Area management device, area division device, area management system, area management method, area management program, control method for area division device, and control program for area division device

Abstract

The present disclosure provides an area management device which enables easy management of a target area. The area management device includes a sensor information acquisition unit, a recognition-determination unit, and a behavior instruction unit. The sensor information acquisition unit acquires sensing information of a target area. The target area is a region partitioned by at least one area division device. The recognition-determination unit generates recognition-determination information by means of recognition-determination processing on the basis of the sensing information. The behavior instruction unit outputs a behavior instruction to the area division device on the basis of the recognition-determination information.

Description

Area management device, area division device, area management system, area management method, area management program, area division device control method, and area division device control program

[0001] The present disclosure relates to an area management device, an area division device, an area management system, an area management method, an area management program, a control method for an area division device, and a control program for an area division device.

[0002] In recent years, in order to alleviate the labor shortage caused by Japan's declining population, there has been active development of automation and remote work in the construction industry and other fields (Non-Patent Document 1).

[0003] “Automation and remote control technology for construction machinery installation,” [online], Ministry of Land, Infrastructure, Transport and Tourism, [searched June 5, 2024], Internet <URL: https: / / www.mlit.go.jp / tec / constplan / sosei_constplan_tk_000049.html>

[0004] As described in Non-Patent Document 1, when work construction is automated and remotely performed, there is a risk in the area where the work machine is performing autonomous work, so the work area must be divided and clearly marked, and the work area must be monitored manually. However, human monitoring work places a heavy burden on the monitor, and continuous monitoring is difficult, which is an issue.

[0005] Therefore, the present disclosure aims to provide an area management device, an area division device, an area management system, an area management method, an area management program, a control method for an area division device, and a control program for an area division device that enable simple management of target areas.

[0006] In order to achieve the above-mentioned objective, the area management device of the present disclosure includes a sensor information acquisition unit, a recognition judgment unit, and an action instruction unit, wherein the sensor information acquisition unit acquires sensing information of a target area, the target area is an area partitioned by at least one area division device, the recognition judgment unit generates recognition judgment information by a recognition judgment process based on the sensing information, and the action instruction unit outputs action instructions based on the recognition judgment information to the area division device.

[0007] The area division device of the present disclosure includes a boundary indication means, a control means, and an action execution means, wherein the boundary indication means indicates at least one boundary between a target area and an area outside the target area, the control means includes a communication unit and an action control unit, the communication unit receives the action instruction from the area management device of the present disclosure, and the action control unit controls the action execution means based on the action instruction.

[0008] The area management system of the present disclosure includes the area management device of the present disclosure and the area division device of the present disclosure.

[0009] The area management method of the present disclosure includes a sensor information acquisition process, a recognition judgment process, and an action instruction process, wherein the sensor information acquisition process acquires sensing information of a target area, the target area being an area partitioned by at least one area division device, the recognition judgment process generates recognition judgment information by a recognition judgment process based on the sensing information, and the action instruction process outputs action instructions based on the recognition judgment information to the area division device.

[0010] The area management program disclosed herein includes a sensor information acquisition procedure, a recognition judgment procedure, and an action instruction procedure, wherein the sensor information acquisition procedure acquires sensing information of a target area, the target area being an area partitioned by at least one area division device, the recognition judgment procedure generates recognition judgment information by a recognition judgment process based on the sensing information, and the action instruction procedure outputs action instructions based on the recognition judgment information to the area division device, and is an area management program that causes a computer to execute each procedure.

[0011] The control method for the area division device of the present disclosure includes a communication step and a behavior control step, wherein the communication step receives the behavior instruction from the area management device of the present disclosure, and the behavior control step controls the behavior execution means of the area division device of the present disclosure based on the behavior instruction.

[0012] The control program of the area division device of the present disclosure includes a communication procedure and a behavior control procedure, wherein the communication procedure receives the behavior instruction from the area management device of the present disclosure, and the behavior control procedure controls the behavior execution means of the area division device of the present disclosure based on the behavior instruction.

[0013] According to the present disclosure, target areas can be easily managed.

[0014] Fig. 1 is a block diagram showing the configuration of an example of an area management system including an area management device and an area division device of the present disclosure. Fig. 2 is a block diagram showing an example of the hardware configuration of the area management device of the present disclosure. Fig. 3 is a block diagram showing an example of the hardware configuration of a control unit included in the area division device of the present disclosure. Fig. 4 is a flowchart showing an example of processing in an area management program of the present disclosure. Fig. 5 is a flowchart showing an example of processing in a control program of the area management division device of the present disclosure.

[0015] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. The present disclosure is not limited to the following embodiments. In the following drawings, identical parts are designated by the same reference numerals. Furthermore, the descriptions of the embodiments can be mutually incorporated unless otherwise specified, and the configurations of the embodiments can be combined unless otherwise specified. In the present disclosure, each drawing may apply to one or more embodiments.

[0016] [Embodiment 1] <Area Management Program> The area management program of the present disclosure is a program for causing a computer to execute a sensor information acquisition procedure, a recognition and determination procedure, and an action instruction procedure. The area management program of the present disclosure can also be said to be a program for causing a computer to function as the sensor information acquisition procedure, the recognition and determination procedure, and the action instruction procedure. Furthermore, the area management program of the present disclosure can also be said to be a program for causing a computer to execute, for example, each step of an area management method described below.

