Management system for mobile objects

Abstract

A management system for a mobile body can determine whether the position information of the mobile body is incorrect. The management system (4) includes a positioning device (5), an acquisition unit (8), and a determination unit (9). The positioning device (5) is installed in a facility. The positioning device (5) locates the position of a mobile body (2) moving in the facility in the facility. The acquisition unit (8) acquires a moving path pre-set for the mobile body (2). The acquisition unit (8) acquires the first position information of the mobile body (2) in the facility. The first position information is information measured by the mobile body (2). The acquisition unit (8) acquires the second position information of the mobile body (2) in the facility. The second position information is information measured by the positioning device (5). The determination unit (9) determines that the first position information is incorrect when it is determined that the first position information matches the moving path and when it is determined that the second position information does not match the moving path.

Description

Technical Field

[0001] The present application relates to a management system for mobile objects. Background Art

[0002] Patent Document 1 discloses an example of a management system for a mobile object. The mobile object moves along a predetermined path. When the mobile object detects a location display unit located along the path, the mobile object transmits its own location information to a monitoring center.

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 63-268008

[0004] However, in the management system of Patent Document 1, the mobile object may mistakenly obtain its own position information due to, for example, signal misdetection. In this case, the monitoring center obtains incorrect position information from the mobile object, and the monitoring center cannot determine whether the mobile object's position information is incorrect. Summary of the Invention

[0005] The present application is directed to solving such a problem and provides a mobile object management system capable of determining whether position information of the mobile object is incorrect.

[0006] The management system of a mobile body of the present application comprises: a positioning device, which is arranged in a facility and locates the position of a mobile body moving in the facility; an acquisition unit, which acquires a moving path preset for the mobile body, acquires first position information of the mobile body in the facility measured by the mobile body, and acquires second position information of the mobile body in the facility measured by the positioning device; and a determination unit, which determines that the first position information is incorrect when it is determined that the first position information matches the moving path and when it is determined that the second position information does not match the moving path.

[0007] The management system of a mobile body involved in the present application comprises: an acquisition unit, which acquires a pre-set moving path for a mobile body moving in a facility, acquires first position information of the mobile body in the facility measured by the mobile body, and acquires second position information of the mobile body in the facility measured by a positioning device installed in the facility; and a determination unit, which determines that the first position information is incorrect when it is determined that the first position information matches the moving path and when it is determined that the second position information does not match the moving path.

[0008] According to the management system of the present application, it is possible to determine whether the position information of the mobile object is incorrect. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a configuration diagram of the moving body system according to the first embodiment.

[0010] Figure 2 This is a plan view of a facility where the movable body according to the first embodiment moves.

[0011] Figure 3 This is a flowchart showing an example of the operation of the management system according to the first embodiment.

[0012] Figure 4 This is a hardware configuration diagram of the main parts of the management system according to the first embodiment.

[0013] Figure 5A This is a plan view of a facility where a movable body according to the second embodiment moves.

[0014] Figure 5B This is a plan view of a facility where a movable body according to the second embodiment moves.

[0015] Figure 6A This is a plan view of a facility where a movable body according to the third embodiment moves.

[0016] Figure 6B This is a diagram showing an example of a graph structure related to a facility on which a movable body moves according to the third embodiment.

[0017] Figure 7 This is a flowchart showing an example of the operation of the management device according to the third embodiment.

[0018] Description of labels

[0019] 1: Mobile system; 2: Mobile; 3: Mobile control device; 4: Management system; 5: Positioning device; 6: Management device; 7: Map storage unit; 8: Acquisition unit; 9: Determination unit; 100a: Processor; 100b: Memory; 200: Dedicated hardware. DETAILED DESCRIPTION

[0020] The method for implementing the object of the present application is described with reference to the accompanying drawings. In each figure, the same reference numerals are given to the same or corresponding parts, and repeated descriptions are simplified or omitted as appropriate. In addition, the object of the present application is not limited to the following embodiments, and any component of the embodiment can be modified or omitted without departing from the scope of the present application.

[0021] Implementation Method 1

[0022] Figure 1 This is a configuration diagram of the mobile system 1 according to the first embodiment.

[0023] A mobile system 1 is used in a facility. The facility is composed of, for example, a building including multiple areas. Each area is, for example, a room or passageway in the facility. The mobile system 1 includes a mobile 2, a mobile control device 3, and a management system 4.

