Traffic management device, method, program, mobile body system, and control system

Abstract

A traffic management device, a traffic management method, a traffic management program, a mobile body system, and a control system, which can manage the movement of a mobile body so as to further improve the movement efficiency. A traffic management device (9) is provided with a region management unit (10), a reception unit (12), a selection unit (13), and an instruction unit (14). The area management unit manages area information including information of adjacent nodes (6) and information of a combination of passage routes through which simultaneous passage is possible for each of the transfer areas (5). The passage route is determined by a group of nodes that start and complete passage. The scheduling request comprises information of an entry node which starts passing and an exit node which completes passing. The selection unit selects a permitted route for permitting passage on the basis of the transfer request received from the mobile body (2) by the reception unit and the area information managed by the area management unit. The command unit outputs a passage instruction to the moving body passing on the selected permitted route.

Description

Technical Field

[0001] The present invention relates to a traffic management device, a traffic management method, a traffic management program, a mobile body system and a mobile body control system. Background Art

[0002] Patent Document 1 discloses an example of a system for managing the passage of mobile objects. The system obtains a digital certificate corresponding to the purpose or service of each mobile object and uses the obtained digital certificate to determine which mobile object should be given priority passage.

[0003] Patent Document 1: International Publication No. 2023 / 013326

[0004] However, the system of Patent Document 1 determines which mobile body is allowed to pass through a movement-managed area based on a one-to-one priority determination of each mobile body, and outputs travel instructions to the mobile body based on the result of this determination. Consequently, the number of mobile bodies allowed to pass through the area is limited to one at a time, which can reduce the efficiency of mobile body movement around the area. Summary of the Invention

[0005] The present invention is directed to solving such problems and provides a traffic management device, a traffic management method, a traffic management program, a mobile system, and a mobile control system, which manage the movement of mobile bodies to further improve movement efficiency.

[0006] The traffic management device of the present invention comprises: an area management unit that manages area information for each of one or more pre-set mediation areas, the area information including information of nodes adjacent to the mediation area and information of a combination of passable routes that can simultaneously pass through the mediation area, the passable routes being determined by a group of nodes that start passage through the mediation area and nodes that complete passage through the mediation area among the nodes adjacent to the mediation area; and an acceptance unit that accepts mediation requests from one or more mobile bodies that are intended to pass through at least any one of the one or more mediation areas. The mediation request includes information of an entry node indicating a node for starting passage and an exit node indicating a node for completing passage among nodes adjacent to at least any one of the one or more mediation areas; a selection unit that selects the passage route, i.e., the permitted route, for at least any one of the one or more mediation areas based on the mediation request accepted by the acceptance unit and the area information managed by the area management unit; and an instruction unit that outputs a passage instruction permitting passage of the permitted route to at least any one of the one or more mobile bodies that passes on the permitted route selected by the selection unit.

[0007] In the traffic management method of the present invention, a computer performs the following processing: for each of the one or more pre-set mediation areas, the area information is managed, the area information including information of nodes adjacent to the mediation area, and information of a combination of the passage routes of the mediation area that can pass through the mediation area at the same time, the passage route being determined by a group of nodes starting the passage of the mediation area and nodes completing the passage of the mediation area among the nodes adjacent to the mediation area; from one or more nodes to be passed through at least any one of the one or more mediation areas, The mobile body on the mediation area accepts a mediation request, the mediation request including information of an entry node indicating a node for starting passage and an exit node indicating a node for completing passage, among nodes adjacent to at least any one of the one or more mediation areas; based on the accepted mediation request and the managed area information, the passage route, i.e., the permitted route, for at least any one of the one or more mediation areas is selected; and a passage instruction permitting passage of the permitted route is output to at least any one of the one or more mobile bodies that passes on the selected permitted route.

[0008] The traffic management program of the present invention causes a computer to perform the following processing: for each of one or more pre-set mediation areas, manage area information, the area information including information of nodes adjacent to the mediation area and information of a combination of routes that can pass through the mediation area at the same time, the routes being determined by a group of nodes that start the passage of the mediation area and nodes that complete the passage of the mediation area among the nodes adjacent to the mediation area; and manage one or more nodes that are to pass through at least any one of the one or more mediation areas. The mobile body accepts a mediation request, the mediation request including information of an entry node indicating a node for starting passage and an exit node indicating a node for completing passage, among nodes adjacent to at least any one of the one or more mediation areas; based on the accepted mediation request and the managed area information, the passage route, i.e., the permitted route, for at least any one of the one or more mediation areas is selected; and a passage instruction permitting passage of the permitted route is output to at least any one of the one or more mobile bodies that passes on the selected permitted route.

[0009] The mobile body system of the present invention comprises: one or more mobile bodies, each of which is to pass through at least any one of one or more pre-set mediation areas; an area management unit, which manages area information for each of the one or more mediation areas, the area information including information of nodes adjacent to the mediation area and information of a combination of passable routes that can pass through the mediation area at the same time, the passable route being determined by a group of nodes adjacent to the mediation area, which start the passage of the mediation area and which complete the passage of the mediation area; and an acceptance unit, which receives information from the one or more mobile bodies. A mediation request is processed, the mediation request including information of an entry node indicating a node for starting passage and an exit node indicating a node for completing passage, among nodes adjacent to at least any one of the one or more mediation areas; a selection unit that selects the passage route, i.e., the permitted route, for at least any one of the one or more mediation areas based on the mediation request accepted by the acceptance unit and the area information managed by the area management unit; and an instruction unit that outputs a passage instruction permitting passage of the permitted route to at least any one of the one or more moving bodies that passes on the permitted route selected by the selection unit.

[0010] The mobile body control system of the present invention comprises: a mobile body control unit that controls the movement of one or more mobile bodies that are to pass through at least any one of one or more pre-set mediation areas; an area management unit that manages area information for each of the one or more mediation areas, the area information including information about nodes adjacent to the mediation area and information about a combination of passages that can pass through the mediation area at the same time, the passage being determined by a combination of a node that starts passage through the mediation area and a node that completes passage through the mediation area among the nodes adjacent to the mediation area; and a receiving unit that receives information from the one or more mediation areas. More than one mobile body accepts a mediation request, the mediation request including information of an entry node indicating a node for starting passage and an exit node indicating a node for completing passage, among nodes adjacent to at least any one of the one or more mediation areas; a selection unit that selects the passage route, i.e., the permitted route, for at least any one of the one or more mediation areas based on the mediation request accepted by the acceptance unit and the area information managed by the area management unit; and an instruction unit that outputs a passage instruction permitting passage of the permitted route to at least any one of the one or more mobile bodies passing on the permitted route selected by the selection unit.

[0011] Effects of the Invention

[0012] According to the traffic management device, traffic management method, traffic management program, mobile body system or mobile body control system of the present invention, the movement of the mobile body is managed to further improve the movement efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a configuration diagram of the moving body system according to the first embodiment.

[0014] Figure 2 This is a plan view illustrating an example of a mediation area in the moving body system according to the first embodiment.

[0015] Figure 3 This is a sequence diagram showing an example of the operation of the mobile system according to the first embodiment.

[0016] Figure 4 This is a flowchart showing an example of the operation of the mobile system according to the first embodiment.

[0017] Figure 5 This is a hardware configuration diagram of the main parts of the mobile system according to the first embodiment.

[0018] Figure 6 This is a plan view illustrating an example of a mediation area in the moving body system according to the second embodiment.

[0019] Figure 7 This is a flowchart showing an example of the operation of the mobile system according to the second embodiment.

[0020] Figure 8 This is a plan view illustrating an example of a mediation area in the moving body system according to the third embodiment.

[0021] Figure 9 This is a sequence diagram showing an example of the operation of the mobile system according to the third embodiment.

