Generation device, control program, and generation method

Abstract

To generate appropriate work area information for each work machine by using both topography information and machine body information.SOLUTION: Provided is a generation device (10) of a work area, the generation device (10) including: an information acquisition part (21) that acquires topography information including at least information on an inclination angle and acquires machine body information including at least information on a maximum application inclination angle and a machine width of a work machine (90) capable of autonomous operation; and a region generation part (22) that generates work area information indicating a work area where the work machine (90) can perform work, on the basis of the topography information and the machine body information.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a work area generation device, a control program for the generation device, and a work area generation method.

Background Art

[0002] Work machines that can operate autonomously and perform operations such as mowing work have been developed and are attracting attention as a means of greatly reducing the work burden on users. In recent years, there has been a shortage of personnel and an aging trend in the management work of land including sloping areas, and the application of work machines that can operate autonomously is also desired in such land management work.

[0003] In the operation of a work machine that can operate autonomously, it is preferable that a work area where work can be performed by the work machine is specified in advance in the land to be worked. For example, Patent Document 1 discloses a method of determining a work area of an autonomous driving work machine by designating an area with respect to a photographed image of a predetermined area and a map generated based on the position information of the position where the image was photographed. Patent Document 2 also discloses a method of generating first evaluation information indicating the level of possibility of performing work by a remotely controlled mower or the like based on the inclination angle included in the terrain information.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] The methods described in Patent Documents 1 and 2 generate information related to the work area based on terrain information, and do not use the body information of the work machine for the generation of the information.

[0006] One aspect of the present invention aims to provide a generation device or the like that generates appropriate work area information for each work machine using both terrain information and aircraft information.

Means for Solving the Problems

[0007] In order to solve the above problems, a generation device according to one aspect of the present invention is a generation device for a work area, and includes an information acquisition unit that acquires terrain information including at least information on the inclination angle of land to be worked, and also acquires aircraft information including at least information on the maximum applicable inclination angle and the aircraft width of a work machine capable of autonomous operation. A region generation unit that generates work area information indicating a work area where work by the work machine is possible on the land based on the terrain information and the aircraft information.

[0008] In order to solve the above problems, a generation method according to one aspect of the present invention is a generation method for a work area, and includes an information acquisition step of acquiring terrain information including at least information on the inclination angle of land to be worked, and also acquiring aircraft information including at least information on the maximum applicable inclination angle and the aircraft width of a work machine capable of autonomous operation. A region generation step of generating work area information indicating a work area where work by the work machine is possible on the land based on the terrain information and the aircraft information.

[0009] Moreover, the generation device according to each aspect of the present invention may be realized by a computer. In this case, a control program for the generation device that realizes the generation device by operating the computer as each part (software element) included in the generation device, and a computer-readable recording medium on which it is recorded also fall within the scope of the present invention.

Advantages of the Invention

[0010] According to one aspect of the present invention, it is possible to provide a generation device or the like that generates appropriate work area information for each work machine using both terrain information and aircraft information.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Modes for Carrying Out the Invention

[0012] 〔Configuration of the Generation System〕 Hereinafter, with reference to FIGS. 1 to 6, the configuration of a generation system 1 according to an embodiment of the present invention will be described. The generation system 1 is a system that generates a work area R in which a work machine 90 can perform work on land L that is a work target by the work machine 90 capable of autonomous operation.

[0013] In this embodiment, as the work machine 90 capable of autonomous operation, an automatic lawn mower will be taken as an example for explanation. The automatic lawn mower does not require operation by the user and performs lawn mowing work on the land L that is the work target by autonomous operation. Examples of the automatic lawn mower include AUTOMOWER (manufactured by Husqvarna), Miimo (registered trademark, manufactured by Honda Motor Co., Ltd.), Echo (registered trademark) Robotics (manufactured by Yamabiko), and Robomow KRONOS (registered trademark, manufactured by Washodo Industries Co., Ltd.).

[0014] Note that the work machine 90 is not limited to an automatic lawn mower, and it may be a device that performs work other than lawn mowing. Examples of work other than lawn mowing include weed suppression, grass collection, pesticide spraying, fertilizer spraying, and harvesting.

[0015] Also, in this embodiment, as the land L that is the work target of the work machine 90, a terraced field in a state where no crops are being cultivated will be taken as an example for explanation. Note that the land L that is the work target is not limited to a terraced field, and depending on the type of the work machine 90, various lands such as a farm field, a golf course, a ground, a riverbank, a park, a garden, a ranch, a fallow field, or a mountain forest can be the work target.

[0016] As shown in FIG. 1, the generation system 1 includes a generation device 10 and a server 50. The server 50 includes a server storage unit 51 and a server communication unit 53. The server 50 is a data server that stores the data used by the generation device 10 and the data generated by the generation device 10. The server storage unit 51 stores a database 52.

[0017] The database 52 may have a terrain information database that stores terrain information of each land including the land L, and an aircraft information database that stores aircraft information of each work machine including the work machine 90, and may further have other databases.