[0024] Mobile object 2 is a device that moves within the facility. Mobile object 2 is, for example, an autonomous mobile object such as a robot or mobile equipment. Mobile object 2 moves along a pre-defined path. For example, a path is generated before mobile object 2 begins moving, connecting its departure point to its destination. The path followed by mobile object 2 passes through one or more areas of the facility.

[0025] The mobile control device 3 is a device that performs remote control of the movement of the mobile object 2. The mobile control device 3 is, for example, one or more server devices. Some or all of the functions of the mobile control device 3 may be installed in one or more devices located within the facility, or implemented using storage or processing resources located on one or more devices outside the facility or on a cloud service. The mobile control device 3 generates a movement path for the mobile object 2.

[0026] The management system 4 is a system for managing the movement of the mobile object 2 moving in the facility. The management system 4 includes a plurality of positioning devices 5 and a management device 6.

[0027] Each positioning device 5 is installed in the facility. The positioning device 5 is a device that locates the position of the mobile body 2 in the facility. The positioning device 5 locates the position of the mobile body 2 based on an image captured by a camera, for example. Alternatively, the positioning device 5 may locate the position of the mobile body 2 through wireless communication with the mobile body 2. Here, the wireless communication with the mobile body 2 is, for example, wireless communication using wireless signals based on electromagnetic waves such as radio waves, infrared rays, or visible light, or wireless communication using wireless signals based on sound waves such as ultrasonic waves. The positioning device 5 may also include a transmitter that sends wireless signals to the mobile body 2. In addition, the positioning device 5 may also include a receiver that receives wireless signals from the mobile body 2. A positioning range is set for each positioning device 5. The positioning range is, for example, the range of the image captured by the camera or the communicable range of wireless communication.

[0028] The management device 6 is a device that performs information processing related to the management of the mobile object 2 within the management system 4. The management device 6 is, for example, one or more server devices. Some or all of the functions of the management device 6 may be installed in one or more devices located within the facility, or implemented using storage or processing resources located on one or more devices outside the facility or on a cloud service. The management device 6 includes a map storage unit 7, an acquisition unit 8, and a determination unit 9.

[0029] The map storage unit 7 is a unit that stores information. The map storage unit 7 stores map information of a facility. The map information of a facility includes the configuration of multiple areas within the facility and information on the permitted width for the mobile body 2 to pass through each area. The permitted width is set for each pass area. The pass area is the portion of the area within the building where the mobile body 2 can pass. Examples of the pass area include the entire area of ​​a passageway or a portion of one side, such as the left or right side, or the entire area of ​​a room or a portion within a predetermined distance from the perimeter of the room. The permitted width is, for example, the entire width or a portion of the width in a direction perpendicular to the direction along the passageway in a passageway-shaped passageway.

[0030] The acquisition unit 8 is a part that acquires information related to the mobile object 2. The acquisition unit 8 acquires information through a communication network such as the Internet or a telephone network, or a wired or wireless local communication network in a facility.

[0031] The acquisition unit 8 acquires the movement route generated for the moving object 2 from the moving object control device 3. The movement route includes information such as an identifier for identifying the moving object 2, the departure point and destination point of the moving object 2, the departure time and expected arrival time of the moving object 2, and the passable area on the movement route.

[0032] The acquisition unit 8 acquires first position information from the mobile object 2. The first position information is information indicating the position of the mobile object 2 within the facility. The first position information is information measured by the mobile object 2 itself using a sensor or communication device mounted on the mobile object 2. The first position information includes, for example, an identifier identifying the mobile object 2, variables such as coordinates indicating the position of the mobile object 2, and information such as the time when the mobile object 2 was at that position. The acquisition unit 8 may also acquire the first position information from the mobile object 2 via the mobile object control device 3.

[0033] The acquisition unit 8 acquires the second position information from the positioning device 5. The second position information is information indicating the position of the mobile object 2 in the facility. The second position information is information measured by any of the positioning devices 5 installed in the facility. The second position information includes, for example, an identifier for identifying the mobile object 2, variables such as coordinates indicating the position of the mobile object 2, and information such as the time when the mobile object 2 was at that position.

[0034] The acquisition unit 8 continuously acquires the first position information and the second position information. In this example, the acquisition unit 8 periodically acquires the first position information and the second position information. The acquisition unit 8 acquires the first position information and the second position information synchronously, for example.

