Work region setting device, work region setting system, work region setting method, and program

Abstract

To provide a work region setting device, a work region setting system, a work region setting method and a program for enabling a more suitable work region to be assigned to each work machine when multiple work machines share work in the same work region.SOLUTION: A work region setting device includes: an information acquirer that acquires map information about a work region and work machine information about multiple work machines; a work region setter that determines a work target region for each of the work machines performing the work in a work range of a work region designated based on the map information, and sets the determined work target region for each work machine; and a communicator that transmits the work target region to each work machine. The work machines include first and second work machines. The work region setter determines a region including an edge of a boundary line located around the work range as a second work target region of the second work machine, and determines a region of the work range inside of the second work target region as a first work target region of the first work machine.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a work area setting device, a work area setting system, a work area setting method, and a program. [Background technology]

[0002] Conventionally, when a plurality of work machines are made to perform work in a work area (work region) such as a park, golf course, or field, a technology relating to a system for adjusting the work region to be shared by each work machine so that each work machine completes the work at the same time has been proposed (for example, see Patent Document 1). In the conventional technology, the area of ​​the work region to be shared by each work machine is adjusted in consideration of the work efficiency of each work machine that shares the work, so that each work machine completes the work at the same time. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2021-153493 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, each of the working machines that share the work cannot always perform the work with a constant work efficiency. For example, the work efficiency is considered to be different when the working machine works while traveling straight in the work area and when it works while turning at the boundary of the work area. The number of times the working machine turns in the work area also differs depending on the shape of the boundary (boundary line) of the work area, and this is considered to affect the work efficiency. For this reason, when adjusting the work area in which each working machine shares the work, the work area to be shared must be adjusted taking into account the difference in work efficiency between when each working machine travels straight and when it turns (including the number of turns, etc.), otherwise each working machine will not be able to complete the work at the same time. This will result in a decrease in accuracy when estimating the work time for the work area.

[0005] The present invention has been made based on the recognition of the above-mentioned problems, and aims to provide a work area setting device, work area setting system, work area setting method, and program that, when dividing work in the same work area among multiple work machines, can divide a more suitable work area for each work machine. [Means for solving the problem]

[0006] The working area setting device, the working area setting system, the working area setting method, and the program according to the present invention employ the following configuration. (1): A working area setting device according to one embodiment of the present invention is a working area setting device that determines and sets a working target area for a plurality of working machines that travel within a working area and perform work by dividing the work among the plurality of working machines, the working area setting device including an information acquisition unit that acquires map information including at least the entire working area and working machine information including information regarding at least the work efficiency of the plurality of working machines, a working area setting unit that determines the work target area for each of the working machines that perform the work within a working range of the working area specified based on the map information and sets the determined work target area for each of the working machines, and and a communication unit that transmits the signal to the work machine, wherein the multiple work machines include a first work machine that has high work efficiency but is configured so that it cannot perform the work on the edge of a boundary line surrounding the work range, and a second work machine that has a lower work efficiency than the first work machine but is configured so that it can perform the work on the edge, and the work area setting unit determines the area around the work range including the edge as a second work target area of ​​the second work machine, and determines the area of ​​the work range inside the second work target area as a first work target area of ​​the first work machine.

[0007] (2): In the above aspect (1), the work area setting unit determines an area of ​​a second work area width along the edge of the work range in which the second work machine can perform the work per unit time as the second work target area, determines an area obtained by sequentially moving the area of ​​the first work area in which the first work machine can perform the work per unit time so that it is adjacent to the inside of the second work target area as the first work target area, and adds an area in the work range that is not determined as the first work target area to the second work target area, thereby confirming the second work target area.

[0008] (3): In the aspect (2) above, the work area setting unit determines whether a difference between a first distance of a first straight line from a center position of the first work area to a first position on the boundary line between the first work area and the second work area and a second distance of a second straight line from the center position to a second position adjacent to the first position on the boundary line is less than or equal to a distance threshold, and if the result of the determination is that the difference between the first distance and the second distance is not less than or equal to the distance threshold, a third position on a straight line corresponding to the longer of the first distance and the second distance is less than or equal to the distance threshold, the first work area is updated with the third position as a position on the boundary line, and an area that is no longer the first work area due to the update of the first work area is added to the second work area to determine the second work area.

[0009] (4): In the above aspect (3), the work area setting unit determines whether a difference between a first work time required for the first work machine to complete the work on the first work target area and a second work time required for the second work machine to complete the work on the second work target area is equal to or less than a time threshold, and if the result of the determination is that the difference between the first work time and the second work time is not equal to or less than the time threshold, updates the first work target area to narrow it, and adds the area narrowed by updating the first work target area to the second work target area, thereby updating the second work target area to widen it.

[0010] (5) In the aspect (4) above, the work area setting unit updates the first work area so as to narrow the first work area from the end of the outer periphery having the greater curvature.

[0011] (6): In any one of the above (1) to (5), the first working machine and the second working machine are lawnmowers.

[0012] (7): A working area setting system according to one embodiment of the present invention is a working area setting system that divides work among a plurality of working machines that travel within a working area and perform the work, and includes a first working machine that has high work efficiency but is configured not to be able to perform the work on the edge of a boundary line that surrounds the working area, a second working machine that has a lower work efficiency than the first working machine but is configured to be able to perform the work on the edge, and a working area setting device that determines and sets a work target area for each of the working machines to perform the work, and the working area setting device has map information including at least the entire working area and a plurality of map information. a work area setting unit that determines the work target area for each of the work machines that will perform the work within the working range of a work area specified based on the map information and sets the determined work target area for each of the work machines; and a communication unit that transmits the work target area to each of the work machines, wherein the work area setting unit determines the area surrounding the work range including the edge as a second work target area of ​​the second work machine, and determines the area of ​​the work range inside the second work target area as a first work target area of ​​the first work machine.

[0013] (8): A working area setting method according to one embodiment of the present invention is a working area setting method in which a computer of a working area setting device, which determines and sets a work target area in which work is to be assigned to a plurality of working machines that travel within a working area and perform work by self-propelling, acquires map information including at least the entire working area and work machine information including information on at least the work efficiency of the plurality of working machines, and performs the work within a working range of the working area specified based on the map information, determines the work target area for each of a first working machine that has a high work efficiency but is configured to be unable to perform the work on an edge of a boundary line that surrounds the working range, and a second working machine that has a lower work efficiency than the first working machine but is configured to be able to perform the work on the edge, determines the area around the working range including the edge as a second work target area of ​​the second working machine, determines the area of ​​the working range inside the second work target area as a first work target area of ​​the first working machine, and when setting the determined work target area to each of the working machines, transmits the work target area to each of the working machines.

[0014] (9): A program according to one embodiment of the present invention is a program for causing a computer of a work area setting device, which determines and sets a work target area for dividing the work among a plurality of work machines that travel within a work area and perform the work, to acquire map information including at least the entire work area and work machine information including at least information on the work efficiency of the plurality of work machines, and, when determining the work target area for each of a first work machine that performs the work within a work range of the work area specified based on the map information and that is configured to have the work performed on an edge of a boundary line surrounding the work range and a second work machine that has a lower work efficiency than the first work machine but is configured to be able to perform the work on the edge, the program causes the computer to determine the area around the work range including the edge as a second work target area of ​​the second work machine, and to determine the area of ​​the work range inside the second work target area as a first work target area of ​​the first work machine, and, when setting the determined work target area for each of the work machines, causes the computer to transmit the work target area to each of the work machines. Effect of the Invention

[0015] According to the above aspects (1) to (9), when work in the same working area is shared among a plurality of working machines, it is possible to share a more suitable working area with each working machine. [Brief description of the drawings]

[0016] [Figure 1] 1 is a diagram illustrating an example of a configuration of a work area setting device according to an embodiment, and an example of a usage environment of a work area setting system including the work area setting device. [Diagram 2] 1 is a diagram showing an example of a mowing area for a work machine controlled by a work area setting device according to an embodiment; [Diagram 3] 10 is a flowchart showing an example of a process flow for determining a work target area by a work area setting device according to an embodiment. [Figure 4]1 is a diagram illustrating an example of a work target area determined by a work area setting device according to an embodiment; [Diagram 5] 1 is a diagram illustrating an example of a work target area determined by a work area setting device according to an embodiment; [Figure 6] 1 is a diagram illustrating an example in which each work machine moves through a work target area determined by a work area setting device according to an embodiment; [Figure 7] 11 is a flowchart showing an example of a first process flow for adjusting a work target area determined by a work area setting device according to an embodiment. [Figure 8] 1A to 1C are diagrams illustrating an example of a first process for adjusting a work target area determined by a work area setting device according to an embodiment. [Figure 9] 1A to 1C are diagrams illustrating an example of a first process for adjusting a work target area determined by a work area setting device according to an embodiment. [Figure 10] 13 is a flowchart showing an example of a second process flow for adjusting a work target area determined by the work area setting device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of a working area setting device, a working area setting system, a working area setting method, and a program of the present invention will be described with reference to the drawings. In the drawings referred to in the following description, the scale of each component or member is appropriately changed so that each component or member is a recognizable size.

