Security management device, system, method, and program

Abstract

To provide a safety managing device, etc., capable of contributing to a flexible coping with a dangerous area changing from hour to hour at a location at which a status change is keen.SOLUTION: A safety managing device includes: a 3D map creating unit configured to create a 3D map on the basis of 3D dot group data imaged by a 3D sensor brought by a worker who is present at, at least a work site; a dangerous area setting unit configured to analyze the 3D map and to set a dangerous area to the 3D map; a 3D dot group data analyzing unit configured to analyze the imaging position of the 3D dot group data in the 3D map; and a safety managing unit configured to determine whether the imaging position is within the dangerous area or not, and to transmit alert information to the worker terminal of the worker corresponding to the imaging position when the imaging position is within the dangerous area.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present invention relates to a safety management device, system, method, and program.

Background Art

[0002] Accidents involving workers in the construction industry occur at various construction sites, and the types of accidents also vary widely, including falls, flying and falling accidents, and construction machinery accidents. As a measure to prevent accidents involving workers, for example, using the systems described in Patent Documents 1 to 5, three-dimensional sensors are installed at predetermined locations where accidents can occur (for example, work sites, equipment, ceilings, walls, buildings, etc.) or moving bodies (for example, heavy machinery, vehicle bodies, drones, etc.), and it is conceivable to monitor on software whether workers have entered the dangerous areas photographed by the three-dimensional sensors.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Patent Document 4

Patent Document 5

Summary of the Invention

Problems to be Solved by the Invention

[0004] The following analysis is provided by the inventor of the present application.

[0005] However, since the situation at the work site changes every moment, in the systems described in Patent Documents 1 to 5, when the previously designated danger area is no longer a danger area, or when another location that was not designated as a danger area becomes a danger area, the danger area must be reset.

[0006] In addition, in the systems described in Patent Documents 1 to 5, in the case of a configuration in which a three-dimensional sensor is installed at a predetermined location, when an obstacle (for example, a material) appears in front of the three-dimensional sensor, it is impossible to monitor the intrusion into the danger area, so measures are required to prevent the obstacle from being reflected.

[0007] Furthermore, in the systems described in Patent Documents 1 to 5, in the case of a configuration in which a three-dimensional sensor is installed on a moving body, when there is a danger area outside the shooting range of the three-dimensional sensor, it is necessary to move the moving body so that the danger area enters the shooting range. However, if the moving body is moved so as not to interfere with the work of the worker or the movement of floating objects lifted by a crane, etc., the danger area may not enter the shooting range.

[0008] The main problem of the present invention is to provide a safety management device, system, method, and program that can contribute to easily managing human safety and flexibly responding to a danger area that changes every moment in a place where the situation changes rapidly.

Means for Solving the Problems

[0009] The safety management device according to the first perspective is configured to create a 3D map based on at least 3D point cloud data captured by a 3D sensor carried by a worker at the work site, a 3D map creation unit, analyze the 3D map, and set a danger area for the 3D map. A danger area setting unit configured as described above, a 3D point cloud data analysis unit configured to analyze the shooting position of the 3D point cloud data in the 3D map, and determine whether the shooting position is within the danger area. And a safety management unit configured to transmit alert information to the worker terminal of the worker corresponding to the shooting position when the shooting position is within the danger area.

[0010] The safety management system according to the second perspective includes the safety management device according to the first perspective, one or more worker terminals that are communicably connected to the safety management device and used by workers, and the worker terminals. And one or more 3D sensors attached to the worker, which are communicably connected.

[0011] The safety management method according to the third perspective is a safety management method for managing the safety of workers at the work site using hardware resources, and is based on at least 3D point cloud data captured by a 3D sensor carried by the workers at the work site. Creating a 3D map, analyzing the 3D map, setting a danger area for the 3D map, analyzing the shooting position of the 3D point cloud data in the 3D map, and determining whether the shooting position is within the danger area. And when the shooting position is within the danger area, transmitting alert information to the worker terminal of the worker corresponding to the shooting position.

[0012] The program according to the fourth perspective is a program that causes hardware resources to execute a process of managing the safety of workers at the work site. Based on at least the three-dimensional point cloud data captured by the three-dimensional sensor carried by the worker at the work site, it includes a process of creating a three-dimensional map, a process of analyzing the three-dimensional map to set a dangerous area for the three-dimensional map, a process of analyzing the shooting position of the three-dimensional point cloud data in the three-dimensional map, determining whether the shooting position is within the dangerous area, and when the shooting position is within the dangerous area, a process of transmitting alert information to the worker terminal of the worker corresponding to the shooting position is executed by the hardware resources.

[0013] Note that the program can be recorded on a computer-readable storage medium. The storage medium can be a non-transient one such as a semiconductor memory, a hard disk, a magnetic recording medium, or an optical recording medium. Also, in the present disclosure, it is possible to embody it as a computer program product. The program is input into a computer device through an input device or externally via a communication interface, stored in a storage device, drives the processor according to predetermined steps or processes, and can display the processing results including intermediate states step by step via a display device as needed, or communicate with the outside via a communication interface. A computer device for this purpose typically includes a processor, a storage device, an input device, a communication interface, and, if necessary, a display device that can be connected to each other by a bus as an example.

