Selection device, program, selection system, and selection method

Abstract

To select a work machine body that is suited to the situation of a land on which a work is to be done.SOLUTION: A selection device (50) includes an information acquisition unit (51) that acquires feature information (24, 25, 26) and machine body information (27), a machine body allocation unit (52) that determines whether or not the feature information (24, 25, 26) satisfies a prescribed condition, and then, allocates a work machine body about which the machine body information (27) is most suited to the determination result, to a grid, and a machine body selection unit (53) that selects a target work machine body on the basis of a distribution state of a plurality of grids (G) to which work machine bodies of the same type have been allocated on a 3D image (IMG).SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a selection device, a program, a selection system, and a selection method for selecting a work machine to be used on land as a work target from among a plurality of types of work machines.

Background Art

[0002] A technique for determining a work machine to be used on a piece of land based on information regarding the terrain of the land as a work target is known as a conventional technique. For example, Patent Document 1 discloses an assistance device that identifies a target area based on the inclination angle of the ground, obstacles, etc. detected by a sensor provided in a traveling work machine, and determines a work machine that performs work in the target area.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the assistance device disclosed in Patent Document 1 greatly depends on the accuracy of grasping the terrain state, presence or absence of obstacles, etc. in the work area depending on the width of the traveling range of the traveling work machine in the work area. Also, although the grasping accuracy increases in the area within the work area where the traveling work machine travels without restriction, the grasping accuracy decreases in the area within the work area where the traveling work machine travels only partially, resulting in variations in the grasping accuracy depending on the area within the work area. For these reasons, the assistance device disclosed in Patent Document 1 cannot be said to be sufficient in terms of determining a work machine that conforms to the actual situation of the work area.

[0005] One aspect of the present invention aims to select a work machine that conforms to the actual situation of the land as a work target.

Means for Solving the Problems

[0006] To solve the aforementioned problems, a selection device according to one aspect of the present invention is a selection device for selecting a work machine to be used on land to be worked on from among a plurality of types of work machines, comprising: an information acquisition unit that acquires feature information indicating the topographic characteristics of a virtual grid when each of a plurality of unit spaces obtained by virtually dividing the land into a grid is designated as a virtual grid, and acquires machine information relating to the performance of the work machine for each of the plurality of types of work machines; a machine assignment unit that determines whether the feature information of the virtual grid corresponding to each of the plurality of grids obtained by dividing a 3D image of the land into a grid satisfies predetermined conditions, and then assigns the work machine whose machine information content best matches the content of the determination result from among the plurality of types of work machines to the grid; and a machine selection unit that selects the target work machine based on the distribution pattern of the plurality of grids to which the same type of work machine is assigned in the 3D image.

[0007] In one aspect of the present invention, the selection device may consist of at least two of the following characteristic information: (I), (II), and (III).

[0008] (I) The angle of inclination of the slope included in the virtual grid, with respect to the vertical line. (II) Relief index indicating the degree of relief of the terrain (III) The shortest distance between the upper and lower ends of the slope In one aspect of the present invention, the selection device includes an information acquisition unit which acquires work history information indicating the past work history for each of the multiple types of work machines, and proficiency information indicating the level of skill of the worker who is scheduled to perform work using the target work machine to operate each of the multiple types of work machines, and the machine assignment unit which assigns the work machines to the grid taking into account the contents of at least one of the work history information and the proficiency information.

[0009] In one aspect of the present invention, the selection device, in which the machine assignment unit compares the magnitude of the numerical value indicated by the characteristic information with a threshold value to determine whether the characteristic information satisfies the predetermined conditions, and may increase or decrease the value of the threshold value according to the content of at least one of the work history information and the proficiency level information.

[0010] In one aspect of the present invention, the selection device may, upon receiving the determination result, determine that it is inappropriate to perform work in the virtual grid corresponding to the grid that was the subject of the determination, and then refrain from assigning the work machine to that grid. The machine selection device may then select the target work machine by taking into account the distribution pattern of at least one of the grids in the three-dimensional image to which the assignment of the work machine has been refrained from.

[0011] A program according to one aspect of the present invention is a program for causing a computer to function as the selection device, and is a program for causing the computer to function as the information acquisition unit, the aircraft allocation unit, and the aircraft selection unit.

[0012] To solve the aforementioned problems, a selection system according to one aspect of the present invention is a selection system controlled by a control device that selects a work machine to be used on land to be worked from among a plurality of types of work machines, the selection system comprising: a terminal that can transmit and receive with the control device; and a server that can transmit and receive with each of the control device and the terminal, the server having a storage unit that stores characteristic information indicating the topographical features of each of the plurality of virtual grids, when each of the plurality of unit spaces obtained by virtually dividing the land into a grid is made a virtual grid, and also stores machine information relating to the performance of each of the plurality of types of work machines, the control device is controlled when the terminal accepts user input operations. The system performs the following processes: an information acquisition process in which the characteristic information is acquired from the storage unit for each of the multiple virtual grids constituting the land, and the machine information is acquired from the storage unit for each of the multiple types of work machines; an machine assignment process in which, for each of the multiple grids obtained by dividing the 3D image of the land into a grid, it is determined whether the characteristic information of the virtual grid corresponding to that grid satisfies predetermined conditions, and then the work machine whose machine information content best matches the content of the determination result is assigned to that grid from among the multiple types of work machines; and a machine selection process in which the target work machine is selected based on the distribution pattern of the multiple grids to which the same type of work machine is assigned in the 3D image.

[0013] To solve the aforementioned problems, a selection method according to one aspect of the present invention is a selection method for selecting a work machine to be used on land to be worked on from among a plurality of types of work machines, the selection method comprising: an information acquisition step of acquiring feature information indicating the topographic characteristics of a virtual grid, where each of a plurality of unit spaces obtained by virtually dividing the land into a grid is a virtual grid, and acquiring machine information relating to the performance of the work machine for each of the plurality of types of work machines; a machine assignment step of determining whether the feature information acquired in the information acquisition step for the virtual grid corresponding to each of the plurality of grids obtained by dividing a three-dimensional image of the land into a grid satisfies predetermined conditions, and then assigning to the grid the work machine whose machine information acquired in the information acquisition step best matches the content of the determination result from among the plurality of types of work machines; and a machine selection step of selecting the target work machine based on the distribution pattern of the plurality of grids to which the same type of work machine was assigned in the machine assignment step in the three-dimensional image. [Effects of the Invention]

[0014] According to one aspect of the present invention, it is possible to select a work machine that is suitable for the actual conditions of the land to be worked on. [Brief explanation of the drawing]

[0015] [Figure 1] This is a block diagram showing the functional configuration of a selection system according to one embodiment of the present invention. [Figure 2] This figure shows an example of aircraft information. [Figure 3] This is a photograph used as a substitute for a diagram, illustrating an example of a slope map. [Figure 4] This is a photograph used as a substitute for a diagram, illustrating an example of a topographic map. [Figure 5] This is a photograph used as a substitute for a diagram, illustrating an example of a slope distance map. [Figure 6]It is a flowchart showing the flow of aircraft allocation processing according to an embodiment of the present invention. [Figure 7] It is a substitute drawing photo showing an example of a three-dimensional image before executing aircraft allocation processing. [Figure 8] It is a substitute drawing photo showing an example of a three-dimensional image after executing aircraft allocation processing. [Figure 9] It is a flowchart showing the flow of aircraft selection processing according to an embodiment of the present invention. [Figure 10] It is a schematic diagram showing an example of the distribution pattern of potential aggregates when the threshold value is 0.1%. [Figure 11] Reference numeral 1011 is a schematic diagram showing an example of the distribution pattern of aggregates when the threshold value is 0.1%. Reference numeral 1012 is a schematic diagram showing an example of the distribution pattern of aggregates when the threshold value is 1.0%. Reference numeral 1013 is a schematic diagram showing an example of the distribution pattern of aggregates when the threshold value is 10.0%. [Figure 12] Reference numeral 1021 is a substitute drawing photo showing an example of a three-dimensional image in which the selection result is displayed when one type of working aircraft is selected. Reference numeral 1022 is a substitute drawing photo showing an example of a three-dimensional image in which the selection result is displayed when two types of working aircraft are selected.