[0017] The sensor information acquisition procedure acquires sensing information of a target area, the target area being an area partitioned by at least one area division device, the recognition judgment procedure generates recognition judgment information by a recognition judgment process based on the sensing information, and the behavior instruction procedure outputs behavior instructions based on the recognition judgment information to the area division device.

[0018] For example, the term "procedure" in each of the steps can be read as "processing." The area management program of the present disclosure may be recorded on a computer-readable recording medium, for example. The recording medium is, for example, a non-transitory computer-readable storage medium. The recording medium is not particularly limited, and examples thereof include random access memory (RAM), read-only memory (ROM), hard disk (HD), flash memory (e.g., SSD (Solid State Drive), USB flash memory, SD / SDHC card, etc.), optical disk (e.g., CD-R / CD-RW, DVD-R / DVD-RW, BD-R / BD-RE, etc.), magneto-optical disk (MO), floppy disk (FD), etc. The area management program of the present disclosure (also referred to as a programming product or program product, for example) may be distributed from an external computer. The "distribution" may be, for example, distribution via a communication network or distribution via a device connected via a wire. The area management program of the present disclosure may be installed and executed on the device to which it is distributed, or may be executed without being installed. An information processing device capable of executing the area management program of the present disclosure may be referred to as, for example, the area management device of the present disclosure.

[0019] <Area Management System (Area Management Device, Area Division Device)> Next, an example of an area management system according to the present disclosure will be described with reference to FIG. 1. As shown in FIG. 1A, the area management system 100 according to the present disclosure includes an area management device 10 and an area division device 20. In FIG. 1, the area management system 100 includes one area management device 10 and one area division device 20, but the area management system according to the present disclosure is not limited to this and may include multiple copies of at least one of the area management device 10 and the area division device 20. Furthermore, as shown in FIG. 1, the area management device 10 and the area division device 20 can communicate with each other via, for example, a communication network 30.

[0020] 1A, the area management device 10 (hereinafter also referred to as "the device 10") includes a sensor information acquisition unit 11, a recognition and judgment unit 12, and an action instruction unit 13. Although not shown, the device 10 may also include, for example, an input unit, an output unit, a display unit, and / or a memory unit. The sensor information acquisition unit 11, the recognition and judgment unit 12, and the action instruction unit 13 are each capable of executing, for example, a sensor information acquisition procedure, a recognition and judgment procedure, and an action instruction procedure in the area management program of the present disclosure.

[0021] The device 10 may be, for example, a single device including the above-mentioned units, or a device to which the above-mentioned units can be connected via a communication network 30. The device 10 can also be connected to an external device (described later) via the communication network 30. The communication network 30 is not particularly limited and may be a known network, for example, wired or wireless. Examples of the communication network include the Internet, the World Wide Web (WWW), a telephone line, a Local Area Network (LAN), a Storage Area Network (SAN), a Delay Tolerant Networking (DTN), a Low Power Wide Area Network (LPWA), and a Local 5G (L5G). Examples of wireless communication include Wi-Fi (registered trademark), Bluetooth (registered trademark), local 5G, and LPWA. The wireless communication may be a form in which each device communicates directly (ad hoc communication), infrastructure communication, indirect communication via an access point, or the like. The device 10 may be incorporated into a server as a system. The device 10 may also be, for example, a personal computer (PC, e.g., desktop or laptop) on which the program of the present disclosure is installed, a smartphone, a tablet terminal, or the like. The device 10 may be, for example, a form of cloud computing or edge computing in which at least one of the components is located on a server and the other components are located on a terminal.

[0022] 2 is a block diagram illustrating an example of the hardware configuration of the device 10. The device 10 includes, for example, a central processing unit (CPU, GPU, etc.) 101, a memory 102, a bus 103, a storage device 104, an input device 105, an output device 106, and a communication device 107. The components of the device 10 are connected to each other via the bus 103 and their respective interfaces (I / F).

[0023] The central processing unit 101 cooperates with other components via a controller (such as a system controller or an I / O controller) and is responsible for overall control of the device 10. In the device 10, the central processing unit 101 executes, for example, the program of the present disclosure (the area management program) and other programs, and also reads and writes various types of information. Specifically, for example, the central processing unit 101 functions as a sensor information acquisition unit 11, a recognition judgment unit 12, and an action instruction unit 13. The device 10 may include other computing devices such as a CPU, a GPU (Graphics Processing Unit), an APU (Accelerated Processing Unit), or a combination thereof as a computing device.

[0024] The bus 103 can also be connected to, for example, external devices. Examples of the external devices include the present device 10, the present device 20, an external storage device (external database, etc.), a printer, an external input device, an external display device, an external imaging device, etc. The present device 10 can be connected to an external network (the communication line network) by, for example, a communication device 107 connected to the bus 103, and can also be connected to other devices via the external network.

[0025] The memory 102 may be, for example, a main memory (primary storage device). When the central processing unit 101 performs processing, the memory 102 reads various operating programs, such as the program of the present disclosure, stored in the storage device 104 (described later), and the central processing unit 101 receives data from the memory 102 and executes the programs. The main memory may be, for example, a RAM (random access memory). Alternatively, the memory 102 may be, for example, a ROM (read only memory).

[0026] The storage device 104 is also referred to as an auxiliary storage device, for example, in contrast to the main memory (primary storage device). As described above, the storage device 104 stores an operating program including the program of the present disclosure. The storage device 104 may be, for example, a combination of a recording medium and a drive that reads and writes from and to the recording medium. The recording medium is not particularly limited and may be, for example, an internal or external type, such as a hard disk drive (HDD), CD-ROM, CD-R, CD-RW, MO, DVD, flash memory, or memory card. The storage device 104 may be, for example, a hard disk drive (HDD) or a solid-state drive (SSD) that integrates a recording medium and a drive. When the device 10 includes the storage unit, for example, the storage device 104 functions as the storage unit.

