JP7562398B2 - Location Management System - Google Patents

Description

The present invention relates to a location management system that detects the location of field workers within a construction site.

At a construction site, on-site workers from multiple construction companies perform various tasks. At such a construction site, there is a demand to know the positions of the on-site workers in order to appropriately manage the site.
In response to this, for example, Patent Document 1 discloses a configuration of a position management system that includes a position acquisition unit that acquires the positions of on-site workers (people) and on-site equipment at a construction site, and a display control unit that displays the positions of the on-site workers and on-site equipment acquired by the position acquisition unit. In this configuration, the position acquisition unit includes a transmitter that is attached to the on-site workers and on-site equipment and transmits radio waves, and a receiver that is attached to a building and receives the radio waves transmitted from the transmitter.
In the configuration disclosed in Patent Document 1, in order to grasp the location of the field workers, it is necessary to attach a transmitter to each field worker, which requires time and cost to attach a transmitter to each field worker.

Furthermore, Patent Document 2 discloses the configuration of a site management system in which multiple receiving antennas are installed indoors to receive radio waves emitted from radio tags attached to site workers and site equipment, and the location of the radio tags is detected by analyzing the radio waves received from the radio tags by the receiving antennas.
Even in the configuration disclosed in Patent Document 2, in order to grasp the location of a field worker, it is necessary to attach a wireless tag to the field worker, which requires time and cost.

Patent document 3 also discloses the configuration of a management system for managed objects within a building, which includes an air pressure sensor installed on on-site workers and on-site equipment (managed objects within the building), a transmitter that transmits measurement data of the air pressure and temperature within the building measured by the air pressure sensor, and a calculation unit that calculates the floor and quantity of the on-site workers and on-site equipment based on the measurement data from the transmitter.
In the configuration disclosed in Patent Document 2, in order to grasp the location of a field worker, it is necessary to attach a barometric pressure sensor and a transmitter to the field worker, which requires time and cost.

Unlike the above configuration, it is also possible to estimate the position within a structure based on images captured by a camera, such as Visual-SLAM (Simultaneous Localization and Mapping). In this case, it is not necessary to install transmitters, wireless tags, etc., which are required in the above configuration.
However, at construction sites, many workers and equipment move about, so when using Visual-SLAM, which estimates positions based on the relative positions of features captured in an image, the accuracy of the position estimation may be reduced, making it difficult to apply.

JP 2020-16466 A JP 2019-138785 A JP 2019-152928 A

The problem that this invention aims to solve is to provide a location management system that can manage the locations of field workers at a construction site accurately and at low cost.

In order to solve the above problems, the present invention employs the following means.
In other words, the position management system of the present invention is a position management system that detects the position of a field worker within a construction site, and is equipped with a pedestrian autonomous navigation means carried by the field worker and acquiring movement information of the field worker, an imaging and recording device that photographs the construction site, and an identification tag placed at the construction site, and is characterized in that it detects the position of the field worker based on equipment and material information and/or identification information of the identification tag obtained using the imaging and recording device, and the movement information of the field worker obtained from the pedestrian autonomous navigation means.
According to this configuration, the pedestrian autonomous navigation means obtains movement information indicating the position and route of the field worker when he/she moves within the construction site. The photographing and recording device photographs the inside of the construction site to photograph the identification tag and field equipment and materials located within the construction site. The photographed images can be analyzed to obtain equipment and material information and/or identification information of the identification tag, and based on this information and the field worker's movement information, the field worker's position can be identified with high accuracy. With this configuration, there is no need to equip the field worker with a transmitter, wireless tag, air pressure sensor, etc. Therefore, it is possible to manage the position of the field worker within the construction site at low cost and accurately.

In addition, the position management system of the present invention is a position management system that detects the position of a field worker within a construction site, and is characterized in that it comprises an identification tag placed at different positions within the construction site, a pedestrian autonomous navigation means that is equipped with an autonomously operating sensor and is configured to be held or worn by the field worker and acquires movement information of the field worker, an image capturing and recording device that is configured to be held or worn by the field worker and captures images within the construction site, a detection means that detects the identification tag from images captured by the image capturing and recording device, a position calculation unit that calculates and specifies the shooting position at which the captured image was taken based on the movement information of the field worker obtained by the pedestrian autonomous navigation means and the detection result of the identification tag by the detection means, and an information display unit that displays the shooting position calculated by the position calculation unit as the position of the field worker.
According to this configuration, when a site worker holds or wears the pedestrian autonomous navigation means and the photographing and recording device and photographs the inside of the construction site with the photographing and recording device while moving within the construction site, the pedestrian autonomous navigation means obtains movement information indicating the position and route of the site worker when moving within the construction site. The photographing and recording device photographs the inside of the construction site, thereby obtaining a photographed image of the identification tag located within the construction site. The detection means detects the identification tag provided at the construction site from the photographed image of the photographing and recording device. The position calculation unit specifies the photographing position within the construction site where the photographed image was taken based on the movement information of the site worker and the detection result of the identification tag. Specifically, the location within the construction site can be specified from the identification tag in the photographed image. By associating the location specified from the identification tag with the movement information of the site worker based on these, the location where the photographed image was taken can be specified with high accuracy even in the case of a high-rise building or a large-scale structure. By displaying the photographing position where the photographed image was taken as the position of the site worker, the position of the site worker can be specified with high accuracy. In such a configuration, there is no need for the site workers to be equipped with transmitters, wireless tags, air pressure sensors, etc. Therefore, it is possible to manage the positions of the site workers within the construction site accurately and at low cost.

In one aspect of the present invention, the position management system of the present invention further includes a database in which the correspondence between the identification information of the identification tag and the horizontal and vertical positions at which the identification tag is placed is stored, and the position calculation unit refers to the database to obtain the horizontal and vertical positions of the detected identification tag, and identifies the shooting position based on the horizontal and vertical positions and the movement information.
According to this configuration, the horizontal and vertical positions within the construction site where the identification tag was photographed can be identified from the identification information of the identification tag in the photographed image. This makes it possible to identify with high accuracy the position where the photographed image was taken, even for high-rise buildings and large-scale structures, for example. This makes it possible to identify with high accuracy the position of the on-site worker who took the photographed image.

