Cooperation management device, moving body control system, device, method and program

Abstract

The invention relates to a cooperation management device, a mobile body control system, a mobile body control device, a mobile body control method, and a program for managing cooperation between an autonomous mobile body and a device provided in a facility so that the autonomous mobile body can operate more efficiently. A mobile body control system (1) is provided with a management unit (16), a determination unit (17), and a route search unit (11). The management unit (16) updates and manages the device operation information on the basis of the information acquired from the device management device (4). The device operation information indicates information pertaining to the current operation of a device (3) provided in a facility in which the autonomous moving body (2) moves. A determination unit (17) generates device availability information on the basis of the device operation information. The device availability information indicates the availability of each device (3) at a point in time at which the autonomous moving body (2) is likely to be utilized. A route search unit (11) searches for a route along which the autonomous moving body (2) moves in the facility on the basis of the device availability information.

Description

Technical Field

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

[0002] Patent Document 1 discloses an example of a moving body control system. In the moving body control system, an autonomous moving body is controlled to move on a moving path generated in advance in a facility.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2015-1810

[0004] In the mobile control system of Patent Document 1, the moving path of the autonomous mobile body is generated in advance based on the input of the operator using a pointing device. Therefore, when the autonomous mobile body uses the equipment installed in the facility, if the operation status of the equipment changes, the operator may need to modify the moving path. In this case, the autonomous mobile body may not be able to operate efficiently in the facility. Summary of the invention

[0005] The present invention relates to solving such problems. The present invention provides a mobile control system, a cooperation management device, a mobile control device, a mobile control method, and a mobile control program for managing the cooperation between an autonomous mobile and equipment installed in a facility so that the autonomous mobile can operate more efficiently.

[0006] The mobile body control system of the present invention comprises: a management unit, which updates and manages equipment operation information based on information obtained from an equipment management device, wherein the equipment operation information represents information related to the current operation of one or more equipment installed in a facility where the autonomous mobile body moves, and the equipment management device manages the one or more equipment; a judgment unit, which generates equipment availability information representing whether the one or more equipment can be used at a time point when the autonomous mobile body may use the equipment based on the equipment operation information managed by the management unit; and a path search unit, which searches for a path for the autonomous mobile body to move in the facility based on the equipment availability information generated by the judgment unit.

[0007] The collaborative management device of the present invention comprises: a management unit, which updates and manages equipment operation information based on information obtained from an equipment management device, wherein the equipment operation information represents information related to the current operation of one or more equipment installed in a facility where an autonomous mobile body moves, and the equipment management device manages the one or more equipment; a judgment unit, which generates equipment availability information representing whether the one or more equipment can be used at a time point when the autonomous mobile body may use the equipment based on the equipment operation information managed by the management unit; and an output unit, which outputs the equipment availability information generated by the judgment unit to a mobile body control device, which searches for a path for the autonomous mobile body to move in the facility.

[0008] The mobile body control device of the present invention comprises: a sending unit, which requests equipment availability information from a cooperative management device, the cooperative management device updates and manages equipment operation information based on the information obtained from the equipment management device, the equipment operation information represents information related to the current operation of one or more equipment installed in a facility where the autonomous mobile body moves, the equipment management device manages the one or more equipment, and the equipment availability information represents whether the one or more equipment can be used at a time point when the autonomous mobile body may use it; a receiving unit, which obtains the equipment availability information generated according to the request from the sending unit from the cooperative management device; and a path search unit, which searches for a path for the autonomous mobile body to move in the facility based on the equipment availability information obtained by the receiving unit.

[0009] The mobile body control method of the present invention is a method in which a computer executes the following processing: updating and managing equipment operation information based on information obtained from an equipment management device, wherein the equipment operation information represents information related to the current operation of one or more equipment installed in a facility where an autonomous mobile body moves, and the equipment management device manages the one or more equipment; generating equipment availability information representing whether the one or more equipment can be used at a time point when the autonomous mobile body may use the equipment based on the equipment operation information; and outputting the generated equipment availability information to a mobile body control device, which searches for a path for the autonomous mobile body to move in the facility.

[0010] The mobile body control program of the present invention enables a computer to perform the following processing: updating and managing equipment operation information based on information obtained from an equipment management device, wherein the equipment operation information represents information related to the current operation of one or more equipment installed in a facility where an autonomous mobile body moves, and the equipment management device manages the one or more equipment; generating equipment availability information representing whether the one or more equipment can be used at a time point when the autonomous mobile body may use the equipment based on the equipment operation information; and outputting the generated equipment availability information to a mobile body control device, which searches for a path for the autonomous mobile body to move in the facility.

[0011] According to the mobile body control system, cooperation management device, mobile body control device, mobile body control method or mobile body control program of the present invention, the cooperation between the autonomous mobile body and the equipment installed in the facility is managed in a manner that the autonomous mobile body can operate more efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a configuration diagram of a moving object control system according to the first embodiment.

[0013] Figure 2A This is a table showing an example of the moving object information stored in the first storage unit according to the first embodiment.

[0014] Figure 2B This is a table showing an example of device type information stored in the second storage unit according to the first embodiment.

[0015] Figure 2C This is a table showing an example of the device operation information stored in the second storage unit according to the first embodiment.

[0016] Figure 2D This is a table showing an example of the device operation information stored in the second storage unit according to the first embodiment.

[0017] Figure 2E This is a table showing an example of the device operation information stored in the second storage unit according to the first embodiment.

[0018] Figure 2F This is a table showing an example of the device authority information stored in the second storage unit according to the first embodiment.

[0019] Figure 3A This is a diagram showing an example of a route search performed by the route search unit according to the first embodiment.

[0020] Figure 3B This is a diagram showing an example of a route search performed by the route search unit according to the first embodiment.

[0021] Figure 4This is a flowchart showing an example of the operation of the mobile object control system according to the first embodiment.

[0022] Figure 5A This is a flowchart showing an example of the operation of the mobile object control system according to the first embodiment.

[0023] Figure 5B This is a flowchart showing an example of the operation of the mobile object control system according to the first embodiment.

[0024] Figure 5C This is a flowchart showing an example of the operation of the mobile object control system according to the first embodiment.

[0025] Figure 5D This is a flowchart showing an example of the operation of the mobile object control system according to the first embodiment.

[0026] Figure 6 This is a hardware configuration diagram of a main part of the mobile object control system according to the first embodiment.

[0027] Figure 7 This is a configuration diagram of a moving object control system according to the second embodiment.

[0028] Figure 8 This is a diagram showing an example of calculation of the recommendation degree by the calculation unit according to the second embodiment. DETAILED DESCRIPTION

[0029] The method for implementing the object of the present invention is described with reference to the accompanying drawings. In each of the drawings, the same reference numerals are given to the same or corresponding parts, and repeated descriptions are appropriately simplified or omitted. In addition, the object of the present invention is not limited to the following embodiments, and any structural element of the embodiment can be deformed or omitted without departing from the scope of the present invention.

[0030] Implementation method 1.

[0031] Figure 1 This is a configuration diagram of the mobile object control system 1 according to the first embodiment.

[0032] The mobile body control system 1 is applied to a facility. The facility is, for example, an indoor facility or an outdoor facility, or a facility composed of them. The facility is, for example, composed of one or more buildings. The facility may also be a part of a building. In the facility, an autonomous mobile body 2 operates. The autonomous mobile body 2 is a robot, a drone, or other mobile device that moves autonomously in the facility. The mobile body control system 1 is a system that controls the movement of the autonomous mobile body 2 in the facility.

