Safety device for construction work

Abstract

An object of the present invention is to provide a safety device for construction work that can maximize the prevention of misdetection of workers and ensure the safety of workers. 【Solution means】A construction safety device 1 having a detection unit 5 that detects a person 15 using at least two types of sensors among a LiDAR 11, a camera 13, a millimeter-wave radar detector, and an ultrasonic radar, and a determination unit 7 that determines whether or not the person 15 detected by the detection unit 5 has entered the restricted entry area 33 beyond a first boundary 35 that is the outer edge of the restricted entry area 33 of the person 15, and an alarm generation unit 9 that issues a first alarm when the determination unit 7 determines that the person 15 detected by the detection unit 5 has entered the restricted entry area 33 beyond the first boundary 35.

Description

Technical Field

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

Background Art

[0002] In construction work on a public road, there is a risk of an accident in which a construction worker (operator) comes into contact with a general vehicle passing by the side of the construction site. One of the causes of this accident is that the worker inadvertently deviates from the construction regulation boundary line (the boundary line between the construction site and the lane where general vehicles are traveling) and protrudes into the lane where general vehicles are traveling.

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

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

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] By the way, in conventional safety devices, since a contact sensor is used to detect workers, the range in which workers can be detected is narrower compared to a method of detecting workers using a non-contact sensor such as a camera.

[0007] On the other hand, in a method of detecting workers using a non-contact sensor such as a camera, there may be a case where a worker is erroneously detected, and there is a risk that the work is interrupted every time this erroneous detection of the worker occurs.

[0008] An object of the present invention is to provide a construction safety device that can ensure the safety of workers while suppressing false detection of workers as much as possible and avoiding the risk of work interruption.

Means for Solving the Problems

[0009] The construction safety device according to an aspect of the present invention uses at least two types of sensors among LiDAR, a camera, a millimeter-wave radar detector, and an ultrasonic radar to detect a person, and a person detected by the detection unit is a first boundary that is the outer edge of the restricted entry area for people. A determination unit that determines whether or not the person has entered the restricted entry area beyond the boundary, and when the determination unit determines that the person detected by the detection unit has entered the restricted entry area beyond the first boundary, a first warning is issued so as to reach the person. It is a construction safety device having an alarm generation unit.

[0010] Further, the construction safety device according to an aspect of the present invention has a prediction unit that predicts whether or not a person detected by the detection unit may enter the restricted entry area beyond a first boundary that is the outer edge of the restricted entry area for construction workers, and the alarm generation unit is configured to issue a second warning so as to reach the person when the prediction unit predicts that the person may enter the restricted entry area beyond the first boundary.

[0011] In addition, in the construction safety device according to an aspect of the present invention, the prediction unit is configured to predict whether or not there is a possibility that the person will enter the restricted area beyond a first boundary that is the outer edge of the restricted area, using the position, moving direction, and moving speed of the person detected by the detection unit.

[0012] In addition, the construction safety device according to an aspect of the present invention includes a boundary setting unit that sets the first boundary. The boundary setting unit is configured to detect a restricting material installed at or near the first boundary by the detection unit, and based on the result of this detection, set the first boundary.

[0013] In addition, in the construction safety device according to an aspect of the present invention, since the restricted area is set upward from the ground surface of the restricted area, the first boundary exists as a plane. The detection unit is configured to measure the distance from the sensor assembly of the two types of sensors to the person, and the determination unit is configured to use the distance to the person measured by the detection unit to determine whether or not the person detected by the detection unit has entered the restricted area beyond a first boundary that is the outer edge of the restricted area for a person performing construction.

[0014] In addition, the construction safety device according to an aspect of the present invention includes a boundary setting unit that sets the first boundary. The boundary setting unit detects a restricting material installed at or near the first boundary by the detection unit, sets the first boundary based on the result of this detection, and is also configured to install a second boundary different from the first boundary. The second boundary is separated from the first boundary and extends along the first boundary on the two types of sensor sides. The determination unit is configured to determine whether or not the person detected by the detection unit has entered the area on the first boundary side beyond the second boundary, and the alarm generation unit is configured to issue a second alarm so as to reach the person when the determination unit determines that the person detected by the detection unit has entered the area on the first boundary side beyond the second boundary.

Advantages of the Invention

[0015] According to the present invention, there is provided a safety device for construction work that can maximize the suppression of misdetection by workers, avoid the risk of work interruption, and ensure the safety of workers. achieves the effect of being able to do so.

Brief Description of the Drawings

[0017]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

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

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

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

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

[0022] Each of the LiDAR 11, camera 13, millimeter-wave radar detector, and ultrasonic radar can detect the distance between these devices and the person 15. As a distance measurement technique using a monocular camera, for example, a technique using the aberration of a lens is adopted (see, for example, Japanese Unexamined Patent Application Publication No. 2023-19521).

