JP7474154B2 - SWITCHING DEVICE, PROGRAM, AND SWITCHING METHOD - Google Patents

Description

The present invention relates to a switching device, a program, and a switching method.

Mobile devices, such as self-propelled robotic lawnmowers, may only travel within physically enclosed areas designated for safety reasons.

Patent document 1 discloses a technology for expanding the travel range of a mobile object by providing a signal generator within each of multiple designated closed areas, thereby expanding the physically closed areas so that the mobile object can travel within those areas.

International Publication No. WO 99/38056

However, with the technology disclosed in Patent Document 1, if the number of specified physically closed areas is increased, the number of signal generators must also be increased accordingly, which increases the cost of running the mobile object.

According to one aspect of the present invention, a switching device is provided. The switching device includes a reception unit and a switching unit. The reception unit is configured to receive a signal from a mobile object capable of moving through a first closed area in an active state. The first closed area is at least one of a plurality of closed areas. The plurality of closed areas are classified into a first closed area and a second closed area that is not in an active state, and each of the closed areas is a physically determined area. The switching unit is configured to switch at least one of the second closed areas to the first closed area based on the signal received by the reception unit.

This type of switching device makes it possible to expand the designated closed area in which a mobile object can travel at low cost.

2 is a block diagram showing a configuration of a switching device 3 that switches a traveling area of a moving object 2 according to the embodiment. FIG. 2 is a block diagram showing a configuration of a switching device 3 that switches between a plurality of travel areas of a moving object 2 according to the embodiment. FIG. FIG. 13 is a diagram illustrating an example of an overlapping region according to the embodiment. 2 is a block diagram showing a hardware configuration of a switching device 3. FIG. 3 is a functional block diagram showing functions performed by a control unit 33 in the switching device 3. FIG. 13 is an example of a switching method for a closed area A by a switching unit 332 of the work area switching system 1a according to the embodiment. 13 is an example of a switching method for a closed area A by a switching unit 332 of the work area switching system 1a according to the embodiment. 13 is an example of a switching method for a closed area A by a switching unit 332 of the work area switching system 1a according to the embodiment. FIG. 4 is an activity diagram relating to a switching method of the switching device 3 according to the embodiment.

The following describes embodiments of the present invention with reference to the drawings. The various features shown in the following embodiments can be combined with each other.

The program for realizing the software appearing in this embodiment may be provided as a non-transitory computer-readable recording medium, or may be provided so as to be downloadable from an external server, or may be provided so that the program is started on an external computer and its functions are realized on a client terminal (so-called cloud computing).

In this embodiment, the term "unit" may also include, for example, a combination of hardware resources implemented by a circuit in the broad sense or a relay and an analog circuit, and software information processing that can be specifically realized by these hardware resources. In addition, this embodiment handles various types of information, which are represented by physical values of signal values such as voltage and current, high and low signal values as a binary bit collection consisting of 0 or 1, or quantum superposition (so-called quantum bits), and communication and calculations can be performed on a circuit in the broad sense.

In the broad sense, a circuit is a circuit realized by at least appropriately combining a circuit, circuitry, a processor, and memory. In other words, it includes application specific integrated circuits (ASICs), programmable logic devices (e.g., simple programmable logic devices (SPLDs), complex programmable logic devices (CPLDs), and field programmable gate arrays (FPGAs)), etc.

A relay is a component that receives an electrical signal from the outside and turns an electrical circuit on/off or switches it. A relay circuit is an electrical circuit that uses a relay to control machines or other loads. An analog circuit is an electronic circuit that handles continuously changing electrical signals. In this embodiment, the hardware resources implemented by these relay circuits and analog circuits are included.

1. Overall Configuration In the first section, the hardware configuration according to this embodiment will be described. Fig. 1 is a block diagram showing the configuration of a switching device 3 that switches the travel area of a moving body 2 according to the embodiment. Fig. 2 is a block diagram showing the configuration of a switching device 3 that switches between a plurality of travel areas of a moving body 2 according to the embodiment. The work area switching system 1 includes a closed area A that is a travel area, a moving body 2, and a switching device 3. Each component will be described below.