[0027] In the present device 10, the memory 102 and the storage device 104 can also store various information such as log information, information acquired from an external database (not shown) or an external device, information generated by the present device 10, and information used when the present device 10 executes processing. In this case, the memory 102 and the storage device 104 may store, for example, the above-mentioned information on the user of the present device. Note that at least a portion of the information may be stored, for example, in an external server other than the memory 102 and the storage device 104, or may be stored in a distributed manner across multiple terminals using blockchain technology or the like.

[0028] The device 10 further includes, for example, an input device 105 and an output device 106. Examples of the input device 105 include pointing devices such as a touch panel, track pad, and mouse; a keyboard; imaging means such as a camera and scanner; card readers such as an IC card reader and a magnetic card reader; and audio input means such as a microphone. Examples of the output device 106 include display devices such as an LED display and a liquid crystal display; audio output devices such as a speaker; a printer; and the like. In the first embodiment, the input device 105 and the output device 106 are configured separately, but the input device 105 and the output device 106 may be configured as an integrated device, such as a touch panel display.

[0029] 1(A), the area division device 20 (hereinafter also referred to as "the device 20") includes a boundary indicating means 21, a control means 22, and an action execution means 23 (the control means 22 is not shown in FIG. 1(A)). The area division device 20 may also include, for example, a sensing unit (not shown).

[0030] The boundary indicating means 21 is, for example, a component that indicates the boundary of the target area 50. The type of boundary indicating means 21 is not particularly limited as long as it can indicate the boundary of the target area 50. The target area 50 refers to, for example, an area partitioned by the boundary indicating means 21 of at least one area division device 20. Examples of the target area 50 include, but are not limited to, work areas such as construction sites and agricultural fields. As shown in FIG. 1C , a work machine (work robot) 40 may be operating within the target area 50. The work machine 40 may be, for example, a manned machine or an unmanned machine. The unmanned machine may be, for example, a machine remotely operated by a person or an autonomous machine. The boundary indicating means 21 may be, for example, a component (guide rope) that physically indicates the boundary of the target area, or a component (virtual rope) that virtually indicates the boundary of the target area. Specific examples of the former include string-like members such as ropes, tapes, ribbons, and wires, and rod-like members such as pipes and partition bars.Specific examples of the latter include a laser oscillator and a receiver, a light projector and a light receiver, etc.

[0031] The action execution means 23 is, for example, means capable of executing an action specified in an action instruction by the control means 22, which will be described later. The action execution means 23 is, for example, a member corresponding to the action specified in the action instruction. Specific examples of the action execution means 23 include the control member of the boundary indication means 21, movement means, sound output means, communication means, imaging means, etc.

[0032] The control member may be, for example, a means for controlling whether or not the boundary of the target area 50 is indicated by the boundary indicating means 21, or may be a means for changing the size or shape of the target area 50.

[0033] The moving means is a unit that movably supports the area division device 20. The moving means may be, for example, a unit that can travel on land (e.g., tires), a unit that can navigate on water (e.g., a ship), or a unit that can fly (e.g., a drone or an airplane).

[0034] The audio output unit is a unit capable of outputting audio, such as a microphone.

[0035] The communication means is, for example, a unit capable of communicating with an external device. The communication means may be capable of communicating with, for example, a work machine 40 performing work in a work area 50.

[0036] The imaging unit is a unit capable of capturing an image. The imaging unit is, for example, an imaging device such as a camera, and may be a 360° camera.

[0037] The moving means is a unit that movably supports the area division device 20. The moving means may be, for example, a unit that can travel on land (e.g., tires), a unit that can navigate on water (e.g., a ship), or a unit that can fly (e.g., a drone or an airplane).

[0038] The control means 22 included in the area dividing device 20 is a unit that controls the area dividing device 20 .

[0039] 1(B), the control means 22 includes a communication unit 221 and an action control unit 222. Although not shown, the device 20 may also include, for example, an input unit, an output unit, a display unit, and / or a storage unit. The communication unit 221 is capable of communicating with the area management device 10 and receives action instructions, which will be described later. The action control unit 222 controls the action execution means 23 based on the action instructions.

[0040] 3 is a block diagram illustrating an example of the hardware configuration of the control means 22. The control means 22 includes, for example, a central processing unit (CPU, GPU, etc.) 201, a memory 202, a bus 203, a storage device 204, an input device 205, an output device 206, and a communication device 207. The components of the control means 22 are connected to each other via the bus 203 and their respective interfaces (I / F).

[0041] The central processing unit 201 operates in cooperation with other components via a controller (such as a system controller or an I / O controller) and is responsible for overall control of the control means 22. In the control means 22, the central processing unit 201 executes, for example, the program of the present disclosure and other programs, and also reads and writes various types of information. Specifically, for example, the central processing unit 201 functions as a communication unit 221 and a behavior control unit 222. The control means 22 may include, as a computing device, other computing devices such as a CPU, a GPU (Graphics Processing Unit), an APU (Accelerated Processing Unit), or a combination of these.

[0042] The bus 203 can also be connected to, for example, external devices. Examples of the external devices include the control means 22, an external storage device (external database, etc.), a printer, an external input device, an external display device, an external imaging device, etc. The control means 22 can be connected to an external network (the communication line network) by, for example, a communication device 207 connected to the bus 203, and can also be connected to other devices via the external network.

