Work region setting device, work region setting system, work region setting method, and storage medium

A work region setting system for causing a plurality of work machines, which autonomously move and perform work within a work region, to share and perform the work, the work region setting system comprising:

• a first work machine having high work efficiency and configured not to perform the work on an edge of a boundary line located around the work range;
• a second work machine having lower work efficiency than the first work machine and configured to perform the work on the edge;
• and
• a work region setting device configured to decide and set a work target region that is a target where each work machine is allowed to perform the work,
• wherein the work region setting device comprises a processor configured to execute computer-readable instructions to perform:
• acquiring map information including at least a whole of the work region and work machine information including information about at least work efficiency of the plurality of work machines;
• deciding the work target region for each of the work machines for performing the work in a work range of a work region designated based on the map information;
• setting the decided work target region for each work machine;
• and
• transmitting the work target region to the work machine,
• wherein the deciding of the work target region comprises:
• deciding a region located around the work range including the edge as a second work target region of the second work machine;
• and
• deciding a region of the work range inside of the second work target region as a first work target region of the first work machine,
• wherein the deciding of the work target region comprises:
• deciding a region of a width of a second work area in which the second work machine can perform the work per unit time along the edge of the work range as the second work target region,
• deciding a sequentially moved region as the first work target region so that a region of a first work area in which the first work machine can perform the work per unit time comes into contact with the inside of the second work target region, and
• establishing the second work target region by adding a region that is not decided to be the first work target region in the work range to the second work target region, and
• wherein the deciding of the work target region comprises:
• determining whether a difference between a first distance of a first straight line from a center position of the first work target region to a first position on a boundary line between the first work target region and the second work target region and a second distance of a second straight line from the center position to a second position adjacent to the first position on the boundary line is less than or equal to a distance threshold value;
• and
• when a determination result indicates that the difference between the first distance and the second distance is not less than or equal to the distance threshold value,
• obtaining a third position where the difference is less than or equal to the distance threshold value on a straight line corresponding to a longer distance between the first distance and the second distance,
• updating the first work target region using the third position as a position on the boundary line, and
• establishing the second work target region by adding a region that is no longer the first work target region due to an update of the first work target region to the second work target region.

A work region setting method comprising:

• acquiring, by a computer of a work region setting device for deciding and setting a work target region that is a target where work is shared and performed by a plurality of work machines that autonomously move and perform work within a work region, map information including at least a whole of the work region and work machine information including information about at least work efficiency of the plurality of work machines;
• and
• when the work target region is decided for each of the work machines for performing the work in a work range of a work region designated based on the map information, wherein the work machines include a first work machine having high work efficiency and configured not to perform the work on an edge of a boundary line located around the work range and a second work machine having lower work efficiency than the first work machine and configured to perform the work on the edge,
• deciding, by the computer, a region located around the work range including the edge as a second work target region of the second work machine,
• deciding, by the computer, a region of the work range inside of the second work target region as a first work target region of the first work machine, and
• transmitting, by the computer, the work target region to each work machine when the decided work target region is set for each work machine,
• wherein the work target region setting method comprises:
• deciding, by the computer, a region of a width of a second work area in which the second work machine can perform the work per unit time along the edge of the work range as the second work target region,
• deciding, by the computer, a sequentially moved region as the first work target region so that a region of a first work area in which the first work machine can perform the work per unit time comes into contact with the inside of the second work target region, and
• establishing, by the computer, the second work target region by adding a region that is not decided to be the first work target region in the work range to the second work target region, and
• wherein the work region setting method comprises:
• determining, by the computer, whether a difference between a first distance of a first straight line from a center position of the first work target region to a first position on a boundary line between the first work target region and the second work target region and a second distance of a second straight line from the center position to a second position adjacent to the first position on the boundary line is less than or equal to a distance threshold value;
• and
• when a determination result indicates that the difference between the first distance and the second distance is not less than or equal to the distance threshold value,
• obtaining, by the computer, a third position where the difference is less than or equal to the distance threshold value on a straight line corresponding to a longer distance between the first distance and the second distance,
• updating, by the computer, the first work target region using the third position as a position on the boundary line, and
• establishing, by the computer, the second work target region by adding a region that is no longer the first work target region due to an update of the first work target region to the second work target region.

A non-transitory computer-readable storage medium storing a program for causing a computer of a work region setting device for deciding and setting a work target region that is a target where work is shared and performed by a plurality of work machines that autonomously move and perform work within a work region to:

• acquire map information including at least a whole of the work region and work machine information including information about at least work efficiency of the plurality of work machines;
• and
• when the work target region is decided for each of the work machines for performing the work in a work range of a work region designated based on the map information, wherein the work machines include a first work machine having high work efficiency and configured not to perform the work on an edge of a boundary line located around the work range and a second work machine having lower work efficiency than the first work machine and configured to perform the work on the edge,
• decide a region located around the work range including the edge as a second work target region of the second work machine,
• decide a region of the work range inside of the second work target region as a first work target region of the first work machine, and
• transmit the work target region to each work machine when the decided work target region is set for each work machine,
• wherein the non-transitory computer-readable storage medium storing the program causes the computer to:
• decide a region of a width of a second work area in which the second work machine can perform the work per unit time along the edge of the work range as the second work target region,
• decide a sequentially moved region as the first work target region so that a region of a first work area in which the first work machine can perform the work per unit time comes into contact with the inside of the second work target region, and
• establish the second work target region by adding a region that is not decided to be the first work target region in the work range to the second work target region, and
• wherein the non-transitory computer-readable storage medium storing the program causes the computer to:
• determine whether a difference between a first distance of a first straight line from a center position of the first work target region to a first position on a boundary line between the first work target region and the second work target region and a second distance of a second straight line from the center position to a second position adjacent to the first position on the boundary line is less than or equal to a distance threshold value;
• and
• when a determination result indicates that the difference between the first distance and the second distance is not less than or equal to the distance threshold value,
• obtain a third position where the difference is less than or equal to the distance threshold value on a straight line corresponding to a longer distance between the first distance and the second distance,
• update the first work target region using the third position as a position on the boundary line, and
• establish the second work target region by adding a region that is no longer the first work target region due to an update of the first work target region to the second work target region.