JP3085662B2 - Mobile safety management system using GPS - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile object safety management system using a GPS, and more particularly to heavy equipment, workers, etc. (hereinafter collectively referred to as mobile objects) moving in a work area such as a construction site. The position of the satellite navigation system (Glob
al Positioning System. Hereinafter, it is called GPS. ), To detect the proximity of each mobile unit from the position of each mobile unit to be monitored, the approach of the mobile unit to the danger zone in the work area, and the positional relationship between each mobile unit including the danger zone, and the detection signal The present invention relates to a system for selectively or simultaneously reporting other information necessary for security management to each mobile unit.

[0002]

2. Description of the Related Art In a work area such as a construction site, it is necessary to ensure the safety by preventing collisions and contact between moving bodies freely moving with each other while coordinating work between heavy equipment and workers. . Also, if the terrain in the work area changes according to the progress of the work, it is necessary to prevent the moving body from approaching a slope or the like that may fall, fall, or fall (hereinafter referred to as a dangerous area). This is an important issue for safety management.

Conventionally, in order to prevent a moving body from approaching a dangerous area, a method of restricting access by a barricade constructed by embankment around the dangerous area has been used. In order to prevent undesired approach between moving bodies, a method of confirming a mutual position between a heavy equipment operator and a worker using, for example, a transceiver is performed. Recently, infrared rays attached to the heavy equipment, A method of using an object detection device using an ultrasonic wave, a magnetic field, or the like is also used.

FIG. 4 shows an example of a conventional detection device, and shows a device for detecting the proximity of an object from a moving body disclosed in Japanese Patent Application Laid-Open No. 6-094451. The target proximity detection device shown in FIG. 4 detects an infrared light emitting device 42 attached to a target 41 such as a worker, a television camera 46 with an infrared transmission filter 45 mounted on the moving body 41, and an image signal at the output of the television camera 46. An image signal detector 47, and a tripper that removes the infrared transmission filter 45 from the optical system of the television camera 46 in accordance with the output of the detector 47
48. The TV camera 46 with the infrared transmission filter 45 does not generate an image signal unless the infrared light 43 is incident, and when the image signal is generated, the filter 45 is pulled out of the optical system of the TV camera 46 so as to be close to the sensing area of the TV camera 46. The target 41 to be processed can be observed as a visible image by the television camera 46 without the filter 45.
As shown in FIG. 4, a plurality of target proximity detection devices can be mounted on a moving body 44 such as a heavy equipment.

[0005]

However, the method of preventing access to a danger zone with the above barricade requires time and effort since barricades must be re-arranged in accordance with the change or movement of the danger zone in the work area. There is a problem that, for example, when a worker enters the inside, the manager cannot check and direct the system at any time. In addition, since the positional relationship between persons cannot be ascertained, there is a problem in that up and down operations in danger areas such as slopes are overlooked.

On the other hand, in the method for detecting the proximity of an object from a moving object shown in FIG. 4, a single detection device can detect only an object approaching a specific sensing area. To do so, a large number of detection devices are required. Moreover, there is a problem that it is not always easy to identify the detected object. Further, the detection device of FIG. 4 detects the approach of an object for each moving object. Although it is possible to detect the approach of a local object, it is possible to detect the approach of a plurality of moving objects in the entire work area. It is difficult to manage them centrally.

The inventor paid attention to real-time surveying of a moving object using GPS. According to the real-time survey using the GPS, the position of each mobile unit in the work area can be obtained in real time, so that the approach between the mobile units, the approach between the mobile unit and the danger zone, and the danger from the position of each mobile unit are possible. It is possible to detect the positional relationship between the moving objects including the area in real time. Further, by transmitting a detection signal and other information necessary for safety management to the heavy equipment and the worker, the heavy equipment can be controlled or the worker can be alerted.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a safety management system for a moving object in a monitoring area using GPS.

[0009]