Embodiments for Carrying Out the Invention

[0016] Hereinafter, an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 12. In this embodiment, a ridge is taken as an example of the land (hereinafter, "target land") to be worked by a working aircraft. Examples of the target land include various lands such as ridges, embankment pavements, road pavements, dam embankments, factories, construction slopes of residential areas, slopes beside railways and railway tracks, and green spaces including parks.

[0017] 〔Configuration of Selection System〕 Referring to Figures 1 and 2, the configuration of the selection system 100 according to one embodiment of the present invention will be described. The selection system 100 is a system that selects a work machine to be used on the target land LT (see Figure 7, etc.) from among several types of work machines (not shown) as the target work machine. In this embodiment, four types of work machines will be described as examples: a brush cutter, a slope mower, a remote-controlled mower, and a winch-equipped mower. The brush cutter, slope mower, and remote-controlled mower are all generally known work machines. The winch-equipped mower is a mower that has a mechanism for holding and controlling the mower body with a string-like connector such as a wire. As shown in Figure 1, the selection system 100 comprises a terminal 1 and a server 2.

[0018] (terminal) Terminal 1 is an information processing device that accepts user input and can process various types of information. As shown in Figure 1, Terminal 1 comprises an input unit 11, a display unit 12, a storage unit 13, a communication unit 14, and a control unit 15. The input unit 11 is an interface that accepts various operations. For example, if Terminal 1 is a stationary personal computer, the keyboard and mouse become the input unit 11.

[0019] The display unit 12 is an output unit that displays various information. For example, if terminal 1 is a stationary personal computer, the monitor becomes the display unit 12. Alternatively, if terminal 1 is a smartphone or tablet, terminal 1 may have a touch panel that integrates the input unit 11 and the display unit 12.

[0020] The memory unit 13 stores various information used by the terminal 1. Examples of the memory unit 13 include RAM (Random Access Memory), flash memory, and hard disk. The communication unit 14 is the unit for the terminal 1 to send and receive various information with the server 2 or other information processing device (not shown). The control unit 15 is, for example, a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), and controls all parts of the terminal 1. The control unit 15 also executes processing to realize the various functions that the terminal 1 has. As shown in Figure 1, the control unit 15 is equipped with a selection device 50.

[0021] The selection device 50 is a control device that can send and receive data with terminal 1 and server 2, and selects a target work machine from among several types of work machines. In other words, the selection system 100 is controlled by the selection device 50. The selection device 50 may be located outside the control unit 15 within terminal 1, or it may be located on server 2 or another information processing device. As shown in Figure 1, the selection device 50 includes an information acquisition unit 51, a machine assignment unit 52, a machine selection unit 53, and a display control unit 54.

[0022] The information acquisition unit 51 acquires feature information indicating the topographic characteristics of the virtual grid GK (see Figure 7) for each of the multiple virtual grid GKs that constitute the target land LT. A virtual grid is each of the multiple unit spaces obtained by virtually dividing the target land LT into a grid. In this embodiment, the feature information consists of the slope angle 24 of the slopes included in the virtual grid GK, the relief index 25 indicating the degree of relief of the topography of the virtual grid GK, and the shortest distance between the upper end and the lower end of the slope included in the virtual grid GK (hereinafter, "slope distance 26"). Here, the slope angle 24 refers to the slope angle when the vertical line is used as the reference (0°).

[0023] Note that the feature information does not necessarily have to consist of all three pieces of information: slope angle 24, relief index 25, and slope distance 26. For example, it may consist of any one of these three pieces of information. In short, the feature information can be any information that describes the terrain features of the virtual grid GK. However, it is preferable that the feature information consists of at least two of the slope angle 24, relief index 25, and slope distance 26.

[0024] Furthermore, the information acquisition unit 51 acquires machine information 27 regarding the performance of the work machine for each of the multiple types of work machines. Hereinafter, the process by which the information acquisition unit 51 acquires characteristic information and machine information 27 will be referred to as the "information acquisition process".

[0025] In this embodiment, the machine information 27 consists of first machine information 271, second machine information 272, third machine information 273, and fourth machine information 274. The first machine information 271 is information regarding the performance of the brush cutter. The second machine information 272 is information regarding the performance of the slope mower. The third machine information 273 is information regarding the performance of the remote-controlled mower. The fourth machine information 274 is information regarding the performance of the winch-equipped mower.

[0026] Machine information 27 includes the catalog specifications and deterioration status of the work machine, as well as various information shown in Figure 2. In Figure 2, for example, the various information in the "Brush cutter" column becomes part of the content of the first machine information 271, and the various information in the "Slope mower" column becomes part of the content of the second machine information 272.

[0027] The machine assignment unit 52 determines whether the characteristic information of the virtual grid GK corresponding to each of the multiple grids G (see Figure 7) obtained by dividing the 3D image IMG (see Figure 7) of the target land LT into a grid shape satisfies predetermined conditions. The machine assignment unit 52 also assigns the machine whose machine information 27 content best matches the content of the determination result from among multiple types of machine tools to the grid G ​​to be assigned. Hereinafter, the series of processes from the machine assignment unit 52 until a specific type of machine tool is assigned to a grid G ​​will be referred to as the "machine assignment process".

[0028] The machine selection unit 53 selects a target machine based on the distribution pattern of multiple grids G to which the same type of machine is assigned in the 3D image IMG-1 (see Figure 8). Hereinafter, the process by which the machine selection unit 53 selects a target machine from among multiple types of machines will be referred to as the "machine selection process".

[0029] The display control unit 54 displays various information processed by terminal 1 on the display unit 12. The display control unit 54 also displays the results of the aircraft assignment process performed by the aircraft assignment unit 52 and the results of the aircraft selection process performed by the aircraft selection unit 53 on the display unit 12.

[0030] (server) Server 2 is a storage device capable of sending and receiving data with both Terminal 1 and Selection Device 50. In this embodiment, Server 2 is wirelessly connected to Terminal 1, but it may also be wired to at least one of Terminal 1 and Selection Device 50. As shown in Figure 1, Server 2 comprises a storage unit 21, a communication unit 22, and a control unit 23.

[0031] The memory unit 21 stores various information used by the server 2. The memory unit 21 also stores characteristic information for each of the multiple virtual grids GK that make up the target land LT. In this embodiment, the memory unit 21 stores the slope map MI (see Figure 3), the relief map MU (see Figure 4), and the slope distance map MS (see Figure 5), thereby storing the slope angle 24, the relief index 25, and the slope distance 26 for each of the multiple virtual grids GK.

[0032] The slope map MI records the slope angle 24 for each of the multiple virtual grids GK that make up the target land LT. The relief map MU records the relief index 25 for each of the multiple virtual grids GK that make up the target land LT. The slope distance map MS records the slope distance 26 for each of the multiple virtual grids GK that make up the target land LT. Details of the slope map MI, relief map MU, and slope distance map MS will be described later.

[0033] The memory unit 21 may store, instead of the three maps mentioned above, a database in which the slope angle 24, relief index 25, and slope distance 26 are associated and recorded for each of the multiple virtual grids GK that constitute the target land LT. In other words, there are no particular limitations on the format and manner in which the feature information is stored in the memory unit 21.

[0034] Furthermore, the memory unit 21 stores aircraft information 27 for each of the multiple types of work machines. In this embodiment, the memory unit 21 stores first to fourth aircraft information 271 to 274 as aircraft information 27.

[0035] The communication unit 22 is the unit that allows the server 2 to send and receive various types of information with the terminal 1 or other information processing equipment. The control unit 23 controls all parts of the server 2 in an overall manner. The control unit 23 also executes processes to realize the various functions that the server 2 possesses.

[0036] [Slope map, relief map, and slope distance map] Referring to Figures 3 to 5, the slope map MI, relief map MU, and slope distance map MS will be explained. The slope map MI is data in which information on the slope angle 24 is added to the 2D or 3D image (hereinafter referred to as "base image IMGB") in which the target land LT was captured. The relief map MU is data in which information on the relief index 25 is added to the base image IMGB. The slope distance map MS is data in which information on the slope distance 26 is added to the base image IMGB.