[0018] In the following explanation, for example, the work area is a lawn where grass is growing, the working machine is a lawnmower that cuts the grass, and the work area setting system is described as including a work area setting device that divides the lawnmower work among two lawnmowers.

[0019] [Work area setting system usage environment] 1 is a diagram showing an example of the configuration of a work area setting device according to an embodiment, and an example of a usage environment of a work area setting system including the work area setting device. In the work area setting system 1, for example, a work area setting device 100, a lawnmower 200, and a lawnmower 300 communicate via a network NW. The network NW is a wireless communication network including, for example, the Internet, a wide area network (WAN), a local area network (LAN), a provider device, a wireless base station, and the like.

[0020] In the work area setting system 1, a user, such as a lawn manager, instructs the work area setting device 100 to mow the grass growing in the lawn (work area). Fig. 1 shows an example in which a display device 600 is connected to the work area setting device 100 to present information about the lawn (work area) and working machines (here, lawnmower 200 and lawnmower 300) to the user when the work area setting system 1 receives instructions from the user. The display device 600 is, for example, a liquid crystal display (LCD) or an organic electroluminescence (EL) display for visually presenting information to the user.

[0021] In response to instructions from the user, the work area setting device 100 determines the areas in which each of the lawnmower 200 and the lawnmower 300 is to cut grass (hereinafter referred to as the "work target areas"). The work area setting device 100 then transmits information about the determined work target areas to each of the lawnmower 200 and the lawnmower 300 via the network NW and sets them. As a result, each of the lawnmower 200 and the lawnmower 300 performs mowing work to cut the grass growing in the work target areas transmitted and set by the work area setting device 100.

[0022] A database (DB) that stores data used when the work area setting device 100 determines the work area is also connected to the network NW. More specifically, a map information DB 400 that stores map information including the work area, and a work machine information DB 500 that stores information on work machines including the lawnmower 200 and the lawnmower 300 are each connected to the network NW.

[0023] The map information DB400 stores map information including at least the entire lawn (work area). The map information is, for example, what is called an orthoimage. The map information (orthoimage) is generated based on an aerial image of the work area taken from above by a flying object such as a satellite or a drone equipped with an imaging device. The aerial image includes information indicating the focal length at the time of taking the image (in other words, information indicating the angle of view of the imaging device). Furthermore, the aerial image is associated with information indicating the position of the flying object itself (geographical position such as latitude, longitude, and altitude) measured based on a signal received from a satellite constituting a global navigation satellite system (GNSS) such as a global positioning system (GPS) and information indicating the shooting direction of the aerial image. The map information (orthoimage) is generated by, for example, a map image generating device (which may be a server device) (not shown) performing a predetermined process for removing distortion occurring in the aerial image on such an aerial image.

[0024] Here, since the aerial image is a central projection image with the center of the lens of the imaging device as the viewpoint, the image of the subject captured in the aerial image is distorted due to the difference in distance from the center of the lens to the subject (i.e., the lawn). In other words, the angle, size, and position of the subject image represented by each pixel constituting the aerial image are shifted (hereinafter referred to as "positional shift") from the actual angle, size, and position (geographical position such as latitude, longitude, and altitude). The positional shift of each pixel constituting the aerial image becomes larger as the altitude of the imaging device (i.e., the flying object) that captures the aerial image increases from the ground and from the center of the aerial image (i.e., the center of the lens) toward the periphery of the aerial image. Furthermore, the positional shift of each pixel constituting the aerial image is also caused by the undulations (height difference) of the land in the lawn (work area) and the length (height) of the grass. For this reason, for example, a map image generating device (not shown) generates map information (orthoimage) by performing a process (ortho transformation process) to convert the aerial image, which is a central projection image, into an orthoprojection image so that the positional deviation occurring in each pixel constituting the aerial image is eliminated and each pixel constituting the map information (orthoimage) represents an image of the subject at the correct position and correct size without tilt, just as if the subject was photographed from directly above. Because the map information (orthoimage) correctly shows the shape and position of the subject image, the work area setting device 100 can use the map information (orthoimage) when determining the work area to more accurately determine, determine, and adjust the position, size (area), distance, etc. of the work area where each of the lawnmowers 200 and 300 will cut grass.

[0025] The work machine information DB 500 stores work machine information including at least the lawn mower 200 and the lawn mower 300. The work machine information is, for example, information relating to the work efficiency of the work machine. The work machine information corresponding to the lawn mower 200 and the lawn mower 300 includes, for example, the work area [m 2 / min]. The work efficiency is calculated by the working area [m 2 / min] and the working area when mowing grass while turning [m 2 / min]. The work machine information may be provided, for example, by the manufacturer of the work machine (so-called maker), or may be input by the user of the work area setting device 100 based on information from the manufacturer of the work machine. By using the work machine information when determining the work area, the work area setting device 100 can take into consideration the work efficiency when each of the lawnmower 200 and the lawnmower 300 cuts the grass, and more accurately determine and adjust the position, size (area), distance, etc. of the work area to be shared by the lawnmower 200 and the lawnmower 300 for mowing the grass.

[0026] [Working equipment configuration] Next, the configuration of the lawnmower 200 and the lawnmower 300 will be described.

[0027] First, the configuration of the lawnmower 200 will be described. The lawnmower 200 is an unmanned (self-propelled) lawnmower that travels autonomously within the work target area that has been transmitted and set by the work target area setting device 100, and performs mowing work to cut grass growing in the work target area. The lawnmower 200 is a large lawnmower that has high work efficiency for cutting grass. In other words, the lawnmower 200 can simultaneously cut grass in a wider area. However, the lawnmower 200 has lower work efficiency when cutting grass while turning than when cutting grass while traveling straight ahead. The lawnmower 200 includes, for example, a communication unit 210, a position detection unit 220, a control unit 230, a drive unit 240, wheels 250, and a blade cutter 260. FIG. 1 shows an example of a lawnmower 200 with a blade cutter 260 attached to its main body.

[0028] The communication unit 210 communicates with the work area setting device 100 via the network NW, and receives information about the work area transmitted by the work area setting device 100. The communication unit 210 outputs the received information about the work area to the control unit 230.

[0029] The position detection unit 220 detects the position of the lawnmower 200 itself based on, for example, signals received from satellites that make up the GNSS. The position detection unit 220 outputs information indicating the detected position of the lawnmower 200 (hereinafter referred to as "position information") to the control unit 230.

[0030] The control unit 230 controls the entire lawnmower 200. More specifically, the control unit 230 sets the information on the work target area from the work target area setting device 100 output by the communication unit 210 as the work target area where the lawnmower 200 will perform the mowing work, and controls the drive unit 240 and the wheels 250 so that the lawnmower 200 travels independently within the set work target area based on the position information output by the position detection unit 220. At this time, the control unit 230 controls the blade cutter 260 to cut the grass while traveling independently.

[0031] The drive unit 240 drives the wheels 250 when the lawnmower 200 propels itself and the blade cutter 260 when cutting grass, in response to control from the control unit 230. The drive unit 240 is, for example, an electric motor powered by power supplied from a battery (secondary battery) or an internal combustion engine such as an engine. The drive unit 240 may be a combination of an electric motor and an internal combustion engine to drive the wheels 250 and the blade cutter 260. In response to control from the control unit 230, the drive unit 240 controls the drive force supplied to the wheels 250 and the drive force supplied to the blade cutter 260.

[0032] Wheels 250 rotate with the driving force supplied by drive unit 240 to propel lawnmower 200. The direction in which lawnmower 200 travels is controlled by control unit 230 for wheels 250. In other words, the speed and steering of wheels 250 when lawnmower 200 travels are controlled by control unit 230.

[0033] The blade cutter 260 is attached to the lower part of the main body of the lawnmower 200 (the so-called chassis part), and cuts the grass by rotating the blade (blade) with the driving force supplied by the drive unit 240. The blade cutter 260 is configured so that its position can be changed in the vertical direction (perpendicular to the surface of the chassis) relative to the surface on which the grass is cut, for example, in order to change the length of the grass after cutting. Although FIG. 1 shows an example of a state in which one large blade cutter 260 is attached to the main body of the lawnmower 200, the lawnmower 200 is a large lawnmower that has high work efficiency in cutting grass, so the blade cutter 260 may be made up of multiple blade cutters.

