abnormal physical condition of a worker, the worker position acquisition unit 202 can acquire the position information of the worker who has experienced the abnormal physical condition. The acquired position information of the worker is stored in the worker position storage unit 222 of the memory 220 in association with the time of acquisition. Note that the method of acquiring the position information of the worker can use various known methods. For example, when the distance measurement sensor 5 is a LiDAR equipped with a device that detects three-dimensional inertial motion called an IMU (Inertial Measurement Unit), the position information (trajectory data) at the time of acquiring the point cloud data can also be used.

[0043] The drive control unit 203 transmits a control signal for controlling the movement of the moving object 2 to the drive unit 210 of the moving object 2 based on the physical condition information of the worker from the physical condition management unit 201. Specifically, when the drive control unit 203 receives information about an abnormality in the worker's physical condition (for example, abnormal body temperature, the worker has collapsed, etc.) from the physical condition management unit 201, it can move the moving object 2 to a pre-registered position where communication is possible using a mobile phone communication network. In addition, in some embodiments, when the various sensors detect an abnormality in the worker, the moving object 2 can notify the worker 3 by notifying by voice and turning on a lamp. If the worker 3 determines that the abnormality in the physical condition is a false detection, the moving object 2 can be stopped by canceling the detection of the moving object 2 via the user IF. Thereafter, the worker 3 can start the moving object 2 again on the spot and have the moving object 2 continue to perform the inspection work. If the worker determines that the abnormality in the physical condition is not a false detection, it can move to the closest location within the reach of the communication radio waves of the pre-registered mobile phone after a certain time period (about 10 seconds).

[0044] The transmitting unit 204 can transmit at least one of the worker's status and position information to an external party (for example, a server that manages the safety of the worker) via the communication IF 230 using a mobile phone communication network.

[0045] In another embodiment, the control unit 200 may be configured to analyze an acoustic response from a measurement object or the like to detect the position of the measurement object.

[0046] FIG. 5 is a sequence diagram showing a control method according to the second embodiment. First, the mobile body 2 registers a location where radio waves can reach (step S101). In some embodiments, when the mobile body 2 is moving autonomously, a location where communication is possible via a mobile phone communication network (for example, a location outside the water channel in FIG. 3) may be registered. In other embodiments, the worker 3 may register location information where communication is possible via a mobile phone communication network in the communication location storage unit 221 of the mobile body 2 via the user IF 240 of the mobile body 2 or the worker mobile terminal 30. One or more pieces of communication possible location information registered in advance in this manner are stored in the storage unit of the mobile body 2.

[0047] Next, the worker 3 uses the moving object 2 to perform on-site work such as acquiring point cloud data of the measurement object (step S103). For example, as shown in FIG. 3, the moving object 2 is moved inside the headrace to acquire point cloud data of the inner wall of the headrace, which is the measurement object 6. The inside of the headrace in FIG. 3 is an area where mobile phone network communication is not possible, but it is an area where location information such as GPS signals can be acquired. The moving object 2 moves autonomously while avoiding obstacles in the headrace using various sensor units, and can acquire point cloud data of the measurement object 6. At this time, the worker 3 walks behind the moving object 2 to check that there is no problem with the operation of the moving object 2.

[0048] At this time, the various sensor units 4, 5 or the worker mobile terminal 30 can acquire health information of the worker 3 and transmit it to the health condition management unit 201 of the control unit 200 of the moving object 2. When the health condition management unit 201 detects an abnormality in the health condition of the worker 3 from the various sensor units 4, 5 or the worker mobile terminal 30 (YES in step S105), the health condition management unit 201 records the condition (health condition) of the worker 3 and the position information of the worker 3 from the various sensor units 4, 5 or the worker mobile terminal 30 (step S107). The condition (health condition) of the worker 3, the position information of the worker 3, and the acquisition time can be recorded as time-series data.