[0018] The server communication unit 53 is a communication device for communicating with external devices such as the generation device 10. The server communication unit 53 may communicate with the external device wirelessly or by wire. Further, the server communication unit 53 may communicate with an external network such as the Internet.

[0019] <Generation device> The generation device 10 is a device capable of executing processing of various types of information. As shown in FIG. 1, the generation device 10 includes a control unit 20, and may further include an input unit 11, an output unit 12, a terminal storage unit 13, and a terminal communication unit 14. The generation device 10 may be a stationary device such as a personal computer, or may be a portable device such as a notebook personal computer or a tablet terminal.

[0020] The input unit 11 is a device for inputting information into the generation device 10. The input unit 11 may be, for example, a keyboard, a mouse, and a touch panel.

[0021] The output unit 12 is a device for outputting information from the generation device 10. The output unit 12 may be a display device such as a display device for displaying information, a printing device such as a printer for printing information, or an interface device such as a USB (Universal Serial Bus) port for exchanging information.

[0022] The terminal storage unit 13 is a storage device that stores data used by the generation device 10 and data generated by the generation device 10. The terminal storage unit 13 may be, for example, an HDD (Hard Disk Drive) or an SSD (Solid State Drive).

[0023] The terminal communication unit 14 is a communication device for communicating with external devices such as the server 50. The terminal communication unit 14 may communicate with the external device wirelessly or by wire. Further, the terminal communication unit 14 may communicate with an external network such as the Internet.

[0024] The control unit 20 is a control device that comprehensively controls each part of the generation device 10. The control unit 20 may be, for example, a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit). The control unit 20 includes an information acquisition unit 21 and a region generation unit 22 as functional blocks. Further, the control unit 20 may further include an installation position generation unit 23 and a solution presentation unit 24.

[0025] (Information acquisition unit) The information acquisition unit 21 acquires the terrain information of the land L to be worked on and the airframe information of the working machine 90.

[0026] The terrain information is information that at least includes information on the inclination angle of the land L. The information on the inclination angle of the land L may be information indicating the inclination angle of the ground surface, or may be information indicating the inclination angle of the surface layer including plants or structures existing on the ground surface.

[0027] The terrain information may be, for example, information of a 3D model obtained by gridifying 3D point cloud data indicating the terrain of the land L. Examples include DSM (Digital Surface Model) and DEM (Digital Elevation Model). Further, the terrain information may be information such as 2D map information with information such as the inclination angle labeled at each position.

[0028] The information acquisition unit 21 may use each of a plurality of unit spaces obtained by virtually dividing the terrain information indicating the land L into a grid pattern as a virtual grid, and acquire information such as the inclination angle for each one or more virtual grids.

[0029] Further, the terrain information may further include undulation information, slope distance, and information for identifying structures in the land L. The undulation information may indicate, for example, undulations such as irregularities existing on the ground surface of the land L. The slope distance may be the shortest distance between the upper end and the lower end on the slope of the land L. The structures may be, for example, roads, buildings, and installations, etc. The terrain information may further include other information in the land L that can affect the autonomous operation of the working machine 90.

[0030] The aircraft information is information that includes at least information on the maximum applicable inclination angle and the body width of the working machine 90. The maximum applicable inclination angle of the working machine 90 is the maximum value of the inclination angle at which autonomous traveling and working by the working machine 90 are possible. Although the maximum applicable inclination angle is often set as a specification for each model of the working machine 90, the maximum applicable inclination angle may be a value set empirically based on the usage record of the working machine 90, etc.

[0031] The body width of the working machine 90 may indicate the width in the left - right direction orthogonal to the traveling direction of the working machine 90. Also, the information on the body width of the working machine 90 may indicate the width through which the working machine 90 can pass, rather than the actual size of the working machine 90. For example, when the working machine 90 has a shape with a joint portion 91 as shown in FIG. 5, the body information may have, as the information on the body width of the working machine 90, the width through which the working machine 90 with the joint portion 91 bent can pass.

[0032] Further, the aircraft information may further include other information regarding the working machine 90. For example, the aircraft information may include information on the body length indicating the longitudinal length corresponding to the traveling direction of the working machine 90, and may include information on the body height which is the vertical height of the working machine 90. Also, the aircraft information may further include information such as the working content, maximum working area, traveling speed, or continuous operation time of the working machine 90. If the aircraft information includes such information, the generation device 10 can improve the generation accuracy of the working area R where the working machine 90 can perform work.

[0033] The terrain information and the aircraft information may be stored, for example, in a database 52 stored in the server storage unit 51. In this case, the information acquisition unit 21 acquires the terrain information and the aircraft information from the server 50. Further, at least a part of the terrain information and the aircraft information acquired by the information acquisition unit 21 may be stored in the terminal storage unit 13, may be input from the input unit 11, or may be acquired from an external network such as the Internet via the terminal communication unit 14.

