Information processing device, terminal, information processing method, alarm method, and alarm system

Abstract

To provide an information processor, a terminal, a method for processing information, a method for warning, and a warning system that can properly warn a person who is related to a mobile body.SOLUTION: In a warning system 1, a server 20 includes: a processing unit for dynamically setting an area in a part of the region around a first terminal including the position of the first terminal on the basis of the state of a mobile body 50 and the position of the first terminal provided in the mobile body and determining an intrusion or an approach of a second terminal 10 into the area; and a communication unit for sending, to the second terminal 10, a signal for issuing the second terminal 10 to issue a warning in response to the intrusion or the approach.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device, a terminal, an information processing method, an alarm method, and an alarm system. [Background technology]

[0002] There is a technology that sets a specific area as a "geofence," which refers to an area surrounded by a virtual boundary, and generates an event when a mobile object enters or leaves the geofence. For example, there is a technology that issues an alarm when a mobile object enters or leaves the geofence.

[0003] For example, Patent Document 1 discloses a technology in which an alarm command is output when even one worker who is the target of an approach notification is present within an approach notification target area, which is an example of a geofence, and no alarm command is output when no worker is present. At this time, it also discloses that the type of alarm is changed in stages depending on information such as the number of workers detected in the approach notification target area and the distance from the hydraulic excavator. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2019 / 117268 Summary of the Invention [Problem to be solved by the invention]

[0005] As described above, the decision to issue an alert to a person carrying a mobile object is made based solely on the distance between the geofence and the mobile object, without taking into account factors other than distance. For example, issuing an alert even when the geofence and the mobile object are far from each other would ensure safety, but would also increase the likelihood of excessive alerts. On the other hand, issuing an alert only when the geofence and the mobile object are close to each other would reduce excessive alerts, but would make it more difficult to ensure safety. Furthermore, while geofences are generally set as fixed areas defined in advance, cases involving other mobile objects (such as cars) are also anticipated. In such cases, considering factors other than the distance between the geofence and the mobile object could contribute to the appropriate setting of geofences that achieve a better balance between excessive alerts and ensuring safety.

[0006] Non-limiting examples of the present disclosure contribute to providing an information processing device, terminal, information processing method, warning method, and warning system that can appropriately issue warnings to people associated with a mobile object, such as people carrying the mobile object or people driving a vehicle in which the mobile object is installed. [Means for solving the problem]

[0007] An information processing device according to an embodiment of the present disclosure includes: a processing unit that dynamically sets an area around a first terminal including a position of the first terminal based on a state of a mobile body on which the first terminal is mounted and a position of the first terminal, and determines whether a second terminal has entered or approached the area; and a communication unit that transmits to the second terminal a signal for causing the second terminal to issue an alarm in response to the entry or approach. The state of the moving body is a state of movement of the moving body, and the processing unit sets the area so that the area of ​​the portion corresponding to the moving direction of the moving body is larger than the area of ​​the portion on the opposite side of the moving body. . In addition, an information processing device according to one embodiment of the present disclosure includes a processing unit that dynamically sets an area around a part of a first terminal, including the position of the first terminal, based on the state of the mobile body on which the first terminal is mounted and the position of the first terminal, and determines whether a second terminal has entered or approached the area; and a communication unit that transmits a signal to the second terminal, which was not determined to enter the area before the state of the mobile body changed but is determined to enter the area due to the change in the state of the mobile body, to issue an alert that is different from that issued by the second terminal that was determined to enter the area both before and after the change in the state of the mobile body.

[0008] A terminal according to an embodiment of the present disclosure includes: a processing unit that determines a position of the terminal; and an alarm unit that issues an alarm when the terminal enters or approaches an area that is dynamically set in at least a part around another terminal that is different from the terminal and that includes a position of the other terminal, the area including: The area of ​​the portion corresponding to the direction of travel is set to be larger than the area of ​​the portion on the opposite side across the moving body. . Furthermore, a terminal according to one embodiment of the present disclosure includes a processing unit that determines the position of the terminal, and an alarm unit that issues an alarm in response to the terminal's intrusion into or approaching an area that is dynamically set in at least a portion around another terminal that is different from the terminal and is mounted on a mobile body, the area being set dynamically based on the state of the mobile body and the position of the other terminal, and the alarm unit issues different alarms depending on whether the terminal was not determined to intrude into the area before the state of the mobile body changed, but was determined to intrude into the area due to the change in the state of the mobile body, or whether the terminal was determined to intrude into the area both before and after the change in the state of the mobile body.

[0009] In an information processing method according to an embodiment of the present disclosure, an information processing device dynamically sets an area around a part of a first terminal including the location of the first terminal based on a state of a mobile body on which the first terminal is mounted and a location of the first terminal, determines whether a second terminal has entered or approached the area, and transmits a signal to the second terminal to cause the second terminal to issue an alert in response to the entry or approach. The state of the moving body is the state of movement of the moving body, and the area is set so that the area of ​​the portion corresponding to the moving direction of the moving body is larger than the area of ​​the portion on the opposite side of the moving body. . In addition, an information processing method according to one embodiment of the present disclosure includes an information processing device that dynamically sets an area around a part of a first terminal, including the location of the first terminal, based on the state of a mobile body on which the first terminal is mounted and the location of the first terminal, determines the intrusion of a second terminal into the area, and transmits a signal to the second terminal that was not determined to intrude into the area before the state of the mobile body changed but is determined to intrude into the area due to the change in the state of the mobile body, to issue an alert that is different from that issued by the second terminal that was determined to intrude into the area both before and after the change in the state of the mobile body.

[0010] In an alarm method according to an embodiment of the present disclosure, a terminal determines a location of the terminal, and issues an alarm when the terminal enters or approaches an area that is dynamically set in at least a part of a periphery of another terminal that is mounted on a mobile body and is different from the terminal, the area including the location of the other terminal, the area including: The area of ​​the portion corresponding to the moving direction of the moving body is larger than the area of ​​the portion on the opposite side of the moving body. It is set. In addition, an alarm method according to one embodiment of the present disclosure includes a method in which a terminal determines the position of the terminal and issues an alarm in response to the terminal's intrusion into an area that is dynamically set in at least a portion around another terminal that is different from the terminal and is mounted on a mobile body, the area being dynamically set based on the state of the mobile body and the position of the other terminal, and different alarms are issued when the terminal was not determined to be intruding into the area before the state of the mobile body changed and was determined to be intruding into the area due to the change in the state of the mobile body, and when the terminal was determined to be intruding into the area both before and after the change in the state of the mobile body.

[0011] An alarm system according to an embodiment of the present disclosure includes a first terminal and a second terminal, and the alarm system dynamically sets an area around a part of the first terminal including the position of the first terminal based on a state of a mobile body on which the first terminal is mounted and the position of the first terminal, determines an intrusion or approach of the second terminal into the area, and performs at least one of a process of transmitting a first signal to the first terminal to cause the first terminal to issue a first alarm and a process of transmitting a second signal to the second terminal to cause the second terminal to issue a second alarm, and the first terminal issues the alarm according to the first signal, and the second terminal issues the alarm according to the second signal. The area is set so that the area of ​​the portion corresponding to the moving direction of the moving object is larger than the area of ​​the portion on the opposite side of the moving object. . Moreover, an alarm system according to one embodiment of the present disclosure is an alarm system having a first terminal and a second terminal, wherein the alarm system dynamically sets an area around a portion of the first terminal including the location of the first terminal based on the state of a mobile body on which the first terminal is mounted and the location of the first terminal, determines an intrusion of the second terminal into the area, and performs at least a process of transmitting a second signal to the first terminal in response to the intrusion, out of a process of transmitting a first signal to the first terminal to cause the first terminal to issue a first alarm, and a process of transmitting a second signal to the second terminal to cause the second terminal to issue a second alarm, wherein the first terminal issues an alarm in accordance with the first signal, and the second terminal issues an alarm in accordance with the second signal, and the alarm system transmits the second signal to the second terminal that was not determined to intrude into the area before the change in the state of the mobile body but is determined to intrude into the area due to the change in the state of the mobile body, in order to issue an alarm that is different from an alarm for the second terminal that was determined to intrude into the area both before and after the change in the state of the mobile body.

[0012] These comprehensive or specific aspects may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a recording medium, or may be realized as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium. [Effects of the Invention]

[0013] According to one embodiment of the present disclosure, an area is dynamically set around a portion of the first terminal, including the location of the first terminal, based on the state of the mobile body on which the first terminal is mounted and the location of the first terminal, and an intrusion or approach of a second terminal into the area is determined. Then, in response to this intrusion or approach, a signal for issuing an alarm to at least one of the first terminal and the second terminal is provided to at least one of the first terminal and the second terminal, or at least one of the first terminal and the second terminal issues an alarm. In this way, by setting an area around the first terminal while taking into account factors other than the distance from the terminal (mobile body), it is possible to appropriately issue an alarm to a worker associated with at least one of the first terminal and the second terminal.

[0014] Further advantages and benefits of certain aspects of the present disclosure will become apparent from the specification and drawings. Such advantages and / or benefits may be provided by some of the embodiments and features described in the specification and drawings, respectively, but not necessarily all of them may be provided to obtain one or more identical features. [Brief explanation of the drawings]

[0015] [Figure 1] FIG. 1 is a diagram illustrating an example of an alarm system according to a first embodiment of the present disclosure. [Figure 2A] FIG. 1 shows an example of the configuration of a positioning terminal according to the first embodiment. [Figure 2B] FIG. 1 shows an example of the configuration of a positioning terminal according to the first embodiment. [Figure 3] FIG. 1 shows an example of the configuration of a higher-level server according to the first embodiment. [Figure 4A] FIG. 10 is a diagram showing an example of the operation of the positioning terminal according to the first embodiment; [Figure 4B] FIG. 10 is a diagram showing an example of the operation of the positioning terminal according to the first embodiment; [Figure 5] FIG. 10 is a diagram showing an example of the operation of a higher-level server according to the first embodiment; [Figure 6A] FIG. 10 is a diagram showing an example of the operation of a higher-level server according to the first embodiment; [Figure 6B] FIG. 10 is a diagram showing an example of the operation of a higher-level server according to the first embodiment; [Figure 7] FIG. 10 is a diagram illustrating an example of an alarm system according to a second embodiment of the present disclosure. [Figure 8A] FIG. 10 is a diagram showing an example of the configuration of a positioning terminal according to a second embodiment; [Figure 8B] FIG. 10 is a diagram showing an example of the configuration of a positioning terminal according to a second embodiment; [Figure 9] FIG. 10 is a diagram showing an example of the configuration of a higher-level server according to a second embodiment; [Figure 10A] FIG. 10 is a diagram showing an example of the operation of a positioning terminal according to the second embodiment; [Figure 10B] FIG. 10 is a diagram showing an example of the operation of a positioning terminal according to the second embodiment; [Figure 11A] FIG. 10 is a diagram showing an example of the operation of a higher-level server according to the second embodiment; [Figure 11B] FIG. 10 is a diagram showing an example of the operation of a higher-level server according to the second embodiment; [Figure 12A] FIG. 10 is a diagram illustrating an example of a new danger area when a construction vehicle is traveling straight according to an embodiment of the present disclosure. [Figure 12B] FIG. 10 is a diagram illustrating an example of a new danger area when a construction vehicle is moving backward according to an embodiment of the present disclosure. [Figure 13A] FIG. 10 is a diagram illustrating an example of a new danger area when the tip of the arm of the construction vehicle is rotated to the right relative to the front of the construction vehicle, according to an embodiment of the present disclosure. [Figure 13B] FIG. 10 is a diagram illustrating an example of a new danger area when the tip of the arm of the construction vehicle is rotated to the left relative to the front of the construction vehicle, according to an embodiment of the present disclosure. [Figure 14A] FIG. 10 is a diagram illustrating an example of a new danger area when a construction vehicle is turning right according to a modified example of an embodiment of the present disclosure. [Figure 14B] FIG. 10 is a diagram illustrating an example of a new danger area when a construction vehicle is turning left according to a modified example of an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings as appropriate. However, more detailed explanation than necessary may be omitted. For example, detailed explanation of already well-known matters or redundant explanation of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following explanation and to facilitate understanding by those skilled in the art.

[0017] The accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure, and are not intended to limit the subject matter described in the claims.

[0018] (Embodiment 1) FIG. 1 is a diagram illustrating an example of an alarm system 1 according to a first embodiment of the present disclosure. One example of a scenario in which the alarm system 1 is used is when a worker approaches or enters a dangerous area (i.e., a geofence) at a work site. The dangerous area may also be referred to as a no-entry area. The following description will be given taking such a scenario as an example.

[0019] 1, the warning system 1 includes a positioning terminal 10, an upper server 20, a reference station data distribution server 30, a monitor device 40, and a construction vehicle 50. The warning system 1 may also be referred to as an information processing system or the like.

[0020] When the positioning terminal 10 is carried by a worker, the positioning terminal 10 (positioning terminal 10A described later) may be a wireless terminal such as a dedicated terminal for positioning, a mobile phone, a smartphone, a tablet, a wearable device (e.g., a wristwatch-type (or wristband-type or ring-type) terminal), a head-mounted display-type (or eyeglass-type or goggle-type) terminal, an earphone-type terminal, a clothing-type terminal, a sock-type terminal, etc.). The positioning terminal 10 (positioning terminal 10B described later) may also be mounted on a construction vehicle 50 as shown in the figure, for example, as a dedicated terminal for positioning, a personal computer with positioning function, a server computer, a smartphone, a tablet, or other wireless terminal. The positioning terminal 10 may also be referred to as an alarm device, etc. The positioning terminal 10 is an example of a terminal, a first terminal, a second terminal, a terminal, another (other) terminal, or an information processing device (corresponding to a representative positioning terminal 10 described later) according to the present disclosure.

[0021] There may be a plurality of positioning terminals 10 in the warning system 1. For example, two or more of the plurality of positioning terminals 10 may be carried by each of two or more workers and associated with each worker, and the remaining positioning terminals 10 of the plurality of positioning terminals 10 may be mounted on each construction vehicle 50 and associated with each construction vehicle 50.

[0022] The positioning terminal 10 may access a network including a mobile communication network using a communication method such as LTE (Long Term Evolution), 5G, Beyond 5G, 6G, WiFi (registered trademark), WiGig (registered trademark), or WiMAX (registered trademark), and connect to the upper server 20 and the reference station data distribution server 30 via the network.

[0023] The positioning terminal 10 receives radio waves (which may be referred to as "satellite signals" or "positioning signals") transmitted from GNSS (Global Navigation Satellite System) satellites (not shown), and generates positioning data (which may be referred to as "positioning terminal positioning data" or "positioning terminal data") for the positioning terminal 10 using the received satellite signals. The positioning terminal 10 receives correction data from the reference station data distribution server 30 for performing RTK (Real Time Kinematic) calculations to measure the position of the positioning terminal 10 (to position the positioning terminal 10).