1.1 Closed Area A
As shown in Fig. 1, the mobile object 2 can travel in the first closed area A1, which is in an active state among the areas in which each closed area A is physically determined. In other words, the mobile object 2 cannot travel in the second closed area A2, which is not in an active state. In this way, the multiple closed areas A are classified into the first closed area A1, which is in an active state, and the second closed area A2, which is not in an active state. Since the first closed area A1 is at least one of the multiple closed areas A, the mobile object 2 can travel in the multiple closed closed areas A.

A physically determined area is an area that is identified by wire or wireless. In other words, closed area A may be an area surrounded by wire or wireless. Here, the wired area may be something that physically surrounds the area, like a wire, or something that is stuck to the ground like tape to clarify the area. Furthermore, the wireless area may be something that uses multiple photoelectric sensors to clearly identify and define the closed area with laser light. In other words, as long as the moving body 2 can recognize a closed area, there is no restriction as to whether it is wired or wireless.

The active state is defined as a state in which a signal that enables the mobile unit 2 to recognize a closed area is obtained from a physically determined area, and it can be determined that the mobile unit 2 can travel within the closed area. For example, if electricity flows through a wire buried underground, the mobile unit 2 can recognize the closed area by detecting the electricity that is flowing. Here, the active state and the inactive state may be distinguished by whether or not electricity is flowing, or by changing the voltage value.

A wire may be placed around the closed area, and when in the active state, the wire may be lifted off the ground to realize the active state. The moving body 2 can recognize the closed area by coming into contact with the wire. Furthermore, multiple photoelectric sensors may be placed around the closed area, and when in the active state, the photoelectric sensors may output a laser to realize the active state. The moving body 2 can recognize the closed area by detecting the laser. The photoelectric sensor outputting the laser may detect the moving body 2 and send a signal to the moving body 2, allowing the moving body 2 to recognize the closed area.

The closed area A shown in Figures 1 and 2 is a continuously closed area. As long as the mobile object 2 can recognize the closed area, the closed area A may be a physically discontinuous closed area.

The shape of the closed area A shown in Figures 1 and 2 is a rectangle and a quadrangle. The shape of the closed area A is not limited as long as the mobile object 2 can move freely within the closed area A and can recognize the closed area.

There are no limitations on the perimeter of closed area A or the area within closed area A. If what defines closed area A is a conductive wire, the maximum length of the wire is preferably 1,000 to 1,500 m, but is not limited thereto.

The maximum wire lengths are specifically: 1000, 1010, 1020, 1030, 1040, 1050, 1060, 1070, 1080, 1090, 1100, 1110, 1120, 1130, 1140, 1150, 1160, 1170, 1180, 1190, 1200, 1210, 1220, 1230, 1240, 1250, 1260, 1270, 1280, 1290, 1300, 1310, 1320, 1330, 1340, 1350, 1360, 1370, 1380, 1390, 1400, 1410, 1420, 1430, 1440, 1450, 1460, 1470, 1480, 1490, 1500, and may be within a range between any two of the numerical values exemplified here.

The mobile unit 2 may be a mobile work device for performing a predetermined task. As a mobile work device, the mobile unit 2 has, for example, a battery (not shown). When the mobile unit 2 performs work, the mobile unit 2 performs the work by receiving electricity from the battery. Therefore, when the battery level decreases, the mobile unit 2 returns to a charging station (not shown) to charge the battery. The closed area A is functionally classified into a work area W where the mobile unit 2 performs work, and a charging area B where the charging station is located. The work area W is an area that specifies the range in which the mobile unit 2 performs work. The charging area B is an area that specifies the range in which the charging station is located.