[0034] (Area generation unit) The area generation unit 22 generates area information indicating a work area R in which the work machine 90 can work on the land L based on the terrain information and the aircraft information.

[0035] The work area R is an area where the work machine 90 can travel and work. For example, in the land L, an area where the inclination angle is equal to or less than the maximum applicable inclination angle of the work machine 90 becomes a candidate for the work area R. However, if there is a passage-like portion on the land L that is narrower than the body width of the work machine 90, the work machine 90 cannot travel and work in that portion. Therefore, the area generation unit 22 generates, as the work area R, an area in the land L where the inclination angle is equal to or less than the maximum applicable inclination angle of the work machine 90 and a space of at least the body width of the work machine 90 can be secured.

[0036] When the terrain information includes undulation information, the area generation unit 22 may exclude, from the work area R, portions of the land L having undulations of a predetermined height or depth or more. Further, when the work machine 90 is a model that can be suspended on an inclined surface by a rope and the terrain information includes information on the inclined surface distance, the area generation unit 22 may exclude, from the work area R, an area on the land L where the inclined surface distance exceeds the maximum length of the rope of the work machine 90. Further, when the terrain information includes information on structures, the area generation unit 22 may exclude, from the work area R, an area on the land L where structures exist.

[0037] Figures 2 and 3 show schematic diagrams illustrating an example of the work area R generated by the area generation unit 22 on the land L. Figure 2 is a plan view of the work area R as seen from directly above, and Figure 3 is a bird's-eye view of the work area R as seen from above at an angle different from directly above.

[0038] As shown in Figures 2 and 3, according to the area generation unit 22, even for a terrain with a stepped field shape like the land L where the slopes are intricately intertwined, it is possible to generate work area information indicating a work area R with a gentle slope angle where the work machine 90 can operate.

[0039] Also, Figure 4 is an enlarged view of the range A shown in Figure 2. As shown in Figure 4, according to the area generation unit 22, even when there is a structure X inside the work area R and a risk area where work by the work machine 90 becomes locally impossible, the work area R can be generated to have the maximum area by excluding the periphery of the structure X in an island-like manner.

[0040] In this way, the area generation unit 22 uses, in addition to terrain information including information on the slope angle of the land L, aircraft information including information on the maximum applicable slope angle and the body width of the work machine 90 for generating the work area information. Therefore, the generation device 10 can generate work area information corresponding to the characteristics of each work machine 90 on the land L that is the work target.

[0041] Further, the area generation unit 22 may generate the work area information including risk information indicating the difficulty of work by the work machine 90 in at least two or more levels in the risk area excluded from the work area R on the land L. This function will be described in detail in the description of the "solution presenting unit" in the subsequent section.

[0042] (Installation position generation unit) The information on the boundary line that specifies the range of the work area R included in the work area information generated by the area generation unit 22 may be used, for example, as an indicator for installing a mark for specifying the range of the work area R. Examples of the mark include, for example, the area wire W. The area wire W generates a weak magnetic field when energized, and the work machine 90 recognizes the magnetism so as not to face outward. The area wire W may be, for example, a single wire or a stranded wire covered with vinyl. Note that the information on the boundary line that specifies the range of the work area R may be position information such as geofence instead of a physical mark such as the area wire W.

[0043] The area wire W may be buried in the ground, laid on the ground surface, or suspended at a position higher than the ground surface using a support or the like so as to surround the work area R of the land L. The area wire W may surround the entire work area R by any one of burial, laying, and suspension, or may be installed in a composite manner of two or more installation modes so as to surround the work area R.

[0044] If the area wire W is buried in the ground, it does not affect the appearance of the land L. Also, laying the area wire W on the ground surface is easier to install the area wire W than other methods. Also, if the area wire W is suspended and installed, damage by wild animals such as digging up or chewing up the area wire W can be effectively reduced. When the area wire W is suspended and installed, it becomes easy to discover a problem such as a cut of the area wire W, and reinstallation of the area wire W is also easy, improving maintainability.

[0045] When such an area wire W is used as a mark for the working machine 90 to autonomously recognize the range of the working area R, it has been difficult in the past to install it so as to surround the working area R without excess or deficiency. If the installation position of the area wire W is not appropriate, errors such as area deviation or slipping may occur near the boundary of the working area R during the autonomous operation by the working machine 90. When such an error occurs, it is necessary to manually recover the working machine 90, so the effect of the labor burden by the autonomous operation is reduced.

[0046] Also, if a safety margin is ensured to prevent such an error from occurring, an area that is not the work target by the working machine 90 increases within the range of the terrain where the working machine 90 can work.

[0047] The difficulty of mark installation becomes particularly prominent when the boundary line of the working area R has complexity, such as when the shape of the outer peripheral line of the working area R is complex when viewed from above or the like, there are many inclined or undulating portions in the working area R, or there are thin passage-like portions in the working area R.

