Workplace Monitoring System

Abstract

To provide a work site monitoring system which can suppress reduction in the work efficiency of a work machine.SOLUTION: A work site monitoring system comprises: a camera 2 which photographs a work site; object detection means which detects a work machine 20 in the work site on the basis of an image captured by the camera 2; position acquisition means which acquires a position of the work machine 20 detected by the object detection means; type determination means which determines a type of the work machine 20 detected by the object detection means; work area setting means which sets a work area according to the type determined by the type determination means for the work machine 20 detected by the object detection means; and unsafe state detection means which detects the unsafe state on the basis of the position of the work machine 20 acquired by the position acquisition means and the work area set by the work area setting means.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a work site monitoring system for monitoring people and work machines within a work site. [Background technology]

[0002] Patent Document 1 discloses a safety management system that prevents targets such as work machines from coming into contact with each other at a work site. In this safety management system, an image of the entire work site is captured by an imaging means, the outlines of work machines and workers within the work area are captured to set target areas, and an alarm is issued when the target areas come into contact with each other or deviate from the work area. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2012-203677 Summary of the Invention [Problem to be solved by the invention]

[0004] Meanwhile, at work sites, a mixture of work machines with operators on board, remotely controlled work machines, and automatically driven work machines are used to perform work. Because the work content of each of the work machines with operators on board, remotely controlled work machines, and automatically driven work machines differs, if a uniform work area is set for multiple types of work machines, unsafe conditions such as contact between work areas or deviation from the work area may easily occur. In such cases, taking measures such as issuing an alarm or stopping the work machines in response to the occurrence of an unsafe condition may result in a decrease in the work efficiency of the work machines.

[0005] An object of the present invention is to provide a work site monitoring system that can suppress a decrease in the work efficiency of a work machine. [Means for solving the problem]

[0006] The present invention is characterized by comprising imaging means for imaging a work site, object detection means for detecting work machines within the work site based on images captured by the imaging means, position acquisition means for acquiring the position of the work machine detected by the object detection means, type discrimination means for discriminating the type of work machine detected by the object detection means, work area setting means for setting a work area for the work machine detected by the object detection means in accordance with the type discriminated by the type discrimination means, and unsafe condition detection means for detecting an unsafe condition based on the position of the work machine acquired by the position acquisition means and the work area set by the work area setting means. [Effects of the Invention]

[0007] According to the present invention, a work area is set for each work machine within a work site according to the type of work machine. An unsafe condition is then detected based on the position of the work machine within the work site and the work area. Because work areas are set for multiple types of work machines according to the type of work machine, unsafe conditions can be detected more accurately than if work areas were set uniformly for multiple types of work machines. As a result, a condition that would have been detected as an unsafe condition if work areas were set uniformly for multiple types of work machines may no longer be detected as an unsafe condition. This eliminates the need to take measures such as issuing an alarm or stopping the work machine more than necessary, and makes it possible to suppress a decline in the work efficiency of the work machines. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 1 is a configuration diagram of a work site monitoring system. [Figure 2] FIG. 1 is a side view of a work machine. [Figure 3] FIG. 2 is a diagram showing the circuit configuration of the work site monitoring system and the work machine. [Figure 4] FIG. 10 is a diagram showing a state in which a person has entered the work area of ​​a work machine. [Figure 5]FIG. 10 is a diagram showing a state in which the bucket deviates from the working area of ​​the work machine. [Figure 6] 10 is a flowchart of a monitoring control process. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

[0010] (Worksite monitoring system configuration) A work site monitoring system according to an embodiment of the present invention monitors people and work machines within a work site. As shown in Figure 1, which is a configuration diagram of the work site monitoring system 1, the work site monitoring system 1 includes a camera 2 and a LiDAR 3.

[0011] A plurality of cameras (imaging means) 2 are provided at the work site, and each captures images of the work site. At the work site, work is carried out by a mixture of work machines 20A with an operator on board, remotely controlled work machines 20B, and automatically driven work machines 20C. These work machines 20A to 20C are collectively referred to as work machines 20.

