Movement control device and movement control method

Abstract

To provide a movement control device and a movement control method that can set an appropriate range of movement. [Solution] The control device 100 is equipped with an automatic route generation function 110 (movement range acquisition unit 110a) which has a movement range acquisition unit 110a that optimally sets the movement range in which work should actually be performed, based on conditions that affect movement indicated by work status information, from within the physically movable range of the mobile device 200. This makes it possible to automatically or semi-automatically cut out only the necessary area from a vast area to create a work plan, eliminates movement in unnecessary areas, and greatly improves the overall efficiency of the work.

Description

Technical Field

[0001] The present invention relates to a movement control device and a movement control method for controlling a mobile apparatus.

Background Art

[0002] Patent Document 1 describes generating a path in which a work vehicle travels around the outer periphery of a work area and covers the inner side in a reciprocating manner. It also describes that when the work area is large, the inner area is divided into divided inner areas, an inner path is created in each area, and the areas are connected by connection paths.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of Invention

Problems to be Solved by the Invention

[0004] However, in the invention described in Patent Document 1, it is not possible to automatically set a movement range that does not affect movement, and as a result, an appropriate travel path cannot be generated.

[0005] Accordingly, an object of the present invention is to provide a movement control device and a movement control method capable of setting an appropriate movement range.

Means for Solving the Problems

[0006] A movement control device according to the present disclosure includes: a range acquisition unit that sets a movement range based on a condition affecting movement of a mobile apparatus, out of a movable range in which the mobile apparatus is movable; and a movement path generation unit that generates a movement path of the mobile apparatus based on the movement range.

[0007] Furthermore, the movement control method of the present disclosure comprises a movement control method for a movement control device, which includes a range acquisition step of setting a movement range from among the movable range in which the moving device can move, based on conditions that affect the movement of the moving device, and a movement path generation step of generating a movement path for the moving device based on the movement range. [Effects of the Invention]

[0008] According to this disclosure, an appropriate range of movement can be set. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 shows the configuration of the motion control system according to this embodiment. [Figure 2] Figure 2 is a block diagram showing the functional configuration of the control device 100. [Figure 3] Figure 3 shows the detailed configuration of the automatic route generation function 110. [Figure 4] Figure 4 shows the detailed configuration of the automatic return function 120. [Figure 5] Figure 5 shows an example of a problem where the vehicle deviates outside the movement range when diagonal zigzag movement is applied to a concave movement range. [Figure 6] Figure 6 is a flowchart showing the overall process of automatic route generation. [Figure 7] Figure 7(a) shows candidate dividing lines passing through the vertices of the movement range and the criteria for their acceptance or rejection. Figure 7(b) shows an example where the movement range is divided into multiple divided regions by the adopted dividing lines. [Figure 8] Figure 8(a) shows the state in which virtual lines parallel to the dividing line are generated at predetermined intervals and the concept of obtaining the intersection points of the divided region. Figure 8(b) shows an example in which multiple movement path candidates are generated by changing the starting position (upper right, lower right, upper left, lower left) within the divided region. [Figure 9] Figure 9 shows examples of candidate movement paths corresponding to four starting positions, focusing on the divided region (1). [Figure 10]Figure 10(a) shows a conceptual diagram illustrating the process of calculating the distance traveled between the starting point of the entire path and the starting position of each divided region, and selecting the starting position that yields the shortest distance. Figure 10(b) shows a conceptual diagram illustrating the process of adopting a candidate travel path that includes the selected starting position as the path for that divided region. [Figure 11] Figure 11(a) shows the concept of identifying the final position of a selected movement path and calculating the movement distance from there to the starting position of another divided region. Figure 11(b) shows the difference between the straight-line distance from the end position to the starting position of the next divided region and the actual movement distance that does not go outside the movement range in a concave polygon. [Figure 12] Figure 12 shows the concept of inter-divided region connections when generating an overall path by sequentially connecting divided regions (1) to (5) (including avoidance of NG paths that go outside the movement range and generation of alternative paths). [Figure 13] Figure 13(a) shows an example of a return path when the movement cost of the cutting blade ON area during return is 4. Figure 13(b) shows an example of a return path when the movement cost of the cutting blade ON area during return is 5. [Figure 14] Figure 14 is a flowchart showing the feedback control process. [Figure 15] Figure 15 is a flowchart showing the automatic feedback process. [Figure 16] Figure 16 is a flowchart showing the return path search process. [Figure 17] Figure 17 shows the division of the mission route, the mowing area A0 relative to the entire mission, and the drivable area. [Figure 18] Figure 18 shows the traveled area A1, the area where the cutting blade is ON but not traveling A2, the area where the cutting blade is ON upon return A2a, and the area where the cutting blade is OFF upon return A3. [Figure 19] Figure 19(a) shows an example of a return path pattern. [Figure 20] This diagram shows alternative logic. [Figure 21] Figure 21 shows examples of the "Unable to Return" confirmation dialog, the "Unable to Reach" confirmation dialog, and the "Immediate Return" confirmation dialog. [Figure 22] Figure 22 is a diagram showing an example of section division display when a movement range is automatically assigned to a plurality of units. [Figure 23] Figure 23 is a diagram showing an example of a mode selection dialog (unit count specification / time specification) for multi-unit assignment and a detailed setting screen for each unit. [Figure 24] Figure 24 is a diagram showing an example of a screen (seek bar / numerical input) for manually adjusting the assignment ratio of each unit. [Figure 25] Figure 25 is a diagram showing an example of an input screen for the unit count specification mode and the time specification mode. [Figure 26] Figure 26 is a diagram showing a processing flow from route division, confirmation to transmission in the unit count specification mode. DETAILED DESCRIPTION OF EMBODIMENTS

[0010] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the following description, the same or similar components are denoted by the same reference numerals, and overlapping descriptions may be omitted. The present embodiment relates to a movement control device and a route generation method that automatically generate an efficient movement route over the entire movement range by dividing the movement range of a mobile device into a plurality of divided regions, generating movement route candidates in each divided region, and optimizing connections between the divided regions. Furthermore, the present embodiment relates to a movement control device provided with an automatic return function that highly accurately estimates the state such as remaining battery level when the mobile device is moving along a movement route, dynamically predicts future power consumption, and makes a return determination at an optimal timing, as well as a function that collectively manages a plurality of mobile devices.

[0011] First, the overall configuration of the mobile control system according to this embodiment will be described. Figure 1 is a diagram showing the system configuration according to this embodiment. This system consists of a control device 100 and a mobile device 200. The control device 100 is connected to the mobile device 200 so as to be able to communicate via the Internet or other wireless communication network, and transmits route and operation instructions to the mobile device 200 and receives status notifications from the mobile device 200. The mobile device 200 is equipped with an autonomous control unit 200a and moves autonomously within the movement range based on the route and operation instructions received from the control device 100. The mobile device 200 also has the function of receiving signals from GNSS (Global Navigation Satellite System) satellites and determining its own position with high precision.

[0012] In this embodiment, "mobile device" refers to a device that autonomously moves within a predetermined range of motion and performs a predetermined task. Specific examples of mobile devices include lawnmowers, pesticide spraying drones, snowplows, crop harvesters, or cleaning robots (for cleaning glass and other debris). In the following description, an autonomous lawnmower (rover) will be described as the mobile device 200, but this disclosure is not limited to this and can be similarly applied to flying vehicles such as drones. The mobile device 200 is equipped with a work mechanism (e.g., a cutting blade mechanism) that performs a predetermined task such as mowing while moving within the range of motion, and this work mechanism has a configuration that allows it to be switched on and off.

[0013] Figure 2 is a block diagram showing the functional configuration of the control device 100. The control device 100 includes an operation unit 101, a display unit 102, a storage unit 103, an automatic route generation function 110, an automatic return function 120, a centralized management function 130, and a driving control function 140. The control device 100 is configured, for example, as a personal computer operated by a user, a tablet terminal, or a server device on the cloud, and includes a CPU, memory, storage, communication interface, etc. The CPU of the control device 100 realizes the automatic route generation function 110, the automatic return function 120, the centralized management function 130, and the driving control function 140 by executing programs stored in the storage and memory.

[0014] The automatic route generation function 110 is responsible for automatically generating a travel route (travel path) by dividing the travel range of the mobile device 200. The automatic return function 120 is responsible for detecting situations where a return is necessary when the mobile device 200 is moving according to the travel path and for performing return control. The centralized management function 130 is responsible for coordinating the management of multiple mobile devices 200 and for assigning and monitoring tasks. The travel control function 140 is responsible for acting as an interface and control system that transmits the generated routes and operation instructions to the mobile device 200, receives status notifications from the mobile device 200, and passes them on to each function.

[0015] Figure 3 shows the detailed functional configuration of the automatic route generation function 110. The automatic route generation function 110 is composed of a movement range acquisition unit 110a, a divided area acquisition unit 111, a travel route candidate generation unit 112, and a travel route generation unit 113.

[0016] The movement range acquisition unit 110a is responsible for acquiring the movement range of the mobile device 200. This movement range may be manually specified by the operator of the control device 100, or it may be specified based on the route taken by actually moving the mobile device 200. For example, the movement range acquisition unit 110a may acquire the area enclosed by the route taken as the movement range. Further details will be described later.