[0048] In order to reduce the difficulty of mark installation as described above, the generation device 10 may have an installation position generation unit 23. The installation position generation unit 23 generates installation position information indicating a position where a mark for the working machine 90 to recognize the working area R is installed.

[0049] When the mark is the area wire W, the installation position generation unit 23 may generate, as the installation position information, information indicating the installation position of the fixing member P for fixing the area wire W. The fixing member P may be a peg or the like when laying the area wire W, or may be a support column or the like when suspending the area wire W at a position higher than the ground surface.

[0050] When installing the fixing member P for the area wire W, if the fixing member P is a support column, it is preferably set at an interval of a predetermined distance or less so that sagging or floating of the area wire W does not occur. Further, from the viewpoint of improving installation ease and maintainability, the number of installed fixing members P is preferably minimized within the range where the area wire W generally follows the boundary line of the work area R.

[0051] The installation position generation unit 23 generates installation position information including the required number and preferred installation positions of the fixing member P, for example, from the shape of the boundary line of the work area R and the terrain such as slopes and undulations on the boundary line. Further, when there is a portion where the interval between two fixing members P is longer than the above-mentioned predetermined distance, the installation position generation unit 23 may generate installation position information so that a fixing member P is also installed in the middle.

[0052] According to such an installation position generation unit 23, even when the outer peripheral line of the work area R has the above-mentioned complexity, the installation position of the mark can be accurately determined based on the terrain information and the work area information. Therefore, the burden for determining the installation position of the mark and the burden for dealing with errors after installation can be greatly reduced.

[0053] When the mark is the area wire W, it is preferable to surround the work area R with one area wire. When surrounding the work area R with the area wire W, if the required length of the area wire W can be grasped in advance, an area wire W of an appropriate length can be prepared. Therefore, it is possible to prevent the possibility that the length of the area wire W is insufficient, and there is no need to prepare an area wire W of excessive length to provide a margin.

[0054] Also, as shown in FIG. 4, even when an island-shaped risk area where work is locally impossible due to a structure X or the like occurs inside the work area R, the work area R can be specified by one area wire W.

[0055] For example, as shown in FIG. 4, there is a method of forming a connection line that connects the outer peripheral line of an island-shaped risk area surrounding an area where work is impossible due to the presence of the structure X and the outer peripheral line of the work area R located outside thereof. The connection line may be shown as an overlapping portion W2 where two area wires W overlap. At the overlapping portion W2, the energization directions of the two area wires W are opposite to each other. In this case, since the directions of the magnetic fields generated in each area wire W are also opposite to each other, they cancel each other out.

[0056] As a result, at the overlapping portion W2, the intensity of the magnetic field generated from the area wire W becomes extremely small and is below the detection limit of the work machine 90. Thereby, the outer peripheral line of the work area R and the island-shaped risk area existing inside the work area R can be connected by one area wire W without substantially dividing the work area R.

[0057] Note that the overlapping portion W2 does not necessarily need to be passable by the work machine 90. The work machine 90 may travel avoiding the overlapping portion W2. Also, in the above connection line, instead of overlapping the two area wires W, the two area wires W may be installed separated by a predetermined distance. Even in this case, the work machine 90 may travel avoiding the connection line.

[0058] In order to form such a connection line, it is preferable that the installation position generation unit 23 generates installation position information so that the fixing member P is also installed at the positions that are both ends of the connection line. Also, the installation position generation unit 23 may generate installation position information including label information indicating the portion where the two area wires W should overlap.

[0059] In addition, when the aircraft information acquired by the installation position generation unit 23 includes the aircraft height information, a value larger than the aircraft height may be generated and included in the installation position information as the position in the vertical direction for suspending the area wire W. Further, the installation position generation unit 23 may generate and include in the installation position information a value smaller than the aircraft height as the position in the vertical direction for suspending the area wire W based on the aircraft information. Depending on the type of the working machine 90, even if the area wire W is installed at a position slightly lower than the maximum height of the aircraft, it may be possible to pass through. For example, when the cover of the working machine 90 has a rounded shape, the working machine 90 can pass through without being caught even if it contacts the area wire W suspended at a position lower than the aircraft height.

[0060] Depending on the type or setting of the working machine 90, it may run and work while slightly protruding from the installation position of the area wire W. If the installation position generation unit 23 generates information on the position in the vertical direction for suspending the area wire W based on the aircraft height, the user of the generation system 1 can suspend and install the area wire W at an appropriate height. Thereby, the risk of displacement or damage of the area wire W due to contact between the working machine 90 and the area wire W can be reduced.

[0061] In addition, when the aircraft height of the working machine 90 is high and the position in the vertical direction for suspending the area wire W is high, the distance between the sensor for detecting the area wire W in the working machine 90 and the area wire W may become large. In this case, the actual distance at which it is possible to detect that the working machine 90 has come out of the outside of the area wire W also becomes large. Therefore, for example, when the aircraft height is equal to or higher than a predetermined threshold value, the installation position generation unit 23 may correct the installation position of the area wire W inward from the position of the boundary line surrounding the work area R to generate the installation position information.