[0034] The configuration of the lawnmower 200 shown in Fig. 1 is merely an example, and the configuration and functions of the lawnmower 200 may have various configurations and functions in addition to or instead of the configurations and functions described above. For example, the lawnmower 200 may be provided with a memory unit (not shown) that stores information about the set work area, or may store programs executed when the control unit 230 controls the components of the lawnmower 200, various setting values, and the like. For example, the lawnmower 200 may be provided with various sensors such as a contact sensor, a wheel speed sensor, and a gyro sensor, and the control unit 230 may control the autonomous running of the lawnmower 200 based on information detected by the respective sensors, such as whether the lawnmower 200 is in contact with an obstacle or foreign object, whether it is able to run at a predetermined speed, the current attitude, and the like.

[0035] Next, the configuration of the lawnmower 300 will be described. Like the lawnmower 200, the lawnmower 300 is an unmanned (self-propelled) lawnmower that travels autonomously within the work area set by the work area setting device 100 and performs mowing work to cut grass growing in the work area. The lawnmower 300 is a small lawnmower that has lower grass cutting efficiency than the lawnmower 200. Therefore, the lawnmower 300 has a narrower work area in which it can simultaneously cut grass than the lawnmower 200. However, the lawnmower 300 is maneuverable and can move to a narrower work area to cut grass. Furthermore, even if there is an obstacle that the lawnmower 200 cannot cut, such as a wall or a fence, the lawnmower 300 can cut grass growing on the edge of the obstacle. The lawnmower 300 has the same working efficiency when cutting grass while traveling straight and when cutting grass while traveling in a turn. The lawnmower 300 includes, for example, a communication unit 310, a position detection unit 320, a control unit 330, a drive unit 340, wheels 350, and a blade cutter 360. Figure 1 shows an example of the state in which the blade cutter 360 is attached to the main body of the lawnmower 300.

[0036] The functions of the communication unit 310, position detection unit 320, control unit 330, drive unit 340, wheels 350, and blade cutter 360 provided in the lawnmower 300 are similar to the functions of the communication unit 210, position detection unit 220, control unit 230, drive unit 240, wheels 250, and blade cutter 260 provided in the lawnmower 200, so detailed explanations of their respective functions will be omitted.

[0037] The configuration of the lawnmower 300 shown in FIG. 1 is merely one example, and the configuration and functions of the lawnmower 300 may have various configurations and functions in addition to or in place of the configurations and functions described above.

[0038] Here, an example of the area where each of the lawn mowers 200 and 300 can cut grass (hereinafter referred to as the "mowing area") will be described. That is, the difference in the work efficiency of each of the lawn mowers 200 and 300 will be described. FIG. 2 is a diagram that shows a schematic diagram of an example of the mowing area of ​​the working machine (lawn mower 200 and lawn mower 300) controlled by the work area setting device 100 according to the embodiment. FIG. 2 shows an example of the mowing area of ​​each of the lawn mowers 200 and 300, as viewed from the side where the blade cutter is attached, that is, from the bottom side where the grass is cut. FIG. 2(a) shows an example of the arrangement of the blade cutters 260 when the lawn mower 200 is configured to have three blade cutters 260, and an example of the size of the mowing area where the lawn mower 200 can cut grass. 2(b) shows an example of the arrangement of the blade cutter 360 when the lawnmower 300 is configured to include one blade cutter 360, and an example of the size of the mowing area in which the blade cutter 360 can cut grass. The size of the mowing area shown in FIG. 2 represents the difference in the efficiency with which the lawnmower 200 and the lawnmower 300 cut grass.

[0039] In the lawnmower 200, the blade sections 262 of the three blade cutters 260 rotate synchronously, so that the blade sections 262 do not come into contact with each other. In the lawnmower 200, each blade cutter 260 is arranged so that a part of the circular area A in which the grass is cut overlaps with a part of the area A of the adjacent blade cutter 260. In this way, in the lawnmower 200, the width of the mowing area in which the grass is cut is expanded to an area close to the combined width of the three areas A. In the lawnmower 200, the area of ​​the circle with the smallest turning diameter that can be rotated by steering control is the smallest mowing area in which the grass can be cut. FIG. 2(a) shows that when the lawnmower 200 rotates around the center C as the center of rotation, the area of ​​the circle with the turning diameter La is the smallest mowing area Ma of the lawnmower 200. As shown in (a) of Figure 2, when the lawnmower 200 performs the mowing operation while rotating, the wheels 250 end up being positioned outside the area A of the blade cutter 260, that is, outside the minimum mowing area Ma. For this reason, if there is an obstacle such as a wall or fence on the boundary line of the lawn (work area), the lawnmower 200 cannot set a work area where the boundary line meets the mowing area Ma. In other words, the lawnmower 200 is configured in such a way that it cannot perform the mowing operation on the edge of the boundary lines that exist around the work range.

[0040] The lawnmower 300 cuts grass to the same width as the body of the lawnmower 300 by rotating the blade portion 362 of one blade cutter 360. This allows the lawnmower 300 to cut grass growing on the edges. FIG. 2(b) shows that the circular area of ​​diameter Lb in which the blade cutter 360 rotates is the mowing area Mb of the lawnmower 300. Even if there are obstacles such as walls or fences on the boundary line of the lawn (work area), the lawnmower 300 can set the work area such that the boundary line and the mowing area Mb meet. In other words, the lawnmower 300 is configured to mow the edges of the boundary lines that exist around the work area.

[0041] The lawnmower 200 is an example of a "first work machine." The lawnmower 300 is an example of a "second work machine." The mowing area Ma is an example of a "first work area," and the mowing area Mb is an example of a "second work area."

[0042] [Configuration of the working area setting device] Next, the configuration of the work area setting device 100 will be described. For example, in response to instructions from a user such as a lawn manager, the work area setting device 100 determines a work target area in which the lawnmower 200 and the lawnmower 300 are to cut grass, and transmits the determined work target area to each of the lawnmower 200 and the lawnmower 300 via the network NW. The work area setting device 100 includes, for example, a storage unit 110, a communication unit 120, an input reception unit 130, an information acquisition unit 140, a work area setting unit 150, and a display control unit 160.

[0043] The input receiving unit 130, the information acquiring unit 140, the working area setting unit 150, and the display control unit 160 each include, for example, a hardware processor such as a CPU (Central Processing Unit) and a storage device (a storage device having a non-transient storage medium) that stores a program (software), and the functions of each component are realized by the processor executing the program. Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by cooperation between software and hardware. Some or all of the functions of these components may be realized by a dedicated LSI. Here, the program (software) may be stored in advance in the storage unit 110 of the working area setting device 100, a semiconductor memory element such as a ROM (Read Only Memory), a RAM (Random Access Memory), or a flash memory, or a storage device such as a HDD (Hard Disk Drive) (a storage device having a non-transient storage medium), or may be stored in a removable storage medium (a non-transient storage medium) such as a DVD or a CD-ROM, and may be installed in the storage device of the working area setting device 100 by mounting the storage medium in a drive device of the working area setting device 100. The program (software) may be downloaded from another computer device via a network NW and installed in the storage device of the working area setting device 100. The working area setting device 100 may be realized in a server device or a storage device incorporated in a cloud computing system. In this case, the functions of the working area setting device 100 may be realized by a plurality of server devices and storage devices in the cloud computing system.

[0044] The storage unit 110 stores, for example, the above-mentioned programs (software) and data for each processing stage in the work area setting device 100. The storage unit 110 may store, for example, map information (orthoimage) including the entire work area acquired by the information acquisition unit 140 from the map information DB 400, and work machine information acquired by the information acquisition unit 140 from the work machine information DB 500. Furthermore, the storage unit 110 may store, for example, information on the work target areas set by the work area setting unit 150 for each of the lawnmower 200 and the lawnmower 300. In this case, when performing a second or subsequent mowing operation to cut grass in the same work area with the same work machine (lawnmower 200 and lawnmower 300), it is possible to omit the process of acquiring map information and work machine information and the process of determining the work target area.

[0045] 1 shows a case where the storage unit 110 is a storage unit included in the work area setting device 100, but the storage unit 110 may be a storage unit arranged outside the work area setting device 100. In this case, the storage unit 110 may be configured to be connected to the work area setting device 100 via the network NW, or may be configured to be connected to the work area setting device 100 by a dedicated network line different from the network NW.

[0046] The communication unit 120 is a communication interface such as a network card for connecting to the network NW. The communication unit 120 communicates with the lawnmower 200, the lawnmower 300, the map information DB 400, and the work machine information DB 500 via the network NW. The communication unit 120 receives map information transmitted by the map information DB 400 and work machine information transmitted by the work machine information DB 500 via the network NW, and outputs the received map information and work machine information to the input reception unit 130. The communication unit 120 transmits information on the work target area to be set to each of the lawnmower 200 and the lawnmower 300 via the network NW. The communication between the communication unit 120 and the map information DB 400 and the work machine information DB 500 may be wired communication or wireless communication. The communication between the communication unit 120 and the lawnmower 200 and the lawnmower 300 may be wireless communication.