[0023] In the mode where the detection unit 5 detects the person 15 using the LiDAR 11 and the camera 13, the detection of the person 15 by the detection unit 5 is performed when the person 15 is detected by the LiDAR 11 and the person 15 is detected by the camera 13.

[0024] Also, in the mode where the detection unit 5 detects the person 15 using the LiDAR 11 and the millimeter-wave radar detector, the detection of the person 15 by the detection unit 5 is performed when the person 15 is detected by the LiDAR 11 and the person 15 is detected by the millimeter-wave radar detector.

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

[0026] Furthermore, in the mode where the detection unit 5 detects the person 15 using the LiDAR 11, the camera 13, and the millimeter-wave radar detector, the detection of the person 15 by the detection unit 5 is performed as follows. That is, it is performed when the person 15 is detected by at least two of the LiDAR 11, camera 13, and millimeter-wave radar detector.

[0027] Note that the detection of the person 15 by the detection unit 5 in the mode where the detection unit 5 detects the person 15 using the LiDAR 11, the camera 13, and the millimeter-wave radar detector may be performed as follows. That is, it may be performed when the person 15 is detected by all the sensors of the LiDAR 11, the camera 13, and the millimeter-wave radar detector (all three types of sensors).

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

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

[0030] Further, the computer 17 is provided with a determination unit 7, a boundary setting unit 23, a prediction unit 25, a pattern storage unit 29, and an input / output unit 31 configured by a touch panel or the like.

[0031] The sensor assemblies 21 that make up the LiDAR 11, camera 13, etc. are provided close to each other. The sensor assembly 21 of the LiDAR 11 is configured to include a laser light emitting unit (laser light emitter) and a laser light detecting unit (laser light receiver) that receives the laser light emitted from the laser light emitting unit and reflected by a person and then returns. The sensor assembly 21 of the camera 13 is configured to include a lens of the camera 13 and an imaging device such as a CMOS sensor. The sensor assembly 21 of the millimeter wave radar detector is configured to include a millimeter wave emitting unit (radio wave oscillator) and a millimeter wave receiving unit (radio wave receiver) that receives the millimeter wave emitted from the millimeter wave emitting unit and reflected by a person and then returns. In any case, the sensor assembly 21 is a part of the sensor that directly receives light (including laser light) and electromagnetic waves from the measurement object, and also directly emits light (including laser light) and electromagnetic waves toward the measurement object.

[0032] An example of the mode in which the sensor assemblies 21 are provided close to each other is illustrated. The distance between the laser light emitter and the laser light receiver of the LiDAR 11 and the lens and the imaging device of the camera 13 is within 50 cm (preferably 30 cm, more preferably 20 cm, still more preferably 10 cm). As the measured distance values for the LiDAR 11, camera 13, and millimeter wave radar detector, for example, the average value of the distance values detected by two sensors is adopted.

[0033] The determination unit 7 is configured to determine whether the person 15 (the whole or a part of the person 15) detected by the detection unit 5 has entered the entry prohibited area 33 beyond the first boundary 35 which is the outer edge of the entry prohibited area 33 for the person doing construction work. In the mode shown in FIG. 5(a), a part of the person 15C has entered the entry prohibited area 33.

[0034] The first boundary 35, which is the outer edge of the restricted entry area 33 for 15 construction workers, is set by the boundary setting unit 23. The boundary setting unit 23 is configured to set the first boundary 35 using the detection result from the detection unit 5. Since the restricted entry area 33 is set in a three-dimensional space as shown in FIGS. 1 and 2, the first boundary 35 is actually the first boundary surface. A more detailed description of the boundary setting unit 23 will be provided later.

[0035] In addition to detecting a person by the detection unit 5, the detection unit 5 may be configured to detect a tool 37 (such as a scoop or rake for road construction) used by the person 15. Then, the determination unit 7 may be configured to determine whether at least any one of the tool 37 (the whole or a part of the tool 37) and the person 15 detected by the detection unit 5 has entered the restricted entry area 33 beyond the first boundary 35.

[0036] The determination unit 7 determines that the person 15 or the tool 37 (the whole or a part of the person 15; the whole or a part of the tool 37) detected by the detection unit 5 has entered the restricted entry area 33 beyond the first boundary 35. At this time, the alarm generation unit 9 is configured to issue a first alarm (first alert) so as to reach the person 15 who has entered the restricted entry area 33 beyond the first boundary 35. For example, no alarm is issued for the persons 15A and 15B shown in FIG. 5(a), but a first alarm is issued for the person 15C shown in FIG. 5(a).

[0037] That is, the alarm generation unit 9 is configured to individually issue the first alarm to the person 15C so that only the person 15C who has entered the restricted entry area 33 among the plurality of persons 15 can be recognized.

