JP2020139312A - Worker detection device, worker detection method, and worker detection program - Google Patents

Abstract

To detect a worker in an area that is blind spot when viewed from a work machine.SOLUTION: The present invention has a GNSS device 2 that acquires a position and orientation of a work machine 20, a camera 3 to acquire peripheral information, a controller 4 that calculates the position and orientation of the work machine 20 and a blind spot area that is a blind spot when viewed from the work machine 20, a transmission/reception device 5 provided to a worker outside the work machine 20 and capable of transmitting/receiving information to the outside, a worker side controller 6 that transmits the worker's position information from the transmission/reception device 5, and a receiving device 7 provided on the work machine 20 and capable of receiving information from the outside of the work machine 20. The controller 4 causes the receiving device 7 to receive the position information. The controller 4 calculates the distance between the work machine 20 and the worker based on the position information. A server side controller 10 calculates an existing area, which is an area where a worker exists, based on the distance. The controller 4 determines whether the existing area is included in the blind spot area.SELECTED DRAWING: Figure 4

Description

The present invention relates to a worker detection device for detecting a worker outside the work machine, a worker detection method, and a worker detection program.

Patent Document 1 discloses a worker detection device for a construction machine that generates an alarm from an alarm device when the construction machine and the worker are close to each other within a predetermined range. The infrared receiver of the worker receives the infrared rays emitted from the construction machine and transmits radio waves from the radio wave transmitter. The radio wave receiver of the construction machine receives this radio wave and generates an alarm from the alarm device.

Japanese Unexamined Patent Publication No. 10-237906

By the way, at an actual construction site, it is assumed that there are workers in areas that are blind spots when viewed from the work machine, such as the back of a shield or the inside of a ditch. However, in Patent Document 1, since infrared rays having strong directivity and do not wrap around are used, it is not possible to detect an operator in a region that becomes a blind spot when viewed from a work machine.

An object of the present invention is to provide a worker detection device, a worker detection method, and a worker detection program capable of detecting a worker in an area that is a blind spot when viewed from a work machine.

The worker detection device according to the present invention includes a position acquisition device provided in the work machine to acquire the position of the work machine, a direction acquisition device provided in the work machine to acquire the orientation of the work machine, and the above. A blind spot area, which is a blind spot when viewed from the work machine, based on a peripheral information acquisition device that acquires peripheral information that is information on the periphery of the work machine, the position and orientation of the work machine, and the peripheral information. A blind spot area calculation means for calculating the above, a worker-side transmission device provided on the worker outside the work machine and capable of transmitting information to the outside, and information on the position of the worker provided on the worker. A transmission control means for transmitting position information from the worker-side transmitting device, a working machine-side receiving device provided in the working machine and capable of receiving information from the outside of the working machine, and a working machine provided in the working machine. A reception control means for causing the receiving device to receive the position information, a distance calculating means provided in the working machine for calculating the distance between the working machine and the worker based on the position information, and the distance. An existence area calculation means for calculating an existence area, which is an area where the worker exists, and a determination means provided on the work machine for determining whether or not the existence area is included in the blind spot area. It is characterized by having.

Further, the worker detection method according to the present invention includes a position acquisition step of causing a position acquisition device provided in the work machine to acquire the position of the work machine, and a direction acquisition device provided in the work machine of the work machine. Based on the direction acquisition step for acquiring the direction, the peripheral information acquisition step for causing the peripheral information acquisition device to acquire the peripheral information which is the peripheral information of the work machine, the position and orientation of the work machine, and the peripheral information. The position of the worker is related to the blind spot area calculation step for calculating the blind spot area, which is a blind spot when viewed from the work machine, and the worker side transmission device provided to the worker outside the work machine. A transmission control step for transmitting position information which is information, a reception control step for causing a work machine side receiving device provided in the work machine to receive information from the outside of the work machine to receive the position information, and the above. A distance calculation step for calculating the distance between the work machine and the worker based on the position information, and an existence area calculation step for calculating the existence area which is the area where the worker exists based on the distance. It is characterized by including a determination step of determining whether or not the existing region is included in the blind spot region.