[0024] The positioning terminal 10 performs RTK calculation using the positioning terminal positioning data and correction data to measure the position of the positioning terminal 10 (and in some cases, the speed and acceleration). The position may also be referred to as coordinates (on the earth). The coordinates may be, for example, three-dimensional coordinates of latitude, longitude, and altitude, or two-dimensional coordinates represented by two of latitude, longitude, and altitude (for example, latitude and longitude). In the following description, the coordinates are described as two-dimensional coordinates represented by latitude and longitude. The expression "measuring a position" may also be interpreted as "determining a position (or coordinates)," "finding a position (or coordinates)," "estimating a position (or coordinates)," "detecting a position (or coordinates)," "calculating a position (or coordinates)," "calculating a position (or coordinates)," or "deriving a position (or coordinates)." Details of positioning using RTK calculation will be described later. By using RTK calculation in this way, highly accurate position information, etc. can be obtained.

[0025] When the positioning terminal 10 is mounted on a construction vehicle 50 (as in the situation shown in the figure), the positioning terminal 10 obtains status information of the construction vehicle 50 (information indicating whether the construction vehicle 50 is moving forward, backward or stopped, information indicating the status of the arm provided on the construction vehicle 50, etc.) from the construction vehicle 50 (for example, a vehicle control system that controls the construction vehicle 50).

[0026] The positioning terminal 10 transmits the positioning results to the host server 20. The positioning terminal 10 receives an alarm issuance command from the host server 20 to warn that the positioning terminal 10 is entering or approaching a dangerous area (which may be referred to as an "alarm event"). The alarm issuance command may be expressed as a signal for causing the positioning terminal 10 to issue an alarm.

[0027] In accordance with the alarm issuing command, the positioning terminal 10 issues an alarm to, for example, a worker associated with the positioning terminal 10 or a worker driving a construction vehicle 50 associated with the positioning terminal 10.

[0028] The host server 20 may be configured with, for example, one or more server computers. The host server 20 may also be called a cloud server. The host server 20 is an example of an information processing device according to the present disclosure.

[0029] The host server 20 sets a danger area. The danger area may include, for example, an area with a safety margin added to an area where soil and sand are piled up, an area with a safety margin added to an area where work tools are collected, and an area with a safety margin added to an area where construction vehicles 50 are located. Here, the safety margin is a margin determined taking into account worker movement and changes in posture (such as falling). Considering the height of an average person, a safety margin of approximately 2 meters is sufficient, but a work manager or the like may set an arbitrary margin depending on the actual environment. Such an area with a safety margin added may be referred to as a danger margin area. A danger margin area is also an example of a danger area. The shape of the danger area may be, for example, a perfect circle, an ellipse, a rectangle, etc., but is not limited to these. In the following description, the danger area is assumed to be a perfect circle unless otherwise specified.

[0030] The host server 20 receives the positioning results transmitted from the positioning terminal 10. Based on the set dangerous area, the received positioning results, etc., the host server 20 determines whether the positioning terminal 10 carried by the worker and associated with the worker has approached or entered the dangerous area (in other words, detects an alarm event). When the host server 20 detects an alarm event, it generates an alarm issuing command to alert the worker associated with the positioning terminal 10 (and in some cases the worker driving the construction vehicle 50) that an alarm event has occurred, and transmits the command to the positioning terminal 10.

[0031] The upper server 20 may manage multiple positioning terminals 10 by associating the identification information of the positioning terminal 10 with the identification information of the worker or construction vehicle 50, for example in table format or list format, and storing the information in a storage device provided in the upper server 20.

[0032] The host server 20 transmits information such as the set dangerous area, the received positioning result, and the positioning terminal 10 to which the alarm issuing command is to be sent to the monitor device 40 so that the information can be displayed.

[0033] The reference station data distribution server 30 transmits correction data for performing RTK calculations to the positioning terminal 10 to position the positioning terminal 10. The correction data may be generated by a reference station (not shown) and transmitted to the reference station data distribution server 30. The reference station may generate positioning data of the reference station (which may also be referred to as "correction data," "reference station positioning data," or "reference station data") based on satellite signals transmitted from GNSS satellites. The reference station may transmit the generated correction data to the reference station data distribution server 30 periodically (for example, at a transmission period on the order of seconds or less).

[0034] The monitor device 40 receives information such as the danger area, the positioning result, and the positioning terminal 10 to which the alarm issuance command is to be sent from the upper server 20. The monitor device 40 displays this information on a display provided in the monitor device 40. The monitor device 40 may be included in the upper server 20, or may be included in a computer of a user such as a work manager, or may be mounted on a construction vehicle 50.

[0035] The construction vehicle 50 grasps its state based on vehicle speed pulses, vehicle forward and reverse signals based on the driver's shift lever operation, and arm operation signals based on the driver's operation of the arm, and stores state information indicating the grasped state in a memory unit. The state information of the construction vehicle 50 may include information indicating that the construction vehicle 50 is moving forward, information indicating that the construction vehicle 50 is moving backward, information indicating that the construction vehicle 50 is turning right, information indicating that the construction vehicle 50 is turning left, information indicating that the construction vehicle 50 is stopped, and information indicating the state of the arm provided on the construction vehicle 50, such as information on the rotation direction of the tip of the arm, the rotation speed of the tip of the arm, and information on the bending of the arm. The construction vehicle 50 is an example of a moving body or another (other) moving body according to the present disclosure. The arm provided on the construction vehicle 50 is an example of a movable part or "a movable part provided on a moving body and that moves without moving the moving body" according to the present disclosure.

[0036] <Configuration of positioning device> Fig. 2A is a block diagram showing an example of the configuration of a positioning terminal 10A according to embodiment 1. The positioning terminal 10A shown in Fig. 2A may be a positioning terminal carried by a worker, rather than being mounted on a construction vehicle 50. As shown in Fig. 2A, the positioning terminal 10A includes a processor 101A, a storage unit 102A, an alarm unit 103A, a GNSS receiver 104A, a communication unit 105A, an output unit 106A, and a bus 107A.

[0037] The processor 101A may be realized by a processing device such as a central processing unit (CPU). The processor 101A controls the overall operation of the positioning terminal 10A (for example, other elements of the positioning terminal 10A). The processor 101A may also be referred to as a processing unit, a control unit, an arithmetic unit, a controller, etc.

[0038] The processor 101A generates positioning terminal positioning data using satellite signals from GNSS satellites. Note that the positioning terminal positioning data may be generated by the GNSS receiver 104A and output to the processor 101A.

[0039] The processor 101A performs RTK calculations using the positioning terminal positioning data and correction data from the reference station data distribution server 30 to measure (determine) the position, speed, acceleration, and traveling direction of the positioning terminal 10A. If the positioning terminal 10A is equipped with a speed sensor and an acceleration sensor, the speed and acceleration of the positioning terminal 10A may be measured by the speed sensor and the acceleration sensor, respectively, and the processor 101A may acquire the speed and acceleration from the speed sensor and the acceleration sensor, respectively, and determine the speed and acceleration of the positioning terminal 10A. These measurements may be performed when a satellite signal is received from a GNSS satellite, or may be performed at a predetermined interval, for example, every 0.2 seconds, every 0.5 seconds, or every 1 second. The processor 101A outputs (i.e., stores) the positioning results to the storage unit 102A. In the present disclosure, the positioning results for the positioning terminal 10A include the position (latitude and longitude), speed, and traveling direction of the positioning terminal 10A.

[0040] Every time measurement is performed, the processor 101A transmits the positioning result via the communication unit 105A to the host server 20. The processor 101A receives an alarm issuing command from the host server 20 via the communication unit 105A.

[0041] When the processor 101A receives the alarm issuance command from the upper server 20, the processor 101A controls the alarm unit 103A to issue an alarm in accordance with the alarm issuance command. As will be described below, as an example, the alarm issuance command includes an alarm issuance command to issue an alarm that the positioning terminal 10A has entered a dangerous area.

[0042] The storage unit 102A may be, for example, one or more of a dynamic random access memory (DRAM), a hard disk drive (HDD), a solid state drive (SSD), etc. The storage unit 102A acquires various information from other elements and stores the information temporarily or permanently. The storage unit 102A is a general term for so-called primary storage devices and secondary storage devices. A plurality of storage units 102A may be physically arranged.

[0043] The memory unit 102A stores, for example, a program executed by the processor 101A to operate the positioning terminal 10A, data necessary for the operation of the positioning terminal 10A, data generated by the processor 101A, satellite signals transmitted from GNSS satellites, positioning terminal positioning data, correction data transmitted from the reference station data distribution server 30, positioning results by the processor 101A, and alarm issuance commands transmitted from the upper server 20.

[0044] The alarm unit 103A issues an alarm in response to approaching or entering a dangerous area. For example, the alarm unit 103A may issue an alarm by sounding a buzzer, vibrating the positioning terminal 10A, outputting an alarm sound via the output unit 106A, or any combination thereof. The alarm unit 103A may issue an alarm in different styles depending on the predicted time at which the positioning terminal 10A will enter the dangerous area.

[0045] The GNSS receiver 104A receives satellite signals transmitted from GNSS satellites. The GNSS receiver 104A may generate positioning terminal positioning data for the positioning terminal 10A using the received satellite signals. The GNSS receiver 104A outputs the satellite signals to the processor 101A and the storage unit 102A. When the GNSS receiver 104A generates positioning terminal positioning data, it outputs the positioning terminal positioning data to the processor 101A and the storage unit 102A.

[0046] The communication unit 105A may be configured using, for example, a communication interface capable of communicating with a communication network such as a cellular communication network. The communication unit 105A communicates with external devices via a communication path. Devices with which the communication unit 105A communicates (communication targets) include, for example, the upper server 20 and the reference station data distribution server 30.

[0047] The communication unit 105A receives correction data transmitted from the reference station data distribution server 30. The communication unit 105A receives an alarm issuance command transmitted from the upper server 20. The communication unit 105A outputs the received correction data and alarm issuance command to the processor 101A and the storage unit 102A. The communication unit 105A transmits the positioning result to the upper server 20.

[0048] For example, the output unit 106A may be configured using an output interface such as a display. Additionally or alternatively, the output unit 106A may be configured using an output interface for sound, vibration, etc. The output unit 106A presents or provides information to the outside. The information presented or provided by the output unit 106A includes the positioning results by the processor 101A, etc.

[0049] The processor 101A, the storage unit 102A, the alarm unit 103A, the GNSS receiver 104A, the communication unit 105A, and the output unit 106A are connected to one another via a bus 107A so as to be able to communicate with one another.

[0050] The above configuration of the positioning terminal 10A is an example. Some of the components of the positioning terminal 10A may be integrated. Some of the components of the positioning terminal 10A may be divided into multiple elements. Some of the components of the positioning terminal 10A may be omitted. Other elements may be added to the positioning terminal 10A. For example, an input unit such as a touch display, a keyboard, or a mouse may be added to the positioning terminal 10A.

[0051] Fig. 2B is a block diagram showing an example of the configuration of the positioning terminal 10B according to the first embodiment. The positioning terminal 10B shown in Fig. 2B may be a positioning terminal mounted on a construction vehicle 50. As shown in Fig. 2B, the positioning terminal 10B includes a processor 101B, a storage unit 102B, an alarm unit 103B, a GNSS receiver 104B, a communication unit 105B, an output unit 106B, a vehicle communication unit 107B, and a bus 108B. The configurations of the processor 101B, memory unit 102B, alarm unit 103B, GNSS receiver 104B, communication unit 105B, output unit 106B and bus 108B are similar to the configurations of the processor 101A, memory unit 102A, alarm unit 103A, GNSS receiver 104A, communication unit 105A, output unit 106A and bus 107A of the positioning terminal 10A, respectively, and therefore only the differences from the positioning terminal 10A will be described.

[0052] The storage unit 102B further stores the status information of the construction vehicle 50 acquired by the vehicle communication unit 107B.

[0053] The communication unit 105B transmits to the host server 20 the positioning result input from the processor 101B and the latest status information of the construction vehicle 50 input from the vehicle communication unit 107B every time a measurement is performed.

[0054] The vehicle communication unit 107B acquires status information of the construction vehicle 50 from (for example, a vehicle control system of) the construction vehicle 50. The vehicle communication unit 107B outputs the acquired status information of the construction vehicle 50 to the communication unit 105B and the storage unit 102B.

[0055] The processor 101B, the memory unit 102B, the alarm unit 103B, the GNSS receiver 104B, the communication unit 105B, the output unit 106B, and the vehicle communication unit 107B are connected to each other via a bus 108B so as to be able to communicate with each other.

[0056] The above configuration of the positioning terminal 10B is an example. Some of the components of the positioning terminal 10B may be integrated. Some of the components of the positioning terminal 10B may be divided into multiple elements. Some of the components of the positioning terminal 10B may be omitted. Other elements may be added to the positioning terminal 10B. For example, an input unit that may be a touch display, a keyboard, a mouse, or the like may be added to the positioning terminal 10B.

[0057] In the following, when there is no need to distinguish between the processor 101A and the processor 101B, the processors 101A and 101B may be referred to as processor 101. Furthermore, when there is no need to distinguish between the alarm unit 103A and the alarm unit 103B, the alarm units 103A and 103B may be referred to as alarm unit 103. Furthermore, when there is no need to distinguish between the communication units 105A and 105B, the communication units 105A and 105B may be referred to as communication unit 105.

[0058] [Positioning data] Next, the positioning data will be described. The positioning data includes, for example, pseudorange information, carrier phase information, and Doppler frequency information.

[0059] Pseudo-range information is information about the distance between a satellite and a receiver (for example, a reference station or a positioning terminal 10). The receiver can calculate the distance to the satellite by analyzing the positioning signal. For example, the receiver determines the arrival time of the positioning signal based on the following information:

[0060] (1) The difference between the code pattern carried by the positioning signal and the code pattern (replica) generated by the receiver. (2) The time when the satellite generated the signal and the time when the receiver received the signal The time when the satellite signal was generated is included in the message (NAVDATA) of the positioning signal.

[0061] The receiver calculates the pseudorange between the satellite and the receiver by multiplying the arrival time of the positioning signal by the speed of light. The pseudorange contains errors caused by the difference between the satellite clock and the receiver clock. To reduce errors, pseudorange information is generated for four or more satellites.

[0062] The carrier wave phase information is the phase of the positioning signal received by the receiver. The positioning signal is a predetermined sine wave. The receiver can calculate the phase of the positioning signal by analyzing the received positioning signal.

[0063] Doppler frequency information is information about the relative velocity between the satellite and the receiver. The receiver can generate the Doppler frequency information by analyzing the positioning signal.

[0064] [RTK calculation] Next, we will explain the RTK calculation. The RTK calculation is a calculation to execute the RTK method, which is one of the interferometric positioning methods.

[0065] The RTK method is a positioning method that uses the carrier wave phase integration value of the positioning signal transmitted by the satellite to determine the position of a specified point. The carrier wave phase integration value is expressed as the sum of (1) the number of waves of the positioning signal from the satellite to the specified point and (2) its phase.

[0066] Once the carrier wave phase integration value is obtained, the distance between the satellite and a given point can be calculated because the frequency (and wavelength) of the positioning signal is known. The number of waves in the positioning signal is unknown, so it is called integer ambiguity or integer value bias.

[0067] In the RTK method, noise removal and integer ambiguity estimation (or determination) are performed.

[0068] For example, in the RTK method, noise can be removed by calculating a difference called a double difference. A double difference is the difference between the values ​​calculated between two receivers (for example, a reference station and a positioning terminal 10) of the difference (single difference) between the carrier phase integrated values ​​of one receiver for two satellites. Since four or more satellites are used in positioning using the RTK method, double differences are calculated as many times as the number of combinations of four or more satellites. For example, reference station positioning data generated by the reference station and positioning terminal positioning data generated by the positioning terminal 10 are used to calculate the double difference.