[0012] The remotely controlled work machine 20B is remotely controlled wirelessly from a cockpit 71 installed at a location remote from this work machine 20B. Before being driven automatically, the automatically driven work machine 20C is taught by an operator who operates a tablet 72. The work content determined by the taught teaching information (automatic driving work plan information) is, for example, scooping earth and sand from a soil and sand pit 73 and discharging it into the bed of a dump truck 74. Note that the automatically driven work plan information may also be input into the controller of the automatically driven work machine 20C by means other than teaching.

[0013] A plurality of LiDARs (Light Detection and Ranging or Laser Imaging Detection and Ranging) 3 are installed at the work site. The LiDARs 3 acquire point cloud data indicating the distance from the position where the LiDARs 3 are attached to objects (work machines 20 and people) within the work site. Note that a stereo camera or a TOF (Time Of Flight) sensor may be used instead of the LiDARs 3.

[0014] (Work machine configuration) 2, which is a side view of work machine 20, work machine 20 is a machine that performs work using attachment 30, such as a hydraulic excavator. Work machine 20 has a machine main body 24 equipped with a lower traveling body 21 and an upper rotating body 22, attachment 30, and a cylinder 40.

[0015] The lower traveling body 21 is a part that allows the work machine 20 to travel, and is equipped with, for example, crawlers. The upper rotating body 22 is attached to the upper part of the lower traveling body 21 so as to be able to rotate via a rotating device 25. A cab (operator's compartment) 23 is provided at the front of the upper rotating body 22.

[0016] The attachment 30 is attached to the upper rotating body 22 so as to be rotatable in the vertical direction. The attachment 30 includes a boom 31, an arm 32, and a bucket 33. The boom 31 is attached to the upper rotating body 22 so as to be rotatable (raised and lowered) in the vertical direction. The arm 32 is attached to the boom 31 so as to be rotatable in the vertical direction. The bucket 33 is attached to the arm 32 so as to be rotatable in the front-to-rear direction. The bucket 33 is a part that performs tasks such as digging, leveling, and scooping earth and sand (carried material). Note that the carried material held by the bucket 33 is not limited to earth and sand, and may be stones or waste (industrial waste, etc.).

[0017] The cylinder 40 is capable of hydraulically rotating the attachment 30. The cylinder 40 is a hydraulic telescopic cylinder. The cylinder 40 includes a boom cylinder 41, an arm cylinder 42, and a bucket cylinder 43.

[0018] The boom cylinder 41 rotates the boom 31 relative to the upper rotating body 22. A base end of the boom cylinder 41 is rotatably attached to the upper rotating body 22. A tip end of the boom cylinder 41 is rotatably attached to the boom 31.

[0019] The arm cylinder 42 rotates the arm 32 relative to the boom 31. A base end of the arm cylinder 42 is rotatably attached to the boom 31. A tip end of the arm cylinder 42 is rotatably attached to the arm 32.

[0020] The bucket cylinder 43 rotates the bucket 33 relative to the arm 32. A base end of the bucket cylinder 43 is rotatably attached to the arm 32. A tip end of the bucket cylinder 43 is rotatably attached to a link member 34 that is rotatably attached to the bucket 33.

[0021] The work machine 20 also has an angle sensor 52 and an inclination angle sensor 60 .

[0022] The angle sensor 52 detects the rotation angle of the upper rotating body 22 relative to the lower traveling body 21. The angle sensor 52 is, for example, an encoder, a resolver, or a gyro sensor. In this embodiment, the rotation angle of the upper rotating body 22 when the front of the upper rotating body 22 coincides with the front of the lower traveling body 21 is defined as 0°.

[0023] The inclination angle sensor 60 detects the attitude of the attachment 30. The inclination angle sensor 60 includes a boom inclination angle sensor 61, an arm inclination angle sensor 62, and a bucket inclination angle sensor 63.