Advantages of the Invention

[0014] According to the first to fourth perspectives, it can contribute to facilitating the safety management of people and flexibly responding to the constantly changing dangerous areas in places with drastic situation changes.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Modes for Carrying Out the Invention

[0016] Hereinafter, embodiments will be described with reference to the drawings. In the present application, when reference numerals are attached to the drawings, they are for the sole purpose of assisting understanding and are not intended to limit the illustrated embodiments. Further, the following embodiments are merely examples and do not limit the present invention. In the following description, the connection lines between blocks such as the drawings refer to both bidirectional and unidirectional connections. The one-way arrow schematically shows the flow of the main signal (data) and does not exclude bidirectionality. Furthermore, in the circuit diagrams, block diagrams, internal configuration diagrams, connection diagrams, etc. shown in the present application disclosure, although not explicitly shown, input ports and output ports exist at the input ends and output ends of each connection line respectively. The same applies to input / output interfaces. The program is executed via a computer device, and the computer device includes, for example, a processor, a storage device, an input device, a communication interface, and a display device as required. The computer device is configured to be communicable with devices inside or outside the device (including computers) via the communication interface, whether wired or wireless.

[0017] [Embodiment 1] The safety management system according to Embodiment 1 will be described with reference to the drawings. FIG. 1 is an image diagram showing an example of issuing an alert to a worker in a dangerous area using the safety management system according to Embodiment 1. FIG. 2 is a block diagram schematically showing the configuration of the safety management system according to Embodiment 1. FIG. 3 is an image diagram schematically showing an example of a method for specifying the current position of a worker in the safety management system according to Embodiment 1.

[0018] The safety management system 1 is a system that manages the safety of workers 10 at the work site 2 using 3D point cloud data 101 (see FIGS. 1 and 2). The safety management system 1 can be used when performing safety management of workers and work site management in the construction industry, safety management of workers in the manufacturing industry, and safety management of equipment and materials in the construction and manufacturing industries. The safety management system 1 includes a plurality of 3D sensors 100, a plurality of worker terminals 200, a safety management device 300, and a network 400.

[0019] The three-dimensional sensor 100 is a device that three-dimensionally senses and photographs the surface of an object (in FIG. 1, workers 10a, 10b, 10c, floor surface 20, floating object 30, columns 40a, 40b, 40c, 40d, etc.) (see FIGS. 1 and 2). The three-dimensional sensor 100 may be mounted (attached) to a predetermined position (for example, the head, helmet, etc.) of the workers 10a, 10b, 10c at the work site 2. Also, the three-dimensional sensor 100 may be mounted on a patrol robot (not shown; for example, a drone, a robot dog, etc.) that patrols the work site 2 instead of or in addition to the workers 10a, 10b, 10c. Further, the three-dimensional sensor 100 may be installed at a predetermined position in the work site 2 and may be configured to change the position and direction for periodic photographing. The three-dimensional sensor 100 is connected to be in short-range communication with the worker terminal 200 in FIG. 2, but may be a component built into the worker terminal 200. The three-dimensional sensor 100 generates three-dimensional point cloud data 101 in a predetermined format by photographing an object, and outputs the generated three-dimensional point cloud data 101 toward the worker terminal 200. Note that the three-dimensional point cloud data 101 may be generated by the worker terminal 200 instead of being generated by the three-dimensional sensor 100. For the three-dimensional sensor 100, for example, a ToF (Time of Flight) camera, a stereo camera, a three-dimensional LIDAR (Laser Imaging Detection And Ranging), a depth sensor, a distance measuring sensor, a distance camera, etc. can be used. The three-dimensional sensor 100 is operated by the worker 10a, 10b, or 10c wearing the three-dimensional sensor 100. Here, the three-dimensional point cloud data 101 is data generated in a predetermined format by the three-dimensional sensor 100, and is point cloud data drawn as a point cloud (a collection of a large number of points having XYZ coordinate (three-dimensional coordinate) information). The three-dimensional sensor 100 can be changed to a sensor device with various output formats according to the customer's requirements. The three-dimensional sensor 100 may have a time function, and may output the generated three-dimensional point cloud data 101 with the photographing time associated therewith.The three-dimensional sensor 100 may be equipped with a positioning unit such as GPS (Global Positioning System), or may output by associating position information with the generated three-dimensional point cloud data 101.

[0020] The worker terminal 200 is a portable information communication terminal used (or can be held) by workers 10a, 10b, and 10c (see FIGS. 1 and 2). The worker terminal 200 can use a terminal (computer terminal) equipped with functional units constituting a computer (for example, a processor, a storage device, an input device, a communication interface, and a display device), and for example, a smartphone, a tablet terminal, etc. can be used. Although there are multiple worker terminals 200 in FIG. 2, at least one is sufficient. The worker terminal 200 is connected to be in short-range communication with the three-dimensional sensor 100. The worker terminal 200 is connected to be communicable (wirelessly communicable, wire communicable) with the safety management device 300 via the network 400. The worker terminal 200 has a function of transmitting the three-dimensional point cloud data 101 acquired from the three-dimensional sensor 100 to the safety management device 300. The worker terminal 200 has a function of receiving the alert information transmitted from the safety management device 300 and outputting the alert information. The worker terminal 200 includes an acquisition unit 210, a transmission unit 220, a reception unit 230, an output unit 240, and a control unit 250.

[0021] The acquisition unit 210 is a functional unit that acquires the three-dimensional point cloud data 101 from the three-dimensional sensor 100 (see FIG. 2). The acquisition unit 210 is controlled by the control unit 250. The acquisition unit 210 outputs the acquired three-dimensional point cloud data 101 toward the transmission unit 220. When the worker terminal 200 has or is communicably connected to an altimeter, an infrared camera, etc., the acquisition unit 210 may acquire altitude information, temperature information, etc., and output the acquired altitude information, temperature information, etc. in association with the three-dimensional point cloud data 101.