[0038] In addition, when some of the plurality of persons 15, i.e., persons 15C, enter the restricted entry area 33, it may be configured to issue a first warning to all of the persons 15. Further, when some of the plurality of persons 15, i.e., persons 15C, enter the restricted entry area 33, it may also be configured to issue a first warning to the persons 15C and the persons 15B who are working in the vicinity of some of the persons 15C.

[0039] Incidentally, assume that only one of the LiDAR 11, the camera 13, and the millimeter-wave radar detector detects a person 15, and the determination unit 7 determines that the detected person 15 has entered the restricted entry area 33 beyond the first boundary 35. At this time, the warning generation unit 9 may be configured to issue a separate warning. This warning is to be issued only to the driver 69 (see FIG. 7) of the construction vehicle 3 where the construction safety device 1 is installed. The display of the driver 69 in FIGS. 1 and 2 is omitted.

[0040] Also, it is desirable that this warning includes the content "Visually confirm whether a person has entered the restricted entry area or not". And if as a result of the driver 69's visual confirmation, it is confirmed that the detected person 15 has actually entered the restricted entry area 33 beyond the first boundary 35, the driver 69 of the construction vehicle 3 may manually generate a warning to the person 15.

[0041] In addition, instead of or in addition to the driver 69, a warning including the content "Visually confirm whether a person has entered the restricted entry area or not" may be issued to the supervisor at the construction site.

[0042] Here, taking road construction as an example of the construction work, and taking the installation (spreading and rolling) of an asphalt mixture on the roadbed as an example of the road construction, it will be further described in more detail. Further, an example of the restricted entry area 33 for road construction will be given and described in more detail.

[0043] As the restricted access area 33, an area including the open lane on the public road can be cited. For example, on a road such as a highway or a high-standard road with two lanes on one side, assume that asphalt mixture leveling work is being carried out on one lane, and general vehicles are passing through the other lane. In this case, the open lane on the public road becomes the lane through which general vehicles are passing, and the area mainly including this open lane becomes the restricted access area 33 for the construction workers. Also, on a road with one lane on one side, assume that asphalt mixture leveling work is being carried out on one lane, and general vehicles are alternately passing through the other lane. In this case, the open lane on the public road becomes the lane through which general vehicles are alternately passing, and the area mainly including this open lane becomes the restricted access area 33 for the construction workers.

[0044] The construction safety device 1 is provided with a prediction unit 25. The prediction unit 25 predicts whether a person 15 detected by the detection unit 5 (the whole or a part of the person 15) may enter the restricted access area 33 beyond the first boundary 35 which is the outer edge of the restricted access area 33 for the construction workers. Note that the prediction unit 25 may be configured to predict whether a tool 37 (the whole or a part of the tool 37) may enter the restricted access area 33.

[0045] And assume that according to the prediction by the prediction unit 25, it is determined that the whole or a part of the person 15 may enter the restricted access area 33 beyond the first boundary 35. At this time, the alarm generation unit 9 is configured to issue a second alarm (second alarm) so as to reach the person 15 who may enter the restricted access area 33, similar to the case when the first alarm is issued.

[0046] Also, the prediction unit 25 is configured to predict whether a person 15 may enter the restricted access area 33 beyond the first boundary 35 which is the outer edge of the restricted access area 33 for the person 15, using the position, moving direction, and moving speed of the person 15 detected by the detection unit 5.

[0047] An example will be given to explain the prediction by the prediction unit 25. When the detection unit 5 detects the person 15, the detection unit 5 also detects, for example, the moving speed and moving direction of the person 15 when this detection is being performed. The detection of the moving speed and moving direction is performed by the detection unit 5 detecting the person 15 at short time intervals (for example, 0.01 second to 0.05 second). And when the moving direction of the detected person 15 is a direction approaching the first boundary 35, the distance between the detected person 15 and the first boundary 35 is determined by the prediction unit 25 according to the moving speed of the person 15. That is, the prediction unit 25 is configured to determine whether there is a possibility that the person 15 may enter the restricted area 33.

[0048] For example, when the above distance is "L" and the above moving speed is "V", when "L / V" becomes smaller than a predetermined threshold value (for example, 2 seconds), the prediction unit 25 determines that there is a possibility that the person 15 may enter the restricted area 33.

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

[0050] Also, the above detection by the detection unit 5 and the above prediction by the prediction unit 25 are performed at a predetermined short time interval (for example, 0.05 second to 0.5 second). For example, every time 0.1 second elapses, the above detection by the detection unit 5 and the above prediction by the prediction unit 25 are performed.