[0022] Figure 10 This is a sequence diagram showing an example of the operation of the mobile system according to the fourth embodiment.

[0023] Figure 11 This is a flowchart showing an example of the operation of the mobile system according to the fourth embodiment.

[0024] Label Description

[0025] 1: Mobile system; 2: Mobile; 3: Facility; 4: Communication network; 5: Mediation area; 6: Node; 7: Mobile control system; 8: Mobile control device; 9: Traffic management device; 10: Area management unit; 11: Mobile management unit; 12: Acceptance unit; 13: Selection unit; 14: Instruction unit; 15: Notification unit; 100a: Processor; 100b: Memory; 200: Dedicated hardware. DETAILED DESCRIPTION

[0026] The embodiments of the present invention will be described with reference to the accompanying drawings. In the figures, identical or corresponding parts are denoted by the same reference numerals, and repeated descriptions are simplified or omitted as appropriate. The present invention is not limited to the following embodiments, and any structural elements of the embodiments may be modified or omitted without departing from the spirit of the present invention.

[0027] Implementation Method 1

[0028] Figure 1 This is a configuration diagram of the mobile system 1 according to the first embodiment.

[0029] Mobile system 1 is a system that provides services, etc., using mobile devices, namely mobile devices 2. In this example, mobile system 1 is applied to facility 3. Facility 3, for example, includes one or more buildings. Facility 3 may also be part or all of a building. Facility 3 may also include one or both of the outdoor and indoor areas of a building. Facility 3 may also be, for example, a commercial facility, office building, accommodation facility, residential facility, public welfare facility, or other facility, or a combination thereof. Mobile system 1 includes one or more mobile devices 2. In this example, mobile system 1 includes multiple mobile devices 2.

[0030] Each mobile object 2 is a device that provides services by moving. Examples of mobile objects 2 include autonomous mobile objects. Mobile objects 2 may also be robots, drones, mobile objects, self-driving vehicles, or other mobile devices. Mobile objects 2 may move by driving, walking, flying, sailing, or other means. Examples of services provided by mobile objects 2 include transportation, guidance, security, and cleaning services.

[0031] Each mobile object 2 is equipped with wireless communication functionality to enable information communication with external devices. Each mobile object 2 communicates with external devices directly or indirectly via a communication network 4. Examples of the communication network 4 include the Internet, a telephone network, or an optical communication network. The communication network 4 may include a local area network such as a LAN (Local Area Network) within the facility 3, or industrial communication such as short-range wireless communication. The communication network 4 may also include a wired or wireless intranet.

[0032] Part or all of the mobile objects 2 operating in the mobile system 1 may be devices within the mobile system 1 or devices outside the system that cooperates with the mobile system 1. The mobile objects 2 may be devices that move within a predetermined range, such as within a facility 3, or may have an unrestricted range, such as a vehicle traveling on a road. In this case, the mobile system 1 can also be applied to a region encompassing roads or other wide areas.

[0033] One or more mediation areas 5 are set in an area where the mobile body system 1 is applied, such as a facility 3. In this example, a plurality of mediation areas 5 are pre-set. Mediation areas 5 are, for example, places where mobile bodies 2 can intersect, such as narrow roads or intersections. Mediation areas 5 may also be, for example, spaces such as rooms or open spaces. Mediation areas 5 may also be spaces including elevators applied to the facility 3. In this case, mediation areas 5 are set, for example, within a range including the elevator car and the lobby of each floor. For each mediation area 5, one or more adjacent nodes 6 are pre-set. Each node 6 corresponds to, for example, each entrance and exit to the mediation area 5. For example, each node 6 adjacent to a mediation area 5 such as an intersection corresponds to each passage leading to the intersection.

[0034] The mobile system 1 includes a mobile control system 7. The mobile control system 7 is a system that controls the movement of the mobile 2, the execution of service tasks, and mediation between the mobiles 2. The mobile control system 7 includes a mobile control device 8 and a traffic management device 9.

[0035] The mobile control device 8 is a component that controls the movement of the mobile object 2 and the execution of tasks. The mobile control device 8 is an example of a mobile control unit. The mobile control device 8 communicates with external devices via the communication network 4 or the like. The mobile control device 8 can also control the movement of multiple mobile objects 2. Multiple mobile control devices 8 may be provided in the mobile control system 7. Each mobile control device 8 may be managed by a different administrator, for example. The administrator of the mobile control device 8 may be, for example, the manufacturer or management company of the corresponding mobile object 2. Alternatively, the same administrator may manage multiple mobile control devices 8. Some or all of the mobile control devices 8 may be devices within the mobile system 1 or devices outside the system that cooperates with the mobile system 1. Each mobile control device 8 is, for example, a computer system composed of one or more server devices. Here, a computer system composed of one or more devices may sometimes be simply referred to as a computer. The multiple server devices that comprise the mobile control device 8 may also be located in different locations. In this case, the multiple server devices communicate information with each other, for example, via the communication network 4. Part or all of the functions of the mobile control device 8 may be implemented using processing or storage resources on a cloud service, for example. In addition, part or all of the mobile body 2 operating in the mobile system 1 may operate autonomously without being controlled by the mobile control device 8.

[0036] The traffic management device 9 is a part that performs processes such as mediation of movement between mobile bodies 2. The traffic management device 9 communicates with external devices via the communication network 4 or the like. The traffic management device 9 is, for example, a computer system composed of one or more server devices or the like. The multiple server devices that constitute the traffic management device 9 can also be configured in different places from each other. In this case, the multiple server devices communicate information with each other, for example, via the communication network 4. Part or all of the functions of the traffic management device 9 can also be installed, for example, through processing or storage resources on a cloud service. In addition, the traffic management device 9 can also include part or all of the functions of the mobile body control device 8. The traffic management device 9 has an area management unit 10, a mobile body management unit 11, a receiving unit 12, a selection unit 13, an instruction unit 14, and a notification unit 15.

[0037] The area management unit 10 is a component that manages area information related to each mediation area 5. Area information for a mediation area 5 includes, for example, coordinates, ranges, identifiers, names, attributes, and other information related to the mediation area 5. Area information for a mediation area 5 includes, for example, information identifying the mediation area 5, such as an identifier, as well as the coordinates, ranges, identifiers, names, attributes, and other information for each node 6 adjacent to the mediation area 5. Area information for a mediation area 5 includes information on the route through the mediation area 5. A route through the mediation area 5 is determined by a sequential pair of nodes 6 adjacent to the mediation area 5: the entry node 6 that initiates travel through the mediation area 5 and the exit node 6 that exits the mediation area 5. In a route, the entry node 6 and the exit node 6 may be the same node 6. Area information for a mediation area 5 includes information on traffic regulations established within the mediation area 5. Traffic regulations include, for example, information on the combinations of routes that can be simultaneously traveled through the mediation area 5. Traffic regulation information includes, for example, designation of right-hand or left-hand traffic zones, and information on whether or not passing vehicles is permitted. The area management unit 10 manages area information by, for example, storing it in a database. The area management unit 10 may also manage information on relationships between mediation areas 5. This information on relationships between mediation areas 5 includes connection information, such as whether or not travel between mediation areas 5 is permitted. Information management performed by the area management unit 10 includes adding, retaining, updating, revising, and deleting information. The area management unit 10 constantly updates and manages changes in area information to reflect current conditions.