[0024] The boom inclination angle sensor 61 is attached to the boom 31 and detects the attitude of the boom 31. The boom inclination angle sensor 61 is a sensor that acquires the inclination angle of the boom 31 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. The boom inclination angle sensor 61 may also be a rotation angle sensor that detects the rotation angle of the boom foot pin (boom base end) or a stroke sensor that detects the stroke amount of the boom cylinder 41.

[0025] The arm inclination angle sensor 62 is attached to the arm 32 and detects the posture of the arm 32. The arm inclination angle sensor 62 is a sensor that acquires the inclination angle of the arm 32 with respect to the horizontal line, and is, for example, an inclination (acceleration) sensor. The arm inclination angle sensor 62 may be a rotation angle sensor that detects the rotation angle of the arm connecting pin (base end of the arm) or a stroke sensor that detects the stroke amount of the arm cylinder 42.

[0026] The bucket inclination angle sensor 63 is attached to the link member 34 and detects the attitude of the bucket 33. The bucket inclination angle sensor 63 is a sensor that acquires the inclination angle of the bucket 33 with respect to the horizontal line, and may be, for example, an inclination (acceleration) sensor. The bucket inclination angle sensor 63 may also be a rotation angle sensor that detects the rotation angle of the bucket connecting pin (bucket base end) or a stroke sensor that detects the stroke amount of the bucket cylinder 43.

[0027] (Worksite monitoring system and circuit configuration of work machine) As shown in FIG. 3, which is a diagram showing the circuit configuration of the work site monitoring system 1 and the work machine 20, the work machine 20 has a work machine side controller 81, a work machine side memory device 82, and a work machine side communication device 83.

[0028] The work machine controller 81 receives input of information relating to the swing angle (attitude) of the upper swing structure 22 relative to the lower traveling structure 21, detected by the angle sensor 52. The work machine controller 81 also receives input of information relating to the attitude of the boom 31, detected by the boom inclination angle sensor 61. The work machine controller 81 also receives input of information relating to the attitude of the arm 32, detected by the arm inclination angle sensor 62. The work machine controller 81 also receives input of information relating to the attitude of the bucket 33, detected by the bucket inclination angle sensor 63.

[0029] In the case of an automatically operated work machine 20C, teaching information is stored in the work machine memory device 82. In the case of an automatically operated work machine 20C, the work machine controller 81 operates the attachment 30 and the swing device 25 based on the teaching information stored in the work machine memory device 82.

[0030] The work machine side communication device 83 is capable of communicating with the communication device 8 of the work site monitoring system 1, which will be described later.

[0031] The work site monitoring system 1 comprises a controller 5, a storage device 6, and a communication device 8. The communication device 8 is capable of communicating with a work machine side communication device 83 of the work machine 20.

[0032] The controller 5 includes an object detection unit 11 , a position acquisition unit 12 , a type determination unit 13 , a work area setting unit 14 , and an unsafe state detection unit 15 .

[0033] The object detection unit (object detection means) 11 detects the work machine 20 within the work site based on the images captured by the camera 2. The object detection unit 11 also detects people within the work site based on the images captured by the camera 2. Deep learning technology or the like may be used to detect the work machine 20 and people.

[0034] The position acquisition unit (position acquisition means) 12 acquires the position of the work machine 20 detected by the object detection unit 11. The position acquisition unit 12 also acquires the position of the person detected by the object detection unit 11. Specifically, the position acquisition unit 12 calculates the position (three-dimensional coordinates) of each point of the point cloud data in the global coordinate system using the position (coordinates) in the global coordinate system where the LiDAR 3 is attached and the distance from the LiDAR 3 to each point of the point cloud data. Next, the position acquisition unit 12 performs perspective projection transformation on the three-dimensional coordinates of each point of the point cloud data to acquire two-dimensional coordinates of each point of the point cloud data. Then, the position acquisition unit 12 superimposes the two-dimensional coordinates of each point of the point cloud data on the two-dimensional image captured by the camera 2. Then, the position acquisition unit 12 acquires the three-dimensional positions of the work machine 20 and the person detected by the object detection unit 11 from the three-dimensional coordinates of points in the point cloud data that overlap with the work machine 20 and the person detected by the object detection unit 11.