Further, the worker detection program according to the present invention includes a position acquisition means for causing a position acquisition device provided on the work machine to acquire the position of the work machine, and a direction acquisition device provided on the work machine for the work machine. Based on the direction acquisition means for acquiring the direction, the peripheral information acquisition means for causing the peripheral information acquisition device to acquire the peripheral information which is the peripheral information of the work machine, the position and orientation of the work machine, and the peripheral information. The position of the worker is related to the blind spot area calculation means for calculating the blind spot area, which is a blind spot when viewed from the work machine, and the worker-side transmission device provided to the worker outside the work machine. The transmission control means for transmitting the position information which is information, the reception control means for causing the work machine side receiving device provided in the work machine to receive information from the outside of the work machine, and the reception control means for receiving the position information. A distance calculating means for calculating the distance between the work machine and the worker based on the position information, and an existing area calculating means for calculating the existing area which is the area where the worker exists based on the distance. It is characterized in that a computer functions as a determination means for determining whether or not the existing region is included in the blind spot region.

According to the present invention, the existence area, which is the area where the worker exists, is calculated based on the distance between the work machine and the worker. Then, it is determined whether or not the existing area is included in the blind spot area. As a result, when the existing area is included in the blind spot area, the worker is in the area that becomes the blind spot when viewed from the work machine. Therefore, it is possible to detect an operator in an area that is a blind spot when viewed from the work machine.

It is a side view of a work machine. It is a figure which shows the work site in the case where the worker is behind the shield, (a) is the side view of the work site, and (b) is the top view of the work site. It is a figure which shows the work site when there is a worker in a groove, (a) is a side view of a work site, and (b) is a top view of a work site. It is a circuit diagram of a worker detection device. It is a figure which shows the 2D plane area. It is a figure which shows the warning screen which is displayed on the display of a work machine. It is a figure which shows the warning screen which is displayed on the display of a mobile terminal. It is a flowchart of the worker detection control on the work machine side. It is a flowchart of a worker detection control on a server side.

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

(Structure of work machine)
The worker detection device according to the embodiment of the present invention detects a worker outside the work machine. In this embodiment, it is premised that there are a plurality of work machines at the same work site.

As shown in FIG. 1, which is a side view of the work machine 20, the work machine 20 is a machine that performs work with the attachment 30, for example, a hydraulic excavator. The work machine 20 has a lower traveling body 21, an upper rotating body 22, an attachment 30, and a cylinder 40.

The lower traveling body 21 is a portion for traveling the work machine 20, and includes, for example, a crawler. The upper swivel body 22 is rotatably attached to the upper part of the lower traveling body 21 via a swivel device. A cab (driver's cab) 23 is provided at the front portion of the upper swing body 22.

The attachment 30 is attached to the upper swing body 22. The attachment 30 includes a boom 31, an arm 32, and a bucket 33. The boom 31 is rotatably (undulating) attached to the upper swing body 22. The arm 32 is rotatably attached to the boom 31. The bucket 33 is rotatably attached to the arm 32. The bucket 33 is a portion of a work target (earth and sand, etc.) for excavation, leveling, scooping, and the like.

The cylinder 40 operates 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.

The boom cylinder 41 rotationally drives the boom 31 with respect to the upper swing body 22. The base end portion of the boom cylinder 41 is rotatably attached to the upper swing body 22. The tip of the boom cylinder 41 is rotatably attached to the boom 31.

The arm cylinder 42 rotationally drives the arm 32 with respect to the boom 31. The base end portion of the arm cylinder 42 is rotatably attached to the boom 31. The tip of the arm cylinder 42 is rotatably attached to the arm 32.

The bucket cylinder 43 rotationally drives the bucket 33 with respect to the arm 32. The base end portion of the bucket cylinder 43 is rotatably attached to the arm 32. The tip of the bucket cylinder 43 is rotatably attached to a link member rotatably attached to the bucket 33.

Here, as shown in FIGS. 2 and 3 which are views showing the work site, the worker 50 may be in an area that becomes a blind spot when viewed from the work machine 20, such as the back of the shield 51 or the inside of the groove 52. is assumed. Further, it is assumed that the worker 50 comes out from the area that is a blind spot when viewed from the work machine 20. FIG. 2 shows a case where the worker 50 is behind the shield 51. FIG. 2A is a side view of the work site, and FIG. 2B is a top view of the work site. FIG. 3 shows a case where an operator is in the groove 52. FIG. 3A is a side view of the work site, and FIG. 3B is a top view of the work site.