The multiple closed areas A are configured to have an overlapping area. The overlapping area is an area where at least two adjacent closed areas A overlap. The overlapping area is an area where the mobile body 2 moves continuously through the multiple closed areas A. FIG. 3 is a diagram showing an example of an overlapping area according to the embodiment. In the work area switching system 1c, the mobile body 2 can move between the work area W7 and the work area W8 via the closed area A, which is the charging area B4. Therefore, the overlapping area is the charging area B4. On the other hand, in the work area switching system 1d, the mobile body 2 can move continuously between the work area W9 and the work area W10 because there is an overlapping area between the work area W9 and the work area W10. The overlapping area is an overlapping area between the work area W9 and the work area W10. In this way, the user may set the overlapping area with or without the charging area B intervening.

As described above, the layout of the work area W in which the mobile unit 2 can travel is not limited as long as it is continuous. The work area switching system 1a shown in FIG. 1 consists of two closed areas A, work area W1 and work area W2, and has a charging area B1 that is an overlapping area. Therefore, since the two closed areas A, work area W1 and work area W2, are continuous, the mobile unit 21 can travel in the work area W1 and work area W2. Moreover, the work area switching system 1b shown in FIG. 2 consists of work areas W3 to W6, and the two closed areas A, work area W3 and work area W4, have a charging area B2 that is an overlapping area, and the three closed areas A, work area W4 to work area W6, have a charging area B3 that is an overlapping area. Therefore, since the four closed areas A, from work area W3 to work area W6, are continuous areas, the mobile unit 22 and the mobile unit 23 can travel from work area W3 to work area W6.

The number of moving bodies 2 traveling within a work area W is not limited. Multiple moving bodies 2 may travel in one work area W. Also, one moving body 2 may travel in multiple work areas W. There are no restrictions on either the number of work areas W or the number of moving bodies 2.

1.2 Mobile unit 2
The moving body 2 may be a self-propelled vehicle or a manned vehicle. The power source of the moving body 2 is not limited to electricity, and may be a fossil fuel such as gasoline or diesel, or may be hydrogen or electricity. The power source may also be a hybrid of these. The moving body 2 has wheels, but may also be a moving body 2 like a flying object. When the power source of the moving body 2 is electricity, power may be supplied directly from the outside to the moving body 2 via a power cable, or the moving body 2 may be equipped with a battery and power may be supplied from the battery.

The mobile object 2 may be a mobile work machine as described above. The work machine is not limited, and may be, for example, a lawnmower or a golf ball collector. If the mobile object 2 is a lawnmower, the mobile object 2 travels randomly through the work area W, which is the first closed area A1, and while traveling, cuts the grass with a lawnmower equipped on the mobile object 2. If the mobile object 2 is equipped with a battery and power is supplied from the battery, when the remaining battery power decreases, the mobile object 2 returns to the charging station in the charging area B to charge the battery.

The size, weight, moving speed, acceleration and deceleration of the moving body 2 are not limited. If the moving body 2 is a work device, it is preferable that the moving body 2 is equipped with an ultrasonic sensor, a photoelectric sensor, etc., in order to detect and avoid obstacles while traveling.

1.3 Switching Device 3
The switching device 3 may be used alone, or may be provided in a charging station for the mobile object 2. When the switching device 3 is used alone, it is preferable that the switching device 3 is provided in the overlapping area since the switching device 3 directly receives a signal from the mobile object 2. When the switching device 3 is provided in the charging station, the switching device 3 is placed in the charging area B as a charging station. In either case, the switching device 3 is provided in the overlapping area. FIG. 4 is a block diagram showing a hardware configuration of the switching device 3. The switching device 3 has a communication means 31, a storage means 32, and a control means 33, and these components are electrically connected via a communication bus 30 inside the switching device 3. Each component will be further described below.