[0049] In some embodiments, when the health management unit 201 detects an abnormality in the health of the worker 3 from the various sensors 4, 5 or the worker mobile terminal 30 (step S105), the health management unit 201 may notify the worker 3 by an alarm unit (e.g., a flashing lamp, a speaker) of the moving body. When the worker 3 determines that the abnormality in the health is a false detection (NO in step S105 and step S108), the detection is canceled via the user IF 240 or the worker mobile terminal 30 to stop the moving body 2 (step S109). The worker 3 can restart the moving body 2 on the spot and have the moving body 2 continue the inspection work (e.g., measuring the inner wall of the water channel). On the other hand, when the worker determines that the abnormality in the health is not a false detection, the health management unit 201 of the control unit 200 of the moving body 2 may determine that the abnormality in the health of the worker has occurred after a certain time (e.g., after about 10 seconds have passed).

[0050] When the physical condition management unit 201 determines that the worker is in an abnormal physical condition, the mobile object 2 autonomously moves to a position where radio waves of a pre-registered mobile phone communication network can reach (step S111). The drive control unit 203 drives the drive unit 210 of the mobile object 2 to move the mobile object 2 to a position where communication is possible that is stored in the communication position storage unit 221. At this time, the control unit 200 may temporarily stop the point cloud data acquisition process.

[0051] When the mobile object 2 reaches a position where communication is possible, the transmitting unit 204 of the control unit 200 wirelessly communicates the worker's condition and position information to the server 10 that manages the safety of the worker using a mobile phone communication network (step S112). When the server 10 receives the worker's condition and position information (step S113), it communicates the worker's condition and position information to a server of a rescue center or the like (step S115). Using the worker's condition and position information, rescue team members can go to the site where the worker is located to rescue the worker and check the worker's situation (step S117). It should be understood that the sequence diagram in FIG. 5 is an example and various modifications and amendments are possible. The program according to this embodiment is a program for causing a computer to execute the physical condition management method shown in FIG. 5.

[0052] The health management device according to the second embodiment described above manages the health of a worker even in an area where mobile radio waves cannot reach, and when the worker's health becomes abnormal, the mobile body moves to a position where communication is possible and the necessary information can be transmitted to the outside. As a result, the abnormality in the worker's health and the worker's location can be notified to the outside, and rescue team members can go to the scene to check on the worker's condition.

[0053] <Other embodiments> Various modifications and alterations may be made to the second embodiment described above. For example, the mobile object 2 may wait at the communication position after transmitting the worker's condition and position information to the server 10 of the rescue sensor at the communication position. A rescue team member may first go to the communication position where the mobile object 2 is waiting, and then the mobile object 2 may autonomously move to the worker's position and guide the rescue team member.

[0054] In another embodiment, the mobile object 2 may return to the location of the worker by autonomous movement after transmitting the state and location information of the worker to the server 10 of the rescue sensor at the communication possible position. After returning to the location of the worker, the mobile object 2 may continue to manage the physical condition of the worker. That is, the physical condition management unit 201 can continuously record the state (physical condition) of the worker 3 from the various sensor units 4, 5 or the worker mobile terminal 30 and the location information of the worker 3. After that, when the physical condition management unit 201 determines that the physical condition of the worker who once experienced an abnormal physical condition has recovered, it may autonomously move the mobile object 2 again to the communication possible position and transmit information indicating that the physical condition of the worker has recovered to the server 10 of the rescue sensor.

[0055] FIG. 6 is a block diagram showing an example of the hardware configuration of the health management device 20 and the server 10 (information processing device) of the mobile object 2. Referring to FIG. 6, the health management device 20 and the server 10 (hereinafter referred to as the health management device 20, etc.) include a network interface 1201, a processor 1202, and a memory 1203. The network interface 1201 is used to communicate with other network node devices constituting a communication system. The network interface 1201 may be used to perform wireless communication. For example, the network interface 1201 may be used to perform wireless LAN communication defined in the IEEE 802.11 series, or mobile communication defined in 3GPP (3rd Generation Partnership Project). Alternatively, the network interface 1201 may include, for example, a network interface card (NIC) conforming to the IEEE 802.3 series.

[0056] The processor 1202 reads out and executes software (computer programs) from the memory 1203 to perform the processing of the display device 100 described using the flowcharts or sequences in the above-mentioned embodiments. The processor 1202 may be, for example, a microprocessor, a micro processing unit (MPU), or a central processing unit (CPU). The processor 1202 may include multiple processors.

