WO2022264409A1 - Dispositif de traitement d'informations, procédé de traitement d'informations, et programme - Google Patents

Dispositif de traitement d'informations, procédé de traitement d'informations, et programme Download PDF

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Publication number
WO2022264409A1
WO2022264409A1 PCT/JP2021/023225 JP2021023225W WO2022264409A1 WO 2022264409 A1 WO2022264409 A1 WO 2022264409A1 JP 2021023225 W JP2021023225 W JP 2021023225W WO 2022264409 A1 WO2022264409 A1 WO 2022264409A1
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Prior art keywords
work
autonomous
worker
area
information processing
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PCT/JP2021/023225
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English (en)
Japanese (ja)
Inventor
めぐみ 平川
聡 村田
壮太 坂口
勝平 並木
亮太 久田
隆一 木全
Original Assignee
本田技研工業株式会社
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Priority to PCT/JP2021/023225 priority Critical patent/WO2022264409A1/fr
Publication of WO2022264409A1 publication Critical patent/WO2022264409A1/fr

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D34/00—Mowers; Mowing apparatus of harvesters
    • A01D34/01—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus
    • A01D34/412—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters
    • A01D34/63—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis
    • A01D34/67—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator
    • A01D34/68—Mowers; Mowing apparatus of harvesters characterised by features relating to the type of cutting apparatus having rotating cutters having cutters rotating about a vertical axis hand-guided by a walking operator with motor driven cutters or wheels
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to an information processing device, an information processing method, and a program.
  • Patent Literature 1 discloses a lawn mower that can be used by an operator.
  • the purpose of the present invention is to make it easier for workers to grasp safer working areas while using autonomous work machines.
  • a first acquisition means for acquiring information indicating divided areas obtained by virtually dividing a work area; identifying means for identifying the position of a worker who performs work in the work area; determination means for determining whether or not the worker is in the vicinity of the autonomous work machine based on the position of the worker in the divided area; notification means for notifying a terminal owned by the worker when it is determined that the worker is in the vicinity of the autonomous work machine; comprising An information processing apparatus characterized by:
  • the figure which shows an example of the system which concerns on this embodiment The figure which shows an example of the functional structure of the information processing apparatus which concerns on this embodiment.
  • the figure which shows another example of the work map which concerns on this embodiment. 4 is a flowchart showing an example of information processing according to the embodiment;
  • FIG. 1 is a diagram showing an example of a system 100 including an information processing device 110 according to this embodiment.
  • the system 100 divides an area (work area) in which work such as lawn mowing or mowing is performed into divided areas, and when the worker is located in the divided area (neighboring area) near the autonomous work machine 130, the worker This is a system in which notification is made to the terminal device 120 that has.
  • Information processing device 110 is communicably connected to terminal device 120 and autonomous work machine 130 via a network.
  • Network 140 is a network used by information processing device 110 to communicate with terminal device 120 and autonomous work machine 130 . It should be noted that hereinafter, work such as lawn mowing or grass cutting performed by the landscaper is collectively simply referred to as grass cutting work.
  • mowing of an area such as a lawn or a hedge is divided into autonomous work by the autonomous work machine 130 and work performed by a worker. That is, after the work by the autonomous work machine 130, mowing work in an area where work is difficult for large autonomous work machines, such as near obstacles such as buildings, trees, or ponds, or hedge trimming work using a trimmer. Work is performed by a work device such as In this case, the faster the working speed of the autonomous work machine is, the more efficient it is, and the slower the working speed is, the safer the workers who work in parallel. In this embodiment, in order for the worker to work more safely, when it is determined that the worker is in the vicinity of the autonomous working machine, a notification is sent to the terminal of the worker.
  • the information processing device 110 is, for example, a server, and stores information indicating divided areas obtained by virtually dividing a work area, and a work plan indicating a work schedule by the autonomous work machine 130 using the divided areas. Further, the information processing device 110 determines whether or not the worker is located in the nearby area, and notifies the terminal device 120 when it determines that the worker is located in the nearby area.
  • the information processing device 110 includes a processing unit 111 , a storage unit 112 and a communication unit 113 . These functional units are connected by a bus (not shown).
  • the processing unit 111 is, for example, a CPU, and is a processor that executes each process performed by the information processing apparatus 110 according to the present embodiment by executing a program stored in the storage unit 112 .