[0035] Here, the positions in the global coordinate system where the camera 2 and the LiDAR 3 are attached are acquired by a positioning sensor such as a GNSS sensor or a distance measurement sensor such as a total station.

[0036] The type discrimination unit (type discrimination means) 13 discriminates the type of work machine 20 detected by the object detection unit 11. As shown in FIG. 1, the type of work machine 20 is discriminated from the colours of the lamps equipped on the work machine 20. A red lamp R and a yellow lamp Y are attached to a work machine 20A with an operator on board. A red lamp R, a yellow lamp Y and a green lamp G are attached to a remotely controlled work machine 20B. A red lamp R, a yellow lamp Y and a blue lamp B are attached to an automatically driven work machine 20C. The type of work machine 20 is discriminated from the colours of these lamps.

[0037] Returning to Figure 3, the work area setting unit (work area setting means) 14 sets a work area for each work machine 20 detected by the object detection unit 11. Here, the work area setting unit 14 sets a work area according to the type of work machine 20 identified by the type identification unit 13.

[0038] For example, the work area of ​​the work machine 20A on board with an operator is set wider than the work area of ​​the remotely operated work machine 20B and the work area of ​​the automatically operated work machine 20C, taking into consideration the degree of freedom of operation of the operator. Also, the work area of ​​the automatically operated work machine 20C is set narrower than the work area of ​​the remotely operated work machine 20B, taking into consideration that the work content of the work machine 20C is determined by teaching.

[0039] The unsafe condition detection unit (unsafe condition detection means) 15 detects an unsafe condition based on the position of the work machine 20 acquired by the position acquisition unit 12 and the work area set by the work area setting unit 14. The unsafe condition detection unit 15 also detects an unsafe condition based on the position of a person acquired by the position acquisition unit 12 and the work area set by the work area setting unit 14.

[0040] Here, the unsafe state includes a state in which the work machine 20 has entered the work area. The unsafe state also includes a state in which a person has entered the work area. A state in which a person has entered the work area is shown in Fig. 4. In Fig. 4, a person 95 has entered the work area 90 of the work machine 20.

[0041] The unsafe state also includes a state in which the body of the work machine 20 has deviated from its own working area. A state in which the body of the work machine 20 has deviated from its own working area is shown in Fig. 5. In Fig. 5, the bucket 33 has deviated from the working area 90 of the work machine 20.

[0042] Returning to FIG. 3, the controller 5 has an unsafety level determination unit 16 and a countermeasure control unit 17. The unsafety level determination unit (unsafety level determination means) 16 determines the unsafety level based on the unsafe state detected by the unsafe state detection unit 15. In this embodiment, the unsafety level is classified into three levels: "high," "medium," and "low," as shown in Table 1 below. The higher the unsafety level, the greater the human damage.

[0043] [Table 1]

[0044] For example, in cases where no human damage occurs, such as a collision between a remotely operated work machine 20B and an automatically operated work machine 20C, the unsafety level is determined to be "low." Also, in cases where the operator and the human, or the operators themselves, can make a judgment to avoid the collision, but human damage occurs, such as a collision between a work machine 20A with an operator on board and a human, or a collision between a work machine 20A with an operator on board and a work machine 20C that is being taught, the unsafety level is determined to be "medium." Also, in cases where a collision cannot be avoided by the judgment of the human or operator alone, and human damage occurs, such as a collision between an automatically operated work machine 20C and a human, or a collision between a remotely operated work machine 20B and a work machine 20A with an operator on board, the unsafety level is determined to be "high."

[0045] The unsafe level may be set according to the type of work being performed by the work machine 20. For example, if the work involves swinging the attachment 30, the work area will be large, so the unsafe level will be set to "large." If the work involves excavation, the work area will be small, so the unsafe level will be set to "small."

[0046] The countermeasure control unit (control means) 17 issues at least one of a warning and stopping the work machine 20, depending on the unsafety level determined by the unsafety level determination unit 16. In this embodiment, if the unsafety level is "low", a warning is issued to the outside. If the unsafety level is "medium", a warning is issued to the outside and work by the work machine 20 is stopped (the engine is not stopped). If the unsafety level is "high", the engine of the work machine 20 is stopped.

