JP2023131856A - Information processing device, method and program - Google Patents

Abstract

To improve work efficiency using moving bodies.SOLUTION: An information processing device (10) that creates work schedules for moving bodies includes: a schedule processing unit (112) that sets multiple blocks in a given field and determines the order in which a first moving body (J1) transports material and a second moving body (J2) develops the material in each block; a storage unit (12); and a block management unit (113) that detects working status of the first moving body (J1) and second moving body (J2) in each block and stores it in the storage unit (12). The schedule processing unit (112) determines a next block to which the material is to be transported by the first moving body (J1) from among blocks in which the working status of the second moving body (J2) is incomplete, and determines a next block in which the second moving body (J2) will develop the material from among blocks whose work status of the first moving body (J1) is complete.SELECTED DRAWING: Figure 1

Description

The present invention relates to an information processing device, method, and program.

At civil engineering construction sites, automation of construction is required due to a shortage of workers. Therefore, construction machines equipped with an automatic driving function have been developed (see, for example, Patent Document 1). Since no operator operation is required, it is possible to alleviate the labor shortage.

Japanese Patent Application Publication No. 2008-8183

When work at a site is diverse, work efficiency varies greatly depending on which parts of the work area are worked on and in what order. For example, at an embankment construction site where soil is transported by dump truck and then spread to a certain height by a bulldozer, where should the transported mounds of soil be placed and in what order should the mounds be broken down? , the schedule becomes an issue.

The present invention aims to improve the efficiency of work performed by moving objects such as construction machines.

One aspect of the present invention is an information processing device (10) that creates a work schedule for a mobile object. The information processing device (10) sets a plurality of blocks in a given field, and in each block, a first moving body (J1) transports the material, and a second moving body (J2) transports the material. A schedule processing unit (112) that determines the order in which materials are developed, a storage unit (12), and the working status of the first moving body (J1) and the second moving body (J2) in each of the blocks. and a block management unit (113) that detects the block and stores it in the storage unit (12). The schedule processing unit (112) selects the next block to which the material is to be transported by the first moving body (J1) from among the blocks whose working status of the second moving body (J2) is incomplete. Then, from among the blocks in which the working state of the first moving body (J1) is completed, the next block to which the material is to be spread by the second moving body (J2) is determined.

Another aspect of the present invention is a method of creating a work schedule for a mobile object. The method includes the steps of setting a plurality of blocks in a given field, and in each block, transporting material by a first moving body (J1), and expanding the material by a second moving body (J2). a step of detecting the working status of the first moving body (J1) and the second moving body (J2) in each of the blocks, and storing it in a storage unit (12); including. The step of determining the order determines the next block to which the material is to be transported by the first moving body (J1) from among the blocks in which the work state of the second moving body (J2) is incomplete. and determining the next block to which the second moving body (J2) will spread the material, from among the blocks in which the working state of the first moving body (J1) is complete. .

Another aspect of the present invention is a program for causing a computer to execute a method for creating a work schedule for a mobile object. The method includes the steps of setting a plurality of blocks in a given field, and in each block, transporting material by a first moving body (J1), and expanding the material by a second moving body (J2). a step of detecting the working status of the first moving body (J1) and the second moving body (J2) in each of the blocks, and storing it in a storage unit (12); including. The step of determining the order determines the next block to which the material is to be transported by the first moving body (J1) from among the blocks in which the work state of the second moving body (J2) is incomplete. and determining the next block to which the second moving body (J2) will spread the material, from among the blocks in which the working state of the first moving body (J1) is complete. .

According to the present invention, it is possible to improve the efficiency of work performed by a moving body.

FIG. 1 is a diagram showing the configuration of an information processing device. FIG. 2 is a flowchart of preprocessing. FIG. 3 is a diagram showing an example of a block of fields. FIG. 4 is a diagram showing an example of a management table for each block. FIG. 5 is a flowchart of the schedule creation process for the first mobile object. FIG. 6 is a diagram showing an example in which materials are concentrated. FIG. 7 is a flowchart of the schedule creation process for the second mobile object. FIG. 8 is a diagram showing an example in which blocks are points. FIG. 9 is a diagram showing the configuration of an information processing device in a modified example.

Embodiments of the information processing apparatus, method, and program of the present invention will be described below with reference to the drawings. The configuration described below is an example (representative example) of the present invention, and the present invention is not limited to this configuration.