[0033] In a facility to which the mobile body control system 1 is applied, one or more devices 3 are provided. In the facility of this example, a plurality of devices 3 are provided. Device 3 includes, for example, elevators, gates, doors, and illuminance sensors. Device 3 may also include, for example, lighting equipment, air conditioning equipment, or other equipment. Each device 3 in the facility is managed by a device management device 4. The device management device 4 is, for example, a device that controls the operation of each device 3 and collects information obtained by each device 3. The device management device 4 is, for example, composed of one or more server computers. Part or all of the device management device 4 may be provided in the facility or outside the facility. Part or all of the functions of the device management device 4 may also be installed through processing or storage resources on a cloud service.

[0034] The mobile control system 1 includes a mobile control device 5 and a cooperation management device 6. The mobile control device 5 is a device that performs information processing related to the control of the movement of the autonomous mobile body 2 in the facility. The mobile control device 5 is composed of, for example, one or more server computers. Some or all of the functions of the mobile control device 5 can also be installed through resources such as processing or storage on a cloud service. The cooperation management device 6 is a device that performs information processing related to the management of the cooperation between the autonomous mobile body 2 and the equipment 3 installed in the facility. The cooperation management device 6 is composed of, for example, one or more server computers. Some or all of the cooperation management device 6 can be set in the facility or outside the facility. Some or all of the functions of the cooperation management device 6 can also be installed through resources such as processing or storage on a cloud service. The cooperation management device 6, for example, assumes the function of a relay device that relays between the equipment management device 4 and the mobile control device 5 in a manner that the equipment 3 and the autonomous mobile body 2 can cooperate. The devices constituting the mobile control system 1, such as the mobile control device 5 and the cooperation management device 6, are configured to communicate with each other through a communication network such as the Internet or a telephone line network.

[0035] The mobile body control device 5 includes a first storage unit 8 , a first transmission unit 9 , a first reception unit 10 , a route search unit 11 , and a mobile body control unit 12 .

[0036] The first storage unit 8 is a part equipped with the function of storing information. The first storage unit 8 may be composed of a single hardware or a plurality of hardware. The first storage unit 8 composed of a plurality of hardware may, for example, store different types of information for each hardware. The first storage unit 8 stores, for example, map information, path information, and moving body information. The map information includes, for example, information on the configuration of spaces such as passages that the autonomous moving body 2 may pass through in the facility and information on the configuration of each of more than one device 3 installed in the facility. The path information includes, for example, information on the moving path that the autonomous moving body 2 will subsequently move in the facility. When there are a plurality of autonomous moving bodies 2 controlled by the moving body control device 5 in the facility, the first storage unit 8 may store path information for each autonomous moving body 2. The moving body information represents information about each autonomous moving body 2. The moving body information includes, for example, at least one of the attributes and specifications of the autonomous moving body 2.

[0037] The first transmission unit 9 is a part equipped with a function of performing processing such as transmitting information to the outside of the mobile body control device 5 through the communication network 7. The first reception unit 10 is a part equipped with a function of performing processing such as receiving information from the outside of the mobile body control device 5 through the communication network 7. The first transmission unit 9 and the first reception unit 10 may be separate parts independent of each other, or may be configured as an integral whole.

[0038] The path search unit 11 is a part equipped with a function of searching for a path for the autonomous mobile body 2 to move in a facility. The path search unit 11 searches for a moving path for the autonomous mobile body 2, for example, using map information stored in the first storage unit 8. The path search unit 11, for example, causes the first storage unit 8 to store the searched path as path information. The path search unit 11 may search for a path for the same autonomous mobile body 2 multiple times. In this case, the path search unit 11 updates the latest path among the searched paths as path information and stores it in the first storage unit 8. The path searched by the path search unit 11 includes information on which device 3 is used when the autonomous mobile body 2 moves.

[0039] The mobile body control unit 12 is a part equipped with a function of controlling the movement of the autonomous mobile body 2 so that the autonomous mobile body 2 moves along the path searched by the path search unit 11. The mobile body control unit 12 directly obtains information on the path searched by the path search unit 11, for example, or reads the path information from the first storage unit 8, and outputs a command to move along the path to the autonomous mobile body 2. The mobile body control unit 12 may output the command to the autonomous mobile body 2 via the first transmission unit 9 or by other communication methods.

[0040] The cooperation management device 6 includes a second storage unit 13 , a second transmission unit 14 , a second reception unit 15 , a management unit 16 , and a determination unit 17 .

[0041] The second storage unit 13 is a part equipped with a function of storing information. The second storage unit 13 may be composed of a single hardware or a plurality of hardware. The second storage unit 13 composed of a plurality of hardware may, for example, store different types of information for each hardware. The second storage unit 13 may, for example, store device operation information, device availability information, device category information, and device authority information. The device operation information is information related to the current operation of each device 3. The device availability information is information indicating whether the autonomous mobile body 2 can use each device 3. When a plurality of autonomous mobile bodies 2 are operating in a facility, the device availability information may also indicate whether each autonomous mobile body 2 can use it. The device category information indicates information about the category of the device 3. The category of the device 3 may include, for example, a gate, a door, an elevator, or an illumination sensor. The category of the device 3 may also include an access management device for the passage of the administrator, i.e., the user of the facility or the mobile body. The access management device includes a gate and a door. The device authority information is information indicating the access authority of each device 3. The device authority information includes information on whether each autonomous mobile body 2 has the authority to use each device 3. The use authority of each device 3 may be changed according to the nature of each day, such as the day of the week, a weekday or a holiday, or a time period.

[0042] The second sending unit 14 is a part equipped with a function of performing processing such as sending information to the outside of the cooperation management device 6 through the communication network 7. The second receiving unit 15 is a part equipped with a function of performing processing such as receiving information from the outside of the cooperation management device 6 through the communication network 7. The second sending unit 14 and the second receiving unit 15 may be separate parts independent of each other, or may be configured as an integral whole.

[0043] The management unit 16 is a part equipped with the function of managing the equipment operation information. The management unit 16 obtains the operation status of each device 3 from the equipment management device 4. The management unit 16 updates and manages the equipment operation information based on the information obtained from the equipment management device 4. In this example, the management unit 16 updates and manages the equipment operation information in a manner that reflects the operation status of each device 3 in real time. Here, there may be a time lag to a degree that has no substantial effect on the cooperation between the autonomous mobile body 2 and the device 3 in the real-time reflection of the operation status of the device 3 by the management unit 16 to the equipment operation information. The management unit 16, for example, causes the second storage unit 13 to store the managed equipment operation information.

[0044] The operation information of the device 3 includes the operation status of the device 3 that may change every time in the facility. The operation information of the device 3 includes, for example, the use status of the device 3 and the setting status of the device 3. The use status of the device 3 indicates how the facility users use the device 3. The use status of the device 3 includes, for example, the passage status of users in the access management device such as gates and doors, the riding status of users in the elevator, etc. The use status of the device 3 may also include historical information such as how the facility users used the device 3 in the past. The use status of the device 3 may also include predicted information such as how the facility users will use the device 3 in the future. Here, the predicted information may also be estimated based on historical information. The setting status of the device 3 indicates information such as how the facility manager or the like sets the user to use the device 3. The setting status of the device 3 includes, for example, the setting of the authority related to safety such as whether the access management device can pass or whether the elevator can get on and off. The setting status of the device 3 may also include, for example, whether the device 3 is in operation or whether it is operating in an operational mode that can be used. The operation information of the device 3 may also include environmental information indicating the operating environment of the device 3. The environmental information of the device 3 includes, for example, a measurement value of illuminance obtained by an illuminance sensor.