[0047] An external warning is issued from a warning device. The warning device is a display or speaker provided on the cockpit 71 or the work machine 20. The operator operating the cockpit 71 may be able to avoid a collision between the work machines 20 by changing the operation of the remotely controlled work machine 20B in response to the warning. Also, the operator of the work machine 20A on board may be able to avoid a collision between the work machines 20 by changing the operation of the work machine 20A in response to the warning.

[0048] A work machine 20 stops working by sending a work stop command to the relevant work machine 20 from the communication device 8. Upon receiving the work stop command, the work machine controller 81 temporarily halts the operation of the attachment 30 and the swing device 25. This may prevent a collision between the work machine 20 and a person, or between two work machines 20.

[0049] The engine of a work machine 20 is stopped by sending an engine stop command to the relevant work machine 20 from the communication device 8. The work machine controller 81, which receives the engine stop command, stops the engine (not shown). This may prevent a collision between the work machine 20 and a person, or between two work machines 20.

[0050] As described above, work areas are set for multiple types of work machines 20 according to the type of work machine 20. Therefore, unsafe conditions can be detected more accurately than if work areas were set uniformly for multiple types of work machines 20. As a result, a condition that would have been detected as an unsafe condition if work areas were set uniformly for multiple types of work machines 20 may no longer be detected as an unsafe condition. Therefore, it is not necessary to take measures such as issuing an alarm or stopping the work machine 20 more than necessary, and a decline in the work efficiency of the work machine 20 can be suppressed.

[0051] Furthermore, as shown in Figure 4, when a person or work machine 20 enters the work area, by taking measures such as issuing an alarm or stopping the work machine 20, it may be possible to avoid a collision between the person and the work machine 20 or a collision between other work machines 20. Furthermore, as shown in Figure 5, when the body of a work machine 20 deviates from its own work area, by taking measures such as issuing an alarm or stopping the work machine 20, it may be possible to avoid a collision between the person and the work machine 20 or a collision between other work machines 20.

[0052] Here, the work area setting unit 14 shown in Figure 3 sets a work area for the automatically operated work machine 20C based on teaching information. The work content of the automatically operated work machine 20C is determined by the teaching information. Therefore, by setting the work area based on the teaching information, unsafe conditions can be detected more accurately.

[0053] Furthermore, the work area setting unit 14 sets a work area for an automatically driven work machine 20C based on whether or not an operator is on board the work machine 20C. Whether or not an operator is on board the automatically driven work machine 20C is determined from an image captured by a camera (determination means) 2. Note that a camera may be installed inside the cab 23 of the automatically driven work machine 20C to determine whether or not an operator is in the cab 23. A thermosensor may also be provided inside the cab 23 to determine whether or not an operator is in the cab 23. A sensor may also be provided in the driver's seat inside the cab 23 to determine whether or not an operator is sitting in the driver's seat.

[0054] For example, when an operator is on board an automatically driven work machine 20C to perform teaching or the like, the work area is set wider than when no operator is on board the automatically driven work machine 20C, taking into consideration the operator's degree of freedom in operation. This makes it possible to more accurately detect unsafe conditions compared to when the work area is set uniformly regardless of whether an operator is on board or not.

[0055] The storage device 6 also stores the work details of the work machine 20A on board the operator and the remotely operated work machine 20B. The work area setting unit 14 sets a work area for each of the work machine 20A on board the operator and the remotely operated work machine 20B based on the work details stored in the storage device 6.

[0056] The work content performed by the work machine 20A with an operator on board and the remotely controlled work machine 20B is often repetitive. By storing such work content in the storage device 6 and setting the work area based on this, it is possible to narrow down the work area. This makes it possible to detect unsafe conditions more accurately than if the work area is not narrowed down.