[0043] The memory 202 may be, for example, a main memory (primary storage device). When the central processing unit 201 performs processing, the memory 202 reads various operating programs, such as the program of the present disclosure, stored in the storage device 204 (described later), and the central processing unit 201 receives data from the memory 202 and executes the programs. The main memory may be, for example, a RAM (random access memory). Alternatively, the memory 202 may be, for example, a ROM (read only memory).

[0044] The storage device 204 is also referred to as an auxiliary storage device, for example, in contrast to the main memory (primary storage device). As described above, the storage device 204 stores an operating program including the program of the present disclosure. The storage device 204 may be, for example, a combination of a recording medium and a drive that reads and writes from and to the recording medium. The recording medium is not particularly limited and may be, for example, an internal or external type, such as a hard disk drive (HDD), CD-ROM, CD-R, CD-RW, MO, DVD, flash memory, or memory card. The storage device 204 may be, for example, a hard disk drive (HDD) or a solid state drive (SSD) that integrates a recording medium and a drive. When the control means 22 includes the storage unit, for example, the storage device 204 functions as the storage unit.

[0045] In the control means 22, the memory 202 and the storage device 204 can also store various information such as log information, information acquired from an external database (not shown) or an external device, information generated by the control means 22, and information used by the control means 22 when executing processing. In this case, the memory 202 and the storage device 204 may store, for example, the above-mentioned information on the user of the device. Note that at least a portion of the information may be stored, for example, in an external server other than the memory 202 and the storage device 204, or may be stored in a distributed manner across multiple terminals using blockchain technology or the like.

[0046] The control means 22 further includes, for example, an input device 205 and an output device 206. Examples of the input device 205 include pointing devices such as a touch panel, track pad, and mouse; a keyboard; imaging means such as a camera and scanner; card readers such as an IC card reader and a magnetic card reader; and audio input means such as a microphone. Examples of the output device 206 include display devices such as an LED display and a liquid crystal display; audio output devices such as a speaker; a printer; and the like. In the first embodiment, the input device 205 and the output device 206 are configured separately, but the input device 205 and the output device 206 may be configured as an integrated device, such as a touch panel display.

[0047] Furthermore, if the area division device 20 includes a sensing unit, the sensing unit may be equipped with, for example, various sensors or may be capable of acquiring information from an external sensor. The installation location of the sensor is not particularly limited as long as it is a location where sensing of the target area is possible. For example, the sensor may be installed on the body of the area division device 20, or may be installed separately and independently from the area division device 20. The type of sensor is not particularly limited as long as it is a sensor that can collect information about the surrounding area of ​​the target area 50. Specific examples of the sensor include sound sensors (e.g., microphones, sound level meters, etc.); video sensors (image sensors); position sensors (e.g., GPS (Global Positioning System) sensors); light intensity sensors; dust sensors; odor sensors; intrusion detection sensors (laser displacement meters, laser sensors (laser receivers)); rainfall sensors; wind sensors; temperature sensors (e.g., thermometers, thermographs); infrared cameras; various communication devices; and the like.

[0048] <Control Program for Area Division Device> The control program for the area division device of the present disclosure is a program for causing a computer to execute a communication procedure and a behavior control procedure. The control program for the area division device of the present disclosure can also be said to be a program for causing a computer to function as the communication procedure and the behavior control procedure. Furthermore, the control program for the area division device of the present disclosure can also be said to be a program for causing a computer to execute, for example, each step of the control method for the area division device described below.

[0049] The communication procedure receives the action instruction from the area management device, and the action control procedure controls the action execution means of the area division device of the present disclosure based on the action instruction.

[0050] For example, the term "procedure" in each of the steps can be read as "processing." The control program for the area division device of the present disclosure may be recorded on a computer-readable recording medium, for example. The recording medium may be, for example, a non-transitory computer-readable storage medium. The recording medium is not particularly limited, and examples thereof include random access memory (RAM), read-only memory (ROM), hard disk (HD), flash memory (e.g., solid state drive (SSD), USB flash memory, SD / SDHC card, etc.), optical disk (e.g., CD-R / CD-RW, DVD-R / DVD-RW, BD-R / BD-RE, etc.), magneto-optical disk (MO), floppy disk (FD), etc. The control program for the area division device of the present disclosure (also referred to as a programming product or program product) may be distributed from an external computer, for example. The "distribution" may be, for example, distribution via a communication network or distribution via a device connected via a wire. The control program of the area division device of the present disclosure may be installed and executed on the device to which it is distributed, or may be executed without being installed. An information processing device capable of executing the control program of the area division device of the present disclosure can be referred to as, for example, the area division device of the present disclosure.

[0051] An example of processing by the area management system of the present disclosure will be specifically described using Figures 4 and 5. Figure 4 is a flowchart showing an example of each procedure of the area management program of the present disclosure. Figure 5 is a flowchart showing an example of each procedure of the control program for the area division device of the present disclosure. In the following description, an example will be given in which an unmanned work machine 40 is operating within a target area 50 and the area management system 100 of the present disclosure is used for safety management, but the present disclosure is not limited to the following description. In the following description, an example will be given in which the target area 50 is an area partitioned by ropes (boundary indication means 21) stretched between four area division devices 20, but the present disclosure is not limited to the following description.