  • the storage unit 112 is a storage device such as ROM, RAM, HDD, or SSD, and stores programs executed by the processing unit 111 and various data.
  • a communication unit 113 is a communication interface with an external device.
  • the terminal device 120 is a terminal possessed by a worker (user) who performs work.
  • the terminal device 120 may be, for example, a smart phone carried by the worker, a mobile terminal such as a PC, or a work device for the worker to work.
  • the terminal device 120 is assumed to be a smart phone carried by a worker.
  • the smartphone and the work device can be connected by wireless communication such as Bluetooth communication, and can transmit and receive position information.
  • the work performed by the worker is the mowing work performed by the landscaper, but excludes the work performed by the autonomous work machine 130 . A description of the working device will be given later.
  • the terminal device 120 includes a processing unit 121, a storage unit 122, a communication unit 123, a display unit 124, and a notification unit 125. These functional units are connected by a bus (not shown).
  • the processing unit 121 is a CPU, for example, and is a processor that executes each process performed by the terminal device 120 by executing a program stored in the storage unit 122 .
  • the storage unit 122 is a storage device such as ROM, RAM, HDD, or SSD, and stores programs executed by the processing unit 121 and various data.
  • a communication unit 123 is a communication interface with an external device.
  • the display unit 124 is a display interface for displaying information received from the information processing device 110. For example, a work map shown in FIG. display.
  • the terminal device 120 is a smartphone, and the display unit 124 is a screen of the smartphone (for example, a liquid crystal display or organic EL). not.
  • the display unit 124 may be, for example, a display mounted on the work device, or may be a display of a PC or an external device.
  • the terminal device 120 may be implemented as a plurality of separate devices as working devices for performing various tasks. The terminal device 120 notifies the worker via the display unit 124, and a detailed description will be given with reference to FIG.
  • the storage unit 122 stores information on divided areas obtained by virtually dividing the work area for mowing with the landscaper.
  • the storage unit 122 also stores a work plan indicating a work schedule by the autonomous work machine 130 using the divided areas. A detailed description of the divided areas and the work plan will be given later, but the autonomous work machine 130 according to the present embodiment performs work for each divided area.
  • the notification unit 125 notifies the terminal device 120 of the worker when the worker and the autonomous work machine 130 are located near each other. Therefore, the information processing device 110 identifies the position of the autonomous work machine 130 and the position of the worker (terminal device 120) on the work map. Next, the information processing device 110 determines whether or not the worker and the autonomous work machine 130 are located near each other based on the identified positions, and if they are located near each other, the information processing device 110 causes the notification unit 125 to make a notification. .
  • the notification made by the notification unit 125 is basically based on the display (color coding) of the work map displayed on the display unit 124. There is no particular limitation as long as the worker can be notified, such as by outputting the notification.
  • the autonomous work machine 130 is a robot mower that autonomously performs mowing work.
  • the autonomous working machine 130 mows an area such as a lawn or a hedge according to a work plan.
  • the autonomous work machine 130 is assumed to autonomously perform mowing work without relying on manual operation. (that is, it may also be configured as, for example, a riding mower, or a walking mower, etc.).
  • the work device is a device used by a worker during mowing work, such as an edger, trimmer, brush cutter, or blower.
  • a worker during mowing work, such as an edger, trimmer, brush cutter, or blower.
  • these implements are described herein as being either electrically powered ride-on devices such as edgers or blowers, or manual hand-held devices, they are commonly used for mowing, such as rakes. It can be any of the following equipment.
  • divided areas are set by virtually dividing the work area, and the storage unit 112 stores a work plan indicating a work schedule in the divided areas by the autonomous work machine.
  • the autonomous work machine 130 finishes work in a certain divided area, it shifts to work in the next divided area or ends the work.
  • the autonomous work machine 130 moves through the divided areas, the position of the autonomous work machine 130 on the work map is also updated, and the display is switched accordingly.
  • the autonomous working machine 130 can notify the terminal device 120 that the work in the next divided area will be started each time the work in each divided area is completed.
  • FIG. 1 Processing performed on the system 100 by the information processing apparatus 110 according to the present embodiment will be described below with reference to FIGS. 2 and 3.
  • FIG. 1
  • FIG. 2 is a block diagram showing an example of the functional configuration of the information processing device 110 according to this embodiment.
  • the information processing device 110 includes a reading unit 201 , a specifying unit 202 , a determining unit 203 and a notification unit 204 .