[0057] The memory 1203 is configured by a combination of volatile memory and non-volatile memory. The memory 1203 may include storage located remotely from the processor 1202. In this case, the processor 1202 may access the memory 1203 via an I / O interface (not shown).

[0058] 6, the memory 1203 is used to store a group of software modules. The processor 1202 reads out and executes these software modules from the memory 1203, thereby performing the processing of the physical condition management device and the like described in the above-mentioned embodiment.

[0059] As described with reference to FIG. 6, each of the processors included in the physical condition management device 20 etc. executes one or more programs including a group of instructions for causing a computer to execute the algorithm described with reference to the drawing.

[0060] <Other embodiments> In the above embodiment, the present disclosure has been described as a hardware configuration, but is not limited to this. Any process of the present disclosure can be realized by causing a CPU to execute a computer program.

[0061] In the above example, the program can be stored and provided to the computer using various types of non-transitory computer readable media. The non-transitory computer readable media includes various types of tangible storage media. Examples of the non-transitory computer readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, DVD (Digital Versatile Disc), and semiconductor memory (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (Random Access Memory)). The program may also be provided to the computer by various types of transitory computer readable media. Examples of the transitory computer readable media include electric signals, optical signals, and electromagnetic waves. The transitory computer readable media can provide the program to the computer via a wired communication path such as an electric wire and an optical fiber, or via a wireless communication path.

[0062] The present disclosure is not limited to the above-mentioned embodiment, and can be appropriately modified without departing from the spirit of the present disclosure. For example, the above-mentioned embodiment is described using an example of a moving object that runs on the ground, but a moving object such as a drone that flies in the air in mountainous areas can also be used. The present disclosure may be implemented by appropriately combining each of the embodiments.

[0063] A part or all of the above-described embodiments can be described as, but is not limited to, the following supplementary notes. (Appendix 1) a communication location storage unit that stores communication available locations; a health condition management unit that acquires and manages health condition information of a worker using the sensor unit; a worker position acquisition unit that acquires position information of the worker; A drive control unit that controls the autonomous movement of the moving body; A transmitting unit that transmits the acquired location information of the worker when the mobile body is in the stored communication position. (Appendix 2) The physical condition management device according to claim 1, wherein the worker position acquisition unit acquires position information of the worker in a communication unavailable position. (Appendix 3) 3. The health management device according to claim 1, wherein when the health management unit determines that the worker's health is abnormal, the drive control unit moves the moving object to the communication possible position. (Appendix 4) A health management device as described in any one of Appendices 1 to 3, wherein after the moving body moves to the stored communication position, the transmission unit transmits at least one of the worker's abnormal health information and the location information. (Appendix 5) a notification unit that notifies the worker of the detection of an abnormality in the worker's physical condition when the physical condition management unit detects the abnormality, After the notification, the physical condition management unit determines that the abnormality detection is a false detection based on an instruction from the operator regarding the abnormality detection, The health condition management device according to any one of appendices 1 to 4, wherein the health condition management unit determines that an abnormality in the worker's health condition has occurred after a certain period of time has passed since the notification without any instructions from the worker in response to the abnormality detection. (Appendix 6) 6. The physical condition management device according to any one of claims 1 to 5, wherein the communication location storage unit stores locations where communication is possible using a mobile phone communication network. (Appendix 7) 7. The physical condition management device according to any one of claims 1 to 6, wherein the transmission unit transmits the acquired position information of the worker at the communication location by using a mobile phone communication network. (Appendix 8) A physical condition management device according to any one of appendix 1 to 7, A sensor unit for acquiring physical condition information of a worker; A mobile object comprising: a point cloud data acquisition unit that acquires point cloud data. (Appendix 9) Store communication locations, The sensor unit is used to acquire and manage information on the worker's physical condition. Acquire location information of the worker; Controlling the autonomous movement of moving objects, A physical condition management method comprising: transmitting the acquired location information of the worker when the mobile body is in the stored communication position. (Appendix 10) A process of storing communication available positions; A process of acquiring and managing information on the physical condition of a worker using a sensor unit; A process of acquiring location information of the worker; A process for controlling the autonomous movement of a moving object; A non-transitory computer-readable medium storing a health management program that causes a computer to execute the following process: when the mobile body is in the stored communication position, transmitting the acquired location information of the worker.