[0051] Another example will be given for further explanation. In a plan view (see FIG. 5(b)), as the distance between the detected person 15 and the first boundary 35, the distance L1 between the center of gravity of the detected person 15 and a predetermined point (the point closest to the center of gravity of the person) on the first boundary 35 is adopted. That is, the shortest distance between the center of gravity of the person 15 and the first boundary 35 is adopted.

[0052] As shown in FIG. 5(b), assuming that a plurality of persons 15D, 15E, 15F, and 15G are working, since person 15D is not moving but stopped, it is not a target for issuing an alarm. Person 15E is moving at a speed VE, but since it is moving away from the restricted entry area 33, it is not a target for issuing an alarm. Person 15F is moving at a speed VF, but since the value of the speed VF is small, it is not a target for issuing an alarm. Person 15G is moving at a speed VG, and since the value of the speed VG is large, it is a target for issuing an alarm.

[0053] Also, in a plan view (see FIG. 5(c)), when the direction of the velocity vector VH indicating the moving speed of the detected person 15's center of gravity is oblique, the velocity vector VH is decomposed into a first velocity vector VHA and a second velocity vector VHB. The first velocity vector VHA is a vector of the component in the direction connecting the center of gravity of person 15 and the point on the first boundary 35 that is closest to the center of gravity of person 15, and the second velocity vector VHB is a vector of the component in the direction orthogonal to the first velocity vector VHA. In this case, as the moving speed of person 15, the speed indicated by the first velocity vector VHA is adopted, and prediction is performed by the prediction unit 25.

[0054] Note that as the distance L1, the distance between a predetermined part (for example, the palm of the right hand) of person 15 closest to the first boundary 35 and a predetermined point on the first boundary 35 may be adopted. This predetermined point on the first boundary 35 is the point on the first boundary 35 closest to the part of person 15 closest to the first boundary 35. At this time, as the moving speed, the moving speed of a predetermined part (for example, the palm of the right hand) of person 15 closest to the first boundary 35 is adopted.

[0055] Alternatively, as the distance L1, the distance between a predetermined part (for example, the tip of a ladle held by hand) of the tool 37 held by the person 15 that is closest to the first boundary 35 and a predetermined point on the first boundary 35 may be adopted. The predetermined point on the first boundary 35 is the point on the first boundary 35 that is closest to the part of the tool 37 that is closest to the first boundary 35. At this time, as the moving speed, the moving speed of a predetermined part (for example, the tip of a ladle held by hand) of the tool 37 that is closest to the first boundary 35 is adopted.

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

[0057] For example, here, a plurality of types (many types; a plurality of sets) of patterns of the actions of the person 15 are stored in the pattern storage unit 29 of the computer 17. Then, whether the pattern of the action of the person 15 detected by the detection unit 5 matches or is extremely approximated to any of the patterns of the actions of many people stored in the pattern storage unit 29 may be used to configure the prediction in the prediction unit 25.

[0058] Specifically, one set of the pattern of the action of the person 15 stored in the pattern storage unit 29 is a combination of the pattern of the change in the position of the person 15, the pattern of the change in the moving speed of the person 15, and the pattern of the change in the moving direction of the person 15 that are associated with each other. The pattern storage unit 29 stores a plurality of sets of patterns of the actions of the person 15.

[0059] All of the plurality of sets of patterns of the actions of the person 15 stored in the pattern storage unit 29 are patterns in which the person 15 does not enter the restricted entry area 33. For example, in a plan view, the person 15 is moving at a predetermined speed along a predetermined arc. This pattern of action is a pattern in which it is predicted that the person 15 does not exceed the first boundary 35.

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

[0061] The boundary setting unit 23 will be described in detail. As described above, the boundary setting unit 23 is configured to set the first boundary 35. Further, the boundary setting unit 23 is configured to set the first boundary 35 using the detection unit 5. That is, the detection unit 5 detects a regulating material (for example, a road cone installed on the ground surface of a construction site; refer to FIGS. 1 and 6) 39 installed at or near the first boundary 35. And based on the result of this detection, the boundary setting unit 23 is configured to set the first boundary 35.

[0062] A more detailed description will be given with reference to FIG. 1. The method shown in FIG. 1 is adapted to be employed on expressways and the like where the installation distance interval of the regulating material 39 is wide. The boundary setting unit 23 detects the regulating material 39 installed at (for example, on) the first boundary 35 using the detection unit 5. And the boundary setting unit 23 is configured to set a straight line (for example, a line segment extending in the Y direction) 41 including the regulating material 39 as a part of the first boundary 35 in a plan view. This first boundary 35 is set as the boundary in the case of constructing a straight - extending road. Note that the installation interval of the regulating material 39 is about 20 m.