With reference to the embodiment of FIG. 1, a mobile security management system using GPS according to the present invention comprises:
A GPS positioning device 10 attached to each moving body such as the heavy equipment 3 and the worker 4 in the monitoring area 1 and a position given by the positioning device 10 and an individual moving body position signal including identification signals of the moving bodies 3 and 4 are output. A transmitter 20 for sending out; a receiver 25 provided in the management room 5 for receiving the individual mobile unit position signal; predetermined proximity detection areas 3a, 4a (see FIG. 3) around the positions of the received mobile units 3, 4 The allocating means 28 for allocating as image information, the intersection between the approach detection areas 3a and 4a of the moving bodies 3 and 4 is determined by image processing.
Sending cross notification signal including a detect and identify signals of a moving body according to crossing detector 29, and the crossing detection signal and the cross outputting a moving body according to crossing detection signal and the cross at crossing detection Ri And a crossing receiving device 21 attached to each of the mobile units 3 and 4 for detecting the crossing notification signal including the identification signal of the mobile unit.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A GPS positioning device 10 shown in FIG.
A GPS receiver 12 with a GPS antenna 11 and a GPS data transmitter 13 fixed at a known position A in the control room 5, and a GPS receiver with a GPS antenna 14 attached to, for example, the upper part of the driver's seat of the heavy equipment 3 or the helmet of the worker 4 Vessel 15 and G
It has a PS data receiver 15 and measures the positions of the moving bodies 3 and 4 based on a relative positioning method of GPS surveying.
The relative positioning method is a method of using a plurality of GPS receivers as shown in FIG.
This is a positioning method for obtaining a three-dimensional position by using 12 and 15 at the same time, and has a feature that measurement accuracy is higher than that of a single-point positioning method for obtaining a three-dimensional position with one GPS receiver. However, the GP of the present invention
The S positioning device 10 is not limited to the one based on the relative positioning method.

Referring to FIG. 5, the relative positioning method uses the ground surface 40.
, One GPS receiver 12 is fixed at the known position A, the other GPS receiver 15 is held by the moving body and moved to the measurement position B, and the GPS receiver 12 at the known position A and the GP at the measurement position B are moved.
By receiving radio waves from the satellites Sx, Sy,... Simultaneously with the S receiver 15, a three-dimensional vector from the known position A to the measurement position B is obtained, and the three-dimensional position of the known position A and the three-dimensional vector are calculated. From the measurement position B is calculated.

In the embodiment shown in FIG. 1, a signal from a satellite is received by a GPS receiver 12 at a known position A in a control room 5, and the received signal is transmitted by a GPS data transmitter 13 to mobiles 3, 4 within a monitoring area 1. Send to. The mobile units 3 and 4 in the monitoring area 1 receive the signal from the control room 5 by the GPS data receiver 16 and input the received signal to the GPS receiver 15. GPS
The receiver 15 receives the received signal from the satellite received by itself and the GP.
Based on the signal received by the S receiver 12 and the three-dimensional position of the known position A, the three-dimensional position B of the moving object is calculated by the relative positioning method.

The transmitter 20 on the mobile units 3 and 4 sends the individual mobile unit position signal including the three-dimensional position B given by the GPS receiver 15 and the identification signal of the mobile units 3 and 4 to the control room 5. And send it out. The identification signal of the moving body can be, for example, the frequency of the carrier of the individual moving body position signal, and the moving body can be identified from the frequency by using a carrier having a different frequency for each moving body. Also, the identification signals of the moving objects are transmitted to the moving objects 3, 4
Alternatively, the tone signal may be assigned to each tone. The tone signal is a signal having a frequency lower than the audio frequency. Reference numeral 22 in the figure indicates a modem. The GPS data transmitter 13
The transmission distance of the transmitter 20 can be arbitrarily selected according to the size of the monitoring area 1 and the like. Management room 5 and mobile unit 3, if necessary
4, a relay station or the like may be provided.

FIG. 2 shows an example of a flow chart of a procedure for detecting an approach between the moving bodies 3 and 4 in the management room 5. FIG.
First, in step 201, the individual moving body position signals from the moving bodies 3 and 4 are received by the receiver 25 in the management room 5 and input to the allocating means 28 in step 201. 1 in FIG.
Reference numeral 32 denotes a modem 32 between the receiver 25 and the allocating means 28. One example of the allocating means 28 is, as shown in FIG.
Is an allocation program (see step 203) incorporated in the program.

In FIG. 1, a predetermined coordinate system corresponding to the monitoring area 1 is stored in a memory 31 of a computer 27, and a position of a moving object represented by a GPS coordinate system (hereinafter referred to as an earth coordinate system) is allocated. The coordinates are converted into a coordinate system on the memory 31 by 28 (step 202), and the allocating means 28 defines and allocates the predetermined proximity detection areas 3a and 4a around the converted coordinates on the memory 31 (step 203). An example of the predetermined coordinate system of the memory 31 is C
It is a topographic map of the monitoring area in the earth coordinate system created by AD or the like. FIG. 3 shows a display 34 displaying the coordinate system of the memory 31.
In the example, a relatively large approach detection area 3a is allocated around the position of the heavy equipment 3, and a relatively small approach detection area 4a is allocated around the position of the worker 4. Approach detection area 3a, 4a
Is not limited to the illustrated example.

