State estimation apparatus, state estimation method, non-transitory computer-readable storage medium storing computer program, and state estimation system

A state estimation method comprising:

• acquiring, by a state estimation apparatus, a measurement result of a first sensor, the first sensor being a sensor mounted in a vehicle in which a worker is to ride and being configured to measure a state of the vehicle;
• acquiring, by the state estimation apparatus, a measurement result of a second sensor, the second sensor being a sensor carried by the worker and being configured to measure a state of the worker;
• and
• estimating, by the state estimation apparatus, based on the measurement result of the first sensor and the measurement result of the second sensor, a state related to work of the worker, wherein
• the measurement result of the first sensor is a velocity of the vehicle, and
• the method comprises estimating, based on a measurement result about the velocity of the vehicle, a state of movement of the worker by the vehicle.

A state estimation system comprising:

• a vehicle-mounted apparatus mounted in a vehicle in which a worker is to ride and configured to provide a measurement result about a state of the vehicle;
• a terminal carried by the worker and configured to provide a measurement result about a state of the worker;
• and
• a state estimation apparatus configured to estimate, based on the measurement result provided by the vehicle-mounted apparatus and the measurement result provided by the terminal, a work state of the worker, wherein:
• the measurement result provided by the vehicle-mounted apparatus is a position of the vehicle and a velocity of the vehicle;
• the measurement result provided by the terminal is a position of the worker;
• the state estimation apparatus is configured to estimate, based on a change in a distance between the vehicle and the worker, a state related to a ride of the worker in the vehicle;
• and
• the state estimation apparatus is configured to estimate, based on a measurement result about the velocity of the vehicle, a state of movement of the worker by the vehicle.

A state estimation apparatus comprising:

• a first acquisition circuit configured to acquire a measurement result of a first sensor, the first sensor being a sensor mounted in a vehicle in which a worker is to ride and being configured to measure a state of the vehicle;
• a second acquisition circuit configured to acquire a measurement result of a second sensor, the second sensor being a sensor carried by the worker and being configured to measure a state of the worker;
• and
• an estimation circuit configured to estimate, based on the measurement result of the first sensor and the measurement result of the second sensor, a state related to work of the worker, wherein:
• the measurement result of the first sensor is a position of the vehicle and a velocity of the vehicle;
• the measurement result of the second sensor is a position of the worker and at least one of a velocity, an acceleration, an angular velocity, or an altitude of the worker;
• and
• the estimation circuit is configured to:
• estimate a state related to a ride of the worker in the vehicle;
• estimate, based on a measurement result about at least one of the velocity, the acceleration, the angular velocity, or the altitude of the worker, a state of work or standby of the worker;
• and
• estimate, based on a measurement result about the velocity of the vehicle, a state of movement of the worker by the vehicle.