[0064] Although the present invention has been described above with reference to the embodiments (and examples), the present invention is not limited to the above-mentioned embodiments (and examples). Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. [Explanation of symbols]

[0065] 2. Mobile 4. Camera with temperature sensor 5. Distance Sensor 6 Measurement Object 10 Server 20 Health Management Device 30 Worker mobile terminal 200 Control section 201 Health Management Department 202 Worker position acquisition section 203 Drive control unit 204 Transmitter 210 Mobile drive unit 220 Memory 221 Communication position storage unit 222 Worker position memory section 230 Communication Interface 240 User Interface 250 Location information receiver 1201 Network Interface 1202 Processor 1203 Memory

Claims

1. a communication location storage unit that stores communication available locations; A drive control unit that controls the autonomous movement of a moving object that performs an inspection work using a distance measurement sensor; a physical condition management unit that detects a posture of a worker from the point cloud data acquired by the distance measuring sensor, and estimates and manages physical condition information of the worker based on the posture of the worker; a mobile object position acquisition unit that acquires position information of the mobile object by a position information receiver of the mobile object; a worker position acquisition unit that acquires position information of the worker based on position information of the moving body and a distance between the moving body and the worker acquired using the distance measuring sensor at a communication unavailable position; A health management device comprising: a transmission unit that transmits the acquired location information of the worker when the mobile body moves from the communication unavailable location to the stored communication available location.

2. The physical condition management device according to claim 1 , wherein when the physical condition management unit determines that the worker is in an abnormal physical condition, the drive control unit moves the moving body to the communication possible position.

3. The health management device according to claim 1 or 2, wherein the transmitting unit transmits at least one of the abnormal health information of the worker and the location information after the moving object moves to the stored communication position.

4. a notification unit that notifies the worker of the detection of an abnormality in the worker's physical condition when the physical condition management unit detects the abnormality, After the notification, the physical condition management unit determines that the detection of the abnormality is a false detection based on an instruction from the operator regarding the detection of the abnormality, The health management device according to any one of claims 1 to 3, wherein the health management unit determines that an abnormality in the worker's health has occurred after a certain period of time has passed since the notification without any instructions from the worker in response to the detection of the abnormality.

5. 5. The physical condition management device according to claim 1, wherein the communication location storage unit stores locations where communication is possible using a mobile phone communication network.

6. The physical condition management device according to claim 1 , wherein the transmitting unit transmits the acquired position information of the worker at the communication location using a mobile phone communication network.

7. A physical condition management device according to any one of claims 1 to 6, a worker mobile terminal having a sensor unit for acquiring physical condition information of a worker; a moving object including the distance measuring sensor and a camera with a temperature sensor; A mobile control system comprising:

8. Store communication locations, The autonomous movement of the mobile object performing the inspection work is controlled using the point cloud data acquired by the distance measurement sensor. Detecting the posture of a worker from the point cloud data acquired by the distance measuring sensor, and estimating and managing physical condition information of the worker based on the posture of the worker; Acquire location information of the mobile object by a location information receiver of the mobile object; acquiring location information of the worker based on location information of the moving body and a distance between the moving body and the worker acquired using the distance measuring sensor at a communication unavailable location; A health management method comprising the steps of: transmitting the acquired location information of the worker when the mobile object moves from the communication unavailable location to the stored communication available location.

9. A process of storing communication available positions; A process of controlling the autonomous movement of a moving object performing an inspection work by using point cloud data acquired by the distance measurement sensor; A process of detecting a posture of a worker based on the point cloud data acquired by the distance measuring sensor, and estimating and managing physical condition information of the worker based on the posture of the worker; A process of acquiring location information of the mobile body by a location information receiver of the mobile body; a process of acquiring location information of the worker based on location information of the moving body and a distance between the moving body and the worker acquired using the distance measuring sensor at a communication unavailable location; A health management program that causes a computer to execute a process of transmitting the acquired location information of the worker when the mobile object moves from the communication unavailable location to the stored communication available location.

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