[0037] Specifically, the tilt map MI is image data in a display mode that includes a tilt image IMGI, which is an image of tilt angle 24 information, within the base image IMGB, as shown in Figure 3. More specifically, the tilt map MI is image data in which each of the multiple grids (hereinafter referred to as "base grids") obtained by dividing the base image IMGB into a grid is colored according to the tilt angle 24 value of the virtual grid GK corresponding to that base grid. The tilt image IMGI is then composed of multiple base grids colored with the same type of color. In other words, the tilt map MI is image data in a display mode that includes multiple types of tilt image IMGIs, each with a different color corresponding to the tilt angle 24 value, within the base image IMGB.

[0038] Specifically, the relief map MU is image data in a display mode that includes a relief image IMGU, which is an image of the relief index 25 information, within the base image IMGB, as shown in Figure 4. More specifically, the relief map MU is image data in which each of the multiple base grids constituting the base image IMGB is colored according to the value of the relief index 25 of the virtual grid GK corresponding to that base grid. The relief image IMGU is then composed of multiple base grids colored with the same type of color. In other words, the relief map MU is image data in a display mode that includes multiple types of relief image IMGUs, each with a different color corresponding to the value of the relief index 25, within the base image IMGB.

[0039] Specifically, the slope distance map MS is image data in a display mode that includes slope distance image IMGS, which are images of slope distance 26, within the base image IMGB, as shown in Figure 5. More specifically, the slope distance map MS is image data in which each of the multiple base grids constituting the base image IMGB is colored according to the value of the slope distance 26 of the virtual grid GK corresponding to that base grid. The slope distance image IMGS is composed of multiple base grids colored with the same type of color. In other words, the slope distance map MS is image data in a display mode that includes slope distance image IMGU for each of the multiple types of colors corresponding to the value of the slope distance 26 within the base image IMGB.

[0040] Furthermore, the tilt image IMGI, relief image IMGU, and slope distance image IMGS do not necessarily have to be classified by color; they may be classified by hatching, for example. Taking the tilt image IMGI as an example, the line type or shading pattern may be different depending on the tilt angle value of 24. In short, there are no particular limitations on the method or pattern of classification for these three images.

[0041] [Unit allocation process for selected equipment] The aircraft allocation process performed by the selection device 50 will be explained with reference to Figures 6 to 8. As a prerequisite, it is assumed that before the selection device 50 performs the aircraft allocation process according to the flowchart shown in Figure 6, the information acquisition unit 51 acquires the 3D image IMG shown in Figure 7 and transmits it to the aircraft allocation unit 52.

[0042] <3D image> The 3D image IMG is a visible light image and is composed of the multiple grids G mentioned above. Here, grid G ​​can be said to be an image of each of the multiple virtual grids GK that make up the target land LT. From this, "virtual grid GK corresponding to grid G" refers to a virtual grid GK that has the same location information (latitude, longitude) as grid G. For the same reason, "virtual grid GK corresponding to the base grid" refers to a virtual grid GK that has the same location information as the base grid.

[0043] In this embodiment, a 3D image IMG is pre-stored in the storage unit 21, and the information acquisition unit 51 acquires the 3D image IMG from the storage unit 21 via the communication unit 14. Alternatively, the 3D image IMG may be pre-stored in the storage unit 13. Or, a flying object such as a drone, or a mobile object that can move over the target land LT, may be equipped with an imaging unit, and the information acquisition unit 51 may acquire the 3D image IMG captured by this flying object or mobile object via the communication unit 14. In short, there are no particular limitations on the method and manner in which the information acquisition unit 51 acquires the 3D image IMG.

[0044] <Details of aircraft allocation process> The following describes the details of the aircraft allocation process. In this description, the target land LT is assumed to consist of n virtual grids GK (n: a natural number greater than or equal to 2). The slope map MI, relief map MU, and slope distance map MS are each assumed to consist of n base grids. The 3D image IMG is assumed to consist of n grids G.

[0045] First, in step S101 of the flowchart shown in Figure 6, the information acquisition unit 51 acquires the slope map MI, the relief map MU, and the slope distance map MS from the storage unit 21 via the communication unit 14. As a result, the information acquisition unit 51 acquires characteristic information (slope angle 24, relief index 25, slope distance 26) for each of the n virtual grids GK (information acquisition step). The information acquisition unit 51 also acquires aircraft information 27 from the storage unit 21 via the communication unit 14 (information acquisition step) and transmits it to the aircraft assignment unit 52.

[0046] Next, in S102, the information acquisition unit 51 focuses on an arbitrary virtual grid GK among the n virtual grids GK, and reads characteristic information recorded in the base grid corresponding to that arbitrary virtual grid GK from three types of maps. Specifically, the information acquisition unit 51 reads the inclination angle 24 recorded in the aforementioned base grid from the inclination map MI. The information acquisition unit 51 also reads the relief index 25 recorded in the aforementioned base grid from the relief map MU. Furthermore, the information acquisition unit 51 reads the slope distance 26 recorded in the aforementioned base grid from the slope distance map MS. The information acquisition unit 51 then transmits the read inclination angle 24, relief index 25, and slope distance 26 to the aircraft assignment unit 52.

[0047] In the following explanation of Figure 6, the virtual grid GK that the information acquisition unit 51 focused on will be referred to as "grid p". Also, the inclination angle 24 transmitted by the information acquisition unit 51 to the aircraft assignment unit 52 will be referred to as "inclination s", the relief index 25 will be referred to as "index c", and the slope distance 26 will be referred to as "slope distance l".

[0048] Next, in steps S103 to S403, the aircraft allocation unit 52 determines whether the feature information of grid p satisfies predetermined conditions (aircraft allocation step). In this embodiment, the aircraft allocation unit 52 determines whether the feature information satisfies predetermined conditions by comparing the magnitude of the numerical value indicated by the feature information of grid p with a threshold value.

[0049] In this embodiment, the thresholds i1, i2, i3, j1, j2, k1, k2, and k3 are stored in the storage unit 13 as the aforementioned thresholds. These thresholds are in the relationship "threshold i1 < threshold i2 < threshold i3, threshold j1 < threshold j2, threshold k1 < threshold k2 < threshold k3". These thresholds may be stored in the storage unit 21, or in a memory (not shown) built into the selection device 50.

[0050] In S103, the machine assignment unit 52 compares the value of the inclination s with the threshold i3 to determine whether the value of the inclination s is greater than or equal to the threshold i3. The threshold i3 is the upper limit of the inclination angle 24 in which a worker who is scheduled to perform work using the target work machine can stand.

[0051] If the value of the slope s is greater than or equal to the threshold i3 (YES in S103), the machine assignment unit 52 determines that the work itself at grid p is dangerous and decides that it is inappropriate to perform work at grid p. Then, the machine assignment unit 52 refrains from assigning a work machine to grid G ​​corresponding to grid p (S104). In this way, if the machine assignment unit 52, upon receiving the judgment result, determines that it is inappropriate to perform work at the grid p that was the subject of the judgment, it refrains from assigning a work machine to grid G ​​corresponding to that grid p.

[0052] Next, in S105, the machine assignment unit 52 determines whether it has considered assigning a work machine to all of the n grids G. If the answer in S105 is YES, the selection device 50 terminates the machine assignment process. On the other hand, if the answer in S105 is NO, the machine assignment unit 52 repeats the process from S102 onwards.

[0053] Next, in S103, if the value of the incline s is less than the threshold i3 (NO), the machine assignment unit 52 compares the value of the incline s with the threshold i1 to determine whether the value of the incline s is less than the threshold i1 (S106). The threshold i1 is the upper limit of the incline angle 24 that the remote-controlled lawnmower can operate.

[0054] If the value of the slope s is less than the threshold i1 (YES in S106), the machine assignment unit 52 compares the value of index c with the threshold k1 to determine whether the value of index c is less than the threshold k1 (S201). The threshold k1 is the upper limit of the undulation index 25 that the remote-controlled lawnmower can operate on.

[0055] If the value of index c is less than the threshold k1 (YES in S201), the machine assignment unit 52 determines that the contents of the third machine information 273 best match the contents of the determination results in steps S103 to S201. The machine assignment unit 52 then assigns the remote-controlled lawnmower to grid G ​​corresponding to grid p (S202; machine assignment step). After the completion of S202, the machine assignment unit 52 proceeds to the process in S105.