(Configuration of worker detection device)
As shown in FIG. 4, which is a circuit diagram of the worker detection device 1, the worker detection device 1 includes a GNSS device 2, a camera 3, and a controller 4. The GNSS device 2, the camera 3, and the controller 4 are provided on a plurality of work machines 20, respectively.

At least two GNSS devices (position acquisition device, direction acquisition device, attachment direction acquisition device) 2 are provided in the work machine 20. The GNSS device 2 is attached to the upper swing body 22 so as to be separated from each other. Each of the GNSS devices 2 receives a signal from the Global Positioning Satellite System (GNSS). From this signal, the position of the work machine 20 is acquired. Further, the orientation of the work machine 20 is acquired from the deviation of these signals. In the present embodiment, the orientation of the upper swing body 22 and, by extension, the orientation of the attachment 30 are acquired from the deviation of the signal from the GNSS.

The camera (peripheral information acquisition device) 3 is attached to the vehicle body of the work machine 20. The camera 3 acquires peripheral information which is information on the periphery of the work machine 20. Peripheral information includes, for example, topographical information and a blind spot area having poor visibility when viewed from an operator who operates the work machine 20.

The controller (blind spot area calculation means) 4 calculates a blind spot area, which is a blind spot when viewed from the work machine 20, based on the position and orientation of the work machine 20 and peripheral information. The blind spot area is an area behind the cab 23, an area where the field of view is obstructed by the height of the terrain, or an area where the field of view is obstructed by a wall or fence installed in the work area. An example of the blind spot region 53 is shown in FIGS. 2 (b) and 3 (b). The blind spot region may be calculated based on the field of view of the camera 3, not limited to the field of view seen by the operator.

The controller 4 may perform scanning by sound waves, radio waves, or the like (generate a wide wave and confirm its reflection) in order to detect a blind spot due to a height difference of the terrain.

Further, the worker detection device 1 includes a transmission / reception device 5, a worker-side controller 6, a reception device 7, and a transmission device 8. The transmission / reception device 5 and the operator side controller 6 are provided on a mobile terminal 60 owned by an operator outside the work machine 20. The mobile terminal 60 is a smartphone, a tablet terminal, or the like. The mobile terminal 60 may be a helmet having a wireless communication function. The receiving device 7 and the transmitting device 8 are provided on a plurality of work machines 20, respectively.

The transmission / reception device (worker-side transmission device, worker-side reception device) 5 can transmit / receive information to the outside. The worker-side controller (transmission control means) 6 periodically transmits position information, which is information about the position of the worker, from the transmission / reception device 5. The operator-side controller 6 causes the transmission / reception device 5 to transmit the operator ID for identifying the operator and the time stamp (time information) when the position information is generated from the transmission / reception device 5 to the outside together with the position information. Here, the radio wave transmitted from the transmission / reception device 5 is a radio wave such as Wi-Fi, ZigBee, Bluetooth (registered trademark), LPWA, etc., which is easier to wrap around than infrared rays.

The receiving device (working machine side receiving device) 7 can receive information from the outside of the working machine 20. The controller (reception control means) 4 causes the reception device 7 to receive the position information periodically transmitted from the transmission / reception device 5. The transmission device (transmission device on the work machine side) 8 can transmit information to the outside of the work machine 20.

The controller (distance calculation means) 4 calculates the distance between the work machine 20 and the worker based on the position information. The controller 4 calculates the distance between the work machine 20 and the worker by using the position information reception strength (RSSI) (Received Signal Strength Indicator). In addition, a plurality of receiving devices 7 are provided in the work machine 20, and the receiving devices 7 are arranged apart from each other on the vehicle body of the working machine 20, and the time difference between the receiving devices 7 receiving the position information is utilized. , The distance between the work machine 20 and the worker may be calculated. Further, the operator may be provided with a GNSS device, and the signal from the GNSS may be included in the position information.

Here, the controller 4 changes the model formula (Freespace, Tworay ground, etc.) used for calculating the distance based on the peripheral information acquired by the camera 3. The surrounding information here is information on the material of the ground (soil, asphalt, lawn, etc.). By changing the model formula or the parameters of the model formula based on the material of the ground, the accuracy of the relationship between the reception intensity (RSSI) and the distance can be improved. As a result, the accuracy of distance calculation can be improved.

Further, the worker detection device 1 includes a transmission / reception device 9, a server-side controller 10, and a storage device 11. The transmission / reception device 9, the server-side controller 10, and the storage device 11 are provided in the server 70. The server 70 is provided outside the work machine 20.