[0022] The transmission unit 220 is a functional unit that transmits the 3D point cloud data 101 from the acquisition unit 210 toward the security management device 300 via the network 400 (see Fig. 2). The transmission unit 220 is controlled by the control unit 250. When transmitting the 3D point cloud data 101, the transmission unit 220 may, for example, compress the 3D point cloud data 101, remove unnecessary parts or noise, and transmit it after reducing the data size. When transmitting the 3D point cloud data 101, the transmission unit 220 transmits the identification information (e.g., phone number, email address, IP (Internet Protocol) address, etc.) of the worker terminal 200 in association with the 3D point cloud data 101. When the worker terminal 200 is equipped with a positioning unit (not shown) that measures the position and orientation by GPS or the like, the transmission unit 220 may transmit the position information and orientation information of the shooting position measured by the positioning unit in association with the 3D point cloud data 101.

[0023] The reception unit 230 is a functional unit that receives alert information from the security management device 300 via the network 400 (see Fig. 2). The reception unit 230 is controlled by the control unit 250. The reception unit 230 outputs the received alert information toward the output unit 240.

[0024] The output unit 240 is a functional unit that outputs (voice output, display, vibration, etc.) the alert information from the reception unit 230 (see Fig. 2). The output unit 240 is controlled by the control unit 250. The output unit 240 may be connected to the worker terminal 200 so as to enable short-range communication. For example, smart glasses, wireless earphones, etc. can be used. Instead of or in addition to outputting the alert information by the output unit 240, for example, sounding a buzzer sound from a speaker installed at the work site 2, lighting a patrol lamp, opening and closing the gate of the work site 2, restricting the use of tools, etc. can be mentioned, but other methods may also be used.

[0025] The control unit 250 is a functional unit that controls the acquisition unit 210, the transmission unit 220, the reception unit 230, and the output unit 240 (see Figure 2). The control unit 250 controls the acquisition unit 210, the transmission unit 220, the reception unit 230, and the output unit 240 based on a program.

[0026] The safety management device 300 is a device that manages the safety of the workers 10a, 10b, and 10c at the work site 2 (see Figures 1 and 2). As the safety management device 300, a terminal (computer terminal) having functional units constituting a computer (for example, a processor, a storage device, an input device, a communication interface, and a display device) can be used, and for example, a personal computer, a server, a tablet terminal, a smartphone, etc. can be used. The safety management device 300 is communicably (wirelessly communicable, wire communicable) connected to the worker terminal 200 via the network 400. The safety management device 300 has a function of analyzing the three-dimensional point cloud data 101 from the worker terminal 200 and creating a three-dimensional map 350. The safety management device 300 has a function of automatically setting a danger area 351 by analyzing the three-dimensional map 350. The safety management device 300 has a function of identifying the workers 10a, 10b, and 10c in the danger area 351. The safety management device 300 has a function of transmitting alert information to the worker terminals 200 of the workers 10a, 10b, and 10c in the danger area 351. The safety management device 300 realizes a configuration including a three-dimensional point cloud data analysis unit 310, a three-dimensional map creation unit 320, a safety management unit 330, and a danger area setting unit 340 by executing a predetermined program.

[0027] The three-dimensional point cloud data analysis unit 310 is a functional unit that receives the three-dimensional point cloud data 101 from the worker terminal 200 and analyzes the three-dimensional point cloud data 101 (shooting position analysis) (see Figure 2). The three-dimensional point cloud data analysis unit 310 includes a three-dimensional point cloud data reception unit 311 and a shooting position analysis unit 312.

[0028] The three-dimensional point cloud data receiving unit 311 is a functional unit that receives the three-dimensional point cloud data 101 from the worker terminal 200 (see Fig. 2). The three-dimensional point cloud data receiving unit 311 outputs the received three-dimensional point cloud data 101 to the imaging position analysis unit 312 and the three-dimensional map creation unit 320.

[0029] The imaging position analysis unit 312 is a functional unit that analyzes (identifies) the imaging position of the three-dimensional point cloud data 101 from the three-dimensional point cloud data receiving unit 311 (the imaging position of the three-dimensional point cloud data 101 in the three-dimensional map 350) (see Fig. 2). As a method for analyzing the imaging position, for example, based on the three-dimensional point cloud data 101, the distance and direction between two reference objects (for example, columns 40a and 40b) included in the three-dimensional point cloud data 101 are calculated, and the distance and direction of the imaging position with respect to one reference object (for example, column 40a) are obtained. When the position information and orientation information of the imaging position are associated with the three-dimensional point cloud data 101, the imaging position analysis unit 312 may identify the imaging position of the three-dimensional point cloud data 101 using the position information and the orientation information. For example, when worker A cannot visually recognize the reference object as shown in Fig. 3, the imaging position analysis unit 312 may identify the imaging position of worker A by having another worker B who can visually recognize the reference object and has already identified the imaging position photograph worker A. The imaging position analysis unit 312 outputs the analyzed imaging position information to the safety management unit 330 (worker position identification unit 331).

[0030] Here, regarding the reference object, a predetermined object that necessarily exists at the work site 2 (for example, columns 40a and 40b in Fig. 1) can be used as the reference object, but a reference sphere may also be used, and a predetermined marker attached to an arbitrary object can be used as the reference object. As the predetermined marker, for example, an AR (Augmented Reality) marker, a QR (Quick Response) code, a sticker made of a material with a specific reflection intensity, etc. can be used.

[0031] The 3D map creation unit 320 is a functional unit that creates a 3D map 350 by accumulating 3D point cloud data 101 of an object or terrain (see Fig. 2). The 3D map creation unit 320 creates the 3D map 350 using the 3D point cloud data 101 from the 3D point cloud data reception unit 311. When there are multiple pieces of 3D point cloud data 101, the 3D map creation unit 320 can synthesize the multiple pieces of 3D point cloud data 101 to create one 3D map 350. When the 3D point cloud data 101 includes point cloud data at an uncreated position in the 3D map 350, the 3D map creation unit 320 can add the 3D point cloud data 101 to the 3D map 350. When the 3D point cloud data 101 includes point cloud data at a created position in the 3D map 350, the 3D map creation unit 320 can update the 3D map 350 based on the 3D point cloud data 101. When shooting time information is associated with the 3D point cloud data 101, the 3D map creation unit 320 may create the 3D map 350 by attaching the shooting time information of each piece of 3D point cloud data 101, or may notify the administrator of a location with a time series deviation in the 3D map 350. When altitude information, temperature information, etc. are associated with the 3D point cloud data 101, the 3D map creation unit 320 may attach the altitude information, temperature information, etc. to the 3D map 350. The 3D map creation unit 320 stores the created 3D map 350 in the safety management device 300 and outputs it to the danger area setting unit 340.