The present invention makes it possible to manage the positions of workers on a construction site accurately and at low cost.

1 is a block diagram showing a configuration of a location management system according to an embodiment of the present invention. FIG. 2 is a diagram showing an example of a construction site where the location of a site worker is detected by the location management system of FIG. 1 . 1 is a flowchart showing the flow of a method for managing field workers and field equipment and materials, which is executed using the position management system of this embodiment. FIG. 11 is a diagram showing an example of a captured image of an identification tag. FIG. 11 is a diagram showing an example of a history of identification tags being detected from captured images. FIG. 13 is a diagram showing an example of detection record of on-site equipment and materials by a detection means. FIG. 13 is a diagram showing an example of a captured image including an identification tag. FIG. 11 is a diagram showing an example of location data of a field worker. FIG. 13 is a diagram showing an example of management data that integrates information relating to location estimation of on-site equipment and materials. FIG. 13 is a diagram showing an example of an identification tag that appears tilted in a captured image. FIG. 13 is a diagram showing an example of information relating to the location of on-site equipment and materials displayed on an information terminal.

The present invention is a location management system whose main users are field workers or site managers, and which detects the location of field workers based on information obtained from the movement information of field workers, a photography and recording device that photographs the construction site, and identification tags placed within the construction site.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a location management system according to the present invention will be described with reference to the accompanying drawings.
A block diagram showing the configuration of a position management system according to an embodiment of the present invention is shown in Fig. 1. Fig. 2 is a diagram showing an example of a construction site where the positions of site workers are detected by the position management system of Fig. 1.
1, the position management system 1 mainly includes a pedestrian autonomous navigation means 2, an image recording device 3, a management system main body 4, and an information terminal 5. In this embodiment, the position management system 1 detects and manages the positions of site workers Q and site equipment 100 within a construction site G.
As shown in FIG. 2 , the pedestrian autonomous navigation means 2 and the photographing and recording device 3 are used by the site worker Q when he photographs the construction site G while moving within the construction site G. In this embodiment, the pedestrian autonomous navigation means 2 and the photographing and recording device 3 are used by the site worker Q when he photographs, for example, various site equipment 100 located within the construction site G while moving within the construction site G. The pedestrian autonomous navigation means 2 and the photographing and recording device 3 are configured to be held or worn by the site worker Q. That is, the pedestrian autonomous navigation means 2 and the photographing and recording device 3 may be held by the site worker Q in his hand or by storing them in his pocket. Furthermore, the pedestrian autonomous navigation means 2 and the photographing and recording device 3 may be attached to a part of the body (for example, the head, etc.) of the site worker Q or to an outfit (a helmet or clothing). Furthermore, the site worker Q may wear a helmet, a bag, etc. to which the pedestrian autonomous navigation means 2 and the photographing and recording device 3 are attached. In addition, the pedestrian autonomous navigation means 2 and the image recording device 3 may be separate devices, but a device in which the pedestrian autonomous navigation means 2 and the image recording device 3 are integrated may be used.

The pedestrian autonomous navigation means 2 is a device that acquires movement information of the field worker Q by pedestrian autonomous navigation, i.e., PDR (Pedestrian Dead-Reckoning). As the pedestrian autonomous navigation means 2 described above, a dedicated device having the functions shown below may be used, or a smartphone, tablet terminal, or the like having an application program capable of realizing the functions shown below may be used. As shown in FIG. 1, the pedestrian autonomous navigation means 2 functionally includes a sensor 21, a movement information calculation unit 22, a data storage unit 23, and a data output unit 24.
As the sensor 21, for example, an acceleration sensor, a gyro sensor, a geomagnetic sensor, etc. are used. After starting positioning, the sensor 21 detects changes in acceleration, angular velocity, geomagnetism, etc. that occur with the movement of the site worker Q holding or wearing the pedestrian autonomous navigation means 2. Note that the sensor 21 is not limited to an acceleration sensor, gyro sensor, or geomagnetic sensor, and may be one that detects other parameters as appropriate, as long as it can acquire movement information of the site worker Q within the construction site G.

The movement information calculation unit 22 generates movement information of the field worker Q by calculating the amount of movement from the positioning start position when the field worker Q moves from the positioning start position, i.e., the relative position with respect to the positioning start position, based on the detection data from the sensor 21. More specifically, the movement information calculation unit 22 measures the amount of movement from the position at the previous time, i.e., the relative position, at regular time intervals using the PDR and calculates the position by integrating the amount of movement. The movement information of the field worker Q is associated with information indicating the movement route based on the relative position measured as described above, and time information, which is information regarding the time when the field worker Q moved, with each position on the movement route.
The data storage unit 23 stores the movement information of the site worker Q generated by the movement information calculation unit 22 .
The data output unit 24 outputs the movement information of the field worker Q stored in the data storage unit 23 to the management system main body 4. The form in which the data output unit 24 outputs the movement information may be, for example, data transfer via a wireless LAN (Local Area Network) such as Wi-Fi or Bluetooth (registered trademark), a mobile phone communication network, or data transfer via a connection cable or various types of portable memory.
Furthermore, the data output unit 24 outputs device ID information and the like individually assigned to the pedestrian autonomous navigation means 2 to the management system main body 4 in association with the movement information.

The photographing and recording device 3 photographs the inside of the construction site G. The photographing and recording device 3 is, for example, a portable digital camera, a digital video (including a wearable camera that can be attached to the body), etc. The photographing and recording device 3 may be a so-called omnidirectional camera (360-degree camera) that can photograph the surroundings in all directions of 360 degrees. The photographing and recording device 3 may be a smartphone or a tablet terminal equipped with a camera function. The photographing and recording device 3 functionally comprises a photographing unit 31, a photographing data storage unit 32, and a photographing data output unit 33.
The image capturing unit 31 includes an image capturing element using a charge coupled device (CCD), a complementary metal oxide semiconductor (CMOS), or the like, and captures at least one of still images and moving images.