[0052] First, a work area (target area 50) is defined according to a predetermined work plan. Next, the boundary indicating means 21 of the area division device 20 indicates the boundary between the target area 50 and an area other than the target area 50, thereby dividing the target area 50 as shown in FIG. 1C . The division of the target area 50 may be performed autonomously by the area division device 20, or may be performed by a worker stretching boundary indicating means (ropes) 21 between the area division devices 20. In the former case, for example, the worker can input information such as the position, shape, and size of the work area into the area division device 20, thereby moving the area division device 20 to a position required to divide the work area. The movement control method for the area division device 20 can, for example, appropriately utilize known movement control techniques.

[0053] The sensor information acquisition unit 11 of the area management device 10 acquires sensing information of the target area 50 (S1, sensor information acquisition procedure). The sensor information acquisition unit 11 may acquire, for example, sensing information sensed by a sensing unit of the area division device 20, or may acquire sensing information from various sensors installed in the target area 50. The type of sensing information acquired by the sensor information acquisition unit 11 is not particularly limited, and information corresponding to the sensors installed in the target area 50 or the area division device 20 can be acquired as appropriate. Specific examples of information acquired by the sensor information acquisition unit 11 include audio, video, location information, light intensity, dust, odor, intrusion detection information, precipitation, wind force, temperature, and communication information. The intrusion detection information is, for example, information indicating that an object has entered the target area 50, and can be acquired from an intrusion detection sensor (e.g., a laser sensor) installed in the target area 50. The sensor information acquisition unit 11 may, for example, continuously acquire real-time sensing information or intermittently acquire sensing information at predetermined intervals. This allows the area management device 10 to monitor the target area 50, for example.

[0054] The cognition and judgment unit 12 generates cognition and judgment information by cognition and judgment processing based on the sensing information (S2, cognition and judgment procedure). The cognition and judgment information is, for example, information representing the state of the target area 50 determined based on the sensing information. The cognition and judgment information may be, for example, information representing the current state of the target area 50, information representing a future state (future prediction), or information representing a past state (past estimation). Examples of information representing the future state include a prediction of an accident occurring in the target area. The cognition and judgment unit 12 may generate the cognition and judgment information by, for example, rule-based cognition and judgment processing, or by cognition and judgment processing using cognitive computing processing.

[0055] When the recognition and judgment unit 12 performs recognition and judgment processing based on a rule base, for example, recognition and judgment information linking the type and content of sensing information with the corresponding situation (information) is stored in advance in the storage unit. The recognition and judgment unit 12 can generate corresponding recognition and judgment information, for example, by comparing the sensing information with the recognition and judgment information. The recognition and judgment unit 12 can generate recognition and judgment information indicating the state of the target area 50 using, for example, known intrusion detection methods using laser sensors, image analysis, thermography, background subtraction, etc.; known safety management methods using sensor information such as sound, light intensity, explosions, precipitation, wind force, odor, vibration, and smoke; etc.

[0056] A case will be described in which the cognition and judgment unit 12 performs cognition and judgment processing using, for example, cognitive computing processing. In this disclosure, cognitive computing refers to a mechanism for autonomously thinking, learning, understanding, and acting to support decision-making (judgment) by humans or other devices (e.g., the area division device 20). Cognitive computing organizes and integrates information, converts it into knowledge, and can present practical options by understanding the background of the information. Examples of AI that enables cognitive computing include AI tuned to input text, images, videos, instructions for a robot, and sensor measurement values ​​(sensing information) into LLMs (Large Language Models) and output appropriate video images, action instructions for a robot (the area division device 20), text, etc. Note that the AI ​​that can be used by the cognition and judgment unit 12 is not limited to this.

[0057] The cognition judgment unit 12 may generate the cognition judgment information by using, for example, a known machine-learned model. The machine-learned model is, for example, a cognition judgment model that is generated so as to output cognition judgment information when sensing information is input. The cognition judgment model may be constructed by the device 10, may be stored in advance in a memory unit of the device 10, or may be obtained from outside the device 10 via a communication network. The cognition judgment unit 12 may use, for example, one cognition judgment model or two or more cognition judgment models. Specific examples of cognitive judgment models include: a human movement prediction model that is trained to output a prediction of a human's movement destination using input data such as human line of sight, walking speed, stride length, and human body (e.g., face, hands, feet, etc.) movements as the sensing information; an abnormal behavior prediction model that is trained to output an abnormal behavior prediction using input data such as human line of sight, walking speed, stride length, and human body (e.g., face, hands, feet, etc.) movements as the sensing data; a posture estimation model that estimates a human's posture using input data such as human skeletal information (e.g., movements of joints such as the head, arms, waist, and knees); a human communication data model that is trained to output the degree of influence that a human's emotions have on behavior using input information such as facial expressions, pupil changes, emotional changes, behavioral data, and posture data; and a behavior prediction model that predicts the behavior of a work machine using input information such as the operating state of a work machine, the movement speed of the work machine, and posture information of the work machine.

[0058] The cognitive judgment model may include, for example, an input layer that receives sensing information, an output layer that outputs the cognitive judgment information, and at least one intermediate layer disposed between the input layer and the output layer. The cognitive judgment model may be a program module that is part of artificial intelligence software. Examples of the multi-layer network include a neural network. Examples of the neural network include a convolution neural network (CNN), but the neural network is not limited to a CNN and may be a trained model constructed using other learning algorithms, such as a neural network other than a CNN, a support vector machine (SVM), a Bayesian network, or a regression tree.