[0017] The divided region acquisition unit 111 is the part that acquires multiple divided regions by dividing the movement range of the moving device 200 with dividing lines.

[0018] The travel path candidate generation unit 112 is the part that generates candidate travel paths (travel path candidates) for the mobile device 200 in each of the multiple divided regions.

[0019] The travel path generation unit 113 acquires the start and end positions of candidate travel paths for each divided region, determines the next divided region and its start position based on the end position, and connects these to generate a travel path for the entire travel range.

[0020] The automatic route generation function 110, the automatic feedback function 120, and the centralized management function 130 will be described below. Note that each of these functions may operate independently and may not be related to one another.

[0021] Figure 4 shows the detailed functional configuration of the automatic return function 120. The automatic return function 120 includes a returnable area determination unit 121 and a return path generation unit 122.

[0022] The returnable area determination unit 121 is responsible for determining whether the next destination or the final destination is within the returnable area when the mobile device 200 is moving along its travel path.

[0023] The return path generation unit 122 is responsible for generating the optimal return path from the current location to the return location and performing return control when the returnable area determination unit 121 determines that the destination is not within the returnable area.

[0024] Next, the details of the path generation process by the automatic path generation function 110 will be described. In this embodiment, the "movement range" refers to a polygonal area that is pre-set as the area to which the moving device 200 should move. The movement range may be defined as a concave simple polygon having a constriction or indentation. A concave simple polygon is a simple polygon that has at least one vertex with an interior angle exceeding 180 degrees and whose sides do not intersect. In such a concave movement range, if a simple zigzag path is applied, the moving device 200 may deviate outside the movement range. As shown in Figure 5, when moving in a zigzag direction at an angle, a problem arises in which the moving device 200 deviates outside the movement range in the concave part of the movement range (region R1 in the figure). To solve this problem, this disclosure divides the movement range into multiple divided regions and performs zigzag movement only within each divided region, thereby preventing the moving device 200 from deviating outside the movement range.

[0025] Next, the method for acquiring the "movement range" by the movement range acquisition unit 110a will be described. In this embodiment, the control device 100 automatically or semi-automatically acquires the "movement range" that is the actual work target from the "movable range," which is the entire area that the mobile device 200 can physically move.

[0026] The movement range acquisition unit 110a extracts and sets the optimal movement range from the movable range based on various conditions that affect the movement of the mobile device 200. These "conditions" include, for example, the terrain and ground conditions obtained by analyzing image data of the work area taken by satellite images or drones, the status of the work target, and work environment information such as the growth status of crops and the arrangement of objects around the work area. The movement range acquisition unit 110a can set only the areas where growth is progressing as the movement range for the work target, excluding areas where growth is insufficient. This makes it possible to create an efficient work plan limited to the necessary areas.

[0027] Furthermore, this "work status information" also includes "area type" predefined in the management system, etc. For example, if a large movable area is divided into multiple area types such as "A variety area," "B variety area," and "no-spraying area," the movement range acquisition unit 110a can set only the area type specified by the user (for example, "A variety area") as the movement range. This makes it easy to set an appropriate range according to the work content.

[0028] Furthermore, the movement range acquisition unit 110a can also automatically set or correct the next movement range based on the history of the "movement paths" that the mobile device 200 has actually traveled in the past. For example, if the mobile device avoided a specific area during the previous operation, it will determine that the area is likely to have mud or obstacles and will automatically exclude it from the next movement range. Conversely, it is also possible to prioritize setting an area that was not worked on in the previous operation as the next movement range. In this way, by feeding back past travel records, it is possible to continuously generate safer and more efficient movement ranges. The movement range information set by the movement range acquisition unit 110a is used in the subsequent path generation process.

[0029] When the movement range is set in this way, it may form a concave polygon. In such cases, it may be difficult to automatically set the travel path. The following explains how to automatically generate a path in such cases.

[0030] Referring to the flowchart shown in Figure 6, the overall flow of the automatic path generation process in the control device 100 will be explained. The automatic path generation process starts from step S101. In step S101, if the division area acquisition unit 111 determines that the movement range is a concave polygon, it executes a process to divide the movement range of the mobile device 200 with division lines and acquire multiple division areas. Once the process in step S101 is completed, the process proceeds to step S102. In step S102, the travel path candidate generation unit 112 executes a process to generate travel path candidates for each of the multiple division areas acquired in step S101. Once the process in step S102 is completed, the process proceeds to step S103. In step S103, the travel path generation unit 113 executes a process to generate a travel path for the mobile device 200 based on the travel path candidates generated in step S102. In S104, the on / off settings of the cutting blade mechanism of the mobile device 200 are made for the cutting blade ON travel path and the cutting blade OFF travel path of the mobile device 200. Once step S103 is completed, the automatic route generation process ends.

[0031] Next, the process of acquiring the divided regions in step S101 will be described in detail. The divided region acquisition unit 111 generates dividing lines that pass through the vertices of the movement range, and divides the movement range into multiple divided regions. In this embodiment, "vertex" refers to the bending point of the boundary line that constitutes the outer shape of the movement range, i.e., the corner of the movement range. "Dividing line" refers to a straight line drawn to divide the movement range into multiple sub-regions, and refers to a straight line that passes through the vertices of the movement range. "Boundary line" refers to a set of line segments that constitute the outer shape of the movement range.

[0032] As shown in Figure 7(a), the division region acquisition unit 111 generates candidate division lines passing through each vertex of the movement range, and adopts a candidate division line as a division line only if it satisfies the following conditions. The first condition is that there are movement range intersection points, which are the points where the boundary line of the movement range and the candidate division line intersect, flanking the vertex. A "movement range intersection point" refers to the point where the boundary line indicating the outer shape of the movement range intersects with the candidate division line. The existence of movement range intersection points flanking a vertex means that there is at least one movement range intersection point on each side of that vertex. The second condition is that the candidate division line lies within the movement range. The existence of a candidate division line lies within the movement range means that both line segments from the vertex to each movement range intersection point are located inside the movement range.

[0033] In Figure 7(a), the dividing lines indicated by lines L1 and L2 are lines that were adopted as dividing lines that satisfy the two conditions above, while the candidate dividing lines indicated by lines L3 and L4 are lines that were not adopted because they do not satisfy the above conditions. The candidate dividing lines indicated by lines L3 and L4 are not adopted as dividing lines because there are no intersection points of the movement range that enclose vertex P4, or the line segment from vertex P3 to the intersection point P31 of the movement range passes outside the movement range. By setting such conditions, it is guaranteed that each divided region divided by the dividing lines has a shape that does not deviate outside the movement range even when the moving device 200 moves in a zigzag pattern.

[0034] As shown in Figure 7(b), the movement range is divided into five divided regions (1) to (5) as a result of dividing the movement range by dividing lines that satisfy the above conditions. Each divided region has a shape that prevents it from deviating outside the movement range even when the moving device 200 moves in a zigzag pattern. The divided region acquisition unit 111 outputs the information of the multiple divided regions acquired in this way to the travel path candidate generation unit 112.

[0035] In this embodiment, the division region acquisition unit 111 has a function to select the azimuth angle of the division line in order to minimize the number of turns of the mobile device 200. Specifically, the division region acquisition unit 111 generates a plurality of division line candidates by shifting a candidate division line passing through a vertex by a predetermined angle (for example, 5 degrees) around the vertex as an axis, and generates a plurality of division regions corresponding to each division line candidate. The travel path candidate generation unit 112 generates a travel path candidate for each of the plurality of division regions corresponding to each division line candidate. The division region acquisition unit 111 adopts the division line candidate with the fewest number of turns among the generated travel path candidates as the division line, and acquires the division region divided by that division line as the final division region. By minimizing the number of turns, the movement efficiency of the mobile device 200 is improved, and working time and energy consumption are reduced.

[0036] Next, the process of generating travel path candidates in step S102 will be described in detail. The travel path candidate generation unit 112 generates travel path candidates in each divided region acquired by the divided region acquisition unit 111. First, the travel path candidate generation unit 112 draws virtual lines K parallel to the dividing lines at predetermined intervals with respect to the travel range. "Virtual line K" refers to an auxiliary straight line used to generate travel path candidates, and refers to a straight line parallel to the dividing lines. "Determined interval" refers to an interval set based on the working width of the moving device 200 (for example, the cutting width of a lawnmower), and for example, an interval corresponding to 80 percent of the working width is set.

[0037] As shown in Figure 8(a), the virtual lines K are drawn parallel to the dividing lines at predetermined intervals, and multiple virtual lines K are generated throughout the entire movement range. The travel path candidate generation unit 112 then acquires the divided area intersection points Q, which are the intersection points between the boundary lines of each divided area and the virtual lines K. "Divided area intersection point Q" refers to the point where the boundary lines constituting the outer shape of the divided area intersect with the virtual lines K. The travel path candidate generation unit 112 sets the acquired divided area intersection points Q as the positions where the moving device 200 will turn, and generates a U-shaped travel path candidate. "U-shaped travel path candidate" refers to a path in which the moving device 200 moves back and forth within the divided area while turning at the divided area intersection points, and which as a whole draws a U-shape (may include a U-shape). In addition to the U-shape, there may also be V-shaped paths, or paths that move back and forth within the divided area by combining V-shapes and U-shapes.