The photographing data storage unit 32 stores the photographed image photographed by the photographing unit 31 as photographing data in association with the time when the photographed image was photographed, i.e., the photographing time. The photographing data storage unit 32 may use a memory built into the photographing and recording device 3, or a portable memory detachably provided in the photographing and recording device 3. The photographing data storage unit 32 may also transfer and store the photographing data in a smartphone or tablet terminal that can be connected to the photographing and recording device 3 via wireless LAN communication such as Wi-Fi.
The photographing data output unit 33 outputs the photographing data of the construction site G stored in the photographing data storage unit 32 to the management system main body 4. As for the form of outputting the movement information by the data output unit 24, similar to the data output unit 24, for example, data transfer via a wireless LAN such as Wi-Fi, a mobile phone communication network, etc., as well as data transfer via a connection cable or various portable memories, etc. can be used.
Furthermore, the photographing data output unit 33 outputs device ID information, etc., individually assigned to the photographing recorder 3, to the management system main body 4 in association with the photographing data.

The management system main body 4 generates management data for managing the position of the site worker Q within the construction site G and the positions of the multiple site equipment and materials 100, based on the movement information of the site worker Q obtained by the pedestrian autonomous navigation means 2 and the photographing data obtained by the photographing and recording device 3. The management system main body 4 is composed of a computer device such as a personal computer. The management system main body 4 functionally comprises a data input receiving unit 41, a detection means 42, an information integration unit 43, a database 44, and a management data output unit 45.
The data input receiving unit 41 receives input of data output from the data output unit 24 of the pedestrian autonomous navigation means 2 and the photographing data output unit 33 of the photographing and recording device 3 .

The database 44 stores various data necessary for the management system main body 4 to manage the positions of the site workers Q and the positions of the multiple site equipment and materials 100. The database 44 stores data on the multiple site equipment and materials 100 used within the construction site G, data on the site workers Q and the identification tags M.
As data relating to the site equipment and materials 100, for example, identification data of the site equipment and materials 100 corresponding to each site equipment and materials 100, etc. are stored in the database 44.
As shown in Fig. 2, the identification tags M are placed at different positions within the construction site G. For example, the identification tags M are two-dimensional bar codes, AR markers, etc., and individual identification information is associated and recorded for each identification tag M. As data relating to the identification tags M, the correspondence between the identification information recorded in association with the identification tags M, the horizontal position and height position (floor) within the construction site G where the identification tags M are installed, and the direction (azimuth or angle) in which the identification tags M are displayed is stored in the database 44.
Data relating to the site worker Q includes device ID information individually assigned to the pedestrian autonomous navigation means 2 and the photographing and recording device 3, and ID information of the site worker Q for identifying the site worker Q who took photographs within the construction site G using the pedestrian autonomous navigation means 2 and the photographing and recording device 3, which are associated with each other and stored in the database 44.

The detection means 42 detects the site equipment 100 and the identification tag M from the captured image in the image data captured by the image capturing unit 31. When the captured image is a moving image, the detection means 42 breaks down the moving image into a plurality of still images and executes the following process for each still image.
First, the detection means 42 detects (specifies) the identification tag M from the captured image to be processed by using a known image processing method or the like.
The detection means 42 also has a trained model 46 in which identification data of the site equipment 100 corresponding to the image information of the site equipment 100 is deep-trained as training data. The trained model 46 is, for example, a convolutional neural network (CNN). The trained model 46 is deep-trained so that when an image is input, if any site equipment 100 is photographed in the image, the trained model 46 outputs identification data corresponding to the site equipment 100, thereby identifying the site equipment 100. In this way, the trained model 46 is used as a program module that is a part of artificial intelligence software, and appropriate learning parameters have been learned. The detection means 42 executes the trained model 46 as a program on, for example, a CPU or GPU, to identify the site equipment 100 when a photographed image is input.
In this way, the detection means 42 inputs the captured image into the trained model 46 and outputs identification data of the site equipment 100, thereby estimating the site equipment 100 captured in the captured image.
In this embodiment, the identification data is, for example, name data of the site equipment 100. Alternatively, the identification data may be an identification number associated with each site equipment 100.

The information integration unit 43 associates the movement information of the on-site worker Q obtained by the pedestrian autonomous navigation means 2 with the detection results of the on-site equipment 100 and the identification tag M by the detection means 42 over time, and stores this in the database 44 as position data of the on-site worker Q and management data for the on-site equipment 100.
More specifically, the information integration unit 43 compares the shooting time associated with the captured image in the shooting data with the time information in the movement information, extracts the time information that is closest to the shooting time, and derives the position in the movement information that corresponds to the time information, thereby identifying the position at which the captured image was captured, thereby associating the movement information with the captured image.
In addition, the information integration unit 43 identifies the field worker Q who took the image associated with the movement information based on the device ID information of the pedestrian autonomous navigation means 2 and the shooting recording device 3 used when the captured image was taken, and the ID information of the field worker Q associated therewith, and associates it with the movement information and the captured image.
Furthermore, the information integration unit 43 associates the movement information with the detection results of the on-site equipment 100 based on the estimation results of the on-site equipment 100 by the detection means 42 for each captured image.
Furthermore, the information integration unit 43 extracts the identification tag M detected at the same time as or the closest time in the past to the time when each captured image was captured, and calculates the identification number of that identification tag M.
As a result, in the database 44, the location where each photographed image was taken, the time when each photographed image was taken, information on the identification tag M thought to be located near the photographed location of the photographed image, and the site worker Q who took the photographed image are associated with each other and stored as location data of the site worker Q. In addition, in the database 44, the site equipment 100, information on the identification tag M thought to be located near the site equipment 100, and information on the location where the site equipment 100 is thought to be located are associated with each other and stored as management data for the site equipment 100.

In response to access from the information terminal 5, the management data output unit 45 outputs the location data of the field worker Q and the management data of the field equipment 100 stored in the database 44 to the information terminal 5. Examples of the form in which the management data output unit 45 outputs the location data of the field worker Q and the management data of the field equipment 100 include data transfer via a wireless LAN such as Wi-Fi, a mobile phone communication network, etc.