[0059] The cognitive judgment model can be generated, for example, by machine learning using a set of the sensing information and the cognitive judgment information as training data for cognitive judgment. The cognitive judgment model may be, for example, a trained model generated in advance. The trained model may also be a trained model (derived model) retrained using the training data for cognitive judgment and an already generated trained model. Furthermore, the trained model may be a trained model obtained by transfer learning using a trained model generated using training data for cognitive judgment, or a trained model generated by model compression of a trained model generated using training data for cognitive judgment.

[0060] Furthermore, the cognition judgment unit 12 may, for example, record the sensing information and the cognition judgment information in association with each other for each target area, and perform autonomous learning based on the records. This enables the cognition judgment unit 12 to make cognition judgments according to the situation of each target area 50. The cognition judgment unit 12 may, for example, generate safety information for the target area as the cognition judgment information based on the sensing information.

[0061] The action instruction unit 13 outputs an action instruction based on the cognition judgment information to the area division device 20 (S3, action instruction step). The action instruction unit 13 may output the action instruction based on, for example, a rule-based judgment, or may output the action instruction based on a judgment using cognitive computing processing. In the former case, for example, action instruction information linking the type of cognition judgment information with the corresponding action instruction is pre-recorded in the storage unit. The action instruction unit 13 can output the corresponding action instruction by, for example, comparing the cognition judgment information generated in S2 with the action instruction information. The action instruction is, for example, information instructing the action that the area division device 20 can take by the action execution means 23 of the area division device 20. Specific examples of the action instruction include, for example, a movement instruction for controlling a means of transportation; an instruction to operate a control member of the boundary indication means 21; an audio output instruction; a communication instruction; and an image capture instruction.

[0062] The area division device 20 receives the action instruction from the area management device 10 via the communication unit 221 of the control means 22 (S21, communication procedure), and controls the action execution means 23 based on the action instruction via the action control unit 222 (S22, action control procedure). The action control unit 222 controls the action execution means 23 to execute the action specified by the action instruction, for example. As a specific example, if the action instruction is a movement instruction (e.g., designation of location information, designation of a predetermined area, etc.), the control means 22 controls the movement means to move the area division device 20 to the location specified in the movement instruction. If the action instruction is an operation instruction for a control member of the boundary indication means 21, the control means 22 operates the control member of the boundary indication means 21, for example. If the action instruction is an audio output instruction, the control means 22 controls the audio output means to output audio in accordance with the audio output instruction, for example. If the action instruction is a communication instruction, the control means 22 controls the communication means to communicate with a specified external device in accordance with the communication instruction, for example. When the action instruction is an image capturing instruction, the control means 22 controls the image capturing means in accordance with the image capturing instruction, for example, to capture an image.

[0063] A specific example of how the area management system of the present disclosure can be used will be described below. In the following description, a case where the device 10 manages the operating status of a work robot in a target area 50 partitioned by a pole robot (area division device 20) will be described as an example, but the present disclosure is not limited to the following specific example.

[0064] The device 10 collects sensing information of the target area 50 in real time using the sensor information acquisition unit 11 and monitors the target area 50. Specifically, the device 10 acquires information (sensing information) from various sensors arranged in the target area 50, recognizes the current state of the target area 50 (e.g., the state of the work robot (movement, position, whether or not it is operating)), and generates recognition and judgment information for the target area. At this time, the device 10 also designates an area within a predetermined range from the location of the work robot (e.g., an area with a radius of X meters from the center of the work robot) as a no-entry area. At the same time, the device 10 generates recognition and judgment information regarding the movements of people present around the target area 50 as the current state of the target area 50 based on the sensing information.

[0065] Next, based on the recognition and judgment information and the continuously collected sensing information, the device 10 estimates the possibility that the predicted movement position (planned movement position) of the work robot will overlap with the predicted movement position of the person. If the possibility that the predicted movement position (planned movement position) of the work robot and the predicted movement position of the person will overlap is higher than a predetermined threshold, the device 10 outputs action instruction information to the area division device 20 to move to the area designated as the no-entry area.

[0066] The area division device 20, to which the action instruction has been output, moves to the designated no-entry area and indicates the no-entry area at the new location using the boundary indicating means. In this way, the area management system of the present disclosure makes it possible to dynamically reset no-entry areas according to the state of the target area 50.

[0067] The area management method of the present disclosure is a method implemented by, for example, replacing each "procedure" in the area management program of the present disclosure with a "step." The area management method of the present disclosure can be implemented, for example, using the area management device 10 of the present disclosure shown in FIG. 1 or FIG. 2. Note that the area management method of the present disclosure is not limited to methods that use the area management device 10, for example. The area management method of the present disclosure can incorporate, for example, the descriptions of the area management program and area management device of the present disclosure.

[0068] The control method for the area division device of the present disclosure is, for example, a method implemented by replacing each "procedure" in the control program for the area division device of the present disclosure with a "step." The control method for the area division device of the present disclosure can be implemented, for example, using the area division device 20 of the present disclosure shown in FIG. 1 or FIG. 3. Note that the control method for the area division device of the present disclosure is not limited to methods that use the area division device 20, for example. The control method for the area division device of the present disclosure can utilize, for example, the descriptions of the control program for the area division device and the area division device of the present disclosure.

[0069] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0070] This application claims priority based on Japanese Patent Application No. 2024-105076, filed June 28, 2024, the disclosure of which is incorporated herein in its entirety by reference.