FIG. 1 shows the configuration of an information processing device 10 of this embodiment.
The information processing device 10 creates a work schedule for the first mobile body J1 and the second mobile body J2 in a given field W. In this embodiment, the information processing device 10 is connected via a network N to the remote control system 20 and management system 50 of the first mobile body J1 and the second mobile body J2.

The work performed by the first moving body J1 is to transport the material k to the field W. The work performed by the second moving body J2 is to spread the material k onto the field W. The first mobile body J1 and the second mobile body J2 can operate autonomously according to instructions from the remote control system 20. If necessary, the first mobile body J1 and the second mobile body J2 may have a configuration in which an operator can ride and drive them.

For example, if field W is an embankment work site where earth and sand is transported to a certain height, the first mobile object J1 is a construction machine such as a dump truck or a wheel loader, and material k is used as material k. Work is carried out to transport the soil and form a mountain of soil on the field W. The second moving body J2 is a construction machine equipped with a blade such as a wheel loader or a bulldozer, and performs the work of breaking down a pile of soil, spreading it on the field W, and leveling it to a certain height.

The remote control system 20 is a computer that remotely controls the work of each mobile body J1 or J2 by transmitting work instruction data to the first mobile body J1 or the second mobile body J2 via the network N. . The remote control system 20 can instruct each mobile object J1 or J2 to perform a task according to an input operation by an operator or an instruction from the information processing device 10. For remote control, the remote control system 20 can display information on the working status of each mobile object J1 or J2 provided by the management system 50.

The management system 50 manages the working status of the first mobile body J1 and the second mobile body J2. The management system 50 includes a detector 51 attached to each of the first mobile body J1 and the second mobile body J2, and a server 52. The detector 51 and the server 52 can be connected by wide area wireless communication (LPWA: Low Power Wide Area).

The detector 51 detects the state of each moving body J1 or J2, such as the position, altitude, vibration state, or distance between the moving bodies J1 or J2. The detector 51 includes a combination of a camera, a LiDAR (Light Detection And Ranging), an IMU (Inertial Measurement Unit), a GNSS (Global Navigation Satellite System) receiver, a vibration sensor, or the like. LiDAR is a sensor that can measure the distance to an object by irradiating light such as infrared light onto an object and detecting the reflected light. The IMU includes an acceleration sensor, an angular velocity (gyro) sensor, and the like, and detects three-dimensional inertial motion (translational motion and rotational motion in three orthogonal axes directions) of each moving body J1 or J2.

The server 52 acquires data on the state of each mobile object J1 or J2 detected by each detector 51. The server 52 detects the working status of the first mobile body J1 and the second mobile body J2, the status of the field W, etc. by analyzing the acquired data. The server 52 can provide the detected information, and transmit it to the information processing device 10, the remote control system 20, etc., for example.

The server 52 analyzes signals received by the GNSS receiver, inertial motion detection data obtained from the IMU, map data of the field W, etc., and detects the current position of each mobile object J1 or J2 on the field W. I can do it. The server 52 can also analyze the distance between the image captured by the camera and the object detected by LiDAR, and detect obstacles on the field W, the position of the transported material k, the starting point of the work, etc. can.

The server 52 can also detect the working state of each moving object J1 or J2 by analyzing the vibration state or the image taken by the camera. For example, in the case of a dump truck, the vibration waveform changes depending on the operating conditions such as when driving, loading earth and sand, or unloading earth and sand. In the case of a bulldozer, the vibration waveform changes depending on the operating conditions, such as when driving, breaking up piles of dirt, and leveling the ground. By analyzing the vibration waveform detected by the vibration sensor, the server 52 determines whether the first mobile body J1 is being transported or has completed transport, and whether the second mobile body J2 is being deployed. It is possible to detect the work status, such as whether the work has been completed. The server 52 can also detect the working state of each mobile object J1 or J2 by performing matching processing on the image taken by the camera and the template image of each working state.

The information processing device 10 includes a CPU (Central Processing Unit) 11, a storage section 12, an operation section 13, a display section 14, and a communication section 15.

The CPU 11 includes a control section 111, a schedule processing section 112, and a block management section 113. In the present embodiment, the processing of the control unit 111, schedule processing unit 112, and block management unit 113 is software processing that is realized by the CPU 11 reading out and executing a program from the storage unit 12. It may be realized by hardware.