The information terminal 5 is used by a manager who manages the position of the field worker Q within the construction site G, or by a field worker Q who uses or searches (finds) the field equipment 100 within the construction site G. Here, the manager or field worker Q who uses the information terminal 5 may be different from the field worker Q who photographed the inside of the construction site G with the pedestrian autonomous navigation means 2 and the photographing and recording device 3. The information terminal 5 may be, for example, a smartphone or tablet terminal carried by the manager or the field worker Q. The information terminal 5 functionally comprises a data acquisition unit 51, an input unit 52, and a position management means 53.
The data acquisition unit 51 accesses the management system main body 4 and acquires the management data from the management data output unit 45 .
The input unit 52 is used by the manager or the field worker Q using the information terminal 5 to input information about the field worker Q to be managed or the field equipment 100 to be searched. The input unit 52 is, for example, a touch key or the like displayed on the display screen of a smartphone or tablet terminal. Information about the field worker Q to be managed or the field equipment 100 to be searched to be input to the input unit 52 includes the name and ID information of the field worker Q, the name of the field equipment 100 (e.g., "high altitude work vehicle", "electric fan", etc.), the model name of the field equipment 100, and the location to be searched (e.g., "5th floor", etc.).

The position management means 53 includes a position calculation unit 54 and an information display unit 55. The position calculation unit 54 refers to the data obtained from the database 44 to calculate the position of the site worker Q to be searched for or the positions of the multiple site equipment and materials 100 within the construction site G. The position calculation unit 54 refers to the data obtained from the database 44 to acquire the horizontal and vertical positions of the detected identification tag M, and calculates (specifies) the shooting positions at which each photographed image P was taken based on this. The position calculation unit 54 specifies the shooting position of the photographed image P as the position of the site worker Q, and further calculates the positions of the site equipment and materials 100 based on the shooting positions.
The information display unit 55 displays information about the position of the site worker Q or the positions of the multiple site equipment 100 that are the search targets, which is calculated by the position calculation unit 54. A display screen of a smartphone or a tablet terminal is used as the information display unit 55. The information display unit 55 can display, as information about the position of the site worker Q or the positions of the multiple site equipment 100 that are the search targets, text (character) information indicating the position of the site worker Q or the positions of the multiple site equipment 100, image information indicating the position of the site worker Q or the positions of the multiple site equipment 100 on a drawing or map of the construction site G, or a photographed image photographed by the photographing and recording device 3 that includes the site equipment 100.

FIG. 3 is a flowchart showing the flow of a method for managing field workers and field equipment and materials, which is executed using the position management system of this embodiment.
As shown in FIG. 3, in order to manage the site workers and site equipment 100 using the position management system 1 in this embodiment, first, an identification tag M is placed within the construction site G (step S11).
For example, if the construction site G has multiple floors, the identification tag M is installed on each floor (floor). Also, it is preferable to install the identification tag M near stairwells or elevators, which are areas of high traffic within the construction site G and tend to be the starting or ending points of people's movements on each floor. Also, the identification tag M may be installed in multiple locations on each floor.
It is desirable to attach the identification tag M to the surface of a pillar or wall under construction. In particular, when the building to be constructed has multiple floors, a piece of paper with the floor number written on it is often attached to the pillar of each floor. In such a case, by attaching the identification tag M near the floor number display, the identification tag M can be installed at the same time as the floor number display is posted. In this way, there is no need to go around the building to install the identification tag M.
Furthermore, if the identification tag M is attached with a magnet or adhesive, it will be easy to remove it.

After the identification tags M are installed, information about the identification tags M is registered in the database 44 of the management system main body 4 (step S12). Specifically, as described above, the identification information of each identification tag M is stored in the database 44 in association with information about the horizontal and vertical positions within the construction site G where the identification tags M are installed, and the orientation (azimuth or angle) in which the identification tags M are displayed. The information about the horizontal and vertical positions within the construction site G where the identification tags M are installed includes the floor (number of floors) on which each identification tag M is installed, and the planar position on that floor (X-Y coordinates: absolute coordinates or relative coordinates on the image data of the design drawings), etc.
The above-mentioned step S12 needs to be carried out once at the construction site G in conjunction with the installation of the identification tag M in step S11.
In addition, at an appropriate timing before carrying out the following step S13, device ID information etc. individually assigned to the pedestrian autonomous navigation means 2 and the photographing and recording device 3 are associated with the ID information of the site worker Q who takes photographs within the construction site G using the pedestrian autonomous navigation means 2 and the photographing and recording device 3, and stored in the database 44.

In process S13, a site worker Q holds or wears a pedestrian autonomous navigation means 2 and a photography and recording device 3 and walks around the construction site G, photographing multiple site equipment and materials 100 located within the construction site G.
At this time, it is preferable that the site worker Q moves within each floor from a position near where the identification tag M is placed on each floor.
At this time, the pedestrian autonomous navigation means 2 generates movement information of the site worker Q based on the detection data from the sensor 21. Furthermore, if the identification tag M is located ahead of the photographing unit 31 of the photographing and recording device 3, the identification tag M is photographed by the photographing and recording device 3.
In this embodiment, considering the purpose of detecting the positions of the multiple site equipment and materials 100 by the position management system 1, it is originally desirable for the site worker Q to move within the construction site G so that as many of the identification tags M and the site equipment and materials 100 installed within the construction site G as possible are photographed by the photographing and recording device 3. However, during regular patrols of the construction site G for the purpose of safety management, the site worker Q may hold or wear the pedestrian autonomous navigation means 2 and the photographing and recording device 3, so that the movement within the construction site G for detecting the position of the site worker Q and the positions of the multiple site equipment and materials 100 may also be combined with the patrol. Alternatively, it is also possible to improve the comprehensiveness of the photographing by the photographing and recording device 3 within the construction site G by having a large number of site workers Q always carry the pedestrian autonomous navigation means 2 and the photographing and recording device 3 in a manner that does not interfere with each of their work.

As a result, in the pedestrian autonomous navigation means 2, the sensor 21 and the movement information calculation unit 22 acquire movement information of the field worker Q within the construction site G, and the movement information is associated with time information and stored in the data storage unit 23. As the movement information, for example, time information and the relative coordinate values of the position of the field worker Q at that time are recorded as text data at preset time intervals.
In addition, in the photography and recording device 3, the photography unit 31 photographs the inside of the construction site G, including the identification tags M located around the movement path of the site worker Q and the site equipment and materials 100, and the photographed image is stored in the photography data memory unit 32 as photography data associated with the photography time, which is the time when the photographed image was photographed.
Next, the movement information of the site worker Q obtained by the pedestrian autonomous navigation means 2 and the photographed data of the construction site G taken by the photographing and recording device 3 are transferred from the data output unit 24 and the photographed data output unit 33 to the management system main body 4 (step S14). Note that this step S14 may be performed after the completion of the above step S13, or may be performed at any time while the above step S13 is being executed, by utilizing communication via a wireless LAN or the like.