[0035] The determination unit 9 is a part that performs accuracy determination and the like regarding the position information of the moving object 2. The determination unit 9 performs determination based on, for example, the map information, the movement path, the first position information, and the second position information acquired by the acquisition unit 8.

[0036] Figure 2 This is a plan view of a facility where the moving body 2 according to the first embodiment moves.

[0037] exist Figure 2 , as an example of a passage area of ​​a facility, a west passage W, a branched path B, a north passage N, and an east passage E are shown. Branched path B connects to the west passage W, the north passage N, and the east passage E. That is, the west passage W, the north passage N, and the east passage E branch off at branched path B.

[0038] exist Figure 2 2 shows an example of a movement path of the moving object 2. The movement path of the moving object 2 in this example is a path that goes straight eastward in the west-side passage W and then turns left at a branching passage B to the north-side passage N.

[0039] In this example, the moving body 2 is located on the east side of the passage E that is not the passage area through which the moving path passes due to, for example, a movement control error of the moving body control device 3. In this case, the positioning device 5 measures the position of the moving body 2 as a position on the east side of the passage E. That is, the second position information indicates Figure 2 The positions indicated by ○.

[0040] On the other hand, the moving body 2 mistakenly measures its own position as a position on the passage N on the north side of the passage area through which the moving body 2 passes as the moving path. Figure 2 In this case, the first position information transmitted by the mobile body 2 to the management system 4 becomes incorrect position information.

[0041] At this time, the determination unit 9 determines that the first position information transmitted from the mobile object 2 is incorrect based on the consistency between the movement path and the first and second position information, for example, as described below.

[0042] The determination unit 9 determines whether the first position information transmitted from the mobile object 2 matches the movement path. For example, if the position of the first position information is included in any of the passage areas through which the movement path passes, the determination unit 9 determines that the first position information matches the movement path. In this example, the position of the first position information is included in the passage N on the north side of the passage area through which the movement path passes, and therefore the determination unit 9 determines that the first position information matches the movement path.

[0043] If the first position information matches the movement path, the determination unit 9 determines whether the second position information transmitted from the positioning device 5 matches the movement path. For example, if the position of the second position information is included in any of the passage areas through which the movement path passes, the determination unit 9 determines that the second position information matches the movement path. In this example, the position of the second position information is included in the east-side passage E, which the movement path does not pass through. Therefore, the determination unit 9 determines that the second position information does not match the movement path.

[0044] At this point, the determination unit 9 determines that the first position information transmitted from the mobile object 2 is incorrect. When the determination unit 9 determines that the first position information is incorrect, the management system 4 outputs to the mobile object control device 3 or the mobile object 2, for example, an instruction to correct the position information of the mobile object 2 to the second position information or an instruction to stop movement within the facility. Alternatively, the management system 4 may restrict the movement of the mobile object 2 that transmitted the incorrect first position information within the facility, for example by restricting the unlocking of electronic locks within the facility. Alternatively, the management system 4 may notify the facility manager or the manager of the mobile object 2, etc., that the mobile object 2 transmitted the incorrect first position information.

[0045] On the other hand, if the first position information matches the movement path and the second information transmitted from the mobile object 2 matches the movement path, the determination unit 9 determines that the position information of the mobile object 2 is correct unless there is other information determined to be incorrect. In this case, the mobile object 2 continues to move along the movement path.

[0046] In addition, in order to avoid interference between the mobile body 2 and people or other mobile bodies 2, it may sometimes temporarily retreat to a position that deviates from the moving path. In such a case, the first position information of the mobile body 2 measured by the mobile body 2 does not match the moving path. At this time, the second position information of the mobile body 2 measured by the positioning device 5 also does not match the moving path. Such a mismatch between the moving path and the position information is a temporary mismatch based on reasons such as retreat. Since the actual position of the mobile body 2 matches the position information, the determination unit 9 does not determine that the first position information is incorrect. In this example, when the first position information sent from the mobile body 2 does not match the moving path, the determination unit 9 does not determine that the position information of the mobile body 2 is incorrect as long as there is no other information determined to be incorrect.

[0047] Figure 3 This is a flowchart showing an example of the operation of the management system 4 according to the first embodiment.

[0048] In step S1, the acquisition unit 8 acquires the movement path of the mobile object 2 from the mobile object control device 3. Then, the management system 4 proceeds to the process of step S2.

[0049] In step S2, the acquisition unit 8 acquires the first position information of the moving object 2 from the moving object 2. Then, the management system 4 proceeds to the process of step S3.