[0069] In the RTK method, various methods are applied to estimate integer ambiguities. For example, integer ambiguities are estimated by performing the following procedures: (1) estimating a float solution using the least squares method, and (2) testing a fixed solution based on the float solution.

[0070] The float solution is estimated by the least squares method by creating simultaneous equations using a combination of double differences generated for each time unit, and then solving the created simultaneous equations by the least squares method. In this calculation, for example, the reference station positioning data generated by the reference station, the positioning terminal positioning data generated by the positioning terminal 10, and the known coordinates of the reference station are used. The real number estimated value of the integer ambiguity estimated in this way is called the float solution (predicted solution).

[0071] The float solution obtained in this way is a real number, while the true value of the integer ambiguity is an integer. Therefore, the float solution is converted to an integer value by "rounding." Here, there are several possible combinations for rounding the float solution.

[0072] The correct integer value is verified from among multiple candidates. The solution that is found to be most likely as an integer value bias by the verification is called a fixed solution (precise positioning solution). In one example, a quality check is performed using the AR (Ambiguity Ratio) value obtained by RTK calculation, and the correct integer value is verified based on the results of the quality check. To efficiently narrow down the integer value candidates, reference station positioning data generated by the reference station may be used.

[0073] [Positioning terminal position measurement (determination) using RTK calculation] Next, the measurement (determination) of the position (coordinates on the earth) of the positioning terminal 10 by the processor 101 of the positioning terminal 10 (positioning terminal 10A or 10B) will be described.

[0074] The processor 101 performs interferometric positioning (RTK calculation) using, for example, the positioning terminal positioning data of the positioning terminal 10 and the reference station positioning data of the reference station (i.e., correction data transmitted from the reference station data distribution server 30) by the RTK method, and calculates a positioning solution (fixed solution or float solution). The positioning solution obtained by the RTK calculation may be referred to as an "RTK positioning solution."

[0075] The processor 101 performs a quality check using the AR value obtained by the RTK calculation, and if the AR value is greater than or equal to a predetermined threshold (e.g., 3.0), it determines that a correct fixed solution has been obtained and outputs the fixed solution, and if the AR value is less than the predetermined threshold, it determines that a correct positioning solution has not been obtained and outputs a float solution.

[0076] Then, the processor 101 determines the RTK solution as the position of the positioning terminal 10 (coordinates on the Earth).

[0077] <Configuration of upper server> 3 is a block diagram showing an example of the configuration of the host server 20 according to Embodiment 1. As shown in FIG. 3, the host server 20 includes a processor 201, a storage unit 202, a communication unit 203, and a bus 204.

[0078] The processor 201 may be realized by a processing device such as a CPU. The processor 201 controls the overall operation of the host server 20 (for example, other elements of the host server 20). The processor 201 may also be called a processing unit, a control unit, an arithmetic unit, a controller, etc.

[0079] The processor 201 sets a danger area. For example, if the danger area is not related to the area of ​​the construction vehicle 50, the processor 201 may statically (fixedly) or semi-statically set the danger area, which may or may not include a safety margin, based on area information (e.g., position information of a virtual boundary line) input by a user such as a work manager via an input unit (not shown). Also, if the danger area is related to the area of ​​the construction vehicle 50, the processor 201 may dynamically and automatically set a new danger area based on the positioning result of the positioning terminal 10B associated with the construction vehicle 50 and the status (information) of the construction vehicle 50. Note that, among the status information of the construction vehicle 50, the processor 201 may generate information indicating that the construction vehicle 50 is moving forward, information indicating that the construction vehicle 50 is moving backward, information indicating that the construction vehicle 50 is turning right, information indicating that the construction vehicle 50 is turning left, and information indicating that the construction vehicle 50 is stopped based further on the positioning results (e.g., position and speed) received from the positioning terminal 10B. An example of setting a new dangerous area will be described later. The new dangerous area includes the position of the positioning terminal 10B associated with the construction vehicle 50, and is set to a part around the positioning terminal 10B.

[0080] The processor 201 may set one threshold or multiple, stepped thresholds for determining whether the positioning terminal 10A is approaching a dangerous area. Such one or multiple thresholds may be referred to as an intrusion prediction time threshold. That is, the intrusion prediction time threshold is a threshold that is compared with a predicted intrusion time of the positioning terminal 10A into a dangerous area, which will be described below. Furthermore, the processor 201 determines not to cause the positioning terminal 10A to issue an alarm if the distance between the positioning terminal 10A and the center of the dangerous area is equal to or greater than a predetermined distance. The processor 201 may set a predetermined distance as the threshold. This threshold may be referred to as a no-alarm distance threshold. For example, the processor 201 may set thresholds input by a user, such as a work manager, via the input unit as the intrusion prediction time threshold and the no-alarm distance threshold. The processor 201 outputs the intrusion prediction time threshold and the no-alarm distance threshold to the memory unit 202.

[0081] For example, every time the processor 201 receives a positioning result from the positioning terminal 10A associated with a worker, it predicts the intrusion time of the positioning terminal 10A into the danger area (i.e., the predicted time to reach the danger area) based on the positioning result and the set danger area. Note that the expression "predicting the intrusion time" may be interpreted as "estimating the intrusion time," "guessing the intrusion time," "determining the intrusion (predicted) time," "finding the intrusion (predicted) time," "calculating the intrusion (predicted) time," "calculating the intrusion (predicted) time," or "deriving the intrusion (predicted) time."

[0082] For example, each time a positioning result is received from a positioning terminal 10A associated with a worker, the processor 201 determines whether the positioning terminal 10A is approaching or invading a dangerous area (detects an alarm event) based on at least one of the positioning result, the predicted intrusion time threshold, the no-alarm distance threshold, and the set dangerous area.

[0083] The processor 201 generates an alarm issuance command to warn the worker associated with the positioning terminal 10A (and possibly the worker driving the construction vehicle 50) that the detected alarm event has occurred. The processor 201 outputs the alarm issuance command to the storage unit 202. The processor 201 transmits the alarm issuance command to the positioning terminal 10A via the communication unit 203.

[0084] For example, each time a positioning result is received from a positioning terminal 10A associated with a worker or a construction vehicle 50, the processor 201 transmits this information to the monitor device 40 via the communication unit 203 so as to display information on the set danger area, the received positioning result, and the positioning terminal 10A to which the alarm issuance command is to be sent.

[0085] The storage unit 202 may be, for example, one or more of a DRAM, an HDD, an SSD, etc. The storage unit 202 acquires various information from other elements and stores the information temporarily or permanently. The storage unit 202 is a general term for so-called primary storage devices and secondary storage devices. Multiple storage units 202 may be physically located.

[0086] The memory unit 202 stores, for example, a program executed by the processor 201 to operate the upper server 20, data necessary for the operation of the upper server 20, data generated by the processor 201, positioning results transmitted from the positioning terminal 10, status information of the construction vehicle 50 transmitted from the positioning terminal 10B, predicted intrusion time threshold, no-alarm distance threshold, information regarding the set danger area, generated alarm issuance command, etc.

[0087] The communication unit 203 receives the positioning result transmitted from the positioning terminal 10. The communication unit 203 receives the status information of the construction vehicle 50 transmitted from the positioning terminal 10B. The communication unit 203 outputs the received positioning result and the status information of the construction vehicle 50 to the processor 201 and the memory unit 202. The communication unit 203 transmits an alarm issuance command to the positioning terminal 10.

[0088] The processor 201, the storage unit 202, and the communication unit 203 are connected to one another via a bus 204 so as to be able to communicate with one another.

[0089] The above configuration of the host server 20 is an example. Some of the components of the host server 20 may be integrated. Some of the components of the host server 20 may be divided into multiple elements. Some of the components of the host server 20 may be omitted. Other elements may be added to the host server 20. For example, an input unit such as a touch display, keyboard, or mouse may be added to the host server 20.

[0090] [Create and set new danger areas] Next, a description will be given of dynamic generation and setting of a new dangerous area based on the positioning result of the positioning terminal 10B and the state (information) of the construction vehicle 50 on which the positioning terminal 10B is mounted.

[0091] First, the dynamic generation and setting of a new danger area when the construction vehicle 50 is moving forward will be described. When the construction vehicle 50 is moving forward, workers in front of the construction vehicle 50 are more likely to be exposed to danger than workers behind the construction vehicle 50. Therefore, in this case, the processor 201 generates, as part of the new danger area, a sector with a first radius centered on the position of the positioning terminal 10B included in the positioning result and a central angle that is expanded symmetrically by a first angle (for example, 45 degrees) from an axis that represents the traveling direction of the construction vehicle 50, in front of the construction vehicle 50. The processor 201 also generates, as part of the new danger area, a sector with a second radius shorter than the first radius centered on the position of the positioning terminal 10B included in the positioning result and a central angle that is expanded symmetrically by a second angle that is equal to or less than the first angle (for example, 45 degrees). The processor 201 then generates a new danger area by combining a portion of these new danger areas. In other words, when the construction vehicle 50 is moving forward, the processor 201 generates and sets a new danger area consisting of a first portion forward from the construction vehicle 50 and a second portion rearward from the construction vehicle 50, the first portion having an area smaller than the first portion. The first and second radii and the first and second angles may be input and set by a user, such as a work manager, via the input unit, or may be fixed in the warning system 1. The length of the second radius may be the same as the length of the first radius. Furthermore, the second radius of the sector generated behind the construction vehicle 50 may be shortened in stages from the first radius. FIG. 12A shows an example of a new danger area when the construction vehicle 50 is moving straight according to an embodiment of the present disclosure. Here, the new danger area consists of a first portion A1 and a second portion A2 (the radius of the sector A1 is greater than the radius of the sector A2).

[0092] Second, the dynamic generation and setting of a new danger area when the construction vehicle 50 is reversing will be described. When the construction vehicle 50 is reversing, workers behind the construction vehicle 50 are more likely to be exposed to danger than workers in front of the construction vehicle 50. Therefore, in this case, the processor 201 generates, as part of the new danger area, a sector with a first radius centered on the position of the positioning terminal 10B included in the positioning result and a central angle that is expanded symmetrically by a first angle (for example, 45 degrees) from an axis that represents the traveling direction of the construction vehicle 50, behind the construction vehicle 50. The processor 201 also generates, as part of the new danger area, a sector with a second radius shorter than the first radius centered on the position of the positioning terminal 10B included in the positioning result and a central angle that is expanded symmetrically by a second angle that is equal to or less than the first angle (for example, 45 degrees). The processor 201 then generates a new danger area by combining a portion of these new danger areas. In other words, when the construction vehicle 50 is reversing, the processor 201 generates and sets a new danger area consisting of a third portion rearward from the construction vehicle 50 and a fourth portion forward from the construction vehicle 50, the fourth portion having an area smaller than the third portion. The first and second radii and the first and second angles may be input and set by a user, such as a work manager, via the input unit, or may be fixed in the warning system 1. The length of the second radius may be the same as the length of the first radius. Furthermore, the second radius of the sector generated in front of the construction vehicle 50 may be gradually shortened from the first radius. FIG. 12B shows an example of a new danger area when the construction vehicle 50 is reversing according to an embodiment of the present disclosure. Here, the new danger area consists of a third portion A3 and a fourth portion A4 (the radius of the sector A3 is greater than the radius of the sector A4).

[0093] Third, the dynamic generation and setting of a new danger area when the tip of the arm of the construction vehicle 50 is rotating to the right relative to the front of the construction vehicle 50 will be described. When the tip of the arm of the construction vehicle 50 is rotating to the right relative to the front of the construction vehicle 50, a worker on the right side of the front of the construction vehicle 50 may be exposed to danger. Therefore, in this case, the processor 201 generates and sets as a new danger area a sector of a certain radius centered on the position of the positioning terminal 10B included in the positioning result, and having a central angle extending a predetermined angle (e.g., 120 degrees) to the right of the front of the construction vehicle 50 from an axis representing the traveling direction of the construction vehicle 50. In other words, when the tip of the arm of the construction vehicle 50 is rotating to the right relative to the front of the construction vehicle 50, the processor 201 generates and sets a new danger area to the right of the front of the construction vehicle 50. The processor 201 may also adjust the length of the radius depending on at least one of the rotation speed of the arm tip and the bending of the arm (i.e., the reach of the arm tip). For example, the processor 201 may adjust the length of the radius so that the radius increases as the rotation speed of the arm tip increases, and decreases as the arm bends (i.e., the reach of the arm tip decreases). In other words, the processor 201 may adjust the size of the new danger area by adjusting the length of the radius in accordance with at least one of the rotation speed of the arm tip and the reach of the arm tip. Alternatively, the radius may be set by inputting it via the input unit by a user such as a work manager, or may be fixed in the alarm system 1. Furthermore, the predetermined angle may be set by inputting it via the input unit by a user such as a work manager, or may be fixed in the alarm system 1. FIG. 13A shows an example of a new danger area A5 according to an embodiment of the present disclosure when the tip of the arm of the construction vehicle 50 is rotating to the right relative to the front of the construction vehicle 50.

[0094] Fourth, the dynamic generation and setting of a new danger area when the tip of the arm of the construction vehicle 50 is rotating to the left relative to the front of the construction vehicle 50 will be described. When the tip of the arm of the construction vehicle 50 is rotating to the left relative to the front of the construction vehicle 50, a worker on the left side of the front of the construction vehicle 50 may be exposed to danger. Therefore, in this case, the processor 201 generates and sets as a new danger area a sector of a certain radius centered on the position of the positioning terminal 10B included in the positioning result, and having a central angle extending a predetermined angle (e.g., 120 degrees) to the left relative to the front of the construction vehicle 50 from an axis representing the traveling direction of the construction vehicle 50. In other words, when the tip of the arm of the construction vehicle 50 is rotating to the left relative to the front of the construction vehicle 50, the processor 201 generates and sets a new danger area to the right of the front of the construction vehicle 50. The processor 201 may also adjust the length of the radius depending on at least one of the rotation speed of the arm tip and the bending of the arm (i.e., the reach of the arm tip). For example, the processor 201 may adjust the length of the radius so that the radius increases as the rotation speed of the arm tip increases, and decreases as the arm bends (i.e., the reach of the arm tip decreases). In other words, the processor 201 may adjust the size of the new danger area by adjusting the length of the radius in accordance with at least one of the rotation speed of the arm tip and the reach of the arm tip. Alternatively, the radius may be set by inputting it via the input unit by a user such as a work manager, or may be fixed in the alarm system 1. Furthermore, the predetermined angle may be set by inputting it via the input unit by a user such as a work manager, or may be fixed in the alarm system 1. FIG. 13B shows an example of a new danger area A6 when the tip of the arm of the construction vehicle 50 is rotating to the left relative to the front of the construction vehicle 50, according to an embodiment of the present disclosure.

[0095] The above-mentioned new danger area is set to a part of the periphery of the positioning terminal 10 including the position of the positioning terminal 10. That is, by taking into consideration the state of the construction vehicle 50, a part of the periphery of the positioning terminal 10 that is highly likely to be dangerous is set as a new danger area, and the remaining part of the periphery of the positioning terminal 10 that is low in danger is not set as a new danger area. In this way, by setting the part that is highly likely to be dangerous as a new danger area and not setting the remaining part that is low in danger as a new danger area, it is possible to ensure safety while suppressing the issuance of excessive warnings.