[0032] The safety management unit 330 is a functional unit that monitors whether the worker 10 is present in the danger area 351 (see Fig. 2). The safety management unit 330 includes a worker position identification unit 331, a danger determination unit 332, and an alert transmission unit 333.

[0033] The operator position specifying unit 331 is a functional unit that specifies the positions of the operators 10a, 10b, and 10c in the three-dimensional map 350 (see FIG. 2). Based on the shooting position information from the shooting position analysis unit 312 (corresponding to the position information of the operators 10a, 10b, and 10c), the operator position specifying unit 331 specifies the positions of the operators 10a, 10b, and 10c in the three-dimensional map 350. The operator position specifying unit 331 generates operator position information 352 that specifies the positions of the operators 10a, 10b, and 10c. The operator position specifying unit 331 stores the generated operator position information 352 in association with the three-dimensional map 350 in the safety management device 300 and outputs it to the risk determination unit 332.

[0034] The danger determination unit 332 is a functional unit that determines whether or not workers 10a, 10b, and 10c are present in the danger area 351 set in the three-dimensional map 350 (see FIG. 2). Based on the position information of workers 10a, 10b, and 10c from the worker position identification unit 331, the danger determination unit 332 determines whether or not workers 10a, 10b, and 10c are present in the latest danger area 351 set in the stored latest three-dimensional map 350. When any of workers 10a, 10b, and 10c are present in the danger area 351, the danger determination unit 332 generates danger worker identification information that identifies the workers 10a, 10b, and 10c present in the danger area 351. The danger worker identification information can be generated for each of the corresponding workers 10a, 10b, and 10c when multiple workers 10a, 10b, and 10c are present in the danger area 351. The danger determination unit 332 outputs the generated danger worker identification information toward the alert transmission unit 333. The danger determination unit 332 may determine whether or not any of workers 10a, 10b, and 10c (photographing positions) have moved from inside the danger area 351 to outside the danger area 351, and transmit alert cancellation information to the worker terminals 200 of the workers 10a, 10b, and 10c who have moved from inside the danger area 351 to outside the danger area 351 via the alert transmission unit 333. When workers 10a, 10b, and 10c are not present in the danger area 351, the danger determination unit 332 may determine whether or not any of workers 10a, 10b, and 10c (photographing positions) are approaching the danger area 351, and transmit danger warning information to the worker terminals 200 of the workers 10a, 10b, and 10c who are approaching the danger area 351 via the alert transmission unit 333. Danger warning information may be generated and output when the distance between the danger area 351 and workers 10a, 10b, and 10c is shorter in the latest danger determination result than in the past danger determination result.

[0035] The alert transmission unit 333 is a functional unit that transmits alert information to the worker terminals 200 of workers 10a, 10b, and 10c (see Fig. 2). Based on the dangerous worker identification information from the danger determination unit 332, the alert transmission unit 333 transmits alert information to the worker terminals 200 of the corresponding workers 10a, 10b, and 10c (workers 10a, 10b, and 10c present in the dangerous area 351). The content of the alert information output by the worker terminal 200 can be changed according to the type (for example, near the floor edge 21, directly below the floating object 30, etc.) and level (for example, danger level) of the dangerous area 351. When there is no point cloud data of the reference object in the three-dimensional point cloud data 101 (when the reference object cannot be extracted by the three-dimensional point cloud data analysis unit 310), the alert transmission unit 333 transmits alert information (here, information prompting to take a picture so as to include the reference object) to the worker terminals 200 of the workers 10a, 10b, and 10c who are the transmission sources of the three-dimensional point cloud data 101 that does not include the reference object.

[0036] The danger area setting unit 340 is a functional unit that analyzes the three-dimensional map 350 and automatically sets a danger area 351 for the three-dimensional map 350 (see Fig. 2). Examples of the danger area 351 include the periphery of the floor edge 21 of the work site 2 where there is a risk of falling during high-altitude work, and the periphery under the suspended load where there is a risk of flying and falling. The analysis of the three-dimensional map 350 includes detecting dangerous objects that cause the danger area 351, such as the floor edge 21 and floating objects 30. The danger area setting unit 340 creates and registers a three-dimensional point cloud model of a dangerous object (dangerous object point cloud model) in advance, extracts the dangerous object corresponding to the registered dangerous object point cloud model from the created three-dimensional map 350, and can set the danger area 351 around (including the directly lower periphery) the extracted dangerous object for the three-dimensional map 350. Instead of or in addition to automatically setting the danger area 351 by analyzing the three-dimensional map 350, the danger area 351 may be manually set by the user's operation. The danger area setting unit 340 creates a point cloud model of a construction machine or machinery in advance, collates the created three-dimensional map 350 with the point cloud model of the construction machine or machinery to identify the construction machine or machinery, and may set the periphery of the identified construction machine or machinery as the danger area 351. The danger area setting unit 340 stores the information related to the danger area 351 set for the three-dimensional map 350 in the safety management device 300 in association with the three-dimensional map 350.