[0038] The mobile object management unit 11 is a component that manages information related to each mobile object 2. This information includes, for example, the identifier of the mobile object 2, the type of service provided by the mobile object 2, information about the dimensions of the mobile object 2, such as its width and weight, the identifier of the mobile object control device 8 that controls the mobile object 2, and other attributes of the mobile object 2. This information includes, for example, the rated speed, maximum speed, turning radius, and other mobility performance information of the mobile object 2. This information includes, for example, the current position, current speed, and current state of the mobile object 2. The state of the mobile object 2 includes, for example, whether the mobile object 2 is in the mediation area 5 and the identifier of the mediation area 5, as well as whether the mobile object 2 is currently performing a task and the type of the task. The information about whether the mobile object 2 is currently in the mediation area 5 may also include, for example, the current position of the mobile object 2. For example, using a satellite positioning system such as GPS (Global Positioning System), an autonomous navigation system, an indoor positioning system, or other positioning systems, the information on the current position of the mobile body 2 is obtained by the mobile body 2 itself or the mobile body control device 8. The information on the current position of the mobile body 2 is provided to the traffic management device 9 from the mobile body 2 itself or the mobile body control device 8 at any time. The mobile body management unit 11 manages the information of the mobile body 2 by storing it in a database, for example. The information management performed by the mobile body management unit 11 includes adding, maintaining, updating, correcting, or deleting information. The mobile body management unit 11 updates and manages changes in the information of the mobile body 2 at any time so that the current situation can be reflected.

[0039] The receiving unit 12 is a part equipped with the function of accepting mediation requests from each mobile body 2. When a mobile body 2 wants to pass through an arbitrary mediation area 5, the mediation request from the mobile body 2 is transmitted via the communication network 4 or the like. The mediation request from the mobile body 2 can also be transmitted from the mobile body control device 8 corresponding to the mobile body 2. The mediation request is a signal requesting a passage instruction to the mediation area 5 from the traffic management system. The mediation request includes, for example, information such as the identifier of the mobile body 2, the identifier of the mediation area 5, the identifier of the node 6 where the passage starts, i.e., the entry node, and the identifier of the node 6 where the passage ends, i.e., the exit node. For example, the entry node is the node 6 set as the entrance in any passage route of the mediation area 5. The exit node is, for example, the node 6 set as the exit in any passage route of the mediation area 5.

[0040] The selection unit 13 is a component that has the function of selecting a permitted route for the mobile body 2 to pass through, for each mediation area 5 for which a mediation request has been received. When the reception unit 12 receives a mediation request for any mediation area 5, the selection unit 13 selects any one of the passable routes within the mediation area 5 as the permitted route based on the area information of the mediation area 5 managed by the area management unit 10.

[0041] The command unit 14 is a component equipped with the function of outputting a passage instruction for the mediation area 5 to the mobile object 2. The command unit 14 transmits the passage instruction to the mobile object 2 via the communication network 4 or the like. The command unit 14 may also transmit the passage instruction to the mobile object 2 to the mobile object control device 8 corresponding to the mobile object 2. The command unit 14 outputs the passage instruction to the mobile object 2 traveling on the permitted route selected by the selection unit 13. If there are multiple mobile objects 2 traveling on the permitted route, the command unit 14 may output the passage instruction to these multiple mobile objects 2 sequentially. Alternatively, the command unit 14 may output the passage instruction to all or some of the mobile objects 2 simultaneously, for example, when the multiple mobile objects 2 do not interfere with each other.

[0042] The notification unit 15 is a component equipped with a function of notifying the mobile object 2. The notification unit 15 transmits notifications to the mobile object 2 via the communication network 4 or the like. The notification unit 15 may also transmit notifications to the mobile object 2 to the mobile object control device 8 corresponding to the mobile object 2. For example, the notification unit 15 may also notify the mobile object 2 of whether the acceptance unit 12 has accepted the mediation request.

[0043] Figure 2 This is a plan view illustrating an example of the mediation area 5 in the moving body system 1 according to the first embodiment.

[0044] The mediation area 5 is set, for example, at an intersection where paths intersect. Four adjacent nodes 6 are set in the mediation area 5. Each node 6 corresponds to each path connected to the mediation area 5. When each mobile body 2 approaches the mediation area 5, it outputs a mediation request to pass through the mediation area 5 to the traffic management device 9. Each mobile body 2 can also determine whether it has approached the mediation area 5 using information such as its current position and the distance from the mediation area 5 based on its current position. If each mobile body 2 arrives at a point immediately before the mediation area 5 after outputting a mediation request, it waits without entering the mediation area 5 until a passage instruction is issued from the traffic management device 9.

[0045] A traffic route is set for the mediation area 5. A mobile body 2 traveling straight from west to east in the mediation area 5 travels on a traffic route that uses the node 6 on the west side of the mediation area 5 as an entrance and the node 6 on the east side of the mediation area 5 as an exit. The mobile body 2 traveling on this traffic route outputs a mediation request to the traffic management device 9, setting the node 6 on the west side as an entry node and the node 6 on the east side as an exit node. Furthermore, a mobile body 2 turning right in the mediation area 5 and traveling from east to north travels on a traffic route that uses the node 6 on the east side of the mediation area 5 as an entrance and the node 6 on the north side of the mediation area 5 as an exit. The mobile body 2 traveling on this traffic route outputs a mediation request to the traffic management device 9, setting the node 6 on the east side as an entry node and the node 6 on the north side of the mediation area 5 as an exit. Other traffic routes may also be set for the mediation area 5. For example, when the mediation area 5 is set within a range including the elevator car and the lobby of each floor, the node 6 connected to the lobby of the departure floor can be set as an entry node, and the node 6 connected to the lobby of the arrival floor can be set as an exit node to set the passage route.

[0046] If the mediation area 5 is right-hand traffic and allows passing, a vehicle 2 traveling straight from west to east and a vehicle 2 turning right from east to north can pass through the mediation area 5 without crossing each other. In other words, the combination of a route traveling straight from west to east and a route turning right from east to north allows simultaneous passage through the mediation area 5.

[0047] Next, use Figure 3 and Figure 4 An example of the operation of the mobile system 1 will be described.

[0048] Figure 3 This is a sequence diagram showing an example of the operation of the mobile system 1 according to the first embodiment.

[0049] Figure 4 This is a flowchart showing an example of the operation of the mobile system 1 according to the first embodiment.

[0050] like Figure 3 As shown, when the mobile body 2 intends to pass through the mediation area 5, the mobile body control device 8 outputs a mediation request to the traffic management device 9. Alternatively, the mobile body 2 may output a mediation request to the traffic management device 9 without going through the mobile body control device 8. Furthermore, the mobile body control device 8 may autonomously output the mediation request of the mobile body 2 to the traffic management device 9 regardless of the request from the mobile body 2.

[0051] The receiving unit 12 of the traffic management device 9 receives a mediation request from a moving object 2. Based on the mediation request received by the receiving unit 12, the selecting unit 13 identifies the moving object 2 that has issued the mediation request and the mediation area 5 through which the moving object 2 is to pass. Based on information such as the identified mediation area 5 and the identifier of the moving object 2, the selecting unit 13 refers to the area information managed by the area management unit 10 and the information on the moving object 2 managed by the moving object management unit 11.

[0052] Based on the reference information, the selection unit 13 selects an arbitrary route as a permitted route for the determined mediation area 5. The selection unit 13 selects a permitted route based on, for example, the traffic regulations of the mediation area 5. For example, if no other mobile object 2 intends to pass through the mediation area 5 other than the mobile object 2 that issued the mediation request, the selection unit 13 selects the route intended for the mobile object 2 that issued the mediation request as the permitted route. The selection unit 13 may also determine whether the mobile object 2 intends to pass through the mediation area 5 based on, for example, the presence or absence of a mediation request.