[0038] As shown in Figure 8(b), the travel path candidate generation unit 112 generates multiple travel path candidates in each divided region by changing the starting position. Specifically, in each divided region, the travel path candidate generation unit 112 generates travel path candidates using the upper right, lower right, upper left, and lower left divided region intersections Q(Q1~Q4) as starting positions. Figure 8(b) shows four travel path candidates corresponding to the four starting positions (upper right, lower right, upper left, lower left) for divided region (2). Each travel path candidate is generated as a path that starts from each corresponding starting position and travels comprehensively through the divided region, passing through each of the divided region intersections Q1~Q4 within the divided region. For example, if the starting position is divided region intersection Q1, travel path candidates that pass through divided region intersections Q2, Q4, and Q3 are generated.

[0039] Figure 9 shows four candidate movement paths corresponding to four starting positions for the divided region (1). Figure 9(a) shows a candidate movement path starting from the upper right, Figure 9(b) shows a candidate movement path starting from the upper left, Figure 9(c) shows a candidate movement path starting from the lower left, and Figure 9(d) shows a candidate movement path starting from the lower right. In each candidate movement path, the moving device 200 starts from the starting position, moves comprehensively within the divided region while turning at the intersection of the divided regions, and reaches the ending position.

[0040] Next, the process of generating the travel path in step S103 will be described in detail. The travel path generation unit 113 selects one travel path candidate from among the multiple travel path candidates generated in each divided region and generates a travel path for the entire travel range by connecting the selected travel path candidates. First, the travel path generation unit 113 determines the starting point of the path for the entire travel range.

[0041] As shown in Figure 5, the method for determining the starting point of the route differs depending on whether or not the current location of the mobile device 200 can be obtained. If the current location of the mobile device 200 can be obtained (for example, if the current location is determined by a GNSS receiver), the route generation unit 113 sets the corner (vertex) of the travel range closest to the current location of the mobile device 200 as the starting point A. If the current location of the mobile device 200 cannot be obtained, the route generation unit 113 sets the northeast point (with north at the top) of the rectangle encompassing the travel range, that is, the upper right vertex of the smallest axis-parallel rectangle that encloses the travel range, as the starting point B. The "encompassing rectangle" refers to the smallest axis-parallel rectangle that encloses the travel range.

[0042] As shown in Figure 10(a), the travel path generation unit 113 calculates the travel distance between the starting point B of the determined path and the intersection point Q of the divided region, which is the starting position of each candidate travel path in each divided region. The travel path generation unit 113 selects the intersection point Q11 of the divided region, which is the starting position with the shortest calculated travel distance, and selects that candidate travel path. Here, the travel distance is not a straight-line distance, but is calculated as the travel distance of a travel path that does not go outside the travel range. "Travel distance of a travel path that does not go outside the travel range" refers to the length of a path that the mobile device 200 can travel without crossing the boundary line of the travel range.

[0043] As shown in Figure 10(b), the travel path generation unit 113 selects a travel path candidate generated in a divided region that includes the shortest starting position Q11 as the travel path for that divided region. The travel path generation unit 113 deletes other travel path candidates belonging to the same divided region as the selected travel path candidate. That is, of the travel path candidates shown in Figures 9(a) to 9(d), only Figure 9(a) remains, and the other travel path candidates are deleted. As a result, only one travel path candidate (shown in Figure 9(a)) remains in each divided region. Note that "deletion" here means that multiple travel path candidates are temporarily cached in memory, and once one travel path candidate is determined, the rest are deleted from memory.

[0044] As shown in Figure 11(a), the travel path generation unit 113 identifies the division region intersection Q18 (the last point of the path), which is the final position of the selected travel path. The travel path generation unit 113 calculates the travel distance from the identified division region intersection Q18 to the starting position of the remaining candidate travel paths of the other division regions. The travel path generation unit 113 selects the candidate travel path of the other division region that includes the starting position for the shortest calculated travel distance as the next travel path. As shown in Figure 11(b), the division region having the division region intersection Q31, which is the closest starting position to the division region intersection Q18, which is the final position of the selected travel path (for example, division region (2)), is selected as the next target for travel.

[0045] Next, the method for generating a movement path from the final position of a certain divided region to the starting position of the next selected divided region will be specifically explained with reference to Figure 12. Figure 12 shows the concept of path generation when connecting divided regions (1) to (5) in order. For example, the movement path of divided region (1) starts from the starting position, the divided region intersection Q11, and ends at the final position, the divided region intersection Q18. The travel path generation unit 113 searches for the nearest unselected starting position of the divided region from this final position, the divided region intersection Q18. In this example, the divided region intersection Q21, which is the starting position of divided region (2), is selected. Similarly, the movement through divided region (2) ends at the final position Q22, and is connected to the next nearest starting position Q31 of divided region (3).

[0046] Here, a problem arises that is unique to the case where the range of movement is concave. For example, after ending at the intersection point Q42 of the divided region, which is the final position of travel in the divided region (4), the next position selected is the intersection point Q51 of the divided region (5), which is the closest starting position. However, if the final position Q42 and the starting position Q51 are connected by a simple straight line, that path (NG path R1 shown by the dashed line in the figure) crosses the boundary line of the range of movement, and the moving device 200 cannot travel.

[0047] To solve this problem, the travel path generation unit 113 controls the route generation process so that the route always passes inside the movement range when generating a travel path connecting the divided regions. Specifically, if an NG route R1 is detected, the travel path generation unit 113 generates an alternative route (travel path R2, shown as a solid line in the figure) that avoids the boundary of the movement range. This alternative route is calculated, for example, as a route that moves along the boundary of the movement range, or as a route obtained by searching only within the movable region using an A* search algorithm or the like. Through this process, the travel path generation unit 113 can efficiently connect each divided region and always generate a feasible and safe overall travel path.

[0048] When the travel path generation unit 113 selects the next travel path, it deletes other travel path candidates belonging to the same divided region as the selected travel path candidate. The travel path generation unit 113 repeats the above selection and deletion process until there are no more divided regions with remaining travel path candidates. After travel path candidates have been selected in all divided regions, the travel path generation unit 113 generates a travel path for the entire travel range by concatenating the travel paths of each selected divided region. The generated travel path is transmitted to the mobile device 200 as a route and operation instruction via the travel control function 140.

[0049] The travel path generation unit 113 generates a travel path in accordance with the above, but when searching for the shortest path connecting divided regions, it generates the travel path using a matrix. That is, the travel path generation unit 113 searches for the connection of matrices that results in the shortest travel distance between divided regions and generates the connected matrix as the travel path. Here, a matrix is ​​a grid of many dots arranged in the travel area, as shown in Figure 13, and is a candidate point for movement during path searching.

[0050] When generating paths to connect divided regions, movement paths are generated by connecting matrices in such a way that straight lines are long, and as a general rule, these matrices are distinguished from waypoints (WPs). However, matrices that become endpoints (start, end, and turning points) of path segments in connection between divided regions are adopted as WPs as needed. WPs (waypoints) are mainly composed of divided region intersection points Q, and a list is generated by adding the above-mentioned endpoint WPs (only when necessary) to these. A list of divided region intersection points Q, including such WPs, is created as WPs, and movement is performed along the generated path.

[0051] Next, the automatic return function 120 will be explained in detail.

[0052] The returnable area determination unit 121 loops through the unreachable WP list (WP_n, ..., WP_end). This loop is executed every 10 seconds, but is not limited to that. These WPs are mainly the coordinates (intermediate positions) of the rotational position of the moving device 200, and include the divisional area intersection points Q (Q1 to Q4, etc.) shown in Figure 8. In this disclosure, these divisional area intersection points Q are used to determine automatic return. Although this explanation assumes a rectangular movement range, as mentioned above, it may also be a concave polygon.

[0053] The return-possible area determination unit 121 first checks whether the current position of the mobile device 200 can be accurately determined by high-precision positioning (RTK-GNSS). If the return-possible area determination unit 121 determines that the position information is inaccurate, it does not perform this determination process.

[0054] The returnable area determination unit 121 calculates the actual usable battery remaining amount. Then, the returnable area determination unit 121 performs the following calculations for each WP that has not yet been driven.

[0055] First, the returnable area determination unit 121 predicts the power consumption to each WP. The returnable area determination unit 121 calculates how much power will be consumed if the machine moves from its current location to a certain WP. This calculation takes into account not only the distance, but also whether or not work is being done in that section (whether the cutting blade is turned ON or OFF) and the load of the working environment on that day (environmental coefficient), such as the hardness and density of the grass.

[0056] The returnable area determination unit 121 then predicts the return power consumption from each WP to the starting position (for example, the intersection point Q11 of the divided area). The returnable area determination unit 121 calculates how much power the moving device 200 will consume when it returns from each WP to the starting point.