[0062] In addition, in a ranch or the like, the support posts of the electric fence can also be used to suspend the area wire W. Note that the height at which the energizing member of the electric fence is suspended is generally determined according to the types of animals raised in the ranch or wild animals that may intrude from outside the ranch. When the height of the aircraft body included in the aircraft body information is higher than the suspension height of the energizing member of the electric fence, the installation position generating unit 23 may generate the installation position of the area wire W in the work area R to be inside the installation position of the electric fence. Thereby, the risk of the work machine 90 coming into contact with the energizing member of the electric fence can also be reduced.

[0063] Further, when the work machine 90 travels and works with a slight overhang from the installation position of the area wire W, the installation position generating unit 23 may correct the installation position of the area wire W in consideration of the overhang. Assuming the distance by which the work machine 90 overhangs as the correction distance, the installation position generating unit 23 may correct the installation position of the fixing member P of the area wire W so that the area wire W is installed inside the correction distance from the position of the boundary line surrounding the work area R, and generate installation position information.

[0064] (Solution Presenting Unit) The risk area excluded from the work area R in the land L by the area generating unit 22 is an area where there is a cause for the work machine 90 to be unable to work, such as the slope angle exceeding the maximum applicable slope angle of the work machine 90. However, the risk area may be classified into a part where it is estimated that the work by the work machine 90 will be possible with some modification and a part where it will not.

[0065] To visualize such classification, as described above, the area generating unit 22 may generate work area information including risk information that shows the difficulty of work by the work machine 90 in the risk area divided into at least two levels or more.

[0066] The risk information may be two - stage information, for example, "solvable", indicating a case where it is estimated that the work by the working machine 90 will be possible if some modification is made, and "unsolvable", indicating a case where it is not. In this case, the area generation unit 22 may assign risk information indicating "solvable" or "unsolvable" to each virtual grid that has become a risk area, or may assign risk information indicating that to only the virtual grids that are "solvable".

[0067] Also, the risk information may indicate the degree of risk divided into three or more levels. In this case, the area generation unit 22 may estimate the degree of risk for each virtual grid based on the pre - set or learned relationship information between the mode of risk and the degree of risk, and assign risk information indicating the degree of risk. The degree of risk may be, for example, a numerical index with a larger value as the difficulty of solving the risk is greater.

[0068] Also, the risk information may indicate the type of risk divided into two or more levels (two or more types) instead of the degree of risk. In this case, the area generation unit 22 may assign different risk information to each virtual grid in the risk area for each cause such as the inclination angle, undulation, or structure as the type of risk. Also, the area generation unit 22 may assign information combining the degree of risk and the type of risk as risk information to each virtual grid in the risk area.

[0069] According to the mode in which the area generation unit 22 generates the work area information including such risk information, the user referring to the work area information can grasp the parts that, although in the risk area, may be included in the work area R.

[0070] Also, as described above, there may be a part in the risk area where it is estimated that the work by the working machine 90 will be possible if some modification is made. In such a case, if the solution method, which is a method for modifying the risk area to the work area R, is known in advance, the user can easily determine whether to implement the solution method for the risk area.

[0071] The solution presenting unit 24 estimates a solution for enabling the work by the working machine 90 in the risk area, and presents the corresponding solution for each risk area where the solution exists.

[0072] For example, for a risk area where the inclination angle is slightly larger than the maximum applicable inclination angle of the working machine 90, the solution presenting unit 24 may present, as a solution, a method of preventing slipping by laying a rubber mesh mat.

[0073] Also, when the area wire W is installed by hanging it on a support column which is a fixing member P, as shown in FIG. 5, there may be a case where the working machine 90 gets caught on the support column and the working machine 90 causes a traveling error. Such an error is likely to occur when the working machine 90 is a model having a joint portion 91. In this case, the solution presenting unit 24 may present, as a solution, a method of installing a bumper B at the base of the support column. Thereby, as shown in FIG. 6, the risk of the working machine 90 getting caught on the support column can be reduced.

[0074] Also, when there is a local convex portion or concave portion inside the working area R, the solution presenting unit 24 may present, as a solution, a leveling method such as leveling the convex portion or concave portion with an earthwork machine for leveling such as a mini excavator or a scoop.

[0075] Also, when there is a narrow passage-like portion having a width close to the body width in the working area R, the solution presenting unit 24 may present, as a solution, a method of installing a guide wire in the passage-like portion. The guide wire serves as an indicator of the traveling line of the working machine 90. The working machine 90 usually travels comprehensively within the working area R by random traveling or the like to perform work. On the other hand, when an abnormality occurs in traveling, such as the working machine 90 repeatedly traveling back and forth to the same place due to the influence of the terrain or the like, the working machine 90 can detect the guide wire and travel along the guide wire.