[0053] The instruction unit 14 outputs a passage instruction to the mobile body 2 passing through the permitted route selected by the selection unit 13 through the mobile body control device 8. In addition, the instruction unit 14 may output a passage instruction to the mobile body 2 without going through the mobile body control device 8. For example, when there is only one mobile body 2 passing through the permitted route, the instruction unit 14 outputs a passage instruction to the mobile body 2. For example, when there are multiple mobile bodies 2 passing through the permitted route, the instruction unit 14 may output a passage instruction to the multiple mobile bodies 2 in sequence. At this time, the instruction unit 14 may output a passage instruction to the next mobile body 2 before the preceding mobile body 2 completes the passage through the mediation area 5. The instruction unit 14 may output a passage instruction to the mobile body 2, for example, in the order of the mediation requests, or may output a passage instruction to the mobile body 2 in the order of arrival at the node 6 at the entrance to the mediation area 5. For example, when there are multiple moving bodies 2 passing through the permitted route, for example, when the intervals between the current positions of the multiple moving bodies 2 are very wide and they can pass through without interfering with each other, the instruction unit 14 can also output passage instructions to the multiple moving bodies 2 at the same time.

[0054] The moving object 2 that receives the passage instruction from the instruction unit 14 passes through the mediation area 5 according to the passage route for which the moving object 2 has requested passage.

[0055] exist Figure 4 , an example of the operation of the traffic management device 9 when there are multiple moving bodies 2 that have output mediation requests is shown.

[0056] In step S11, the receiving unit 12 receives a mediation request regarding passage through the mediation area 5 from the first moving object 2. The moving object 2 is an example of a first moving object. Then, the process of the traffic management device 9 proceeds to step S12.

[0057] In step S12, the receiving unit 12 receives a mediation request from a second moving object 2, different from the first moving object 2, regarding passage through the same mediation area 5 as the first moving object 2. This moving object 2 is an example of a second moving object. In this example, the two moving objects 2 pass through the same mediation area 5 using different routes. The traffic management device 9 then proceeds to step S13.

[0058] In step S13, the selection unit 13 refers to the area information managed by the area management unit 10 and the information on the moving objects 2 managed by the moving object management unit 11 to determine whether the combination of the travel routes of the two moving objects 2 is a combination that allows simultaneous travel. If the combination of these travel routes is a combination that allows simultaneous travel, the traffic management device 9 proceeds to step S14. On the other hand, if the combination of the travel routes of the two moving objects 2 is not a combination that allows simultaneous travel, the traffic management device 9 proceeds to step S16.

[0059] In step S14, the selection unit 13 selects both of the travel routes of the two moving bodies 2 as permitted routes. Then, the process of the traffic management device 9 proceeds to step S15.

[0060] In step S15, the instruction unit 14 outputs a passage instruction to the first moving object 2 traveling on the one permitted route selected by the selection unit 13. Without waiting for the first moving object 2 to complete its passage, the instruction unit 14 outputs a passage instruction to the second moving object 2 traveling on the other permitted route selected by the selection unit 13. The instruction unit 14 may also output passage instructions to both the first moving object 2 and the second moving object 2 simultaneously. The processing of the traffic management device 9 then ends.

[0061] In step S16, the selection unit 13 selects the route of the first moving object 2 as the permitted route. Meanwhile, the selection unit 13 retains the route of the second moving object 2 and does not select it as the permitted route. Alternatively, the selection unit 13 may select the route of the second moving object 2 as the permitted route after the first moving object 2 has completed its passage through the mediation area 5. After the route of the first moving object 2 is selected as the permitted route, the traffic management device 9 proceeds to step S17.

[0062] In step S17, the instruction unit 14 outputs a passage instruction to the first moving object 2 traveling on the permitted route selected by the selection unit 13. The instruction unit 14 does not output a passage instruction to the second moving object 2 traveling on a route not selected as a permitted route by the selection unit 13, but holds the route. The processing of the traffic management device 9 then ends.

[0063] Furthermore, the traffic management device 9 may similarly select a permitted route and output a traffic instruction for three or more moving bodies 2 .

[0064] As described above, the mobile body system 1 of embodiment 1 has one or more mobile bodies 2 and a mobile body control system 7. The mobile body control system 7 has a mobile body control device 8 and a traffic management device 9. The mobile body control device 8 controls the movement of the mobile body 2. The traffic management device 9 has an area management unit 10, an acceptance unit 12, a selection unit 13, and an instruction unit 14. The area management unit 10 manages area information related to each mediation area 5. The area information of the mediation area 5 includes information on adjacent nodes 6 and information on a combination of travel routes that can be passed simultaneously. The travel route is determined by a group of a node 6 that starts the passage of the mediation area 5 and a node 6 that completes the passage of the mediation area 5. The acceptance unit 12 accepts mediation requests from each mobile body 2 that wants to pass through the mediation area 5. The mediation request related to the mediation area 5 includes information on the entry node for starting the passage and the exit node for completing the passage among the adjacent nodes 6. The selection unit 13 selects a permitted route, i.e., a passable route, for the mediation area 5 based on the mediation request received by the reception unit 12 and the area information managed by the area management unit 10. The instruction unit 14 outputs a pass instruction to the moving body 2 passing on the permitted route selected by the selection unit 13.

[0065] According to this configuration, after a permitted route is selected, a pass instruction is output to each mobile body 2 whose movements on the permitted route are not in competition with each other. This reduces the possibility of congestion in the mediation area 5 and reduces the reduction in the movement efficiency of the mobile bodies 2. Furthermore, since pass instructions can be continuously output to multiple mobile bodies 2 traveling through the mediation area 5 according to the permitted routes, traffic flow in the mediation area 5 is less likely to be interrupted, and the movement of the mobile bodies 2 is less likely to stagnate. Furthermore, since the mobile bodies 2 specify both entry and exit nodes in the mediation request, it is more reliable to prevent the intersection of the mobile bodies 2. Furthermore, since the traffic management device 9 mediates the movement of multiple mobile bodies 2 based on the mediation request, it is less likely to cause the intersection of the mobile bodies 2, even in situations where direct coordination between mobile bodies 2 of different manufacturers, etc., is difficult. Thus, the movement efficiency of the mobile bodies 2 in the mobile body system 1 is further improved.

[0066] Furthermore, when two moving objects 2 attempt to pass through the same mediation area 5 using routes that allow simultaneous passage, the selection unit 13 selects both routes of the moving objects 2 as permitted routes. The instruction unit 14 outputs a passage instruction to the next moving object 2 before the moving object 2 that previously outputted a passage instruction completes passage through the mediation area 5.

[0067] According to this structure, even for multiple moving bodies 2 traveling on different routes, a passing instruction can be output to another moving body without waiting for one moving body to complete its passage. This can reduce the unnecessary waiting time of the moving body 2, thereby further improving the travel efficiency of the moving body 2.

[0068] Furthermore, an arbitrary mediation area 5 is set within the range including the elevator car and the lobby of each floor. An arbitrary passage route in the mediation area 5 is determined by a pair of nodes 6 adjacent to the lobby of the departure floor and nodes 6 adjacent to the lobby of the arrival floor.

[0069] With this configuration, the traffic management device 9 can handle both the movement of the mobile object 2 within a floor and the movement of the mobile object 2 between floors in the same manner. Furthermore, since the mobile object 2 rides on the elevator car when a permitted route is selected, situations such as the mobile object 2 being trapped and unable to disembark upon reaching a floor are less likely to occur. This can prevent a decrease in elevator utilization efficiency.

[0070] Next, use Figure 5 An example of the hardware configuration of the mobile system 1 will be described.

[0071] Figure 5 This is a hardware configuration diagram of the main parts of the mobile system 1 according to the first embodiment.

[0072] A portion or all of the functions of the mobile system 1 can be implemented by a processing circuit. The processing circuit includes at least one processor 100a and at least one memory 100b. The processing circuit may also include at least one dedicated hardware together with or in place of the processor 100a and the memory 100b.