However, the memory 31 in which the predetermined coordinate system is stored and the step 202 of converting the position of the moving object from the earth coordinate system to the memory coordinate system are not essential to the present invention. For example, a predetermined proximity detection area can be allocated in step 203 directly around the three-dimensional position B of the moving object in the earth coordinate system received in step 201, and in this case, step 202
Can be omitted.

In step 204 of FIG. 2, the intersection between the assigned approach detection areas 3a and 4a is detected by the intersection detecting means 29, and in step 205, it is determined whether or not the intersection has been detected. One example of the intersection detection means 29 is an intersection detection program (see steps 204 to 206) incorporated in the computer 27. The intersection between the approach detection areas 3a and 4a is indicated by the image information on the coordinates of the memory 31.
Approach detecting zone 3a was defined as can be detected by performing image processing with respect to 4a.

If the intersection detecting means 29 determines in step 205 that there is an intersection between the approach detection areas 3a and 4a, it outputs an intersection detection signal and a moving body related to the intersection (step 206). The notifying device 26 sends an intersection notification signal including the intersection detection signal and the identification signal of the moving object related to the intersection. Also in this case, the identification signal of the moving object can be the frequency of the carrier of the crossing notification signal or the tone signal. When there are a plurality of moving bodies involved in the intersection, by outputting a plurality of identification signals, the plurality of moving bodies can be notified of the intersection detection signal at the same time. Step 20
When it is determined in step 5 that there is no intersection, the process proceeds to step 208, bypassing steps 206 and 207. In FIG. 1, the notification device 26 is an integrated transceiver with the receiver 25, for example.
However, the notification device 26 and the receiver 25 are not limited to the integrated type.

At step 208, the end of the approach detection processing is determined. If the approach detection processing is to be continued, the process returns to step 201 and steps 201 to 207 are repeated. For example, when position measurement is performed at predetermined time intervals by the GPS receiver 15 on the moving bodies 3 and 4, steps 201 to 207 in FIG. 2 can be repeated at predetermined time intervals. In addition, prior to step 201, the control room 5
(Not shown) for transmitting various instructions related to surveying to the mobile units 3 and 4 from the
GPS receiver 15 of the mobile object according to the survey instruction transmitted from
, And the result of the measurement may be waited for in step 201 to perform an approach detection process.

The intersection notification signal transmitted in step 207 is received by the intersection receiver 21 on each of the mobile units 3 and 4. The crossing reception device 21 on the moving body detects only the crossing notification signal transmitted from the management room 5 that includes the identification signal of the moving body. By detecting only the intersection notification signal including the identification signal of the moving object, it is possible to transmit the intersection detection signal from the management room 5 to only the specific moving objects 3 and 4, and the other moving objects 3 and 4 can be prevented from being detected.

In FIG. 1, the cross receiving device 21 is an integrated type, for example, a transceiver with the transmitter 20. However, the cross receiving device 21 and the transmitter 20 are not limited to an integrated type.
A method of transmitting the cross-talk signal may be a method of modulating and transmitting the voice of a person directly involved between the management room 5 and the mobile units 3 and 4.

In addition to the intersection detection signal and the like, the intersection notification signal can include an instruction signal to the mobile unit and / or an attribute information signal of the mobile unit. As the instruction signal to the mobile unit, a voice attention or instruction (hereinafter, referred to as a “heavy machine operator” or an operator) set in the transceiver of the mobile unit 3 or 4 is given.
Sometimes called a voice memory message. ), Instructions to automatically stop heavy equipment, and instructions for surveying. Also, the attribute information signal of the moving body includes the name of the opponent's heavy equipment operator or worker approaching each other, the position of the approaching moving body, the distance and direction to the moving body, the type of heavy equipment, and the like. . Other information can be arbitrarily added to the intersection notification signal as needed. The indication signal and / or the attribute information signal can be encrypted or shortened and included in the cross-report signal.

According to the present invention, it is possible to centrally manage the approach of the plurality of mobile units 3 and 4 in the monitoring area 1 in the management room 5. Further, it is easy to identify each of the moving bodies 3 and 4 approaching, and it is possible to report necessary attention and instructions only to the moving bodies 3 and 4 where a danger of collision or the like is expected.

Thus, the object of the present invention, that is, the provision of a "mobile safety management system in a monitoring area using GPS" can be achieved.