The controller 4 causes the information group to be transmitted from the transmission device 8 to the outside of the work machine 20. Here, the information group includes a machine ID for identifying the work machine 20, the position of the work machine 20, the position information of the worker, the worker ID, the time stamp, and the calculated distance. ing.

The transmission / reception device 9 can transmit / receive information to the outside. The server-side controller 10 causes the transmission / reception device 9 to receive the information group. The server-side controller 10 temporarily stores the information group received by the transmission / reception device 9 in the storage device 11.

The server-side controller 10 determines whether or not, among the information groups stored in the storage device 11, information groups having different machine IDs and the same worker ID and time stamp exist in the threshold value N or more. .. Then, when the information group satisfying this condition exists at the threshold value N or more, the server-side controller 10 retrieves the information group from the storage device 11. The threshold value N is predetermined by the administrator of the server 70 and the operator of the work machine 20.

The server-side controller (existence area calculation means) 10 calculates the existence area, which is the area where the worker exists, based on the distance between the work machine 20 and the worker. Specifically, the server-side controller 10 calculates the existence area using the information group existing at the threshold value N or more.

Hereinafter, in order to facilitate the image, the two-dimensional plane region shown in FIG. 5 will be assumed and described. When the threshold value N is 1, the target work machine 20 is one. In this case, the worker 50 exists in a circular region centered on the target work machine 20 and whose radius is the distance between the work machine 20 and the worker 50. When the threshold value N is 2, the number of target work machines 20 is two. In this case, one of the work machines 20 is the center, a circular region having the distance between one of the work machines 20 and the worker 50 as the radius, and the other of the work machines 20 as the center, the other of the work machines 20 and the workers 50. The worker 50 exists at either of the two points where the circular area having the distance from and the radius intersects. When the threshold value N is 3 or more, the number of target work machines 20 is 3 or more. In this case, it is possible to determine the position where the worker 50 exists at one point by a three-point survey or the like. In the case of detection in three-dimensional space, the circle may be read as a sphere.

In this way, the existing area can be calculated based on the distance between the work machine 20 and the worker. In the past, when the amount of information that could be obtained was small (specifically, when the threshold value N was 2 or less), information could only be obtained to the extent that there was an operator or not, but in this embodiment, , The operator of the work machine 20 can narrow down the position of the worker to some extent.

Returning to FIG. 4, the server-side controller 10 causes the transmission / reception device 9 to transmit the information related to the existing area calculated by itself to the outside. The controller 4 of the work machine 20 causes the receiving device 7 to receive the information related to the existing area.

The controller (determining means) 4 determines whether or not the existing area is included in the blind spot area. Further, the controller 4 determines whether or not the existing area is within the range of the boundary area including the boundary between the blind spot area and the non-blind spot area.

Here, the controller (boundary area setting means) 4 sets the boundary area based on the blind spot area and the orientation of the attachment 30. As a result, the boundary area can be set according to the orientation of the attachment 30. An example of the boundary region 54 is shown in FIGS. 2 (b) and 3 (b).

Further, the controller (movement detecting means) 4 detects the movement of the worker. Specifically, the controller 4 periodically receives information related to the existing area, and calculates the moving direction, speed, and acceleration of the worker from the change in the existing area. When the controller (determining means) 4 detects the movement of the worker with respect to the blind spot area, the controller (determining means) 4 determines whether or not the worker comes out of the blind spot area.

Further, the worker detection device 1 has a posture acquisition device (attachment posture acquisition device) 12. The posture acquisition device 12 is provided on the work machine 20 and acquires the posture of the attachment 30. The posture acquisition device 12 acquires, for example, the rotation angle of the boom 31 with respect to the upper swing body 22 shown in FIG. 1, the rotation angle of the arm 32 with respect to the boom 31, and the rotation angle of the bucket 33 with respect to the arm 32, respectively.

The controller (work area calculation means) 4 calculates the work area of the work machine 20 based on the orientation of the attachment 30 and the posture of the attachment 30. The work area is an area including the position of the attachment 30. An example of the work area 55 is shown in FIGS. 2 (b) and 3 (b). Then, the controller (determining means) 4 determines whether or not there is an operator in the work area.

Further, the worker detection device 1 has a speaker 13 and a display 14. The speaker 13 and the display 14 are provided in the cab 23 of the work machine 20 (see FIG. 1). The speaker 13 can issue a sonic warning. The display 14 can issue a warning by display.