[0063] To explain further. The first boundary (the first boundary in the X direction) 35 (line segment 41) set by the boundary setting unit 23 is located at a position separated from the sensor structure 21 by a predetermined distance (for example, 50 cm to 150 cm) in the X direction in a plan view. The sensor structure 21 is a part that constitutes the sensors 11 and 13 that send data such as images to the detection unit 5, as described above. Also, the first boundaries 35 (the first boundaries 35A and 35B in the Y direction) set by the boundary setting unit 23 are located at positions 15 m in front of the sensor structure 21 of the detection unit (in front of the construction vehicle 3) and 10 m behind the sensor structure 21 of the detection unit 5 (behind the construction vehicle 3) in the Y direction.

[0064] Another aspect of the setting of the first boundary 35 by the boundary setting unit 23 will be described with reference to FIG. 6. The method shown in FIG. 6 is suitable for general roads with a narrow installation interval of the regulation materials 39 and is adopted at sites (general roads) with many curves such as mountainous areas. In the aspect shown in FIG. 6, the boundary setting unit 23 detects a plurality of regulation materials 39 (39A to 39E) installed at the first boundary 35 by the detection unit 5. The plurality of regulation materials 39 are arranged at a predetermined interval (about 2 m to 4 m) along the first boundary 35.

[0065] In a plan view, the boundary setting unit 23 is configured to set a plurality of line segments 43 (43A, 43B, 43C, 43D) that connect adjacent regulation materials 39 to each other in the extending direction of the first boundary 35 as the first boundary 35.

[0066] When viewed in a plan view, the first boundary 35 set by the boundary setting unit 23 appears to be like a line segment of a broken line graph in which a plurality of line segments 43 of a predetermined length are sequentially connected along the first boundary 35. This first boundary 35 is set as the boundary when constructing a curved road. As the construction vehicle 3 moves, the regulation materials 39 are tracked by the detection unit 5, and a plurality of line segments 43 of a predetermined length are replaced one after another.

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

[0068] Similar to the case described with reference to FIG. 1, the line segment 43C indicating the first boundary 35 set by the boundary setting unit 23 is located at a predetermined distance (for example, 50 cm to 150 cm) away from the sensor structure 21 of the detection unit 5 in the X direction. The line segment 35A indicating the first boundary (the first boundary in the Y direction) 35 set by the boundary setting unit 23 is located 15 m in front of (the front side of the construction vehicle) the sensor structure 21 of the detection unit 5 in the Y direction. Also, the line segment 35B indicating the first boundary (the first boundary in the Y direction) 35 set by the boundary setting unit 23 is located 10 m behind (the rear side of the construction vehicle) the sensor structure 21 of the detection unit 5. In FIG. 6, the display of the second boundary 47 is omitted.

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

[0070] This mode will be described in detail. Assume that the sensor structures 21 of the sensors 11 and 13 are integrally installed on a construction vehicle (an asphalt finisher) 3 for road construction. The sensor structure 21 is arranged at the end of the construction vehicle 3 (the end on the side where the first boundary 35 is set) in the X direction. In the Z direction, the sensor structure 21 is arranged, for example, above the upper end of the construction vehicle 3, and in the Y direction, the sensor structure 21 is arranged, for example, at the middle part of the construction vehicle 3. The road is straight and extends long in the Y direction. The construction vehicle 3 (the sensor structure 21) performs construction while moving only in the Y direction.

[0071] Under this condition, in a plan view, the boundary setting unit 23 installs a first boundary (a first boundary extending in the Y direction) 35 at a position that is a predetermined distance (for example, 50 cm to 150 cm) away from the sensor assembly 21 in the X direction. The boundary setting unit 23 sets a position 15 m in front of the detection unit 5 (the front side of the construction vehicle 3) in the Y direction from the sensor assembly 21 as a first boundary (a first boundary extending in the X direction at one end in the Y direction) 35A. Further, the boundary setting unit 23 sets a position 10 m behind the detection unit 5 (the rear side of the construction vehicle 3) in the Y direction from the sensor assembly 21 as a first boundary (a first boundary extending in the X direction at the other end in the Y direction) 35B.

[0072] The construction vehicle 3 (sensor assembly 21) moves linearly only in the Y direction. As a result, the first boundaries 35A and 35B extending in the X direction at both ends in the Y direction are changed, but the first boundary (the first boundary extending in the Y direction) 35 at a position that is a predetermined distance away from the sensor assembly 21 in the X direction is not changed.

[0073] In addition, in the construction safety device 1, in a mode where the detection unit 5 uses both the LiDAR 11 and the camera 13 to detect a person 15, the detection unit 5 uses both the LiDAR 11 and the camera 13 to detect a regulation material 39. Here, the detection unit 5 may be configured to detect the regulation material 39 using either one of the LiDAR 11 and the camera 13.