[0056] Next, in S201, if the value of index c is greater than or equal to the threshold k1 (NO), the machine allocation unit 52 compares the value of the slope distance l with the threshold j2 to determine whether the value of the slope distance l is less than the threshold j2 (S203). The threshold j2 is the maximum wire length of the winch-equipped brush cutter.

[0057] If the value of the slope distance l is greater than or equal to the threshold j2 (NO in S203), the machine assignment unit 52 determines that the contents of the first machine information 271 best match the contents of the determination results in steps S103 to S203. Then, the machine assignment unit 52 assigns the brush cutter to the grid G ​​corresponding to grid p (S204; machine assignment step). After the completion of S204, the machine assignment unit 52 proceeds to the process in S105.

[0058] Next, in S203, if the value of the slope distance l is less than the threshold j2 (YES), the machine assignment unit 52 compares the value of the incline s with the threshold i2 to determine whether the value of the incline s is less than the threshold i2 (S205). The threshold i2 is the upper limit of the incline angle 24 that the slope mower can operate on.

[0059] If the value of the slope s is greater than or equal to the threshold i2 (NO in S205), the machine assignment unit 52 determines that the contents of the fourth machine information 274 best match the contents of the determination results in steps S103 to S205. Then, the machine assignment unit 52 assigns the winch-equipped lawnmower to the grid G ​​corresponding to grid p (S206; machine assignment step). After the completion of S206, the machine assignment unit 52 proceeds to the process in S105.

[0060] Next, in S205, if the value of the slope s is less than the threshold i2 (YES), the machine assignment unit 52 compares the value of the slope distance l with the threshold j1 to determine whether the value of the slope distance l is less than the threshold j1 (S207). The threshold j1 is the maximum value of the handle length of the slope mower.

[0061] If the value of the slope distance l is greater than or equal to the threshold j1 (NO in S207), the machine assignment unit 52 determines that the contents of the fourth machine information 274 best match the contents of the judgment results in S103 to S207. Then, the machine assignment unit 52 assigns a winch-equipped brush cutter to grid G ​​corresponding to grid p (S206). After the completion of S206, the machine assignment unit 52 proceeds to the process in S105.

[0062] On the other hand, if the value of the slope distance l is less than the threshold j1 (YES in S207), the machine assignment unit 52 determines that the contents of the second machine information 272 best match the contents of the determination results in steps S103 to S207. The machine assignment unit 52 then assigns the slope mower to the grid G ​​corresponding to grid p (S208; machine assignment step). After the completion of S208, the machine assignment unit 52 proceeds to the process in S105.

[0063] Next, in S106, if the value of the slope s is greater than or equal to the threshold i1 (NO), the machine assignment unit 52 compares the value of index c with the threshold k2 to determine whether the value of index c is less than the threshold k2 (S301). The threshold k2 is the upper limit of the undulation index 25 that the winch-equipped brush cutter can operate on. If the value of index c is less than the threshold k2 (YES in S301), the machine assignment unit 52 compares the value of the slope distance l with the threshold j2 to determine whether the value of the slope distance l is less than the threshold j2 (S302).

[0064] If the value of the slope distance l is greater than or equal to the threshold j2 (NO in S302), the machine assignment unit 52 determines that the contents of the first machine information 271 best match the contents of the judgment results in steps S103 to S106 and S301 to S302. Then, the machine assignment unit 52 assigns the brush cutter to grid G ​​corresponding to grid p (S204). After the completion of S204, the machine assignment unit 52 proceeds to the process in S105.

[0065] On the other hand, if the value of the slope distance l is less than the threshold j2 (YES in S302), the aircraft allocation unit 52 compares the value of the slope distance l with the threshold j1 to determine whether the value of the slope distance l is less than the threshold j1 (S303).

[0066] If the value of the slope distance l is greater than or equal to the threshold j1 (NO in S303), the machine assignment unit 52 determines that the contents of the first machine information 271 best match the contents of the judgment results in steps S103 to S106 and S301 to S303. Then, the machine assignment unit 52 assigns the brush cutter to grid G ​​corresponding to grid p (S204). After the completion of S204, the machine assignment unit 52 proceeds to the process in S105.

[0067] On the other hand, if the value of the slope distance l is less than the threshold j1 (YES in S303), the aircraft allocation unit 52 compares the magnitude of the slope value s with the threshold i2 to determine whether the value of slope s is less than the threshold i2 (S304).

[0068] If the value of the slope s is less than the threshold i2 (YES in S304), the machine assignment unit 52 determines that the contents of the second machine information 272 best match the contents of the judgment results in steps S103 to S106 and S301 to S304. Then, the machine assignment unit 52 assigns the slope mower to the grid G ​​corresponding to grid p (S208). After the completion of S208, the machine assignment unit 52 proceeds to the process in S105.

[0069] On the other hand, if the value of the slope s is greater than or equal to the threshold i2 (NO in S304), the machine assignment unit 52 determines that the contents of the fourth machine information 274 best match the contents of the judgment results in S103-S106 and S301-S304. Then, the machine assignment unit 52 assigns the winch-equipped lawnmower to the grid G ​​corresponding to grid p (S206). After the completion of S206, the machine assignment unit 52 proceeds to the process in S105.

[0070] Next, in S301, if the value of index c is greater than or equal to the threshold k2 (NO), the machine allocation unit 52 compares the value of index c with the threshold k3 to determine whether the value of index c is less than the threshold k3 (S401). The threshold k3 is the upper limit of the undulation index 25 that the slope mower can operate on.

[0071] If the value of index c is greater than or equal to the threshold k3 (NO in S401), the machine assignment unit 52 determines that the contents of the first machine information 271 best match the contents of the judgment results in steps S103 to S106, S301, and S401. The machine assignment unit 52 then assigns the brush cutter to grid G ​​corresponding to grid p (S204). After the completion of S204, the machine assignment unit 52 proceeds to the process in S105.

[0072] On the other hand, if the value of index c is less than the threshold k3 (YES in S401), the aircraft allocation unit 52 compares the value of the slope distance l with the threshold j1 to determine whether the value of the slope distance l is less than the threshold j1 (S402).

[0073] If the value of the slope distance l is greater than or equal to the threshold j1 (NO in S402), the machine assignment unit 52 determines that the contents of the first machine information 271 best match the contents of the judgment results in steps S103-S106, S301, and S401-S402. The machine assignment unit 52 then assigns the brush cutter to grid G ​​corresponding to grid p (S204). After the completion of S204, the machine assignment unit 52 proceeds to the process in S105.

[0074] On the other hand, if the value of the slope distance l is less than the threshold j1 (YES in S402), the aircraft allocation unit 52 compares the magnitude of the slope value s with the threshold i2 to determine whether the value of slope s is less than the threshold i2 (S403).

[0075] If the value of the slope s is less than the threshold i2 (YES in S403), the machine assignment unit 52 determines that the contents of the second machine information 272 best match the contents of the judgment results in S103-S106, S301, and S401-S403. Then, the machine assignment unit 52 assigns the slope mower to the grid G ​​corresponding to grid p (S208). After the completion of S208, the machine assignment unit 52 proceeds to the process in S105.

[0076] On the other hand, if the value of the slope s is greater than or equal to the threshold i2 (NO in S403), the machine assignment unit 52 determines that the contents of the first machine information 271 best match the contents of the judgment results in steps S103 to S106, S301, and S401 to S403. The machine assignment unit 52 then assigns the brush cutter to the grid G ​​corresponding to grid p (S204). After the completion of S204, the machine assignment unit 52 proceeds to the process in S105.

[0077] Next, the selection device 50 executes each of the processes S103 to S403 for all n grids G, thereby completing the aircraft assignment process for the 3D image IMG.