[0096] [Determining approach to dangerous areas] Next, a description will be given of a determination as to whether or not the positioning terminal 10A is approaching a dangerous area. In the following description, the dangerous area may be appropriately replaced with a new dangerous area set based on the state of the positioning terminal 10B.

[0097] As described above, the processor 201 may set a plurality of stepped predicted intrusion time thresholds (e.g., in seconds) and no-alarm distance thresholds (e.g., in meters). An example in which the number of predicted intrusion time thresholds is two will be described below, but it is clear that the number of predicted intrusion time thresholds may be three or more. Alternatively, instead of using a plurality of predicted intrusion time thresholds, a single predicted intrusion time threshold may be used. Hereinafter, the two predicted intrusion times are referred to as a first predicted intrusion time threshold and a second predicted intrusion time threshold, and the first predicted intrusion time threshold is set to be less than the second predicted intrusion time threshold.

[0098] When the position (latitude and longitude) of the positioning terminal 10A is outside the set danger area (circular or sectorial), the processor 201 calculates the distance 1 (for example, in meters) from the position of the positioning terminal 10A to the point closest to the positioning terminal 10A where the straight line connecting the position of the positioning terminal 10A and the center (coordinates) of the danger area intersects with the boundary line (circumference or arc) of the danger area.

[0099] The processor 201 does not generate an alarm issuing command if the no-alarm distance threshold is less than or equal to the distance l.

[0100] When the distance 1<the no-alarm distance threshold and the predicted intrusion time<the first predicted intrusion time threshold, the processor 201 detects a first approach state and an alarm event.

[0101] When the distance 1<the no-alarm distance threshold and the first predicted intrusion time threshold≦the predicted intrusion time<the second predicted intrusion time threshold, the processor 201 detects a second approach state and an alarm event.

[0102] The first approach state is a state in which the positioning terminal 10A is predicted to reach the dangerous area earlier than in the second approach state.

[0103] In the conditions described above, "≦" may be replaced with "<" as appropriate, and "<" may be replaced with "≦" as appropriate.

[0104] Also, when the number of multiple predicted intrusion time thresholds is n (n: an integer greater than or equal to 3), the processor 201 can detect an alarm event as the kth approach state (k=1, 2, ..., n) in the same manner as described above.

[0105] By setting the no-alarm distance threshold in this manner, if the distance between the center of the dangerous area and the position of the positioning terminal 10A is equal to or greater than the no-alarm distance threshold (or exceeds the no-alarm distance threshold), no alarm will be issued, thereby preventing excessive issuance of alarms.

[0106] [Generate an alert command] Next, the generation of an alarm issuing command will be described.

[0107] First, we will explain how to generate an alarm issuing command when the positioning terminal 10A is in a dangerous area. In the following explanation, the dangerous area may be replaced with a new dangerous area set based on the state of the positioning terminal 10B.

[0108] When the position (latitude and longitude) of the positioning terminal 10A is within the set danger area, the processor 201 calculates the distance L (for example, unit: meter) between the position of the positioning terminal 10A and the center (coordinates) of the danger area.

[0109] The processor 201 determines the intrusion alarm mode according to the calculated distance. For example, when the radius of the danger area (circular or fan-shaped) is r (for example, unit: meter), whether 0 < L ≤ r / 4 (alarm event in the first intrusion state), r / 4 < L ≤ r / 2 (alarm event in the second intrusion state), r / 2 < L ≤ 3r / 4 (alarm event in the third intrusion state), or 3r / 4 < L ≤ r (alarm event in the fourth intrusion state), at least one of the volume of the buzzer sounded by the alarm unit 103 of the positioning terminal 10A and the beep sound period may be changed. In other words, the closer the positioning terminal 10A is to the center of the danger area, the louder the volume of the buzzer may be, the shorter the beep sound period of the buzzer may be, or both. That is, the closer the positioning terminal 10 is to the center of the danger area, an alarm with increasing intensity may be issued.

[0110] Alternatively, a criterion different from the radius r of the danger area may be used. For example, whether 0m < L ≤ 0.5m (alarm event in the first intrusion state), 0.5m < L ≤ 0.8m (alarm event in the second intrusion state), 0.8m < L ≤ 0.9m (alarm event in the third intrusion state), or 0.9m < L ≤ r (alarm event in the fourth intrusion state), the volume of the buzzer sounded by the alarm unit 103 of the positioning terminal 10A and the beep sound period may be changed. Also in this case, the closer the positioning terminal 10A is to the center of the danger area, the louder the volume of the buzzer may be, the shorter the beep sound period of the buzzer may be, or both. That is, the closer the positioning terminal 10 is to the center of the danger area, an alarm with increasing intensity may be issued.

[0111] If the danger area is related to the area of ​​the construction vehicle 50, the processor 201 may change the style or pattern of the intrusion alarm between the original danger area (or a statically (fixedly) or semi-statically set danger area) and the new danger area set based on the state of the construction vehicle 50. For example, the alarm sound pattern for an alarm for an intrusion into the new danger area may be different from the alarm sound pattern for an intrusion into the original danger area. Alternatively, the alarm pattern for an intrusion into the new danger area may be different by a few seconds from the alarm pattern for an intrusion into the original danger area. In this way, if a worker associated with the positioning terminal 10A unintentionally enters a new danger area (for example, an area that is larger than the original danger area) without moving, the worker will not be surprised by a sudden alarm.

[0112] In the conditions described above, "≦" may be replaced with "<" as appropriate, and "<" may be replaced with "≦" as appropriate.

[0113] Although the above describes an example in which an alarm is issued in four stages, the alarm may be issued in two or three stages, or in five or more stages. The conditions for dividing the alarm into stages are not limited to the above examples.

[0114] The processor 201 then generates an alarm command to issue an intrusion alarm in the determined format.

[0115] Secondly, the generation of an alarm issuing command when the positioning terminal 10A is outside the danger area will be described.

[0116] When the positioning terminal 10A is in the first approach state described above, the processor 201 generates an alarm issuing command corresponding to the first approach state (the alarm may be referred to as a first attention alert). The style of the first attention alert corresponding to the first approach state may be different from the style of the intrusion alert described above. For example, the first attention alert corresponding to the first approach state may be a buzzer with a volume that is even lower than the volume of the buzzer in the style described above, or may limit the number of times the buzzer sounds to once, twice, or the like, or may be both of these.

[0117] When the positioning terminal 10A is in the second approach state described above, the processor 201 generates an alarm issuing command corresponding to the second approach state (the alarm may be referred to as a second attention alert). The style of the second attention alert corresponding to the second approach state may be different from the style of the intrusion alert and the style of the first attention alert described above. For example, the second attention alert corresponding to the second approach state may be lower in volume than the buzzer for the first attention alert, or may further limit the number of times the buzzer for the first attention alert sounds, or may be both.

[0118] In this way, the processor 201 generates an alarm issuance command to issue an alarm when the positioning terminal 10A enters or approaches a dangerous area, and the communication unit 203 transmits these alarm issuance commands to the positioning terminal 10A.

[0119] In addition, the processor 201 generates different alarm issuance commands depending on the predicted time so that different types of alarms are issued depending on the predicted time at which the positioning terminal 10A will enter the dangerous area, and the communication unit 203 transmits these alarm issuance commands to the positioning terminal 10A.

[0120] By setting a plurality of stepwise predicted intrusion time thresholds in this way, an alarm is issued stepwise according to the predicted intrusion time, so that it is possible to effectively prevent the positioning terminal 10A from entering a dangerous area.

[0121] Furthermore, by changing the behavior of the alarm depending on whether the user is inside or outside the dangerous area, it is possible to effectively encourage the user to leave the dangerous area.

[0122] Note that the word "style" may be read as "mode."

[0123] <Alarm system operation> Next, an example of the operation of the alarm system 1 according to the first embodiment will be described with reference to FIGS. 4A, 4B, 5, 6A, and 6B.

[0124] [Positioning device operation] FIG. 4A is a diagram showing an example of the operation of the positioning terminal 10A according to the first embodiment.

[0125] In step S401, the GNSS receiver 104A receives satellite signals transmitted from GNSS satellites.

[0126] In step S402, the communication unit 105A receives the correction data transmitted from the reference station data distribution server 30.

[0127] In step S403, the processor 101A performs RTK calculation using the positioning terminal positioning data and correction data based on the satellite signals to calculate the RTK solution and obtain the positioning result.

[0128] In step S404, the communication unit 105A transmits the positioning results including the RTK solutions to the upper server 20.

[0129] In step S405, the processor 101A or the communication unit 105A determines whether or not the communication unit 105A has received an alarm issuing command (for example, within a predetermined time after transmitting the positioning result).

[0130] If the communication unit 105A receives an alarm issuing command (for example, within a predetermined time after transmitting the positioning result) (YES in step S405), in step S406 the alarm unit 103A issues an alarm in the format specified (determined) by the upper server 20. Then, the flow ends.

[0131] On the other hand, if the communication unit 105A does not receive an alarm issuing command (for example, within a predetermined time after transmitting the positioning result) (NO in step S405), the flow ends.

[0132] Thereafter, the process of FIG. 4A is repeated.

[0133] FIG. 4B is a diagram showing an example of the operation of the positioning terminal 10B according to the first embodiment.

[0134] In step S411, the GNSS receiver 104B receives satellite signals transmitted from GNSS satellites.

[0135] In step S412, the communication unit 105B receives the correction data transmitted from the reference station data distribution server 30.

[0136] In step S413, the processor 101B performs RTK calculation using the positioning terminal positioning data and correction data based on the satellite signals to calculate the RTK solution and obtain the positioning result.

[0137] In step S414, the vehicle communication unit 107B acquires status information of the construction vehicle 50 from the construction vehicle 50 (for example, the vehicle control system thereof).

[0138] In step S415, the communication unit 105B transmits the positioning results including the RTK solutions and the status information of the construction vehicle 50 to the upper server 20.

[0139] In step S416, the processor 101B or the communication unit 105B determines whether or not the communication unit 105B has received an alarm issuing command (for example, within a predetermined time after transmitting the positioning result).

[0140] If communication unit 105B receives an alarm issuing command (for example, within a predetermined time after transmitting the positioning result) (YES in step S416), in step S417 alarm unit 103B issues an alarm in the format specified (determined) by upper server 20. Then, the flow ends.

[0141] On the other hand, if the communication unit 105B does not receive an alarm issuing command (for example, within a predetermined time after transmitting the positioning result) (NO in step S416), the flow ends.

[0142] Thereafter, the process of FIG. 4B is repeated.

[0143] [Upstream server operation] 5, 6A, and 6B are diagrams showing an example of the operation of the host server 20 according to embodiment 1. FIG.

[0144] In step S501, the processor 201 sets a danger area (including a new danger area), a first predicted intrusion time threshold for issuing a first attention alert, and a second predicted intrusion time threshold or no-alarm distance threshold for issuing a second attention alert, and then the processing in FIG. 5 ends.

[0145] As described above, the danger area may be set statically or semi-statically via user input, or may be set dynamically in accordance with the movement of the construction vehicle 50 on which the positioning terminal 10 is mounted. Furthermore, various thresholds may be set statically or semi-statically via user input, or may be fixed in the warning system 1. In this way, the processing of Fig. 5 may be executed as needed.

[0146] Next, another example of the operation of the upper server 20 will be described with reference to Figures 6A and 6B. In the following, an example will be described in which an intrusion prediction time threshold is not set (i.e., a determination is not made as to whether the positioning terminal 10 is approaching a dangerous area), a no-alarm distance threshold is not set, and a dangerous area of ​​a predetermined radius is set in advance around the positioning terminal 10B mounted on the construction vehicle 50.

[0147] In step S601, the communication unit 203 receives the positioning result of the positioning terminal 10A transmitted from the positioning terminal 10A, and the positioning result of the positioning terminal 10B and status information of the construction vehicle 50 transmitted from the positioning terminal 10B.

[0148] In step S602, the processor 201 determines whether the construction vehicle 50 is moving forward, backward, or stopped, based on (information indicated by) the received status information of the construction vehicle 50.

[0149] If it is determined that the construction vehicle 50 is moving forward, in step S603, the processor 201 generates and sets a new danger area as described above. Then, the flow proceeds to step S607.

[0150] If it is determined that the construction vehicle 50 is moving backward, the processor 201 generates and sets a new danger area as described above in step S604. Then, the flow proceeds to step S607.

[0151] If it is determined that the construction vehicle 50 is stopped, in step S605, the processor 201 determines whether the arm of the construction vehicle 50 is moving based on the received status information of the construction vehicle 50 (the status indicated by the status information).

[0152] If it is determined that the arm of the construction vehicle 50 is moving (YES in step S605), in step S606, the processor 201 generates and sets a new danger area as described above. Then, the flow proceeds to step S607.

[0153] On the other hand, if it is determined that the arm of the construction vehicle 50 is not moving (NO in step S605), the flow proceeds to step S609.

[0154] In step S607, the processor 201 determines whether or not the positioning terminal 10A is present in the new dangerous area, based on the set new dangerous area and the received positioning result (the position of the positioning terminal 10A).

[0155] If it is determined that the positioning terminal 10A is in the new dangerous area (YES in step S607), in step S608, the processor 201 issues an intrusion alarm issuing command to the positioning terminal 10A, and the communication unit 203 transmits this alarm issuing command to the positioning terminal 10A. Then, the flow ends.

[0156] On the other hand, if it is determined that the positioning terminal 10A is not present in the new dangerous area (NO in step S607), the flow ends.

[0157] In step S609, the processor 201 determines whether a new dangerous area related to the construction vehicle 50 has been set.

[0158] If it is determined that a new dangerous area has been set (YES in step S609), the processor 201 cancels the new dangerous area and sets the original dangerous area in step S610. Then, the flow proceeds to step S611.

[0159] On the other hand, if it is determined that a new dangerous area has not been set (NO in step S609), the flow proceeds to step S611.

[0160] In step S611, the processor 201 determines whether or not the positioning terminal 10A is in a dangerous area based on the set (original) dangerous area and the received positioning result (the position of the positioning terminal 10A).

[0161] If it is determined that the positioning terminal 10A is in the dangerous area (YES in step S611), in step S612, the processor 201 issues an intrusion alarm issuing command to the positioning terminal 10A, and the communication unit 203 transmits this alarm issuing command to the positioning terminal 10A. Then, the flow ends.

[0162] On the other hand, if it is determined that the positioning terminal 10A is not in the dangerous area (NO in step S611), the flow ends.

[0163] Thereafter, the processes of FIGS. 6A and 6B are repeated.

[0164] If a danger area of ​​a predetermined radius has not been set in advance around the positioning terminal 10B mounted on the construction vehicle 50, and a new danger area is only dynamically set around the positioning terminal 10B mounted on the construction vehicle 50, then in step S610, the processor 201 only needs to cancel the new danger area, and the flow may then end. Also, if a new danger area has not been set in step S609, the flow may end.

[0165] <Modification> [Variation 1-1] Although the above describes an example in which a new danger area is automatically set dynamically in accordance with the forward and backward movement of the construction vehicle 50 and the rotation of the tip of the arm, the present disclosure is not limited to this example. For example, the present disclosure may be applied when the construction vehicle 50 is turning, such as turning right or left.