[0071] <Supplementary Notes> Some or all of the above embodiments can be described as, but are not limited to, the following supplementary notes. (Supplementary Note 1) An area management device including a sensor information acquisition unit, a perception judgment unit, and an action instruction unit, wherein the sensor information acquisition unit acquires sensing information of a target area, the target area is an area partitioned by at least one area division device, the perception judgment unit generates perception judgment information by perception judgment processing based on the sensing information, and the action instruction unit outputs action instructions based on the perception judgment information to the area division device. (Supplementary Note 2) The area management device according to Supplementary Note 1, wherein the perception judgment unit records the sensing information and the perception judgment information in association with each other for each target area, and performs autonomous learning based on the records. (Supplementary Note 3) The area management device according to Supplementary Note 1 or 2, wherein the perception judgment unit generates safety information for the target area as the perception judgment information based on the sensing information. (Supplementary Note 4) The area management device according to Supplementary Note 3, wherein the action instruction unit outputs an action instruction based on the safety information to the area division device. (Supplementary Note 5) An area division device including a boundary indicating means, a control means, and an action execution means, wherein the boundary indicating means indicates at least one boundary between a target area and an area outside the target area, wherein the control means includes a communication unit and an action control unit, wherein the communication unit receives the action instruction from the area management device according to any of Supplements 1 to 4, and the action control unit controls the action execution means based on the action instruction. (Supplementary Note 6) The area division device according to Supplementary Note 5, including a sensing unit, wherein the sensing unit senses the target area to obtain sensing information, and the communication unit transmits the sensing information to the area management device. (Supplementary Note 7) An area management system including the area management device according to any of Supplements 1 to 4 and the area division device according to Supplementary Note 5 or 6. (Supplementary Note 8) The area management system according to Supplementary Note 7, comprising a plurality of the area division devices, at least one of the area division devices functioning as the area management device.(Supplementary Note 9) An area management method including a sensor information acquisition step, a perception and judgment step, and an action instruction step, wherein the sensor information acquisition step acquires sensing information of a target area, the target area is an area partitioned by at least one area division device, the perception and judgment step generates perception and judgment information by perception and judgment processing based on the sensing information, and the action instruction step outputs action instructions based on the perception and judgment information to the area division device, and each step is executed by a computer. (Supplementary Note 10) The area management method according to Supplementary Note 9, wherein the perception and judgment step associates and records the sensing information and the perception and judgment information for each target area, and performs autonomous learning based on the records. (Supplementary Note 11) The area management method according to Supplementary Note 9 or 10, wherein the perception and judgment step generates safety information of the target area as the perception and judgment information based on the sensing information. (Supplementary Note 12) The area management method according to Supplementary Note 11, wherein the action instruction step outputs action instructions based on the safety information to the area division device. (Supplementary Note 13) An area management program including a sensor information acquisition step, a perception judgment step, and an action instruction step, wherein the sensor information acquisition step acquires sensing information of a target area, the target area being an area partitioned by at least one area division device, the perception judgment step generates perception judgment information by perception judgment processing based on the sensing information, and the action instruction step outputs action instructions based on the perception judgment information to the area division device, the area management program causing a computer to execute each step. (Supplementary Note 14) The area management program according to Supplementary Note 13, wherein the perception judgment step records the sensing information and the perception judgment information in association with each other for each target area, and performs autonomous learning based on the records. (Supplementary Note 15) The area management program according to Supplementary Note 13 or 14, wherein the perception judgment step generates safety information of the target area as the perception judgment information based on the sensing information. (Supplementary Note 16) The area management program according to Supplementary Note 15, wherein the action instruction step outputs action instructions based on the safety information to the area division device.(Supplementary Note 17) A computer-readable recording medium having recorded thereon an area management program for causing a computer to execute each of the steps, the computer-readable recording medium including a sensor information acquisition step, a recognition judgment step, and an action instruction step, the sensor information acquisition step acquiring sensing information of a target area, the target area being an area partitioned by at least one area division device, the recognition judgment step generating recognition judgment information by a recognition judgment process based on the sensing information, and the action instruction step outputting an action instruction based on the recognition judgment information to the area division device. (Supplementary Note 18) The recording medium according to Supplementary Note 17, wherein the recognition judgment step records the sensing information and the recognition judgment information in association with each other for each target area, and performs autonomous learning based on the records. (Supplementary Note 19) The recording medium according to Supplementary Note 17 or 18, wherein the recognition judgment step generates safety information of the target area as the recognition judgment information based on the sensing information. (Supplementary Note 20) The recording medium according to Supplementary Note 19, wherein the action instruction step outputs an action instruction based on the safety information to the area division device. (Supplementary Note 21) A control method for an area division device, comprising a communication step and a behavior control step, wherein the communication step receives the behavior instruction from the area management device described in any one of Supplements 1 to 4, and the behavior control step controls the behavior execution means of the area division device described in Supplementary Note 5 or 6 based on the behavior instruction. (Supplementary Note 22) A control method for an area division device described in Supplementary Note 21, comprising a sensing step, wherein the sensing step senses a target area to obtain sensing information, and the communication step transmits the sensing information to the area management device. (Supplementary Note 23) A control program for an area division device, comprising a communication procedure and a behavior control procedure, wherein the communication procedure receives the behavior instruction from the area management device described in any one of Supplements 1 to 4, and the behavior control procedure controls the behavior execution means of the area division device described in Supplementary Note 5 or 6 based on the behavior instruction. (Supplementary Note 24) A control program for an area division device according to Supplementary Note 23, comprising a sensing procedure, wherein the sensing procedure senses a target area to acquire sensing information, and the communication procedure transmits the sensing information to the area management device.(Supplementary Note 25) A computer-readable recording medium having recorded thereon a control program for an area division device for causing a computer to execute each of the steps, including a communication procedure and an action control procedure, wherein the communication procedure receives the action instruction from the area management device according to any one of Supplements 1 to 4, and the action control procedure controls the action execution means of the area division device according to Supplementary Note 5 or 6 based on the action instruction. (Supplementary Note 26) The recording medium according to Supplementary Note 25, including a sensing procedure, wherein the sensing procedure senses a target area to obtain sensing information, and the communication procedure transmits the sensing information to the area management device.