[0078] Here, from the results of the judgments in S103 to S403, there are no predetermined conditions that the characteristic information of grid p must satisfy in order to assign a brush cutter. On the other hand, the predetermined conditions that the characteristic information of grid p must satisfy in order to assign a slope mower are "the value of slope s < threshold i2, and the value of index c < threshold k3, and the value of slope distance l < threshold j1". Furthermore, the predetermined conditions that the characteristic information of grid p must satisfy in order to assign a remote-controlled mower are "the value of slope s < threshold i1, and the value of index c < threshold k1". In addition, the predetermined conditions that the characteristic information of grid p must satisfy in order to assign a winch-equipped mower are "the value of index c < threshold k2, and the value of slope distance l < threshold j2".

[0079] After the machine assignment process is completed, the machine assignment unit 52 transmits a 3D image IMG-1 showing the assigned work machines to the machine selection unit 53. As shown in Figure 8, the 3D image IMG-1 shows grids G colored according to the type of work machine assigned. Grids G to which no type of work machine was assigned are colored white. In the example in Figure 8, all n grids G are assigned one type of work machine. Similar to the inclination image IMGI, relief image IMGU, and slope distance image IMGS, the types of assigned work machines can be distinguished by hatching instead of coloring.

[0080] The display control unit 54 may display the 3D image IMG-1 on the display unit 12. In this case, for example, the aircraft assignment unit 52 transmits the 3D image IMG-1 to the display control unit 54. The display control unit 54 then transmits the 3D image IMG-1 to the display unit 12 and controls the display unit 12 to display the 3D image IMG-1 on the display unit 12.

[0081] [Selection process for the selected equipment] The aircraft selection process performed by the selection device 50 will be explained with reference to Figures 9 to 12. As a prerequisite, it is assumed that before the selection device 50 performs the aircraft selection process according to the flowchart shown in Figure 9, the aircraft selection unit 53 has acquired the 3D image IMG-1 shown in Figure 8 from the aircraft allocation unit 52.

[0082] In steps S501 to S608 of the flowchart shown in Figure 9, the machine selection unit 53 selects a target machine based on the distribution pattern of multiple grids G to which the same type of machine was assigned in the machine assignment steps S103 to S403 in the 3D image IMG-1 (machine selection step).

[0083] Specifically, first, the aircraft selection unit 53 determines whether or not there are grid sets in the 3D image IMG-1 with an area ratio of 1 or more than the threshold m for all four types of grid sets (S501).

[0084] A grid assembly is a collection of two or more adjacent grids G to which the same type of work machine is assigned. In this embodiment, four types of grid assemblies are formed: grid assemblies to which brush cutters are assigned, grid assemblies to which slope mowers are assigned, grid assemblies to which remote-controlled mowers are assigned, and grid assemblies to which winch-equipped mowers are assigned.

[0085] The area ratio is the ratio of the area of ​​the shape visible when viewing the grid assembly from a planar perspective to the area of ​​the 2D image IMG-2. The 2D image IMG-2 is a 2D (latitude, longitude) image visible when viewing the 3D image IMG-1 from a planar perspective, as shown in Figures 10 and 11. In the examples of Figures 10 and 11, the outline of the 2D image IMG-1 is made rectangular for the sake of simplifying the illustration.

[0086] The threshold m is a threshold that can be increased or decreased depending on the size and topographical characteristics of the target land LT, the type of work machine that could be the target work machine, etc. In this embodiment, the threshold m is applied uniformly to all four types of grid sets, but the threshold m may be weighted according to the type of work machine, for example. By performing this weighting, a distribution pattern that is more in line with the contents of the first to fourth machine information 271 to 274 can be identified for each of the four types of grid sets. This makes it possible to select the target work machine more accurately from among the four types of work machines.

[0087] Next, if the area ratio of all four types of grid assemblies is less than the threshold m (NO in S501), the aircraft selection unit 53 proceeds to processing in S507. On the other hand, if the area ratio of at least one type of grid assemblies is greater than or equal to the threshold m (YES in S501), the aircraft selection unit 53 defines the grid assemblies whose area ratio is greater than or equal to the threshold m as a potential assemblies gi and assigns them a provisional ID, as shown in Figure 10 (S502).

[0088] In the example shown in Figure 10, when the 3D image IMG-1 is in the configuration of the work machine assignment shown in Table 1 below, and the threshold m is 0.1%, the machine selection unit 53 defines five grid sets as potential sets gi and assigns them temporary IDs "1" to "5". The potential sets gi assigned temporary IDs "1" and "4" are grid sets to which brush cutters are assigned. The potential sets gi assigned temporary ID "2" are grid sets to which slope mowers are assigned. The potential sets gi assigned temporary ID "3" are grid sets to which winch-equipped mowers are assigned. The potential sets gi assigned temporary ID "5" are grid sets to which remote-controlled mowers are assigned. Each potential set gi to which temporary IDs "1" to "5" are assigned has the details shown in Table 2 below.

[0089] [Table 1]

[0090] [Table 2]

[0091] In Table 1 mentioned above, the "constant r" represents the selection order of work machines when prioritizing work efficiency. Here, work machines with a lower selection order, or in other words, work machines with a larger "constant r" value, offer higher safety during operation. The value of the "constant r" can be arbitrarily changed depending on which aspect of the work is prioritized, or the type of work machine, etc. For example, the value may be determined by prioritizing safety during operation. "Polygon" refers to the 2D image IMG-2 shown in Figure 10.

[0092] Next, in S503, the machine selection unit 53 determines whether or not a composite latent assembly exists among the defined multiple latent assemblies gi. A composite latent assembly is a grid assembly in which an outer latent assembly gi surrounds an inner latent assembly gi such that other types of latent assemblies gi (hereinafter referred to as "outer latent assemblies gi") are in contact with the inner latent assembly gi around the entire circumference of one type of latent assembly gi (hereinafter referred to as "inner latent assembly gi"). An example of the structure of a composite latent assembly in this embodiment is a layered structure in which two to four or more types of latent assemblies gi are arranged in substantially concentric circles. Another example of the structure of a composite latent assembly in this embodiment is a structure in which two or three types of inner latent assemblies gi are arranged spaced apart from each other within the outermost latent assembly gi.

[0093] If it is determined that a composite latent aggregate exists (NO in S503), the aircraft selection unit 53 proceeds to the process in S511. On the other hand, if it is determined that a composite latent aggregate does not exist (YES in S503), the aircraft selection unit 53 compares the magnitude of the constant r of the outer latent aggregate gi that constitutes the composite latent aggregate with the constant r of the inner latent aggregate gi that also constitutes the composite latent aggregate. The aircraft selection unit 53 then determines whether the value of the constant r of the outer latent aggregate gi is smaller than the value of the constant r of the inner latent aggregate gi (S504).

[0094] If the answer to S504 is YES, the aircraft selection unit 53 considers the outer potential aggregate gi and the inner potential aggregate gi as separate aggregates (S505). On the other hand, if the answer to S504 is NO, the aircraft selection unit 53 replaces the inner potential aggregate gi with a grid aggregate of the same type as the outer potential aggregate gi, and then considers the new potential aggregate gi after the replacement as a single aggregate (S506).

[0095] Next, in S507, the machine selection unit 53 determines whether a composite grid assembly exists among multiple grid assemblies whose area ratio is less than the threshold m. A composite grid assembly has a structure in which an outer grid assembly surrounds an inner grid assembly such that another type of grid assembly (hereinafter referred to as the "outer grid assembly") is in contact with the inner grid assembly around its entire circumference. In other words, a composite grid assembly has a structure similar to a composite latent assembly. Furthermore, the area ratio of the composite grid assembly, that is, the sum of the area ratio of the outer grid assembly and the area ratio of the inner grid assembly, is greater than or equal to the threshold m.

[0096] If it is determined that no composite grid assemblies exist (NO in S507), the aircraft selection unit 53 proceeds to the process in S511. On the other hand, if it is determined that composite grid assemblies exist (YES in S507), the aircraft selection unit 53 considers the existing composite grid assemblies as composite potential assemblies and performs the same process as in S504 in S508. If YES in S508, the aircraft selection unit 53 performs the same process as in S505 in S509 and proceeds to the process in S511. On the other hand, if NO in S508, the aircraft selection unit 53 performs the same process as in S506 in S510.