[0045] The judgment unit 17 is a part equipped with a function of generating device availability information. The judgment unit 17 generates device availability information based on the device operation information managed by the management unit 16. For example, when receiving a request from the autonomous mobile body 2, the judgment unit 17 generates device availability information based on the request and returns it to the autonomous mobile body 2. The request for device availability information from the autonomous mobile body 2 is sent from the autonomous mobile body 2 or the mobile body control device 5 that controls the autonomous mobile body 2. The judgment unit 17 generates the device availability information in a manner indicating whether the device can be used at the time point when the autonomous mobile body 2 that receives the request can use it. For example, the judgment unit 17 may also generate the device availability information by taking the time point when the request is received from the autonomous mobile body 2 as the time point when the autonomous mobile body 2 can use each device 3.

[0046] Next, examples of various data used in the mobile object control system 1 will be described using FIG. 2 .

[0047] Figure 2A This is a table showing an example of the moving object information stored in the first storage unit 8 according to the first embodiment.

[0048] Figure 2B This is a table showing an example of the device type information stored in the second storage unit 13 according to the first embodiment.

[0049] Figure 2C to Figure 2E This is a table showing an example of the device operation information stored in the second storage unit 13 according to the first embodiment.

[0050] Figure 2F This is a table showing an example of the device authority information stored in the second storage unit 13 according to the first embodiment.

[0051] like Figure 2A As shown, the moving body information includes information about each autonomous moving body 2 controlled by the moving body control device 5. The moving body information is associated with a moving body ID (IDentifier) ​​which is inherent identification information given to each autonomous moving body 2. In this example, the moving body information includes information about the purpose of the autonomous moving body 2, which is information about the attributes of the autonomous moving body 2. The information about the purpose of the autonomous moving body 2 is, for example, "guarding" or "cleaning". In this example, the moving body information includes information about the dimensions such as the width, height, and depth of the autonomous moving body 2 and information about the weight, which are information about the specifications of the autonomous moving body 2. The moving body information may also include information about the current floor where the autonomous moving body 2 is currently located and the destination floor where the destination of the autonomous moving body 2 is located. For example, when the destination is not set in the autonomous moving body 2, a "null" value may be stored in the destination floor. The moving body information may also include information about the current coordinates indicating the current position of the autonomous moving body 2 and the destination coordinates indicating the position of the destination of the autonomous moving body 2. For example, when the destination is not set in the autonomous moving body 2, a "null" value may be stored in the destination coordinates.

[0052] like Figure 2B As shown, the device category information includes information on the category of the device 3 that may be installed in the facility. The device category information is associated with a category ID that is inherent identification information assigned to each category of the device 3. The information on the category of the device 3 is, for example, "gate", "door", "elevator", or "illuminance sensor".

[0053] Figure 2CAn example of device operation information about a device 3 that is an access management device such as a gate or a door is shown. The device operation information includes information related to the current operation of each device 3 installed in a facility. The device operation information is associated with a device ID that is inherent identification information assigned to each device 3. The device operation information includes information of a category ID as information of the category of each device 3. In the mobile control system 1, for example, the category ID is used as a key to refer to the device category information to obtain information of the category of each device 3. In this example, the device operation information includes information of the installation floor and the installation coordinates as information of the arrangement of each device 3. The device operation information includes information of whether or not each device 3 is accepted for use by an autonomous mobile body 2. When the acceptance of use of the device 3 is "no", no autonomous mobile body 2 can use the device 3 regardless of the attributes, specifications, and authority of the autonomous mobile body 2. On the other hand, when the acceptance of use of the device 3 is "yes", it is determined whether each autonomous mobile body 2 can use it based on the attributes, specifications, and authority of the autonomous mobile body 2. Whether or not the use is acceptable is set by the equipment management device 4 or the like based on the use status or setting status of the equipment 3, for example.

[0054] The autonomous mobile body 2, for example, passes through a place where an access management device is installed, and uses the access management device as the device 3. For the device 3 that is the access management device, the device operation information includes information on the dimensions of the device 3, such as the width, height, and depth, as information on the specifications of the device 3. For the device 3 that is the access management device, for example, when the autonomous mobile body 2 can pass regardless of the depth, a "null" value may be stored in the depth of the device 3. For the device 3 that is the access management device, the device operation information includes information on whether a request is required. The request is information indicating whether a request for passing is required when passing through the place where the device 3 is installed. When the request is "required", the user or the mobile body can pass through the place where the device 3 is installed after requesting passing through the device 3 and the request is approved by the device 3. When the request is "not required", the user or the mobile body can pass through the place where the device 3 is installed without requesting passing through the device 3. Whether the request is necessary is set by the equipment management device 4 or the like based on the usage status or setting status of the equipment 3, for example.

[0055] Figure 2DAn example of equipment operation information about equipment 3 as an elevator is shown. The autonomous moving body 2 moves between multiple floors of a facility by taking an elevator, for example, and uses the elevator as equipment 3. For equipment 3 as an elevator, the equipment operation information includes, for example, information on dimensions such as the width, height, and depth of the elevator car and information on load resistance, as information on specifications of the equipment 3. The information on dimensions may also include information on the dimensions of the car door that passes when entering the car. For equipment 3 as an elevator, the equipment operation information includes information on whether a request is required. For equipment 3 as an elevator, the equipment operation information includes information on the floor where the elevator is installed, that is, the installation floor. For equipment 3 as an elevator, the equipment operation information includes information on the stop floor. The information on the stop floor is, for example, information indicating a scheduled floor to stop due to a call currently registered in the elevator car. The stop floor is, for example, set by the equipment management device 4 or the like according to the utilization status or setting status of the equipment 3. For equipment 3 as an elevator, the equipment operation information may also include, for example, information on the stoppable floor indicating the floor where the elevator car can stop among the installation floors.

[0056] Figure 2E An example of device operation information about device 3, which is an illuminance sensor, is shown. For example, the autonomous mobile object 2 obtains the measurement value of the illuminance sensor and uses the illuminance sensor as device 3. For device 3, which is an illuminance sensor, the device operation information includes information on the measurement value of illuminance by the illuminance sensor.

[0057] like Figure 2F As shown, the device authority information includes information on whether each autonomous mobile body 2 has the authority to use each device 3. The device authority information is associated with a group of a device ID and a mobile body ID. In this example, the device authority information includes information on available hours on weekdays and available hours on weekends. The device authority information may also include information on available hours according to each day of the week. The device authority information may also include information such as conditional availability. For example, the device authority information may also be set to allow availability during the daytime on weekdays without a request, conditional availability with a request during the daytime on weekends, and non-availability at night. The device authority information is set, for example, for a device 3 that serves as an access management device.