[0037] The three-dimensional map 350 is a three-dimensional map created by the three-dimensional map creation unit 320 based on at least one three-dimensional point cloud data 101 of the work site 2 (see Figs. 1 and 2). ) The three-dimensional map 350 is stored in the safety management device 300. The danger area 351 set by the danger area setting unit 340 is associated with the three-dimensional map 350. Also, the worker position information 352 generated by the worker position identification unit 331 is associated with the three-dimensional map 350.

[0038] Next, the operation of the safety management device in the safety management system according to Embodiment 1 will be described with reference to the drawings. FIG. 4 is a flowchart schematically showing the operation of the safety management device in the safety management system according to Embodiment 1. For the configuration of the safety management system, refer to FIG. 2 and its description.

[0039] First, the 3D point cloud data receiving unit 311 of the 3D point cloud data analysis unit 310 of the safety management device 300 receives the 3D point cloud data 101 of the work site photographed by the 3D sensor 100 attached to the worker 10 and transmitted from the worker terminal 200 (step A1).

[0040] Next, the shooting position analysis unit 312 of the 3D point cloud data analysis unit 310 of the safety management device 300 analyzes (identifies) the shooting position (the current position of the worker) from the received 3D point cloud data 101 (step A2). Details of the method for analyzing the shooting position will be described later (see FIG. 5).

[0041] Next, the 3D map creation unit 320 of the safety management device 300 creates a 3D map 350 using the received 3D point cloud data 101 based on the analyzed shooting position (step A3). Details of the method for creating the 3D map 350 will be described later (see FIG. 6).

[0042] Next, the dangerous area setting unit 340 of the safety management device 300 analyzes the created 3D map 350 and sets a dangerous area 351 for the 3D map 350 (step A4). Details of the method for setting the dangerous area 351 will be described later (see FIG. 7).

[0043] Next, based on the captured position (the current position of the worker) analyzed (identified) by the worker position identification unit 331 in the safety management unit 330 of the safety management device 300, the safety management unit 330 identifies the positions of the workers 10a, 10b, and 10c in the 3D map 350. Then, based on the identified positions of the workers 10a, 10b, and 10c, the risk determination unit 332 in the safety management unit 330 determines whether any of the workers 10a, 10b, and 10c are present in the latest risk area 351 set in the latest 3D map 350 (step A5). If none of the workers 10a, 10b, and 10c are present in the risk area 351 (NO in step A5), the process ends and returns to the start. If any of the workers 10a, 10b, and 10c are present in the risk area 351 (YES in step A5), the alert transmission unit 333 of the safety management unit 330 of the safety management device 300 transmits alert information to the worker terminals 200 of the workers 10a, 10b, and 10c present in the risk area 351 (step A6). Then, the process ends and returns to the start.

[0044] Next, the details of the captured position analysis flow (step A2 in FIG. 4) of the safety management device in the safety management system according to Embodiment 1 will be described with reference to the drawings. FIG. 5 is a flowchart schematically showing the details of the captured position analysis flow of the safety management device in the safety management system according to Embodiment 1.

[0045] After step A1 in FIG. 4, the captured position analysis unit 312 of the 3D point cloud data analysis unit 310 of the safety management device 300 searches for a reference object corresponding to a pre-registered reference object point cloud model based on the received 3D point cloud data 101 (step B1).

[0046] Here, the reference object point cloud model is for analyzing the captured position and has been pre-captured by the 3D sensor 100 and registered in the safety management device 300. As the reference object, for example, a reference sphere or the like may be used, or the columns 40a to 40d and equipment at the work site may be used. Also, in a situation where the 3D map 350 has been created to a certain extent, the created 3D map 350 may be used.

[0047] Next, the imaging position analysis unit 312 determines whether there is a reference object in the three-dimensional point cloud data 101 (step B2).

[0048] If there is a reference object in the three-dimensional point cloud data 101 (YES in step B2), the imaging position analysis unit 312 analyzes (identifies) the imaging position of the three-dimensional point cloud data 101 based on the reference object in the three-dimensional point cloud data 101 (step B3), and then proceeds to step A3.

[0049] Here, as a method for analyzing the imaging position, for example, a method of calculating the distance and orientation between two reference objects from the coordinate information of the three-dimensional point cloud data and obtaining the distance and orientation with respect to one reference object can be mentioned.

[0050] If there is no reference object in the three-dimensional point cloud data 101 (NO in step B2), the alert transmission unit 333 of the safety management unit 330 of the safety management device 300 transmits alert information to the worker terminals 200 of the workers 10a, 10b, and 10c (step B4), and then returns to the start of FIG. 4.

[0051] Next, the details of the three-dimensional map creation flow (step A3 in FIG. 4) of the safety management device in the safety management system according to Embodiment 1 will be described with reference to the drawings. FIG. 6 is a flowchart schematically showing the details of the three-dimensional map creation flow of the safety management device in the safety management system according to Embodiment 1.

[0052] After step A2, the three-dimensional map creation unit 320 of the safety management device 300 performs alignment between the point cloud data of the reference object in the three-dimensional point cloud data 101 and the point cloud data of the reference object pre-registered on the virtual three-dimensional space constituting the three-dimensional map 350 (step C1).

[0053] Here, examples of the reference object include a reference sphere and a pillar at the work site. Each point of the point cloud data of the reference object is composed of three-dimensional coordinates of xyz.

[0054] Next, the 3D map creation unit 320 adds (or updates) the 3D point cloud data 101 to the 3D map 350 by matching the point cloud data of the reference object in the 3D point cloud data 101 with the point cloud data of the reference object in the 3D map 350 (step C2), and then proceeds to step A4.

[0055] Here, in step A2, if the 3D point cloud data 101 already exists in the area to be added, the existing 3D point cloud data 101 is deleted and then added (updated) to always keep the 3D map 350 in the latest state.