The control unit 111 can receive a user's instruction from the operation unit 13, cause the schedule processing unit 112 to create a schedule, and provide the schedule. For example, the control unit 111 can provide the schedule by displaying the schedule on the display unit 14. The control unit 111 can also be provided by having the communication unit 15 transmit the schedule to an external computer on the network N, for example, a computer of a construction company responsible for the work in the field W.

The schedule processing unit 112 sets a plurality of blocks in the field W, and determines the order in which the material k is transported by the first moving body J1 and the order in which the material k is spread by the second moving body J2 in each block. decide. Thereby, it is possible to create a schedule in which the positions and order of blocks to be worked on by the first moving body J1 and the second moving body J2 are determined.

The block management unit 113 detects the working states of the first mobile body J1 and the second mobile body J2 in each block, stores them in the storage unit 12, and updates them.

The storage unit 12 stores programs readable by the CPU 11, tables used to execute the programs, and the like. As the storage unit 12, for example, a recording medium such as a hard disk can be used.

The operation unit 13 is a keyboard, a mouse, or the like. The operation unit 13 receives a user's operation and outputs the content of the operation to the CPU 11.

The display unit 14 is a display or the like. The display unit 14 displays an operation screen, processing results of the CPU 11, display data generated by the CPU 11, etc. in accordance with display instructions from the CPU 11.

The communication unit 15 is an interface that communicates with the remote control system 20, the management system 50, etc. via the network N.

The information processing device 10 is given information regarding the field W, such as the size and shape of the field W. Further, information regarding working conditions such as the number of first moving bodies J1 and second moving bodies J2 and working speed may also be given in advance. This information may be input via the operation unit 13 or may be transmitted from an external computer via the communication unit 15. The given information is stored in the storage unit 12. The information processing device 10 performs preprocessing based on the provided information.

FIG. 2 is a flowchart of preprocessing.
First, the schedule processing unit 112 sets a plurality of blocks in a given field W (step S11). For example, the schedule processing unit 112 can set small areas obtained by dividing the field W into several blocks as blocks. The schedule processing unit 112 can assign an identification number to each block.

FIG. 3 shows an example of blocks set in field W.
The field W illustrated in FIG. 3 is divided into blocks consisting of i rows and j columns. Each block is given an identification number (ij) consisting of a row number i (i=0 to 3) and a column number j (j=0 to 4). For example, the block in the third row and second column is given an identification number (32).

When the blocks are set, the block management unit 113 determines the required number M of material k for each block, and stores it in the storage unit 12 together with the number m of conveyed materials k that have already been conveyed to the block (step S21). . The block management unit 113 can determine the number input by the user for each block as the required number M. Alternatively, the block management unit 113 can determine the required number M of the material k using a function that outputs a certain variable in response to the input of the block identification number (ij).

The block management unit 113 determines the block in the field W where the obstacle is located. The block management unit 113 stores the presence or absence of obstacles in each block in the storage unit 12 (step S22). Obstacles are, for example, materials, buildings, roads, crosswalks, etc., and the blocks where the obstacles are located are excluded from the work. The block management unit 113 can obtain information on the presence or absence of obstacles from the management system 50. Alternatively, the obstacle may be selected by the user, and the block management unit 113 can determine the block of the obstacle according to the selection operation.

The block management unit 113 also stores the working state of the first moving body J1 and the working state of the second moving body J2 in the storage unit 12 for each block (step S23). At the stage where the work has not yet started, the block management unit 113 saves the uncompleted work state.

FIG. 4 shows an example of the management table T1 for each block stored in the storage unit 12.
The management table T1 is a table that holds data saved by the block management unit 113 through the above-described processing. In the management table T1, in association with the identification number (ij) of the block, the number m of material k already transported to the block, the required number M of material k in the block, and the placement information F(Ob) of obstacles. is saved. As the obstacle placement information F(Ob), data of 1 is stored for a block with an obstacle, and 0 is stored for a block without an obstacle.

Further, in the management table T1, the working state F(J1) of the first moving body J1 and the working state F(J2) of the second moving body J2 are stored in association with the block identification number (ij). The work states F(J1) and F(J2) include the states of waiting for work, working, completed work, and incomplete work. In this embodiment, since the work of the first moving body J1 is transport, the work status F(J1) is 1 for a block waiting to be transported, 2 for a block currently being transported, and 2 for a block that is currently being transported. Data of 3 is stored if the block is a block, and 0 is stored if the transport is not completed. Since the work of the second moving body J2 is expansion, the work status F (J2) is 1 for a block waiting to be expanded, 2 for a block currently being expanded, and 3 for a block that has been expanded. , 0 data is saved for blocks that have not yet been expanded.