[0058] The judgment unit 17 uses the data shown in the tables of FIG. 2 to generate, for example, equipment availability information as described below. Here, the following case is taken as an example: at 14:00 on a weekday, equipment availability information is generated for the autonomous mobile body 2 with the mobile body ID "0002". The judgment unit 17, for example, generates a list of available devices 3 as the equipment availability information. The judgment unit 17 excludes the devices 3 "s00003", "s00004" and "e00002" whose availability is "no" from the list. The judgment unit 17 refers to the device authority information to determine whether the target autonomous mobile body 2 can use each device 3 at the current time point. The judgment unit 17 compares the mobile body information and the specifications of the device 3 and other information to determine whether the target autonomous mobile body 2 can use each device 3. In this example, the determination unit 17 adds the devices 3 "s00001", "s00002", "s00005", "e00001", "b00001", and "b00002" to the list of devices 3 that can be used by the target autonomous mobile body 2. The determination unit 17 outputs the generated list of devices 3 to the mobile body control device 5 via the second transmission unit 14, for example.

[0059] The route search unit 11 of the mobile body control device 5 obtains the facility availability information output from the determination unit 17 of the cooperation management device 6 via the first receiving unit 10. The route search unit 11 searches for a route for the autonomous mobile body 2 to move in the facility using the facility availability information.

[0060] Next, an example of a route search based on device availability information will be described using FIG. 3 .

[0061] Figure 3A and Figure 3B 1 is a diagram showing an example of a route search performed by the route search unit 11 according to the first embodiment.

[0062] exist Figure 3A, an example of path search when a plurality of gates are provided between the current location of the autonomous moving body 2 and the destination is described. In this example, as the path from the current location of the autonomous moving body 2 to the destination, there is a path passing through gate A, a path passing through gate B, or a path passing through gate C. The distance from the current location to gate A is longer than the distance from the current location to gate B and the distance from the current location to gate C. The distance from the current location to gate B is about the same as the distance from the current location to gate C. Here, the path search unit 11 calculates the distance from the current location to each device 3 based on map information, for example. The path search unit 11 obtains a list of available devices 3 including device IDs of gates A and gate C as device availability information. At this time, the path search unit 11 preferentially selects a path that is closer to the current location of the autonomous moving body 2 and utilizes available devices 3 based on the device availability information. In this example, the path search unit 11 searches for a path that utilizes gate C as the path of the autonomous moving body 2. Furthermore, the route search unit 11 may preferentially select a device 3 that has a shorter moving route along the route using the device 3 among the utilization candidates, and search for the route of the autonomous mobile object 2 .

[0063] exist Figure 3B , an example of a path search when a plurality of illuminance sensors are provided between the current location of the autonomous moving body 2 and the destination is described. In this example, as the path from the current location of the autonomous moving body 2 to the destination, there is a path that passes through a place where an illuminance sensor D is provided or a path that passes through a place where an illuminance sensor E is provided. The distance from the current location to the illuminance sensor D is about the same as the distance from the current location to the illuminance sensor E. The path search unit 11 obtains, for example, a list of available devices 3 including the device IDs of the illuminance sensor D and the illuminance sensor E as device availability information. In this example, in the autonomous moving body 2, the required illuminance is set to 60 lx. The required illuminance is, for example, a value of illuminance that is pre-set as required for the movement of the autonomous moving body 2 or the action according to the purpose. The illuminance sensor D measures an illuminance of 150 lx. The illuminance sensor E measures an illuminance of 40 lx. At this time, the illuminance sensor preferentially selects a path that is closer to the current location of the autonomous mobile body 2 and passes through a place where an illuminance sensor that measures a higher illuminance value than necessary is installed. In this example, the path search unit 11 searches for a path that passes through a place where an illuminance sensor D is installed as the path of the autonomous mobile body 2. The illuminance sensor may preferentially select a path that is closer to the current location of the autonomous mobile body 2 and passes through a place where an illuminance sensor that measures a higher illuminance value is installed.

[0064] Then, the mobile body control unit 12 controls the autonomous mobile body 2 to move along the path searched by the path search unit 11. At this time, the mobile body control unit 12 outputs a command to the autonomous mobile body 2 to perform an action corresponding to the type of the device 3 located on the path. The mobile body control device 5 communicates with the device 3 according to the type and operation information of the device 3. For example, the mobile body control device 5 communicates with or without sending a control request to the device 3 and the communication timing according to the type of the device 3 and whether the request is necessary. For example, when using a device 3 as a gate or door whose request is "necessary", the mobile body control unit 12 communicates with the device 3 at a communication timing of the order of unlock request, passage start, and passage completion, thereby allowing the autonomous mobile body 2 to pass through the device 3. For example, when using a device 3 as a gate or door whose request is "unnecessary", the mobile body control unit 12 allows the autonomous mobile body 2 to pass through the device 3 without communicating with the device 3 at the communication timing of the unlock request. For example, when utilizing the device 3 for an elevator whose need request is “needed”, the moving body control unit 12 communicates with the device 3 regarding the communication timing of call registration, start of elevator ride, completion of elevator ride, start of elevator descent, and completion of elevator descent, thereby enabling the autonomous moving body 2 to utilize the device 3.

[0065] Next, use Figure 4 5 , an example of the operation of the mobile object control system 1 will be described.

[0066] Figure 4 5 is a flowchart showing an example of the operation of the mobile object control system 1 according to the first embodiment.

[0067] exist Figure 4 2 shows an example of processing related to cooperation with the equipment 3 when the autonomous moving body 2 of the moving body control system 1 moves in a facility.

[0068] In step S1, the management unit 16 of the cooperation management device 6 obtains information related to the operation of each device 3 in the facility from the equipment management device 4. The management unit 16 obtains the operation information at a predetermined regular or irregular timing. The management unit 16 performs management such as updating the equipment operation information based on the collected information. The management unit 16 may also perform management such as updating the equipment operation information based on information sent from the equipment management device 4 at the timing when the operation information changes. Then, the operation of the mobile control system 1 enters step S2.

[0069] In step S2, the mobile control unit 12 of the mobile control device 5 requests the cooperation management device 6 for the device use permission information through the first sending unit 9 as a request from any autonomous mobile body 2. The mobile control device 5 sends the request at a predetermined regular or irregular timing. At this time, the mobile control unit 12 may also send the mobile information of each autonomous mobile body 2 and the information of the current location and destination. The information of the current location and destination may also include, for example, the coordinates in the facility and the floor information. Then, the operation of the mobile control system 1 enters step S3.

[0070] In step S3, the determination unit 17 of the cooperation management device 6 receives a request for the device availability information through the first receiving unit 10. The determination unit 17 generates availability information based on the received request from the autonomous mobile body 2. In generating the device availability information, the determination unit 17 determines whether each autonomous mobile body 2 can use each device 3 by, for example, comparing the mobile body information received together with the request with the device operation information. Then, the operation of the mobile body control system 1 proceeds to step S4.

[0071] In step S4, the determination unit 17 of the cooperation management device 6 transmits the generated device availability information to the mobile control device 5 via the second transmission unit 14. The determination unit 17 may also transmit the device operation information to the mobile control device 5. Then, the operation of the mobile control system 1 proceeds to step S5.

[0072] In step S5, the route search unit 11 of the mobile body control device 5 obtains the device availability information through the first receiving unit 10. Then, the operation of the mobile body control system 1 proceeds to step S6.

[0073] In step S6, the route search unit 11 reads the map information from the first storage unit 8. Then, the operation of the mobile body control system 1 proceeds to step S7.