[0076] The solution method presented by the solution method presentation unit 24 is not limited to these and may be appropriately set according to the type of risk. For example, the solution method presentation unit 24 may refer to a lookup table stored in the terminal storage unit 13 or the server storage unit 51 that shows the correspondence between the type of risk and the solution method, select an appropriate solution method, and present it.

[0077] The mode of "presenting the solution method" by the solution method presentation unit 24 is not particularly limited. For example, the solution method may be transmitted to the area generation unit 22, and the area generation unit 22 may generate work area information including risk information and solution information. Also, the solution method may be presented by adding the solution method information by the solution method presentation unit 24 to the work area information generated by the area generation unit 22 and outputting it. Further, the solution method presentation unit 24 may generate solution method information separately from the work area information.

[0078] According to such a solution method presentation unit 24, for a risk area that may be included in the work area R by the execution of the solution method, it can be presented together with the solution method. Therefore, the user can easily grasp such a risk area together with the solution method and can easily determine whether to execute the solution method and include it in the work area R.

[0079] <Variations of the generation system> Note that the functions of each unit included in the control unit 20 may be realized by a control unit included in the server 50. In this case, the server 50 functions as a generation device according to an aspect of the present invention, and the user may access the server 50 from a terminal having a communication function and execute each process such as the generation of work area information.

[0080] Also, at least a part of the functions of each unit included in the control unit 20 may be executed by a device other than the generation device 10. For example, the functions of the information acquisition unit 21 and the area generation unit 22 may be executed by the control unit 20 of the generation device 10, and the functions of the installation position generation unit 23 and the solution method presentation unit 24 may be executed by the server 50 and / or other external devices.

[0081] Further, the generation system 1 may not have the server 50. In this case, the data used by the generation device 10 and the data generated by the generation device 10 may be stored in the terminal storage unit 13.

[0082] 〔Generation Method〕 A generation method according to an embodiment of the present invention, which is executed by the generation system 1, will be described below with reference to FIGS. 7 to 9. As shown in FIG. 7, the generation method according to an embodiment of the present invention includes an information acquisition step (S1) and an area generation step (S2 to S8). Further, as shown in FIGS. 8 and 9, the generation method may further include an installation position generation step (S20) and / or a solution method presentation step (S30). Note that matters already described in the item of the generation system will be omitted in this item.

[0083] As shown in FIG. 7, first, the information acquisition unit 21 acquires the terrain information of the land L that is the work target of the work machine 90 and the machine body information of the work machine 90 (S1).

[0084] Next, the area generation unit 22 divides the terrain information into virtual grids, and for each virtual grid, determines whether the work machine 90 can perform work (S2). The determination of workability is performed based on information such as the inclination angle included in the terrain information and machine body information such as the maximum applicable inclination angle included in the work machine 90.

[0085] Next, the area generation unit 22 connects the application grids that are virtual grids determined to be workable by the work machine 90 to set a workable area (S3). Further, the area generation unit 22 connects the non-applicable grids that are virtual grids determined to be non-workable by the work machine 90 to set a non-workable area. The non-workable area is an area also referred to as a risk area.

[0086] Next, when the work - impossible areas are generated separately into a plurality and the interval between these work - impossible areas in the land L is less than the width of the aircraft body, the area generation unit 22 changes the work - possible area located between these work - impossible areas into a work - impossible area so as to have the minimum area (S4). Thereby, for a portion that was determined to be a work - possible area based on the inclination angle, undulation information, etc., but actually cannot be passed through by the working machine 90, it is possible to prevent it from being included in the work area R.

[0087] Next, the area generation unit 22 determines whether there is a work - impossible area inside the work - possible area (S6). When it is determined that there is a work - impossible area inside the work - possible area (yes in S6), the area generation unit 22 sets a connection line that connects the outer - peripheral line of the island - shaped work - impossible area located inside the work - possible area and the outer - peripheral line of the work - possible area (S7). At this time, the area generation unit 22 sets the length of the connection line to be equal to or greater than the width of the aircraft body and the minimum length. When it is determined that there is no work - impossible area inside the work - possible area (no in S6), the area generation unit 22 skips the process of S7 and proceeds with the process to S8.

[0088] The area generation unit 22 uses the work - possible area set by the process up to S7 as the work area R and generates it as work - area information indicating the work area R (S8).

[0089] The generation device 10 may further execute at least one of an installation - position generation step (S20) and a solution - method presentation step (S30).

[0090] As shown in FIG. 8, in the installation - position generation step (S20), first, the installation - position generation unit 23 sets the boundary line and the connection line that define the work area R as the installation line of the area wire W (S21). The boundary line includes the outer - peripheral line of the work area R and the outer - peripheral line of the island - shaped work - impossible area located inside the work area R. Note that the setting process of the connection line executed in S6 and S7 may be set by the installation - position generation unit 23 instead of the area generation unit 22.