[0072] According to the present disclosure, it is possible to easily manage a target area, and therefore the present disclosure can be widely used in various fields where work area management, particularly safety management, is required.

[0073] REFERENCE SIGNS LIST 10 Area management device 11 Sensor information acquisition unit 12 Recognition and judgment unit 13 Action instruction unit 101 Central processing unit 102 Memory 103 Bus 104 Storage device 105 Input device 106 Output device 107 Communication device 20 Area division device 21 Boundary indication means 22 Control means 221 Communication unit 222 Action control unit 23 Action execution means 201 Central processing unit 202 Memory 203 Bus 204 Storage device 205 Input device 206 Output device 207 Communication device 30 Communication line network

Claims

1. An area management device comprising a sensor information acquisition unit, a recognition judgment unit, and an action instruction unit, wherein the sensor information acquisition unit acquires sensing information of a target area, the target area being an area partitioned by at least one area division device, the recognition judgment unit generates recognition judgment information by a recognition judgment process based on the sensing information, and the action instruction unit outputs action instructions based on the recognition judgment information to the area division device.

2. The area management device according to claim 1, wherein the recognition and judgment unit records the sensing information and the recognition and judgment information in association with each other for each of the target areas, and autonomously learns based on the records.

3. The area management device according to claim 1 or 2, wherein the recognition judgment unit generates safety information for the target area as the recognition judgment information based on the sensing information.

4. The area management device according to claim 3, wherein said behavior instruction unit outputs behavior instructions based on said safety information to said area division device.

5. An area division device comprising a boundary indicating means, a control means and an action execution means, wherein the boundary indicating means indicates at least one boundary between a target area and outside the target area, the control means comprising a communication unit and an action control unit, the communication unit receives the action instruction from the area management device described in claim 1, and the action control unit controls the action execution means based on the action instruction.

6. An area management system comprising the area management device according to claim 1 and the area division device according to claim 5.

7. An area management method comprising a sensor information acquisition step, a recognition judgment step, and an action instruction step, wherein the sensor information acquisition step acquires sensing information of a target area, the target area being an area partitioned by at least one area division device, the recognition judgment step generates recognition judgment information by a recognition judgment process based on the sensing information, and the action instruction step outputs action instructions based on the recognition judgment information to the area division device, and each step is executed by a computer.

8. The area management method according to claim 7, wherein the recognition and judgment step records the sensing information and the recognition and judgment information in association with each other for each target area, and performs autonomous learning based on the records.

9. An area management method according to claim 7 or 8, wherein the recognition and judgment step generates safety information for the target area as the recognition and judgment information based on the sensing information.

10. The area management method according to claim 9, wherein said action instruction step outputs an action instruction based on said safety information to said area division device.

11. An area management program including a sensor information acquisition procedure, a recognition judgment procedure, and an action instruction procedure, wherein the sensor information acquisition procedure acquires sensing information of a target area, the target area being an area partitioned by at least one area division device, the recognition judgment procedure generates recognition judgment information by a recognition judgment process based on the sensing information, and the action instruction procedure outputs action instructions based on the recognition judgment information to the area division device, and causes a computer to execute each of the procedures.

12. The area management program according to claim 11, wherein the recognition and judgment procedure records the sensing information and the recognition and judgment information in association with each other for each target area, and performs autonomous learning based on the records.

13. An area management program according to claim 11 or 12, wherein the recognition and judgment procedure generates safety information for the target area as the recognition and judgment information based on the sensing information.

14. The area management program according to claim 13, wherein said action instruction step outputs an action instruction based on said safety information to said area division device.

15. A computer-readable recording medium having recorded thereon an area management program for causing a computer to execute each of the steps, the computer-readable recording medium including a sensor information acquisition step, a recognition judgment step, and an action instruction step, wherein the sensor information acquisition step acquires sensing information of a target area, the target area being an area partitioned by at least one area division device, the recognition judgment step generates recognition judgment information by a recognition judgment process based on the sensing information, and the action instruction step outputs action instructions based on the recognition judgment information to the area division device.

16. A recording medium according to claim 15, wherein the recognition and judgment procedure records the sensing information and the recognition and judgment information in association with each other for each target area, and performs autonomous learning based on the records.

17. A recording medium according to claim 15 or 16, wherein the recognition and judgment step generates safety information for the target area as the recognition and judgment information based on the sensing information.

18. The recording medium according to claim 17, wherein said action instruction step outputs an action instruction based on said safety information to said area division device.

19. A method for controlling an area division device, comprising a communication step and an action control step, wherein the communication step receives the action instruction from the area management device described in claim 1 or 2, and the action control step controls the action execution means of the area division device described in claim 5 based on the action instruction.

20. A control program for an area division device for causing a computer to execute each of the procedures, including a communication procedure and an action control procedure, wherein the communication procedure receives the action instruction from the area management device described in claim 1 or 2, and the action control procedure controls the action execution means of the area division device described in claim 5 based on the action instruction.

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