(Communication means 31)
The communication means 31 is preferably a wired communication means 31 such as USB, IEEE 1394, Thunderbolt, wired LAN network communication, etc., but may include wireless LAN network communication, mobile communication such as LTE/3G, Bluetooth (registered trademark) communication, etc. as necessary. That is, it is more preferable to implement as a collection of these multiple communication means 31. In particular, it is preferable that the transmission and reception of signals between the mobile body 2 and the switching device 3 is configured to be capable of communication according to a predetermined communication standard.

(Memory means 32)
The storage means 32 stores various information defined by the above description. This can be implemented as a storage device such as a solid state drive (SSD) or a memory such as a random access memory (RAM) that stores temporarily necessary information (arguments, arrays, etc.) related to the calculation of the program. The storage means 32 may also be a combination of these. In particular, the storage means 32 stores information on the working area W in which the moving body 2 travels. The storage means 32 also stores the actual time when the switching device 3 switches the first closed area A1 to the second closed area A2 and the second closed area A2 to the first closed area A1. Furthermore, the storage means 32 stores a reception program, a switching program, a decision program, a storage program, a display program, and a communication program. The storage means 32 also stores various programs related to the switching device 3 executed by the control means 33.

(Control means 33)
The control means 33 processes and controls the overall operation related to the switching device 3. The control means 33 is, for example, a central processing unit (CPU) not shown. The control means 33 may process and control the overall operation using a relay circuit. Specifically, the control means 33 receives an electric signal from the moving body 2 and processes and controls the overall operation using a relay that turns on/off or switches the electric circuit. The control means 33 realizes various functions related to the switching device 3 by reading out a predetermined program stored in the storage means 32. Specifically, these functions include a reception function, a switching function, a decision function, a storage function, a display function, and a communication function. That is, information processing by software (stored in the storage means 32) is specifically realized by hardware (the control means 33), and can be executed as the reception unit 331, the switching unit 332, the decision unit 333, and the storage unit 334. Here, the switching unit 332 is preferably processed and controlled by a relay circuit, but is not limited thereto. 5, a single control unit 33 is shown, but in reality, this is not limited to this, and multiple control units 33 may be provided for each function. Also, a combination of these may be used. The reception unit 331, the switching unit 332, the determination unit 333, and the storage unit 334 will be described in more detail in Section 2 below.

2. Functional Configuration In Section 2, the functional configuration of this embodiment will be described. Fig. 5 is a functional block diagram showing functions performed by the control means 33 in the switching device 3. With respect to the control means 33 described above, the switching device 3 includes a reception unit 331, a switching unit 332, a determination unit 333, and a storage unit 334. Each component will be further described below.

2.1 Reception Unit 331
The reception unit 331 is configured to receive a signal from the moving body 2 that can move through the first closed area A1 in an active state. Here, the signal from the moving body 2 may be transmitted to the switching device 3 so as to activate the closed area A through which the moving body 2 travels next. Specifically, a limit switch may be attached to the switching device 3, and the moving body 2 mechanically presses the limit switch to transmit a signal to the switching device 3. In addition to transmitting a signal mechanically, a photoelectric sensor may be attached to the switching device 3, and when the moving body 2 passes in front of the photoelectric sensor from which a laser is output, the switching device 3 may detect the moving body 2, thereby transmitting a signal to the switching device 3 in a non-contact manner. A load cell may be buried in front of the switching device 3, and when the moving body 2 passes in front of the switching device 3, the load cell may detect the weight of the moving body 2, thereby indirectly transmitting a signal to the switching device 3. The means by which the moving body 2 transmits a signal to the switching device 3 is not limited.

2.2 Switching Unit 332
The switching unit 332 is configured to switch at least one of the second closed areas A2 to the first closed area A1 based on a signal received by the receiving unit 331. The switching unit 332 is configured to switch at least one of the first closed areas A1 to the second closed area A2 based on a signal received by the receiving unit 331. Specifically, the switching unit 332 switches the second closed area A2 of the working area W where the moving body 2 will travel next to the first closed area A1, and switches the first closed area A1 of the working area W where the moving body 2 has traveled to the second closed area A2, in response to a signal from the moving body 2. Here, the number of closed areas A to be switched from the second closed area A2 to the first closed area A1 next is not limited. Also, the determination unit 333, which will be described later, determines which closed area A is to be the first closed area A1.