[0073] When the processing circuit includes a processor 100a and a memory 100b, the various functions of the mobile system 1 are implemented using software, firmware, or a combination of software and firmware. At least one of the software and firmware is described as a program. This program is stored in the memory 100b. The processor 100a reads and executes the program stored in the memory 100b, thereby implementing the various functions of the mobile system 1. The program may also be a program package containing multiple subroutines, modules, or libraries. A program is sometimes also referred to as a program product.

[0074] The processor 100a is also called a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. The memory 100b is composed of nonvolatile or volatile semiconductor memories such as RAM, ROM, flash memory, EPROM, and EEPROM.

[0075] In the case where the processing circuit has dedicated hardware, the processing circuit is implemented by, for example, a single circuit, a complex circuit, a programmed processor, parallel programmed processors, an ASIC, an FPGA, or a combination thereof.

[0076] Each function of the mobile system 1 can be implemented separately by a processing circuit. Alternatively, each function of the mobile system 1 can be implemented collectively by the processing circuit. Each function of the mobile system 1 can also be implemented partially by dedicated hardware and others by software or firmware. In this way, the processing circuit implements each function of the mobile system 1 using dedicated hardware, software, firmware, or a combination thereof.

[0077] Implementation Method 2

[0078] In the second embodiment, differences from the example disclosed in the first embodiment are particularly described in detail. Any features of the example disclosed in the first embodiment may be adopted as well as features not described in the second embodiment.

[0079] Figure 6 It is a plan view illustrating an example of the mediation area 5 in the moving body system 1 according to the second embodiment.

[0080] The area information of the mediation area 5 includes, for example, information on the acceptance range, which represents the range within which mediation requests related to passage through the mediation area 5 are accepted. The acceptance range can be specified, for example, by a straight-line distance from the mediation area 5 or a distance along a path. The acceptance range can also be a wider range that includes each node 6 adjacent to the mediation area 5. For example, upon entering the acceptance range of the mediation area 5, each mobile object 2 outputs a mediation request to pass through the mediation area 5 to the traffic management device 9. Each mobile object 2 can also determine whether it is within the acceptance range of the mediation area 5 based on information such as its current location.

[0081] Figure 7 This is a flowchart showing an example of the operation of the mobile system 1 according to the second embodiment.

[0082] exist Figure 7 , an example of the operation of the traffic management device 9 when the moving body 2 outputs a mediation request is shown.

[0083] In step S21, the receiving unit 12 receives a mediation request from a mobile object 2 regarding passage through a mediation area 5. Based on the received mediation request, the receiving unit 12 identifies the mobile object 2 that issued the mediation request and the mediation area 5 through which the mobile object 2 is to pass. Based on information such as the identified mediation area 5 and the identifier of the mobile object 2, the receiving unit 12 references the area information managed by the area management unit 10 and the information on the mobile object 2 managed by the mobile object management unit 11. The information on the mobile object 2 referenced by the receiving unit 12 includes information on the current position of the mobile object 2, which is updated and managed by the mobile object management unit 11. The traffic management device 9 then proceeds to step S22.

[0084] In step S22, the receiving unit 12 determines whether the current position of the identified moving object 2 is within the acceptance range of the identified mediation area 5. If the moving object 2 is within the acceptance range, the traffic management device 9 proceeds to step S23. On the other hand, if the moving object 2 is outside the acceptance range, the traffic management device 9 proceeds to step S24.

[0085] In step S23, the receiving unit 12 receives the mediation request received from the mobile object 2. The traffic management device 9 performs processing such as output determination of a traffic instruction on the received mediation request. Then, the processing of the traffic management device 9 ends.

[0086] In step S24, the acceptance unit 12 rejects the mediation request received from the mobile object 2. The traffic management device 9 does not perform any other processing, such as outputting a traffic signal, for the rejected mediation request. Alternatively, the notification unit 15 may notify the mobile object 2 of the rejection of the mediation request. The traffic management device 9 then terminates its processing.

[0087] As described above, in the traffic management device 9 of the mobile system 1 according to the second embodiment, if the mobile body 2 that has issued the mediation request is outside the acceptance range of the mediation area 5 to be passed by the mediation request, the acceptance unit 12 rejects the mediation request. The acceptance unit 12 uses the information on the current position of the mobile body 2 that is updated and managed by the mobile body management unit 11 to determine whether the mobile body 2 is within or outside the acceptance range.

[0088] According to this configuration, a mediation request output when the moving object 2 is still far from the mediation area 5 is rejected, so that wasteful waiting time is less likely to occur. As a result, the moving efficiency of the moving object 2 is further improved.

[0089] Implementation 3

[0090] In Embodiment 3, differences from the example disclosed in Embodiment 1 or 2 are particularly described in detail. Any features of the example disclosed in Embodiment 1 or 2 may be adopted for features not described in Embodiment 3.

[0091] Figure 8 It is a plan view illustrating an example of the mediation area 5 in the moving body system 1 according to the third embodiment.

[0092] exist Figure 8 , an example of two different mediation areas 5 is shown. In this example, the two mediation areas 5 are adjacent to each other in the east-west direction. One mediation area 5 is an example of a first mediation area. The other mediation area 5 is an example of a second mediation area. Each mediation area 5 is set, for example, at an intersection where pathways intersect. Four adjacent nodes 6 are set in each mediation area 5. Each node 6 corresponds to a pathway connected to the adjacent mediation area 5.

[0093] Mobile object 2 continuously passes through multiple mediation areas 5. In this case, mobile object 2 can also output a single mediation request for the passage through multiple mediation areas 5. In this example, mobile object 2 passes through the western mediation area 5 from west to east by going straight, and then turns left in the eastern mediation area 5 from west to north. In this case, mobile object 2 outputs a mediation request to the traffic management device 9, setting the node 6 adjacent to the west side of the western mediation area 5 as the entry node and the node 6 adjacent to the north side of the eastern mediation area 5 as the exit node.

[0094] In addition, the mobile body 2 may output a mediation request to continuously pass through three or more mediation areas 5 to the traffic management device 9. The mediation request sets the node 6 adjacent to the mediation area 5 passed first as an entry node and the node 6 adjacent to the mediation area 5 passed last as an exit node. In this case, the middle mediation area 5 to pass through among the three or more mediation areas 5 is determined by the selection unit 13 of the traffic management device 9, for example, based on information on the relationship between the mediation areas 5 managed by the area management unit 10. Alternatively, the mediation request may include information such as an identifier that identifies the middle mediation area 5. In addition, in the mobile body system 1, an upper limit may be set for the number of mediation areas 5 passed through by a single mediation request or the distance between the mediation areas 5.

[0095] Figure 9 This is a sequence diagram showing an example of the operation of the mobile system 1 according to the third embodiment.

[0096] When the moving body 2 is to pass through a plurality of mediation areas 5, the moving body control device 8 outputs a single mediation request to the traffic management device 9. Alternatively, the moving body 2 may output a mediation request to the traffic management device 9 without passing through the moving body control device 8. Furthermore, the moving body control device 8 may also spontaneously output the mediation request of the moving body 2 to the traffic management device 9 regardless of the request from the moving body 2. In this example, the moving body 2 passes through the second mediation area after the first mediation area. The first mediation area corresponds to, for example, Figure 8 In this example, the second mediation area is equivalent to the western mediation area 5. Figure 8 In the example, the mediation area 5 on the east side is selected. The mediation request of the mobile body 2 includes the identifiers of the first mediation area and the second mediation area, and sets the node 6 adjacent to the first mediation area as the entry node and the node 6 adjacent to the second mediation area as the exit node.