[0057] The returnable area determination unit 121 calculates the total power consumption. Specifically, the returnable area determination unit 121 adds up the power consumption at each WP and the power consumption required for returning from each WP. This makes it possible to calculate the total power consumption required to arrive at each WP and return to the starting position.

[0058] The control device 100 displays the status of each WP (Workpoint) on the travel path based on the result of the feasibility determination. The returnable area indicates that it is possible to return to the starting point after reaching the WP. The reachable (return not possible) area indicates that it is possible to reach the WP but not to return to the starting point. The unreachable area indicates that it is impossible to reach the WP at all. This status display allows the operator to intuitively grasp the remaining energy of the mobile device 200 and the status of the travel path. The status display is color-coded to enable even more intuitive understanding.

[0059] In other words, the returnable area determination unit 121 in the control device 100 determines the effective battery remaining capacity. The effective battery remaining capacity is determined by multiplying the total battery capacity, the current state of charge (SOC), the battery capacity degradation coefficient, and the safety margin (a predetermined coefficient).

[0060] Furthermore, the returnable area determination unit 121 calculates the travel cost (power consumption) along the travel path (including the return path). This travel cost is determined based on the power consumption for travel, power consumption for work, and other conditions along the travel path. For example, the returnable area determination unit 121 calculates the travel cost for each WP (Workpoint). This travel cost is calculated by multiplying the distance between WPs, the base cost, and the environmental coefficient for the cutting blade state. The base cost is a value obtained from a table where costs are defined according to the SOC (State of Charge) and the cutting blade state (on / off). The environmental coefficient is an index representing the environmental load due to the density and hardness of the grass on the day, the muddyness of the road surface, etc. The virtual SOC is updated by subtracting the value obtained by dividing this travel cost by the total battery capacity from the virtual SOC, and the travel cost between the next WPs is calculated using this updated value. By repeating this process, the travel cost for a specified WP_i can be determined from the current value. In other words, after traveling one section, the battery is depleted, and the fuel consumption for the next section is recalculated based on the depleted battery charge, and this process is repeated.

[0061] The returnable area determination unit 121 then determines that a location where "travel cost including the return route ≤ effective battery remaining amount" is a returnable area, a location where "travel cost to each destination WP ≤ effective battery remaining amount < travel cost including the return route" is an reachable area, and a location where "effective battery remaining amount < travel cost to each destination WP" is an unreachable area. The returnable area determination unit 121 compares the travel cost and the effective battery remaining amount for each WP, or at predetermined intervals, to determine which area the current location is in.

[0062] These areas are determined based on the remaining effective battery charge of the mobile device 200 and the travel path. Furthermore, the travel path includes paths that require work and paths that do not require work, and the power consumption required for travel differs accordingly.

[0063] Next, the operation of the return control of the moving device 200 in the control device 100 will be described in detail with reference to the flowchart shown in Figure 14. At predetermined intervals (for example, every 10 seconds), the control device 100 determines, based on the current position, whether the destination (multiple WPs set up to the final destination) is within the returnable area, or whether the final destination is within the reachable area or the unreachable area.

[0064] The return control process starts from step S201. In this flowchart, the control device 100 periodically acquires current position information from the moving device 200. In step S201, the returnable area determination unit 121 determines whether the next WP at the current location is within the returnable area. If the next WP is within the returnable area (step S201: YES), the process proceeds to step S210, where the return trigger is set to OFF and the process ends. If the next WP is not within the returnable area (step S201: NO), the process proceeds to step S202.

[0065] In step S202, the control device 100 checks the return mode. There are three types of return modes to select from: fully automatic mode, semi-automatic (approved) mode, and manual mode. Fully automatic mode refers to a mode in which the return is automatically initiated if the next WP is outside the returnable area. Semi-automatic (approved) mode refers to a mode in which the return is paused if the next WP is outside the returnable area, and the operator decides whether to return or continue. Manual mode refers to a mode in which no automatic return process is performed. If the return mode is manual mode (step S202: manual mode), the process proceeds to step S210, where the return trigger is set to OFF and the process ends. If the return mode is fully automatic mode (step S202: automatic mode), the process proceeds to step S209, where the mission is aborted and the return trigger is set to ON in step S211 and the process ends. If the return mode is semi-automatic (approved) mode (step S202: semi-automatic (approved) mode), the process proceeds to step S203.

[0066] In step S203, the control device 100 temporarily suspends the mission. In step S204, the control device 100 determines whether the final WP is within reachable territory. If the final WP is within reachable territory (step S204: YES), the process proceeds to step S205, where a return failure confirmation dialog is displayed. For example, the display unit of the control device 100 displays the dialog shown in Figure 21(a). The return failure confirmation dialog is a dialog that states, "If you continue the mission as is, you will be able to reach the final destination, but it is unlikely that you will be able to return to the first WP from the middle of the route. Do you want to return now?" If the final WP is not within reachable territory (step S204: NO), the process proceeds to step S206, where a return failure confirmation dialog is displayed. The return failure confirmation dialog is a dialog that states, "If you continue the mission as is, you will not be able to reach the final destination, and it is unlikely that you will be able to return to the first WP from the middle of the route. Do you want to return now?" For example, the display unit of the control device 100 displays the dialog shown in Figure 21(b).

[0067] In addition to these dialogs, the dialog shown in Figure 21(c) may also be displayed. This is a confirmation dialog that appears when the user presses the immediate return button. It is a confirmation dialog that appears when the user gives an immediate return instruction.

[0068] In step S207, the control device 100 determines whether the operator has selected to return or whether a timeout has occurred. The return failure confirmation dialog or the reachability confirmation dialog displays the "Return Now" button and the "Continue" button, as well as a countdown of 30 seconds remaining until automatic return. If the operator selects to return or a timeout occurs (step S207: YES), the process proceeds to step S209, where the mission is aborted and the return trigger is set to ON in step S211, ending the process. If the operator selects to continue (step S207: NO (selected to continue)), the process proceeds to step S208, where the mission is restarted and the process ends.

[0069] When the return trigger is set to ON in step S211, the automatic return process is initiated. The operation of the automatic return process will be explained in detail with reference to the flowchart shown in Figure 15. The automatic return process starts from step S301. In step S301, the return route generation unit 122 cancels the current mission. In step S302, the return route generation unit 122 clears the currently displayed route and trajectory. In step S303, the return route generation unit 122 searches for a return route. The return route generation unit 122 searches for the optimal return route by connecting the matrices described above from the WP corresponding to the current location to the WP corresponding to the starting point. Details of the return route search process will be described later.

[0070] In step S304, the return path generation unit 122 sets the cutting blade on / off for each WP in the return path. Specifically, the return path generation unit 122 sets the cutting blade on for WPs within the return cutting blade ON area A2a, and off for WPs in other areas. In step S305, the return path is displayed on the display unit. In step S306, the return path generation unit 122 transmits the return path to the mobile device 200 via the travel control function 140 to start the mission.

[0071] Next, the definitions and generation methods of the various regions used in the return path search process will be explained in detail with reference to Figures 17 and 18. These regions are used to calculate the movement cost when searching for a return path.

[0072] Figure 17(a) shows the overall mission route. The mission route consists of a series of WPs connecting the starting point S to the ending point E. This route is divided into three sections according to the movement status of the mobile device 200: completed route R10, untraveled route R11 with the cutting blade ON, and untraveled route R12 with the cutting blade OFF. Untraveled route R11 with the cutting blade ON indicates a section that is scheduled to be traveled with the cutting blade ON but has not yet been traveled. Untraveled route R12 with the cutting blade OFF indicates a section that is scheduled to be traveled with the cutting blade OFF but has not yet been traveled.

[0073] Figure 17(b) shows the mowing area A0. The mowing area A0 refers to the entire area to be worked on, which is set considering the working width (mowing width) of the mobile device 200 relative to the entire mission path in Figure 17(a).

[0074] Figure 17(c) shows the drivable area. The drivable area is created by shrinking the mowing area A0 inward by a predetermined width. This predetermined width is set, for example, to the mowing width minus a margin α. This process ensures that as long as the mobile device 200 moves within the drivable area, its working mechanism will not extend beyond the mowing area A0, thus defining a safe range of movement.

[0075] Figure 18(a) shows the traveled area A1. The traveled area A1 is an area generated considering the working width of the mobile device 200 in relation to the traveled path shown in Figure 17(a), and includes the path that has already been traveled.

[0076] Figure 18(b) shows the area A2 where the cutting blade is ON but the machine has not yet traveled. Area A2 is a region that is generated considering the working width of the mobile device 200, relative to the cutting blade ON but untraveled path R11 shown in Figure 17(a). This region represents a path that is planned to be traveled but has not yet been traveled.

[0077] Figure 18(c) shows the area A2a where the mower blade is ON during the return journey. This area defines the region where it is recommended to continue working while moving when generating the return route. The area A2a where the mower blade is ON during the return journey is calculated as the intersection (common area) of the region obtained by subtracting the already traveled region A1 from the area A2 where the mower blade is ON but not yet traveled (i.e., the region that includes the planned route but has not yet been traveled) and the travelable region defined in Figure 17(c). This calculation shows that even during the return journey, the area where the mower blade is ON and not yet traveled still contains grass that is the target of the work, so traveling with the mower blade OFF may cause the machine to get stuck. Therefore, it is necessary to travel with the mower blade ON.