The management table T1 also stores work orders Nij (J1) and Nij (J2) in the processing described later. The work order Nij (J1) is the order in which the first mobile body J1 works in the block with the identification number (ij). The work order Nij (J2) is the order in which the second mobile body J2 works in the block with the identification number (ij).

On the other hand, the schedule processing unit 112 determines a block to be the starting point Ws (step S12). The starting point Ws is usually a block on the outer periphery of the field W, but it may be an internal block depending on the content of the work. The schedule processing unit 112 can determine the starting point Ws according to the user's operation of selecting from among the blocks on the outer periphery. Further, the schedule processing unit 112 may obtain information on the starting point Ws from the management system 50, or may obtain information on a block in which material k has already been placed and determine the block as the starting point Ws. .

Next, the schedule processing unit 112 reads the required number M of the material k from the management table T1 of the block at the starting point Ws. The schedule processing unit 112 generates instruction data instructing to transport the required number M of materials k to the block, and transmits it to the remote control system 20 via the communication unit 15 (step S13). The instruction data is transmitted from the remote control system 20 to the first mobile object J1.

When the instruction data is transmitted, the block management unit 113 updates the work status F (J1) of the first mobile body J1 to data of 2, ``transporting,'' in the management table T1 of the block at the starting point Ws. The block management unit 113 also stores 1 as the work order Nij (J1) of the block (step S24).

The first moving body J1 starts transporting the material k to the instructed block based on the instruction data. When the transport of the required number M of materials k is completed, the management system 50 detects the work state of completion of transport. When the block management unit 113 receives the information on the work status of completion of transportation via the communication unit 15 (step S25: YES), it detects the completion of transportation, and sets the number m of materials to be transported in the management table T1 of the block to M. Update. The block management unit 113 also updates the work status F(J1) of the first moving body J1 to data 3 indicating completion of transportation (step S26).

If there is a block with F(J1)=3, the schedule processing unit 112 generates instruction data that instructs the deployment of material k in the block, and transmits it to the second mobile object J2 via the communication unit 15 ( Step S14). When the instruction data is transmitted, the block management unit 113 updates the work status F (J2) of the second mobile body J2 to the data of 2 under development. The block management unit 113 also stores 1 as the work order Nij (J2) of the block (step S27).

The second moving body J2 starts spreading the material k in the instructed block based on the instruction data. When deployment is completed, the management system 50 detects a work state of deployment completion. When the block management unit 113 receives the information on the work status of completion of development from the management system 50 via the communication unit 15 (step S28: YES), the block management unit 113 detects the completion of development, and detects the completion of development and moves the second mobile object in the block at the start point Ws. The work status F (J2) of J2 is updated to data 3 indicating development completion (step S29).

When the pre-processing is executed as described above, a schedule creation process for the first mobile body J1 and a schedule creation process for the second mobile body J2 are executed.

FIG. 5 shows the flow of schedule creation processing for the first mobile object J1.
First, the schedule processing unit 112 acquires information on the current position of the second mobile object J2 from the management system 50, and specifies the current block in which the second mobile object J2 is located based on the information (step S31). . The current position of the second moving body J2 is the block on which the second moving body J2 did the expansion work immediately before, and immediately after the preprocessing is the block at the starting point Ws. The schedule processing unit 112 reads the management table T1 of blocks adjacent to the current block, and calculates the total number m of conveyances of material k in the adjacent blocks.

The schedule processing unit 112 compares the calculated total with a threshold value. If the total is less than or equal to the threshold (step S32: NO), the schedule processing unit 112 selects one of the adjacent blocks as the next block candidate to which material k should be transported (step S33).

On the other hand, if the total exceeds the threshold (step S32: YES), the schedule processing unit 112 selects one of the blocks that is one or more blocks away from the current block as the next block candidate to which material k should be transported. (Step S34). If there is too much material k around the second moving body J2, the working efficiency of the second moving body J2 may decrease. By selecting a block away from the second moving body J2, such local concentration of material k can be reduced.

Note that the further away from the current block, the longer the moving distance of the second moving body J2 becomes, and the work efficiency may decrease, so it is preferable to select the next blocks in order from the blocks closest to the current block. Therefore, the schedule processing unit 112 first selects a block one block away as the next block candidate, and if material k has already been transported to the block one block away, selects the block two blocks away as the next block candidate. It is preferable to select.