  • the reading unit 201 acquires from the storage unit 122 information on the work area and information on divided areas obtained by virtually dividing the work area.
  • work area data such as a bird's-eye view has been created in advance, and divided areas have already been created.
  • a work area divided into divided areas is displayed as a work map shown in FIG. 3, for example.
  • the reading unit 201 acquires from the storage unit 122 a work plan indicating a schedule of work by the autonomous work machine on the work map. A description of the work plan will be given later with reference to FIG.
  • the identifying unit 202 identifies the position of the autonomous work machine 130 and the position of the terminal device 120 on the work map.
  • the identifying unit 202 acquires, via the network 140, the positions obtained by the position sensors provided in the autonomous working machine 130 and the terminal device 120 (smartphone or working device).
  • the determination unit 203 determines whether or not the worker is located in the vicinity area based on the position of the autonomous working machine 130 and the position of the terminal device 120 specified by the specifying unit 202 . In the present embodiment, for example, when the autonomous work machine 130 and the terminal device exist in the same divided area, it is assumed that the worker is located in a nearby area. It is not limited to this. Processing performed by the determination unit 203 will be described in detail with reference to FIG.
  • the notification unit 204 determines that the worker is located in the nearby area, the notification unit 204 notifies the terminal device 120 of the worker. For example, when autonomous work machine 130 and terminal device 120 are present in the same divided area, notification unit 204 notifies terminal device 120 of a warning to keep distance from autonomous work machine 130 away from the divided area. can be done.
  • the notification by the notification unit 204 will be described as being performed by display on the work map of FIG. 3, which will be described later, but notification may be performed by outputting an alarm sound or voice, for example.
  • the notification unit 204 executes the smartphone's vibration function or alert function, can notify the person.
  • FIG. 3 is a diagram showing an example of a work map displayed on the terminal device 120 by the notification unit 204 and showing each divided area while the landscaper is mowing.
  • the work map is divided into six divided areas, areas 301 to 306, and the autonomous work machine 310 performs work in each divided area in the order scheduled in the work plan.
  • the autonomous work machine 310 in FIG. 3 has finished work in the area 303 and moved to the area 304 .
  • icons of an edger 311, a trimmer 312, and a worker 313 who are currently working are displayed in divided areas. Edger work is being performed by an edger 311 in an area 303 where the work by the autonomous work machine 310 has been completed.
  • trimming work is being performed by a trimmer 312 in an area 302 where a hedge exists where the work by the autonomous work machine 310 has been completed. Furthermore, in an area 301 where the work by the autonomous work machine 310 and the mowing work by the handheld device such as the edger 311 are finished, the grass is manually collected by the worker 313 .
  • a work plan including the movement route of the autonomous work machine 310 is created in advance so that work is performed in order from areas 301 to 306. If there are hedges in the work area (or its vicinity), a work plan is created so that work in the divided area where the hedges are present is prioritized so that trimmer work on the hedges can be started at an early stage. may be Also, if there is an obstacle in the work area (or its vicinity), the work in the divided area where the obstacle exists is preferentially performed so that the edger work around the obstacle can be started at an early stage. A work plan may have been prepared.
  • the work start point is area 301
  • autonomous work machine 310 advances from area 301 to area 302.
  • the point may be the area 302 .
  • the movement route of the autonomous work machine 310 included in the work plan is set by the landscaper before the mowing work. may be generated. For example, when there are multiple divided areas with hedges or obstacles, the priority is calculated according to the area of the hedge or obstacle in the divided area, and the autonomous work machine 310 moves according to the calculated priority. A route may be determined.
  • the notification unit 204 provides different displays in the work map between the nearby area and other areas.
  • the neighboring area and other areas are displayed in different colors. Any indication for doing so is possible.
  • the notification unit 204 may make different notifications for the divided area where the autonomous work machine 310 exists and the divided area adjacent to the divided area among the neighboring areas.
  • the divided area in which the autonomous work machine 310 exists and the divided areas adjacent to that divided area are displayed in different colors (red and yellow, respectively), and the divided areas that are not neighboring areas are displayed in blue. is displayed in Therefore, the terminal device 120 of the worker having the edger 311 is presented with information indicating that the area where the autonomous work machine 310 is working is close.
  • the area Notification of work in may be performed.