[0025]

DESCRIPTION OF THE PREFERRED EMBODIMENTS In the embodiment of FIG.
31 stores the coordinates of the danger zone 2 in the monitoring zone 1 and assigns the
Defines the predetermined approach detection area 2a around the coordinates of the danger area 2 and the intersection detection means 29 detects the approach detection area of each of the mobile units 3 and 4.
The intersection between 3a, 4a and the approach detection area 2a of the danger area 2 is detected. For example, the coordinates of the danger zone 2 that changes according to the progress of the work are measured by an appropriate method, and the measured coordinates are input to the computer 27 and stored in the memory 31 so that the heavy machinery 3 approaching the danger zone 2 can be measured. And the worker 4 can be notified of an intersection detection signal including necessary attention and warning. It is also possible to report to a plurality of mobiles 3 and 4 simultaneously.

In FIG. 3, the allocating means 28, for example, a plurality of concentric detection layers 2b having different detection levels (hereinafter, may be referred to as “danger levels”) around the coordinates of the danger zone 2.
_An approach detection area 2a consisting of ₁ and 2b ₂ is allocated. The intersection detection means 29 detects the intersection between each detection layer 2b ₁ , 2b ₂ in the approach detection area 2a and the approach detection area 3a, 4a of each moving body, and the intersection detection layers 2b ₁ , 2b ₂ when the intersection is detected. Output the security level of The notification device 26 sends an intersection notification signal including an intersection detection signal including a danger level and an identification signal of a moving object related to the intersection. The intersection receiving device 21 on the moving bodies 3 and 4 can notify a heavy equipment operator or an operator of the approaching degree by activating a different voice memory message according to a command content included in the received intersection notification signal, for example. it can.

In FIG. 3, the detection layers ₂ b ₁ and ₂ b ₂ are provided only for the approach detection area 2 a of the danger area 2. However, the allocation means 28 sets the detection layers ₂ b ₁ and ₂ b ₂ within the predetermined proximity detection areas 3 a and 4 a of the moving bodies 3 and 4. A plurality of detection layers each having a different detection level are allocated, an intersection of each detection layer is detected by the intersection detection means 29, and the detection level of the crossed detection layer is output when the intersection is detected.
With 26, it is possible to send out a cross notification signal including the detection level. FIG. 3 shows a case where _two detection layers 2b ₁ and 2b ₂ are allocated, but the number of detection layers to be allocated is not limited to the illustrated example.

In the embodiment shown in FIG. 1, an alarm device 33 is provided in connection with the computer 27 in the management room 5. For example, when the intersection between the approach detection areas 2a, 3a, and 4a is detected in step 205 in FIG. 2, an alarm signal can be output to the alarm device 33 in the control room 5 in step 206, and the detection of the present invention is performed. The system can supplement the human follow-up by the administrator. The administrator who has been alerted by the alarm device 33 can use the computer
In addition to checking the position of each of the mobile units 3 and 4 on the display 34, the operator checks the name of the operator of the heavy equipment or the operator. Do.

Further, in step 204 of FIG. 2, it is possible to detect the moving objects 3 and 4 that have been stopped for a predetermined time or more, together with the detection of the intersection between the approach detection areas 2a, 3a and 4a. For example, the moving objects 3 and 4 in which no significant movement is observed in the monitoring area 1 for 5 minutes or more may be in a dangerous state. When the stopped moving body 3 and / or 4 is detected, for example,
At 206, a warning signal is output to the alarm device 33 to request the intervention of the manager. The administrator contacts the stopped worker 4 or the like through a transceiver, for example, and waits for a response.

[0030]

As described above, the mobile object safety management system using GPS according to the present invention allocates a predetermined approach detection area around the position of the mobile object obtained by the GPS positioning device, and sets a predetermined proximity detection area between the proximity detection areas. Since the approach of the moving body is detected by detecting the intersection, the following remarkable effects are obtained.

(A) In the control room, the approach of the worker and the heavy equipment is integrally managed in real time, and the approaching worker and the heavy equipment are individually notified. Can contribute to management. (B) The approach to the danger zone can be easily detected, so that a command for calling attention can be given in advance.

(C) A worker who does not move can be detected, and the danger of the worker can be found and confirmed at an early stage. (D) Since the approach of the heavy equipment to the danger zone and the abnormal approach of the heavy equipment and the worker can be detected, it can be expected to be used for control such as automatic stop of the heavy equipment. (E) Since the positions of each worker and each heavy machine are grasped in real time, it can be expected to be used for managing the location of each mobile unit in the monitoring area.