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

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

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

[0077] Similar to the determination unit 7, the prediction unit 25 is also configured to predict whether there is a possibility that the person 15 or the tool 37 detected by the detection unit 5 will enter the restricted area 33 by using the distance to the person 15 or the tool 37 detected by the detection unit 5.

[0078] By the way, the boundary setting unit 23 of the construction safety device 1 is configured to set not only the first boundary 35 but also the second boundary 47 (see FIGS. 1, 2, and 5). As described above, the boundary setting unit 23 detects the regulating material 39 installed at or near the first boundary 35 by the detection unit 5, and sets the first boundary 35 based on the result of this detection. As the regulating material 39, for example, a road cone installed on the ground surface of the construction site can be cited. Also, the boundary setting unit 23 is configured to install a second boundary 47 different from the first boundary 35 in the same manner as the setting of the first boundary 35.

[0079] The second boundary 47 is away from the first boundary 35 and extends along the first boundary 35 on the side of the sensors 11 and 13 (the side of the sensor assembly 21). Also, the second boundary 47 is also a second boundary surface, similar to the first boundary 35. When viewed in plan, the second boundary 47 extends parallel to the first boundary 35.

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

[0081] In the mode where the second boundary 47 is set, the alarm generation unit 9 is configured to issue a second alarm (second alert) so as to reach only the person 15B, for example, when the determination unit 7 determines that the person 15 or the tool 37 detected by the detection unit 5 has entered the warning area 49. The determination by the determination unit 7 as to whether the person 15 or the tool 37 has entered the warning area 49 is made for the whole person 15 or a part of the person, or the whole tool 37 or a part of the tool.

[0082] Here, the construction safety device 1 and the like will be described in more detail. In Figs. 1 and 6, the part indicated by reference numeral 51 is a road where the asphalt mixture has been installed, and the part indicated by reference numeral 53 is a road before the asphalt mixture is installed. Also, in Figs. 1 and 6, the part indicated by reference numeral 3 is an asphalt finisher which is a construction vehicle 3, and the part indicated by reference numeral 55 is a dump truck. The dump truck 55 transports the asphalt mixture to be laid on the road to the asphalt finisher 3.

[0083] The asphalt finisher 3 is configured to include an asphalt finisher main body 57 and a screed 59. A driver's seat (not shown) is provided in the asphalt finisher main body 57, and a computer 17 (input / output unit 31) is installed at the driver's seat. The LiDAR 11 and the camera 13 (the sensor assembly 21) are integrally installed at the end of the screed 59 by a rod-shaped sensor assembly installation body 61. Further, the LiDAR 11 and the camera 13 are arranged at the upper end of the rod-shaped sensor assembly installation body 61 (see Figure 2).

[0084] As shown in Figure 3, as the warning generation unit 9, a first warning generation device 9A and a second warning generation device 9B are provided. As the first warning generation device 9A, for example, a speaker that emits a warning sound is adopted. The first warning generation device 9A is integrally provided on the asphalt finisher 3. More specifically, the first warning generation device 9A is installed at the upper end of the sensor assembly installation body 61.

[0085] As the speaker 9A, one with directivity may be adopted. The speaker 9A with directivity is designed to be minimally affected by ambient noise. The speaker 9A with directivity is configured to be rotationally positioned with respect to the sensor assembly installation body 61. When one of the multiple persons 15 enters the restricted access area 33, the speaker 9A is rotationally positioned to emit a warning sound that reaches only the person 15B who has entered the restricted access area 33. As this warning sound, for example, "Caution: Deviation Limit", "Mr. XX Deviation Limit", "Mr. XX, Return" etc. can be announced.

[0086] Note that as the speaker 9A, an omnidirectional one may be adopted, and when one person 15B among the multiple persons 15 enters the restricted access area 33, it may be configured to emit a warning sound that reaches all of the multiple persons 15.

[0087] As the second warning device 9B, mobile terminals 63 carried by each of a plurality of persons 15 can be cited. The mobile terminal 63 is configured to generate vibrations and sounds that only the person 15 carrying it can feel. And when one of the plurality of persons 15 enters the restricted entry area 33, only the mobile terminal (the mobile terminal of person 15B) 63 of the person 15 who has entered the restricted entry area 33 emits a warning (sound, vibration).

[0088] Note that although the computer 17, the LiDAR 11, and the camera 13 are wired-connected to each other, the computer 17, the LiDAR 11, and the camera 13 may be wirelessly connected to each other. Although the computer 17 and the first warning device 9A are wired-connected to each other, the computer 17 and the first warning device 9A may be wirelessly connected to each other. The computer 17 and the second warning device 9B (mobile terminal 63) are wirelessly connected to each other.