When the closed area A is an area surrounded by a wire, the switching unit 332 is configured to switch at least one of the second closed areas A2 to the first closed area A1 by controlling electricity conducted to the wire based on a signal from the moving object 2. For example, the switching unit 332 passes electricity through a conductive wire or the like to make the closed area A the first closed area A1, which is in an active state. Figures 6 to 8 show an example of a method of switching the closed area A by the switching unit 332 of the working area switching system 1a according to the embodiment. As shown in Figures 6 to 8, when the moving object 21 moves from the working area W1 to the working area W2, the working area W1 becomes the second closed area A2 from the first closed area A1, and the working area W2 becomes the first closed area A1 from the second closed area A2.

The switching unit 332 receives a signal from the mobile unit 21, and switches the voltage value V1 of the current flowing through the wire surrounding the closed area A of the work area W2 to the voltage value V2, and switches the voltage value V2 of the current flowing through the wire surrounding the closed area A of the work area W1 to the voltage value V1, in order to change the work area W2 from the first closed area A1 to the second closed area A2. Specifically, the switching unit 332 switches the voltage using a switching element (not shown) provided in the switching device 3a. The method of setting the voltage value is not limited, except that the voltage value V1 and the voltage value V2 are different values. Therefore, the user may set the voltage value V2, which is a low voltage, to zero. In this way, when the current flowing through the wire surrounding the closed area A is the voltage value V2, the work area W2 becomes the first closed area A1, and the mobile unit 2 can freely travel within the work area W2.

To change the working area W2 from the first closed area A1 to the second closed area A2, a pulse signal may be generated on the wire, and the switching unit 332 may switch the pulse signal. Here, the characteristics such as the pulse width and pulse interval are not limited as long as the mobile unit 21 can recognize and identify the pulse signal.

The switching unit 332 is configured to switch at least one of the second closed areas A2 to a new first closed area A1 based on the signal received by the receiving unit 331, and then switch at least one of the first closed areas A1 other than the newly switched first closed area A1 to a second closed area A2. That is, after switching the second closed area A2 that is not in an active state to the first closed area A1 that is in an active state, the switching unit 332 can switch the first closed areas A1 other than the newly active first closed area A1 to the second closed area A2 that is not in an active state.

Specifically, as shown in FIG. 6, the switching unit 332 may switch the voltage value V1 of the current flowing through the wire surrounding the work area W2 to the voltage value V2 and at the same time switch the voltage value V2 of the current flowing through the wire surrounding the closed area A of the work area W1 to the voltage value V1, or may switch by setting a time difference. Therefore, the switching unit 332 may set the work area W2 to the first closed area A1, and while the mobile body 2 is traveling through the work area W2, the switching unit 332 may keep the work area W1 as the first closed area A1. The switching method and timing of switching are determined according to technical requirements such as preventing chattering, or usage requirements.

2.3 Determination Unit 333
The determination unit 333 is configured to determine the first closed area A1 and the second closed area A2 from the multiple closed areas A. If the mobile object 2 is a lawnmower and there are multiple work areas W for one day, the user inputs the work areas W in which work will be performed in one day in advance to the switching device 3 using an input means (not shown). The saving unit 334 saves the input information in the memory means 32. The determination unit 333 determines which work area W to next set as the first closed area A1 based on this information.

The determination unit 333 may determine the first closed area A1 and the second closed area A2 based on information stored in the storage means 32, or may determine them dynamically. In other words, the determination unit 333 may determine the first closed area A1 and the second closed area A2 based on weather information and environmental information.