[0056] Next, the details of the dangerous area setting flow (step A4 in FIG. 4) of the safety management device in the safety management system according to Embodiment 1 will be described with reference to the drawings. FIG. 7 is a flowchart schematically showing the details of the dangerous area setting flow of the safety management device in the safety management system according to Embodiment 1.

[0057] After step A3, the dangerous area setting unit 340 of the safety management device 300 detects the floor surface (20 in FIG. 1) of the work site from the latest 3D map 350 (step D1).

[0058] Here, as a method for detecting the floor surface 20, for example, a method of detecting a point cloud (point cloud related to the floor surface 20) that satisfies a preset characteristic form (for example, a substantially horizontal plane, an inclined plane) of the floor surface from the point clouds related to the 3D map 350 by RANSAC (RANdom SAmple Consensus) and the like can be mentioned.

[0059] Next, the dangerous area setting unit 340 detects the floor edge (21 in FIG. 1) with respect to the detected floor surface 20 (step D2).

[0060] Next, the dangerous area setting unit 340 detects floating objects (30 in FIG. 1) that are not in contact with the floor surface 20 from the latest 3D map 350 (step D3). When the floating object 30 cannot be detected, step D3 is skipped.

[0061] Here, as a method for detecting the floating object 30, for example, there is a method of performing clustering so as to include points related to the floating object 30 and detecting a cluster related to the floating object 30, and the like.

[0062] Next, the danger area setting unit 340 sets and registers each of the periphery of the area where the floor edge 21 is detected and the floor surface portion of the area where the floating object 30 is detected as the danger area 351 (step D4), and then proceeds to step A5. Note that when the floating object cannot be detected in step D3, the setting and registration of the danger area related to the floating object are skipped.

[0063] According to the first embodiment, since the three-dimensional map 350 and the danger area 351 can be kept in the latest state and the intrusion of the workers 10a, 10b, and 10c into the danger area 351 can be monitored, it is possible to facilitate the safety management of people and contribute to flexibly coping with the constantly changing danger area 351 in a place where the situation changes rapidly.

[0064] Further, according to the first embodiment, by specifying the positions of the workers 10a, 10b, and 10c based on the shooting positions of the three-dimensional point cloud data 101 shot by the three-dimensional sensors 100 attached to the workers 10a, 10b, and 10c, the danger of the workers 10a, 10b, and 10c can be detected in real time, and a warning can be prompted even in a situation where the workers 10a, 10b, and 10c themselves cannot visually recognize that they are in the danger area 351.

[0065] Further, according to the first embodiment, by recording the past position information of the workers 10a, 10b, and 10c based on the shooting positions of the three-dimensional point cloud data 101 shot by the three-dimensional sensors 100 attached to the workers 10a, 10b, and 10c, the work content and action status of each of the workers 10a, 10b, and 10c can be grasped.

[0066] Further, according to the first embodiment, by accumulating the data of the past three-dimensional map 350, the progress status of the work can be grasped.

[0067] Further, according to Embodiment 1, by setting a reference object for analyzing the shooting position to a pillar, equipment, etc. at the work site without using a reference sphere or the like, the current positions of the workers 10a, 10b, and 10c can be accurately specified.

[0068] Further, according to Embodiment 1, the accuracy of the shooting position can be improved by increasing the number of registered reference objects.

[0069] Further, according to Embodiment 1, since the dangerous area 351 is automatically set while creating the three-dimensional map 350 in real time, it is not necessary to pre-create the three-dimensional map 350 and the dangerous area 351, and the dangerous area 351 in a wide work site can be updated in real time. On the other hand, in Patent Document 1, pre-creation of map data is required for determining the abnormality of the earth wall.

[0070] Further, according to Embodiment 1, the position is specified from the coordinates of the three-dimensional point cloud data 101 acquired by the three-dimensional sensor 100, and the position can be specified without being affected by the radio wave condition. On the other hand, in Patent Document 1, a locator is used for specifying the position of the heavy machine. For example, when specifying the position using something like GPS, it is difficult to accurately specify the position in an environment where radio waves cannot be received.

[0071] Further, according to Embodiment 1, since the dangerous area 351 is set while creating the three-dimensional map 350 in real time, the dangerous area 351 can be set wherever the machine is. On the other hand, in Patent Document 2, in determining the dangerous area of the worker, it is necessary to acquire the data of the machine movable range in advance, and it is necessary to acquire the installation position of the machine in advance.

[0072] Further, according to Embodiment 1, since the three-dimensional sensor 100 is attached to the workers 10a, 10b, and 10c and the position is specified from the coordinates of the acquired three-dimensional point cloud data 101, there is no problem of dead angles. On the other hand, in Patent Document 2, although the three-dimensional sensor is installed on the wall, in this case, the position of the worker in the dead angle cannot be specified.

[0073] [Embodiment 2] The safety management device according to Embodiment 2 will be described with reference to the drawings. FIG. 8 is a block diagram schematically showing the configuration of the safety management device according to Embodiment 2.

[0074] The safety management device 300 is a device for managing the safety of workers at the work site (see FIG. 8). The safety management device 300 includes a 3D map creation unit 320, a danger area setting unit 340, a 3D point cloud data analysis unit 310, a safety management unit 330, and a 3D map 350.

[0075] The 3D map creation unit 320 is configured to create a 3D map 350 based on at least 3D point cloud data captured by a 3D sensor carried by a worker at the work site. The danger area setting unit 340 is configured to analyze the 3D map 350 and set a danger area for the 3D map 350. The 3D point cloud data analysis unit 310 is configured to analyze the shooting position of the 3D point cloud data in the 3D map 350. The safety management unit 330 is configured to determine whether the shooting position is within the danger area, and when the shooting position is within the danger area, transmit alert information to the worker terminal of the worker corresponding to the shooting position.