[0089] Next, the operation of the construction safety device 1 will be described with reference to FIG. 4. First, the boundary setting unit 23 sets the first boundary 35 (S1). Subsequently, the detection unit 5 detects the person 15 (S3). Subsequently, the determination unit 7 determines whether the person 15 has protruded from the first boundary 35 (S5). When it is determined in step S5 that the person 15 has protruded from the first boundary 35, the warning generation unit 9 generates a first alarm (S7).

[0090] When it is determined in step S5 that the person 15 has not protruded from the first boundary 35, the detection unit 5 detects the person 15 (S9). Subsequently, the determination unit 7 determines whether there is a possibility that the person 15 will protrude from the first boundary 35 based on the result of the prediction by the prediction unit 25 (S11). When it is determined in step S11 that there is a possibility that the person 15 will protrude from the first boundary 35, the warning generation unit 9 generates a second alarm (S13). When it is determined in step S11 that there is no possibility that the person 15 will protrude from the first boundary 35, the process returns to step S1.

[0091] Note that the form of the first alarm and the form of the second alarm are the same as each other, but the form of the first alarm and the form of the second alarm may be different from each other.

[0092] In the above operation description, the case where the person 15 crosses the first boundary 35 is described, but when the person 15 crosses the second boundary 47, it operates in the same manner. In this case, in step S7, the alarm generation unit 9 is configured to issue a third alarm, and in step S13, the alarm generation unit 9 is configured to issue a fourth alarm.

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

[0094] The construction safety device 1 is configured to include a detection unit 5 that detects a person 15 using at least two types of sensors among the LiDAR 11, the camera 13, and the millimeter-wave radar detector. In addition, the construction safety device 1 includes an alarm generation unit 9 that issues a first alarm (first alarm) so as to reach the person 15 when the determination unit 7 determines that the person detected by the detection unit 5 has crossed the first boundary 35 and entered the restricted entry area 33. Thereby, it is possible to suppress false detection of a person (worker) 15 as much as possible, avoid interruption of work, and prevent contact accidents between the person 15 and general vehicles, etc., and achieve safety efficiently.

[0095] In addition, even when the person 15 does not deviate from the construction regulation boundary line (first boundary 35), there are also cases where tools (tools) 37 used by the person 15 protrude toward the driving lane side and come into contact with general vehicles. To prevent this, in addition to detecting a person with the detection unit 5, the detection unit 5 may be configured to detect a tool (road construction tools such as a scoop and a rake) 37 used by the person 15.

[0096] The construction safety device 1 is provided with a prediction unit 25 that predicts whether a person 15 detected by the detection unit 5 may enter the restricted area 33 beyond the first boundary 35, which is the outer edge of the restricted entry area 33 for the person 15 engaged in construction work. And the alarm generation unit 9 is configured to issue a second alarm so as to reach the person 15 when it is predicted by the prediction unit 25 that there is a possibility that the person may enter the restricted area 33 beyond the first boundary 35. Thereby, the safety of the person 15 can be more surely ensured.

[0097] Also, in the construction safety device 1, the prediction unit 25 is configured to predict whether there is a possibility that the person 15 detected by the detection unit 5 may enter the restricted area 33 by using the position, moving direction, and moving speed of the person 15 detected by the detection unit 5. Thereby, the prediction by the prediction unit 25 can be accurately performed.

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

[0099] In the construction safety device 1, the detection unit 5 is configured to measure the distance from the sensor assembly 21 to the person 15. Also, in the construction safety device 1, the determination unit 7 is configured to determine whether the person 15 detected by the detection unit 5 has entered the restricted area 33 by using the distance to the person 15 measured by the detection unit 5. Thereby, it is possible to accurately and without error determine whether a person has entered the restricted area 33 beyond the first boundary 35, which is the outer edge of the restricted entry area for the person 15 engaged in construction work.

[0100] In the construction safety device 1, the boundary setting unit 23 is configured to set a second boundary 47 different from the first boundary 35. The second boundary 47 is separated from the first boundary 35 and extends along the first boundary 35 on the sensor assembly 21 side. Further, in the construction safety device 1, when the determination unit 7 determines that the person 15 detected by the detection unit 5 has crossed the second boundary 47 and entered the area 49 on the first boundary 35 side, the alarm generation unit 9 is configured to issue a second alarm so as to reach the person 15. Thereby, the safety of the person 15 engaged in the construction can be ensured more reliably while avoiding false detection.

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

[0102] The road roller 3 includes a main body 65 and a rotating roller 67. The LiDAR 11 and the camera 13 are integrally provided at the front end and the rear end of the main body 65, respectively.

[0103] The LiDAR 11 and the camera 13 (detection unit 5) provided at the front end of the main body 65 are configured to set a restricted entry area 33 surrounded by the first boundary 35 in front of the main body 65, for example, using a regulating material 39. Further, the LiDAR 11 and the camera 13 (detection unit 5) provided at the front end of the main body 65 are configured to detect and determine whether there is a person 15 in the restricted entry area 33, for example, using a regulating material 39. Normally, the driver 69 of the road roller 3 drives the road roller 3 while looking ahead (the left side in FIG. 7).