[0050] In step S3, the acquisition unit 8 determines, based on the first position information, whether the mobile object 2 is within the positioning range of a positioning device 5. If the determination result is "No," the management system 4 proceeds to step S2. If the determination result is "Yes," the management system 4 proceeds to step S4.

[0051] In step S4, the acquisition unit 8 acquires the second position information of the mobile object 2 from the positioning device 5. Then, the management system 4 proceeds to the process of step S5.

[0052] In step S5, the determination unit 9 determines whether the first position information of the mobile object 2 acquired by the acquisition unit 8 matches the movement path of the mobile object 2. If the determination result is "No", the management system 4 proceeds to step S6. If the determination result is "Yes", the management system 4 proceeds to step S7.

[0053] In step S6, the management system 4 notifies the mobile object 2 or the mobile object control device 3 that the mobile object 2 has deviated from the movement path. Upon receiving the notification, the mobile object 2 or the mobile object control device 3 performs, as necessary, movement to restore the mobile object 2 to the movement path. The management system 4 then proceeds to step S2.

[0054] In step S7, the determination unit 9 determines whether the second position information of the mobile object 2 acquired by the acquisition unit 8 matches the movement path of the mobile object 2. If the determination result is "yes", the management system 4 proceeds to the process of step S2. If the determination result is "no", the management system 4 proceeds to the process of step S8.

[0055] In step S8, the determination unit 9 determines that the first position information transmitted from the mobile object 2 is incorrect. The management system 4 may also notify the mobile object 2 or the mobile object control device 3 that the first position information of the mobile object 2 is incorrect. In this case, the mobile object 2 or the mobile object control device 3 that has received the notification may also perform corrections, etc., on the first position information of the mobile object 2 as needed. The management system 4 then proceeds to step S2.

[0056] Alternatively, the moving body 2 may be moved under the control of a control unit or the like mounted on the moving body 2. In this case, the moving path of the moving body 2 may be generated by the moving body 2 itself.

[0057] Furthermore, some or all of the multiple positioning devices 5 may be devices in a system external to the management system 4. For example, the management system 4 may also locate the position of the mobile object 2 based on images captured by a surveillance camera of the external system. In this case, the acquisition unit 8 acquires information used for positioning, such as images, from the external system via a communication network such as the Internet or a telephone network, or a wired or wireless local communication network within the facility. Furthermore, the map storage unit 7 may be mounted in a system external to the management system 4. In this case, the acquisition unit 8 acquires map information from the external system via a communication network such as the Internet or a telephone network, or a wired or wireless local communication network within the facility.

[0058] As described above, the management system 4 of embodiment 1 includes a positioning device 5, an acquisition unit 8, and a determination unit 9. The positioning device 5 is installed in the facility. The positioning device 5 locates the position of the mobile body 2 moving in the facility. The acquisition unit 8 acquires a movement path preset for the mobile body 2. The acquisition unit 8 acquires the first position information of the mobile body 2 in the facility. The first position information is information measured by the mobile body 2. The acquisition unit 8 acquires the second position information of the mobile body 2 in the facility. The second position information is information measured by the positioning device 5. The determination unit 9 determines that the first position information is incorrect when it is determined that the first position information matches the movement path and when it is determined that the second position information does not match the movement path.

[0059] With this configuration, the management system 4 can determine that the first location information from the mobile object 2 is incorrect when the consistency between the first location information and the movement path and the consistency between the second location information and the movement path do not match. Because the management system 4 verifies the consistency of both the first and second location information with the movement path, it is less likely to mistakenly determine that the first location information is incorrect when the first location information is not incorrect, such as when the mobile object 2 actually deviates from the movement path. Furthermore, the management system 4 uses both the first and second location information for determination. Therefore, even if the mobile object 2 is moving while transmitting incorrect first location information due to positioning errors or intentional actions by the user of the mobile object 2, the first location information can still be determined to be incorrect. If the location information of the mobile object 2 is incorrect, it may be impossible to appropriately set an action plan for the movement of the mobile object 2. In this case, the traffic efficiency of the mobile object 2 and other vehicles within the facility may be reduced. Furthermore, if the location information of the mobile object 2 is incorrect, there is a risk of security risks, such as the mobile object 2 accessing locations that should not be accessible or electronic locks being unlocked in locations where the mobile object 2 is not actually present. The management system 4 can determine that the first position information is incorrect, and thus can suppress such a decrease in traffic efficiency and safety risks.