2.4 Storage Unit 334
The storage unit 334 stores information such as the time when the switching device 3 switches from the closed area A to the first closed area A1 and the second closed area A2. The storage unit 334 stores information such as the work area W where work is performed in a day, input by the user. The information stored by the storage unit 334 is not limited to this, and it may store usage information such as the serial number of the mobile object 2 traveling in the work area W to be switched to, the traveling time of the mobile object 2, etc.

3. Regarding the work area switching system 1a Section 3 will be described with reference to Fig. 1 which shows the work area switching system 1a described in Section 1. In the following description, it is assumed that the mobile object 21 is a mobile lawnmower, and the switching device 3a is provided in a charging station.
3.1 Traveling state of the moving body 21 before switching of the switching device 3a

The mobile body 21 is a self-propelled, mobile lawnmower. The work area W1 in which the mobile body 21 travels is a first closed area A1, which is a closed area A in an active state. The mobile body 21 mows the grass while traveling randomly within the work area W1. The mobile body 21 may travel along a predetermined route.

The mobile unit 21 returns to the charging station when the battery level is low or when work in the work area W1 is finished. The mobile unit 21 determines that the battery level is low when the battery level falls below a predetermined threshold or when the traveled distance exceeds a threshold. The mobile unit 21 determines that work in the work area W1 is complete when the work time exceeds a predetermined time or the traveled distance exceeds the distance of the work area. The mobile unit 21 may recognize the condition of the grass and determine that work is complete regardless of the work time and travel time. Specifically, for example, a surveillance camera is placed in the work area W, and the mobile unit 21 determines that work is complete based on the results of image processing of the images of the grass captured by the surveillance camera.

The mobile unit 21 travels to the wire surrounding the working area W1. The mobile unit 21 moves along the wire or within a range where the wire can be recognized, enters the charging area B1 which is an overlapping area with the adjacent working area W2, moves along the wire surrounding the charging area B1, and arrives at a charging station equipped with a switching device 3a.
3.2 Switching Method of Switching Device 3a

The reception unit 331 of the switching device 3 receives a signal from the mobile object 21. The determination unit 333 of the switching device 3 determines the work area W to travel next. If the battery of the mobile object 21 is low, the mobile object 21 receives a supply of power from a charging station in which the switching device 3 is installed. The timing at which the mobile object 21 receives a supply of power is not limited. The reception unit 331 may receive a signal from the mobile object 21 after the mobile object 21 first receives a supply of power.

When the decision unit 333 decides not to switch the work area W, the mobile body 2 continues traveling within the same work area W1. When the decision unit 333 decides to switch the work area W, the first closed area A1 of the work area W1 in which the mobile body 2 has been traveling is switched to the second closed area A2, and the second closed area A2 of the work area W2 in which the mobile body 2 will be traveling is switched to the first closed area A1.

The determination unit 333 may determine the next work area W based on conditions such as the running time of the mobile body 21 (the lawnmower), the lawnmowing work time, the number of times the mobile body 21 has returned to the charging station, and not just the switching time preset by the user.

3.3 Traveling state of the moving object 21 after switching of the switching device 3a The moving object 2 travels along the wire surrounding the charging area B1 toward the original work area W1 or the next work area W2. The moving object 21 continues to travel and mows the grass.

In this way, by using the switching device 3a to switch between work areas W, a single switching device 3a can manage multiple work areas W. Compared to a method of managing a work area W using one signal generator per work area W, the method of using the switching device 3 allows the mobile body 2 to travel within a large work area W at low cost.

4. Switching method of the switching device 3 In Section 4, the switching method of the switching device 3 described in Section 1 will be described. The switching method includes a receiving step and a switching step. In the receiving step, a signal is received from a moving body 2 that can move in the first closed area A1 in an active state. The first closed area A1 is at least one of the multiple closed areas A. The multiple closed areas A are classified into the first closed area A1 and a second closed area A2 that is not in an active state, and each closed area A is a physically determined area. In the switching step, at least one of the second closed areas A2 is switched to the first closed area A1 based on the signal received by the reception unit 331. This switching method will be specifically described.