[0057] Furthermore, the unsafety level determination unit (output means) 16 outputs its own determination results from the communication device 8 to the outside at predetermined intervals. The determination results are output to the cockpit 71, a server (not shown), or the like. The server is a management server that manages the entire construction site. The predetermined period is, for example, one day or one week. The determination results include the number of occurrences and type of unsafety level. By using these determination results, measures can be taken, such as ensuring thorough safety at the work site.

[0058] (Workplace monitoring system operation) Next, the operation of the work site monitoring system 1 will be described with reference to FIG. 6, which is a flowchart of the monitoring control process.

[0059] First, the controller 5 of the worksite monitoring system 1 performs initial setting (step S1). Specifically, camera calibration of the camera 2 is performed. Camera calibration involves determining and correcting the mounting position of the camera 2, the mounting angle of the camera 2, distortion of the camera lens, the focal length of the camera 2 lens, etc. Calibration is also performed between the camera 2 and the LiDAR 3. This calibration is a process of associating coordinates on the image captured by the camera 2 with coordinates on the point cloud data acquired by the LiDAR 3.

[0060] Next, the controller 5 corrects the relative position (step S2). Specifically, the controller 5 projects the point cloud data acquired by the LiDAR 3 onto the image captured by the camera 2 to correct the relative position.

[0061] Next, the controller 5 acquires position information (step S3). Specifically, the controller 5 acquires the positions of the camera 2 and the LiDAR 3 in the global coordinate system using a positioning sensor or the like.

[0062] Next, the controller 5 corrects the three-dimensional coordinates of the camera 2 and the LiDAR 3 (step S4).

[0063] Next, the controller 5 takes in the images captured by the camera 2 and the point cloud data acquired by the LiDAR 3 (step S5). The object detection unit 11 of the controller 5 detects people and work machines 20 within the work site based on the images captured by the camera 2. Then, the position acquisition unit 12 of the controller 5 acquires the positions of the people and work machines 20 detected by the object detection unit 11 (step S6).

[0064] Next, the type determination unit 13 of the controller 5 determines the type of work machine 20 detected by the object detection unit 11 (step S7). The work area setting unit 14 of the controller 5 sets a work area for each work machine 20 detected by the object detection unit 11 (step S8).

[0065] Next, the unsafe state detection unit 15 of the controller 5 determines whether or not an unsafe state has been detected (step S9). If it is determined in step S9 that an unsafe state has not been detected (S9: NO), the controller 5 proceeds to step S17. On the other hand, if it is determined in step S9 that an unsafe state has been detected (S9: YES), the unsafe level determination unit 16 of the controller 5 determines the unsafe level (step S10).

[0066] Next, the countermeasure control unit 17 of the controller 5 determines whether the unsafety level is "high" or not (step S11). If the unsafety level is "high" in step S11 (S11: YES), the countermeasure control unit 17 transmits an instruction to stop the engine to the corresponding work machine 20 (step S12). The work machine 20 that receives the instruction to stop the engine will stop the engine. Then, the process proceeds to step S17.

[0067] On the other hand, if the unsafety level is not "high" in step S11 (S11: NO), the countermeasure control unit 17 determines whether the unsafety level is "medium" or not (step S13). If the unsafety level is "medium" in step S13 (S13: YES), the countermeasure control unit 17 issues a warning from the warning device and sends a work stop instruction to the corresponding work machine 20 (step S14). The work machine 20 that receives the work stop instruction will temporarily suspend the operation of the attachment 30 and the swing device 25. Then, the process proceeds to step S17.

[0068] On the other hand, if the unsafe level is not "medium" in step S13 (S13: NO), the countermeasure control unit 17 determines that the unsafe level is "low" (step S15). Then, the countermeasure control unit 17 issues a warning from the warning device (step S16). Then, the process proceeds to step S17.

[0069] In step S17, the controller 5 updates the work content stored in the storage device 6 (step S17). As a result, in step S8, the work area setting unit 14 resets the work content for each of the work machine 20A on board the operator and the remotely operated work machine 20B. Then, the process returns to step S8.