The controller (worker countermeasure means) 4 takes worker countermeasures when it determines that the existing area is included in the blind spot area. Worker measures are at least one of limiting the operation of the work machine 20 and warning the operator operating the work machine 20. Further, the controller 4 takes measures against the operator when it determines that the existing area is within the range of the boundary area.

In addition, the controller 4 takes measures against the operator when it determines that the operator comes out of the blind spot area. Further, when the controller 4 determines that there is a worker in the work area, the controller 4 takes measures against the worker.

In this embodiment, the following two levels of worker measures are taken. The controller 4 generates a warning from the speaker 13 and the display 14 as a low-level worker countermeasure. Specifically, a warning sound is generated from the speaker 13 and a warning screen is displayed on the display 14. The warning screen 80 displayed on the display 14 is shown in FIG. As shown in FIG. 6, the warning screen 80 displays the icon 81 of the work machine and the text 82 including the worker ID of the worker in the blind spot area. As a result, it is possible to notify the operator that the operator is in the blind spot area.

Further, the controller 4 limits the operation of the work machine 20 as a high-level worker countermeasure. Specifically, the operation of the attachment 30 is restricted by controlling the cylinder 40. The running of the lower traveling body 21 and the turning of the upper turning body 22 may be restricted. As a result, it is possible to prevent the work machine 20 from moving toward the worker. The operation of the operation lever operated by the operator in the cab 23 may be invalidated.

In the present embodiment, the controller 4 changes the worker measures stepwise according to the number of the work machines 20 that have detected that the blind spot area includes the existing area. Specifically, the controller 4 takes a higher level of worker countermeasures as the number of work machines 20 that detect that the existing area is included in the blind spot area increases. In the present embodiment, low-level worker measures are taken when the number of work machines 20 is 2 or less, and high-level worker measures are taken when the number of work machines 20 is 3 or more. Information on the number of work machines 20 is acquired from the server 70 together with information on the existing area. As described with reference to FIG. 5, the larger the number of work machines 20, the more accurately the position of the worker 50 can be specified. The more accurate the position of the worker, the higher the level of the worker countermeasures, the more the problem caused by the worker being in the blind spot when viewed from the work machine 20 may be sufficiently avoided.

Further, the worker detection device 1 has a display (worker side warning device) 15. The display 15 is provided on the mobile terminal 60. The display 15 can issue a warning by display.

When taking measures against workers, the controller 4 causes the transmission device 8 to transmit information to the effect that measures are taken against workers. The worker-side controller (worker-side reception control means) 6 causes the transmission / reception device 5 to receive information to the effect that the worker-side countermeasures are to be taken. The operator side controller (warning control means) 6 generates a warning from the display 15 in response to the information received from the outside by the transmission / reception device 5 to the effect that the operator measures are to be taken. The warning screen 90 displayed on the display 15 is shown in FIG. As shown in FIG. 7, on the warning screen 90, the icon 91 of the work machine and the text 92 including the machine ID of the work machine 20 in which the current position of the worker is the blind spot area are displayed. This may be able to draw the attention of the worker.

(Operation of worker detection device)
Next, the operation of the worker detection device 1 will be described with reference to FIGS. 8 and 9 which are flowcharts of the worker detection control.

First, the operation of the work machine 20 will be described with reference to FIG. 8 which is a flowchart of the worker detection control on the work machine side. The controller 4 acquires the position of the work machine 20 and the orientation of the attachment 30 (step S1). Next, the controller 4 acquires peripheral information (step S2). Next, the controller 4 calculates the blind spot area based on the position of the work machine 20, the orientation of the attachment 30, and the peripheral information (step S3).

Next, the controller 4 causes the receiving device 7 to receive the position information (step S4). Next, the controller 4 calculates the distance between the work machine 20 and the worker based on the position information (step S5). Then, the controller 4 transmits the information group from the transmission device 8 (step S6).

Next, the controller 4 causes the receiving device 7 to receive the existing area (step S7). Next, the controller 4 sets the boundary region based on the blind spot region and the orientation of the attachment 30 (step S8). Next, the controller 4 calculates the work area of the work machine 20 based on the orientation of the attachment 30 and the posture of the attachment 30 (step S9).