[0097] Next, in S511, the aircraft selection unit 53 determines one or more assemblies from the composite potential assemblies by executing the processes in S505 and S506 for all potential assemblies gi that constitute the composite potential assemblies. The aircraft selection unit 53 also determines one or more assemblies from the composite grid assemblies by executing the processes in S509 and S510 for all grid assemblies that constitute the composite grid assemblies. Then, the aircraft selection unit 53 assigns a unique ID to the one or more assemblies that have been determined. Furthermore, the aircraft selection unit 53 determines all potential assemblies gi, excluding the composite potential assemblies and composite grid assemblies, as assemblies and assigns a unique ID to each assembly. After the processing in S511 is completed, the aircraft selection unit 53 proceeds to the processing in S601.

[0098] Here, the series of processes S502 to S511 will be explained in detail using Figures 10 and 11, and Tables 3 and 4 below as examples. In the following explanation of the series of processes S502 to S511, it will be assumed that no composite grid set exists when the threshold m is 0.1% and 1.0%.

[0099] [Table 3]

[0100] When the threshold m is 0.1%, the aircraft selection unit 53 assigns temporary IDs "1" to "5" to five grid sets to form a latent set gi, as shown in Figure 10 and Table 3 above. In the example in Figure 10, a two-layered composite latent set is formed by the outer latent set gi assigned temporary ID "4" and the inner latent set gi assigned temporary ID "5". The constant r (=4) of the outer latent set gi is greater than the constant r (=1) of the inner latent set gi (NO in S505).

[0101] Therefore, the aircraft selection unit 53 replaces the inner potential aggregate gi with a grid aggregate of the same type as the outer potential aggregate gi to generate a new potential aggregate gi. The aircraft selection unit 53 also assigns a temporary ID "4 (integrated)" to the newly generated potential aggregate gi, as shown in Table 4 below. Then, as shown by reference numeral 1011 in Figure 11, the aircraft selection unit 53 confirms each of the potential aggregate gi to which temporary IDs "1" to "3" have been assigned as an aggregate and assigns a unique ID "1" to "3" to it. Similarly, the aircraft selection unit 53 confirms the potential aggregate gi to which temporary ID "4 (integrated)" has been assigned as an aggregate and assigns a unique ID "4" to it.

[0102] [Table 4]

[0103] When the threshold m is 1.0%, the aircraft selection unit 53 assigns temporary IDs "2", "4", and "5" to the three grid sets to form a potential set gi, as shown in Table 3 above. Similarly, as in the case where the threshold is 0.1%, the aircraft selection unit 53 assigns temporary ID "4 (integrated)" to the new potential set gi generated from the potential set gi assigned temporary ID "4" and the potential set gi assigned temporary ID "5", as shown in Table 4 above. Then, as shown by reference numeral 1012 in Figure 11, the aircraft selection unit 53 confirms the potential set gi assigned temporary ID "2" as a set and assigns it a unique ID "1". Similarly, the aircraft selection unit 53 confirms the potential set gi assigned temporary ID "4 (integrated)" as a set and assigns it a unique ID "2".

[0104] When the threshold m is 10.0%, no potential aggregate gi exists, as shown in Table 3 above. However, a composite grid aggregate is formed by the grid aggregate with an area ratio of 7.9% to which the brush cutter is assigned and the grid aggregate with an area ratio of 12% to which the remote-controlled grass trimmer is assigned (see Figure 10). Therefore, the machine selection unit 53 considers this grid aggregate to be a potential aggregate gi and assigns it the temporary ID "4 (integrated)" as shown in Table 4 above. Then, as shown by reference numeral 1013 in Figure 11, the machine selection unit 53 confirms the potential aggregate gi (composite grid aggregate) to which the temporary ID "4 (integrated)" has been assigned as an aggregate and assigns it the unique ID "1".

[0105] Next, in S601, the machine selection unit 53 decides whether or not to use two or more types of work machines for the work on the target land LT. The machine selection unit 53 makes this decision from the perspective of balancing work efficiency and ensuring the safety of the workers, taking into consideration factors such as the size and terrain of the target land LT and the performance of each type of work machine.

[0106] If it is decided to use two or more types of work machines (YES in S601), the machine selection unit 53 determines whether it is possible to work on an area of ​​the target land LT where the area ratio is equal to or greater than the threshold o with one type of work machine (S602).

[0107] Here, "area ratio in the target land LT" refers to the ratio of the surface area of ​​a specific region within the target land LT to the surface area of ​​the entire target land LT. In this embodiment, the machine selection unit 53 considers the ratio of the area of ​​a specific region within the 2D image IMG-2 to the area of ​​the 2D image IMG-2 as the "area ratio in the target land LT". The threshold o is set as the lower limit of the area ratio that can achieve both work efficiency and safety for workers even when performing work with only one type of work machine, taking into consideration factors such as the size and topography of the target land LT and the performance of each type of work machine.

[0108] If it is determined that the work is possible (YES in S602), the machine selection unit 53 selects the machine with the largest area ratio of the total grid area from among one or more machine types whose area ratio of the total grid area is equal to or greater than the threshold o as the target machine (S603). Here, the total grid area is the sum of the areas of the figures visible when viewing a grid G ​​from a planar perspective, for multiple grids G to which the same type of machine is assigned. The area ratio of the total grid area is the ratio of the total grid area to the area of ​​the 2D image IMG-2.

[0109] The machine selection unit 53 performs a process like S603, which allows for the selection of the single machine that maximizes work efficiency while keeping the uncut areas (unworked areas) on the target land LT within an acceptable range and ensuring the safety of the workers. The machine assignment process ends when the process in S603 is completed.

[0110] On the other hand, if it is determined that work is impossible (NO in S602), the machine selection unit 53 determines whether it is possible to work with two types of work machines in an area of ​​the target land LT where the area ratio is greater than or equal to the threshold q (S604). The threshold q is set as the lower limit of the area ratio in which work efficiency and the safety of the workers can be achieved by performing work with two types of work machines, taking into consideration factors such as the size and topography of the target land LT and the performance of each type of work machine.

[0111] If it is determined that work is possible (YES in S604), the machine selection unit 53 selects the top two types of work machines from among two or more types of work machines whose area ratio to the total grid area is greater than or equal to the threshold q, in descending order of their area ratio to the total grid area, as the target work machines (S605). By performing this process, the machine selection unit 53 can select the two types of work machines that maximize work efficiency while keeping the area of ​​uncut land LT within an acceptable range and ensuring the safety of the workers.

[0112] On the other hand, if it is determined that the work is impossible (NO in S604), the machine selection unit 53 selects all four types of work machines as the target work machines (S606). The machine assignment process ends when either process S605 or S606 is completed.

[0113] Next, if it is decided in S601 to use only one type of work machine (NO), the machine selection unit 53 determines whether the total area ratio is less than the threshold n (S607). The total area ratio is the ratio of the total area obtained by summing the areas of one or more types of assemblies to the area of ​​the 2D image IMG-2.

[0114] The threshold n is a standard value for the total area ratio, set from the perspective of balancing work efficiency and ensuring the safety of the workers, taking into consideration factors such as the size and topography of the target land LT and the performance of each type of work machine. In this embodiment, the threshold n is set for the total area ratio, but for example, different weights may be assigned to the threshold n for each type of aggregate. Then, the magnitude of the area ratio for each type of aggregate and the threshold after the aforementioned different weights may be compared. By performing this weighting, the degree of danger of performing work in the aggregate can be grasped with high accuracy for each type of aggregate. This makes it possible to select the target work machine more accurately from among the four types of work machines.

[0115] If it is determined that the total area ratio is less than the threshold n (YES in S607), the machine selection unit 53 selects the one type of work machine that has the largest area ratio of the total grid area from among four or more types of work machines as the target work machine (S603). If YES in S607, areas corresponding to aggregates within the target land LT, i.e., areas where it is unsuitable to perform work, can be ignored. Therefore, by performing the process as in S603, the machine selection unit 53 can select the one type of work machine that maximizes work efficiency while ensuring the safety of the workers.