Figure 9 is an activity diagram related to the switching method of the switching device 3 according to the embodiment. The following explanation will be given with reference to this diagram.

(Activity A01)
The mobile object 2 travels within a work area W, which is a first closed area A1.
(Activity A02)
The mobile unit 2 determines whether the remaining battery charge is below a threshold value or whether the work in the work area W has been completed. If it is determined that the remaining battery charge is below a threshold value or that the work in the work area W has been completed, activity A03 is executed. If it is determined that the remaining battery charge is not below a threshold value or that the work in the work area W has not been completed, activity A01 is executed.
(Activity A03)
The mobile unit 2 travels along a wire surrounding a work area W to a charging station equipped with a switching device 3 .
(Activity A04)
The reception unit 331 of the switching device 3 receives a signal from the moving object 2 .
(Activity A05)
The mobile object 2 charges with electricity at a charging station as needed.
(Activity A06)
The determination unit 333 of the switching device 3 determines the work area W in which the moving body 2 will next work.
(Activity A07)
The determination unit 333 of the switching device 3 determines whether the next work area W is different from the original work area W. If it is determined that the next work area W is different from the original work area W, activity A08 is executed. If it is determined that the next work area W is not different from the original work area W, activity A09 is executed.
(Activity A08)
The switching unit 332 of the switching device 3 switches the original work area W to the second closed area A2, and switches the next work area W to the first closed area A1.
(Activity A09)
If the switching unit 332 does not switch, the moving object 2 travels in the original work area W. If the switching unit 332 switches, the moving object 2 travels in the next work area W. The moving object 2 continues to mow the grass while continuing to travel.

5. Others The above-described embodiment may be implemented in the following manner.

(1) When the mobile unit 2 recognizes an overlapping area, the mobile unit 2 may transmit a signal to a remote switching device 3 via a wireless telecommunication line.
(2) The mobile object 2 may recognize the overlapping area by acquiring location information from a GPS. The mobile object 2 may recognize the overlapping area by receiving radio waves from beacons arranged in the vicinity and calculating location information.
(3) The determination unit 333 may grasp the condition of the grass from image information acquired by an imaging device equipped on the moving body 2 or an imaging device located in the vicinity, and determine a first closed area A1 and a second closed area A2 from multiple closed areas A.
(4) When the switching device 3 switches from the second closed area A2 to the first closed area A1, the multiple closed areas A may be in the state of the first closed area A1. In other words, the first closed areas A1 in the active state may temporarily overlap each other.
(5) The switching device 3 may periodically or irregularly acquire location information obtained by the moving body 2 from a GPS or a beacon, and when the moving body 2 enters the overlapping area, the switching unit 332 may actively switch the closed area A.
(6) A program that causes a computer to function as each component of the switching device 3 may be provided.

Furthermore, it may be provided in the following aspects:
In the switching device, the closed area is an area surrounded by a wire.
In the switching device, the switching unit is configured to switch at least one of the second closed areas to the first closed area by controlling the electricity conducted to the wire based on the signal.
In the switching device, the multiple closed regions are configured to have an overlapping region, where the overlapping region is a region where at least two adjacent closed regions overlap, and the switching device is disposed in the overlapping region.
The switching device is provided in a charging station for the mobile object.
In the switching device, the moving body is a movable work device.
In the switching device, the work equipment is a lawnmower or a golf ball collector.
In the switching device, the switching unit is configured to switch at least one of the first closed areas to the second closed area based on the signal received by the receiving unit.
In the switching device, the switching unit is configured to switch at least one of the second closed areas to a new first closed area based on the signal received by the receiving unit, and then switch at least one of the first closed areas other than the newly switched first closed area to the second closed area.
The switching device further includes a determination unit, the determination unit being configured to determine the first closed area and the second closed area from the multiple closed areas.
A program that causes a computer to function as each part of the switching device.
A switching method comprising a reception step and a switching step, in which the reception step receives a signal from a mobile body capable of moving through a first closed area in an active state, wherein the first closed area is at least one of a plurality of closed areas, which are classified into the first closed area and a second closed area that is not in the active state, and each of the closed areas is a physically determined area, and in the switching step, at least one of the second closed areas is switched to the first closed area based on the signal received by the reception unit.
Of course, this is not the case.