[0076] According to Embodiment 2, since the 3D map 350 and the danger area are kept in the latest state and the intrusion of workers into the danger area can be monitored, it is possible to contribute to facilitating the safety management of people and flexibly coping with the constantly changing danger area 351 in a place where the situation changes rapidly.

[0077] Note that the safety management device and the worker terminal according to Embodiments 1 and 2 can be configured by so-called hardware resources (information processing devices, computers), and those having the configuration illustrated in FIG. 9 can be used. For example, the hardware resource 1000 includes a processor 1001, a memory 1002, a network interface 1003, etc., which are interconnected by an internal bus 1004.

[0078] Note that the configuration shown in FIG. 9 is not intended to limit the hardware configuration of the hardware resource 1000. The hardware resource 1000 may include hardware not shown (for example, an input / output interface). Alternatively, the number of units such as the processor 1001 included in the device is not intended to be limited to the example shown in FIG. 9. For example, a plurality of processors 1001 may be included in the hardware resource 1000. As the processor 1001, for example, a CPU (Central Processing Unit), an MPU (Micro Processor Unit), a GPU (Graphics Processing Unit), or the like can be used.

[0079] As the memory 1002, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like can be used.

[0080] As the network interface 1003, for example, a LAN (Local Area Network) card, a network adapter, a network interface card, or the like can be used.

[0081] The functions of the hardware resource 1000 are realized by the above-described processing modules. The processing modules are realized, for example, by the processor 1001 executing a program stored in the memory 1002. The program can be downloaded via a network or updated using a storage medium storing the program. Further, the above-described processing modules may be realized by a semiconductor chip. That is, the functions performed by the above-described processing modules may be realized by software being executed in any hardware as long as it can be realized.

[0082] Some or all of the above embodiments may be described as follows in the appended claims, but are not limited thereto.

[0083] [Appendix 1] A 3D map creation unit configured to create a 3D map based on 3D point cloud data captured by at least a 3D sensor carried by a worker at the work site, a danger area setting unit configured to analyze the 3D map and set a danger area for the 3D map, a 3D point cloud data analysis unit configured to analyze the shooting position of the 3D point cloud data in the 3D map, a safety management unit configured to determine whether the shooting position is within the danger area, and when the shooting position is within the danger area, send alert information to the worker terminal of the worker corresponding to the shooting position, Comprising, Safety management device. [Appendix 2] The 3D map creation unit, when there are a plurality of the 3D point cloud data, combines the plurality of 3D point cloud data to create one 3D map, when the 3D point cloud data includes point cloud data at an uncreated position in the 3D map, adds the 3D point cloud data to the 3D map, when the 3D point cloud data includes point cloud data at a created position in the 3D map, updates the 3D map based on the 3D point cloud data, Is configured as follows, The safety management device according to Appendix 1. [Appendix 3] The danger area setting unit extracts a dangerous object corresponding to a pre-registered dangerous object point cloud model from the 3D map, and sets the danger area around the extracted dangerous object for the 3D map, Or / and, extracts the danger area corresponding to a pre-registered danger area point cloud model from the 3D map and sets the danger area for the 3D map, and is configured as follows. The safety management device according to Appendix 1 or 2. [Appendix 4] The safety management unit determines whether the shooting position has moved from within the dangerous area to outside the dangerous area, and when the shooting position has moved from within the dangerous area to outside the dangerous area, it is configured to transmit alert cancellation information to the worker terminal of the worker corresponding to the shooting position. The safety management device according to any one of Appendices 1 to 3. [Appendix 5] The safety management unit determines whether the shooting position is approaching the dangerous area, and when the shooting position is approaching the dangerous area, it is configured to transmit danger warning information to the worker terminal of the worker corresponding to the shooting position. The safety management device according to any one of Appendices 1 to 4. [Appendix 6] The three-dimensional point cloud data analysis unit extracts a reference object corresponding to a pre-registered reference object point cloud model from the three-dimensional point cloud data, and analyzes the shooting position of the three-dimensional point cloud data based on the extracted reference object. The safety management device according to any one of Appendices 1 to 5. [Appendix 7] When the safety management unit cannot extract the reference object by the three-dimensional point cloud data analysis unit, it is configured to transmit alert information to the effect of prompting the worker terminal of the worker who is the transmission source of the three-dimensional point cloud data not including the reference object to take a shot so as to include the reference object. The safety management device according to Appendix 6. [Appendix 8] The safety management device according to any one of Appendices 1 to 7, One or more worker terminals that are communicably connected to the safety management device and are used by workers, One or more three-dimensional sensors that are communicably connected to the worker terminal and are attached to the worker, Comprising Safety management system. [Appendix 9] A safety management method for managing the safety of workers at a work site using hardware resources, comprising: creating a 3D map based on at least 3D point cloud data captured by a 3D sensor carried by the worker at the work site; analyzing the 3D map to set a danger area for the 3D map; analyzing the shooting position of the 3D point cloud data in the 3D map; determining whether the shooting position is within the danger area, and when the shooting position is within the danger area, sending alert information to the worker terminal of the worker corresponding to the shooting position; A safety management method comprising the above steps. [Appendix 10] A program for causing hardware resources to execute a process for managing the safety of workers at a work site, comprising: a process of creating a 3D map based on at least 3D point cloud data captured by a 3D sensor carried by the worker at the work site; a process of analyzing the 3D map to set a danger area for the 3D map; a process of analyzing the shooting position of the 3D point cloud data in the 3D map; a process of determining whether the shooting position is within the danger area, and when the shooting position is within the danger area, sending alert information to the worker terminal of the worker corresponding to the shooting position; A program for causing the hardware resources to execute the above processes.