[0116] On the other hand, if it is determined that the total area ratio is greater than or equal to the threshold n (NO in S607), the machine selection unit 53 selects the one type of work machine with the largest value of the constant r from among four or more types of work machines as the target work machine (S608). If NO in S607, areas corresponding to aggregates within the target land LT, that is, areas where work itself is unsuitable, cannot be ignored. Therefore, by performing the process as in S608, the machine selection unit 53 can select the one type of work machine that is most reliable in terms of ensuring the safety and reducing the burden on the planned workers. The machine assignment process ends when the process in S608 is completed.

[0117] Here, the series of processes S603, S607, and S608 will be explained in detail using Table 5 below as an example. In Table 5 below, "○" indicates that work efficiency is prioritized, and "×" indicates that ensuring the safety of the workers and reducing their burden is prioritized.

[0118] [Table 5]

[0119] When the threshold m is 0.1%, there are four types of aggregates, each assigned a unique ID from "1" to "4" (see symbol 1011 in Figure 11 and Table 4), and the total area percentage is 16.7%, as shown in Table 5 above. When the threshold m is 1.0%, there are two types of aggregates, each assigned a unique ID from "1" to "2" (see symbol 1012 in Figure 11 and Table 4), and the total area percentage is 15.4%. When the threshold m is 10.0%, there is one type of aggregate, each assigned a unique ID from "1" (see symbol 1013 in Figure 11 and Table 4), and the total area percentage is 10.3%.

[0120] When the threshold m is 0.1%, setting the threshold n to 18.0% results in the total area ratio being less than the threshold n (YES in S607). Therefore, prioritizing work efficiency, the machine selection unit 53 selects the remote-controlled brush cutter (see reference numeral 1011 in Figure 11), which has the largest area ratio of the total grid area among the four types of work machines, as the target work machine (S603). On the other hand, setting the threshold n to 16.0% or 14.0% results in the total area ratio being greater than or equal to the threshold n (NO in S607). Therefore, prioritizing the safety and burden reduction of the planned worker, the machine selection unit 53 selects the brush cutter (see Table 4), which has the largest value of the constant r among the four types of work machines, as the target work machine (S608).

[0121] When the threshold m is 1.0%, setting the threshold n to 18.0% or 16.0% results in the total area ratio being less than the threshold n (YES in S607). Therefore, the machine selection unit 53 prioritizes work efficiency and selects a remote-controlled brush cutter (see reference numeral 1012 in Figure 11) as the target machine (S603). On the other hand, setting the threshold n to 14.0% results in the total area ratio being greater than or equal to the threshold n (NO in S607). Therefore, the machine selection unit 53 prioritizes ensuring the safety of the worker and reducing their burden and selects a brush cutter (see Table 4) as the target machine (S608).

[0122] When the threshold m is 10.0%, the total area ratio will be less than the threshold n regardless of whether the threshold n is set to 18.0%, 16.0%, or 14.0% (YES in S607). Therefore, the machine selection unit 53 prioritizes work efficiency and selects a remote-controlled lawnmower (see reference numeral 1012 in Figure 11) as the target machine (S603).

[0123] Furthermore, as shown in Figure 12, the display control unit 54 may display a 3D image IMG-3, which reflects the selection result of the target work machine in the 3D image IMG, on the display unit 12. In this case, for example, the machine selection unit 53 generates the 3D image IMG-3 and transmits it to the display control unit 54. The display control unit 54 then transmits the 3D image IMG-3 to the display unit 12 and controls the display unit 12 to display the 3D image IMG-3 on the display unit 12.

[0124] Reference numeral 1021 in Figure 12 represents an example of a 3D image IMG-3 displayed on the display unit 12 when the machine selection unit 53 selects only a brush cutter as the target work machine. Reference numeral 1022 in Figure 12 represents an example of a 3D image IMG-3 displayed on the display unit 12 when the machine selection unit 53 selects two types of work machines as target work machines for each of the multiple polygons that make up the target land LT.

[0125] [Effects of the selection system] According to the selection system 100, the machine selection unit 53 selects a target machine from among multiple types of machine tools based on the distribution pattern of grids G to which the same type of machine tool is assigned in the 3D image IMG-1. This allows for the selection of a target machine tool while considering both the detailed terrain characteristics of each virtual grid GK and the allocation balance of each machine tool within the target land LT. Therefore, compared to directly selecting a machine tool based on information indicating the terrain characteristics of the entire target land LT without first assigning a machine tool to each grid G, it is possible to select a machine tool that is more suited to the actual terrain of the target land LT.

[0126] Furthermore, according to the selection system 100, the machine assignment unit 52 assigns the work machine that best fits the grid G ​​from at least two perspectives: the inclination angle 24, the relief index 25, and the slope distance 26. Since these three pieces of information are important for determining whether a work machine is suitable for work on the virtual grid GK, the machine assignment unit 52 can assign the work machine that best fits the work on the virtual grid GK with high accuracy. This allows for the selection of a work machine that is well-suited to the actual terrain of the target land LT with high accuracy.

[0127] [Variation] <Reference to work history information and proficiency information> The selection system 100 may also have the machine assignment unit 52 assign one of the four types of work machines to grid G, taking into account the contents of at least one of the work history information and the proficiency information.

[0128] Work history information is information that shows the past work history for each of several types (four types in this embodiment) of work machines. Examples of work history information include past travel trajectories and past work stop history. Work stop history includes malfunction history, rollover history, and history of being unable to proceed due to contact with obstacles, etc. Furthermore, the land covered by the work history information is not limited to the target land LT, but covers all land where the work machine has performed work in the past.

[0129] Skill level information indicates the operator's skill level in operating multiple types (four types in this embodiment) of work machines. Skill level information consists of the operator's past work performance (work time, difficulty of work content, quality of work results, number of work stoppages, etc.), total operating time, total operating distance, etc.

[0130] Specifically, the information acquisition unit 51 acquires at least one of the work history information and proficiency information from the storage unit 21 via the communication unit 14 and transmits it to the machine assignment unit 52. The work history information and proficiency information may also be stored in the memory built into the storage unit 13 or the selection device 50. Then, the machine assignment unit 52 determines the work machines to be assigned to grid G ​​by the flowchart process shown in Figure 6, and then reviews this assignment by referring to at least one of the work history information and proficiency information acquired from the information acquisition unit 51.

[0131] For example, if the work history information of a work machine that has been assigned is unsatisfactory, the machine assignment unit 52 will assign a different type of work machine that has better work history information and can ensure safety when working on the virtual grid GK corresponding to grid G. Also, for example, if the type of work machine that has been assigned is not a brush cutter and the proficiency information is unsatisfactory, the machine assignment unit 52 will assign a brush cutter, which has the largest value of the constant r among the four types of work machines, as a replacement. Furthermore, if the type of work machine that has been assigned is not a remote-controlled grass trimmer and the proficiency information is good, the machine assignment unit 52 will assign a different type of work machine that has a smaller value of the constant r than the work machine that has been assigned and can ensure safety when working on the virtual grid GK corresponding to grid G.

[0132] By performing this process, the machine allocation unit 52 can select a machine that is suitable not only for the actual terrain of the target land LT, but also for the actual work conditions of the machine and the planned workers.

[0133] Furthermore, the selection system 100 may have the machine assignment unit 52 increase or decrease at least one of the threshold values ​​i1, i2, j1, j2, k1, k2, and k3 depending on the content of at least one of the work history information and the proficiency information.

[0134] Specifically, the machine assignment unit 52 increases or decreases the value of at least one of the aforementioned thresholds related to the assignment of a specific type of work machine, depending on the quality of the content of the work history information of that specific type of work machine. In addition, the machine assignment unit 52 increases or decreases the value of at least one of the aforementioned thresholds that is affected by the content of the proficiency information, depending on the quality of the content of the proficiency information. For example, if the proficiency information includes information indicating the proficiency of working on slopes, then thresholds i1 to i3 would be affected.

[0135] By performing this process, the machine allocation unit 52 can set predetermined conditions that are appropriate to the actual work conditions of each machine and worker. As a result, the determination result of the machine allocation unit 52, which is the basis for assigning a machine to grid G, will be in line with the actual work conditions of each machine and worker. Therefore, it is possible to select a machine that is appropriate not only to the actual terrain of the target land LT, but also to the actual work conditions of each machine and worker.