[0166] In this case, the status information of the construction vehicle 50 may include information indicating that the construction vehicle 50 is turning right and information indicating that the construction vehicle 50 is turning left. When the construction vehicle 50 is turning right, workers on the right side of the front of the construction vehicle 50 may be exposed to danger. Therefore, in this case, the processor 201 can generate and set a new danger area as described above for the case where the tip of the arm is rotating to the right of the front of the construction vehicle 50. The same applies when the construction vehicle 50 is turning left. In other words, when the construction vehicle 50 is turning right, the processor 201 may generate and set a new danger area to the right of the front of the construction vehicle 50, and when the construction vehicle 50 is turning left, the processor 201 may generate and set a new danger area to the left of the front of the construction vehicle 50. FIG. 14A shows an example of a new danger area A7 when the construction vehicle 50 is turning right according to a modified example of an embodiment of the present disclosure, and FIG. 14B shows an example of a new danger area A8 when the construction vehicle 50 is turning left according to an embodiment of the present disclosure. These new dangerous areas are set in a part around the positioning terminal 10B that includes the position of the positioning terminal 10B.

[0167] [Variation 1-2] Although the above describes an example in which an alarm issuance command is provided to the positioning terminal 10A associated with a worker, the present disclosure is not limited to this example. As suggested above, an alarm issuance command to call attention may be provided to the positioning terminal 10B associated with the construction vehicle 50, and the positioning terminal 10B may issue an alarm in accordance with the alarm issuance command.

[0168] Furthermore, when the positioning terminal 10A enters a new danger area set in accordance with the rotation of the tip of the arm, an arm control (emergency stop) command may be provided to the positioning terminal 10B associated with the construction vehicle 50 instead of or in addition to an alarm issuance command to call attention, and the vehicle control system of the construction vehicle 50, for example, that receives the command via the positioning terminal 10B may bring the arm to an emergency stop in accordance with the command.

[0169] [Variation 1-3] Although the above describes an example of a worker entering a dangerous area at a work site, the present disclosure is not limited to this example. For example, the present disclosure may be applied to a case where a construction vehicle 50 driven by a worker and associated with the positioning terminal 10B enters a dangerous area associated with another construction vehicle 50.

[0170] Specifically, consider an example in which a first construction vehicle 50 driven by a first worker and associated with a first positioning terminal 10B enters a new second dangerous area associated with a second construction vehicle 50 different from the first construction vehicle 50 driven by a second worker different from the first worker and associated with a second positioning terminal 10B different from the first construction vehicle 50. In this case, the host server 20 also sets the new second dangerous area based on the positioning results of the second positioning terminal 10B and the state of the second construction vehicle 50, and determines the intrusion of the first positioning terminal 10B into the new second dangerous area based on the positioning results of the second positioning terminal 10B and the location of the new second dangerous area. The host server 20 can then send an alarm issuance command to each of the first positioning terminal 10B and the second positioning terminal 10B to notify that there is a possibility of a collision between the first construction vehicle 50 and the second construction vehicle 50. In this case, the upper server 20 may transmit an alarm issuance command to at least one of the first positioning terminal 10B and the second positioning terminal 10B, and upon receiving the alarm issuance command, the first positioning terminal 10B may issue an alarm in accordance with the alarm issuance command, and the second positioning terminal 10B may issue an alarm in accordance with the alarm issuance command.

[0171] Alternatively, the host server 20 may separately determine whether the first positioning terminal 10B has entered a new second dangerous area and whether the second positioning terminal 10B has entered a new first dangerous area associated with the first construction vehicle 50. Specifically, as described above, the host server 20 can determine whether the first positioning terminal 10B has entered the new second dangerous area and send an alarm issuance command to the first positioning terminal 10B to notify that there is a possibility of a collision between the first construction vehicle 50 and the second construction vehicle 50. Furthermore, the host server 20 sets a new first dangerous area based on the positioning result of the first positioning terminal 10B and the state of the first construction vehicle 50, and determines whether the second positioning terminal 10B has entered the new first dangerous area based on the positioning result of the first positioning terminal 10B and the location of the new first dangerous area. Then, the host server 20 can transmit an alarm issuing command to the second positioning terminal 10B to notify that there is a possibility of a collision between the first construction vehicle 50 and the second construction vehicle 50.

[0172] [Variation 1-4] Although the above describes an example in which the shape of the danger area is a perfect circle, the present disclosure is not limited to this example. As suggested above, the shape of the danger area may be a part of a perfect circle (such as a sector or arc), an ellipse or a part thereof (such as half an ellipse), a polygon such as a triangle or a rectangle, or other shapes. In such cases, the center of the danger area may be replaced with the center of gravity of the danger area. Similarly, the shape of the new danger area is not limited to a sector.

[0173] [Variation 1-5] In the first embodiment, the positioning terminal 10 that issues an alarm does not necessarily have to be all of the multiple positioning terminals 10. For example, if a construction vehicle 50 or the like on which the positioning terminal 10 is mounted can only move on a set rail or does not have a mechanism for changing the speed, it is difficult to take action to avoid danger even if an alarm is issued. Issuing an alarm in such a case may cause confusion with other alarms and may actually lead to danger, so it is not necessarily beneficial to issue an alarm from all of the multiple positioning terminals 10. The positioning terminal 10 that should issue an alarm may be changeable by designation from a work manager or the like.

[0174] [Variation 1-6] Although the above describes an example in which the host server 20 executes the processing according to the present disclosure, such as determining approach to and entry into a dangerous area, the present disclosure is not limited to this example. For example, instead of the host server 20, a representative positioning terminal 10 among the multiple positioning terminals 10 may receive positioning results from each of the positioning terminals 10 and execute the processing according to the present disclosure.

[0175] Furthermore, each positioning terminal 10 may execute processing related to the present disclosure, such as determining approach to and entry into a dangerous area. In this case, each positioning terminal 10 may, for example, share its own position with the upper server 20 or the like to obtain information on the position and range of the dangerous area present around itself, and may perform processing such as determination based on this information.

[0176] <Effects> According to the first embodiment, a new danger area is dynamically set in a part of the periphery of the positioning terminal 10B including the position of the positioning terminal 10B based on the state of the construction vehicle 50 on which the positioning terminal 10B is mounted and the position of the positioning terminal 10B, and an intrusion or approach of the positioning terminal 10 into the new danger area is determined. Then, in response to this intrusion or approach, an alarm issuance command for issuing an alarm to at least one of the positioning terminal 10B and the positioning terminal 10 is provided to at least one of the positioning terminal 10B and the positioning terminal 10, or at least one of the positioning terminal 10B and the positioning terminal 10 issues an alarm. In this way, a new danger area is set in a part of the periphery of the positioning terminal 10B taking into consideration factors other than the distance from the positioning terminal (construction vehicle), and it is possible to appropriately issue an alarm to a worker associated with at least one of the positioning terminal 10B and the positioning terminal 10.

[0177] (Embodiment 2) Next, a second embodiment of the present disclosure will be described. The second embodiment differs from the first embodiment in that the RTK calculation is performed by an upper server rather than by the positioning terminal, that is, the processor of the upper server measures (determines) the position of the positioning terminal using the RTK calculation described above. Note that the configurations of the warning system 1', positioning terminal 10A', positioning terminal 10B', and upper server 20' according to the second embodiment are similar to the configurations of the warning system 1, positioning terminal 10A, positioning terminal 10B, and upper server 20 according to the first embodiment, respectively, and therefore only the differences from the first embodiment will be described.

[0178] Fig. 7 is a diagram showing an example of an alarm system 1' according to embodiment 2. As shown in Fig. 7, the alarm system 1' includes a positioning terminal 10' (positioning terminal 10A' or positioning terminal 10B' (positioning terminal 10B' is shown)), an upper server 20', a reference station data distribution server 30', a monitor device 40, and a construction vehicle 50. The alarm system 1' may also be called an information processing system or the like.

[0179] Unlike the first embodiment, the positioning terminal 10' does not perform RTK calculation to position the positioning terminal 10'. Therefore, the positioning terminal 10' does not need to receive correction data from the reference station data distribution server 30', and transmits positioning terminal positioning data generated based on satellite signals received from GNSS satellites to the host server 20'. If the positioning terminal 10' is equipped with a speed sensor and an acceleration sensor, the positioning terminal 10' may transmit the speed and acceleration from the speed sensor and the acceleration sensor to the host server 20'. The positioning terminal 10' is an example of a first terminal, a second terminal, a terminal, another (other) terminal, or an information processing device (corresponding to a representative positioning terminal 10' described later) according to the present disclosure.

[0180] The upper server 20' receives the positioning terminal positioning data transmitted from the positioning terminal 10' and receives correction data for performing RTK calculation to position the positioning terminal 10' from the reference station data distribution server 30'. The upper server 20' is an example of an information processing device according to the present disclosure.

[0181] The host server 20' performs RTK calculations using the received positioning terminal positioning data and correction data to measure the position of the positioning terminal 10' (and in some cases the speed and acceleration). Based on the set dangerous area, the positioning results, etc., the host server 20' determines whether the positioning terminal 10' (positioning terminal 10A') carried by the worker and associated with the worker is approaching or invading the dangerous area (in other words, detects an alarm event). Note that the host server 20' may be equipped with some or all of the functions of the reference station data distribution server 30'. For example, the host server 20' may receive correction data generated by the reference station from the reference station without going through the reference station data distribution server 30'.

[0182] The reference station data distribution server 30' performs RTK calculations and transmits correction data for positioning the positioning terminal 10' to the upper server 20'.

[0183] <Configuration of positioning device> Fig. 8A is a block diagram showing an example of the configuration of a positioning terminal 10A' according to embodiment 2. As shown in Fig. 8A, the positioning terminal 10A' includes a processor 101A', a storage unit 102A', an alarm unit 103A, a GNSS receiver 104A, a communication unit 105A', an output unit 106A, and a bus 107A.

[0184] As described above, the positioning terminal 10A' does not perform positioning using RTK calculation. Therefore, every time a satellite signal is received from a GNSS satellite, the processor 101B' generates positioning terminal positioning data based on the satellite signal and outputs the data to the storage unit 102A' and the communication unit 105A'.

[0185] The storage unit 102A' does not need to store the correction data from the reference station data distribution server 30'. The storage unit 102A' stores the positioning terminal positioning data.

[0186] The communication unit 105A' transmits the positioning terminal positioning data input from the processor 101A' to the host server 20' every time a satellite signal is received from a GNSS satellite. The communication unit 105A' may receive the positioning result of the positioning terminal 10A' transmitted from the host server 20' and output the received positioning result to the storage unit 102A'.

[0187] The processor 101A', the storage unit 102A', the alarm unit 103A, the GNSS receiver 104A, the communication unit 105A', and the output unit 106A are connected to one another via a bus 107A so as to be able to communicate with one another.

[0188] Fig. 8B is a block diagram showing an example of the configuration of a positioning terminal 10B' according to embodiment 2. As shown in Fig. 8B, the positioning terminal 10B' includes a processor 101B', a storage unit 102B', an alarm unit 103B, a GNSS receiver 104B, a communication unit 105B', an output unit 106B, a vehicle communication unit 107B, and a bus 108B.

[0189] As described above, the positioning terminal 10B' does not perform positioning using RTK calculation. Therefore, every time a satellite signal is received from a GNSS satellite, the processor 101B' generates positioning terminal positioning data based on the satellite signal and outputs the data to the storage unit 102B' and the communication unit 105B'.

[0190] The storage unit 102B' does not need to store the correction data from the reference station data distribution server 30'. The storage unit 102B' stores the positioning terminal positioning data.

[0191] The communication unit 105B' transmits the positioning terminal positioning data input from the processor 101A' and the latest status information of the construction vehicle 50 input from the vehicle communication unit 107B to the upper server 20' every time a satellite signal is received from a GNSS satellite. The communication unit 105B' may receive the positioning result of the positioning terminal 10B' transmitted from the upper server 20' and output the received positioning result to the storage unit 102B'.

[0192] The processor 101B', memory unit 102B', alarm unit 103B, GNSS receiver 104B, communication unit 105B', output unit 106B and vehicle communication unit 107B are connected to each other via bus 108B so as to be able to communicate with each other.

[0193] In the following, when there is no need to distinguish between the processor 101A' and the processor 101B', the processors 101A' and 101B' may be referred to as processor 101'. Furthermore, when there is no need to distinguish between the alarm unit 103A and the alarm unit 103B, the alarm units 103A and 103B may be referred to as alarm unit 103. Furthermore, when there is no need to distinguish between the communication unit 105A' and the communication unit 105B', the communication units 105A' and 105B' may be referred to as communication unit 105'.

[0194] <Configuration of upper server> 9 is a block diagram showing an example of the configuration of an upper server 20′ according to embodiment 2. As shown in FIG. 9, the upper server 20′ includes a processor 201′, a storage unit 202, a communication unit 203′, and a bus 204.

[0195] Unlike the first embodiment, for example, each time the processor 201' receives positioning terminal positioning data from the positioning terminal 10', the processor 201' performs RTK calculations based on the positioning terminal positioning data and correction data received from GNSS satellites to measure (determine) the position, speed, acceleration, and traveling direction of the positioning terminal 10'. The processor 201' outputs the positioning results thus obtained to the communication unit 203' and the storage unit 202. The processor 201' predicts the intrusion time of the positioning terminal 10A' associated with the worker into the danger area (i.e., the predicted time to reach the danger area) based on the positioning results and the set danger area.

[0196] If the danger area is related to the area of ​​the construction vehicle 50, the processor 201′ may dynamically and automatically set a new danger area based on the positioning results of the positioning terminal 10B′ associated with the construction vehicle 50 and the status of the construction vehicle 50. Note that, with regard to the status information of the construction vehicle 50, information indicating that the construction vehicle 50 is moving forward, information indicating that the construction vehicle 50 is moving backward, information indicating that the construction vehicle 50 is turning right, information indicating that the construction vehicle 50 is turning left, and information indicating that the construction vehicle 50 is stopped, the processor 201′ may further generate the information based on the positioning results (e.g., position and speed) of the positioning terminal 10B′ that measured the position. The new danger area may be set, for example, as described above. The new danger area includes the position of the positioning terminal 10B′ associated with the construction vehicle 50 and is set to a portion around the positioning terminal 10B′.

[0197] The processor 201' determines whether the positioning terminal 10A' has approached or entered the dangerous area (detects an alarm event) based on at least one of the positioning result, the predicted intrusion time threshold, the no-alarm distance threshold, and the set dangerous area.

[0198] The processor 201' transmits the information of the set danger area, the positioning result, and the positioning terminal 10' to which the alarm issuance command is to be sent to the monitor device 40 via the communication unit 203' so as to display the information.

[0199] The communication unit 203' receives the positioning terminal positioning data transmitted from the positioning terminal 10'. The communication unit 203' outputs the positioning terminal positioning data to the processor 201' and the storage unit 202. The communication unit 203' may transmit the positioning result to the positioning terminal 10'.

[0200] The processor 201', the storage unit 202, and the communication unit 203' are connected to one another via a bus 204 so as to be able to communicate with one another.

[0201] <Alarm system operation> Next, an example of the operation of the alarm system 1' according to the second embodiment will be described with reference to FIGS. 10A, 10B, 11A, and 11B.

[0202] [Positioning device operation] FIG. 10A is a diagram showing an example of the operation of the positioning terminal 10A' according to the second embodiment.