If there are multiple blocks that can be selected in step S33 or S34, the schedule processing unit 112 prioritizes the block in which the number m of conveyances of material k is the smallest or the block in which the number m of conveyances of material k has not yet reached the required number M. can be selected. This allows the material k to be dispersed.

Next, the schedule processing unit 112 determines whether or not the selected block has not yet completed the transportation of material k and has no obstacles placed therein. Specifically, the schedule processing unit 112 determines whether data of 0 is stored as the work status F(J1) in the management table T1 of the selected block. Furthermore, the schedule processing unit 112 determines whether data of 0 is stored as the obstacle placement information F(Ob) (step S35).

If data other than 0 is stored as the work status F (J1) in the management table T1, the selected block has already transported material k or is scheduled to be transported, and cannot be a target for material k to be transported. do not have. Furthermore, if data of 1 is stored as the obstacle placement information F(Ob), the block is not a work target because there is an obstacle. Therefore, if any of the above applies (step S35: NO), the process returns to step S32, and the schedule processing unit 112 newly selects another block other than the block in question.

On the other hand, if 0 data is stored as the work status F (J1) and 0 data is stored as the obstacle placement information F (Ob) in the management table T1 (step S35: YES), schedule processing The unit 112 determines the selected block as the next block to which material k is to be transported (step S36).

For example, as shown in FIG. 3, when block (32) at the starting point Ws is the current block, its adjacent blocks are blocks (22), (31), and (33). Material k has not yet been conveyed to the adjacent block, and the total number of materials k is 0. When the threshold is 4, the total number is less than or equal to the threshold, so the next block is selected from blocks (22), (31), and (33).

On the other hand, as shown in FIG. 6, when the total number of materials k of adjacent blocks (22), (31), and (33) is 5, the total number exceeds the threshold value. Therefore, the next block is selected from blocks (30), (12), (23), and (34) that are one block away from the current block (32). Note that in FIGS. 3 and 6, a cross mark represents a block having an obstacle. Block (21) may also be selected as the next block candidate, but since block (21) has an obstacle, it is excluded from the candidates in the process of step S35.

When the next block is determined as described above, the block management unit 113 detects the state of waiting for transport, and updates the work status F (J1) of the block to the data of 1 of waiting for transport (step S41). . When there is a block in which data of F(J1)=1 is stored, that is, the next block to which material k is to be transported, the schedule processing unit 112 determines the required number M of materials for the block from the management table T1 of the block. Read out. The schedule processing unit 112 generates instruction data for instructing the transport of the required number M of materials to the next block, and transmits it to the first moving body J1 via the communication unit 15 (step S37).

When the instruction data is transmitted, the block management unit 113 detects the state of being transported, and updates the work state F (J1) of the next block to the data of 2, that is, that the block is being transported. Further, the block management unit 113 counts and stores the work order Nij (J1) of the block (step S42).

The first moving body J1 starts transport based on the instruction data, and each time the transport of one material k is completed, the management system 50 transmits information on the completion of transport to the information processing device 10. Each time the block management unit 113 receives this information via the communication unit 15 (step S43: YES), it detects the state of completion of transportation of one material k, and calculates the number m of transportation of material k in the management table T1. Update (step S44). When the number m of transported materials k reaches the required number M in the management table T1 (step S45: YES), the block management unit 113 saves the data of 3 indicating the completion of transport as the work status F (J1) in the management table T1. (Step S46).

The schedule processing unit 112 and the block management unit 113 repeat the above schedule processing until the work status F(J1) of all blocks is updated to data 3 indicating completion of transportation. As a result, starting from the block at the starting point Ws, the next block to which the material k should be transported is sequentially determined, and the work order Nij (J1) is saved.

FIG. 7 shows the flow of schedule creation processing for the second mobile object J2.
First, the schedule processing unit 112 determines whether or not there is a block in which the number m of transported materials k reaches the required number M in the management table T1 and the work state F (J1) is complete (step S51). If there is a block with F(J1)=3 (step S51: YES), the schedule processing unit 112 determines material k as the next block to be developed (step S52).

Here, it is preferable that the schedule processing unit 112 prioritizes a block containing more material k than other blocks and determines it as the next block. Thereby, it is possible to avoid a decrease in the working efficiency of the second moving body J2 due to concentration of the material k. For example, the schedule processing unit 112 selects a block in which the number of conveyances m of material k has reached the required number M, a block with the largest number of conveyances m, a block in which the number m of conveyances of material k exceeds the required number M, or a block whose conveyance number m exceeds the required number M. The next block in which material k is to be developed can be determined by giving priority to blocks adjacent to the block in which m has reached the required number M.