[0047] The input receiving unit 130 receives input from the user of the work area setting device 100. More specifically, the input receiving unit 130 receives information input by the user, such as the address of the lawn, which indicates the position where the grass is to be cut, and information indicating the range of the work area where the grass is to be cut. Furthermore, the input receiving unit 130 receives information input by the user, which specifies the working machine for cutting the grass (here, the lawnmower 200 and the lawnmower 300). The input receiving unit 130 includes an input device, such as a mouse or a keyboard, for inputting information by the user's operation. The display control unit 160 causes the display device 600 to display a user interface screen for the user to input information. This allows the input receiving unit 130 to input each piece of information by operating the input device while viewing the user interface screen displayed on the display device 600. The input receiving unit 130 may be, for example, a touch panel in which the display device 600 and the input device are integrated. In this case, the user can input each piece of information to the work area setting device 100 (more specifically, the input receiving unit 130) by performing an operation (e.g., a tap operation, a long press operation, etc.) on the user interface screen displayed on the display device 600. The input receiving unit 130 outputs each piece of information, such as information indicating the position where the grass is to be cut (hereinafter referred to as "work position information"), information indicating the range of the work area where the grass is to be cut (hereinafter referred to as "work range information"), and information specifying the work machine that will cut the grass (hereinafter referred to as "specified work machine information"), to the information acquiring unit 140. The input accepting unit 130 may be configured to store each piece of received information in the storage unit 110 and notify the information acquiring unit 140 that the information has been stored in the storage unit 110.

[0048] The input receiving unit 130 may receive an aerial image of the work area taken from above by a flying object such as a drone equipped with an imaging device. This aerial image may be a single image including the entire work area, or may be a plurality of aerial images representing the entire work area. The input receiving unit 130 outputs the received aerial image (including a plurality of aerial images) to the information acquiring unit 140. The input receiving unit 130 may be configured to store the received aerial image in the storage unit 110 and notify the information acquiring unit 140 of the aerial image storage in the storage unit 110.

[0049] The information acquisition unit 140 acquires information used to determine the work target area based on information from the user accepted by the input acceptance unit 130. More specifically, when work position information is input by the input acceptance unit 130, the information acquisition unit 140 acquires map information corresponding to the input work position information from the map information DB 400 by the communication unit 120. Then, the information acquisition unit 140 outputs the map information acquired from the map information DB 400 to the work area setting unit 150. The information acquisition unit 140 may output the map information acquired from the map information DB 400 to the display control unit 160, and cause the display control unit 160 to display a user interface screen including the map information on the display device 600. This allows the user to operate the input device of the input acceptance unit 130 while viewing the map information displayed on the display device 600 to input work range information and designated work machine information. When information representing work range information is input by the input acceptance unit 130, the information acquisition unit 140 outputs the input work range information to the work area setting unit 150. When the designated work machine information is input by the input receiving unit 130, the information acquiring unit 140 acquires the work machine information corresponding to the input work machine from the work machine information DB 500 via the communication unit 120. Then, the information acquiring unit 140 outputs the work machine information acquired from the work machine information DB 500 to the work area setting unit 150.

[0050] When an aerial photographed image is input from the input receiving unit 130, the information acquiring unit 140 may create map information (ortho-image) including at least the entire work area based on the aerial photographed image. The map information (ortho-image) can be created by the information acquiring unit 140 using existing technology, and therefore detailed description will be omitted. The information acquiring unit 140 outputs the created map information (ortho-image) to the work area setting unit 150, similarly to the map information acquired from the map information DB 400. The information acquiring unit 140 may output the created map information (ortho-image) to the display control unit 160, and the display control unit 160 may include the created map information (ortho-image) in a user interface screen and display it on the display device 600. This allows the user to input work range information and designated work machine information by operating the input device of the input receiving unit 130 while viewing the map information (ortho-image) displayed on the display device 600, even when the information acquiring unit 140 creates the map information (ortho-image).

[0051] The work area setting unit 150 determines a work target area for which mowing work is to be assigned to each of the work machines (here, the lawnmower 200 and the lawnmower 300) designated by the user, based on the map information, work range information, and work machine information output by the information acquisition unit 140. The work area setting unit 150 sets the determined work target area by transmitting it to each of the lawnmower 200 and the lawnmower 300 via the communication unit 120. The work area setting unit 150 may output information representing the determined work target area to the display control unit 160, and cause the display control unit 160 to display a user interface screen showing the work target area on the map information on the display device 600. In this way, the user may check the work target area displayed on the display device 600, and operate the input device of the input reception unit 130 to instruct the lawnmower 200 and the lawnmower 300 to start mowing work on the work target area. In this case, after a command to start mowing is given by the user, the work area setting section 150 transmits the determined work target area to each of the lawnmower 200 and the lawnmower 300 via the communication section 120 and sets it.

[0052] The display control unit 160 controls the display of a user interface screen for visually presenting information to the user. More specifically, the display control unit 160 generates a user interface screen for presenting to the user the reception of input from the user by the input reception unit 130, the map information acquired by the information acquisition unit 140, and the information of the work target area determined by the work area setting unit 150, and outputs the generated user interface screen to the display device 600 for display.

[0053] [Process to determine the working area] Next, an example of the process of determining the work target area in the work area setting unit 150 will be described. FIG. 3 is a flow chart showing an example of the process flow of the work target area determined by the work area setting device 100 according to the embodiment. FIGS. 4 and 5 are diagrams showing an example of the work target area determined by the work area setting device 100 according to the embodiment. FIG. 6 is a diagram showing an example of the movement of each of the work machines (lawnmower 200 and lawnmower 300) through the work target area determined by the work area setting device 100 according to the embodiment. In the following description, the flow of the process of determining the work target area in the work area setting device 100 shown in FIG. 3 will be described with appropriate reference to the examples shown in FIGS. 4 to 6.

[0054] In the following description, it is assumed that the input receiving unit 130 has already received input of the work position information, work range information, and designated work machine information from the user, and that the information acquiring unit 140 has acquired map information and work machine information based on the received information, and output them to the work area setting unit 150. FIG. 4(a) shows an example of map information corresponding to the work position information input by the user. Here, it is assumed that the area of ​​the map information shown in FIG. 4(a) is surrounded by obstacles such as walls that impede the lawnmower 200 from mowing the lawn at the boundary of the work area. Then, it is assumed that the user has specified the entire area of ​​the map information shown in FIG. 4(a) as the work range information, that is, the entire range of the map information is the work area.

[0055] When the working area setting unit 150 starts the process of determining the working area, it first assigns the working area of ​​the lawnmower 300 to the periphery of the working area (step S100). More specifically, the working area setting unit 150 determines, as the working area of ​​the lawnmower 300, an area that can be determined by sequentially moving the mowing area Mb of the lawnmower 300 along the periphery of the working area, that is, an area with a width of the diameter Lb of the circle around which the blade unit 362 of the blade cutter 360 equipped to the lawnmower 300 rotates. FIG. 4B shows a state in which an area with a width of the diameter Lb along the periphery of the working area has been determined as the working area Wb of the lawnmower 300. The working area setting unit 150 may determine, as the working area Wb, an area that is an integer multiple of the width of the diameter Lb. In other words, the work area setting section 150 may determine, as the work target area Wb, an area around the periphery of the work area along which the lawnmower 300 makes a number of revolutions.

[0056] After that, the work area setting unit 150 assigns the area inside the work area of ​​the lawnmower 300, that is, the area within the work area remaining in the processing of step S100, in which the lawnmower 200 can perform mowing work, to the work area of ​​the lawnmower 200 (step S110). More specifically, the work area setting unit 150 sequentially moves the minimum mowing area Ma of the lawnmower 200 along the work area Wb of the lawnmower 300 (that is, sequentially moves the mowing area Ma so that at least one point of the mowing area Ma touches the work area Wb), and determines the range outside the work area of ​​the lawnmower 200. Figure 4(c) shows the state in which an area the width of the rotation diameter La of the minimum mowing area Ma of the lawnmower 200 has been determined as the work area Wa of the lawnmower 200. 5 further enlarges area Aa in the working area shown in FIG. 4(c) and shows in more detail how the minimum mowing area Ma of the lawnmower 200 is sequentially moved to determine the work area Wa of the lawnmower 200. The working area setting section 150 then determines the entire area inside the outer range of the determined work area of ​​the lawnmower 200 as the work area of ​​the lawnmower 200.

[0057] The working area setting unit 150 then adds the areas that are not allocated to the work area of ​​the lawnmower 200 to the work area of ​​the lawnmower 300 (step S120). More specifically, the working area setting unit 150 includes areas that are not allocated to the work area of ​​the lawnmower 200 in the processing of step S110, that is, areas that are smaller than the minimum mowing area Ma of the lawnmower 200 and in which the lawnmower 200 cannot perform mowing work, in the work area of ​​the lawnmower 300. For example, in FIG. 4(c) and FIG. 5, the working area Ea is a working area in which the lawnmower 200 cannot move and perform mowing work. For this reason, the working area setting unit 150 adds the working area Ea to the already determined work area Wb, and determines (confirms) it as the final work area Wb of the lawnmower 300.