When the management system main body 4 receives the movement information of the site worker Q transferred in step S14 and the input of the photographed data within the construction site G, it stores these in the database 44. The management system main body 4 detects the site equipment and materials 100 included in the photographed images of the photographed data (step S15).
To achieve this, first, if the captured image is a moving image, the detection means 42 of the management system main body 4 breaks down the moving image into multiple still images, and executes the following processes using each of the broken down still images as the captured image. The detection means 42 then detects the identification tag M from the captured image to be processed, using a known image processing method or the like. Fig. 4 is a diagram showing an example of a captured image P in which an identification tag has been captured. The detection means 42 creates an identification tag detection history, which is a history of when the identification tag M has been detected, and stores this in the database 44.
5 is an example of an identification tag detection history created by the detection means 42. The identification tag detection history stores the correspondence between the image capture time (date and time) at which the photographed image was captured, the identification number (ID) of the detected identification tag M, and the corner coordinates, which are the coordinate values at which the pixels of the corner Mc (see FIG. 10) of the identification tag M are located in the photographed image, every time an identification tag M is detected.

Furthermore, the detection means 42 inputs the captured image to the trained model 46 and causes the trained model 46 to output identification data of the site equipment 100, thereby identifying and estimating the site equipment 100 captured in the captured image. The detection means 42 creates a site equipment detection history, which is a history of the site equipment 100 detected, and stores it in the database 44. The detection means 42 can also detect multiple site equipment 100 of multiple types by inputting one image to the trained model 46.
Fig. 6 is a diagram showing an example of the on-site equipment detection history created by the detection means 42. As shown in Fig. 6, the on-site equipment detection history shows text data including the name (equipment type name) of the on-site equipment 100 detected from the photographed image, the image file name of the photographed image, and the photographed time (date and time) when the photographed image was photographed.
7 is a diagram showing an example of a photographed image P detected by the detection means 42. As shown in this Fig. 7, the detected site equipment 100 is shown in the photographed image P surrounded by a frame Px.

Next, the information integration unit 43 of the management system main body 4 generates position data of the site worker Q and management data of the site equipment and materials 100 (step S16).
Specifically, the information integration unit 43 performs the following process.
For each captured image, the information integration unit 43 refers to the identification tag detection history, extracts the identification tag M that was detected at the same or closest past time as the captured image was captured, and calculates the identification number of the identification tag M.
Furthermore, the information integration unit 43 associates the movement information of the field worker Q obtained by the pedestrian autonomous navigation means 2 with each of the captured images by time (the time information in the movement information and the shooting time corresponding to the captured image). More specifically, when the information integration unit 43 acquires the shooting time corresponding to each captured image, it extracts time information from the movement information at a time that coincides with or is closest to the captured time, and acquires the relative coordinate values of the field worker Q at the time information acquired by the PDR. Furthermore, the information integration unit 43 acquires the coordinate values of the position of the field worker Q measured at the time immediately before the time information.
Furthermore, the information integration unit 43 refers to the on-site equipment/materials detection history and obtains the correspondence between the on-site equipment/materials 100 and the captured images.
Furthermore, the information integration unit 43 identifies the field worker Q who took the photographed image from the ID information of the field worker Q associated with the device ID information assigned to the pedestrian autonomous navigation means 2 and the photographing and recording device 3, and associates it with the movement information and the photographed image.
The information integration unit 43 creates position data of the field worker Q by integrating, for the photographed image, the identification number of the identification tag M, the corner coordinates of the identification tag M obtained from the identification tag detection history, movement information, i.e., the position of the field worker Q, ID information of the field worker Q, etc., and stores this in the database 44. Furthermore, the information integration unit 43 creates management data by integrating, for the photographed image in which the field equipment 100 is detected, the identification number of the identification tag M, the corner coordinates of the identification tag M obtained from the identification tag detection history, movement information, i.e., the position of the field worker Q, the field equipment detection history, etc., and stores this in the database 44.

Fig. 8 is a diagram showing an example of position data of a site worker Q having certain ID information, which is created by the information integration unit 43. As shown in Fig. 8, the management data shows text data including, for all images captured by the image capturing and recording device 3 corresponding to each ID information, the image capturing time (date and time) at which the image was captured, the image file name of the captured image, the identification number (ID) of the identification tag M calculated as described above, the pixel coordinates (corner coordinates) of the corner Mc (see Fig. 10) of the identification tag M in the captured image in which the identification tag M was captured, the coordinate value of the position of the site worker Q at the time information corresponding to the image capturing time at which the image was captured, and the coordinate value of the position of the site worker Q measured at the time immediately before the time information.
Fig. 9 is a diagram showing an example of management data created by the information integration unit 43. As shown in Fig. 9, the management data shows text data including, for an image of the site equipment 100, the shooting time (date and time) at which the image was shot, the image file name of the image, the name of the site equipment 100 detected in the image (name of equipment type), the identification number (ID) of the identification tag M calculated as described above, the pixel coordinates (corner coordinates) of the corner Mc (see Fig. 10) of the identification tag M in the image in which the identification tag M was shot, the coordinate value of the position of the site worker Q at the time information corresponding to the shooting time at which the image was shot, and the coordinate value of the position of the site worker Q measured at the time immediately before the time information.
The coordinate value of the position of the site worker Q measured immediately before the image is recorded as the last item in Figures 8 and 9, and is used to calculate the direction in which the image was captured, as will be described later. Therefore, instead of this value, the calculated value, i.e., the value of the direction in which the image was captured, may be registered as management data.

After the association of the various data in the database 44 in the management system main body 4 is completed in this manner, the manager or the field worker Q uses the information terminal 5 to access the management system main body 4. In this case, the management system main body 4 transmits from the management data output unit 45 to the information terminal 5 various data required to detect the position of the field worker Q or the positions of the multiple field equipment and materials 100 in the database 44, including the position data and management data shown in Figures 8 and 9 (step S17).
On the information terminal 5 side, based on the data acquired from the database 44 of the management system main body 4, the user of the information terminal 5 (administrator or site worker Q) estimates the location of the site worker Q to be managed or the site equipment 100 to be searched for (step S18). To do this, the user inputs information on the site worker Q to be managed or the site equipment 100 to be searched for into the input unit 52. When the information on the site worker Q to be managed or the site equipment 100 to be searched for is input, the location calculation unit 54 estimates the location of the site worker Q or the location of the site equipment 100 to be searched for within the construction site G by referring to various data acquired from the database 44 as follows.