When the next block is determined, the block management unit 113 detects that the block is waiting for development. The block management unit 113 updates the work status F (J2) of the next block in the management table T1 to data of 1 waiting for development (step S61).

If there is a block with F(J2)=1 in the management table T1, the schedule processing unit 112 generates expansion instruction data in the block, and transmits the instruction data to the remote control system 20 via the communication unit 15 ( Step S53). The instruction data is transmitted to the second mobile body J2 via the remote control system 20.

The block management unit 113 detects that the block whose expansion has been instructed by the transmission of the instruction data is in the developing state, and updates the work status F (J2) to data of 2 in the developing state in the management table T1. Further, the block management unit 113 counts and stores the work order Nij (J2) of the block (step S62).

When the deployment work is completed, the management system 50 detects the work status of completion of deployment, and the information is transmitted to the information processing device 10. When the block management unit 113 receives the information via the communication unit 15 (step S63: YES), it detects the completion of expansion and updates the work status F (J2) to data 3 indicating completion of expansion in the management table T1. (Step S64).

The schedule processing unit 112 and the block management unit 113 repeat the above schedule processing until the work status F (J2) of all blocks is updated to data 3 indicating development completion. As a result, starting from the block at the starting point Ws, the next block in which the material k should be developed is sequentially determined, and the work order Nij (J2) is saved.

As described above, according to the present embodiment, the schedule processing section 112 sets a plurality of blocks in the field W, and the block management section 113 stores the working states of the first mobile object J1 and the second mobile object J2. 12 and updated.

The schedule processing unit 112 determines the next block in which the material k is to be transported by the first moving body J1 from among the blocks in which the work status of the second moving body J2 is incomplete (F(J2)=0). . Thereby, blocks to which material k is not being transported can be sequentially designated as blocks to which material k is to be transported next. The work order Nij (J1) of the blocks that transport this material k is the schedule of the first moving body J1.

Furthermore, the schedule processing unit 112 determines the next block in which the second moving body J2 will develop the material k from among the blocks in which the work state of the first moving body J1 is complete (F(J1)=0). . Thereby, the blocks to which material k has been transported can be sequentially designated as the blocks in which material k is to be developed next. The work order Nij (J2) of the blocks in which this material k is developed is the schedule of the second moving body J2.

When the next block is determined, the block management unit 113 updates the work status to waiting for transport or waiting for development. As a result, transport instruction data is transmitted from the schedule processing unit 112 to the first mobile object J1 via the remote control system 20, and deployment instruction data is transmitted to the second mobile object J2. In this way, the schedule processing unit 112 can create a schedule for the work of the first mobile body J1 and the second mobile body J2 in real time while making the first mobile body J1 and the second mobile body J2 work.

In the above schedule, the order of work is determined such that material k is transported to a block where material k is not present, and material k is developed in a block to which material k has been transported. By having the first mobile body J1 and the second mobile body J2 work according to the schedule, it is possible to make the work of each mobile body J1 or J2 more efficient.

Although preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments. Appropriate changes can be made within the scope of the present invention.

(Modification 1)
The present invention is applicable not only to sites where embankments are created, but also to work sites where concrete, asphalt, etc., as material k are transported by mixer trucks and leveled by trowells, asphalt finishers, etc. The first movable body J1 or the second movable body J2 is not limited to a construction machine, but may be a conveyance robot, a drone, or the like, as long as it is a movable body capable of carrying or deploying. The present invention can also be applied to work sites other than civil engineering construction sites, such as a work site where a drone transports a chemical to the premises of a certain facility and an autonomous polisher spreads the chemical on the floor to polish it.

(Modification 2)
In the embodiment described above, the first mobile body J1 and the second mobile body J2 worked according to instructions from the information processing device 10, but in the actual work site, work was performed on blocks that were not instructed by the information processing device 10. may be performed. In this case, the information processing device 10 receives from the first mobile body J1, the second mobile body J2, or the computer controlling them, the identification number (ij) of the block that has been worked on, the work status F (J1), or the work state It is sufficient to receive data in state F (J2). By the block management unit 113 updating the work status F (J1) or the work status F (J2) in association with the received block identification number (ij), the schedule processing unit 112 can The next block can be determined. It is easy to modify the schedule.