[0058] By this process of determining the work target area, the work target area setting unit 150 determines the work target area for the lawnmower 200 and the lawnmower 300 to perform mowing work. More specifically, by the process of determining the work target area, the work target area setting unit 150 determines the work target area Wb of the lawnmower 300, which is a small lawnmower that has low work efficiency for mowing grass but is maneuverable and can mow grass in a narrow work area including the edge, and the work target area Wa of the lawnmower 200, which is a large lawnmower that has high work efficiency for mowing grass and can simultaneously mow grass in a wider work area but cannot mow grass in a narrow work area including the edge. The work target area setting unit 150 then transmits the determined work target area to each of the lawnmower 200 and the lawnmower 300 via the communication unit 120 and sets it. As a result, each of the lawnmower 200 and the lawnmower 300 moves within the work target area determined and set by the work area setting unit 150 to perform mowing work to cut grass. Fig. 6 shows an example of a movement path Ra along which the lawnmower 200 moves within the work target area Wa when performing mowing work, and an example of a movement path Rb along which the lawnmower 300 moves within the work target area Wb when performing mowing work. As a result, the lawnmower 200 and the lawnmower 300 each share the work of mowing the entire range of the map information indicated by the work range information specified by the user.

[0059] Work area Wa is an example of a "first work area," and work area Wb is an example of a "second work area."

[0060] [First adjustment process of the working area] As described above, the lawnmower 300 has the same working efficiency when traveling straight and when turning, but the lawnmower 200 has a lower working efficiency when turning than when traveling straight. For this reason, the working area setting unit 150 may adjust the determined working areas in consideration of the working efficiencies of the lawnmower 200 when traveling straight and when turning. Here, an example of the adjustment process (first adjustment process) of the working area in the working area setting unit 150 will be described. FIG. 7 is a flowchart showing an example of the flow of the first process (first adjustment process) for adjusting the working area determined by the working area setting device 100 according to the embodiment. FIG. 8 and FIG. 9 are diagrams that show an example of the first process (first adjustment process) for adjusting the working area determined by the working area setting device 100 according to the embodiment. In the following description, the flow of the first adjustment process of the working area in the working area setting device 100 shown in FIG. 7 will be described with reference to the example shown in FIG. 8 and FIG. 9 as appropriate.

[0061] The first adjustment process of the work target area is performed after the work target areas of each of the lawn mowers 200 and 300 have been determined by the work target area determination process described above, and before the determined work target areas are transmitted to and set in each of the lawn mowers 200 and 300.

[0062] When the work area setting unit 150 starts the first adjustment process after determining the work area of ​​each of the lawnmower 200 and the lawnmower 300, it first determines the position of the center pixel in the work area of ​​the lawnmower 200. In other words, the work area setting unit 150 determines the coordinates of the pixel located at the center (centroid) of the figure representing the work area of ​​the lawnmower 200 from among the pixels arranged in a two-dimensional matrix in the map information (orthoimage). The work area setting unit 150 then determines the distance from the determined center pixel position to a pixel located on the boundary line of the work area of ​​the lawnmower 200 (i.e., the edge of the outer periphery of the work area) (step S200).

[0063] Here, a method by which the work area setting unit 150 determines the position of the central pixel in the work area of ​​the lawnmower 200 and the distance from the position of the central pixel to a pixel located on the boundary line of the work area will be described with reference to Fig. 8. Fig. 8 shows the work area Wa of the lawnmower 200 arranged on a plane of coordinates in the X direction (row direction) and Y direction (column direction). The work area setting unit 150 first determines the center coordinates (x0, y0) of the work area Wa. The pixel coordinates (x0) in the X direction and the pixel coordinates (y0) in the Y direction at the center coordinates (x0, y0) can be determined, for example, by the following formulas (1) and (2).

[0064]

number

[0065]

number

[0066] In the above formulas (1) and (2), N is the total number of pixels included in the work target area Wa.

[0067] Then, the work area setting unit 150 determines the distance from the pixel located at the determined center coordinates (x0, y0) to a pixel located on the boundary line of the work area Wa. Fig. 8 shows an example of determining the distance from a pixel located at the center coordinates (x0, y0) to a pixel located at coordinates (x1, y1) on the boundary line of the work area Wa. At this time, the work area setting unit 150 first determines the slope α of the line connecting the pixel located at the center coordinates (x0, y0) and the pixel located at coordinates (x1, y1) using the following equation (3).

[0068]

number

[0069] Thereafter, the working area setting section 150 calculates a distance L, which is the length of a straight line connecting a pixel located at the center coordinates (x0, y0) and a pixel located at the coordinates (x1, y1), using the following formula (4).

[0070]

number

[0071] In this way, the work area setting section 150 determines the position of the central pixel in the work area of ​​the lawnmower 200, and the distance L from the position of the central pixel to a pixel located on the boundary line of the work area.

[0072] Then, working area setting unit 150 calculates the difference in distance L between adjacent pixels on the boundary line, and determines whether the calculated difference in distance L is equal to or smaller than a predetermined distance threshold (step S210). Step S210 may be performed after calculating distance L for all pixels on the boundary line by step S200, or may be performed each time distance L is calculated by step S200 for at least two pixels adjacent to each other on the boundary line. The predetermined distance threshold is, for example, the distance (length) that causes the work area of ​​lawnmower 300 to overlap with the work area of ​​lawnmower 200. This is a distance (length) that has been determined in advance based on the idea that, when mowing work is performed with lawnmower 200 and lawnmower 300, it is common to have work area Wb and work area Wa overlap to prevent an uncut work area on the border between work area Wb of lawnmower 300 and work area Wa of lawnmower 200.

[0073] In step S210, if it is determined that the difference in distance L between adjacent pixels on the boundary line is not equal to or less than the predetermined distance threshold, the working area setting unit 150 determines a new distance (hereinafter referred to as "distance Lm") on a line connecting the pixel on the boundary line with the longer distance L and the central pixel, where the difference in distance L is equal to or less than the predetermined distance threshold (step S220). At this time, the working area setting unit 150 determines a temporary distance by, for example, multiplying the current distance L by a predetermined contraction rate β, and determines the distance Lm by repeating the process (determination) of step S210 for this temporary distance. That is, the working area setting unit 150 determines the distance Lm by repeating the process of step S220 and the process of step S210, as shown in FIG. 7. The working area setting unit 150 may determine the distance Lm by, for example, determining a distance to be shortened to make the current distance L equal to or less than the predetermined distance threshold, and subtracting the determined distance from the current distance L. That is, the working area setting section 150 may determine the distance Lm in the process of step S220, rather than repeating the process of step S220 and the process of step S210.

[0074] Here, an example of a case where the work area setting unit 150 determines the distance Lm will be described with reference to Fig. 8. Fig. 8 shows the coordinates (x0, y0) of the position of a pixel that is the new distance Lm on a line connecting the center coordinates (x0, y0) of the work target area Wa and the coordinates (x1, y1) on the boundary line. m1 ,y m1 ) is calculated. The pixel located at the center coordinate (x0, y0) and the coordinate (x m1 ,y m1 The distance Lm, which is the length of the straight line connecting the pixel located at the coordinate (x m1 ,y m1 ) is a pixel located on the line connecting the pixel located at the center coordinates (x0, y0) and the pixel located at the coordinates (x1, y1) on the boundary line. m1 ,y m1 ) and the pixel at m is similar to the slope α shown in the following equation (3), and can be expressed as the following equation (6).

[0075]

number

[0076]

number

[0077] In this way, the work area setting section 150 determines the position of the pixel at the determined distance Lm as the position of the pixel on the final boundary line of the work area.

[0078] The position of the pixel located at the central coordinates (x0, y0) is an example of a "central position." The position of the pixel located at coordinates (x1, y1) is an example of a "first position" or a "second position." A line connecting the pixel located at the central coordinates (x0, y0) and the pixel located at coordinates (x1, y1) is an example of a "first line" or a "second line." Distance L, which is the length of the line connecting the pixel located at the central coordinates (x0, y0) and the pixel located at coordinates (x1, y1), is an example of a "first distance" or a "second distance." The position of the pixel located at coordinates (x m1 ,y m1 ) is an example of a "third position."

[0079] On the other hand, if it is determined in step S210 that the difference in distance L between adjacent pixels located on the boundary line, or the difference in the new distance Lm calculated by the processing in step S220, is less than or equal to a predetermined distance threshold, the work area setting unit 150 updates the work area of ​​the lawnmower 200 by setting the positions of each pixel to positions on the boundary line (step S230).