  • the positions at which the icons and the like are displayed may be obtained by acquiring the position information of the terminal device 120 and reflected on the work map, or may be displayed at fixed positions.
  • display is made so that it is easy to visually understand that there is no need to work, such as by darkening, filling in, or erasing from the work map.
  • the notification unit 204 outputs an alert as a notification to the worker when the worker is in the divided area where the autonomous work machine 310 exists, and warns the worker when the worker is in the adjacent divided area. A prompting voice may be output. Furthermore, the notification unit 204 may stop the operation of the autonomous work machine when the worker is in the divided area where the autonomous work machine 310 exists.
  • the information processing device 110 notifies the terminal device 120 when the worker is located in the nearby area.
  • the neighborhood area is not limited to only the divided area where the autonomous work machine 310 exists. may be set as That is, in this example, since the divided areas are set in a grid pattern, the divided area where the autonomous work machine 310 exists and the four areas above, below, to the left, and to the right of the area (these may be eight surrounding areas) are displayed on the work map. Those that exist are set as neighboring areas. Further, for example, the notification unit 204 may select a divided area in which the autonomous working machine 310 exists, and a divided area having a region overlapping a circle with a predetermined radius centered on the autonomous working machine 310, or the like. You may set the area covered as a neighborhood area.
  • FIG. 4 is a diagram showing an example of a work map 400 displaying information different from that in FIG.
  • a work map 400 is a map that displays divided areas 301 to 306 that are similarly divided in the same work area as the work map 300 .
  • the notification unit 204 displays the order in which the work by the autonomous work machine 310 is performed for each divided area of the work map 400 . Although this order is indicated by arrows in the example of FIG. 4, it may be in a format in which a symbol or number indicating the order of work is displayed for each divided area, for example. Also, in the example of FIG.
  • the expected work time in each divided area by the autonomous work machine 310 is set, and the work time is displayed on the work map.
  • the autonomous work machine 310 operates in area 301 from 9:40 to 10:00, in area 302 from 10:00 to 10:50, and in area 303 from 10:50 to 11:10.
  • the work in area 304 started at 11:10.
  • the expected work time may be displayed in each divided area, and the divided area and the work time are displayed in association with each other in an area outside the work area of the work map displayed on the display unit 124. It is not particularly limited to this as long as it is a format that can be confirmed by the operator. Also, in the example of FIG.
  • the work time by the autonomous work machine 310 is consistently displayed, but the work time displayed here is particularly limited as long as it is the scheduled work time in the area. Do not mean.
  • the notification unit 204 may display, as the work time, the period of work as shown in FIG. 4, the start time of the work, or the end time of the work. Further, after the work by the autonomous work machine 310 is completed, the notification unit 204 may display the scheduled work time of the subsequent work or the scheduled time until the start of the next work. These work times are set based on the current time at the start via a GUI such as that shown in FIG. 6, which will be described later.
  • the notification unit 204 performs different displays in the divided area near the autonomous working machine that is working and in the other divided areas. Specifically, the divided area where the autonomous machine is working is displayed in red, the divided area adjacent to the divided area where the autonomous machine is working is displayed in yellow, and the other divided areas are displayed. Shown in blue. According to such processing, a different display is made in the vicinity of the area where work is being performed by a large autonomous work machine, and the user can confirm this to avoid the area around the autonomous work machine and work more safely. can be done.
  • the specifying unit 202 when specifying a divided area in which work has been completed from the autonomous work machine 130, the specifying unit 202 simultaneously acquires the time when the work was completed, and compares the time with the work plan. If so, the scheduled time for the subsequent work in the work plan may be corrected based on the deviation. For example, if the work is delayed by 10 minutes from the original schedule, the overall work time in the work plan will be delayed by 10 minutes, and the shift will be reflected on the display on the work map.
  • FIG. 5 is a flowchart showing an example of notification processing to the terminal device 120 performed by the information processing device 110 according to this embodiment.
  • the processing shown in FIG. 5 is assumed to be started in response to an instruction to start mowing by the landscaper, for example, by pressing a decision button 604 on the GUI shown in FIG. 6, which will be described later.
  • step S501 the reading unit 201 reads from the storage unit 122 information on the work area, information on divided areas obtained by virtually dividing the work area, and a work plan using the divided areas.
  • step S ⁇ b>502 the identification unit 202 communicates with the autonomous work machine 130 and the terminal device 120 to acquire the position of the autonomous work machine 130 and the position of the terminal device 120 .