(Modification 3)
In the embodiment described above, work instruction data is transmitted to the first mobile body J1 and the second mobile body J2 for each block, and a schedule is created in real time according to the actual work status. The information processing device 10 is not limited to this, and can also create a schedule by simulating a series of tasks from the block at the starting point Ws to the last block.

In such a simulation mode, no instruction data or the like is exchanged between the information processing device 10, the remote control system 20, and the management system 50, and the block management unit 113 cannot detect the working state. Therefore, in this case, after the schedule processing unit 112 determines the next block, the instruction data and completion data may be sequentially output to the block management unit 113. The block management unit 113 stores the work order Nij (J1) or Nij (J2) of the block in the storage unit 12 in association with the identification number (ij) of the next block, and then executes the work order of the block according to the instruction data. The status F(J1) or F(J2) is updated to work waiting, and then updated to completed according to the completion data. As a result, the schedule processing unit 112 moves on to determining the next block, so that transport or deployment to each block is determined in sequence. It is possible to create a schedule for a series of work consisting of the work order Nij (J1) or Nij (J2) of each block.

Alternatively, in the simulation mode, after the block management unit 113 stores the work order Nij (J1) or Nij (J2) of the next block in the storage unit 12, the work status of the block is sequentially switched to work waiting and completed. The data of the work status F(J1) or F(J2) of the block may be automatically updated from incomplete to completed data.

(Modification 4)
In the embodiment described above, the field W is divided into a matrix, and the small areas after the division are set as blocks. However, the block may be a point rather than an area, as long as it can serve as a place to transport and spread the material k. Blocks can be set according to the shape of the field W, the content of the work, etc.

FIG. 8 shows an example where the block set in field W is the point.
In the field W, a plurality of points are set as blocks W1 to W7, including the starting point Ws. The positions of blocks W1 to W7 are specified by coordinates (x, y) in the x and y directions. The first mobile body J1 and the second mobile body J2 can move between blocks W1 to W7 connected by nodes. The schedule processing unit 112 can determine the next block to be worked on from among the blocks connected to the current block by a node, in the same manner as the schedule processing described above.

For example, if the site of a zoo is given as field W, and a drone transports food to a feeding area, and another drone distributes the food there, the points that will become the feeding area are set in blocks W1 to W1, as shown in Figure 8. It can be set as W7.

(Modification 5)
Although the working states of the first mobile body J1 and the second mobile body J2 are detected by the management system 50, the present invention is not limited thereto. As shown in FIG. 9, the camera 21 acquires a photographed image of the field W, and the block management unit 113 acquires and analyzes the photographed image to determine the working status of each mobile body J1 and J2, the current position, and the obstacles. It is also possible to detect the presence or absence of

The camera 21 photographs the entire field W and transmits the photographed image to the information processing device 10 via the network N. The camera 21 may be installed at a fixed position, or may be mounted on a moving object such as a drone.

Further, instructions to the first mobile body J1 and the second mobile body J2 may be given via the management system 50 instead of the remote control system 20, or may be given directly by the information processing device 10. In an embodiment in which the information processing device 10 directly transmits instruction data to the autonomously operating first mobile object J1 or second mobile object J2, by receiving work completion data from each mobile object J1 or J2. , the block management unit 113 may detect the status of work in progress and work completion.

(Modification 6)
In the schedule creation process of the first moving body J1, if the total number m of conveyances of material k in some adjacent blocks exceeds the threshold (step S32: YES), the destination of conveyance of material k is changed to the current destination as described above. Instead of deciding on a block away from the block , the schedule processing unit 112 can also decide to stop transporting the material k.

In this case, the block management unit 113 may store the number of spreads of the material k spread by the second moving body J2 in each block in the management table T1. The block management unit 113 increments the number of developments in the management table T1 every time it detects the work state of completion of development of one material k out of the number m of transported materials k.

When the material k of any adjacent block is developed while the conveyance of the material k is stopped and the number of developments becomes 1 or more, the schedule processing unit 112 may restart the conveyance of the material.

(Other variations)
In the embodiment described above, by exchanging instruction data and completion data between the information processing device 10 and the first mobile body J1 and the second mobile body J2, the block management unit 113 can change the work state F(J1) or Detect and update F(J2). The method of detecting the working state F(J1) or F(J2) is not limited to this, and the block management unit 113 may determine the working state F(J1) or F(J2) by analyzing the captured image of the camera 21. However, it may also be a mode of detection. Alternatively, the block management unit 113 may detect the work status F(J1) or F(J2) in response to an input from the operation unit 13 by the user such as work start, work in progress, or work completion. .