[0074] In step S7, the route search unit 11 searches for a route for the autonomous mobile body 2 to move in the facility based on the equipment availability information and the map information. When searching for the route, the route search unit 11 may also use the equipment operation information, mobile body information, and other information obtained from the cooperation management device 6. Then, the operation of the mobile body control system 1 proceeds to step S8.

[0075] In step S8, the mobile body control unit 12 outputs a command signal to the autonomous mobile body 2 in a manner of moving along the path searched by the path search unit 11. The mobile body control unit 12 outputs a command to the autonomous mobile body 2 in a manner of performing an action corresponding to the type of the device 3 located on the path. The mobile body control device 5 communicates with the device 3 based on the type and operation information of the device 3. Then, the operation of the mobile body control system 1 ends.

[0076] exist Figure 5A , an example of processing related to generation of device availability information in the determination unit 17 is shown. Figure 5A The processing is Figure 4 This is an example of the processing in step S3. Figure 5B In FIG. 1 , an example of processing related to device 3 as an access management device is shown. Figure 5C In FIG. 1 , an example of processing related to the device 3 as an elevator is shown. Figure 5D 5 shows an example of processing related to the specifications of the autonomous mobile body 2. The processing of FIG5 is performed on the autonomous mobile body 2 that has requested the device utilization permission information, for example.

[0077] exist Figure 5A In steps S301 to S320, the judgment unit 17 enters a loop for a number of times equal to the total number of devices 3 installed in the facility, and repeatedly performs the processing of steps S302 to S319. As an initialization process before the loop, the judgment unit 17 sets the list of available devices 3 to an empty list. In each process in the loop, the judgment unit 17 processes unprocessed devices among the devices 3 installed in the facility. In step S301, the judgment unit 17 selects an unprocessed device 3 among the devices 3 installed in the facility. Then, the operation of the judgment unit 17 enters step S302.

[0078] In step S302, the determination unit 17 determines whether the selected device 3 can be used "yes" based on the device operation information. If the use is "yes", the operation of the determination unit 17 proceeds to step S303. On the other hand, if the use is "no", the operation of the determination unit 17 proceeds to step S320.

[0079] In step S303, the determination unit 17 determines whether the category of the selected device 3 is "gate" based on the device operation information and the device category information. If the category is not "gate", the operation of the determination unit 17 proceeds to step S304. On the other hand, if the category is "gate", the operation of the determination unit 17 proceeds to step S305. Figure 5B Step S307.

[0080] In step S304, the determination unit 17 determines whether the category of the selected device 3 is "door" based on the device operation information and the device category information. If the category is not "door", the operation of the determination unit 17 proceeds to step S305. On the other hand, if the category is "door", the operation of the determination unit 17 proceeds to step S306. Figure 5B Step S307.

[0081] In step S305, the determination unit 17 determines whether the category of the selected device 3 is "elevator" based on the device operation information and the device category information. If the category is not "elevator", the operation of the determination unit 17 proceeds to step S306. On the other hand, if the category is "elevator", the operation of the determination unit 17 proceeds to step S307. Figure 5C Step S313.

[0082] In step S306, the determination unit 17 determines whether the category of the selected device 3 is "illuminance sensor" based on the device operation information and the device category information. If the category is not "illuminance sensor", the determination unit 17 may determine that the selected device 3 is not a device 3 of a category that can be used by the autonomous mobile body 2. Then, the operation of the determination unit 17 proceeds to step S320. On the other hand, if the category is "illuminance sensor", the operation of the determination unit 17 proceeds to step S319.

[0083] exist Figure 5B In step S307, the determination unit 17 determines whether the need request of the selected device 3 is "needed" based on the device operation information. If the need request is "needed", the operation of the determination unit 17 proceeds to step S308. On the other hand, if the need request is not "needed", the operation of the determination unit 17 proceeds to step S309. Figure 5D Step S315.

[0084] In step S308, the determination unit 17 determines whether the current day is a weekday. If the current day is a weekday, the operation of the determination unit 17 proceeds to step S309. On the other hand, if the current day is not a weekday, the operation of the determination unit 17 proceeds to step S311.

[0085] In step S309, the determination unit 17 determines whether the use permission of the autonomous moving body 2 on weekdays is "available all day" for the selected device 3 based on the device permission information. If the use permission on weekdays is "available all day", the operation of the determination unit 17 proceeds to step S309. Figure 5D On the other hand, when the usage authority for weekdays is not "available all day", the operation of the determination unit 17 proceeds to step S310.

[0086] In step S310, the determination unit 17 determines whether the current time is within the time when the autonomous mobile body 2 can use the selected device 3 based on the device authority information. In addition, when the use authority of the autonomous mobile body 2 on weekdays for the selected device 3 is "not available all day", the determination unit 17 may also determine that the current time is not within the available time. If the current time is within the available time, the operation of the determination unit 17 enters Figure 5DOn the other hand, if the current time is not within the available time, the operation of the judgment unit 17 enters step S315. Figure 5A Step S320.

[0087] In step S311, the determination unit 17 determines whether the use permission of the autonomous moving body 2 on weekends is "available all day" for the selected device 3 based on the device permission information. If the use permission on weekends is "available all day", the operation of the determination unit 17 proceeds to step S312. Figure 5D On the other hand, when the usage authority for holidays is not "available for all day", the operation of the determination unit 17 proceeds to step S312.

[0088] In step S312, the determination unit 17 determines whether the current time is within the time when the autonomous mobile body 2 can use the selected device 3 based on the device authority information. In addition, when the use authority of the autonomous mobile body 2 on weekends for the selected device 3 is "cannot be used all day", the determination unit 17 may also determine that the current time is not within the usable time. If the current time is within the usable time, the operation of the determination unit 17 enters Figure 5D On the other hand, if the current time is not within the available time, the operation of the judgment unit 17 enters step S315. Figure 5A Step S320.

[0089] exist Figure 5C In step S313, the determination unit 17 determines whether the stop floor of the selected device 3 as the elevator includes the current floor of the autonomous moving body 2 based on the device operation information and the moving body information. If the stop floor includes the current floor, the operation of the determination unit 17 proceeds to step S314. On the other hand, if the stop floor does not include the current floor, the operation of the determination unit 17 proceeds to step S315. Figure 5A Step S320.

[0090] In step S314, the determination unit 17 determines whether the stop floor of the device 3 selected as the elevator includes the destination floor of the autonomous moving body 2 based on the device operation information and the moving body information. At this time, the determination unit 17 may exclude the stop floors that stopped before the current floor of the autonomous moving body 2 and make the determination. When the stop floor includes the destination floor, the operation of the determination unit 17 enters Figure 5D On the other hand, when the stop floor does not include the destination floor, the operation of the determination unit 17 enters step S315. Figure 5A Step S320.

[0091] exist Figure 5DIn step S315, the judgment unit 17 judges whether the width of the mobile body is smaller than the width of the selected device 3 based on the device operation information and the mobile body information. In addition, when the width of the device 3 is a "null" value, the judgment unit 17 may also judge that the width of the mobile body is smaller than the width of the selected device 3. When the width of the mobile body is smaller than the width of the selected device 3, the action of the judgment unit 17 proceeds to step S316. On the other hand, when the width of the mobile body is not smaller than the width of the selected device 3, the action of the judgment unit 17 proceeds to step S317. Figure 5A Step S320.