[0203] In step S1001, the GNSS receiver 104A receives a satellite signal transmitted from a GNSS satellite.

[0204] In step S1002, the processor 101A' generates positioning terminal positioning data based on the satellite signals.

[0205] In step S1003, the communication unit 105A' transmits the positioning terminal positioning data to the upper server 20'.

[0206] In step S1004, the processor 101A' or the communication unit 105A' determines whether or not the communication unit 105A' has received an alarm issuing command (for example, within a predetermined time after transmitting the positioning terminal positioning data).

[0207] If the communication unit 105A' receives an alarm issuing command (for example, within a predetermined time after transmitting the positioning terminal positioning data) (YES in step S1004), in step S1005, the alarm unit 103A issues an alarm in the format specified (determined) by the upper server 20'. Then, the flow ends.

[0208] On the other hand, if the communication unit 105A' does not receive an alarm issuing command (for example, within a predetermined time after transmitting the positioning terminal positioning data) (NO in step S1004), the flow ends.

[0209] Thereafter, the process of FIG. 10A is repeated.

[0210] FIG. 10B is a diagram showing an example of the operation of the positioning terminal 10B' according to the second embodiment.

[0211] In step S1011, the GNSS receiver 104B receives satellite signals transmitted from GNSS satellites.

[0212] In step S1012, the processor 101B' generates positioning terminal positioning data based on the satellite signals.

[0213] In step S1013, the vehicle communication unit 107B acquires status information of the construction vehicle 50 from the construction vehicle 50 (for example, the vehicle control system thereof).

[0214] In step S1014, the communication unit 105B' transmits the positioning terminal positioning data and the status information of the construction vehicle 50 to the upper server 20'.

[0215] In step S1015, the processor 101B' or the communication unit 105B' determines whether or not the communication unit 105B' has received an alarm issuing command (for example, within a predetermined time after transmitting the positioning result).

[0216] If the communication unit 105B′ receives an alarm issuing command (for example, within a predetermined time after transmitting the positioning result) (YES in step S1015), the alarm unit 103B issues an alarm in the format specified (determined) by the upper server 20′ in step S1016. Then, the flow ends.

[0217] On the other hand, if the communication unit 105B' does not receive an alarm issuing command (for example, within a predetermined time after transmitting the positioning result) (NO in step S1015), the flow ends.

[0218] Thereafter, the process of FIG. 10B is repeated.

[0219] [Upstream server operation] The process relating to the presetting of the upper server 20' is the same as the process already explained using FIG. 5, and therefore the explanation thereof will be omitted here.

[0220] 11A and 11B are diagrams showing an example of the operation of the upper server 20′ according to embodiment 2. Note that, here again, the following describes an example in which an intrusion prediction time threshold is not set (i.e., it is not determined whether or not the positioning terminal 10′ is approaching a dangerous area), no alarm-free distance threshold is set, and a dangerous area of ​​a predetermined radius is set in advance around the positioning terminal 10B′ mounted on the construction vehicle 50.

[0221] In step S1101, the communication unit 203' receives the positioning terminal positioning data transmitted from the positioning terminal 10A', and the positioning terminal positioning data and status information of the construction vehicle 50 transmitted from the positioning terminal 10B'.

[0222] In step S1102, the communication unit 203' receives the correction data transmitted from the reference station data distribution server 30'.

[0223] In step S1103, the processor 201′ performs RTK calculation using the positioning terminal positioning data and correction data to calculate the RTK solution and obtain the positioning result.

[0224] In step S1104, the processor 201' determines whether the construction vehicle 50 is moving forward, backward, or stopped, based on (information indicated by) the received status information of the construction vehicle 50.

[0225] If it is determined that the construction vehicle 50 is moving forward, in step S1105, the processor 201′ generates and sets a new danger area as described above.

[0226] If it is determined that the construction vehicle 50 is moving backward, in step S1106, the processor 201' generates and sets a new danger area as described above. Then, the flow proceeds to step S1109.

[0227] If it is determined that the construction vehicle 50 is stopped, in step S1107, the processor 201′ determines whether the arm of the construction vehicle 50 is moving based on the received status information of the construction vehicle 50 (the status indicated by the status information).

[0228] If it is determined that the arm of the construction vehicle 50 is moving (YES in step S1107), in step S1108, the processor 201′ generates and sets a new danger area as described above. Then, the flow proceeds to step S1109.

[0229] On the other hand, if it is determined that the arm of the construction vehicle 50 is not moving (NO in step S1107), the flow proceeds to step S1111.

[0230] In step S1109, the processor 201' determines whether or not the positioning terminal 10A' is in the new dangerous area based on the set new dangerous area and the positioning result (the position of the positioning terminal 10A').

[0231] If it is determined that the positioning terminal 10A is in a new dangerous area (YES in step S1109), in step S1110, the processor 201′ issues an intrusion alarm issuing command to the positioning terminal 10A′, and the communication unit 203′ transmits this alarm issuing command to the positioning terminal 10A′. Then, the flow ends.

[0232] On the other hand, if it is determined that the positioning terminal 10A' is not present in the new dangerous area (NO in step S1109), the flow ends.

[0233] In step S1111, the processor 201' determines whether a new dangerous area related to the construction vehicle 50 has been set.

[0234] If it is determined that a new dangerous area has been set (YES in step S1111), the processor 201′ cancels the new dangerous area and sets the original dangerous area in step S1112. Then, the flow proceeds to step S1113.

[0235] On the other hand, if it is determined that a new dangerous area has not been set (NO in step S1111), the flow proceeds to step S1113.

[0236] In step S1113, the processor 201' determines whether or not the positioning terminal 10A' is in a dangerous area based on the set (original) dangerous area and the positioning result (the position of the positioning terminal 10A').

[0237] If it is determined that the positioning terminal 10A' is in the dangerous area (YES in step S1113), in step S1114, the processor 201' issues an intrusion alarm issuing command to the positioning terminal 10A', and the communication unit 203' transmits this alarm issuing command to the positioning terminal 10A'. Then, the flow ends.

[0238] On the other hand, if it is determined that the positioning terminal 10A' is not in the dangerous area (NO in step S1113), the flow ends.

[0239] Thereafter, the processes of FIGS. 11A and 11B are repeated.

[0240] If a danger area of ​​a predetermined radius has not been set in advance around the positioning terminal 10B' mounted on the construction vehicle 50, and a new danger area is only dynamically set around the positioning terminal 10B' mounted on the construction vehicle 50, then in step S1112, the processor 201' only needs to cancel the new danger area, and the flow may then end. Also, if a new danger area has not been set in step S1111, the flow may end.

[0241] <Modification> [Variation 2-1] Modification 1-1 of the first embodiment may also be applied to the second embodiment.

[0242] [Variation 2-2] Modification 1-2 of the first embodiment may also be applied to the second embodiment.

[0243] [Variation 2-3] Modifications 1-3 of the first embodiment may also be applied to the second embodiment.

[0244] [Variation 2-4] Modifications 1-4 of the first embodiment may also be applied to the second embodiment.

[0245] [Variation 2-5] Modifications 1-5 of the first embodiment may also be applied to the second embodiment.

[0246] [Variation 2-6] Although the above describes an example in which the host server 20' executes the processing according to the present disclosure, such as determining approach and intrusion into a dangerous area, the present disclosure is not limited to this example. For example, instead of the host server 20', a representative positioning terminal 10' among the multiple positioning terminals 10' may receive positioning terminal positioning data from each of the positioning terminals 10' and execute the processing according to the present disclosure.

[0247] <Effects> According to the second embodiment, a new danger area is dynamically set in a part of the vicinity of the positioning terminal 10B' including the position of the positioning terminal 10B' based on the state of the construction vehicle 50 on which the positioning terminal 10B' is mounted and the position of the positioning terminal 10B', and an intrusion or approach of the positioning terminal 10' into the new danger area is determined. Then, in response to this intrusion or approach, an alarm issuance command for issuing an alarm to at least one of the positioning terminal 10B' and the positioning terminal 10' is provided to at least one of the positioning terminal 10B' and the positioning terminal 10', or at least one of the positioning terminal 10B' and the positioning terminal 10' issues an alarm. In this way, a new danger area is set in a part of the vicinity of the positioning terminal 10B' taking into consideration factors other than the distance from the positioning terminal (construction vehicle), and it is possible to appropriately issue an alarm to a worker associated with at least one of the positioning terminal 10B' and the positioning terminal 10'.

[0248] Furthermore, according to embodiment 2, the RTK calculation for positioning the positioning terminal 10' is performed in the upper server 20' or the representative positioning terminal 10' rather than in the positioning terminal 10', thereby reducing the processing load on each individual positioning terminal 10'.

[0249] (Further Modification of the Embodiment) In the above-described embodiment, the positions of the positioning terminals 10 and 10' are calculated using RTK calculation. However, other positioning methods may be used. Examples of other positioning methods include a conventional GPS method that calculates the position of the positioning terminals 10 and 10' solely from signals from satellites, a differential GPS method that uses correction data different from RTK calculation, and a method that uses signals from beacons located in the vicinity without using signals from satellites. Furthermore, rather than using only a single positioning method, the positions of the positioning terminals 10 and 10' may be calculated using multiple positioning methods. For example, it may be possible to switch the method for calculating the positions of the positioning terminals 10 and 10' between an environment where satellite signals can be received well, such as outdoors, and an environment where the quality of satellite signals is likely to deteriorate, such as indoors. That is, in the above-described embodiment, it is sufficient that the positions of the positioning terminals 10 and 10' are calculated using some positioning method, and the type of positioning method used is not important. However, RTK calculation can calculate a position with higher accuracy than other positioning methods in an environment where high-quality signals can be received from satellites. Therefore, it is preferable to use RTK calculations in environments such as outdoor construction sites where there are few objects blocking signals from satellites and where position errors are likely to lead to accidents.

[0250] In the above-described embodiment, the intrusion alarm is issued by a buzzer or beep, but the intrusion alarm may be issued in other ways. For example, the intrusion alarm may be issued by other sounds, such as "You are approaching a dangerous area." The alarm does not have to be audio. If the positioning terminal 10, 10' is equipped with a light-emitting element such as an LED, the intrusion alarm may be issued by controlling the blinking or light intensity of the light-emitting element. If the positioning terminal 10, 10' is equipped with a vibrator, the intrusion alarm may be issued by controlling the frequency or intensity of vibration of the positioning terminal 10, 10'. The above-described intrusion alarms may also be combined. When issuing an alarm in a manner other than audio, the intensity of the alarm may be changed by increasing the light intensity or vibration intensity or shortening the alarm frequency.

[0251] In the above-described embodiment, approach to a dangerous area is determined based on the predicted intrusion time, but other methods may be used. For example, it may be determined that an approach has occurred if the current location is within each area. Similarly, it is not necessary to set a no-alarm distance threshold.

[0252] In the above-described embodiment, a worker and a construction vehicle at a work site are described as an example. However, the present disclosure may be applied to other environments where an alarm needs to be issued for the movement of a person carrying a positioning terminal 10, 10' or a vehicle equipped with a positioning terminal 10, 10'. For example, the present disclosure may be applied to a firefighter and a fire engine in a firefighting operation, or a pedestrian and a vehicle in an autonomous driving operation. Furthermore, in the above-described embodiment, an example was described in which a new danger area is changed depending on the state of an arm attached to a construction vehicle 50. However, the concept of the above-described embodiment may be applied to equipment other than an arm as long as it is a movable part that can be moved without moving the moving object. Specifically, a ladder attached to a fire truck may be considered as such equipment.

[0253] In the above-described embodiment, whether or not a movable part (e.g., an arm) is moving is determined when a moving body (e.g., a construction vehicle 50) is stopped. However, whether or not a movable part is moving may also be determined while the moving body is moving. In this case, a case where a movable part is moving while the moving body is moving is more dangerous than a case where the movable part is moving while the moving body is stopped, so the area of ​​the new danger area may be set to be larger.

[0254] In the above-described embodiment, a change in the state of the mobile object or movable part changes the range of a new dangerous area, and as a result of this change, the positioning terminal 10, 10' may be determined to be entering a new dangerous area. In this case, the worker owning the positioning terminal 10, 10' may mistakenly receive an alarm because the terminal is suddenly determined to be entering a new dangerous area even though the worker has not moved at all. Therefore, the alarm issued to the positioning terminal 10, 10' determined to be entering a new dangerous area due to a change in the state of the mobile object or movable part may be different from the alarm issued to the positioning terminal 10, 10' that was determined to be entering a dangerous area both before and after the change in the state of the mobile object or movable part. This allows the worker owning the positioning terminal 10 determined to be entering a new dangerous area to recognize that the determination to enter a new dangerous area was made due to a special circumstance, namely, a change in the state of the mobile object or movable part. In this case, the alarm for the positioning terminal 10, 10' determined to be entering a new dangerous area may be stronger than the alarm for the positioning terminal 10, 10' that was determined to be entering a dangerous area both before and after the change in the state of the moving body or moving part. In this way, the worker can be more reliably made aware that he or she has become the target of a new alarm.

[0255] In the above-described embodiment, new danger areas were described focusing on the direction in which the area changes depending on the state of the moving object or movable part. However, new danger areas may be set in other directions. For example, new danger areas are not illustrated for the left and right portions of the construction vehicle 50 relative to the traveling direction in FIG. 12 and for the portion of FIG. 13 that is less related to the rotation of the arm tip. However, new danger areas may also be set for these portions. This is because even if a direction is less related to the traveling direction of the moving object or the range of motion of the movable part, contact by a worker with the moving object itself is dangerous. In this case, different warnings may be issued for new danger areas in directions corresponding to the state of the moving object or movable part and new danger areas in other directions. For example, because directions corresponding to the state of the moving object or movable part are particularly dangerous, the warning intensity may be stronger than for other directions. Furthermore, new danger areas may not be set for directions less related to the state of the moving object or movable part. This can prevent excessive warnings from being issued.

[0256] In the above-described embodiment, new danger areas are set for a moving body in both the direction of travel and the opposite direction, and for a moving part, a new danger area is set only in the range corresponding to its range of motion. However, for a moving body, a new danger area may not be set on the opposite side of the moving body's direction of travel, or for a moving part, a new danger area may be set on the opposite side of the moving part. In other words, as long as a new danger area with a larger area is set in a direction corresponding to the state of the moving body or moving part than in the opposite direction, the area of ​​the new danger area set in the opposite direction may be any size equal to or greater than zero. This makes it possible to prevent excessive issuance of warnings in areas that are relatively less dangerous and have little correlation with the state of the moving body or moving part.

[0257] In the above-described embodiment, an example has been described in which the area of ​​a new danger area is changed depending on the state of the moving body or the movable part. However, if the direction of travel of the moving body or the direction in which the movable part can be moved is limited, it is not necessarily necessary to set a large area for the new danger area in the direction corresponding to the state of the moving body or the movable part. This is because expanding the new danger area to an area that the moving body or the movable part cannot reach could lead to the issuance of excessive alarms. In this case, the area of ​​the new danger area set in the direction corresponding to the state of the moving body or the movable part may be equal to or smaller than the area of ​​the new danger area set in the opposite direction. For example, in an area that is difficult for the operator of the moving body to see, such as the rear of a moving body moving forward, it may be desirable from the perspective of worker safety to set a new danger area that is short but wide. In this case, if a long and narrow new danger area is set as the front danger area and a short and wide new danger area is set as the rear danger area, the area of ​​the new danger area in the front may be smaller than the area of ​​the new danger area in the rear danger area. That is, the size of the area in the above-described embodiment is merely an example, and it is sufficient that the distance from the positioning terminal 10, 10' to the periphery of the new dangerous area is longer in the direction corresponding to the state of the moving body or movable part than in the opposite direction. Here, the distance to the periphery of the dangerous area may be, for example, the longest distance from the positioning terminal 10, 10' to the periphery of the new dangerous area, but may also be another distance, such as the average or median of the distances from the positioning terminal 10, 10' to the periphery of the new dangerous area.