[0078] Figure 18(d) shows the return-time mowing blade OFF region A3. This region defines an area where work is not required or should not be performed when generating a return path. The return-time mowing blade OFF region A3 is calculated by subtracting the return-time mowing blade ON region calculated in Figure 18(c) from the drivable area. In the search for a return path, the travel cost when passing through this region is set lower than the travel cost when passing through the return-time mowing blade ON region. As a result, the return path generation unit 122 selects a path that passes through the return-time mowing blade OFF region A3 as much as possible in order to reduce energy consumption.

[0079] Next, the operation of the return path search process (subroutine in step S303) will be explained in detail with reference to the flowchart shown in Figure 16. The return path search process starts from step S401. In step S401, the return path generation unit 122 acquires path information. The path information includes the mission path, the already traveled path, the path where the mowing blade is ON but not traveled, and the path where the mowing blade is OFF but not traveled. In step S402, the return path generation unit 122 determines the drivable area. The drivable area is calculated by determining the mowing area from the mowing width area relative to the mission path, and then reducing the mowing area by the mowing width. At the boundary, if the mowing width exceeds the mowing area when traveling outside the path, it is reduced by the amount obtained by subtracting α from the mowing width. α is a small value that ensures the starting point WP is within the drivable area.

[0080] In step S403, the return path generation unit 122 determines the traveled area. The traveled area is calculated from the area of ​​the cutting width relative to the traveled path. In step S404, the return path generation unit 122 determines the area where the cutting blade is ON but not traveled. The area where the cutting blade is ON but not traveled is calculated from the area of ​​the cutting width relative to the path where the cutting blade is ON but not traveled. In step S405, the return path generation unit 122 determines the area where the cutting blade is ON at the time of return. The area where the cutting blade is ON at the time of return is calculated by the product of the area shown by the difference between the area where the cutting blade is ON but not traveled and the traveled area, and the travelable area. That is, the area where the cutting blade is ON at the time of return is calculated as = (area where the cutting blade is ON but not traveled - area where traveled) ∩ travelable area. In step S406, the return path generation unit 122 determines the area where the cutting blade is OFF at the time of return. The area where the cutting blade is OFF at the time of return is calculated from the difference between the travelable area and the area where the cutting blade is ON at the time of return. In other words, the return-time cutting blade OFF region is calculated as the travelable region minus the return-time cutting blade ON region.

[0081] In step S407, the return path generation unit 122 calculates the "mower blade ON travel cost ratio," which serves as the basis for cost evaluation in path searching. This cost ratio is an indicator showing how much more energy is consumed when traveling with work (mower blade ON) compared to traveling without work (mower blade OFF). This calculation takes into account both the standard power consumption (base cost) according to the current battery charge state (SOC) and the environmental load (environmental coefficient) that reflects the hardness of the grass and the road surface conditions on that day. This makes it possible to dynamically determine a realistic cost ratio according to the circumstances at the time, not just whether or not work is being done.

[0082] For example, the cutting blade ON travel cost ratio is calculated by dividing the "value obtained by multiplying the base cost with the cutting blade ON by the environmental coefficient" in the current SOC by the "value obtained by multiplying the base cost with the cutting blade OFF by the environmental coefficient". The base cost is the travel cost linked to the SOC, and is a reference cost obtained from a table based on the "current SOC" determined from the voltage after sensor correction. The environmental coefficient is a coefficient that is dynamically updated during operation and corresponds to the field environment at that time.

[0083] In step S408, the return path generation unit 122 performs a path search. In the path search, the movement cost in the return blade OFF region is set to 1, the movement cost in the return blade ON region is set to the blade ON movement cost ratio, and the movement cost in all other regions is set to 0, and the path from the current location to the first WP of the mission is searched using the A* search algorithm.

[0084] As shown in Figure 13, the return path generation unit 122 generates different return paths depending on the travel cost in the cutting blade ON travel area. Figure 13(a) shows the return path R1 when the travel cost in the cutting blade ON travel area is 4, and Figure 13(b) shows the return path R2 when the travel cost in the cutting blade ON travel area is 5. The higher the travel cost, the higher the travel cost to pass through the cutting blade ON travel area, so the return path generation unit 122 preferentially selects a path that avoids the cutting blade ON travel area. When the travel cost is low, a path that returns while passing through the cutting blade ON travel area may be selected. By adjusting the travel cost in this way, the optimal return path according to the remaining energy situation can be flexibly determined.

[0085] In Figure 13, the return routes R1 and R2 are the paths taken from the starting point (current location) S2 to the destination (first WP) S1. The starting point S2 is the endpoint of the already traveled route R10. Region A1 indicates the area where the mower blade is OFF during the return journey, region A2 indicates the area where the mower blade is ON during the return journey, and region A3 indicates the area where the mower blade is OFF during the return journey.

[0086] As shown in Figure 19, there are two main patterns for the return path. Figure 19(a) shows a pattern in which the return path R1 is determined by returning through the already traveled area, and Figure 19(b) shows a pattern in which the return path R2 is determined by proceeding through the untraveled area. The return path generation unit 122 selects one of the return path patterns according to the travel cost and remaining energy. The return path that returns through the already traveled area A1 is a highly likely path to travel because the mobile device 200 moves in the reverse direction along the path it has already traveled. The return path that proceeds through the untraveled area A3 is a path that the mobile device 200 has not yet traveled along, and this is the path with the lowest travel cost.

[0087] If the path search using the A* search algorithm fails, or if the searched path passes outside the movement range, the return path generation unit 122 searches for a return path using alternative logic. The return path search process using the alternative logic is as follows.

[0088] The return path generation unit 122 first adds the current location to the beginning of the return path. Next, the return path generation unit 122 adds WPs to the search list to create a search list. In the case of searching for a direction that has already been traveled, the WPs from the starting point to the last WP that has been traveled are added in order. In the case of searching for a direction that has not been traveled, after adding the WP at the starting point, the WPs that have not been traveled are added in reverse order from the end point. The return path generation unit 122 sets the current location as a search point. The return path generation unit 122 takes WPs in order from the beginning of the search list and searches for WPs where the straight line connecting the search point and the WP does not pass outside the movable area. In the case of a path with only the mower blade OFF, the movable area is the area where the mower blade is OFF at the time of return, and in the case of a path with the mower blade ON, the movable area is the drivable area. If no WP is found, the path search is terminated (no path). The found WP is added to the return path, and if the WP was the starting point, the path search is terminated (path found). If the WP was not the starting point, the WP is set as a search point and the search is repeated.

[0089] The alternative logic for searching for a return route is performed in two directions: the direction traveled and the direction not traveled, with two patterns for each direction: with the cutting blade OFF only and with the cutting blade ON. This may result in up to four return route candidates. If multiple return route candidates are obtained, the return route generation unit 122 calculates the travel cost for each return route candidate based on the section distance and whether the operation is ON or OFF, and adopts the return route candidate with the minimum calculated travel cost as the return route. The travel cost is calculated based on the power consumption relative to the travel distance in both the ON and OFF cases.

[0090] Figures 20(a) and 20(b) show the return paths indicated by the alternative logic. They show two directions, R3 for the direction already traveled and R4 for the direction not yet traveled.

[0091] Next, the detailed configuration and operation of the centralized management function 130 will be explained with reference to Figures 22 to 25. The centralized management function 130 is a function that assigns multiple mobile devices 200 to a single movement range and efficiently distributes the work. The control device 100 accepts the number of devices or time specification from the user through the user interface (UI) and performs optimal route division and assignment according to the capabilities (movement speed, work width, etc.) of each mobile device 200. The movement range may be a concave polygon as defined above, or a general rectangle. Furthermore, this centralized management function 130 does not necessarily presuppose the automatic route generation function 110 and the automatic return function 120.

[0092] Figure 22 shows an image of the automatic assignment of travel routes. As shown in Figure 22, with a single long route covering the entire travel range (a route consisting of areas 1, 2, and 3 in the figure) generated, the centralized management function 130 divides this route into multiple sections. For example, when assigning three mobile devices 200, the route is divided into the first section, second section, and third section, starting from the side closest to the starting point. Each section becomes the assigned section that each mobile device 200 is responsible for. Each mobile device 200 moves to the starting point of its assigned section, begins work, and ends work at the end point of its assigned section.

[0093] Figures 23(a) and 23(b) show the operation dialogs for assigning multiple units. When the user selects "Assign Multiple Units" on the control device 100 screen, the dialog shown in Figure 23(a) is displayed. In this dialog, the user can select either the "Specify Number of Units" mode or the "Specify Time" mode. The "Specify Number of Units" mode divides the route based on the number of mobile devices 200 currently available. The "Specify Time" mode calculates the required number of units based on the target time for completing the work and divides the route accordingly.

[0094] Figure 23(b) shows the screen for configuring the detailed settings of each machine. The user selects the model of each mobile device 200 to be assigned and inputs the operating speed (speed when the cutting blade is ON) and the moving speed (speed when the cutting blade is OFF) for each. Based on the speed information entered here and the distance information of the generated route, the control device 100 can calculate the time required for each mobile device 200 to travel the entire route.