[0070] (Variation) In this embodiment, the positions of objects (work machines 20 and people) within the work site are acquired in three dimensions, and unsafe conditions are detected from the relationship between these and the work area. However, the positions of objects (work machines 20 and people) within the work site may be acquired in two dimensions, and unsafe conditions may be detected from the relationship between these and the work area.

[0071] (effect) As described above, according to the work site monitoring system 1 of this embodiment, work areas are set for work machines 20 within the work site according to the type of work machine 20. Then, unsafe conditions are detected based on the position of the work machine 20 within the work site and the work area. Because work areas are set for multiple types of work machines 20 according to the type of work machine 20, unsafe conditions can be detected more accurately than if work areas were set uniformly for multiple types of work machines 20. As a result, there are cases where a condition that would have been detected as an unsafe condition if work areas were set uniformly for multiple types of work machines 20 is no longer detected as an unsafe condition. Therefore, it is not necessary to take measures such as issuing an alarm or stopping the work machine 20 more than necessary, and a decrease in the work efficiency of the work machine 20 can be suppressed.

[0072] Furthermore, unsafe conditions are detected based on the positions of people within the work site and the work area. At this time, because work areas are set for multiple types of work machines 20 according to the type of work machine 20, unsafe conditions can be detected more accurately than if work areas were set uniformly for multiple types of work machines 20. As a result, a condition that would have been detected as an unsafe condition if work areas were set uniformly for multiple types of work machines 20 may no longer be detected as an unsafe condition. Therefore, it is not necessary to take measures such as issuing an alarm or stopping the work machine 20 more than necessary, and it is possible to suppress a decline in the work efficiency of the work machine 20.

[0073] Furthermore, a state in which a person has entered the work area is detected as an unsafe state. In such a case, it may be possible to prevent a collision between the person and the work machine 20 by taking measures such as issuing an alarm or stopping the work machine 20.

[0074] Furthermore, a state in which a work machine 20 has entered a work area is detected as an unsafe state. In such cases, by taking measures such as issuing an alarm or stopping the work machine 20, it may be possible to prevent collisions between work machines 20.

[0075] Furthermore, a state in which the work machine 20 deviates from its own work area is detected as an unsafe state. In such cases, by taking measures such as issuing an alarm or stopping the work machine 20, it may be possible to prevent a collision between a person and the work machine 20 or between two work machines 20.

[0076] Furthermore, depending on the unsafety level, at least one of a warning and stopping of the work machine 20 is issued. For example, in the case of an unsafety level where no human injury will occur, such as a collision between a remotely controlled work machine 20B and an automatically driven work machine 20C, it may be possible to avoid a collision between the work machines 20 by issuing a warning. Also, in the case of an unsafety level where human injury will occur, such as a collision between a work machine 20 and a person, it may be possible to avoid a collision between the work machine 20 and a person by stopping the work machine 20.

[0077] Furthermore, a work area is set for the automatically driven work machine 20C based on teaching information (automatic driving work plan information). The work content of the automatically driven work machine 20C is determined by the teaching information. Therefore, by setting the work area based on the teaching information, unsafe conditions can be detected more accurately.

[0078] Furthermore, a work area is set for the automatically driven work machine 20C based on the determination result of whether or not an operator is on board. For example, when an operator is on board the automatically driven work machine 20C to perform teaching or the like, a wider work area is set compared to when the operator is not on board the automatically driven work machine 20C, taking into account the operator's degree of freedom in operation. This makes it possible to more accurately detect unsafe conditions compared to when a work area is set uniformly regardless of whether or not an operator is on board.

[0079] Furthermore, a work area is set for each of the work machine 20A with an operator on board and the remotely operated work machine 20B based on the work content stored in the storage device 6. The work content performed by the work machine 20A with an operator on board and the remotely operated work machine 20B is often repetitive work. By storing such work content in the storage device 6 and setting the work area based on this, it is possible to narrow down the work area. This makes it possible to detect unsafe conditions more accurately than if the work area is not narrowed down.

[0080] Furthermore, the result of the determination by the unsafety level determination unit 16 is output to the outside at predetermined intervals. By using this determination result, it is possible to take measures such as ensuring safety at the work site.