First, when estimating the position of the site worker Q, the position calculation unit 54 refers to the position data obtained from the database 44 and acquires the identification number of the identification tag M associated with the photographed image corresponding to the latest photographed time, for example. Furthermore, based on this identification number, the position calculation unit 54 acquires the horizontal position and height position within the construction site G where the identification tag M is installed, and the orientation in which the identification tag M is displayed.
Furthermore, the position calculation unit 54 calculates the angle at which the photographed image was captured from the front position of the identification tag M based on the positions of the corners Mc of the identification tag M associated with the photographed image. When the identification tag M is photographed from the front, each corner should be located in a position in the photographed image such that the identification tag M becomes rectangular in the photographed image. However, when the identification tag M is photographed from a position angled from the front position of the identification tag M, as shown in Fig. 10, for example, the corners Mc are located at a position where the line connecting the corners Mc does not become rectangular, but becomes a distorted shape such as a trapezoid. The position calculation unit 54 calculates the angle at which the photographed image was captured from the front position of the identification tag M based on the positions of such corners Mc.
Furthermore, the position calculation unit 54 calculates the size of the identification tag M in the photographed image, and based on this calculates the distance from the identification tag M to the position where the photographed image was taken.
Furthermore, the position calculation unit 54 acquires the coordinate value of the position of the site worker Q associated with the photographed image in the position data. The coordinate value is a relative value because the information integration unit 43 inputs the value in the movement information, i.e., the value measured by the PDR. The position calculation unit 54 calculates the absolute position (absolute coordinates) of the site worker Q at the construction site G based on the horizontal position and height position in the construction site G where the identification tag M is installed, the orientation of the identification tag M, the distance from the identification tag M, and the position of the site worker Q at the time of photographing the identification tag M, which are calculated based on the previously acquired and calculated horizontal position and height position in the construction site G where the identification tag M is installed, the orientation of the identification tag M, the distance from the identification tag M, and the angle at which the photographed image was photographed at the time of photographing the identification tag M, and the coordinate value of the position of the site worker Q associated with the latest photographed image, for example.

When estimating the position of the on-site equipment 100, the position of the on-site worker Q is basically calculated by performing the same processing as that described above for estimating the position of the on-site worker Q on the management data obtained from the database 44.
In this case, the position calculation unit 54 further calculates the moving direction of the site worker Q at the photographing time when the site equipment 100 was photographed, based on the position of the site worker Q associated with the photographed image and the position of the site worker Q at the time immediately before that. On the premise that the orientation of the photographing unit 31 with respect to the site worker Q is fixed to face forward, the moving direction calculated in this manner can be considered to be the direction in which the photographed image was photographed. In this way, the orientation in which the site equipment 100 is located is calculated from the absolute position of the site worker Q at the photographing time when the site equipment 100 was photographed, calculated as described above.
For example, the height position of the site worker Q and the site equipment 100 can be the height position where the identification tag M is placed. Also, the horizontal position of the site worker Q and the site equipment 100 can be calculated based on the horizontal position where the identification tag M is placed and values measured by the PDR, etc.

In this way, the position calculation unit 54 estimates the shooting position of each captured image, and the positions within the construction site G of the multiple site equipment 100 included in each captured image. In this case, if one site equipment 100 is included (shown) in multiple captured images, the shooting direction of each captured image can also be estimated with higher accuracy based on the shooting times and shooting positions of the multiple captured images.

Next, the information display unit 55 of the information terminal 5 displays the shooting positions of each captured image estimated by the position calculation unit 54 as the position of the site worker Q. The information display unit 55 also displays information about the position of the site equipment 100 to be searched, estimated by the position calculation unit 54 (step S19).
Fig. 11 is a diagram showing an example of information related to the position of the site worker Q and the position of the site equipment 100, which is displayed on an information terminal. In Fig. 11, the position of the site worker Q is shown as an arrow Z. The direction of the arrow Z is the direction in which the photographed image was taken. It is considered that the site equipment 100 that the site worker is looking for is located at the point of this arrow Z.

The position management system 1 as described above is a position management system 1 that detects the position of field worker Q within a construction site G, and is equipped with a pedestrian autonomous navigation means 2 carried by the field worker Q and acquiring movement information of the field worker Q, an imaging and recording device 3 that photographs the construction site G, and an identification tag M placed at the construction site G, and detects the position of the field worker Q based on the identification information of the identification tag M obtained using the imaging and recording device 3 and the movement information of the field worker Q obtained from the pedestrian autonomous navigation means 2.
According to this configuration, the pedestrian autonomous navigation means 2 can obtain movement information indicating the position and route of the site worker Q when he moves within the construction site G. Furthermore, the photographing and recording device 3 photographs the inside of the construction site G, thereby photographing the identification tag M and site equipment 100 located within the construction site G. It is possible to obtain the identification information of the identification tag M by analyzing the photographed image, and based on this information and the movement information of the site worker Q, it is possible to identify the position of the site worker Q with high accuracy. With this configuration, there is no need to equip the site worker Q with a transmitter, wireless tag, air pressure sensor, etc. Therefore, it is possible to manage the position of the site worker Q within the construction site G at low cost and accurately.