[0080] The work area setting section 150 then adds the areas that are no longer assigned as work area of ​​the lawnmower 200 due to the update to the work area of ​​the lawnmower 300 (step S240).

[0081] An example of a case in which the working area setting section 150 updates the work area Wa of the lawnmower 200 will now be described with reference to Figure 9. Figure 9(a) shows an example of the work area Wa of the lawnmower 200 and the work area Wb of the lawnmower 300 determined by the working area setting section 150 in the work area determination process (see Figures 3 to 5). In this state, the working area setting section 150 updates the work area Wa of the lawnmower 200 by a first adjustment process for the work area. In other words, the working area setting section 150 adjusts the boundary between the work area Wa and the work area Wb.

[0082] 9(b-1) to (b-3) are schematic diagrams showing an example of a process for updating the work target area Wa of the lawnmower 200 by a first adjustment process for the work target area in the work area setting unit 150. For ease of explanation, in FIG. 9(b-1) to (b-3), the pixel adjacent to the pixel located at position i on the boundary line from which the distance L was initially calculated is set to be the pixel located at position i+1 on the boundary line.

[0083] In step S200, the working area setting unit 150 calculates the distance L of the straight line connecting the pixel located at the center coordinates and the pixel located at the position i. i Then, the distance L of the straight line connecting the pixel at the center coordinate and the pixel at position i+1 is calculated. i+1 (See (b-1) of FIG. 9). Then, in step S210, the working area setting unit 150 calculates the distance L i and distance L i+1 More specifically, the working area setting unit 150 determines whether the difference between the distance L i and distance L i+1 It is determined whether the absolute value of the difference between the distance L and the distance threshold value is equal to or smaller than the distance threshold value. i and distance L i+1 If it is determined that the difference between the pixel position i and the pixel position i+1 is not equal to or less than the predetermined distance threshold, the working area setting unit 150 performs the process in step S200 to determine the pixel position i+2 on the line connecting the pixel at the position i+1 where the distance L is longer and the central pixel. i and distance L i+1 The distance L where the difference between is less than or equal to a predetermined distance threshold. m+1 (See (b-1) of FIG. 9). Then, in step S210, the working area setting unit 150 calculates the distance L i and distance L m+1 If it is determined that the difference between the distance L and the target distance is equal to or smaller than the predetermined distance threshold, the process in step S230 m+1 The position of the pixel located at position m+1 is set as the final position on the boundary line, and the work area Wa of the lawnmower 200 is updated (see FIG. 9(b-3)). FIG. 9(b-3) shows boundary line B as an example of the final boundary line.

[0084] Then, through the processing of step S240, the work area setting section 150 adds the areas that are no longer assigned to the work area Wa of the lawnmower 200 as a result of the update to the work area Wb of the lawnmower 300. Figure 9(c) shows an example of the work area Wa2, which is the work area Wa of the lawnmower 200, and the work area Wb2, which is the work area Wb of the lawnmower 300, after the work area setting section 150 has adjusted the boundary line.

[0085] Position i is an example of a “first position” and has a distance L i is an example of a "first straight line". Position i+1 is an example of a "second position", and distance L i+1 is an example of a "second straight line."

[0086] By this first adjustment process of the work area, the work area setting unit 150 adjusts the boundary between the work area Wa and the work area Wb so as to reduce the number of turns that reduce work efficiency when the lawnmower 200 moves within the work area Wa to perform mowing work (i.e., to increase the proportion of straight-line driving, which has high work efficiency). In other words, the work area setting unit 150 smoothes the boundary between the work area Wa and the work area Wb by the first adjustment process of the work area. Then, the work area setting unit 150 determines the work area after adjusting the boundary (work area Wa2 and work area Wb2 in FIG. 9) as the work area for each of the lawnmower 200 and the lawnmower 300. Then, the work area setting unit 150 transmits the determined work area to each of the lawnmower 200 and the lawnmower 300 via the communication unit 120 and sets it. As a result, each of the lawnmower 200 and the lawnmower 300 moves within the work target area determined and set by the work target area setting unit 150, and performs the mowing work of cutting the grass. As a result, each of the lawnmower 200 and the lawnmower 300 performs the mowing work for the entire range of the map information indicated by the work range information specified by the user. At this time, the work target area Wa of the lawnmower 200 has been adjusted by the first adjustment process of the work target area in the work target area setting unit 150 to a work target area that takes into account the difference in work efficiency when the lawnmower 200 is traveling straight and when it is traveling in a turn, so that the lawnmower 200 can perform the mowing work while moving within the work target area Wa more efficiently than in the state in which the process of determining the work target area was performed.

[0087] [Second adjustment process of the working area] In the first adjustment process of the work target area, the difference in work efficiency between when the lawnmower 200 travels straight and when it travels in a turn is taken into consideration, and the proportion of times when the lawnmower 200 travels straight and performs the mowing work is increased, so that the lawnmower 200 and the lawnmower 300 can each perform the mowing work efficiently. When the lawnmower 200 and the lawnmower 300 each perform the mowing work, if each of the lawnmowers 200 and 300 can complete the work at the same time (almost simultaneously), the mowing work can be performed more efficiently. For this reason, the work target area setting unit 150 may further adjust each of the determined work target areas so that the lawnmower 200 and the lawnmower 300 can each complete the mowing work at the same time. Here, an example of the adjustment process (second adjustment process) of the work target area in the work target area setting unit 150 will be described. FIG. 10 is a flowchart showing an example of the flow of a second process (second adjustment process) for adjusting the work target area determined by the work area setting device 100 according to the embodiment.

[0088] The second adjustment process for the work target area is performed after the work target areas of each of the lawn mowers 200 and 300 have been determined by the work target area determination process described above, or after the boundary lines of the work target areas of each of the lawn mowers 200 and 300 have been adjusted by the first adjustment process for the work target area described above, but before the work target areas are transmitted to and set by each of the lawn mowers 200 and 300.

[0089] When the work area setting unit 150 starts the second adjustment process for the work target area, it calculates the time (work time) required for each of the lawnmower 200 and the lawnmower 300 to complete mowing work in the current work target area (step S300).

[0090] Then, the work area setting unit 150 calculates the difference between the work time required for the lawnmower 200 to complete the mowing work and the work time required for the lawnmower 300 to complete the mowing work, and judges whether the calculated difference in work time is equal to or less than a predetermined time threshold (step S310). The predetermined time threshold is, for example, a time difference at which it can be determined that the lawnmower 200 and the lawnmower 300 each completed their work at the same time. In other words, it is a time that is acceptable as the difference in the work time between the lawnmower 200 and the lawnmower 300.

[0091] If it is determined in step S310 that the difference in the working time between lawnmower 200 and lawnmower 300 is not equal to or less than the predetermined time threshold, then work area setting unit 150 narrows the work area of ​​lawnmower 200 and widens the work area of ​​lawnmower 300 (step S320). In other words, work area setting unit 150 reduces the work area of ​​lawnmower 200 so that its working time becomes shorter, and increases the work area of ​​lawnmower 300 so that the working time of lawnmower 300 becomes similar to the working time of lawnmower 200. At this time, the working area setting unit 150 changes (adjusts) each of the working areas of the lawnmower 200 so as to reduce the working area from the working area where the lawnmower 200 needs to turn and cut the grass, that is, the area with the larger curvature of the outer periphery end (the area with the sharper curve), and set it as the working area of ​​the lawnmower 300. For example, the working area setting unit 150 may obtain a temporary working area by multiplying the current working area of ​​the lawnmower 200 by a predetermined shrinkage rate γ, and may determine the final working area by repeating the process (determination) of step S310 for this temporary working area. In other words, the working area setting unit 150 may determine the final working area by repeating the process of step S320 and the process of step S310 as shown in FIG. 10. For example, the work area setting unit 150 may determine a final work area by determining a work area of ​​the lawnmower 200 that is to be narrowed in order to make the current working time equal to or less than a predetermined time threshold, and subtracting the determined work area from the current work area of ​​the lawnmower 200. In other words, the work area setting unit 150 may determine the final work area in the process of step S320, rather than repeating the process of steps S320 and S310.

[0092] On the other hand, if it is determined in step S310 that the difference in working time between lawnmower 200 and lawnmower 300, or the difference between the working time of lawnmower 200 and the working time of lawnmower 300 for the final work target area determined by the processing of step S320, is less than or equal to a predetermined time threshold, work area setting unit 150 updates the work target areas of lawnmower 200 and lawnmower 300 (step S330).

[0093] Here, a specific example of the second adjustment process of the work target area in work area setting section 150 will be described. Work area setting section 150 calculates the work time for each of lawnmower 200 and lawnmower 300 based on, for example, the work efficiency (work area [m2 that can be mowed per unit time]) included in the work machine information for each lawnmower. 2 At this time, the work area setting unit 150 calculates the work area [m 2 / min] and working area during turning [m 2 / min], the number of turns each lawnmower makes on the path it takes within the work area, and other information may also be taken into consideration to determine the working time of each lawnmower.