[0060] Furthermore, after determining whether the first position information does not match the movement path, the determination unit 9 determines whether the second position information matches the movement path.

[0061] If the mobile object 2 temporarily deviates from its path due to reasons such as retreat, the management system 4 does not determine the accuracy of the first position information based on the second position information and its compatibility with the path. In this case, the management system 4 can omit the compatibility determination between the second position information and the path. Therefore, in cases where the mobile object 2 temporarily deviates from its path due to reasons such as retreat, the management system 4 can use simpler processing to avoid mistakenly determining that the first position information is incorrect.

[0062] Next, use Figure 4 An example of the hardware configuration of the management system 4 will be described.

[0063] Figure 4 This is a hardware configuration diagram of the main parts of the management system 4 according to the first embodiment.

[0064] Each function of the management system 4 can be realized 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 200 together with or instead of the processor 100a and the memory 100b.

[0065] When the processing circuit includes a processor 100a and a memory 100b, the various functions of the management system 4 are implemented using software, firmware, or a combination of software and firmware. At least one of the software and firmware is referred to as a program. This program is stored in the memory 100b. The processor 100a implements the various functions of the management system 4 by reading and executing the program stored in the memory 100b.

[0066] 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.

[0067] When the processing circuit comprises dedicated hardware 200 , the processing circuit is implemented, for example, by a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0068] Each function of management system 4 can be implemented separately by processing circuits. Alternatively, each function of management system 4 can be implemented collectively by processing circuits. Each function of management system 4 can also be partially implemented by dedicated hardware 200, while other functions can be implemented by software or firmware. In this way, the processing circuit implements each function of management system 4 through dedicated hardware 200, software, firmware, or a combination thereof.

[0069] Implementation Method 2

[0070] In the second embodiment, points different from the example disclosed in the first embodiment are described in detail. With respect to features not described in the second embodiment, any features in the example disclosed in the first embodiment can be adopted.

[0071] Figure 5A and Figure 5B This is a plan view of a facility where the moving body 2 according to the second embodiment moves.

[0072] exist Figure 5A and Figure 5B In the figure, it is shown that Figure 2 The same includes the passage area of ​​the facility, the movement path of the moving object 2, the first position information, and the second position information.

[0073] exist Figure 5A and Figure 5B , an example of the error range of positioning by the positioning device 5 is shown. Here, the error range of positioning indicates the range of positioning error in a planar direction, such as the horizontal direction or a direction parallel to the facility floor. The error range is, for example, an error circle centered on the second position information. The error range is calculated by the positioning device 5 itself, for example. The error range calculated by the positioning device 5 is acquired by the acquisition unit 8 along with the second position information.

[0074] exist Figure 5A , an example is shown in which the path of mobile object 2 passes through any of the passage areas that do not fall within the error range. In this case, the actual position of mobile object 2 is anywhere within the error range, and mobile object 2 is not located at any of the west passage W, branch passage B, or north passage N that constitute the passage areas that the path of mobile object 2 passes through. In this case, determination unit 9 determines that the second position information of mobile object 2 does not match the path of mobile object 2.

[0075] On the other hand, Figure 5B, an example is shown in which the error range includes at least one of the passage areas through which the moving path of the mobile body 2 passes. In this example, the error range includes the branch path B as the passage area through which the moving path of the mobile body 2 passes, and the passage N on the north side. At this time, since the actual position of the mobile body 2 is any position within the error range, the position of the mobile body 2 may be located at the branch path B or the passage N on the north side of the passage area through which the moving path of the mobile body 2 passes. In this case, the mobile body 2 may not have deviated from the moving path. Therefore, the determination unit 9 considers that the second position information of the mobile body 2 matches the moving path of the mobile body 2, and determines whether the position information of the mobile body 2 is incorrect. That is, in this case, the determination unit 9 does not determine that the first position information of the mobile body 2 is incorrect.

[0076] As described above, the determination unit 9 of the management system 4 in the second embodiment does not determine that the first position information is incorrect when the error range of the position of the mobile object 2 includes the passage area through which the movement path passes. The error range of the position of the mobile object 2 is the error range calculated by the positioning device 5 for the second position information.

[0077] With this configuration, the management system 4 can take into account the positioning error when determining the consistency with the movement path. This makes it less likely for the management system 4 to mistakenly determine that the first position information is incorrect.