[0095] First, let's explain the processing in the unit number specification mode. Figure 25(a) is an example of the input screen in the unit number specification mode. After the user inputs the number of units to be allocated (for example, 3 units) and configures the settings for each unit (model, speed), the centralized management function 130 divides the route so that the work completion times of each mobile device 200 are roughly uniform. Specifically, the centralized management function 130 distributes the numerous WPs that make up the route in a ratio according to the capabilities (speed) of each mobile device 200. For example, if there are three units with the same speed, the route is divided at positions that divide the total work distance into three equal parts. If the speeds are different, the faster units are assigned longer distances and the slower units are assigned shorter distances to adjust so that the work completion times of all units are the same. In addition, as a default setting, it is possible to set the system to automatically add a return route for each mobile device 200 to return to the starting point (or waiting area) after it has completed work in its assigned section.

[0096] Next, we will explain the processing in time-specified mode. Figure 25(b) is an example of the input screen for time-specified mode. The user inputs the assignable models, the maximum number of units, and the desired estimated work time (e.g., 30 minutes). The batch management function 130 first calculates the estimated time required (reference time) if the work is performed by a single mobile device 200. Next, the batch management function 130 calculates the number of units required to achieve the estimated work time. The calculation formula is, for example, "Number of units required = Reference time / Estimated work time," and the result is obtained by rounding up the decimal part. Within the set maximum number of units, the batch management function 130 prioritizes assigning models with higher speeds. After the number of units is determined, the batch management function 130 divides the routes so that the work completion time for each mobile device 200 is uniform, similar to the unit-specified mode.

[0097] Figure 24 shows the screen for adjusting allocation ratios. If a user wishes to manually fine-tune the automatically calculated allocation intervals, they can change the percentage assigned to each mobile device 200 using the seek bar or numerical input shown in Figure 24. For example, if it is known that a particular device has a low battery level, it is possible to reduce its assigned percentage. Once adjustments are made, the color-coded display of the route on the screen is updated in real time, allowing the user to visually confirm the allocation status.

[0098] Next, the processing flow of the "Specify Number of Units" mode in the centralized management function 130 will be explained in detail with reference to Figure 26. This process automatically assigns travel routes to the number of mobile devices specified by the user so that the completion times for each unit are equal.

[0099] First, when the user selects the "Assign Multiple Units" button on the user interface of the control device 100, the process begins. The control device 100 displays a mode selection dialog as shown in Figure 23(a).

[0100] When the user selects the "Specify Number of Units" mode, the control device 100 displays a screen for inputting the total number of mobile devices to be allocated. The user enters the desired number (for example, 3 units) on this screen. The control device 100 also displays a screen for setting the performance (working speed, etc.) of each unit, as shown in Figure 23(b). For each mobile device to be allocated, the user selects a model from a pre-registered model list and inputs or confirms the speed during operation (cutting blade ON) and movement (cutting blade OFF) for each (S501).

[0101] Once the user has completed the settings, the centralized management function 130 performs an automatic route division calculation (step S502). In this calculation, the centralized management function 130 calculates the division points of the route that each unit is responsible for, based on the total distance traveled for the entire mission, which has been generated in advance, and the working speed of each set mobile device, so that the estimated completion times for all mobile devices are approximately equal. For example, if all units have the same speed, the total distance is divided equally among the units; if the speeds differ, a longer distance is assigned to the faster unit and a shorter distance to the slower unit to equalize the completion times.

[0102] Once the automatic division calculation is complete, the control device 100 displays the allocation results on the user interface. This display is done visually by color-coding the routes for each aircraft, as shown in Figure 22, or by showing the percentage of each aircraft's assigned route, as shown in Figure 24.

[0103] Next, the control device 100 determines whether or not a manual adjustment operation has been performed by the user. The user can arbitrarily fine-tune the assigned percentage of each unit using the seek bar or numerical input shown in Figure 24 for the displayed automatic assignment results. If an adjustment operation has been performed by the user, the batch management function 130 immediately recalculates the division points based on the adjusted percentages and updates the display. After that, the process returns to step S501 and waits for further adjustment or confirmation operation.

[0104] The control device 100 determines whether the user has pressed the "Designation Complete" button. If the user confirms the assignment, the process proceeds to step S503.

[0105] The centralized management function 130 generates the final travel route for each mobile device based on the determined division ratio (S503). This route defines the start WP to the end WP specific to each unit.

[0106] Next, the centralized management function 130 determines whether the option to automatically return the units after the work is completed is enabled. If the option is enabled, the centralized management function 130 generates a return route from the work completion WP of each unit to the starting point or a designated waiting location and links it to the work route. If the option is disabled, the mobile unit stops at the work completion point.

[0107] Finally, the control device 100 transmits the final travel command (including the work route and return route) for each generated unit to the corresponding mobile device 200 via the travel control function 140 (step S504). This completes the series of allocation processes based on the specified number of units.

[0108] Furthermore, the centralized management function 130 of this embodiment has a coordinated control function for each mobile device 200 during work execution. This coordinated control function includes a proximity detection function, a cover travel function, and a dynamic cutting blade control function.

[0109] The proximity detection function prevents collisions and interference between multiple mobile devices 200. The control device 100 monitors the position information transmitted in real time from each mobile device 200 and calculates the distance between the devices. When two mobile devices 200 approach within a predetermined distance (e.g., 2 meters), the control device 100 executes collision avoidance logic. Specifically, it sends a stop command to one mobile device 200 and makes it wait until the other mobile device 200 has passed and is at a safe distance (e.g., 2 meters or more). After that, it sends a restart command to the stopped mobile device 200. If three or more devices approach each other, the control device 100 takes measures such as stopping all but one of the devices.

[0110] The cover travel function is a dynamic assignment change function designed to optimize the overall efficiency of the work. During operation, if one mobile device 200 (machine A) completes work in its assigned section, but another mobile device 200 (machine B) is still working and has untraveled paths (uncut paths), the control device 100 issues a command to machine A to assist machine B with its remaining work. Specifically, the control device 100 reassigns part or all of machine B's untraveled path to machine A, and generates and transmits a new travel path for machine A (a path to move to machine B's untraveled area and perform work). This absorbs variations in progress between machines and minimizes the overall work completion time.

[0111] The dynamic cutting blade control function prevents wasted energy consumption and damage to the ground due to overlapping work. The control device 100 records the travel trajectory and working status (cutting blade ON / OFF) of all mobile devices 200. When a mobile device 200 moves, if its path overlaps with an area already covered by another mobile device 200 with the cutting blade ON, the control device 100 controls the cutting blade of that mobile device 200 to automatically turn OFF in the overlapping section. This prevents mowing areas that have already been mowed, enabling efficient work.

[0112] Furthermore, the control device 100 provides a dashboard function as a remote monitoring and control function, which displays the current location, operating status (working, stopped, returning, etc.), speed, battery level, etc., of all mobile devices 200 on a map. Through this screen, the user can send commands to specific mobile devices 200 individually or to all of them at once, such as pausing, resuming, or making an emergency return. Switching from autonomous driving to manual operation mode can also be done from this screen.

[0113] Next, the effects and advantages of the control device 100 of this disclosure will be described.

[0114] The control device 100 in this disclosure includes a movement range acquisition unit 110a that optimally sets the "movement range" in which work should actually be performed, based on "conditions affecting movement" indicated by work status information including crop growth status, from within the "movable range" in which the mobile device 200 can physically move. This makes it possible to automatically or semi-automatically cut out only the necessary area from a vast area to create a work plan, eliminating movement in unnecessary areas and significantly improving the overall efficiency of the work.

[0115] Furthermore, the control device 100 feeds back the history of the "movement paths" that the mobile device 200 has actually traveled in the past, and uses this information to set the next movement range. This makes it possible to automatically avoid areas with mud or obstacles, and to prioritize setting unworked areas, allowing the system to autonomously learn and generate a safer and more efficient movement range through continuous operation.

[0116] Furthermore, the control device 100 contributes to the realization of precision agriculture by using work status information such as "crop growth status" and "plot type" as conditions. For example, it becomes possible to create detailed and intelligent work plans, such as applying fertilizer only to areas where growth has progressed, or spraying pesticides only in plots where a specific variety is planted.

[0117] Furthermore, in the control device 100, the divided region acquisition unit 111 divides the movement range into multiple divided regions, even if the movement range is a complex "concave polygon" with constrictions or indentations, generates "candidate movement paths" that are completed within each divided region, and the travel path generation unit 113, which functions as a determination unit and a movement path generation unit, optimally connects them, thereby automatically generating a highly comprehensive movement path without the moving device deviating outside the movement range.

[0118] Furthermore, in the control device 100, the division region acquisition unit 111, when generating division lines, imposes strict geometric conditions such as passing through vertices and existing within the movement range, thereby ensuring that each generated division region is a convex shape or a simple shape close to it, allowing the moving device to safely zigzag. This improves the reliability and stability of the subsequent path generation process.