[0091] Next, the installation position generation unit 23 determines whether the aircraft information of the working machine 90 includes information on the correction distance, which is the distance by which the working machine 90 protrudes (S22). If it is determined that the information on the correction distance is included (yes in S22), the installation position generation unit 23 corrects the position of the installation line by the correction distance in the inner direction of the work area R from the position of the boundary line of the work area R (S23).

[0092] On the other hand, if it is determined that the information on the correction distance is not included (no in S22), the installation position generation unit 23 skips the process of S23 and advances the process to S24.

[0093] Next, the installation position generation unit 23 generates installation position information, which is information indicating the positions where the columns are to be installed, so that the distance between the columns, which are the fixing members P of the area wire W, is within a predetermined threshold value. Thereby, the columns can be installed so that sagging or floating of the area wire W is less likely to occur.

[0094] Note that when the area wire W is installed by a method other than hanging, for example, by burying, the process of setting the distance between the columns within a predetermined threshold value may be omitted in S24. Also, when only a part of the area wire W is hung and installed using columns, in S24, the process of setting the distance between the columns within a predetermined threshold value may be executed only for that part.

[0095] As shown in FIG. 9, in the solution method presentation step (S30), the solution method presentation unit 24 presents a solution method for making the risk area the work area R, which corresponds to each type of risk information. Examples of the determination of the presence or absence of a solution method and the setting of the solution method to be presented are given for each type of such risk information from S31 to S38. The type of risk information for which the solution method presentation unit 24 presents the solution method and the order of each determination to be executed are not particularly limited.

[0096] The solution suggestion unit 24 determines whether there is a work - impossible area where the inclination angle is equal to or less than a value obtained by adding a predetermined threshold value to the maximum applicable inclination angle of the working machine 90 (S31). Only when it is determined that such a work - impossible area exists (when the answer is yes in S31), the solution suggestion unit 24 sets the information of "mat" as the solution to be presented for the portion of the target work - impossible area (S32). The information of "mat" may be, for example, information on laying a mat such as a rubber mesh mat and proposing an appropriate mat size.

[0097] The solution suggestion unit 24 determines whether the angle inside the angle formed by the area wire W via the support column is equal to or less than a predetermined angle (S33). The predetermined angle may be a value set for each type of the working machine 90 as an angle at which there is a risk of the working machine 90 getting caught. Only when it is determined that such an acute - angled corner exists (when the answer is yes in S33), the solution suggestion unit 24 sets the information of "bumper" as the solution to be presented for the corresponding support column portion (S34). The information of "bumper" may be, for example, information proposing to install a disc - shaped bumper near the base of the support column.

[0098] The solution suggestion unit 24 determines whether there is a work - impossible area caused by a locally protruding convex part or concave part (S35). Only when it is determined that such a work - impossible area exists (when the answer is yes in S35), the solution suggestion unit 24 sets the information of "land leveling" as the solution to be presented for the portion of the target work - impossible area (S36). The information of "land leveling" may be, for example, information proposing to level the convex part or concave part with a civil engineering working machine for land leveling such as a mini - excavator or a scoop.

[0099] The solution method presentation unit 24 determines whether there is a passage-shaped portion in the work area R with a width less than or equal to the length obtained by adding a predetermined threshold value to the body width of the work machine 90 (S37). Only when it is determined that such a work-infeasible area exists (when the answer is yes in S37), the solution method presentation unit 24 sets the information of "guide wire" as the solution method to be presented for the portion of the target work area R (S38). The information of "guide wire" may be, for example, information that proposes laying a guide wire along the line along which the work machine 90 should travel in such a passage-shaped portion.

[0100] After performing the above-described processing for all types of risk information that are the presentation targets of the solution method, the solution method presentation unit 24 generates information including the position of the virtual grid where the solution method is set and the corresponding solution method (S39).

[0101] Finally, the generation device 10 outputs the generated information via the output unit 12 (S9). Further, the generation device 10 may store the generated information in the terminal storage unit 13 and / or the server storage unit 51.

[0102] Note that after executing the solution method presentation step (S30), the generation device 10 may modify the terrain information assuming that the presented solution method has been executed, and execute each process from S1 again. Thereby, since the user of the generation system 1 can confirm the work area information before and after the presentation of the solution method, it can be used as a basis for determining whether to execute the solution method.

[0103] Alternatively, instead of presenting the solution method in the solution method presentation step (S30), the generation device 10 may execute a process in which the area generation unit 22 generates only risk information and generates work area information including the risk information.

[0104] Also, for the purpose of selecting a work machine 90 suitable for working on the land L, the user of the generation system 1 may cause the generation system 1 to execute the generation method for each of a plurality of candidate work machines.

[0105] 〔Software Implementation Example〕 The functions of the generation device 10 (hereinafter referred to as the "device") can be realized by a program for causing a computer to function as the device, and can be realized by a program for causing a computer to function as each control block of the device (especially each part included in the control unit 20).