[0094] Here, it is assumed that the work area setting section 150 determines the work time for each of the lawnmower 200 and the lawnmower 300 under the following conditions, and each lawnmower adjusts its work target area.

[0095] First, the working efficiency of the lawnmower 200 is (Straight driving): 50 [m 2 / min] (When turning): 10 [m 2 / min] It is assumed that.

[0096] On the other hand, the working efficiency of the lawnmower 300 is (When driving straight and when turning): 2 [m 2 / min] It is assumed that.

[0097] The area of ​​the work target region of the lawnmower 200 is then: (Total area): 9500 [m 2 ] and (Area that can be mowed in a straight line): 9000 [m 2 ] (Area where mowing is impossible in a straight line, i.e. turning is required): 500 [m 2 ] It is assumed that.

[0098] On the other hand, the area of ​​the work area of ​​the lawnmower 300 is: (Total area): 200 [m 2 ] It is assumed that.

[0099] In this case, the working area setting unit 150, by the process of step S300, calculates the working time of the lawnmower 200 as follows: (Straight driving): 9000 [m 2 ] / 50[m 2 / min]=180[min] (When turning): 500 [m 2 ] / 10[m 2 / min]=50[min] (Total): 230 [min] he demands.

[0100] Meanwhile, the working area setting unit 150 also performs the process of step S300 to calculate the working time of the lawnmower 300 as follows: (Straight driving and turning) = (total): 200 [m 2 ] / 2[m 2 / min]=100[min] he demands.

[0101] From this, it can be seen that the time when lawnmower 200 completes mowing work will be 130 [min] later than the time when lawnmower 300 completes mowing work. Here, the predetermined time threshold is set to 5 [min]. In this case, work area setting unit 150 determines through the process of step S310 that the difference in work time between lawnmower 200 and lawnmower 300 is not equal to or less than the predetermined time threshold.

[0102] Then, in step S320, the work area setting unit 150 determines the area of ​​the work target area of ​​the lawnmower 200 that requires turning to be 210 [m 2 ] and the area of ​​the work area of ​​the lawnmower 300 is set to 210 [m 2 ]Make it wider.

[0103] As a result, the working area setting unit 150 performs the process of step S300 again to calculate the working time of the lawnmower 200 as follows: (Straight driving): 9000 [m 2 ] / 50[m 2 / min]=180[min] (When turning): (500-210) [m 2 ] / 10[m 2 / min]=29[min] (Total): 209 [min] he demands.

[0104] The total operation time including the operation time when the lawnmower 200 is traveling straight ahead and the operation time when the lawnmower 200 is traveling in a turn is an example of a "first operation time."

[0105] Meanwhile, the working area setting unit 150 also performs the process of step S300 to calculate the working time of the lawnmower 300 as follows: (When driving straight and when turning) = (Total): (200 + 210) [m 2 ] / 2[m 2 / min]=205[min] he demands.

[0106] The total operation time during which the lawnmower 300 travels straight ahead and during which it turns is an example of a "second operation time."

[0107] As a result, the working area setting unit 150 determines that the difference in the working time between the lawnmower 200 and the lawnmower 300 is equal to or less than the predetermined time threshold value by the process of step S310. More specifically, the working area setting unit 150 determines that the difference in the working time between the lawnmower 200 and the lawnmower 300 is equal to or less than the predetermined time threshold value of 5 minutes, i.e., 4 minutes. Moreover, the time taken for the lawnmower 200, which requires the longest working time for the working area, to complete the mowing work is shortened from 230 minutes to 209 minutes. As a result, by performing the second adjustment process for the working area, the entire mowing work can be completed 21 minutes earlier. This is because the working area requiring the lawnmower 200 to turn is narrowed, thereby reducing the number of times the lawnmower 200 turns, and thus preventing a decrease in the working efficiency of the lawnmower 200.

[0108] Then, in step S330, the work area setting unit 150 calculates the area of ​​the work target area of ​​the lawnmower 200 as follows: (Area that can be mowed in a straight line): 9000 [m 2 ] (Area requiring turning): (500-210) = 290 [m 2 ] (Total area): 9290 [m 2 ] is decided.

[0109] Meanwhile, the work area setting unit 150 also performs the process in step S330 to set the area of ​​the work target area of ​​the lawnmower 300 as follows: (Total area): (200+210)=410[m 2 ] is decided.

[0110] Through this second adjustment process of the work area, work area setting section 150 adjusts the work area of ​​each lawnmower 200 so that the working time when lawnmower 200 performs the lawnmower mowing work and the working time when lawnmower 300 performs the lawnmower mowing work are simultaneous (almost simultaneous). Work area setting section 150 then determines the adjusted work area as the work area of ​​each lawnmower 200 and lawnmower 300. Work area setting section 150 then transmits the determined work area to each of lawnmower 200 and lawnmower 300 via communication section 120 and sets it. As a result, each of lawnmower 200 and lawnmower 300 moves within the work area determined and set by work area setting section 150, and performs the work of mowing the grass. This allows lawnmower 200 and lawnmower 300 to share the mowing work for the entire range of the map information indicated by the work range information instructed by the user, and to complete each mowing work at the same time (almost simultaneously).

[0111] As described above, according to the embodiment of the work area setting system 1, the work area setting section 150 included in the work area setting device 100 determines the work target area for which the lawnmower 200 and the lawnmower 300 will perform the mowing work. More specifically, the work area setting section 150 determines the work target area Wb for the lawnmower 300, which is a small lawnmower that has low work efficiency for mowing grass but is maneuverable and can mow grass in narrow work areas including edges, and the work target area Wa for the lawnmower 200, which is a large lawnmower that has high work efficiency for mowing grass and can simultaneously mow grass in a wider work area but cannot mow grass in narrow work areas including edges. As a result, in the work area setting system 1 of the embodiment, the lawnmower 200 moves within the work target area Wa to perform mowing work to cut grass, and the lawnmower 300 moves within the work target area Wb to perform mowing work to cut grass. As a result, in the work area setting system 1 of the embodiment, the lawnmower 200 and the lawnmower 300 can each share the work to perform mowing work for the entire range of the map information indicated by the work range information specified by the user.

[0112] Furthermore, in the working area setting system 1 of the embodiment, the working area setting unit 150 included in the working area setting device 100 adjusts the boundary between the working area Wa and the working area Wb by the first adjustment process of the working area so as to reduce the number of turns that reduce the working efficiency (increase the proportion of straight running that has high working efficiency) when the lawnmower 200 performs the lawnmower work while moving within the working area Wa. In other words, in the working area setting system 1 of the embodiment, the working area setting unit 150 adjusts the boundary between the working area Wa and the working area Wb to smooth it, taking into account the difference in working efficiency between when the lawnmower 200 is traveling straight and when it is traveling in a turn. As a result, in the working area setting system 1 of the embodiment, when the lawnmower 200 moves within the working area Wa to perform the lawnmower work of cutting grass, the lawnmower 200 can efficiently perform the lawnmower work while moving within the working area Wa.

[0113] Furthermore, in the work area setting system 1 of the embodiment, the work area setting section 150 included in the work area setting device 100 adjusts the work target area Wa and the work target area Wb so that the working time when the lawnmower 200 performs the lawnmower mowing work and the working time when the lawnmower 300 performs the lawnmower mowing work are simultaneous (almost simultaneously). As a result, in the work area setting system 1 of the embodiment, when the lawnmower 200 and the lawnmower 300 share the mowing work for the entire range of the map information indicated by the work range information instructed by the user, they can complete their respective mowing work at the same time (almost simultaneously).

[0114] In the above-described embodiment, the working area setting device 100 in the working area setting system 1 is configured in, for example, a computer device such as a personal computer (PC) or a server device. However, the configuration of the working area setting device 100 in the working area setting system 1 is not limited to the configuration shown in the embodiment. For example, the configuration and functions of the working area setting device 100 may be realized in a portable terminal device used by a user, such as a smartphone or a tablet terminal. In this case, the portable terminal device may realize the functions of the working area setting device 100 in the above-described embodiment by executing, for example, an application (for example, a working area setting application) for realizing the functions of the working area setting device 100. In this case, the configuration and functions of the working area setting device in the working area setting system, the configuration and functions of the portable terminal device, and each of the processes may be equivalent to the configuration and functions of the working area setting device 100 in the above-described embodiment, and can be easily thought of based on the above-described description. Therefore, detailed explanations of the configuration, functions, and respective processes of the work area setting device 100 in the work area setting system when part or all of the configuration and functions are realized in a portable terminal device will be omitted.