[0119] Furthermore, in the control device 100, the travel path candidate generation unit 112 uses "virtual lines" parallel to the dividing lines to determine "intersection points of the divided regions," and generates multiple U-shaped travel path candidates with these points as turning points, changing the starting position (upper right, lower right, upper left, lower left, etc.). This makes it possible to efficiently generate specific and systematic path patterns for comprehensively traveling through each divided region.

[0120] Furthermore, in the control device 100, the travel path generation unit 113, when determining the connection order between divided regions, uses "travel distance by a travel path that does not go outside the travel range" as an evaluation criterion, rather than simple straight-line distance. This fundamentally solves the problem that often occurs in concave polygonal travel ranges, where connecting regions with straight lines results in going outside the range, and accurately determines the shortest and always feasible travel order.

[0121] Furthermore, the route generation unit 113 employs a greedy approach, first selecting the division region closest to the overall starting point, and then sequentially selecting the unselected division regions closest to the end point of that division region. This allows for the rapid generation of highly efficient connected routes while keeping computational complexity low.

[0122] Furthermore, the route candidate generation unit 112 has the effect of limiting the search space and preventing computational complexity by deleting other route candidates within a selected divided region.

[0123] The segmentation area acquisition unit 111 simulates multiple segmentation patterns by shifting the azimuth angle of the segmentation line by a predetermined angle, and adopts the one that minimizes the total number of turns. This minimizes the time loss and energy consumption associated with acceleration, deceleration, and direction changes of the moving device, thereby further improving the efficiency of movement.

[0124] Furthermore, the returnable area determination unit 121 constantly monitors whether the future "destination" is within a "returnable area" where the mobile device can safely return, taking into account the remaining battery level and environmental impact of the mobile device. The return path generation unit 122 then automatically initiates return control at the optimal timing when return is predicted to be impossible, thereby preventing serious risks such as the mobile device running out of energy mid-work and becoming stranded in the middle of the workplace depending on the work situation information.

[0125] The return-to-area determination unit 121 makes it possible to conduct a detailed risk assessment from both a short-term safety perspective and a long-term mission feasibility perspective by setting the "destination" for which the return decision is made to the "final destination" of the entire mission or the "next destination (WP)" to be targeted next.

[0126] Furthermore, when generating a return route, the return route generation unit 122 does not simply return along the shortest distance, but defines an "on-work area during return" and an "off-work area during return," and evaluates the travel cost. This allows the system to select the most intelligent return action depending on the situation, such as returning while completing work in the unworked area if possible, or saving energy by omitting unnecessary work. In particular, by dynamically calculating the on-work area and off-work area based on actual data such as traveled area and travelable area, an extremely rational cost evaluation is achieved.

[0127] The return path generation unit 122 is equipped with a highly reliable "alternative logic" that sequentially connects traversable points even if no return path is found by optimization algorithms such as A* search. This provides robustness that guarantees a minimum safe return path even under complex circumstances. Furthermore, even if multiple path candidates are obtained by the alternative logic, the optimal one is selected by comparing the travel costs, thus pursuing efficiency despite being an alternative method.

[0128] The centralized management function 130 includes a "management unit" that automatically divides and assigns travel routes to multiple mobile devices so that the work completion time is equal for each device, according to the capabilities of each device, simply by the user specifying the "number of units" or "work completion time". This makes it possible for users without specialized knowledge to operate multiple mobile devices very easily and efficiently. In addition, the "assignment result output unit" generates specific travel commands for each device, so the process from planning to execution is seamless.

[0129] It should be noted that the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the invention. For example, in the above embodiments, an autonomous lawnmower was described as the main example of the mobile device 200, but the mobile device 200 may be an aerial vehicle such as a drone, or other work equipment such as a pesticide spraying device, a snowblower, a cleaning robot, or a window cleaning robot. Also, in the above embodiments, a configuration was described in which the control device 100 communicates with the mobile device 200 via the internet, but the control device 100 may be mounted on the mobile device 200 and configured as an integral part of it. Furthermore, in the above embodiments, the case in which the movement range is a concave simple polygon was mainly described, but this disclosure can also be applied to cases in which the movement range is a convex polygon. In the case of a convex polygonal movement range, division by dividing lines may not be necessary, but by using dividing lines to minimize the number of turns of the mobile device 200, the movement efficiency can be further improved.

[0130] Furthermore, although the above embodiment describes a configuration that primarily uses the A* search algorithm in the search for the return path, this disclosure is not limited thereto, and other graph search algorithms can also be used. These modifications can also achieve the same effects as the above embodiment, without departing from the basic technical concept of this disclosure.

[0131] Furthermore, as a variation of the centralized management function 130, when the mobile devices 200 have different models and performance, a configuration can be used to divide the routes by weighting them according to the capabilities of each mobile device 200. For example, by assigning longer distances to faster models and shorter distances to slower models, the overall work completion time can be made uniform. It is also possible to optimize by assigning longer return distances to models with larger battery capacities.

[0132] Furthermore, in the centralized management function 130, if a mobile device 200 is to be disconnected during operation due to a malfunction or battery depletion, a configuration is also conceivable in which the unfinished work area is dynamically reassigned to the remaining mobile devices 200. This allows the entire operation to continue and be completed without stopping, even if unexpected problems occur.

[0133] The embodiments of this disclosure have been described above, but these are merely illustrative and do not limit the technical scope of this disclosure. Any modifications, improvements, combinations, etc., that a person skilled in the art could easily conceive based on the technical concept of this disclosure are all included within the technical scope of this disclosure.

[0134] The movement control device and movement control method of this disclosure have the following configurations. Note 1 A range acquisition unit acquires the range of movement of a mobile device based on conditions that affect the movement of the mobile device, within the range of movement of the mobile device. A movement path generation unit that generates a movement path for the moving device based on the movement range, A mobile control device equipped with the following features. Note 2 The range acquisition unit further includes, Based on the movement path taken by the moving device, the movement range is acquired. The mobile control device described in Appendix 1. Note 3 The aforementioned conditions are information regarding the work status within the movable range. A mobile control device as described in Appendix 1 or 2. Note 4 When the movement range is a concave polygon, the division region acquisition unit acquires multiple division regions by dividing the movement range with dividing lines passing through the vertices, Each of the above-mentioned multiple divided regions includes a movement path candidate generation unit that generates movement path candidates, A determination unit that obtains the start and end positions of candidate movement paths for each divided region, and determines the next divided region and its start position based on the end position, Equipped with, The aforementioned movement path generation unit, Based on the start and end positions of each of the divided regions, a movement path is generated. A mobile control device as described in any one of the appendices 1 to 3. Note 5 The aforementioned dividing line is, The following conditions must be met for the generation to occur: The mobile control device described in Appendix 4. Note 6 The aforementioned travel path candidate generation unit, With respect to the aforementioned range of movement, imaginary lines parallel to the dividing line are drawn at predetermined intervals, The intersection point of the division region, which is the intersection point of the boundary line of the division region and the virtual line, is obtained. For each of the divided regions, multiple candidate movement paths are generated, with the intersection of the divided regions being the position where the moving device rotates, by changing the starting position. A mobile control device as described in Appendix 4 or 5. Appendix 7 The aforementioned travel path candidate generation unit, For each of the divided regions, a candidate movement path is generated, using the intersections of the upper right, lower right, upper left, and lower left as the starting positions. The movement control device described in Appendix 6. Note 8 The aforementioned travel path candidate generation unit, The starting position is determined based on the starting position of each candidate movement path in each divided region and the movement distance based on a starting point defined in the movement range. A mobile control device as described in any one of the appendices 4 to 7. Note 9 The starting position based on the aforementioned travel distance is: The starting position is based on the distance traveled by a travel path that does not go outside the aforementioned range of movement. The mobile control device described in Appendix 8. Note 10 The aforementioned travel path candidate generation unit, The candidate movement path generated in the divided region containing the shortest starting position is taken as the movement path, and one movement path in another divided region containing the starting position closest to the final position is selected. This process is repeated until there are no more potential movement paths, and a movement path is selected from the potential movement paths in each divided region. A mobile control device as described in Appendix 8 or 9. Note 11 The aforementioned travel path candidate generation unit, In each divided region, when one candidate movement path is selected as a movement path, the other candidate movement paths are deleted. The mobile control device described in Appendix 10. Note 12 The division region acquisition unit, Multiple division regions are generated by shifting candidate division lines passing through the aforementioned vertex by a predetermined angle around the vertex. The aforementioned movement path candidate generation unit generates movement path candidates in each of the multiple divided regions, The division region acquisition unit acquires a division region using the division line candidate with the fewest turns among the movement path candidates as the division line. A mobile control device as described in any one of the appendices 4 to 11. Note 13 In a movement control device that performs movement control on a moving device that moves along a specified movement path, When the moving device is moving along the movement path, a determination unit determines whether the destination is a returnable area based on the movement cost, If it is determined that the destination is not within the return range, the return control unit performs return control to the return position, A mobile control device according to any one of the appendices 1 to 12, comprising: Note 14 The destination is an intermediate position defined up to the final destination of the moving device. The mobile control device described in Appendix 13. Note 15 The aforementioned moving device is controlled to move at each of the multiple moving points set within the moving range. The aforementioned determination unit determines whether the next destination from the current location is within the return zone, and if it determines that it is not within the return zone, it further determines whether the destination is within the reachable zone. The feedback control unit, if it is not within the reachable area, displays a dialog box to the operator. A mobile control device as described in Appendix 13 or 14. Note 16 The aforementioned mobile device has a mechanism that performs a predetermined task while moving within the aforementioned range of motion. The feedback control unit, The system controls the movement device to determine whether the predetermined operation is necessary and to return it to the return position. A mobile control device as described in any one of the appendices 13 to 15. Note 17 The feedback control unit, The return route to the return position is determined based on the travel cost based on the predetermined work. The mobile control device described in Appendix 16. Note 18 The feedback control unit, Determine the on-duty and off-duty areas during the return journey, and then determine the return route considering each of these areas. The mobile control device described in Appendix 17. Note 19 The aforementioned work-on area is, Based on the region represented by the product of the region shown by the difference between the area where work is on but not yet moved and the area where work has been done, and the movable region which is the movement range, The mobile control device described in Appendix 18. Note 20 The work-off area during the aforementioned return is, Based on the difference between the movable area and the working area, The mobile control device described in Appendix 19. Note 21 The feedback control unit, If it is not possible to determine the return route based on travel costs, Set your current location as the starting point of the return route. From multiple movement points set within the movement range, sequentially select and connect movement positions where the section connected by a straight line lies inside the movable area and does not intersect with the prohibited movement area. The return path is determined when the movement reaches the starting position after repeated linking. The mobile control device described in Appendix 17. Note 22 The feedback control unit, If multiple return route candidates are obtained, the travel cost for each candidate is calculated based on the distance between sections and whether the work is on or off. Based on this travel cost, the candidate return route is selected as the return route. The mobile control device described in Appendix 21. Note 23 A management unit selects either a mode for specifying the number of mobile devices or a mode for specifying the completion time of the work of the mobile devices according to user specifications, and determines an allocated section indicating the start and end positions of each mobile device so that the estimated completion times for each mobile device are approximately equal. The allocation result output unit generates the allocation section and travel command for each of the aforementioned mobile devices, A mobile control device according to any one of the appendices 4 to 22, comprising: Note 24 A range acquisition step in which the mobile device can move is set based on conditions that affect the movement of the mobile device, within the range of movement in which the mobile device can move, A movement path generation step that generates a movement path for the moving device based on the movement range, A movement control method comprising the following: [Explanation of symbols]