(F) Since the location of the specific worker in the monitoring area can be grasped in real time, work instructions and the like can be immediately given through a transceiver or the like. (G) By accumulating and recording the daily movement trajectories of each worker and each heavy machine, it is possible to notify each worker about the danger of the day and use it to call attention to the next day's work. Can be. (H) By accumulating and recording the movement trajectories of each worker and each heavy machine, it can be expected to be used for quick grasp of work progress, quality control in construction, measurement of work quality, and the like.

[Brief description of the drawings]

FIG. 1 is a schematic explanatory view showing one embodiment of the present invention.

FIG. 2 is an example of a flowchart of detection of approach of a moving object.

FIG. 3 is an explanatory diagram of a display in a management room.

FIG. 4 is an explanatory view of a conventional device for detecting the proximity of a moving object.

FIG. 5 is an explanatory diagram of a relative positioning method of GPS surveying.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Monitoring area 2 ... Danger area 3 ... Heavy equipment 4 ... Worker 5 ... Management room 10 ... GPS positioning device 11 ... GPS antenna 12 ... GPS receiver 13 ... GPS data transmitter 14 ... GPS antenna 15 ... GPS receiver 16 ... GPS data receiver 20 ... Transmitter 21 ... Cross receiving device 22 ... Modem 25 ... Receiver 26 ... Notification device 27 ... Computer 28 ... Allocating means 29 ... Cross detecting means 31 ... Memory 32 ... Modem 33 ... Alarm device 34 ... Display 40 … Ground surface 41… object 42… infrared light emitting device 43… infrared light 44… moving object 45… infrared transmission filter 46… television camera 47… image signal detector 48… tripler

Continuation of the front page (56) References JP-A-9-244745 (JP, A) JP-A-8-195710 (JP, A) JP-A-9-7096 (JP, A) JP-A-6-26876 (JP) , A) JP-A-6-293236 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 15/00-5/14 G01S 5/14 G08G 1/00-9/02

Claims (7)

(57) [Claims] 1. A GPS positioning device attached to each mobile unit in a monitoring area, and a transmitter for transmitting an individual mobile unit position signal including a position given by the positioning device and an identification signal of the mobile unit; A receiver for receiving the individual moving object position signal, an allocating means for allocating a predetermined approach detection area as image information around the position of the received moving object, and an image processing for intersecting intersections between the approach detection areas of the moving object. Intersection detection means for detecting and outputting an intersection detection signal and a moving body related to the intersection at the time of intersection detection, and a message for transmitting an intersection notification signal including the intersection detection signal and an identification signal of the moving body related to the intersection. Device; and a mobile safety management system using GPS, comprising: an intersection receiving device attached to each of the moving objects and detecting the intersection notification signal including an identification signal of the moving object. 2. The security management system according to claim 1, wherein the identification signal of the mobile unit is a frequency of a carrier wave of the individual mobile unit position signal and / or the crossing notification signal.
Use mobile safety management system. 3. The mobile security management system according to claim 1, wherein the identification signal of the mobile is used as a tone signal assigned to each mobile. 4. The safety management system according to claim 1, wherein a memory storing a predetermined coordinate system including an earth coordinate system corresponding to the monitoring area is provided in the management room, And a GPS-based mobile object safety management system that converts the position of the mobile object into a coordinate system on the memory and defines a predetermined proximity detection area around the converted coordinates. 5. The safety management system according to claim 1, wherein the allocating means allocates an approach detection area including a plurality of detection layers having different detection levels around the position of the moving body, and the intersection detecting means. By also detecting the intersection of each detection layer between the approach detection areas, and at the time of intersection detection, outputs an intersection detection signal also including the detection level of the intersection detection layer and an identification signal of the moving body related to the intersection, A mobile object safety management system using GPS, wherein the notifying device transmits an intersection notification signal including an intersection detection signal including a detection level of the intersection detection layer and an identification signal of a moving object related to the intersection. 6. The safety management system according to claim 1, wherein the allocating means includes a plurality of detection layers having different detection levels around a position of the moving body and a position of a dangerous area in the monitoring area. The intersection detection means also detects an intersection between the approach detection area of the moving body and each detection layer in the approach detection area of the danger area, and the detection level of the intersecting detection layer when the intersection is detected. The intersection detection signal also includes the intersection detection signal including the detection level of the detection layer that intersects with the intersection and the identification signal of the intersection relating to the intersection. A mobile-based safety management system using GPS that transmits a cross-talk signal. 7. The safety management system according to claim 1, wherein the crossing notification signal includes an instruction signal to the mobile unit and / or an attribute information signal of the mobile unit.
Mobile safety management system using PS.