In addition, the position management system 1 as described above is a position management system 1 that detects the position of a field worker Q within a construction site G, and is equipped with an identification tag M placed at different positions within the construction site G, a pedestrian autonomous navigation means 2 that is equipped with an autonomously operating sensor and is configured to be held or worn by the field worker Q and acquires movement information of the field worker Q, an imaging and recording device 3 that is configured to be held or worn by the field worker Q and photographs the construction site G, a detection means 42 that detects the identification tag M from the image P captured by the imaging and recording device 3, a position calculation unit 54 that calculates and specifies the shooting position at which the captured image was captured based on the movement information of the field worker Q obtained by the pedestrian autonomous navigation means 2 and the detection result of the identification tag M by the detection means 42, and an information display unit 55 that displays the shooting position calculated by the position calculation unit 54 as the position of the field worker Q.
According to this configuration, when the site worker Q holds or wears the pedestrian autonomous navigation means 2 and the photographing and recording device 3 and photographs the inside of the construction site G with the photographing and recording device 3 while moving within the construction site G, the pedestrian autonomous navigation means 2 obtains movement information indicating the position and route of the site worker Q when moving within the construction site G. Furthermore, the photographing and recording device 3 obtains a photographed image P of the identification tag M located within the construction site G by photographing the inside of the construction site G. The detection means 42 detects the identification tag M provided at the construction site G from the photographed image P of the photographing and recording device 3. The position calculation unit 54 specifies the photographing position within the construction site G where the photographed image P was photographed based on the movement information of the site worker Q and the detection result of the identification tag M. Specifically, the location within the construction site G can be specified from the identification tag M in the photographed image P. By correlating the location specified from the identification tag M with the movement information of the site worker Q based on these, the location where the photographed image P was photographed can be specified with high accuracy even in the case of a high-rise building or a large-scale structure. By displaying the photographing position where the photographed image P was taken as the position of the site worker Q, it becomes possible to identify the position of the site worker Q with high accuracy. In such a configuration, there is no need to provide the site worker Q with a transmitter, a wireless tag, a barometric pressure sensor, etc. Therefore, it becomes possible to manage the position of the site worker Q within the construction site G at low cost and accurately.

In particular, in this embodiment, identification tags M are provided at different positions within the construction site G, the identification tags M are detected from images captured by the imaging and recording device 3, and the position of the site worker Q is calculated based on the identification tags M. This makes it possible to accurately correct the measurement results of the pedestrian autonomous navigation means, which are measured as the amount of movement and may contain errors, into absolute positions within the construction site G. This makes it possible to accurately manage the positions of the site workers Q within the construction site G.
In particular, while it is difficult for pedestrian autonomous navigation means to accurately detect movement in the vertical direction, in this embodiment, by installing and detecting identification tags M on each floor, the position of the field worker Q can be calculated not only horizontally but also vertically.
In this embodiment, a two-dimensional barcode, an AR marker, or the like is used as the identification tag M. Therefore, when preparing the identification tag M, it is sufficient to simply attach the printed matter to a pillar or wall within the construction site G. Therefore, installation is easy. Furthermore, if the identification tag M is provided near the floor number display as in the above embodiment, there is no need to relocate the identification tag M as the construction progresses.
Furthermore, compared to a method in which transmitters are installed on each of the site workers Q and the site equipment 100, receivers are installed at multiple locations within the construction site G to receive signals from the transmitters, and the location of the site equipment 100 is identified based on the results of reception by these receivers, the location management system 1 of this embodiment has a low introduction cost. In addition, since the risk of damage or loss of items that require a certain amount of cost, such as receivers and transmitters, is reduced during operation of the location management system 1, operation costs can also be reduced. Furthermore, even if the types and number of site equipment 100 to be managed increase, this can be easily accommodated.
In particular, if the smartphone used by the field worker Q is used as the pedestrian autonomous navigation means 2 and the image recording device 3, the introduction costs of the pedestrian autonomous navigation means 2 and the image recording device 3 can be further reduced.

In addition, the position management system 1 further includes a database 44 in which the correspondence between the identification information of the identification tag M and the horizontal and vertical positions at which the identification tag M is provided is stored, and the position calculation unit 54 refers to the database 44 to obtain the horizontal and vertical positions of the detected identification tag M, and identifies the shooting position based on the horizontal and vertical positions and the movement information.
According to this configuration, the horizontal and vertical positions within the construction site G where the identification tag M was photographed can be identified from the identification information of the identification tag M in the photographed image P. This makes it possible to identify with high accuracy the position where the photographed image P was taken, even for a high-rise building or a large-scale structure, for example. This makes it possible to identify with high accuracy the position of the site worker Q who took the photographed image P.

(Modification of the embodiment)
The location management system of the present invention is not limited to the above-described embodiment explained with reference to the drawings, and various modifications are possible within the technical scope of the present invention.
For example, in the above embodiment, the detection means 42 is provided in the management system main body 4, but this is not limited to this. The detection means 42 that detects the identification tag M from the image captured by the image capturing and recording device 3 may be provided in the image capturing and recording device 3.
In the above embodiment, the information terminal 5 is provided with the position management means 53 that identifies the position where the image P was taken based on the movement information of the field worker Q and the detection result of the identification tag M and displays the shooting position as the position of the field worker Q, but this is not limited to the above. Of the position management means 53, the position calculation unit 54 that identifies the shooting position where the image P was taken based on the movement information of the field worker Q and the detection result of the identification tag M may be provided in the management system main body 4, and only the information display unit 55 that displays the shooting position identified by the position calculation unit 54 as the position of the field worker Q may be provided in the information terminal 5.
Alternatively, the data acquisition unit 51 , the input unit 52 and the location management means 53 may be provided in the management system main body 4 , and the location management system may not include the information terminal 5 .
As explained in the above embodiment, a 360-degree camera can also be used as the image capturing and recording device 3. In this case, the orientation of the camera can be calculated based on the positional relationship of the identification tag M in the image captured by the 360-degree camera.

In the above embodiment, in order to manage (ascertain the position of) the on-site equipment and materials 100, the on-site worker Q holds or wears the pedestrian autonomous navigation means 2 and the photographing and recording device 3, and photographs while moving around the construction site G, but this is not limited to the above. That is, the on-site worker Q may hold or wear the pedestrian autonomous navigation means 2 and the photographing and recording device 3, and photograph while moving around the construction site G, for example, to record progress information within the construction site G, to patrol the construction site G, or for various other purposes. Therefore, when the purpose is not to manage (ascertain the position of) the on-site equipment and materials 100, it is possible to only identify the position of the on-site worker Q and display the identified position of the on-site worker Q without detecting the on-site equipment and materials 100, calculating the position, and displaying the results, as shown in the above embodiment.
In the above embodiment, the position data of the site worker Q is created based on the movement information of the site worker Q and the detection result of the identification tag M, and is recorded in the database 44, but the format of the created position data of the site worker Q may be in any format. Also, the position of the site worker Q may be ascertained by sequentially checking the images taken within the construction site G, the read records of the identification tag M, and the records of the movement information in the pedestrian autonomous navigation means 2, without creating position data.
Furthermore, in the above embodiment, the site worker Q uses the pedestrian autonomous navigation means 2 and the photography and recording device 3 to take photographs while moving around the construction site G. However, for example, if the purpose is simply to determine the position of the site worker Q, the photography and recording device 3 only needs to be used to read at least the identification tag M, and there is no need to specifically take photographs inside the construction site G.