[0097] The receiving unit 12 of the traffic management device 9 receives a mediation request from a moving object 2. Based on the mediation request received by the receiving unit 12, the selecting unit 13 determines the moving object 2 that has issued the mediation request and the mediation area 5 through which the moving object 2 is to pass. In this example, the selecting unit 13 determines both the first mediation area and the second mediation area as the mediation area 5 through which the moving object 2 is to pass. The selecting unit 13 refers to the area information of the first mediation area and the second mediation area managed by the area management unit 10, as well as the information of the moving object 2 managed by the moving object management unit 11.

[0098] Based on the referenced information, the selection unit 13 uniformly selects permissible routes for both the first and second mediation areas, such that the mobile object 2 can sequentially pass through the first and second mediation areas. The selection unit 13 selects permissible routes based on, for example, traffic regulations for the first and second mediation areas. For example, if there are no other mobile objects 2 that would pass through the first and second mediation areas other than the mobile object 2 that issued the mediation request, the selection unit 13 selects the permissible route that the mobile object 2 that issued the mediation request would pass through as the permissible route.

[0099] The selection unit 13 selects the route that the mobile body 2 that issued the mediation request intends to travel as the permitted route, for example, based on the order of the mediation requests. The selection unit 13 determines the order of arrival of the mediation requests based on, for example, the time at which the mediation requests were issued by the mobile body 2. Here, the route of a later-departing mobile body 2 that subsequently passes through one or both of the first mediation area or the second mediation area may be able to pass through at the same time as the already selected permitted route. In this case, the selection unit 13 may select the route of the later-departing mobile body 2 as the permitted route without waiting for the earlier-departing mobile body 2 that passed through one or both of the first mediation area or the second mediation area to complete its passage.

[0100] The instruction unit 14 outputs a passage instruction to the mobile body 2 traveling on the permitted route selected by the selection unit 13 via the mobile body control device 8. Alternatively, the instruction unit 14 may output a passage instruction to the mobile body 2 without passing through the mobile body control device 8. In this example, the instruction unit 14 outputs a passage instruction to the mobile body 2 traveling sequentially through the first mediation area and the second mediation area, for example.

[0101] The mobile object 2, receiving the traffic instruction from the command unit 14, moves along the traffic route for which it has requested traffic. In this example, the mobile object 2, receiving the traffic instruction, enters the first mediation area from the entry node. The mobile object 2 then exits the first mediation area. At this time, the mobile object 2 notifies the traffic management device 9 of its exit from the first mediation area, for example, via the mobile object control device 8.

[0102] The traffic management device 9 determines that the mobile object 2 has completed passage through the first mediation area based on a notification from the mobile object 2 or the like. The traffic management device 9 may also determine that the mobile object 2 has completed passage based on information about the current position of the mobile object 2 managed by the mobile object management unit 11 or the like. In the traffic management device 9, the selection unit 13 may select a permitted route for the first mediation area based on mediation requests output by other mobile objects 2 or the like when the mobile object 2 has completed passage through the first mediation area.

[0103] Then, the moving body 2 enters the second mediation area. Then, the moving body 2 exits the second mediation area. At this time, the moving body 2 notifies the traffic management device 9 of its exit from the second mediation area, for example, via the moving body control device 8.

[0104] The traffic management device 9 determines that the mobile body 2 has completed passage through the second mediation area based on a notification from the mobile body 2 or information on the current position of the mobile body 2. In the traffic management device 9, the selection unit 13 may select a permitted route in the second mediation area based on a mediation request output by another mobile body 2 when the mobile body 2 has completed passage through the second mediation area.

[0105] As described above, in the mobile object system 1 of the third embodiment, the mobile object 2 outputs a mediation request to set the node 6 adjacent to the first mediation area as an entry node and the node 6 adjacent to the second mediation area, which is different from the first mediation area, as an exit node. The selection unit 13 selects permitted routes for both the first mediation area and the second mediation area so as to enable sequential travel through the first mediation area and the second mediation area. The instruction unit 14 outputs a travel instruction to the mobile object 2 traveling along the permitted routes selected by the selection unit 13 for the first mediation area and the second mediation area.

[0106] This configuration allows for centralized mediation of movement across multiple mediation areas 5, further improving the efficiency of movement of the mobile object 2. For example, if a mobile object 2 completes passage through the first mediation area and then proceeds to the second mediation area, it can reselect a permitted route for the first mediation area without waiting for the mobile object 2 to complete passage through the second mediation area. This allows for sequential reselection of permitted routes within the area where the mobile object 2 has already passed, thereby reducing unnecessary waiting time for the mobile object 2. This further improves the efficiency of movement of the mobile object 2.

[0107] Implementation 4

[0108] In Embodiment 4, differences from the examples disclosed in Embodiments 1 to 3 are particularly described in detail. Any features of the examples disclosed in Embodiments 1 to 3 may be employed for features not described in Embodiment 4.

[0109] Figure 10 This is a sequence diagram showing an example of the operation of the mobile system 1 according to the fourth embodiment.

[0110] When a mobile object 2 attempts to move along a route that includes a mediation area 5, it queries the traffic management device 9 regarding the mediation status of the mediation area 5. Alternatively, the mobile object 2 may query the mediation status via the mobile object control device 8. The mediation status includes, for example, information such as whether there are mobile objects 2 waiting for a pass instruction from the traffic management device 9 in the mediation area 5, as well as the number and attributes of these mobile objects 2. The mediation status query includes information such as the identifier of the mediation area 5 being targeted.

[0111] The receiving unit 12 of the traffic management device 9 receives an inquiry regarding the mediation status from the mobile object 2. The notification unit 15 identifies the mediation area 5 to be queried based on the mediation status inquiry received by the receiving unit 12. The notification unit 15 refers to the area information managed by the area management unit 10 and the information on each mobile object 2 managed by the mobile object management unit 11 based on the information regarding the identified mediation area 5.

[0112] Based on the reference information, the notification unit 15 generates information on the mediation status of the identified mediation area 5. The notification unit 15 notifies the generated mediation status information to the inquiring moving object 2. The notification unit 15 may also notify the mediation status information via the moving object control device 8.

[0113] The mobile body 2 receives information about the mediation status. For example, when there is a mobile body 2 waiting for a pass instruction in the mediation area 5, the mobile body 2 searches for a moving path again so as not to pass through the mediation area 5. On the other hand, when there is no mobile body 2 waiting for a pass instruction in the mediation area 5, the mobile body 2 starts moving without changing the moving path. Then, the mobile body 2 outputs a mediation request to the traffic management device 9 regarding the passage through the mediation area 5. In addition, the mobile body 2 can also determine whether it is necessary to search the moving path again based on other criteria. The mobile body 2 can also determine whether it is necessary to search the moving path again based on whether the number of mobile bodies 2 waiting for a pass instruction in the mediation area 5 is greater than a predetermined number, for example. In addition, the determination of whether the mobile body 2 needs to search the moving path again and the re-search of the moving path and other processes can also be performed by the mobile body control device 8 corresponding to the mobile body 2.

[0114] Figure 11 This is a flowchart showing an example of the operation of the mobile system 1 according to the fourth embodiment.

[0115] exist Figure 11 , an example of the operation of the traffic management device 9 when the mobile body 2 inquires about the mediation status is shown.

[0116] In step S31, the receiving unit 12 receives an inquiry regarding the mediation status of the mediation area 5 from the mobile object 2. Based on the mediation status inquiry received by the receiving unit 12, the notification unit 15 identifies the mediation area 5 to be queried. Based on information such as the identifier of the identified mediation area 5, the notification unit 15 references the area information managed by the area management unit 10 and the information on each mobile object 2 managed by the mobile object management unit 11. The traffic management device 9 then proceeds to step S32.

[0117] In step S32, the notification unit 15 generates information on the mediation status of the determined mediation area 5. The notification unit 15 generates the mediation status information by, for example, counting the number of mobile objects 2 waiting for a pass instruction in the mediation area 5. The number of waiting mobile objects 2 is calculated, for example, based on the number of mediation requests received by the reception unit 12 or information on each mobile object 2 managed by the mobile object management unit 11. The traffic management device 9 then proceeds to step S33.