  • the determination unit 203 determines whether or not the terminal device 120 exists in the nearby area based on the information acquired in step S502. If so, the process proceeds to step S504; otherwise, the process returns to step S502.
  • step S504 the notification unit 204 notifies the terminal devices 120 existing in the nearby area.
  • the notification unit 204 updates the work map displayed on the terminal device 120 .
  • step S505 the notification unit 204 determines whether or not to continue mowing. If the mowing work is to be continued, the process returns to step S502; otherwise, the process ends.
  • the position of the autonomous working machine and the position of the worker are specified in the divided areas obtained by dividing the work area, and the worker is notified when the worker is near the autonomous working machine. be able to. Therefore, the worker can work more safely in parallel work between the autonomous work machine and the worker.
  • the explanation was given assuming that there is one autonomous work machine 130, but a plurality of autonomous work machines 130 may work within the work area. Also, the number of workers (terminal devices 120) in the work area is not particularly limited, and a plurality of workers may be working. In that case, the autonomous work machines 130 may each perform different work, or there may be autonomous work machines 130 that perform the same work. Even when there are a plurality of autonomous work machines 130 and workers, the identifying unit 202 identifies the position of each autonomous work machine and the position of each worker on the work map, A notification is sent to the terminal of the worker who is in
  • the information processing device 110 does not need to notify the terminal device 120 owned by the supervisor even if it exists in the vicinity area of the autonomous work machine 130 . For example, even when the supervisor's terminal device 120 and the autonomous work machine 130 are in the same divided area, the information processing device 110 does not have to notify the terminal device 120, and the autonomous work machine 130 does not have to notify the terminal device 120. It is not necessary to stop the operation of
  • the terminal device 120 owned by the supervisor may be able to control the operation of the autonomous work machine 130 by user operation.
  • the terminal device 120 possessed by the supervisor may be able to stop the operation of the autonomous work machine 130, and issue an instruction to advance the work of the autonomous work machine 130 to work in the next divided area. good too.
  • the autonomous working machine 130 may be communicably connected to the terminal device 120 by wireless communication such as Bluetooth (registered trademark), and may function as the whole or a part of the information processing device 110 .
  • the autonomous work machine 130 can transmit and receive position information to and from the terminal device 120, and when the work in a certain divided area is finished, the autonomous work machine 130 notifies the terminal device 120 of the fact by wireless communication. can be sent to prompt the worker to perform the work.
  • the autonomous working machine 130 directly informs the terminal device 120 that the worker can work in the divided area. Can be sent and can update the display of the work map.
  • the method of dividing the work area is not particularly limited as shown in FIG. 3.
  • the size or shape of each divided area may not be uniform, and the number of divided areas can be set as an arbitrary value. It's okay.
  • the user performs settings related to division, thereby determining the division method, the estimated work time for each area after division, or the size of the division area, and generating the division area. 122.
  • the work area may be divided into divided areas according to user input, or may be divided into grids of a predetermined size. An estimate may be calculated and divided so that the work time is roughly even.
  • the work area includes a region such as a road or a building where work is not performed by the autonomous work machine 130, the work area may be divided so that such a region is not included in the divided areas. .
  • FIG. 6 is a diagram showing an example of a GUI on the terminal device 120 that receives user input when dividing a work map.
  • a display portion 601 for displaying the work area shown in FIG. 3 a frame 602 for setting the division method, and a frame 603 for setting the division level are displayed.
  • the items in frames 602 and 603 are presented with preset options by a pull-down method, and are selected by the user.
  • vertical, horizontal, or grid division for example, can be selected as the division method for the frame 602 .
  • Vertical division is selected in FIG. 6, and the work area is divided into three divided areas 611 to 613 by boundaries in the x-axis direction. If horizontal division is selected, the work area is divided by y-axis boundaries.
  • grid division grid division is performed as shown in FIG.
  • strong, medium, or weak can be selected as the level of division in the frame 603, and the work time to be spent on each divided area is determined accordingly.
  • the small division level is selected, and the work area is divided into three areas 611 to 613 so that each work time is 50 minutes.
  • the degree of division can be determined as desired by the user.
  • the work time here is calculated according to the size of the divided area and the type and size of hedges or obstacles in the divided area.
  • the size of each divided area may be determined according to the level of division.