[0092] In step S316, the determination unit 17 determines whether the height of the mobile body is lower than the height of the selected device 3 based on the device operation information and the mobile body information. In addition, when the height of the device 3 is a "null" value, the determination unit 17 may also determine that the height of the mobile body is lower than the height of the selected device 3. When the height of the mobile body is lower than the height of the selected device 3, the operation of the determination unit 17 proceeds to step S317. On the other hand, when the height of the mobile body is not lower than the height of the selected device 3, the operation of the determination unit 17 proceeds to step S318. Figure 5A Step S320.

[0093] In step S317, the judgment unit 17 determines whether the depth of the moving body is smaller than the depth of the selected device 3 based on the device operation information and the moving body information. In addition, when the depth of the device 3 is a "null" value, the judgment unit 17 may also determine that the depth of the moving body is smaller than the depth of the selected device 3. When the depth of the moving body is smaller than the depth of the selected device 3, the operation of the judgment unit 17 proceeds to step S317. On the other hand, when the depth of the moving body is not smaller than the depth of the selected device 3, the operation of the judgment unit 17 proceeds to step S317. Figure 5A Step S320.

[0094] In step S318, the determination unit 17 determines whether the weight of the moving body is lighter than the load-bearing capacity of the selected device 3 based on the device operation information and the moving body information. In addition, when the load-bearing capacity of the device 3 is a "null" value, the determination unit 17 may determine that the width of the moving body is lighter than the load-bearing capacity of the selected device 3. When the weight of the moving body is lighter than the load-bearing capacity of the selected device 3, the operation of the determination unit 17 enters Figure 5A On the other hand, if the weight of the moving object is not lighter than the load-bearing capacity of the selected device 3, the operation of the judgment unit 17 enters step S319. Figure 5A Step S320.

[0095] exist Figure 5AIn step S319, the determination unit 17 adds the device ID of the selected device 3 to the list of available devices 3. Then, the operation of the determination unit 17 proceeds to step S320.

[0096] In step S320, the determination unit 17 ends the processing of the selected device 3. The determination unit 17 selects an unprocessed device 3 among other devices 3 installed in the facility. Then, the operation of the determination unit 17 proceeds to step S302 as the next processing in the loop. If there is no unprocessed device 3, the operation of the determination unit 17 related to the generation of the device usability information ends.

[0097] As described above, the mobile body control system 1 of the first embodiment includes a management unit 16, a judgment unit 17, and a path search unit 11. The management unit 16 updates and manages the equipment operation information based on the information obtained from the equipment management device 4. The equipment operation information indicates information related to the current operation of the equipment 3 installed in the facility where the autonomous mobile body 2 moves. The judgment unit 17 generates equipment availability information based on the equipment operation information. The equipment availability information indicates whether each equipment 3 can be used at a time point when the autonomous mobile body 2 can use it. The path search unit 11 searches for a path for the autonomous mobile body 2 to move in the facility based on the equipment availability information.

[0098] According to such a structure, whether the equipment 3 cooperating with the autonomous mobile body 2 can be used is determined based on the equipment operation information updated in real time according to the operation status of the equipment 3. The movement path of the autonomous mobile body 2 is searched based on the equipment availability information reflecting the current operation status of the equipment 3, so the autonomous mobile body 2 can operate more efficiently in the facility.

[0099] Furthermore, the determination unit 17 generates the equipment availability information based on the request from the autonomous mobile body 2. With such a configuration, the route search unit 11 can search for the route of the autonomous mobile body 2 based on the latest equipment availability information generated at a necessary time point. As a result, even when operations such as the utilization status and setting status of the equipment 3 change, the autonomous mobile body 2 can operate more efficiently in the facility.

[0100] In addition, the judgment unit 17 receives the mobile body information including at least one of the attributes and specifications of the autonomous mobile body 2. The judgment unit 17 generates the equipment use permission information using the received mobile body information. According to such a structure, the judgment unit 17 can more accurately determine whether the equipment 3 can be used for each autonomous mobile body 2. As a result, the autonomous mobile body 2 can operate more efficiently in the facility.

[0101] Furthermore, the moving body control system 1 includes a moving body control unit 12. The moving body control unit 12 causes the autonomous moving body 2 to perform an action corresponding to the type of the device 3 located on the path searched by the path search unit 11. For example, the moving body control unit 12 causes the autonomous moving body 2 to pass through the device 3 after sending an unlock request for the device 3 that is an access management device whose need request is "necessary". For example, the moving body control unit 12 controls the autonomous moving body 2 in such a manner that the autonomous moving body 2 takes the elevator car after the car reaches the current floor after sending a call registration request for the device 3 that is an elevator. For example, the moving body control unit 12 controls the autonomous moving body 2 in such a manner that the autonomous moving body 2 stops in the car. The moving body control unit 12 controls the autonomous moving body 2 in such a manner that the autonomous moving body 2 gets off the elevator car after the car it is taking reaches the destination floor. For example, the moving body control unit 12 may control the autonomous moving body 2 in such a manner that the autonomous moving body 2 passes through the place after requesting lighting of a lighting device arranged in the place where the illuminance sensor is installed.

[0102] In addition, in the mobile control system 1, part or all of the functions of the cooperation management device 6 may be mounted in the mobile control device 5. In the mobile control system 1, part or all of the functions of the mobile control device 5 may be mounted in the cooperation management device 6. Part or all of the functions of the mobile control system 1 may be mounted in the equipment management device 4, the mobile body, or other devices.

[0103] Next, use Figure 6 , an example of the hardware structure of the mobile object control system 1 is described.

[0104] Figure 6 This is a hardware configuration diagram of a main part of the mobile object control system 1 according to the first embodiment.

[0105] Each function of the mobile control system 1 can be realized by a processing circuit. The processing circuit has at least one processor 100a and at least one memory 100b. The processing circuit may also have at least one dedicated hardware 200 together with the processor 100a and the memory 100b or instead of them.

[0106] When the processing circuit has a processor 100a and a memory 100b, each function of the mobile control system 1 is implemented by software, firmware, or a combination of software and firmware. At least one of the software and firmware is recorded as a program. The program is stored in the memory 100b. The processor 100a realizes each function of the mobile control system 1 by reading and executing the program stored in the memory 100b.

[0107] 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 a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM.

[0108] In the case where the processing circuit has dedicated hardware 200, the processing circuit is implemented by, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0109] Each function of the mobile control system 1 can be implemented by a processing circuit separately. Alternatively, each function of the mobile control system 1 can also be implemented by a processing circuit in a unified manner. Regarding each function of the mobile control system 1, a part can be implemented by dedicated hardware 200, and another part can be implemented by software or firmware. In this way, the processing circuit implements each function of the mobile control system 1 through dedicated hardware 200, software, firmware, or a combination thereof.

[0110] Implementation method 2.

[0111] In the second embodiment, the points different from the example disclosed in the first embodiment are described in particular detail. With regard to the features not described in the second embodiment, any features of the example disclosed in the first embodiment may be adopted.

[0112] Figure 7 It is a configuration diagram of a mobile object control system 1 according to the second embodiment.