[0078] Implementation 3

[0079] In Embodiment 3, points different from the example disclosed in Embodiment 1 or 2 are described in detail. With respect to features not described in Embodiment 3, any features in the example disclosed in Embodiment 1 or 2 can be adopted.

[0080] Figure 6A This is a plan view of a facility where the moving body 2 according to the third embodiment moves.

[0081] exist Figure 6A , as examples of the passageway area of ​​a facility, the western passage DW, the northwest passage NW, the southwest passage SW, the branch path B1, the central passage C, the branch path B2, the northern passage DN, and the southern passage DS are shown. Branch path B1 connects to the western passage DW, the northwest passage NW, the southwest passage SW, and the central passage C. That is, the western passage DW, the northwest passage NW, the southwest passage SW, and the central passage C branch off at branch path B1. Branch path B2 connects to the central passage C, the northern passage DN, and the southern passage DS. That is, the central passage C, the northern passage DN, and the southern passage DS branch off at branch path B2.

[0082] Each positioning device 5 is set up on a branch path in the facility. A branch path is a passage area that branches from multiple passage areas. For example, a branch path is a passage area adjacent to more than three passage areas. In this example, a certain positioning device 5 is arranged on the branch path B1. Other positioning devices 5 are arranged on the branch path B2. The positioning range of the positioning device 5 arranged on the branch path is set to include at least a part of each passage area branched from the branch path. In this example, the positioning range of the positioning device 5 arranged on the branch path includes the part of each passage area that branches off from the branch path. The positioning range of the positioning device 5 arranged on the branch path includes the entire branch path. For example, the positioning range of the positioning device 5 arranged on the branch path B1 includes the parts of the west passage DW, the northwest passage NW, the southwest passage SW, and the central passage C that branch off from the branch path B1, as well as the entire branch path B1. The positioning range of the positioning device 5 arranged on the branch path B2 includes the central path C, the northerly path DN, and the southerly path DS that branch off from the branch path B2, and the entire branch path B2.

[0083] In this example, the relationship between each traversal area in mobile system 1 is represented by a graph structure consisting of nodes and edges. The nodes in the graph are set to correspond to, for example, branching paths of facilities. The edges in the graph are set to correspond to, for example, traversal areas connecting branching paths. The movement path of mobile object 2 is represented by a path in the graph structure.

[0084] Figure 6B This is a diagram showing an example of a graph structure related to a facility on which the moving body 2 moves according to the third embodiment.

[0085] exist Figure 6B In the figure, it is shown that Figure 6A An example of a graph structure corresponding to the passage area in the top view shown. Node nB1 is set corresponding to branch path B1. Node nB2 is set corresponding to branch path B2. Edge eDW is set corresponding to path DW. Edge eNW is set corresponding to path NW. Edge eSW is set corresponding to path SW. Edge eC is set corresponding to path C. Edge eDN is set corresponding to path DN. Edge eDS is set corresponding to path DS. Node nB1 is the endpoint of edge eDW, edge eNW, edge eSW, and edge eC. Node nB2 is the endpoint of edge eC, edge eDN, and edge eDS.

[0086] The determination unit 9 determines whether the second position information matches the movement path of the mobile object 2 based on the graph structure. For example, the determination unit 9 determines whether a node corresponding to a branch path provided with the positioning device 5 for measuring the second position information of the mobile object 2 is included in the movement path of the mobile object 2. If the node is included in the movement path, the determination unit 9 determines that the second position information matches the movement path of the mobile object 2. On the other hand, if the node is not included in the movement path, the determination unit 9 determines that the second position information does not match the movement path of the mobile object 2.

[0087] Figure 7 This is a flowchart showing an example of the operation of the management device 6 according to the third embodiment.

[0088] The management system 4 of the third embodiment performs the same processing in steps S1 to S6 and S8 as the management system 4 of the first embodiment. If the result of the determination in step S5 is "yes", the management system 4 of the third embodiment proceeds to the processing of step S9.

[0089] In step S9, a determination is made as to whether the node corresponding to the branch path, on which the positioning device 5 for measuring the second position information of the mobile object 2 is located, is included in the path of the mobile object 2. If the determination result is "yes," the management system 4 proceeds to step S2. If the determination result is "no," the management system 4 proceeds to step S8.