[0136] Furthermore, the aircraft assignment unit 52 may also take into account, for example, attribute information in addition to work history information and proficiency information. Attribute information consists of information indicating the age, physical strength, gender, etc., of the person scheduled to work. Also, for example, the aircraft assignment unit 52 may take into account, in addition to work history information and proficiency information, weather information. Weather information is information indicating the weather conditions in the area to which the target land LT belongs, from a few hours to about one month. Examples of weather information include, for the area to which the target land LT belongs, (i) the weather forecast for the scheduled work day (which may include the weather forecast up to a few days before the scheduled work day), and (ii) the weather recorded by the person scheduled to work for a certain period up to the scheduled work day. Weather information may include both (i) and (ii) mentioned above.

[0137] If weather information is also taken into account, the aircraft allocation unit 52 may adjust at least one of the thresholds i1 to i3 (see Figure 6) related to the slope s of grid p to a value corresponding to the weather conditions of the area to which the target land LT belongs. For example, if the weather information indicates heavy rain for all days from the day of the scheduled work to several days prior, the aircraft allocation unit 52 may reduce all of the thresholds i1 to i3.

[0138] <Consideration of the distribution pattern of inappropriate grids> The selection system 100 may also have the machine selection unit 53 select a target machine from among four types of machine bodies, taking into account the distribution pattern of unsuitable grids in the 3D image IMG-1. The unsuitable grids are grids G, which the machine assignment unit 52 decided not to assign a machine to in the process of S104 in Figure 6.

[0139] Specifically, if an unsuitable grid is adjacent to a set of entities to which a unique ID has been assigned, and the type of work equipment assigned to this entity is anything other than a brush cutter, the equipment selection unit 53 changes the work equipment assigned to this entity to a brush cutter. This process is performed in the virtual grid GK corresponding to the entity to which the unsuitable grid is adjacent, with the aim of ensuring that the workers perform their tasks safely.

[0140] By performing this process, the machine selection unit 53 can select a target work machine while also considering the distribution pattern of virtual grids GK that are unsuitable for work within the target land LT. This allows for the selection of a work machine that is better suited to the actual terrain of the target land LT. Furthermore, it improves the safety of work using the work machine and reduces damage to the work machine.

[0141] [Examples of implementation using software] The function of the selected device 50 (hereinafter referred to as "device") is a program that causes the device to function as a computer, and can be realized by a program that causes each control block of the device (particularly each part included in the control unit 15) to function as a computer.

[0142] In this case, the aforementioned device includes a computer having at least one control device (e.g., a processor) and at least one storage device (e.g., memory) as hardware for executing the aforementioned program. By executing the aforementioned program using this control device and storage device, each of the functions described in the above embodiment is realized.

[0143] The aforementioned program may be recorded on one or more computer-readable recording media, not temporary ones. These recording media may or may not be provided by the aforementioned device. In the latter case, the aforementioned program may be supplied to the aforementioned device via any wired or wireless transmission medium.

[0144] Furthermore, some or all of the functions of each of the aforementioned control blocks can also be realized by logic circuits. For example, an integrated circuit in which logic circuits functioning as each of the aforementioned control blocks are formed is also included in the scope of the present invention. In addition, it is also possible to realize the functions of each of the aforementioned control blocks by, for example, a quantum computer.

[0145] [Additional Notes] The present invention is not limited to the embodiments and modifications described above, and various modifications are possible within the scope of the claims. For example, embodiments obtained by appropriately combining the technical means disclosed in each of the embodiments and modifications described above are also included in the technical scope of the present invention. [Explanation of Symbols]

[0146] 1 terminal 2 servers 21 Memory section 24. Inclination Angle (Feature Information) 25. Topography Index (Characteristic Information) 26. Slope distance (characteristic information) 27. Aircraft Information 28 Work History Information 29. Proficiency Information 50 Selection device (control device) 100 Selection Systems G Grid GK Virtual Grid IMG, IMG-1 3D image LT Target land (land to be worked on)

Claims

1. A selection device for selecting a work machine to be used on land to be worked on from among several types of work machines, An information acquisition unit acquires feature information indicating the topographic characteristics of each of the multiple virtual grids obtained by virtually dividing the land into a grid, and acquires machine information relating to the performance of each of the multiple types of work machines. For each of the multiple grids obtained by dividing the three-dimensional image of the land into a grid, the machine assignment unit determines whether the feature information of the virtual grid corresponding to that grid satisfies predetermined conditions, and then assigns the machine whose machine information content best matches the content of the determination result from among the multiple types of machine tools to that grid. A selection device comprising: a machine selection unit that selects a target machine based on the distribution pattern of a plurality of grids to which the same type of machine is assigned in the three-dimensional image.

2. The selection device according to claim 1, wherein the characteristic information comprises at least two of the following (I), (II), and (III). (I) The angle of inclination of the slope included in the virtual grid, with respect to the vertical line. (II) Relief index indicating the degree of relief of the terrain (III) The shortest distance between the upper and lower ends of the slope

3. The aforementioned information acquisition unit, Work history information showing the past work history for each of the aforementioned multiple types of work machines, The following information is obtained regarding the proficiency level of operators who are scheduled to perform work using the aforementioned target work machine, and the proficiency level of operators for each of the multiple types of work machines. The selection device according to claim 1 or 2, wherein the machine assignment unit assigns the work machine to the grid, taking into account the contents of at least one of the work history information and the proficiency information.

4. The selection device according to claim 3, wherein the aircraft allocation unit determines whether the characteristic information satisfies the predetermined conditions by comparing the magnitude of the numerical value indicated by the characteristic information with a threshold, and increases or decreases the value of the threshold according to the content of at least one of the work history information and the proficiency information.

5. If the aircraft allocation unit, upon receiving the determination result, determines that it is inappropriate to perform work in the virtual grid corresponding to the grid that was the subject of the determination, it will refrain from assigning the work aircraft to that grid. The selection device according to claim 1, wherein the machine selection unit selects the target machine by taking into account the distribution patterns of at least one grid in the three-dimensional image where the assignment of the machine was not made.

6. A program for causing a computer to function as a selection device according to claim 1, wherein the program causes the computer to function as the information acquisition unit, the aircraft allocation unit, and the aircraft selection unit.

7. A selection system controlled by a control device that selects a work machine to be used on the land to be worked on from among several types of work machines, The control device and a terminal capable of sending and receiving, The control device and the terminal each have a server capable of sending and receiving messages, each of which has a storage unit that stores characteristic information indicating the topographic features of each of the multiple virtual grids obtained by virtually dividing the land into a grid, and also stores machine information relating to the performance of each of the multiple types of work machines. The control device is The terminal accepts user input and performs an information acquisition process which involves acquiring the characteristic information from the storage unit for each of the multiple virtual grids constituting the land, and acquiring the machine information from the storage unit for each of the multiple types of work machines. For each of the multiple grids obtained by dividing the three-dimensional image of the land into a grid, a machine assignment process is performed to determine whether the feature information of the virtual grid corresponding to that grid satisfies predetermined conditions, and then assign the machine whose machine information content best matches the content of the determination result from among the multiple types of machine tools to that grid. A selection system that performs a machine selection process for selecting a target machine based on the distribution pattern of a plurality of grids in the three-dimensional image to which the same type of machine is assigned.

8. A selection method performed by a computer for selecting a work machine to be used on land to be worked on from among a plurality of types of work machines, An information acquisition step in which, when the aforementioned land is virtually divided into a grid and each of the multiple unit spaces obtained is designated as a virtual grid, characteristic information indicating the topographic characteristics of each of the multiple virtual grids is acquired for each of the multiple virtual grids, and machine information relating to the performance of the work machine is acquired for each of the multiple types of work machine, For each of the multiple grids obtained by dividing the three-dimensional image of the land into a grid, a machine assignment step is performed to determine whether the feature information acquired in the information acquisition step in the virtual grid corresponding to that grid satisfies predetermined conditions, and then assign to the grid the machine whose machine information acquired in the information acquisition step best matches the content of the determination result from among the multiple types of machine tools. A selection method comprising: a machine selection step of selecting a target work machine based on the distribution pattern of a plurality of grids in the three-dimensional image to which the same type of work machine has been assigned in the machine assignment step.

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