  • the frames 602 and 603 are examples, and arbitrary setting items such as the range of work area, change of work area, work contents to be performed for each work area, etc. may be separately provided. In this example, after these settings are made, by pressing the decision button 604, the set divided areas and the work plan using them are stored in the storage unit 112, and the autonomous work machine 130 work is started.
  • FIG. 7 is a diagram for explaining an example of a notification displayed by the terminal device 120 according to the present embodiment and made when the worker is in the vicinity of the autonomous work machine 310.
  • a terminal device 120 shown in FIG. 7 is a smartphone possessed by a worker who is working in the area 303 using the edger 311 shown in FIG.
  • a part of the work map similar to that in FIG. 3 is displayed on the display section 702 on the screen 700 . Since the autonomous work machine 310 is in the area 304, the terminal device 120 located in the area 303 adjacent to this area issues a pop-up warning 701 (push notification) indicating that the large machine (autonomous work machine) is near.
  • a pop-up warning 701 push notification
  • the terminal device 120 is emitting a warning sound, and that the warning sound and the display of the warning 701 are stopped by pressing the acknowledge button 703 .
  • the user is notified that the work is being done in the nearby area, and warns the user. It is possible to encourage
  • the worker can be notified that the autonomous work machine is near by a notification such as a warning sound or vibration. can be made easier.
  • the division area according to the present embodiment has been described as a fixed area obtained by dividing the work area into predetermined areas before starting work, as shown in FIG.
  • the divided area need not be set as a fixed area, and the divided area may be set according to the position of autonomous work machine 130 during work. That is, even if the work area is divided by setting a concentric boundary around the position of the autonomous work machine 130 (for example, according to the distance from the autonomous work machine), and each of these areas is set as a divided area. good.
  • the neighboring area is set in the same manner as in the above-described embodiment.
  • the neighboring area may include adjacent areas.
  • the notification unit 204 can notify the terminal device 120 as described above.
  • the fixed divided areas and the work plan using the fixed divided areas as shown in FIG. A nearby area that is set according to the position of the aircraft 130 may be used.
  • the notification unit 204 causes the terminal device 120 to display all or part of the work map, and differs between the nearby area set according to the position of the autonomous work machine 130 and the other area (for example, in FIG. 7).
  • It may be displayed in the same color as the display unit 702 ), or may be displayed in gradation with shades according to the distance from the autonomous work machine 130 .
  • the worker determines whether or not the worker is in the vicinity using the divided areas set according to the position from the autonomous working machine, it is possible to determine whether the autonomous working machine and the worker are close to each other. It is possible to make a more substantive judgment as to whether (that is, whether it is dangerous).
  • the information processing device of the above embodiment includes: a first acquisition means for acquiring information indicating divided areas obtained by virtually dividing a work area; identifying means for identifying the position of a worker who performs work in the work area; determination means for determining whether or not the worker is in the vicinity of the autonomous work machine based on the position of the worker in the divided area; notification means for notifying a terminal owned by the worker when it is determined that the worker is in the vicinity of the autonomous work machine; Prepare.
  • the terminal owned by the worker is notified. It can be performed. Therefore, while using the autonomous work machine, it becomes possible for the worker to easily grasp the safer working area.
  • the determination means determines whether the divided area where the worker is located is the same as the divided area where the autonomous work machine is located, or when the divided area is adjacent to the divided area where the autonomous work machine is located. , it is determined that the worker is in the vicinity of the autonomous work machine. According to this embodiment, when judging whether or not the worker is in the vicinity of the autonomous working machine, it is possible to set the divided area where the autonomous working machine is located and the adjacent divided area as neighboring areas. .
  • the display means performs different displays in the divided area near the autonomous working machine and in the divided area not near the autonomous working machine. According to this embodiment, it is possible to check the divided area near the autonomous working machine 130 by the display on the terminal device 120 .
  • the display means provides different displays for the divided area where the autonomous work machine is located and the divided area other than the divided area where the autonomous work machine is located in an area in the vicinity of the autonomous work machine. conduct. According to this embodiment, different notifications can be made between the divided area where the autonomous work machine 130 is located and the divided area adjacent to that area.
  • the display means performs different displays in the divided areas in the work area in which both the work by the autonomous working machine and the work by the worker are completed and the other divided areas.
  • the display on the terminal device 120 makes it possible to visually and easily confirm the division area where both the work by the autonomous working machine and the work by the worker have been completed.