[0106] In this case, the above device includes, as hardware for executing the above program, a computer having at least one control device (for example, a processor) and at least one storage device (for example, a memory). By executing the above program with this control device and storage device, each function described in the above embodiments is realized.

[0107] The above program may be recorded on one or more computer-readable recording media, not temporarily. This recording medium may or may not be provided in the above device. In the latter case, the above program may be supplied to the above device via any wired or wireless transmission medium.

[0108] Also, part or all of the functions of each of the above control blocks can also be realized by a logic circuit. For example, an integrated circuit in which a logic circuit functioning as each of the above control blocks is formed is also included in the scope of the present invention. In addition to this, for example, it is also possible to realize the functions of each of the above control blocks by a quantum computer.

[0109] Also, each process described in the above embodiments may be executed by AI (Artificial Intelligence). In this case, the AI may operate on the above control device, or may operate on another device (for example, an edge computer or a cloud server, etc.).

[0110] 〔Summary〕 The generation device according to Aspect 1 of the present invention is a generation device for a work area, which acquires terrain information including at least information on the inclination angle of the land to be worked, and also acquires aircraft information including at least information on the maximum applicable inclination angle and the aircraft width of a work machine capable of autonomous operation. The generation device further includes an area generation unit that generates work area information indicating a work area where work by the work machine is possible on the land based on the terrain information and the aircraft information.

[0111] The generation device according to Aspect 2 of the present invention may further include an installation position generation unit that generates a position for installing a landmark for the work machine to recognize the work area in the Aspect 1.

[0112] The generation device according to Aspect 3 of the present invention may be such that, in the Aspect 1 or 2, the landmark may be an area wire surrounding the work area.

[0113] The generation device according to Aspect 4 of the present invention may be such that, in the Aspect 3, at least a part of the area wire is suspended and installed at a position higher than the ground surface of the land, and the aircraft information may further include information on the aircraft height.

[0114] The generation device according to Aspect 5 of the present invention may be such that, in any of the Aspects 1 to 4, the area generation unit generates the work area information including risk information indicating at least two or more levels of difficulty of work by the work machine in a risk area excluded from the work area on the land.

[0115] The generation device according to Aspect 6 of the present invention may further include a solution method presentation unit that estimates a solution method for enabling work by the work machine in the risk area and presents the corresponding solution method for each risk area where the solution method exists in the Aspect 5.

[0116] The control program according to Aspect 7 of the present invention is a control program for causing a computer to function as the generation device of Aspect 1, and is a control program for causing a computer to function as the information acquisition unit and the region generation unit.

[0117] The generation method according to Aspect 8 of the present invention is a method for generating a work area, including an information acquisition step of acquiring terrain information including at least information on the inclination angle of the land to be worked, and acquiring aircraft information including at least information on the maximum applicable inclination angle and the aircraft width of a work machine capable of autonomous operation, and a region generation step of generating work area information indicating a work area where work by the work machine is possible on the land based on the terrain information and the aircraft information.

[0118] 〔Supplementary Notes〕 The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims. Embodiments obtained by appropriately combining technical means disclosed in different embodiments are also included in the technical scope of the present invention.

Explanation of Reference Numerals

[0119] 1 Generation system 10 Generation device 21 Information acquisition unit 22 Region generation unit 23 Installation position generation unit 24 Solution presentation unit 90 Work machine L Land R Work area W Area wire (mark)

Claims

1. An information acquisition unit that acquires terrain information including at least information on the slope angle of the land to be worked, and also acquires aircraft information including at least information on the maximum applicable slope angle and the aircraft width of a work machine capable of autonomous operation; A work area generation device comprising: a region generation unit that generates work area information indicating a work area in which work by the work machine is possible on the land based on the terrain information and the aircraft information.

2. The generation device according to claim 1, further comprising an installation position generation unit that generates a position for installing a mark for the work machine to recognize the work area.

3. The generation device according to claim 2, wherein the mark is an area wire surrounding the work area.

4. At least a part of the area wire is suspended and installed at a position higher than the ground surface of the land, The generation device according to claim 3, wherein the aircraft information further includes information on the aircraft height.

5. The region generation unit generates the work area information including risk information indicating at least two or more levels of difficulty of work by the work machine in a risk area excluded from the work area on the land. The generation device according to any one of claims 1 to 4.

6. The generation device according to claim 5, further comprising a solution method presentation unit that estimates a solution method for enabling the work machine to work in the risk area and presents the corresponding solution method for each risk area where the solution method exists.

7. A control program for causing a computer to function as the generation device according to claim 1, the control program for causing a computer to function as the information acquisition unit and the region generation unit.

8. An information acquisition step of acquiring terrain information including at least information on the slope angle of the land to be worked, and also acquiring aircraft information including at least information on the maximum applicable slope angle and the aircraft width of a work machine capable of autonomous operation; A work area generation method including a region generation step of generating work area information indicating a work area in which work by the work machine is possible on the land based on the terrain information and the aircraft information.

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