[0135] 100...Control device, 101...Operation unit, 102...Display unit, 103...Storage unit, 110...Automatic route generation function, 110a...Movement range acquisition unit, 111...Divided area acquisition unit, 112...Travel route candidate generation unit, 113...Travel route generation unit, 120...Automatic return function, 121...Returnable area determination unit, 122...Return route generation unit, 130...Batch management function, 140...Travel control function, 200...Movement device, 200a...Autonomous control unit.

Claims

1. A range acquisition unit acquires the range of movement of a mobile device based on conditions that affect the movement of the mobile device, within the range of movement of the mobile device. A movement path generation unit that generates a movement path for the moving device based on the movement range, When the movement range is a concave polygon, the division region acquisition unit acquires multiple division regions by dividing the movement range with dividing lines passing through the vertices, Each of the above-mentioned plurality of divided regions includes a movement path candidate generation unit that generates movement path candidates, A determination unit obtains the start and end positions of candidate movement paths for each divided region, and determines the next divided region and its start position based on the end position. Equipped with, The aforementioned movement path generation unit, Based on the start and end positions of each of the divided regions, a movement path is generated. Mobile control device.

2. The range acquisition unit further includes, Based on the movement path taken by the moving device, the movement range is acquired. The motion control device according to claim 1.

3. The movement control device according to claim 1 or 2, wherein the condition is work status information within the movable range.

4. The aforementioned dividing line is, The following conditions must be met for the generation to occur: there exists a movement range intersection point, which is the intersection point of the movement range boundary line and the dividing line, passing through the vertex of the movement range and enclosing the vertex, and that this intersection point is located within the movement range. The motion control device according to claim 1.

5. The aforementioned travel path candidate generation unit, With respect to the aforementioned range of movement, imaginary lines parallel to the dividing line are drawn at predetermined intervals, The intersection point of the division region, which is the intersection point of the boundary line of the division region and the virtual line, is obtained. For each of the divided regions, multiple candidate movement paths are generated, with the intersection of the divided regions being the position where the moving device rotates, by changing the starting position. The motion control device according to claim 1.

6. The aforementioned travel path candidate generation unit, For each of the divided regions, a candidate movement path is generated, using the intersections of the upper right, lower right, upper left, and lower left as the starting positions. The motion control device according to claim 5.

7. The aforementioned travel path candidate generation unit, The starting position is determined based on the starting position of each candidate movement path in each divided region and the movement distance based on a starting point defined in the movement range. The motion control device according to claim 1.

8. The starting position based on the aforementioned travel distance is: The starting position is based on the distance traveled by a travel path that does not go outside the aforementioned range of movement. The motion control device according to claim 7.

9. The aforementioned travel path candidate generation unit, The candidate movement path generated in the divided region containing the shortest starting position is used as the movement path, and one movement path from another divided region containing the starting position closest to the final position is selected. This process is repeated until there are no more potential movement paths, and a movement path is selected from the potential movement paths in each divided region. The motion control device according to claim 7.

10. The aforementioned travel path candidate generation unit, In each divided region, when one candidate movement path is selected as a movement path, the other candidate movement paths are deleted. The motion control device according to claim 9.

11. The division region acquisition unit, Multiple division regions are generated by shifting candidate division lines passing through the aforementioned vertex by a predetermined angle around the vertex. The aforementioned movement path candidate generation unit generates movement path candidates in each of the multiple divided regions, The division region acquisition unit acquires a division region using the division line candidate with the fewest turns among the movement path candidates as the division line. The motion control device according to claim 1.

12. In a movement control device that performs movement control on a moving device that moves along a specified movement path, When the moving device is moving along the movement path, a determination unit determines whether the destination is a returnable area based on the movement cost, If it is determined that the destination is not within the return range, the return control unit performs return control to the return position, A motion control device according to claim 1, comprising:

13. The destination is an intermediate position defined up to the final destination of the moving device. The motion control device according to claim 12.

14. The aforementioned moving device is controlled to move at each of the multiple moving points set within the moving range. The aforementioned determination unit determines whether the next destination from the current location is within the return zone, and if it determines that it is not within the return zone, it further determines whether the destination is within the reachable zone. The feedback control unit, if it is not within the reachable area, displays a dialog box to the operator. The motion control device according to claim 12.

15. The aforementioned mobile device has a mechanism that performs a predetermined task while moving within the aforementioned range of motion. The feedback control unit, The system controls the movement device to determine whether the predetermined operation is necessary and to return it to the return position. The motion control device according to claim 12.

16. The feedback control unit, The return route to the return position is determined based on the travel cost based on the predetermined work. The motion control device according to claim 15.

17. The feedback control unit, Determine the on-duty and off-duty areas during the return journey, and then determine the return route considering each of these areas. The mobile control device according to claim 16.

18. The work ON area at the time of return is, Based on the region represented by the product of the region shown by the difference between the area where work is on but not yet moved and the area where work has been done, and the movable region which is the movement range, The motion control device according to claim 17.

19. The work-off area during the aforementioned return is, Based on the difference between the movable area and the working area, The motion control device according to claim 18.

20. The feedback control unit, If it is not possible to determine the return route based on travel costs, Set your current location as the starting point of the return route. From multiple movement points set within the movement range, sequentially select and connect movement positions where the section connected by a straight line lies inside the movable area and does not intersect with the prohibited movement area. The return path is determined when the movement reaches the starting position after repeatedly connecting. The mobile control device according to claim 16.

21. The feedback control unit, If multiple return route candidates are obtained, the travel cost for each candidate is calculated based on the distance between sections and whether the work is on or off. Based on this travel cost, the candidate return route is selected as the return route. The motion control device according to claim 20.

22. A management unit selects either a mode for specifying the number of mobile devices or a mode for specifying the completion time of the work of the mobile devices according to user specifications, and determines an allocated section indicating the start and end positions of each mobile device so that the estimated completion times for each mobile device are approximately equal. The allocation result output unit generates the allocation section and travel command for each of the aforementioned mobile devices, A motion control device according to claim 1, comprising:

23. A range acquisition step in which the mobile device can move is acquired based on conditions that affect the movement of the mobile device, within the range of movement in which the mobile device can move, A movement path generation step that generates a movement path for the moving device based on the movement range, In the case where the movement range is a concave polygon, the division region acquisition step involves dividing the movement range with dividing lines passing through the vertices to obtain multiple division regions, A step of generating a candidate movement path in each of the plurality of divided regions, A decision step involves obtaining the start and end positions of candidate movement paths for each divided region, and determining the next divided region and its start position based on the end position. It has, In the aforementioned movement path generation step, Based on the start and end positions of each of the divided regions, a movement path is generated. A method for controlling movement.

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