[0115] In the above embodiment, a case has been described in which work area setting device 100 in work area setting system 1 determines and sets work target areas for each of two lawnmowers, lawnmower 200 and lawnmower 300, which are connected via network NW, to perform mowing work. However, this is merely one example, and work area setting device 100 may determine and set work target areas for even more lawnmowers.

[0116] In the above embodiment, the case where the working machine is a lawnmower has been described. However, the working machine for which the working area setting device 100 determines and sets the working area is not limited to a lawnmower. The working machine may be, for example, a self-propelled lawn mower or a self-propelled blower (a device that returns cut grass to the site) in addition to a lawnmower. Furthermore, the working machine may be, for example, a self-propelled cleaning robot, a self-propelled transport device that performs transport work in a factory, or a self-propelled monitoring device (a so-called monitoring robot). In other words, the working machine may be multiple types of working machines or devices that perform different tasks within a specified working area.

[0117] According to the embodiment of the work area setting device 100 described above, the work area setting device 100 determines and sets a work target area for allocating work to a plurality of work machines (lawnmower 200 and lawnmower 300) that travel within a work area by themselves, and is equipped with an information acquisition unit 140 that acquires map information (orthoimage) including at least the entire work area and work machine information including information regarding at least the work efficiency of the plurality of work machines, a work area setting unit 150 that determines a work target area for each work machine that performs work within the work range of the work area specified based on the map information and sets the determined work target area for each work machine, and a communication unit 120 that transmits the work target area to each work machine, and the plurality of work machines are configured to operate in a manner that is high in work efficiency but also high in work efficiency. The system includes a first work machine (lawnmower 200) that is configured so that it cannot work on the edges of boundary lines surrounding the working area, and a second work machine (lawnmower 300) that has lower working efficiency than the first work machine but is configured so that it can work on the edges. The work area setting unit 150 determines the area around the working area, including the edges, as the second work target area Wb of the second work machine (lawnmower 300), and determines the area of ​​the working area inside the second work target area Wb as the first work target area Wa of the first work machine (lawnmower 200).This makes it possible to assign a more suitable work area to each work machine when tasks in the same work area are assigned to multiple work machines (lawnmower 200 and lawnmower 300). This allows the first work machine (lawnmower 200) and the second work machine (lawnmower 300) to share the work and more efficiently perform work within the work range (e.g., the entire range of the map information) indicated by the work range information specified by the user.

[0118] The above-described embodiment can be expressed as follows. A computer of a work area setting device that determines and sets a work target area in which a plurality of work machines that travel independently within the work area perform work are assigned to perform the work, A hardware processor; A storage device storing a program, The hardware processor reads and executes the program stored in the storage device, Acquire map information including at least the entire working area and work machine information including information regarding at least the work efficiency of the plurality of work machines; When determining the work target area for each of a first work machine that is configured to perform the work within a work range of a work area specified based on the map information and has high work efficiency but is unable to perform the work on the edge of a boundary line that surrounds the work range, and a second work machine that is configured to have a lower work efficiency than the first work machine but is able to perform the work on the edge, determining an area around the working range including the edge as a second working area of ​​the second working machine; determining an area of ​​the working range inside the second working area as a first working area of ​​the first working machine; When setting the determined work target area to each of the work machines, the work target area is transmitted to each of the work machines. The work area setting device is configured as follows.

[0119] The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention. [Explanation of symbols]

[0120] 1. Work area setting system 100 Working area setting device 110...Storage section 120 Communications Department 130 Input reception section 140...Information acquisition section 150 Working area setting section 160 Display control unit 200 Lawnmower 210 Communications Department 220... Position detection unit 230... Control unit 240 Drive unit 250...wheel 260···Blade cutter 300 Lawnmower 310 Communications Department 320... Position detection unit 330... Control unit 340 Drive unit 350...wheels 360···Blade cutter 400···Map information database 500···Work machine information DB 600...Display device NW...Network

Claims

1. A work area setting device that determines and sets a work target area in which a plurality of work machines that travel independently within a work area perform work are assigned to perform the work, comprising: an information acquisition unit that acquires map information including at least the entire work area and work machine information including information regarding at least the work efficiency of the plurality of work machines; a work area setting unit that determines the work target area for each of the work machines that will perform the work within a work range of the work area specified based on the map information, and sets the determined work target area for each of the work machines; A communication unit that transmits the work target area to each of the work machines; Equipped with The plurality of work machines include a first working machine having a high working efficiency but configured such that the work cannot be performed on an edge of a boundary line existing around the working range; a second working machine that is configured to perform the work on the edge portion while having a lower working efficiency than the first working machine; Including, The working area setting unit is determining an area around the work range including the edge as a second work target area of ​​the second work machine; determining an area of ​​the working range inside the second working area as a first working area of ​​the first work machine; Work area setting device.

2. The working area setting unit is A region along the edge of the working range and having a width of a second working area in which the second working machine can perform the work per unit time is determined as the second working target region; a first working area in which the first working machine can perform the work per unit time is sequentially moved so as to be in contact with the inside of the second working area, and the resulting area is determined as the first working area; adding an area in the work range that is not determined as the first work target area to the second work target area to determine the second work target area; The working area setting device according to claim 1 .

3. The working area setting unit is determining whether a difference between a first distance of a first line from a center position of the first work target area to a first position on a boundary line between the first work target area and the second work target area and a second distance of a second line from the center position to a second position adjacent to the first position on the boundary line is equal to or less than a distance threshold; When the result of the determination is that the difference between the first distance and the second distance is not equal to or less than the distance threshold value, determining a third position on a straight line corresponding to the longer of the first distance and the second distance, the third position being equal to or smaller than the threshold value of the distance; updating the first work area with the third position as a position on the boundary line; adding an area that is no longer the first work target area due to the update of the first work target area to the second work target area, thereby determining the second work target area; The working area setting device according to claim 2 .

4. The working area setting unit is determining whether a difference between a first work time required for the first work machine to complete the work on the first work target area and a second work time required for the second work machine to complete the work on the second work target area is equal to or less than a time threshold; When the result of the determination is that the difference between the first operation time and the second operation time is not equal to or less than the time threshold value, updating the first working area to be narrower; adding an area that has been narrowed by updating the first work area to the second work area, thereby updating the second work area to be wider; The working area setting device according to claim 3 .

5. The working area setting unit is updating the first work area so as to narrow the first work area from the end of the outer periphery having a larger curvature; The working area setting device according to claim 4 .

6. The first working machine and the second working machine are lawnmowers. The working area setting device according to any one of claims 1 to 5.

7. A work area setting system in which a plurality of work machines each travelling independently within a work area perform work by allocating the work to the work, a first working machine having a high work efficiency but configured so that the work cannot be performed on an edge of a boundary line existing around the working area; a second working machine that is configured to perform the work on the edge portion while having a lower working efficiency than the first working machine; A work area setting device that determines and sets a work target area in which the work is to be performed for each of the work machines; Equipped with The working area setting device includes: an information acquisition unit that acquires map information including at least the entire work area and work machine information including information regarding at least the work efficiency of the plurality of work machines; a work area setting unit that determines the work target area for each of the work machines that will perform the work within a work range of the work area specified based on the map information, and sets the determined work target area for each of the work machines; A communication unit that transmits the work target area to each of the work machines; Equipped with The working area setting unit is determining an area around the work range including the edge as a second work target area of ​​the second work machine; determining an area of ​​the working range inside the second working area as a first working area of ​​the first work machine; Work area setting system.

8. A computer of a work area setting device that determines and sets a work target area in which a plurality of work machines that travel independently within the work area perform work are assigned to perform the work, Acquire map information including at least the entire working area and work machine information including information regarding at least the work efficiency of the plurality of work machines; When determining the work target area for each of a first work machine that is configured to perform the work within a work range of a work area specified based on the map information and has high work efficiency but is unable to perform the work on the edge of a boundary line that surrounds the work range, and a second work machine that is configured to have a lower work efficiency than the first work machine but is able to perform the work on the edge, determining an area around the work range including the edge as a second work target area of ​​the second work machine; A region of the working range inside the second working area is determined as a first working area of ​​the first working machine; When setting the determined work target area to each of the work machines, the work target area is transmitted to each of the work machines. How to set up your workspace.

9. A computer of a work area setting device that determines and sets a work target area in which a plurality of work machines that travel independently within a work area perform work are assigned to perform the work, acquiring map information including at least the entire working area and work machine information including information regarding at least the work efficiency of the plurality of work machines; When determining the work target area for each of a first work machine that is configured to perform the work in a work range of a work area specified based on the map information and has high work efficiency but is unable to perform the work on the edge of a boundary line that surrounds the work range, and a second work machine that is configured to have a lower work efficiency than the first work machine but is able to perform the work on the edge, determining a region around the work range including the edge as a second work target region of the second work machine; determining an area of ​​the working range inside the second working area as a first working area of ​​the first work machine; When setting the determined work target area in each of the work machines, the work target area is transmitted to each of the work machines. program.

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