[0258] (Summary of the embodiment) An information processing device (representative positioning terminal 10, 10', upper server 20, 20') according to one embodiment of the present disclosure includes a processing unit (processor 101, 101', 201, 201') that dynamically sets an area (new danger area) in a part of the vicinity of a first terminal (positioning terminal 10B, 10B') including the position of the first terminal based on the state of the mobile body (construction vehicle 50) on which the first terminal is mounted and the position of the first terminal, and determines whether a second terminal (positioning terminal 10, 10') has entered or approached the area, and a communication unit (communication unit 105, 105', 203, 203') that transmits a signal (alert issuance command) to the second terminal to issue an alert to the second terminal in response to the intrusion or approach.

[0259] With the above configuration, an area is dynamically set around a portion of the first terminal, including the location of the first terminal, based on the state of the mobile object on which the first terminal is mounted and the location of the first terminal, and an intrusion or approach of a second terminal into the area is determined. Then, in response to this intrusion or approach, a signal is provided to the second terminal to issue an alert to the second terminal. As a result, an area is set around a portion of the first terminal taking into account factors other than the distance from the terminal (mobile object), and an alert can be appropriately issued to the worker associated with the second terminal.

[0260] In this information processing device, the state of the moving body is the state of movement of the moving body, and the processing unit sets the area so that the area of ​​the part corresponding to the direction of travel of the moving body is larger than the area of ​​the part on the opposite side of the moving body.

[0261] With the above configuration, people in the direction of travel of the moving body who are more likely to be exposed to danger (for example, a worker carrying a second terminal or a worker driving another moving body equipped with a second terminal) are more likely to be able to carry out work, etc. safely, while excessive alarms can be suppressed on the opposite side of the moving body (the opposite side from the direction of travel).

[0262] In this information processing device, when the moving body is moving forward, the processing unit sets the area consisting of a first portion extending forward from the moving body and a second portion extending rearward from the moving body, the second portion having an area smaller than that of the first portion, and when the moving body is moving backward, the processing unit sets the area consisting of a third portion extending rearward from the moving body and a fourth portion extending forward from the moving body, the area smaller than that of the third portion.

[0263] With the above configuration, people who are more likely to be exposed to danger and are in front or behind the moving body (for example, a worker carrying a second terminal or a worker driving another moving body equipped with a second terminal) are more likely to be able to carry out work, etc. safely, while excessive alarms can be suppressed on the opposite side of the direction of travel.

[0264] In this information processing device, when the moving body is turning, the processing unit sets the area so that the area of ​​the inner part of the turn is larger than the area of ​​the outer part of the turn.

[0265] With the above configuration, people on the inside of the rotating mobile body who are more likely to be exposed to danger (for example, a worker carrying the second terminal or a worker driving another mobile body equipped with the second terminal) are more likely to be able to carry out work, etc. safely, while excessive alarms can be suppressed on the outside of the rotating mobile body.

[0266] In this information processing device, the state of the moving body is the state of movement of a movable part that is provided in the moving body and moves without movement of the moving body.

[0267] With the above configuration, it is possible to appropriately issue an alarm to the worker associated with the second terminal, taking into consideration the movement of the moving part provided on the moving object, rather than the movement of the moving object itself.

[0268] In this information processing device, when the tip of the movable part is rotating, the processing unit sets the area so that the area of ​​the inner part of the rotation is larger than the area of ​​the outer part of the rotation.

[0269] With the above configuration, people who are more likely to be exposed to danger and are on the inside of the rotating tip of the moving part (for example, a worker carrying the second terminal or a worker driving another mobile object equipped with the second terminal) are more likely to be able to perform work, etc. safely, while excessive alarms can be suppressed on the outside of the rotating tip of the moving part.

[0270] In this information processing device, the processing unit adjusts the size of the area in accordance with at least one of the rotation speed and reach of the tip of the movable part.

[0271] With the above configuration, the size of the area can be adjusted depending on the possibility of exposure to danger.

[0272] In this information processing device, the processing unit sets the area so that when the movable part is moving while the moving body is moving, the area is larger than when the movable part is moving while the moving body is stopped.

[0273] The above configuration increases the possibility that work, etc. can be performed more safely while the moving object is moving, which is more likely to be dangerous.

[0274] In this information processing device, the communication unit transmits a signal to the second terminal that was not determined to be entering the area before the state of the mobile body changed, but is determined to be entering the area due to the change in the state of the mobile body, to issue an alert that is different from that issued by the second terminal that was determined to be entering the area both before and after the change in the state of the mobile body.

[0275] With the above configuration, a worker associated with a second terminal that is determined to be entering an area due to a change in the state of a mobile object can recognize that it has been determined to be entering the area due to special circumstances such as a change in the state of the mobile object.

[0276] In this information processing device (representative positioning terminal 10, upper server 20), the communication unit (communication units 105, 203) receives from the second terminal (positioning terminal 10) the position of the second terminal determined based on RTK (Real Time Kinematic) calculation.

[0277] With the above configuration, the position of the second terminal can be obtained with high accuracy, and therefore, it is possible to more accurately determine whether the second terminal has entered or approached the area.

[0278] In this information processing device (representative positioning terminal 10', upper server 20'), the processing units (processors 101', 201') determine the position of the second terminal (positioning terminal 10') based on RTK calculation.

[0279] With the above configuration, the position of the second terminal can be obtained with high accuracy, and therefore, it is possible to more accurately determine whether the second terminal has entered or approached the area.

[0280] In this information processing device, the communication unit transmits to the first terminal a signal for causing the first terminal to issue an alarm in response to the intrusion or approach.

[0281] With the above configuration, a signal for issuing an alarm is also provided to the first terminal, so that the worker associated with the second terminal is more likely to be able to perform work etc. safely.

[0282] A terminal (positioning terminal 10, 10') according to one embodiment of the present disclosure comprises a processing unit (processor 101, 101') that determines the position of the terminal, and an alarm unit (alarm unit 103) that issues an alarm in response to the terminal entering or approaching an area (new danger area) that is dynamically set in at least a portion around another terminal (positioning terminal 10B, 10B') different from the terminal and that includes the position of the other terminal, the area being dynamically set based on the state of the mobile body and the position of the other terminal.

[0283] With the above configuration, an area is dynamically set around a portion of the other terminal, including the location of the other terminal, based on the state of the mobile body on which the other terminal is mounted and the location of the other terminal, and an intrusion or approach of the terminal into the area is determined. The terminal then issues an alarm in response to this intrusion or approach. This allows an area to be set around a portion of the other terminal, taking into account factors other than the distance from the terminal (mobile body), making it possible to appropriately issue an alarm to the worker associated with the terminal.

[0284] In this terminal, the terminal further includes a communication unit that transmits the position of the terminal to an information processing device (representative positioning terminal 10, 10', upper server 20, 20') and receives a signal from the information processing device to issue the alarm to the terminal, and the alarm unit issues the alarm in accordance with the signal.

[0285] With the above configuration, whether or not the terminal issues an alarm is determined by the information processing device, so the processing load on the terminal can be reduced.

[0286] In an information processing method according to one embodiment of the present disclosure, an information processing device (representative positioning terminal 10, 10', upper server 20, 20') dynamically sets an area (new danger area) in a part of the vicinity of a first terminal (positioning terminal 10B, 10B') including the position of the first terminal based on the state of the mobile body (construction vehicle 50) on which the first terminal is mounted and the position of the first terminal, determines whether a second terminal (positioning terminal 10, 10') has entered or approached the area, and transmits a signal (alarm issuance command) to the second terminal to issue an alert to the second terminal in response to the intrusion or approach.

[0287] With the above configuration, an area is dynamically set around a portion of the first terminal, including the location of the first terminal, based on the state of the mobile object on which the first terminal is mounted and the location of the first terminal, and an intrusion or approach of a second terminal into the area is determined. Then, in response to this intrusion or approach, a signal is provided to the second terminal to issue an alert to the second terminal. As a result, an area is set around a portion of the first terminal taking into account factors other than the distance from the terminal (mobile object), and an alert can be appropriately issued to the worker associated with the second terminal.

[0288] In an alarm method according to one embodiment of the present disclosure, a terminal (positioning terminal 10, 10') determines the position of the terminal and issues an alarm in response to the terminal's intrusion into or approaching an area (new danger area) that is dynamically set in at least a portion around another terminal (positioning terminal 10B, 10B') different from the terminal and mounted on a mobile body (construction vehicle 50), including the position of the other terminal, and the area is dynamically set based on the state of the mobile body and the position of the other terminal.

[0289] With the above configuration, an area is dynamically set around a portion of the other terminal, including the location of the other terminal, based on the state of the mobile body on which the other terminal is mounted and the location of the other terminal, and an intrusion or approach of the terminal into the area is determined. The terminal then issues an alarm in response to this intrusion or approach. This allows an area to be set around a portion of the other terminal, taking into account factors other than the distance from the terminal (mobile body), making it possible to appropriately issue an alarm to the worker associated with the terminal.

[0290] An alarm system (alarm system 1, 1') according to one embodiment of the present disclosure has a first terminal (positioning terminal 10B, 10B') and a second terminal (positioning terminal 10, 10'), and the alarm system dynamically sets an area (new danger area) around a part of the first terminal, including the position of the first terminal, based on the state of a mobile body (construction vehicle 50) on which the first terminal is mounted and the position of the first terminal, determines whether the second terminal has entered or approached the area, and, in response to the intrusion or approach, performs at least one of the following processes: sending a first signal (alarm issuance command) to the first terminal to cause the first terminal to issue a first alarm; and sending a second signal (alarm issuance command) to the second terminal to cause the second terminal to issue a second alarm, and the first terminal issues an alarm in accordance with the first signal, and the second terminal issues an alarm in accordance with the second signal.

[0291] With the above configuration, an area is dynamically set around a portion of the first terminal, including the location of the first terminal, based on the state of the mobile object on which the first terminal is mounted and the location of the first terminal, and an intrusion or approach of a second terminal into the area is determined. Then, in response to this intrusion or approach, a signal for issuing an alarm to at least one of the first terminal and the second terminal is provided to at least one of the first terminal and the second terminal, and at least one of the first terminal and the second terminal issues the alarm. In this way, by setting an area around the first terminal taking into account factors other than the distance from the terminal (mobile object), it is possible to appropriately issue an alarm to a worker associated with at least one of the first terminal and the second terminal.

[0292] An information processing device (representative positioning terminal 10, 10', upper server 20, 20') according to one embodiment of the present disclosure includes a processing unit (processor 101, 101', 201, 201') that dynamically sets an area (new danger area) in a part of the vicinity of a first terminal (positioning terminal 10B, 10B') including the position of the first terminal based on the state of the mobile body (construction vehicle 50) on which the first terminal is mounted and the position of the first terminal, and determines whether a second terminal (positioning terminal 10, 10') has intruded into the area, and a communication unit (communication unit 105, 105', 203, 203') that transmits a signal (alert issuance command) to the second terminal to issue an alert to the second terminal in response to the intrusion.

[0293] With the above configuration, an area is dynamically set around a portion of the first terminal, including the location of the first terminal, based on the state of the mobile object on which the first terminal is mounted, and an intrusion of a second terminal into the area is determined. Then, a signal is provided to the second terminal to cause the second terminal to issue an alert in response to the intrusion of the second terminal into the area. As a result, the area is set around a portion of the first terminal taking into consideration factors other than the distance between the area and the second terminal, making it possible to appropriately issue an alert to a worker associated with the second terminal.

[0294] In this information processing device, when the moving body is moving forward, the processing unit dynamically sets the area consisting of a first portion extending forward from the moving body and a second portion extending rearward from the moving body, the second portion having an area smaller than the first area, and when the moving body is moving backward, the processing unit dynamically sets the area consisting of a third portion extending rearward from the moving body and a fourth portion extending forward from the moving body, the area smaller than the third portion.

[0295] With the above configuration, people who are more likely to be exposed to danger and are in front or behind the moving body (for example, a worker carrying a second terminal or a worker driving another moving body equipped with a second terminal) are more likely to be able to carry out work, etc. safely, while excessive alarms can be suppressed on the opposite side of the direction of travel.

[0296] In this information processing device, the processing unit dynamically sets the area to the right of the moving body when the moving body is turning right, and dynamically sets the area to the left of the moving body when the moving body is turning left.

[0297] With the above configuration, people on the right or left side of the vehicle who are more likely to be exposed to danger (for example, a worker carrying a second terminal or a worker driving another vehicle equipped with a second terminal) are more likely to be able to perform work, etc. safely.

[0298] In this information processing device, the processing unit dynamically sets the area to the right of the front of the moving body when the tip of the arm of the moving body is rotating to the right of the front of the moving body, and the processing unit dynamically sets the area to the left of the front of the moving body when the tip of the arm of the moving body is rotating to the left of the front of the moving body.

[0299] With the above configuration, people on the right or left side of the vehicle who are more likely to be exposed to danger (for example, a worker carrying a second terminal or a worker driving another vehicle equipped with a second terminal) are more likely to be able to perform work, etc. safely.

[0300] In this information processing device, the processing unit adjusts the size of the area in accordance with at least one of the rotation speed and reach of the tip of the arm of the moving body.

[0301] With the above configuration, the size of the area can be adjusted depending on the possibility of exposure to danger.

[0302] In this information processing device (representative positioning terminal 10, upper server 20), the communication unit (communication units 105, 203) receives from the second terminal (positioning terminal 10) the position of the second terminal determined based on RTK (Real Time Kinematic) calculation.

[0303] With the above configuration, the position of the second terminal can be obtained with high accuracy, and therefore, whether the second terminal has entered the area can be determined more accurately.

[0304] In this information processing device (representative positioning terminal 10', upper server 20'), the processing units (processors 101', 201') determine the position of the second terminal (positioning terminal 10') based on RTK calculation.

[0305] With the above configuration, the position of the second terminal can be obtained with high accuracy, and therefore, whether the second terminal has entered the area can be determined more accurately.

[0306] In this information processing device, the communication unit transmits to the first terminal a signal (alarm issuance command) for causing the first terminal to issue an alarm in response to the intrusion.

[0307] With the above configuration, a signal for issuing an alarm is also provided to the first terminal, so that, for example, a person (worker) driving a mobile body equipped with the first terminal will be more likely to notice that a person (worker) associated with the second terminal is nearby, and the person associated with the second terminal will be more likely to be able to perform work, etc., more safely.