Or, even if the purpose is only to grasp the position of the site worker Q, the site equipment 100 may be detected in addition to the identification tag M. In this case, for example, when the position of the site equipment 100 is fixed, the equipment information such as the position of the site equipment 100 may be used in place of the identification information of the identification tag M or in addition to the identification information of the identification tag M to specify the position of the site worker Q.
In other words, the position management system is a position management system that detects the position of field worker Q within a construction site G, and is equipped with a pedestrian autonomous navigation means 2 carried by the field worker Q and acquiring movement information of the field worker Q, an imaging and recording device 3 that photographs the construction site G, and an identification tag M placed at the construction site G, and can be configured to detect the position of the field worker Q based on equipment and material information and/or identification information of the identification tag M obtained using the imaging and recording device 2 and the movement information of the field worker Q obtained from the pedestrian autonomous navigation means 2.
According to this configuration, the pedestrian autonomous navigation means 2 can obtain movement information indicating the position and route of the site worker Q when he moves within the construction site G. Furthermore, the photographing and recording device 3 photographs the inside of the construction site G, thereby photographing the identification tag M and site equipment 100 located within the construction site G. The photographed images can be analyzed to obtain equipment information and/or identification information of the identification tag M, and based on this information and the movement information of the site worker Q, the position of the site worker Q can be specified with high accuracy. With this configuration, there is no need to provide the site worker Q with a transmitter, wireless tag, air pressure sensor, etc. Therefore, it is possible to manage the position of the site worker Q within the construction site G at low cost and accurately.

In addition, in the above embodiment, the photographing and recording device 3 is carried by the site worker Q, but it may be fixedly installed within the construction site G. In this case, when multiple photographing and recording devices 3 are used, even if the installation positions of each device are not managed, the positions of the photographing and recording device 3 and the site worker Q photographed by the photographing and recording device 3 can be accurately identified based on information such as the identification tag M photographed by the photographing and recording device 3.

In the above embodiment, the information terminal 5 is used by the manager of the site worker Q, but this is not limited to the above. The information terminal 5 may be used by the site worker Q himself who moves around the construction site G using the pedestrian autonomous navigation means 2 and the photographing and recording device 3. In particular, in this case, data output from the pedestrian autonomous navigation means 2 and the photographing and recording device 3 may be performed in real time as needed, and the photographing position of the photographed image P may be specified as the current position of the site worker Q. In this way, for example, when the site worker Q enters a restricted area, an alarm or the like may be output from the information terminal 5 to notify the site worker Q. In addition, if the current position of the site worker Q is displayed on the information terminal 5 together with drawings and maps of the construction site G, the information terminal 5 may be used as a simple navigation system within the construction site G.
When such a configuration is adopted, a part or all of the configuration of the management system main body 4 shown in the above embodiment may be provided in the information terminal 5 .
In the above embodiment, the step S11 of installing the identification tag M in the construction site G and the step S12 of registering information related to the identification tag M are both described as being performed only once, but in reality, this is not limited to this. For example, the installation position and direction of the identification tag M may be changed according to the progress of the work at the construction site G, and the information related to the identification tag M may be updated accordingly.
In addition, the configurations described in the above embodiments can be selected or changed as appropriate without departing from the spirit of the present invention.

REFERENCE SIGNS LIST 1 Position management system 46 Trained model 2 Pedestrian autonomous navigation means 54 Position calculation unit 3 Photographing and recording device 55 Information display unit 4 Management system main body 100 Site equipment 5 Information terminal Z Arrow 21 Sensor G Construction site 42 Detection means M Identification tag 43 Information integration unit P Photographed image 44 Database Q Site worker

Claims (3)

A location management system for detecting the location of a site worker within a construction site,
a pedestrian autonomous navigation means carried by the field worker and configured to acquire movement information indicating a relative position of the field worker with respect to a positioning start position;
An imaging and recording device for imaging the construction site;
an identification tag placed at a known location on the construction site;
identifying a relative position at which the image was taken by the field worker by comparing a photographing time of the image including the identification tag photographed by the photographing and recording device with time information in movement information indicating a relative position of the field worker acquired by the pedestrian autonomous navigation means;
A position management system characterized by detecting the position of the on-site worker by identifying the absolute coordinates of the shooting position of the photographed image at the construction site based on the shape of the identification tag in the photographed image and the relative position at which the photographed image was taken. A location management system for detecting the location of a site worker within a construction site,
an identification tag placed at a known location within the construction site;
a pedestrian autonomous navigation means including an autonomously operating sensor, configured to be held or worn by the field worker, and configured to acquire movement information indicating a relative position of the field worker with respect to a positioning start position;
An image recording device configured to be held or worn by the site worker and adapted to capture images of the inside of the construction site;
a detection means for detecting the identification tag from an image captured by the image capturing and recording device;
an information integration unit that identifies a relative position at which the photographed image was taken by the field worker by comparing a photographing time of the photographed image with time information in the movement information acquired by the pedestrian autonomous navigation means;
a position calculation unit that specifies absolute coordinates of a photographing position of the photographed image in the construction site based on a relative position where the photographed image was taken and a shape of the identification tag in the photographed image detected by the detection means;
an information display unit that displays the photographing position identified by the position calculation unit as the position of the site worker;
A location management system comprising: The method further includes a database in which a correspondence relationship between the identification information of the identification tag and the horizontal and vertical positions at which the identification tag is provided is stored,
The position management system according to claim 2, characterized in that the position calculation unit refers to the database to obtain the horizontal and vertical positions of the detected identification tag, and identifies the shooting position based on the horizontal and vertical positions and the relative position at which the photographed image was taken .

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