Finally, although various embodiments of the present invention have been described, these are presented as examples and are not intended to limit the scope of the invention. The novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. The embodiments and their modifications are within the scope and spirit of the invention, and are included in the scope of the invention and its equivalents as set forth in the claims.

1: Work area switching system 1a: Work area switching system 1b: Work area switching system 1c: Work area switching system 1d: Work area switching system 2: Mobile body 21: Mobile body 22: Mobile body 23: Mobile body 3: Switching device 3a: Switching device 3b: Switching device 3c: Switching device 3d: Switching device 3e: Switching device 30: Communication bus 31: Communication means 32: Storage means 33: Control means 331: Reception unit 332: Switching unit 333: Determination unit 334: Storage unit A: Closed area A1: First closed area A2: Second closed area B: Charging area B1: Charging area B2: Charging area B3: Charging area B4: Charging area V1: Voltage value V2: Voltage value W: Work area W1: Work area W2: Work area W3: Work area W4: Work area W5: Work area W6 : Work area W7 : Work area W8 : Work area W9 : Work area W10 : Work area

Claims (12)

A switching device,
A reception unit and a switching unit are provided.
The reception unit is configured to receive a signal from a moving object capable of moving in a first closed region in an active state, wherein the first closed region is at least one of a plurality of closed regions,
The plurality of closed regions are classified into the first closed region and the second closed region that is not in the active state, and each of the closed regions is a physically determined region,
The switching unit is configured to switch at least one of the second closed regions to the first closed region based on the signal received by the receiving unit.
thing. 2. The switching device according to claim 1,
The closed area is an area surrounded by a wire.
thing. 3. The switching device according to claim 2,
The switching unit is configured to switch at least one of the second closed areas to the first closed area by controlling electricity conducted to the wire based on the signal.
thing. In the switching device according to any one of claims 1 to 3,
The plurality of closed regions are configured to have overlapping regions, where the overlapping regions are regions where at least two adjacent closed regions overlap,
The switching device is disposed in the overlapping region.
thing. In the switching device according to any one of claims 1 to 4,
The switching device is provided in a charging station of the mobile object.
thing. In the switching device according to any one of claims 1 to 5,
The moving body is a movable work equipment.
thing. 7. The switching device according to claim 6,
The work equipment is a lawn mower or a golf ball collector.
thing. In the switching device according to any one of claims 1 to 7,
The switching unit is configured to switch at least one of the first closed regions to the second closed region based on the signal received by the receiving unit.
thing. 9. The switching device according to claim 8,
The switching unit is configured to switch at least one of the second closed regions to the first closed region based on the signal received by the receiving unit, and then switch at least one of the first closed regions other than the newly switched first closed region to the second closed region.
thing. In the switching device according to any one of claims 1 to 9,
A determination unit is further provided,
The determination unit is configured to determine the first closed region and the second closed region from the plurality of closed regions.
thing. A program,
A computer is caused to function as each part of the switching device according to any one of claims 1 to 10.
thing. A switching method, comprising:
The method includes a reception step and a switching step,
In the receiving step, a signal is received from a moving object capable of moving in a first closed region in an active state, and the first closed region is at least one of a plurality of closed regions,
The plurality of closed regions are classified into the first closed region and the second closed region that is not in the active state, and each closed region is a physically determined region,
In the switching step, at least one of the second closed regions is switched to the first closed region based on the signal received by a reception unit.
Method.