[0308] A terminal (positioning terminal 10, 10') according to one embodiment of the present disclosure comprises a processing unit (processor 101, 101') that communicates with an information processing device (representative positioning terminal 10, 10', upper server 20, 20') and determines the position of the terminal, a communication unit (communication unit 105, 105') that transmits the position of the terminal to the information processing device and receives from the information processing device a signal (alarm issuance command) to cause the terminal to issue an alarm in response to the terminal's intrusion into an area (new danger area) that is dynamically set in a portion around another terminal (positioning terminal 10B, 10B') different from the terminal and that includes the position of the other terminal that is mounted on a mobile body (construction vehicle 50), and an alarm unit (alarm unit 103) that issues an alarm in accordance with the signal, wherein the area is dynamically set based on the state of the mobile body and the position of the other terminal.

[0309] With the above configuration, an area is dynamically set around a portion of the other terminal, including the location of the other terminal, based on the state of the mobile body on which the other terminal is mounted, and intrusion of the terminal into the area is determined. Then, a signal is provided to the terminal to cause the terminal to issue an alert in response to the intrusion of the terminal into the area. In this way, the area is set around a portion of the other terminal, taking into account factors other than the distance between the area and the terminal, so that an appropriate alert can be issued to the worker associated with the terminal.

[0310] In this terminal (positioning terminal 10), the processing unit (processor 101) determines the position of the terminal based on RTK calculation.

[0311] With the above configuration, the position of the terminal can be obtained with high accuracy, and therefore, the intrusion of the terminal into the area can be determined more accurately.

[0312] In an information processing method according to one embodiment of the present disclosure, an information processing device (representative positioning terminal 10, 10', upper server 20, 20') dynamically sets an area (new danger area) in a part of the vicinity of a first terminal (positioning terminal 10B, 10B') including the position of the first terminal based on the state of the mobile body (construction vehicle 50) on which the first terminal is mounted and the position of the first terminal, determines whether a second terminal (positioning terminal 10, 10') has entered the area, and transmits a signal (alert issuance command) to the second terminal to issue an alert to the second terminal in response to the intrusion.

[0313] With the above configuration, an area is dynamically set around a portion of the first terminal, including the location of the first terminal, based on the state of the mobile object on which the first terminal is mounted, and an intrusion of a second terminal into the area is determined. Then, a signal is provided to the second terminal to cause the second terminal to issue an alert in response to the intrusion of the second terminal into the area. As a result, the area is set around a portion of the first terminal taking into consideration factors other than the distance between the area and the second terminal, making it possible to appropriately issue an alert to a worker associated with the second terminal.

[0314] In an alarm method according to one embodiment of the present disclosure, a terminal (positioning terminal 10, 10') determines the position of the terminal, transmits the position of the terminal to an information processing device (representative positioning terminal 10, 10', upper server 20, 20'), receives from the information processing device a signal (alarm issuance command) to cause the terminal to issue an alarm in response to the terminal's intrusion into an area (new danger area) that is dynamically set in a portion around another terminal (positioning terminal 10B, 10B') that is different from the terminal and is mounted on a mobile body (construction vehicle 50), including the position of the other terminal, and issues an alarm in accordance with the signal, the area being dynamically set based on the state of the mobile body and the position of the other terminal.

[0315] With the above configuration, an area is dynamically set around a portion of the other terminal, including the location of the other terminal, based on the state of the mobile body on which the other terminal is mounted, and intrusion of the terminal into the area is determined. Then, a signal is provided to the terminal to cause the terminal to issue an alert in response to the intrusion of the terminal into the area. In this way, the area is set around a portion of the other terminal, taking into account factors other than the distance between the area and the terminal, so that an appropriate alert can be issued to the worker associated with the terminal.

[0316] An alarm system (alarm system 1, 1') according to one embodiment of the present disclosure includes an information processing device (representative positioning terminal 10, 10', upper server 20, 20'), a first terminal (positioning terminal 10B, 10B'), and a second terminal (positioning terminal 10, 10'). The information processing device dynamically sets an area (new danger area) around the first terminal, including the position of the first terminal, based on the state of a mobile body (construction vehicle 50) on which the first terminal is mounted and the position of the first terminal. The information processing device determines an intrusion of the second terminal into the area, transmits a first signal (alarm issuance command) to the first terminal to cause the first terminal to issue a first alarm in response to the intrusion, and transmits a second signal (alarm issuance command) to the second terminal to cause the second terminal to issue a second alarm in response to the intrusion. The first terminal receives the first signal from the information processing device and issues an alarm in accordance with the first signal. The second terminal receives the second signal from the information processing device and issues an alarm in accordance with the second signal.

[0317] With the above configuration, an area is dynamically set around a portion of the first terminal, including the location of the first terminal, based on the state of the mobile device on which the first terminal is mounted, and an intrusion of a second terminal into the area is determined. Then, a signal is provided to the second terminal to cause the second terminal to issue an alert to the intrusion of the second terminal into the area. As a result, an area is set around a portion of the first terminal taking into account factors other than the distance between the area and the second terminal, making it possible to appropriately issue an alert to a worker associated with the second terminal. Furthermore, with the above configuration, a person (worker) driving a mobile device on which the first terminal is mounted can more easily notice that a person (worker) associated with the second terminal is nearby, increasing the likelihood that the person associated with the second terminal will be able to perform work, etc., more safely.

[0318] In the above-described embodiments, the notation "... part" used for each component may be replaced with other notations such as "... circuitry," "... assembly," "... device," "... unit," or "... module."

[0319] Although the embodiments have been described above with reference to the drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims. It is understood that such modifications or alterations also fall within the technical scope of the present disclosure. Furthermore, the components in the embodiments may be combined in any manner without departing from the spirit of the present disclosure.

[0320] The present disclosure can be realized by software, hardware, or software linked to hardware. Each functional block used in the description of the above embodiments may be partially or entirely realized as an LSI, which is an integrated circuit, and each process described in the above embodiments may be partially or entirely controlled by a single LSI or a combination of LSIs. The LSI may be composed of individual chips, or may be composed of a single chip that includes some or all of the functional blocks. The LSI may have data input and output. Depending on the degree of integration, the LSI may be called an IC, system LSI, super LSI, or ultra LSI.

[0321] The integrated circuit method is not limited to LSI, but may be realized by a dedicated circuit, a general-purpose processor, or a dedicated processor. Also, a field programmable gate array (FPGA) that can be programmed after LSI manufacturing, or a reconfigurable processor that can reconfigure the connections and settings of circuit cells within the LSI, may be used. The present disclosure may be realized as digital processing or analog processing.

[0322] Furthermore, if an integrated circuit technology that can replace LSI emerges due to advances in semiconductor technology or other derivative technologies, it is natural that such technology may be used to integrate functional blocks. The application of biotechnology, etc. is also a possibility.

[0323] The present disclosure may be implemented in any type of apparatus, device, or system with communications capabilities (collectively referred to as communications apparatus), including, but not limited to, telephones (e.g., cell phones, smartphones, etc.), tablets, personal computers (PCs) (e.g., laptops, desktops, notebooks, etc.), cameras (e.g., digital still / video cameras), digital players (e.g., digital audio / video players), wearable devices (e.g., wearable cameras, smartwatches, tracking devices), game consoles, digital book readers, telehealth / telemedicine devices, communications-enabled vehicles or mobile transportation (e.g., cars, airplanes, ships, etc.), and combinations of the above.

[0324] Communications equipment is not limited to portable or mobile equipment, but also includes non-portable or fixed equipment, devices, and systems of any kind, such as smart home devices (such as appliances, lighting equipment, smart meters or metering devices, control panels, etc.), vending machines, and any other "things" that may exist on an IoT (Internet of Things) network.

[0325] Communications include data communications via cellular systems, wireless LAN systems, communications satellite systems, etc., as well as data communications via combinations of these.

[0326] A communications apparatus also includes devices such as controllers and sensors connected or coupled to a communications device that performs the communications functions described in this disclosure, such as controllers and sensors that generate control and data signals used by the communications device to perform the communications functions of the communications apparatus.

[0327] The communication apparatus also includes infrastructure facilities, such as base stations, access points, and any other apparatus, device, or system that communicates with or controls the various apparatuses listed above, but are not limited to these. [Industrial Applicability]

[0328] The present disclosure is useful for an alarm technology that issues an alarm to a person associated with a mobile object. [Explanation of symbols]

[0329] 1,1' Alarm System 10(10A,10B),10'(10A',10B') Positioning terminal 20,20' Upper server 30,30' Reference Station Data Distribution Server 40 Monitor Devices 50 Construction vehicles 101(101A,101B),101'(101A',101B'),201,201' processor 102A,102B,102A',102B',202 Storage section 103(103A,103B) Alarm section 104A, 104B GNSS receiver 105(105A,105B),105'(105A',105B'),203,203' Communication department 106A, 106B output section 107A, 108B, 204 buses

Claims

1. a processing unit that dynamically sets an area around a part of the first terminal including the position of the first terminal based on a state of a mobile body on which the first terminal is mounted and the position of the first terminal, and determines whether a second terminal has entered or approached the area; a communication unit that transmits a signal to the second terminal to cause the second terminal to issue an alarm in response to the intrusion or approach; Equipped with the state of the moving body is a state of movement of the moving body, the processing unit sets the area so that an area of ​​a portion corresponding to a traveling direction of the moving object is larger than an area of ​​a portion on the opposite side of the moving object. Information processing device.

2. When the moving body is moving forward, the processing unit detects a first portion extending forward from the moving body; a second portion extending rearward from the moving body and having an area smaller than that of the first portion; When the moving body is moving backward, the processing unit includes: a third portion extending backward from the moving body; a fourth portion extending forward from the moving body and having an area smaller than that of the third portion; The information processing device according to claim 1 .

3. 3 . The information processing device according to claim 1 , wherein, when the moving body is turning, the processing unit sets the area so that an area of ​​an inner portion of the turning is larger than an area of ​​an outer portion of the turning.

4. The information processing apparatus according to claim 1 , wherein the state of the moving body is a state of movement of a movable part that is provided in the moving body and moves without movement of the moving body.

5. The information processing device according to claim 4 , wherein the processing unit sets the area such that, when the tip of the movable part is rotating, an area of ​​an inner part of the rotation is larger than an area of ​​an outer part of the rotation.

6. The information processing device according to claim 5 , wherein the processing unit adjusts the size of the area in accordance with at least one of a rotation speed and a reach of the tip of the movable part.

7. The information processing device according to claim 6, wherein the processing unit sets the area so that, when the movable part is moving while the moving body is moving, the area is larger than when the movable part is moving while the moving body is stopped.

8. A processing unit that dynamically sets an area around a part of the first terminal including the position of the first terminal based on the state of the mobile body on which the first terminal is mounted and the position of the first terminal, and determines whether a second terminal has entered or approached the area; a communication unit that transmits a signal to the second terminal that was not determined to be entering the area before the change in the state of the moving object but is determined to be entering the area due to the change in the state of the moving object, to issue a different alarm from that issued by the second terminal that was determined to be entering the area both before and after the change in the state of the moving object; An information processing device comprising:

9. a processing unit for determining the location of the terminal; an alarm unit mounted on a mobile body that issues an alarm when the terminal enters or approaches an area that is dynamically set in at least a part of a periphery of another terminal that is different from the terminal and that includes the location of the other terminal; Equipped with The area is set so that the area of ​​the portion corresponding to the traveling direction of the moving object is larger than the area of ​​the portion on the opposite side of the moving object. Terminal.

10. A processing unit for determining the location of a terminal; an alarm unit mounted on a mobile body that issues an alarm when the terminal enters or approaches an area that is dynamically set in at least a part of a periphery of another terminal that is different from the terminal and that includes the location of the other terminal; Equipped with the area is dynamically set based on the state of the mobile unit and the location of the other terminal; The alarm unit The terminal has not been determined to enter the area before the state of the moving object has changed, and is determined to enter the area due to the change in the state of the moving object; The terminal issues a different alarm depending on whether it has been determined that the mobile object will enter the area before or after the change in state of the mobile object. Terminal.

11. the terminal further includes a communication unit that transmits the location of the terminal to an information processing device and receives a signal from the information processing device to cause the terminal to issue the alarm; The alarm unit issues an alarm in accordance with the signal. The terminal according to claim 9 or 10.

12. The information processing device dynamically setting an area around a part of the first terminal including the position of the first terminal based on a state of a mobile body on which the first terminal is mounted and the position of the first terminal; determining whether a second terminal has entered or approached the area; transmitting a signal to the second terminal to cause the second terminal to issue an alarm in response to the intrusion or approach; the state of the moving body is a state of movement of the moving body, The area is set so that the area of ​​the portion corresponding to the traveling direction of the moving object is larger than the area of ​​the portion on the opposite side of the moving object. Information processing methods.

13. An information processing device, dynamically setting an area around a part of the first terminal including the position of the first terminal based on a state of a mobile body on which the first terminal is mounted and the position of the first terminal; determining whether a second terminal has entered the area; transmit a signal to the second terminal that was not determined to intrude into the area before the change in the state of the moving body and that is determined to intrude into the area due to the change in the state of the moving body, to issue a different alarm from that issued by the second terminal that was determined to intrude into the area both before and after the change in the state of the moving body; Information processing methods.

14. The device is determining the location of the terminal; issuing an alarm when a terminal enters or approaches an area that is dynamically set in at least a part of a periphery of another terminal that is different from the terminal and is mounted on a mobile body and includes a position of the other terminal; The area is set so that the area of ​​the portion corresponding to the traveling direction of the moving object is larger than the area of ​​the portion on the opposite side of the moving object. Alarm method.

15. A terminal, determining the location of the terminal; issuing an alarm when the terminal enters an area that is dynamically set in at least a part of a periphery of another terminal that is different from the terminal and that is mounted on a mobile body and includes a location of the other terminal; the area is dynamically set based on the state of the mobile body and the location of the other terminal; The terminal has not been determined to enter the area before the state of the moving object has changed, and is determined to enter the area due to the change in the state of the moving object; The terminal issues a different alarm depending on whether it has been determined that the mobile object will enter the area before or after the change in state of the mobile object. Alarm method.

16. 1. An alarm system having a first terminal and a second terminal, The alarm system comprises: dynamically setting an area around the first terminal including the position of the first terminal based on a state of a mobile body on which the first terminal is mounted and the position of the first terminal; determining whether the second terminal has entered or approached the area; In response to the intrusion or approach, at least one of a process of transmitting a first signal to the first terminal to cause the first terminal to issue a first alarm and a process of transmitting a second signal to the second terminal to cause the second terminal to issue a second alarm is performed; the first terminal issues an alarm in accordance with the first signal; the second terminal issues an alarm in accordance with the second signal; The area is set so that the area of ​​the portion corresponding to the traveling direction of the moving object is larger than the area of ​​the portion on the opposite side of the moving object. Alarm system.

17. An alarm system having a first terminal and a second terminal, The alarm system comprises: dynamically setting an area around the first terminal including the position of the first terminal based on a state of a mobile body on which the first terminal is mounted and the position of the first terminal; determining whether the second terminal has entered the area; In response to the intrusion, of a process of transmitting a first signal to the first terminal to issue a first alarm to the first terminal and a process of transmitting a second signal to the second terminal to issue a second alarm to the second terminal, at least a process of transmitting the second signal is performed; the first terminal issues an alarm in accordance with the first signal; the second terminal issues an alarm in accordance with the second signal; The alarm system comprises: transmit the second signal to the second terminal that was not determined to be entering the area before the change in the state of the moving body and that is determined to be entering the area due to the change in the state of the moving body, to issue a different alarm from that issued by the second terminal that was determined to be entering the area both before and after the change in the state of the moving body; Alarm system.

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