[0081] Although the embodiments of the present invention have been described above, they are merely illustrative examples and do not limit the present invention, and the specific configurations and other aspects can be appropriately modified in design. Furthermore, the actions and effects described in the embodiments of the invention are merely a list of the most preferred actions and effects resulting from the present invention, and the actions and effects of the present invention are not limited to those described in the embodiments of the present invention. [Explanation of symbols]

[0082] 1 Workplace monitoring system 2. Camera (imaging means, judgment means) 3. LiDAR 5 Controller 6 Storage device 8. Communications Equipment 11 Object detection unit (object detection means) 12 Position acquisition unit (position acquisition means) 13 Type discrimination unit (type discrimination means) 14 Work area setting unit (work area setting means) 15 Unsafe state detection unit (unsafe state detection means) 16 Unsafety level determination unit (unsafety level determination means, output means) 17 Countermeasure control unit (control means) 20 Work Machinery 21 Undercarriage 22 Upper rotating body 23 Cab 24 Machine body 25 Swivel 30 Attachments 31 Boom 32 Arm 33 Bucket 34 Link member 40 cylinders 41 Boom cylinder 42 Arm cylinder 43 Bucket cylinder 52 Angle Sensor 60 Inclination sensor 61 Boom tilt angle sensor 62 Arm tilt angle sensor 63 Bucket tilt angle sensor 71 Cockpit 72 tablets 73 Earth Pit 74 Dump Truck 81 Work machine controller 82 Work machine side storage device 83 Work machine communication device 90 working area 95 people

Claims

1. Imaging means for capturing images of a work site; an object detection means for detecting a work machine within the work site based on the image captured by the imaging means; a position acquisition means for acquiring the position of the work machine detected by the object detection means; a type discrimination means for discriminating the type of the work machine detected by the object detection means; a work area setting means for setting a work area for the work machine detected by the object detection means in accordance with the type determined by the type determination means; an unsafe condition detection means for detecting an unsafe condition based on the position of the work machine acquired by the position acquisition means and the work area set by the work area setting means; A work site monitoring system comprising:

2. the object detection means detects a person within the work site; the position acquisition means acquires the position of the person detected by the object detection means, 2. The work site monitoring system according to claim 1, wherein the unsafe state detection means detects the unsafe state based on the position of the person acquired by the position acquisition means and the work area set by the work area setting means.

3. 3. The work site monitoring system according to claim 2, wherein the unsafe state includes a state in which the person has entered the work area.

4. 4. The work site monitoring system according to claim 1, wherein the unsafe state includes a state in which the work machine has entered the work area.

5. 5. A work site monitoring system according to claim 1, wherein the unsafe state includes a state in which the body of the work machine has deviated from its own work area.

6. an unsafety level determination means for determining an unsafety level based on the unsafe state; a control means for issuing at least one of a warning and stopping the work machine in response to the unsafe level; 6. The work site monitoring system according to claim 1, further comprising:

7. The type of the work machine includes an automatically operated work machine, The work site monitoring system according to any one of claims 1 to 6, characterized in that the work area setting means sets the work area for the automatically operated work machine based on work plan information for automatic operation.

8. a determination means for determining whether an operator is on board the automatically operated work machine, 8. A work site monitoring system according to claim 7, wherein said work area setting means sets said work area for said automatically operated work machine based on the determination result by said determination means.

9. The types of the work machine include the work machine with an operator on board and the work machine that is remotely controlled, a storage device that stores the work details of the work machine on which the operator is mounted and the work machine that is remotely operated, The work site monitoring system according to any one of claims 1 to 8, characterized in that the work area setting means sets the work area for each of the work machine on which the operator is riding and the work machine that is remotely operated, based on the work content stored in the storage device.

10. an unsafety level determination means for determining an unsafety level based on the unsafe state; an output means for outputting the result of the determination by the unsafety level determination means to the outside at predetermined intervals; 10. The work site monitoring system according to claim 1, further comprising:

Images