Next, the controller 4 determines whether or not the existing area is included in the blind spot area (step S10). If it is determined in step S10 that the existing area is not included in the blind spot area (S10: NO), the controller 4 returns to step S1. On the other hand, if it is determined in step S10 that the existing area is included in the blind spot area (S10: YES), the controller 4 determines whether or not the existing area is within the boundary area (step S11). ..

If it is determined in step S11 that the existing region is within the range of the boundary region (S11: YES), the controller 4 proceeds to step S15. On the other hand, if it is determined in step S11 that the existing area is not within the range of the boundary area (S11: NO), the controller 4 determines whether or not the movement of the worker is detected (step S12).

If it is determined in step S12 that the movement of the operator has not been detected (S12: NO), the controller 4 proceeds to step S14. On the other hand, if it is determined in step S12 that the movement of the worker has been detected (S12: YES), the controller 4 determines whether or not the worker comes out of the blind spot area (step S13).

If it is determined in step S13 that the worker does not come out of the blind spot area (S13: NO), the controller 4 proceeds to step S14. On the other hand, if it is determined in step S13 that an operator comes out of the blind spot area (S13: YES), the controller 4 proceeds to step S15.

In step S14, the controller 4 determines whether or not there is an operator in the work area (step S14). If it is determined in step S14 that there is an operator in the work area (S14: YES), the controller 4 proceeds to step S15. On the other hand, if it is determined in step S14 that there is no worker in the work area (S14: NO), the controller 4 returns to step S1.

In step S15, the controller 4 determines whether or not the number of work machines 20 is 2 or less (step S15). If it is determined in step S15 that the number of work machines 20 is 2 or less (S15: YES), the controller 4 issues a warning from the speaker 13 and the display 14 as a low-level worker countermeasure (S15: YES). Step S16). Then, the process returns to step S1. On the other hand, if it is determined in step S15 that the number of work machines 20 is not two or less (S15: NO), the controller 4 limits the operation of the attachment 30 as a high-level worker countermeasure (step S17). ). Then, the process returns to step S1.

Next, the operation of the server 70 will be described with reference to FIG. 9, which is a flowchart of the worker detection control on the server 70 side. The server-side controller 10 receives the information group from the work machine 20 that has detected that the existing area is included in the blind spot area (step S21). Then, the server-side controller 10 temporarily stores the information group in the storage device 11 (step S22).

Next, the server-side controller 10 determines whether or not, in the information group stored in the storage device 11, an information group having a different machine ID and the same worker ID and time stamp exists at a threshold value N or more. Is determined (step S23). If it is determined in step S23 that the information group matching this condition does not exist at or above the threshold value N (S23: NO), the server-side controller 10 returns to step S21. On the other hand, in step S23, when it is determined that the information group satisfying this condition exists above the threshold value N (S23: YES), the server-side controller 10 extracts these information groups from the storage device 11 and sets the existence area. Calculate (step S24). Then, the server-side controller 10 transmits the calculated existing area to the work machine 20 (step S25), and returns to step S21.

(effect)
As described above, according to the worker detection device 1 according to the present embodiment, the existence area, which is the area where the worker exists, is calculated based on the distance between the work machine 20 and the worker. Then, it is determined whether or not the existing area is included in the blind spot area. As a result, when the existing area is included in the blind spot area, the worker is in the area that becomes the blind spot when viewed from the work machine 20. Therefore, it is possible to detect an operator in an area that is a blind spot when viewed from the work machine 20.

Further, when there is a worker in an area that is a blind spot when viewed from the work machine 20, measures for the worker are taken. When a warning is given as a measure against the operator, the operator can be notified that the operator is in the blind spot area. When the operation is restricted as a measure against the worker, it is possible to prevent the work machine 20 from moving toward the worker.

Further, when the worker is within the range of the boundary area including the boundary between the area that becomes the blind spot and the area that does not become the blind spot when viewed from the work machine 20, the worker measures are taken. When a warning is given as a measure against the operator, the operator can be notified that the operator is near the boundary between the area that becomes the blind spot and the area that does not become the blind spot. When the operation is restricted as a measure against the worker, the movement of the work machine 20 toward the worker can be further suppressed.

Further, a boundary region including a boundary between the blind spot region and a region other than the blind spot region is set based on the blind spot region and the orientation of the attachment 30. As a result, the boundary area can be set according to the orientation of the attachment 30.