  • the display means performs display using different colors as the different display. According to this embodiment, it is possible to visually and easily confirm the divided areas where work can be performed more safely.
  • the display means further displays a scheduled work time by the autonomous work machine for each of the divided areas based on the work plan. According to this embodiment, by displaying the scheduled time at which the autonomous work machine is to move, it is possible to notify the worker of the timing at which work can be started more safely in an easy-to-understand manner.
  • the apparatus further includes correction means for correcting the work plan when the work by the autonomous working machine is delayed with respect to the work plan. According to this embodiment, it is possible to respond flexibly even when there is a delay in the work according to the work plan.
  • the divided areas are areas obtained by virtually dividing the work area according to the position of the autonomous work machine. According to this embodiment, it is possible to determine whether or not the worker is in the vicinity of the autonomous work machine by using the divided areas set based on the position of the autonomous work machine during work.
  • a second acquisition means for acquiring information indicating whether the worker is a supervisor of work by the autonomous work machine;
  • the notification means does not notify the terminal when the worker is the supervisor even when it is determined that the worker is in the vicinity of the autonomous work machine. According to this embodiment, when a worker in the vicinity of the autonomous work machine 130 is the supervisor of the work, it is possible to carry out the work without notification.
  • the notification means notifies the terminal that, when the work by the autonomous work machine in the first divided area is completed, the work in the second divided area where the autonomous work machine will work next will be performed. Do more. According to this embodiment, it is possible to clearly notify the timing at which the worker can start the work.
  • the notification means sends the notification to the worker A pop-up notification is sent to the terminal that has the According to this embodiment, it is possible to give an easy-to-understand notification on the terminal device 120 at the timing at which the worker can start work.
  • control to cause the notification means to issue a warning as the notification When it is determined that the worker is in the vicinity of the autonomous working machine, when the worker is in the divided area where the autonomous working machine is located, stopping work by the autonomous working machine; When the worker is in the divided area excluding the divided area in which the autonomous work machine is located among the areas in the vicinity of the autonomous work machine, control to cause the notification means to issue a warning as the notification. Further provide means. According to this embodiment, it is possible to control the work in the work area according to the position of the worker near the autonomous work machine 130 with respect to the autonomous work machine 130 .
  • the identifying means identifies the position from the terminal owned by the worker or the work machine used by the worker. According to this embodiment, it is possible to acquire the position of the worker using the divided areas from both the portable terminal and the work machine.
  • the information processing method of the above embodiment includes: a first acquisition step of acquiring information indicating divided areas obtained by virtually dividing a work area; an identifying step of identifying a position of a worker who performs work in the work area; a determination step of determining whether or not the worker is in the vicinity of the autonomous work machine based on the divided areas, using the position information of the worker; a notification step of notifying a terminal owned by the worker when it is determined that the worker is in the vicinity of the autonomous work machine; Prepare.
  • the terminal owned by the worker is notified. It can be performed. Therefore, while using the autonomous work machine, it becomes possible for the worker to easily grasp the safer working area.
  • the program of the above embodiment is A program for causing a computer to function as each means of the information processing apparatus. According to this embodiment, when it is determined that the worker is located near the autonomous work machine based on the position of the worker and the position of the autonomous work machine using the divided areas, the terminal owned by the worker is notified. It can be performed. Therefore, while using the autonomous work machine, it becomes possible for the worker to easily grasp the safer working area.

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  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Environmental Sciences (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Soil Sciences (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

La présente invention a pour objet de faciliter une détermination plus sûre par un employé d'une zone apte au travail pendant l'utilisation d'une machine de travail autonome. Dans la présente invention, des informations indiquant des zones divisées obtenues en divisant virtuellement une zone de travail sont acquises. La position d'un employé est spécifiée. Le fait que l'employé se trouve ou non près de la machine de travail autonome est déterminé sur la base de la position de l'employé dans les zones divisées. Lorsqu'il est déterminé que l'employé se trouve près de la machine de travail autonome, une notification est délivrée à un terminal dont l'employé est en possession.
PCT/JP2021/023225 2021-06-18 2021-06-18 Dispositif de traitement d'informations, procédé de traitement d'informations, et programme WO2022264409A1 (fr)

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JP2018201342A (ja) * 2017-05-30 2018-12-27 井関農機株式会社 農作業支援システム
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