[0090] As described above, the positioning device 5 of the management system 4 of Embodiment 3 is installed on a branch path where multiple traffic areas branch off from the facility. The positioning range in which the positioning device 5 can position the position of the mobile object 2 includes the portion where multiple traffic areas branch off from the branch path.

[0091] With this configuration, the positioning device 5 is configured so that its positioning range includes the portion where multiple passage areas branch off from the branched path. Therefore, the management system 4 can determine which passage area the mobile object 2 has moved to from the branched path. This allows for more accurate determination of the compatibility between the position of the mobile object 2 and the path of travel.

[0092] Furthermore, the positioning device 5 is installed in at least one of a plurality of branched paths that branch off from the plurality of passage areas of the facility. If the second position information includes a branched path that the movement path does not pass through within a predetermined range, the determination unit 9 determines that the second position information does not match the movement path.

[0093] With this configuration, the position of the mobile object 2 and the movement path are aligned at the branch path. If the mobile object 2 enters an incorrect path, it will pass through the branch path. Therefore, by confirming the accuracy of the first position information at the branch path, the management system 4 can determine that the mobile object 2 has entered an incorrect path. Therefore, the management system 4 can efficiently determine that the mobile object 2 has entered an incorrect path.

Claims

1. A mobile object management system, wherein: The mobile object management system includes: a positioning device, which is installed in a facility and measures the position of a mobile object moving in the facility; an acquiring unit that acquires a movement path preset for the mobile body, acquires first position information of the mobile body in the facility measured by the mobile body, and acquires second position information of the mobile body in the facility measured by the positioning device; as well as A determination unit determines that the first position information is incorrect when it is determined that the first position information matches the movement path and when it is determined that the second position information does not match the movement path.

2. The mobile object management system according to claim 1, wherein: The positioning device is installed on a branch path of a plurality of passage areas of the facility.

3. The mobile object management system according to claim 2, wherein: In a graph structure composed of nodes set corresponding to the branch path and edges set corresponding to the pass area, when the node corresponding to the branch path provided with a positioning device for measuring the second position information of the moving body is included in the moving path, the determination unit determines that the second position information matches the moving path; when the node is not included in the moving path, the determination unit determines that the second position information does not match the moving path.

4. The mobile object management system according to claim 2, wherein: The positioning range in which the positioning device can measure the position of the moving object includes portions where the plurality of passage areas diverge from the diverging paths.

5. The mobile object management system according to claim 3, wherein: The positioning range in which the positioning device can measure the position of the moving object includes portions where the plurality of passage areas diverge from the diverging paths.

6. The mobile object management system according to any one of claims 2 to 5, wherein: The determination unit determines that the second position information does not match the movement route when a branch route that the movement route does not pass through is included in a range preset for the second position information.

7. The mobile object management system according to any one of claims 1 to 5, wherein: When the error range in the planar direction calculated by the positioning device for the second position information includes a passage area through which the movement path passes, the determination unit does not determine that the first position information is incorrect.

8. The mobile object management system according to claim 6, wherein: When the error range in the planar direction calculated by the positioning device for the second position information includes a passage area through which the movement path passes, the determination unit does not determine that the first position information is incorrect.

9. The mobile object management system according to any one of claims 1 to 5 and 8, wherein: When the determination unit determines that the first position information does not match the movement path, the determination unit omits determining whether the second position information matches the movement path.

10. The mobile object management system according to claim 6, wherein: When the determination unit determines that the first position information does not match the movement path, the determination unit omits determining whether the second position information matches the movement path.

11. The mobile object management system according to claim 7, wherein: When the determination unit determines that the first position information does not match the movement path, the determination unit omits determining whether the second position information matches the movement path.

12. A management system for a mobile object, wherein: The mobile object management system includes: an acquiring unit that acquires a predetermined movement path for a mobile body moving in a facility, acquires first position information of the mobile body in the facility measured by the mobile body, and acquires second position information of the mobile body in the facility measured by a positioning device installed in the facility; as well as A determination unit determines that the first position information is incorrect when it is determined that the first position information matches the movement path and when it is determined that the second position information does not match the movement path.

13. The mobile object management system according to claim 12, wherein: When the error range in the planar direction calculated by the positioning device for the second position information includes a passage area through which the movement path passes, the determination unit does not determine that the first position information is incorrect.

14. The mobile object management system according to claim 12 or 13, wherein: When the determination unit determines that the first position information does not match the movement path, the determination unit omits determining whether the second position information matches the movement path.

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