Further, when a worker comes out from a region that is a blind spot when viewed from the work machine 20, measures for the worker are taken. As a result, it may be possible to avoid the problem caused by the worker coming out of the blind spot area.

Further, when there is a worker in the work area of the work machine 20, measures for the worker are taken. This may avoid problems caused by the work being performed near the worker.

In addition, a warning is given to the worker when measures are taken for the worker. This may be able to draw the attention of the worker.

Further, the measures for the worker are gradually changed according to the number of the work machines 20 that have detected that the worker is in the blind spot when viewed from the work machine 20. For example, if the number of work machines 20 is large and the position of the worker can be accurately specified, the larger the number of work machines 20 is, the higher the level of worker measures is taken to see from the work machine 20. In some cases, the problem of having workers in the blind spot area can be sufficiently avoided.

In addition, the model formula used to calculate the distance is changed based on the peripheral information. For example, when the reception strength (RSSI) is used to calculate the distance between the work machine 20 and the worker, the model formula or the parameter of the model formula is set based on the ground material (soil, asphalt, lawn, etc.). By changing it, the accuracy of the relationship between the reception strength and the distance can be improved. As a result, the accuracy of distance calculation can be improved.

Although the embodiments of the present invention have been described above, only specific examples are illustrated, and the present invention is not particularly limited, and the specific configuration and the like can be appropriately redesigned. In addition, the actions and effects described in the embodiments of the present invention merely list the most preferable actions and effects resulting from the present invention, and the actions and effects according to the present invention are described in the embodiments of the present invention. It is not limited to what has been done.

For example, although the server 70 calculates the existing area, the controller 4 of the work machine 20 may calculate the existing area.

1 Worker detection device 2 GNSS device (position acquisition device, direction acquisition device, attachment direction acquisition device)
3 Camera (peripheral information acquisition device)
4 Controller (blind spot area calculation means, reception control means, distance calculation means, determination means, worker countermeasure means, boundary area setting means, movement detection means, work area calculation means)
5 Transmitter / receiver (worker-side transmitter, worker-side receiver)
6 Worker-side controller (transmission control means, worker-side reception control means, warning control means)
7 Receiver (working machine side receiver)
8 Transmitter (transmitter on the work machine side)
9 Transmitter / receiver 10 Server-side controller (existence area calculation means)
11 Storage device 12 Posture acquisition device (attachment posture acquisition device)
13 Speaker 14 Display 15 Display (worker side warning device)
20 Work machine 21 Lower running body 22 Upper swivel body 23 Cab 30 Attachment 31 Boom 32 Arm 33 Bucket 40 Cylinder 41 Boom cylinder 42 Arm cylinder 43 Bucket cylinder 50 Worker 51 Shield 52 Groove 53 Blind spot area 54 Boundary area 55 Work area 60 Mobile terminal 70 Server 80 Warning screen 81 Icon 82 Text 90 Warning screen 91 Icon 92 Text

Claims (11)