[0113] In the mobile control system 1, the cooperation management device 6 has a calculation unit 18. The calculation unit 18 is a part equipped with a function of calculating the recommendation degree of use of each device 3 for the autonomous mobile body 2. For example, when receiving a request for device use permission information from the autonomous mobile body 2, the calculation unit 18 adds the calculated recommendation degree to the device use permission information generated according to the request, and returns it to the autonomous mobile body 2. The calculation unit 18 calculates the recommendation degree at the time point when the autonomous mobile body 2 that received the request can use it. For example, the calculation unit 18 can also calculate the recommendation degree by taking the time point when the autonomous mobile body 2 receives the request as the time point when the autonomous mobile body 2 can use each device 3.

[0114] When the autonomous mobile body 2 uses a certain device 3, in the case where the operation of the autonomous mobile body 2 is more expected to be more efficient, the calculation unit 18 calculates a higher recommendation degree for the device 3. When the autonomous mobile body 2 uses a certain device 3, in the case where the autonomous mobile body 2 is likely to arrive at the destination earlier, the calculation unit 18 calculates a higher recommendation degree for the device 3, for example. In addition, when the autonomous mobile body 2 uses a certain device 3, in the case where the autonomous mobile body 2 is likely to arrive at the destination more reliably, the calculation unit 18 calculates a higher recommendation degree for the device 3, for example. In addition, when the autonomous mobile body 2 uses a certain device 3, in the case where the autonomous mobile body 2 is likely to arrive at the destination with less rework, the calculation unit 18 calculates a higher recommendation degree for the device 3, for example. Here, the rework of the autonomous mobile body 2 includes, for example, the following cases: the route search unit 11 searches for a route again for the autonomous mobile body 2 due to failure to use the device 3 to be used or failure to pass through the moving route.

[0115] The route search unit 11 searches for a route for movement of the autonomous mobile body 2 using the recommendation degree calculated and assigned to the device availability information by the calculation unit 18 in addition to the device availability information. The route search unit 11 searches for a route in a manner that, for example, gives priority to using a device 3 with a higher recommendation degree among the devices 3 available to the autonomous mobile body 2.

[0116] Next, use Figure 8 , an example of calculating the recommendation degree is described.

[0117] Figure 8 This is a diagram showing an example of calculation of the recommendation degree by the calculation unit 18 according to the second embodiment.

[0118] The calculation unit 18 obtains the necessity request of each device 3 from the device operation information. As for the device 3 whose necessity request is "not necessary", the autonomous moving body 2 can use it without requiring the use. Therefore, the route using the device 3 whose necessity request is "not necessary" is a route that is likely to reach the destination earlier and more reliably, and is a route that is likely to reach the destination with less rework. Therefore, the calculation unit 18 assigns a higher score to the device 3 whose necessity request is "not necessary" than to the device 3 whose necessity request is "necessary". For example, the calculation unit 18 assigns 3 points to the device 3 whose necessity request is "not necessary" and 1 point to the device 3 whose necessity request is "necessary".

[0119] The calculation unit 18 obtains the usage of the device 3 from the usage history included in the usage status of the device operation information. For example, for the device 3 that is an access management device, the calculation unit 18 obtains the traffic volume of the device 3 during the period from the current time to the preset time as the usage volume. More specifically, the calculation unit 18 obtains the number of traffic of the device 3 within the past hour. Since the path using the device 3 with less usage is not easily affected by congestion, the path using the device 3 with less usage is a path that may reach the destination earlier and more reliably, and is a path that may reach the destination with less rework. Therefore, the calculation unit 18 assigns a higher score to the device 3 with less usage. The calculation unit 18, for example, classifies each device 3 into a plurality of categories in the order of preference from the perspective of recommendation, that is, in the order from the least to the most usage, and assigns a score to each category. In this example, the calculation unit 18 classifies each device 3 into three categories, namely, "upper", "middle" and "lower", in the order from the least to the most usage. For example, the calculation unit 18 assigns 3 points to the device 3 classified as “higher”, 2 points to the device 3 classified as “middle”, and 1 point to the device 3 classified as “lower”.

[0120] The calculation unit 18 calculates the remaining time until the use right of the device 3 disappears based on the device authority information and the like. For example, when the current time is 16:45 and a certain device 3 cannot be used from 17:00, the calculation unit 18 calculates the remaining time until the use right of the device 3 disappears as 15 minutes. Regarding the route using the device 3 with a longer remaining time until the use right disappears, the possibility of the use right of the device 3 disappearing before reaching the device 3 is low, so the route is a route that can reach the destination more reliably and a route that can reach the destination with less rework. Therefore, the calculation unit 18 assigns a higher score to the device 3 with a longer remaining time until the use right disappears. The calculation unit 18, for example, classifies each device 3 into a plurality of categories in the order of the remaining time until the use right disappears from the perspective of the recommendation degree, that is, in the order from the longest to the shortest, and assigns a score to each category. In this example, the calculation unit 18 classifies each device 3 into three categories, namely, "upper rank", "middle rank" and "lower rank" in the order from the longest to the shortest remaining time until the use right disappears. For example, the calculation unit 18 assigns 3 points to the device 3 classified as "high", 2 points to the device 3 classified as "middle", and 1 point to the device 3 classified as "lower". The calculation unit 18 may also assign a score related to the recommendation degree to each device 3 based on these other viewpoints.

[0121] The calculation unit 18 calculates the recommendation degree of the device 3 based on the score of each item assigned to the device 3. The calculation unit 18 calculates the total value of the score of each item as the recommendation degree. In this example, the calculation unit 18 calculates the recommendation degree of the device 3 with the device ID "s00005" as "8". The recommendation degree of this device 3 is higher than the recommendation degrees of other devices 3, so the path search unit 11 uses this device 3 more preferentially to search for the path of the autonomous mobile body 2. In addition, the calculation unit 18 can also calculate the recommendation degree using other functions in which the scores of each item increase monotonically, such as the infinite product of the scores of each item.

[0122] As described above, the mobile control system 1 of the second embodiment includes the calculation unit 18. The calculation unit 18 calculates the recommended degree of use of each device 3 at a time point when the autonomous mobile body 2 may use it based on the device operation information. The path search unit 11 searches for a path for the autonomous mobile body 2 to move in the facility using the recommended degree of each device 3. According to such a structure, the path for the autonomous mobile body 2 to move is searched in such a way that the devices 3 that are more recommended to be used are given priority, so that the autonomous mobile body 2 can operate more efficiently in the facility.

[0123] To summarize the above description, possible configurations of the technology of the present invention include the following configurations shown as supplementary notes.

[0124] (Note 1)

[0125] A mobile control system, wherein the mobile control system has:

[0126] a management unit that updates and manages equipment operation information based on information obtained from an equipment management device that manages the one or more equipment, the equipment operation information indicating information related to current operation of one or more equipment installed in a facility where the autonomous mobile body moves;

[0127] A determination unit that generates device availability information indicating whether the one or more devices can be used at a time point when the autonomous mobile body can use the devices based on the device operation information managed by the management unit; and

[0128] A route search unit searches for a route for the autonomous moving object to move in the facility based on the equipment availability information generated by the determination unit.

[0129] (Note 2)

[0130] The mobile body control system described in Supplementary Note 1, wherein:

[0131] The determination unit generates the device availability information in response to a request from the autonomous mobile object.

[0132] (Note 3)

[0133] The mobile body control system described in Supplement 1 or Supplement 2, wherein:

[0134] The determination unit receives moving object information including at least one of an attribute and a specification of the autonomous moving object, and generates the device usability information using the received moving object information.