[0118] In step S33, the notification unit 15 notifies the generated mediation status information to the moving object 2. Then, the processing of the traffic management device 9 ends.

[0119] As described above, in the traffic management device 9 of the mobile system 1 according to the fourth embodiment, when there is an inquiry from the mobile body 2 regarding the mediation status of the mediation area 5 , the notification unit 15 notifies the mobile body 2 of the mediation status of the mediation area 5 .

[0120] According to this configuration, the mobile body 2 can grasp the mediation status before passing through the mediation area 5, and thus can reduce unnecessary waiting time by searching for a movement route again, etc. As a result, the movement efficiency of the mobile body 2 is further improved.

[0121] Alternatively, the mobile object 2 may output a mediation request reservation requesting a passage instruction for the mediation area 5 at a future scheduled time to the traffic management device 9. The mediation request reservation includes, in addition to the usual mediation request information, information such as the time of the scheduled time. Based on the mediation request reservation, the selection unit 13 selects a permitted route at the scheduled time. At this time, if there is a reservation status inquiry at the scheduled time, the notification unit 15 may also generate mediation status information, including information such as the number of mobile objects 2 waiting for passage instructions due to the mediation request reservation.

[0122] To summarize the above description, possible configurations of the technology of the present invention include the following configurations shown as supplementary notes.

[0123] (Note 1)

[0124] A traffic management device, comprising:

[0125] an area management unit that manages area information for each of one or more pre-set mediation areas, the area information including information about nodes adjacent to the mediation area and information about combinations of routes that can simultaneously pass through the mediation area, the routes being determined by a combination of a node that starts passage through the mediation area and a node that completes passage through the mediation area, among the nodes adjacent to the mediation area;

[0126] an accepting unit for accepting a mediation request from one or more mobile bodies that are to pass through at least one of the one or more mediation areas, the mediation request including information on an entry node indicating a node at which the movement is to start, and an exit node indicating a node at which the movement is to end, among nodes adjacent to at least one of the one or more mediation areas;

[0127] a selection unit that selects the permitted route, i.e., the permitted route, for at least one of the one or more mediation areas based on the mediation request accepted by the acceptance unit and the area information managed by the area management unit; and

[0128] The instruction unit outputs a passage instruction permitting passage of the permitted route to at least one of the one or more movable bodies that passes through the permitted route selected by the selection unit.

[0129] (Note 2)

[0130] The traffic management device according to Supplement 1, wherein:

[0131] When the one or more mediation regions include a first mediation region and a second mediation region that are different from each other,

[0132] In a case where the mediation request sets a node adjacent to the first mediation area as the entry node and sets a node adjacent to the second mediation area as the exit node,

[0133] The selection unit selects the permitted route for both the first mediation area and the second mediation area so as to enable sequential travel through the first mediation area and the second mediation area.

[0134] The instruction unit outputs a passage instruction permitting passage on the permitted route to at least one of the one or more movable bodies that passes through the permitted route selected by the selection unit for the first mediation area and the second mediation area.

[0135] (Note 3)

[0136] The traffic management device according to Supplement 1 or Supplement 2, wherein:

[0137] The traffic management device includes a moving body management unit that updates and manages information on the current position of each of the one or more moving bodies.

[0138] The acceptance unit rejects the mediation request when the movable body that issued the mediation request is outside an acceptance range that is preset for the mediation area to be passed through by the mediation request.

[0139] (Note 4)

[0140] The traffic management device according to any one of Supplementary Notes 1 to 3, wherein:

[0141] When the one or more moving bodies include a first moving body and a second moving body that are different from each other,

[0142] When the first movable body and the second movable body are to pass through the passage route that allows them to pass through the same mediation area at the same time,

[0143] The selection unit selects both the passage route to be passed by the first moving body and the passage route to be passed by the second moving body as the permitted route,

[0144] The instructing unit outputs a passage instruction to the second movable body before the first movable body that previously outputted a passage instruction completes passage of the mediation area.

[0145] (Note 5)

[0146] The traffic management device according to any one of Supplementary Notes 1 to 4, wherein:

[0147] The traffic management device includes a notification unit configured to notify the mobile body of the mediation status of the mediation area when there is an inquiry regarding the mediation status of any one of the one or more mediation areas from the mobile body.

[0148] (Note 6)

[0149] The traffic management device according to any one of Supplementary Notes 1 to 5, wherein:

[0150] At least one of the one or more mediation areas is set within a range including the elevator car and the lobby of each of the multiple floors, and at least one of the traffic routes in the mediation area is determined by a group of nodes adjacent to the lobby of the departure floor and nodes adjacent to the lobby of the arrival floor.

[0151] (Note 7)

[0152] A traffic management method, wherein a computer performs the following processing:

[0153] For each of one or more pre-set mediation areas, area information is managed, the area information including information about nodes adjacent to the mediation area and information about a combination of routes that can simultaneously pass through the mediation area, the routes being determined by a combination of a node that starts passage through the mediation area and a node that completes passage through the mediation area, among the nodes adjacent to the mediation area;

[0154] accepting a mediation request from one or more mobile bodies that are to pass through at least one of the one or more mediation areas, the mediation request including information on an entry node indicating a node at which the passage is to begin and an exit node indicating a node at which the passage is to end, among nodes adjacent to at least one of the one or more mediation areas;

[0155] selecting the permitted route, that is, the permitted route, for at least any one of the one or more mediation areas based on the accepted mediation request and the managed area information; and

[0156] A passage instruction permitting passage through the permitted route is outputted to at least any one of the one or more movable bodies that is traveling through the selected permitted route.

[0157] (Note 8)

[0158] A traffic management program causes a computer to execute the following processing:

[0159] For each of one or more pre-set mediation areas, area information is managed, the area information including information about nodes adjacent to the mediation area and information about a combination of routes that can simultaneously pass through the mediation area, the routes being determined by a combination of a node that starts passage through the mediation area and a node that completes passage through the mediation area, among the nodes adjacent to the mediation area;

[0160] accepting a mediation request from one or more mobile bodies that are to pass through at least one of the one or more mediation areas, the mediation request including information on an entry node indicating a node at which the passage is to begin and an exit node indicating a node at which the passage is to end, among nodes adjacent to at least one of the one or more mediation areas;

[0161] selecting the permitted route, that is, the permitted route, for at least any one of the one or more mediation areas based on the accepted mediation request and the managed area information; and

[0162] A passage instruction permitting passage through the permitted route is outputted to at least any one of the one or more movable bodies that is traveling through the selected permitted route.

[0163] (Note 9)

[0164] A mobile system, comprising:

[0165] One or more moving objects each of which is to pass through at least one of the one or more pre-set mediation areas;

[0166] an area management unit that manages area information for each of the one or more mediation areas, the area information including information about nodes adjacent to the mediation area and information about a combination of routes that can simultaneously pass through the mediation area, the routes being determined by a combination of a node that starts passage through the mediation area and a node that completes passage through the mediation area, among the nodes adjacent to the mediation area;

[0167] an accepting unit configured to accept a mediation request from the one or more moving objects, the mediation request including information on an entry node indicating a node at which passage is to be started and an exit node indicating a node at which passage is to be completed, among nodes adjacent to at least any one of the one or more mediation areas;

[0168] a selection unit that selects the permitted route, i.e., the permitted route, for at least one of the one or more mediation areas based on the mediation request accepted by the acceptance unit and the area information managed by the area management unit; and

[0169] The instruction unit outputs a passage instruction permitting passage of the permitted route to at least one of the one or more movable bodies that passes through the permitted route selected by the selection unit.