[0084] Note that each disclosure of the above patent documents is incorporated herein by reference and can be used as the basis or part of the present invention as necessary. Within the scope of the entire disclosure of the present invention (including the claims and drawings), further modifications and adjustments of the embodiments or examples can be made based on its basic technical idea. Also, within the scope of the entire disclosure of the present invention, various combinations or selections (and non-selections if necessary) of various disclosure elements (including each element of each claim, each element of each embodiment or example, each element of each drawing, etc.) are possible. That is, the present invention naturally includes all the disclosures including the claims and drawings, and various deformations and modifications that a person skilled in the art could make according to the technical idea. Also, regarding the numerical values and numerical ranges described in the present application, even if not explicitly stated, any intermediate value, lower numerical value, and small range thereof are considered to be described. Furthermore, each disclosure item of the above-cited documents is, as necessary, in accordance with the spirit of the present invention of the application, and is also considered to be included (belonging) in the disclosure of the present invention of the application as part of the disclosure of the present invention, and can be used in combination with the description items of this book, either in part or in whole.

Explanation of Reference Signs

[0085] 1 Safety management system 2 Work site 10, 10a, 10b, 10c Workers 20 Floor surface 21 Floor edge 30 Floating object 40a, 40b, 40c, 40d Columns 100 3D sensor 101 3D point cloud data 200 Worker terminal 210 Acquisition unit 220 Transmission unit 230 Reception unit 240 Output unit 250 Control unit 300 Safety management device 310 3D point cloud data analysis unit 311 3D point cloud data reception unit 312 Shooting position analysis unit 320 3D Map Creation Unit 330 Safety Management Department 331 Operator Location Identification Unit 332 Hazard Judgment Unit 333 Alert Sending Unit 340 Hazard Area Setting Unit 350 3D Map 351 Hazard Area 352, 352a, 352b, 352c Operator Location Information 400 Network 1000 Hardware Resources 1001 Processor 1002 Memory 1003 Network Interface 1004 Internal Bus

Claims

1. A three-dimensional map creation unit configured to create a three-dimensional map based on three-dimensional point cloud data captured by at least a three-dimensional sensor carried by a worker at a work site; A danger area setting unit configured to analyze the three-dimensional map and set a danger area for the three-dimensional map; A three-dimensional point cloud data analysis unit configured to analyze the shooting position of the three-dimensional point cloud data in the three-dimensional map; A safety management unit configured to determine whether the shooting position is within the danger area, and when the shooting position is within the danger area, transmit alert information to the worker terminal of the worker corresponding to the shooting position; Comprising: A safety management device.

2. The three-dimensional map creation unit: When there are a plurality of the three-dimensional point cloud data, combine the plurality of the three-dimensional point cloud data to create one three-dimensional map; When the three-dimensional point cloud data includes point cloud data at an uncreated position in the three-dimensional map, add the three-dimensional point cloud data to the three-dimensional map; When the three-dimensional point cloud data includes point cloud data at a created position in the three-dimensional map, update the three-dimensional map based on the three-dimensional point cloud data; Is configured as such. The safety management device according to Claim 1.

3. The danger area setting unit: Extract a dangerous object corresponding to a pre-registered dangerous object point cloud model from the three-dimensional map, and set the danger area around the extracted dangerous object for the three-dimensional map; Or / and, Extract the danger area corresponding to a pre-registered danger area point cloud model from the three-dimensional map and set the danger area for the three-dimensional map; Is configured as such. The safety management device according to Claim 1 or 2.

4. The safety management unit is configured to determine whether the shooting position has changed from within the danger area to outside the danger area, and when the shooting position has changed from within the danger area to outside the danger area, transmit alert cancellation information to the worker terminal of the worker corresponding to the shooting position; The safety management device according to any one of Claims 1 to 3.

5. The safety management unit determines whether the shooting position is approaching the dangerous area, and when the shooting position is approaching the dangerous area, it is configured to transmit danger warning information to the worker terminal of the worker corresponding to the shooting position. The safety management device according to any one of claims 1 to 4.

6. The three-dimensional point cloud data analysis unit extracts a reference object corresponding to a pre-registered reference object point cloud model from the three-dimensional point cloud data, and analyzes the shooting position of the three-dimensional point cloud data based on the extracted reference object. It is configured to do so. The safety management device according to any one of claims 1 to 5.

7. When the safety management unit cannot extract the reference object by the three-dimensional point cloud data analysis unit, it sends alert information to the worker terminal of the worker who is the source of the three-dimensional point cloud data that does not include the reference object, It is configured to transmit a message prompting the user to take a picture so as to include the reference object. The safety management device according to claim 6.

8. The safety management device according to any one of claims 1 to 7, One or more worker terminals used by workers, which are communicably connected to the safety management device, One or more three-dimensional sensors attached to the worker, which are communicably connected to the worker terminal, Comprising: Safety management system.

9. A safety management method executed by a computer mounted on a safety management device that manages the safety of workers at a work site, Creating a three-dimensional map based on at least the three-dimensional point cloud data captured by the three-dimensional sensor attached to the worker at the work site; Analyzing the three-dimensional map and setting a dangerous area for the three-dimensional map; Analyzing the shooting position of the three-dimensional point cloud data in the three-dimensional map; Determining whether the shooting position is within the dangerous area, and when the shooting position is within the dangerous area, transmitting alert information to the worker terminal of the worker corresponding to the shooting position; A safety management method including:

10. A program for causing hardware resources to execute a process of managing the safety of workers at a work site, A process of creating a three-dimensional map based on at least the three-dimensional point cloud data captured by the three-dimensional sensor attached to the worker at the work site, A process of analyzing the three-dimensional map and setting a dangerous area for the three-dimensional map, A process of analyzing the shooting position of the three-dimensional point cloud data in the three-dimensional map, A process of determining whether the shooting position is within the dangerous area, and when the shooting position is within the dangerous area, sending alert information to the worker terminal of the worker corresponding to the shooting position, A program that causes the hardware resources to execute.

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