[0135] (Note 4)

[0136] The mobile object control system according to any one of Supplementary Notes 1 to 3, wherein:

[0137] The mobile object control system includes a mobile object control unit that causes the autonomous mobile object to perform an operation corresponding to a type of device located on the route searched by the route search unit among the one or more devices.

[0138] (Note 5)

[0139] The mobile object control system according to any one of Supplementary Notes 1 to 4, wherein:

[0140] The mobile body control system includes a calculation unit that calculates a recommended degree of use of the one or more devices at a time point when the autonomous mobile body may use the devices based on the device operation information managed by the management unit.

[0141] The route search unit searches for a route for the autonomous mobile object to move in the facility using the recommendation degree calculated by the calculation unit.

[0142] (Note 6)

[0143] A collaborative management device, wherein the collaborative management device has:

[0144] a management unit that updates and manages equipment operation information based on information obtained from an equipment management device that manages the one or more equipment, the equipment operation information indicating information related to current operation of one or more equipment installed in a facility where the autonomous mobile body moves;

[0145] A determination unit that generates device availability information indicating whether the one or more devices can be used at a time point when the autonomous mobile body can use the devices based on the device operation information managed by the management unit; and

[0146] An output unit that outputs the device availability information generated by the determination unit to a mobile body control device that searches for a path for the autonomous mobile body to move in the facility.

[0147] (Note 7)

[0148] A mobile body control device, wherein the mobile body control device comprises:

[0149] a sending unit that requests the cooperation management device for equipment availability information, the cooperation management device updating and managing equipment operation information based on information obtained from the equipment management device, the equipment operation information indicating information related to current operation of one or more equipment installed in a facility where the autonomous mobile body moves, the equipment management device managing the one or more equipment, the equipment availability information indicating whether the one or more equipment can be used at a time point when the autonomous mobile body can use the equipment;

[0150] a receiving unit that acquires, from the cooperation management apparatus, the device availability information generated in response to a request from the sending unit; and

[0151] A route search unit searches for a route for the autonomous moving body to move in the facility based on the equipment availability information acquired by the receiving unit.

[0152] (Note 8)

[0153] A mobile object control method, wherein a computer performs the following processing in the mobile object control method:

[0154] updating and managing equipment operation information, the equipment operation information indicating information related to current operation of one or more equipment installed in a facility where the autonomous mobile body moves, based on information obtained from an equipment management device that manages the one or more equipment;

[0155] generating device availability information indicating whether the one or more devices can be used at a time when the autonomous moving body can use the devices based on the device operation information; and

[0156] The generated equipment availability information is output to a mobile body control device, and the mobile body control device searches for a path for the autonomous mobile body to move in the facility.

[0157] (Note 9)

[0158] A mobile body control program, wherein the mobile body control program causes a computer to execute the following processing:

[0159] updating and managing equipment operation information, the equipment operation information indicating information related to current operation of one or more equipment installed in a facility where the autonomous mobile body moves, based on information obtained from an equipment management device that manages the one or more equipment;

[0160] generating device availability information indicating whether the one or more devices can be used at a time when the autonomous moving body can use the devices based on the device operation information; and

[0161] The generated equipment availability information is output to a mobile body control device, and the mobile body control device searches for a path for the autonomous mobile body to move in the facility.

[0162] Description of symbols

[0163] 1: mobile body control system; 2: autonomous mobile body; 3: equipment; 4: equipment management device; 5: mobile body control device; 6: collaborative management device; 7: communication network; 8: first storage unit; 9: first sending unit; 10: first receiving unit; 11: path search unit; 12: mobile body control unit; 13: second storage unit; 14: second sending unit; 15: second receiving unit; 16: management unit; 17: judgment unit; 18: calculation unit; 100a: processor; 100b: memory; 200: dedicated hardware.

Claims

1. A mobile control system, wherein: The mobile control system has: a management unit that updates and manages equipment operation information based on information obtained from an equipment management device that manages the one or more equipment, the equipment operation information indicating information related to current operation of one or more equipment installed in a facility where the autonomous mobile body moves; a determination unit that generates device availability information indicating whether the one or more devices can be used at a time point when the autonomous mobile body can use the devices based on the device operation information managed by the management unit; as well as A route search unit searches for a route for the autonomous moving object to move in the facility based on the equipment availability information generated by the determination unit.

2. The mobile body control system according to claim 1, wherein: The determination unit generates the device availability information in response to a request from the autonomous mobile object.

3. The mobile body control system according to claim 1 or 2, wherein: The determination unit receives moving object information including at least one of an attribute and a specification of the autonomous moving object, and generates the device usability information using the received moving object information.

4. The mobile body control system according to claim 1 or 2, wherein: The mobile object control system includes a mobile object control unit that causes the autonomous mobile object to perform an operation corresponding to a type of device located on the route searched by the route search unit among the one or more devices.

5. The mobile body control system according to claim 1 or 2, wherein: The mobile body control system includes a calculation unit that calculates a recommended degree of use of the one or more devices at a time point when the autonomous mobile body may use the devices based on the device operation information managed by the management unit. The route search unit searches for a route for the autonomous mobile object to move in the facility using the recommendation degree calculated by the calculation unit.

6. A collaborative management device, wherein: The collaborative management device has: a management unit that updates and manages equipment operation information based on information obtained from an equipment management device that manages the one or more equipment, the equipment operation information indicating information related to current operation of one or more equipment installed in a facility where the autonomous mobile body moves; a determination unit that generates device availability information indicating whether the one or more devices can be used at a time point when the autonomous mobile body can use the devices based on the device operation information managed by the management unit; as well as An output unit that outputs the device availability information generated by the determination unit to a mobile body control device that searches for a path for the autonomous mobile body to move in the facility.

7. A mobile body control device, wherein: The mobile body control device comprises: a sending unit that requests the cooperation management device for equipment availability information, the cooperation management device updating and managing equipment operation information based on information obtained from the equipment management device, the equipment operation information indicating information related to current operation of one or more equipment installed in a facility where the autonomous mobile body moves, the equipment management device managing the one or more equipment, the equipment availability information indicating whether the one or more equipment can be used at a time point when the autonomous mobile body can use the equipment; a receiving unit that acquires, from the cooperation management device, the device availability information generated in response to a request from the sending unit; as well as A route search unit searches for a route for the autonomous moving body to move in the facility based on the equipment availability information acquired by the receiving unit.

8. A method for controlling a moving object, wherein: In the mobile object control method, the computer performs the following processing: updating and managing equipment operation information, the equipment operation information indicating information related to current operation of one or more equipment installed in a facility where the autonomous mobile body moves, based on information obtained from an equipment management device that manages the one or more equipment; generating device availability information indicating whether the one or more devices can be used at a time when the autonomous mobile body can use the devices based on the device operation information; as well as The generated equipment availability information is output to a mobile body control device, and the mobile body control device searches for a path for the autonomous mobile body to move in the facility.

9. A mobile body control program, wherein: The mobile body control program causes the computer to execute the following processing: updating and managing equipment operation information, the equipment operation information indicating information related to current operation of one or more equipment installed in a facility where the autonomous mobile body moves, based on information obtained from an equipment management device that manages the one or more equipment; generating device availability information indicating whether the one or more devices can be used at a time when the autonomous mobile body can use the devices based on the device operation information; as well as The generated equipment availability information is output to a mobile body control device, and the mobile body control device searches for a path for the autonomous mobile body to move in the facility.

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