A position acquisition device provided on the work machine to acquire the position of the work machine,
A direction acquisition device provided on the work machine to acquire the orientation of the work machine,
Peripheral information acquisition device that acquires peripheral information that is information around the work machine, and
A blind spot area calculation means for calculating a blind spot area, which is a blind spot when viewed from the work machine, based on the position and orientation of the work machine and the peripheral information.
A worker-side transmission device provided to a worker outside the work machine and capable of transmitting information to the outside,
A transmission control means provided to the worker to transmit position information, which is information about the position of the worker, from the worker-side transmission device.
A work machine side receiving device provided on the work machine and capable of receiving information from the outside of the work machine.
A reception control means provided on the work machine and causing the receiving device to receive the position information.
A distance calculating means provided in the work machine and calculating the distance between the work machine and the worker based on the position information.
An existence area calculation means for calculating an existence area, which is an area in which the worker exists, based on the distance.
A determination means provided in the work machine and determining whether or not the existing area is included in the blind spot area.
A worker detection device characterized by having. It is at least one of the limitation of the operation of the work machine and the warning to the operator who operates the work machine when the determination means determines that the existing area is included in the blind spot area provided in the work machine. The worker detection device according to claim 1, further comprising a worker countermeasure means for taking worker countermeasures. The determination means determines whether or not the existing region is within the range of the boundary region including the boundary between the blind spot region and the region other than the blind spot region.
The worker detection device according to claim 2, wherein the worker countermeasure means takes the worker countermeasure when the determination means determines that the existing region is within the range of the boundary region. .. With the attachment attached to the work machine,
An attachment direction acquisition device provided on the work machine to acquire the orientation of the attachment,
A boundary area setting means for setting the boundary area based on the blind spot area and the orientation of the attachment.
The worker detection device according to claim 3, further comprising. Further having a movement detecting means for detecting the movement of the worker,
The determination means determines whether or not the worker comes out of the blind spot region when the movement detection means detects the movement of the worker with respect to the blind spot region.
According to any one of claims 2 to 4, the worker countermeasure means takes the worker countermeasure when the determination means determines that the worker comes out from the blind spot region. The worker detection device described. With the attachment attached to the work machine,
An attachment direction acquisition device provided on the work machine to acquire the orientation of the attachment,
An attachment posture acquisition device provided on the work machine to acquire the posture of the attachment,
A work area calculation means provided on the work machine and calculating a work area of the work machine based on the orientation of the attachment and the posture of the attachment.
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The determination means determines whether or not the worker is in the work area, and determines whether or not the worker is present.
The worker-countermeasure means according to any one of claims 2 to 5, wherein when the determination means determines that the worker is in the work area, the worker countermeasure means takes the worker countermeasures. Worker detection device. A worker-side receiving device provided on the worker and capable of receiving information from the outside,
A worker-side reception control means provided to the worker and causing the worker-side receiving device to receive information from the outside,
A worker-side warning device provided to the worker and capable of issuing a warning,
A warning control means provided to the worker and generating a warning from the worker side warning device,
A work machine side transmission device provided in the work machine and capable of transmitting information to the outside of the work machine,
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When the worker countermeasures are taken, the worker countermeasure means causes the work machine side transmission device to transmit information to the effect that the worker countermeasures are to be taken.
Any of claims 2 to 6, wherein the warning control means generates a warning from the worker-side warning device in response to the information received by the worker-side receiving device to take the worker-side countermeasures. The worker detection device according to item 1. There are multiple work machines
2. The worker countermeasure means is characterized in that the worker countermeasures are changed stepwise according to the number of the work machines that have detected that the existing area is included in the blind spot region. The worker detection device according to any one of Items to 7. The worker detection device according to any one of claims 1 to 8, wherein the distance calculating means changes a model formula used for calculating the distance based on the peripheral information. A position acquisition step of causing a position acquisition device provided in the work machine to acquire the position of the work machine, and
A direction acquisition step of causing the direction acquisition device provided in the work machine to acquire the direction of the work machine, and
The peripheral information acquisition step of causing the peripheral information acquisition device to acquire the peripheral information which is the peripheral information of the work machine, and
A blind spot area calculation step for calculating a blind spot area, which is a blind spot when viewed from the work machine, based on the position and orientation of the work machine and the peripheral information.
A transmission control step for transmitting position information, which is information about the position of the worker, from a transmitter on the worker side provided to the worker outside the work machine.
A reception control step for causing a work machine side receiving device provided in the work machine to receive information from the outside of the work machine to receive the position information.
A distance calculation step for calculating the distance between the work machine and the worker based on the position information, and
The existence area calculation step of calculating the existence area which is the area where the worker exists based on the distance, and the existence area calculation step.
A determination step for determining whether or not the existing region is included in the blind spot region,
A worker detection method comprising. A position acquisition means for causing a position acquisition device provided on the work machine to acquire the position of the work machine, and
A direction acquisition means for causing a direction acquisition device provided in the work machine to acquire the direction of the work machine, and
Peripheral information acquisition means for causing the peripheral information acquisition device to acquire peripheral information which is information on the periphery of the work machine, and
A blind spot area calculation means for calculating a blind spot area, which is a blind spot when viewed from the work machine, based on the position and orientation of the work machine and the peripheral information.
A transmission control means for transmitting position information, which is information about the position of the worker, from a worker-side transmission device provided to the worker outside the work machine.
A reception control means for causing a receiving device on the working machine side, which is provided on the working machine and can receive information from the outside of the working machine, to receive the position information.
A distance calculation means for calculating the distance between the work machine and the worker based on the position information, and
An existence area calculation means for calculating an existence area, which is an area in which the worker exists, based on the distance.
A worker detection program characterized in that a computer functions as a determination means for determining whether or not the existing region is included in the blind spot region.