Furthermore, the block currently being worked on may be specified by the schedule processing unit 112 detecting the position of the first moving object J1 or the second moving object J2 from the captured image. The current positions (blocks currently being worked on) of the first mobile body J1 and the second mobile body J2 may be specified using a position detection module such as a GPS (Global Positioning System).

DESCRIPTION OF SYMBOLS 1... Information processing device, 111... Control unit, 112... Schedule processing unit, 113... Block management unit, 12... Storage unit, J1... First mobile body, J2... ...Second mobile object, 20...Remote control system, 50...Management system

Claims (9)

An information processing device (10) that creates a work schedule for a mobile object,
A schedule that sets a plurality of blocks in a given field and determines the order in which a first moving body (J1) transports the material and a second moving body (J2) spreads the material in each block. a processing unit (112);
a storage section (12);
A block management unit (113) that detects the working status of the first mobile body (J1) and the second mobile body (J2) in each of the blocks and stores the detected work status in the storage unit (12). ,
The schedule processing unit (112)
determining the next block to which the material is to be transported by the first moving body (J1) from among the blocks in which the work state of the second moving body (J2) is incomplete;
An information processing device (10) for determining the next block on which the second moving body (J2) is to spread the material from among the blocks in which the first moving body (J1) is in a completed work state. The block management unit (113)
storing the required number of materials and the number of materials to be transported for each block in the storage unit (12);
updating the work status of the first mobile body (J1) or the second mobile body (J2) in the next block to wait for work;
When the first moving body (J1) transports the material to a block in which the first moving body (J1) has a work status of work waiting, updating the number of transported materials in the block;
The information processing device (10) according to claim 1, wherein the work state of the first moving body (J1) of the block in which the number of transported materials has reached the required number is updated to complete. The schedule processing unit (112) selects the schedule from among the blocks in which the work state of the first movable body (J1) is completed and the number of materials transported has reached the required number. The information processing device (10) according to claim 2, wherein the next block to which the material is to be spread is determined by the second moving body (J2). The information processing apparatus according to claim 2 or 3, wherein the schedule processing unit (112) determines the next block in which the material is to be developed, giving priority to a block in which the number of materials transported is larger than other blocks. 10). The schedule processing unit (112) selects a block in which the work state of the second moving body (J2) is incomplete and is adjacent to the current block where the second moving body (J2) is located. The information processing device (10) according to any one of claims 2 to 4, wherein the next block to which the material is to be transported by the first moving body (J1) is determined from among the blocks. When the total number of materials transported in the adjacent blocks exceeds a threshold, the schedule processing unit (112) determines to stop transporting the materials, or decides to stop transporting the materials when the current block is one or more blocks away from the current block. The information processing device (10) according to claim 5, further comprising: determining the next block to which the material is to be transported from among the blocks. The block management unit (113) stores the presence or absence of an obstacle for each block in the storage unit (12),
The information processing device (10) according to any one of claims 1 to 6, wherein the schedule processing unit (112) determines the next block, excluding the block where the obstacle is present. A method for creating a work schedule for a mobile object, the method comprising:
setting multiple blocks for a given field;
In each of the blocks, determining the order in which the material is transported by a first moving body (J1) and the material is developed by a second moving body (J2);
Detecting the working status of the first moving body (J1) and the second moving body (J2) in each of the blocks, and storing it in a storage unit (12),
The step of determining the order includes:
determining the next block to which the material is to be transported by the first moving body (J1) from among the blocks in which the work state of the second moving body (J2) is incomplete;
a step of determining the next block on which the material is to be spread by the second moving body (J2) from among the blocks in which the working state of the first moving body (J1) is completed;
method including. A program for causing a computer to execute a method for creating a work schedule for a mobile object, the method comprising:
setting multiple blocks for a given field;
In each of the blocks, determining the order in which the material is transported by a first moving body (J1) and the material is developed by a second moving body (J2);
Detecting the working status of the first moving body (J1) and the second moving body (J2) in each of the blocks, and storing it in a storage unit (12),
The step of determining the order includes:
determining the next block to which the material is to be transported by the first moving body (J1) from among the blocks in which the work state of the second moving body (J2) is incomplete;
A program comprising the step of determining a next block in which the material is to be spread by the second moving body (J2) from among blocks in which the working state of the first moving body (J1) is completed.

Images