[0170] (Note 10)

[0171] A mobile object control system, comprising:

[0172] a moving body control unit that controls the movement of one or more moving bodies that are to pass through at least one of one or more preset mediation areas;

[0173] an area management unit that manages area information for each of the one or more mediation areas, the area information including information about nodes adjacent to the mediation area and information about a combination of routes that can simultaneously pass through the mediation area, the routes being determined by a combination of a node that starts passage through the mediation area and a node that completes passage through the mediation area, among the nodes adjacent to the mediation area;

[0174] an accepting unit configured to accept a mediation request from the one or more moving objects, the mediation request including information on an entry node indicating a node at which passage is to be started and an exit node indicating a node at which passage is to be completed, among nodes adjacent to at least any one of the one or more mediation areas;

[0175] a selection unit that selects the permitted route, i.e., the permitted route, for at least one of the one or more mediation areas based on the mediation request accepted by the acceptance unit and the area information managed by the area management unit; and

[0176] The instruction unit outputs a passage instruction permitting passage of the permitted route to at least one of the one or more movable bodies that passes through the permitted route selected by the selection unit.

Claims

1. A traffic management device, comprising: an area management unit that manages area information for each of one or more pre-set mediation areas, the area information including information about nodes adjacent to the mediation area and information about combinations of routes that can simultaneously pass through the mediation area, the routes being determined by a combination of a node that starts passage through the mediation area and a node that completes passage through the mediation area, among the nodes adjacent to the mediation area; an accepting unit for accepting a mediation request from one or more mobile bodies that are to pass through at least one of the one or more mediation areas, the mediation request including information on an entry node indicating a node at which the movement is to start, and an exit node indicating a node at which the movement is to end, among nodes adjacent to at least one of the one or more mediation areas; a selection unit configured to select the permitted route, i.e., the permitted route, for at least one of the one or more mediation areas based on the mediation request accepted by the acceptance unit and the area information managed by the area management unit; as well as The instruction unit outputs a passage instruction permitting passage of the permitted route to at least one of the one or more movable bodies that passes through the permitted route selected by the selection unit.

2. The traffic management device according to claim 1, wherein: When the one or more mediation regions include a first mediation region and a second mediation region that are different from each other, In a case where the mediation request sets a node adjacent to the first mediation area as the entry node and sets a node adjacent to the second mediation area as the exit node, The selection unit selects the permitted route for both the first mediation area and the second mediation area so as to enable sequential travel through the first mediation area and the second mediation area. The instruction unit outputs a passage instruction permitting passage on the permitted route to at least one of the one or more movable bodies that passes through the permitted route selected by the selection unit for the first mediation area and the second mediation area.

3. The traffic management device according to claim 1 or 2, wherein: The traffic management device includes a moving body management unit that updates and manages information on the current position of each of the one or more moving bodies. The acceptance unit rejects the mediation request when the movable body that issued the mediation request is outside an acceptance range that is preset for the mediation area to be passed through by the mediation request.

4. The traffic management device according to claim 1 or 2, wherein: When the one or more moving bodies include a first moving body and a second moving body that are different from each other, When the first movable body and the second movable body are to pass through the passage route that allows them to pass through the same mediation area at the same time, The selection unit selects both the passage route to be passed by the first moving body and the passage route to be passed by the second moving body as the permitted route, The instructing unit outputs a passage instruction to the second movable body before the first movable body that previously outputted a passage instruction completes passage of the mediation area.

5. The traffic management device according to claim 1 or 2, wherein: The traffic management device includes a notification unit configured to notify the mobile body of the mediation status of the mediation area when there is an inquiry regarding the mediation status of any one of the one or more mediation areas from the mobile body.

6. The traffic management device according to claim 1 or 2, wherein: At least one of the one or more mediation areas is set within a range including the elevator car and the lobby of each of the multiple floors, and at least one of the traffic routes in the mediation area is determined by a group of nodes adjacent to the lobby of the departure floor and nodes adjacent to the lobby of the arrival floor.

7. A traffic management method, wherein: The computer performs the following processing: For each of one or more pre-set mediation areas, area information is managed, the area information including information about nodes adjacent to the mediation area and information about a combination of routes that can simultaneously pass through the mediation area, the routes being determined by a combination of a node that starts passage through the mediation area and a node that completes passage through the mediation area, among the nodes adjacent to the mediation area; accepting a mediation request from one or more mobile bodies that are to pass through at least one of the one or more mediation areas, the mediation request including information on an entry node indicating a node at which the passage is to begin and an exit node indicating a node at which the passage is to end, among nodes adjacent to at least one of the one or more mediation areas; selecting the permitted route, that is, the permitted route, for at least any one of the one or more mediation areas based on the accepted mediation request and the managed area information; and A passage instruction permitting passage through the permitted route is outputted to at least any one of the one or more movable bodies that is traveling through the selected permitted route.

8. A traffic management program, the traffic management program causing a computer to execute the following processing: For each of one or more pre-set mediation areas, area information is managed, the area information including information about nodes adjacent to the mediation area and information about a combination of routes that can simultaneously pass through the mediation area, the routes being determined by a combination of a node that starts passage through the mediation area and a node that completes passage through the mediation area, among the nodes adjacent to the mediation area; accepting a mediation request from one or more mobile bodies that are to pass through at least one of the one or more mediation areas, the mediation request including information on an entry node indicating a node at which the passage is to begin and an exit node indicating a node at which the passage is to end, among nodes adjacent to at least one of the one or more mediation areas; selecting the permitted route, that is, the permitted route, for at least any one of the one or more mediation areas based on the accepted mediation request and the managed area information; and A passage instruction permitting passage through the permitted route is outputted to at least any one of the one or more movable bodies that is traveling through the selected permitted route.

9. A mobile system, comprising: One or more moving objects each of which is to pass through at least one of the one or more pre-set mediation areas; an area management unit that manages area information for each of the one or more mediation areas, the area information including information about nodes adjacent to the mediation area and information about a combination of routes that can simultaneously pass through the mediation area, the routes being determined by a combination of a node that starts passage through the mediation area and a node that completes passage through the mediation area, among the nodes adjacent to the mediation area; an accepting unit configured to accept a mediation request from the one or more moving objects, the mediation request including information on an entry node indicating a node at which passage is to be started and an exit node indicating a node at which passage is to be completed, among nodes adjacent to at least any one of the one or more mediation areas; a selection unit configured to select the permitted route, i.e., the permitted route, for at least one of the one or more mediation areas based on the mediation request accepted by the acceptance unit and the area information managed by the area management unit; as well as The instruction unit outputs a passage instruction permitting passage of the permitted route to at least one of the one or more movable bodies that passes through the permitted route selected by the selection unit.

10. A mobile object control system, comprising: a moving body control unit that controls the movement of one or more moving bodies that are to pass through at least one of one or more preset mediation areas; an area management unit that manages area information for each of the one or more mediation areas, the area information including information about nodes adjacent to the mediation area and information about a combination of routes that can simultaneously pass through the mediation area, the routes being determined by a combination of a node that starts passage through the mediation area and a node that completes passage through the mediation area, among the nodes adjacent to the mediation area; an accepting unit configured to accept a mediation request from the one or more moving objects, the mediation request including information on an entry node indicating a node at which passage is to be started and an exit node indicating a node at which passage is to be completed, among nodes adjacent to at least any one of the one or more mediation areas; a selection unit configured to select the permitted route, i.e., the permitted route, for at least one of the one or more mediation areas based on the mediation request accepted by the acceptance unit and the area information managed by the area management unit; as well as The instruction unit outputs a passage instruction permitting passage of the permitted route to at least one of the one or more movable bodies that passes through the permitted route selected by the selection unit.

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