[0104] When it is determined that there is a person 15 in the restricted entry area 33, an alarm is issued from the alarm generation unit 9, and further, the movement of the road roller 3 is blocked (the rotating roller 67 of the road roller 3 is automatically stopped).

[0105] The LiDAR 11 and camera 13 (detection unit 5) provided at the rear end of the main body 65 are configured to set a restricted access area 33 surrounded by a first boundary 35 and a second boundary 47, and a warning area 49, on the rear side of the main body 65, for example, using a regulating material 39. Further, it is configured to detect and determine whether or not there is a person 15 in the restricted access area 33 and the warning area 49.

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

[0107] When it is determined that there is a person 15 in the warning area 49, an alarm is issued from the alarm generation unit 9, and further, the movement of the road roller 3 is slowed down (the speed of the rotating roller 67 of the road roller 3 is automatically slowed down). Note that the construction safety device 1 may be installed on a construction vehicle other than the road roller 3 (for example, a bulldozer).

[0108] The detection unit 5 that detects the person 15, the tool 37, and the regulating material 29 using the LiDAR 11 and the camera 13 of the construction safety device 1 is an example of a device that detects the person 15, the tool 37, and the regulating material 29 by using a plurality of types of non-contact sensors in combination.

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

Explanation of Reference Numerals

[0110] 1 Construction safety device 5 Detection unit 7 Judgment unit 9 Alarm generation unit 11 LiDAR 13 Camera 15 people 21 sensor assemblies 23 boundary setting unit 25 prediction unit 33 restricted entry area 35 first boundary 39 restraint material 45 ground surface 47 second boundary 49 area on the first boundary side (warning area)

Claims

1. A detection unit that detects a person using at least two types of sensors among LiDAR, a camera, a millimeter-wave radar detector, and an ultrasonic radar; A determination unit that determines whether a person detected by the detection unit has entered the restricted area beyond a first boundary that is the outer edge of the restricted area for people to enter; An alarm generation unit that issues a first alarm when the determination unit determines that a person detected by the detection unit has entered the restricted area beyond the first boundary; And a boundary setting unit that sets the first boundary, The boundary setting unit is configured to detect a restricting material installed at or near the first boundary by the detection unit, and based on the result of this detection, set the first boundary. A plurality of the restricting materials are provided, and these plurality of restricting materials are arranged at a predetermined interval along the first boundary. In a plan view, the boundary setting unit is configured to set a plurality of line segments connecting adjacent restricting materials in the extending direction of the first boundary as the first boundary. A safety device for construction work, which, when the first boundary set by the boundary setting unit is viewed in a plan view, looks like the line segments of a broken line graph in which a plurality of line segments of a predetermined length are sequentially connected along the first boundary.

2. Installed on a construction vehicle, a detection unit that detects a person using at least two types of sensors among LiDAR, a camera, a millimeter-wave radar detector, and an ultrasonic radar; A determination unit that determines whether a person detected by the detection unit has entered the restricted area beyond a first boundary that is the outer edge of the restricted area for people to enter; An alarm generation unit that issues a first alarm when the determination unit determines that a person detected by the detection unit has entered the restricted area beyond the first boundary; Having Only one of the at least two types of sensors of the detection unit detects a person, and when the determination unit determines that the detected person has entered the restricted area beyond the first boundary, the alarm generation unit is configured to issue an alarm, and this alarm is configured to be issued only to the driver of the construction vehicle. A safety device for construction work.

3. It has a prediction unit that predicts whether there is a possibility that a person detected by the detection unit will enter the restricted area beyond a first boundary that is the outer edge of the restricted area for construction workers to enter. The construction safety device according to claim 1 or claim 2, wherein the alarm generation unit is configured to issue a second alarm when it is determined by the prediction unit that there is a possibility that the person will enter the restricted entry area beyond the first boundary due to the prediction in the prediction unit.

4. The construction safety device according to claim 3, wherein the prediction unit is configured to predict whether there is a possibility that the person will enter the restricted entry area beyond the first boundary which is the outer edge of the restricted entry area, using the position, moving direction, and moving speed of the person detected by the detection unit.

5. Since the restricted entry area is set upward from the ground surface of the restricted entry area, the first boundary exists as a plane. The detection unit is configured to measure the distance from the sensor assembly of the two types of sensors to the person. The construction safety device according to claim 1 or claim 2, wherein the determination unit is configured to determine whether the person detected by the detection unit has entered the restricted entry area beyond the first boundary which is the outer edge of the restricted entry area for the person performing the construction, using the distance to the person measured by the detection unit.

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

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