Mobile body management device, mobile body management system, mobile body management method, and mobile body management program

Abstract

The invention provides a mobile body management device, a mobile body management system, a mobile body management method, and a mobile body management program. In a facility, movement of an autonomous mobile body is managed in a manner that the autonomous mobile body operates more efficiently. A mobile body management device (7) is provided with a coordination management unit (12) and a command unit (16). A coordination management unit (12) manages the priority of the use of each device (6) provided in a facility for each autonomous moving body (2) moving in the facility. The two autonomous moving bodies (2) sometimes interfere with each other in a passage through which the two autonomous moving bodies (2) pass before moving from a current position to a destination. In this case, a command unit (16) instructs both autonomous moving bodies (2) to preferentially pass through the passage on the basis of the priority order managed by the coordination management unit (12) for the devices (6) used before and after the passage.

Description

Technical Field

[0001] The present disclosure relates to a mobile object management device, a mobile object management system, a mobile object management method, and a mobile object management program. Background Art

[0002] Patent Document 1 discloses an example of a movement support system. The movement support system receives registration of a destination floor of an elevator by an autonomous moving body such as a robot. The movement support system allocates an arbitrary elevator car to a call corresponding to the registered destination floor.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2020 / 230305 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] In the mobility support system of Patent Document 1, the utilization priority of the elevators as equipment of the facility is set for the plurality of autonomous mobile bodies moving in the facility. On the other hand, the priority is not set for the passages leading to the equipment in the facility. Therefore, the plurality of autonomous mobile bodies moving in the facility may be stuck in a stalemate where they cannot move to each other in the passages for which the priority is not set. In this case, the autonomous mobile bodies may not be able to operate efficiently in the facility.

[0008] The present disclosure solves such problems and provides a mobile object management device, a mobile object management system, a mobile object management method, and a mobile object management program, which can manage the movement of autonomous mobile objects so that the autonomous mobile objects can operate more efficiently in facilities.

[0009] Means used to solve problems

[0010] The mobile body management device disclosed in the present invention comprises: a coordination management unit, which manages the utilization priority of each of a plurality of devices provided in the facility for a first autonomous mobile body and a second autonomous mobile body respectively moving in the facility; and an instruction unit, which, when the first autonomous mobile body and the second autonomous mobile body interfere with each other in a passage passed from a current position to a destination, instructs both the first autonomous mobile body and the second autonomous mobile body to give priority to passing through the passage based on the utilization priority managed by the coordination management unit for the devices among the plurality of devices used before or after the passage.

[0011] The mobile body management system disclosed in the present invention comprises: a plurality of devices, which are arranged in a facility, and a first autonomous mobile body and a second autonomous mobile body move in the facility respectively; a coordination management unit, which manages the utilization priority of each of the plurality of devices for the first autonomous mobile body and the second autonomous mobile body; and an instruction unit, which, when the first autonomous mobile body and the second autonomous mobile body interfere with each other in a passage passed from a current position to a destination, instructs both the first autonomous mobile body and the second autonomous mobile body to give priority to passing through the passage based on the utilization priority managed by the coordination management unit for the devices used before or after the plurality of devices.

[0012] In the mobile body management method disclosed in the present invention, a computer performs the following processing: managing the utilization priority of each of a plurality of devices provided in the facility for a first autonomous mobile body and a second autonomous mobile body respectively moving in the facility; and in a case where the first autonomous mobile body and the second autonomous mobile body interfere with each other in a passage passed from a current position to a destination, instructing both the first autonomous mobile body and the second autonomous mobile body to give priority to passing through the passage based on the utilization priority associated with a device among the plurality of devices that is used before or after the passage.

[0013] The mobile body management program disclosed in the present invention enables a computer to perform the following processing: managing the utilization priority of each of a plurality of devices provided in the facility for a first autonomous mobile body and a second autonomous mobile body respectively moving in the facility; and in a case where the first autonomous mobile body and the second autonomous mobile body interfere with each other in a passage passed from a current position to a destination, instructing both the first autonomous mobile body and the second autonomous mobile body to give priority to passing through the passage based on the utilization priority associated with a device among the plurality of devices used before or after the passage.

[0014] Effects of the Invention

[0015] According to the mobile object management device, mobile object management system, mobile object management method, or mobile object management program of the present disclosure, the movement of autonomous mobile objects can be managed so that the autonomous mobile objects can operate more efficiently in a facility. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a diagram showing the configuration of the mobile object management system according to the first embodiment.

[0017] Figure 2 This is a table showing an example of setting of the priority order by the instruction unit according to the first embodiment.

[0018] Figure 3 This is a diagram showing an example of traffic management of autonomous moving objects in the moving object management system according to the first embodiment.

[0019] Figure 4 This is a diagram showing an example of traffic management of autonomous moving objects in the moving object management system according to the first embodiment.

[0020] Figure 5 This is a diagram showing an example of traffic management of autonomous moving objects in the moving object management system according to the first embodiment.

[0021] Figure 6 This is a flowchart showing an operation example of the mobile object management system according to the first embodiment.

[0022] Figure 7 This is a flowchart showing an operation example of the mobile object management system according to the first embodiment.

[0023] Figure 8 This is a hardware configuration diagram showing the main parts of the mobile object management system according to the first embodiment.

[0024] Description of Reference Numerals

[0025] 1 mobile body management system, 2 autonomous mobile body, 3 mobile body control server, 4 path generation server, 5 path generation unit, 6 equipment, 6a security door, 6b, 6c elevators, 6d automatic door, 7 mobile body management device, 8 equipment coordination server, 9 passage management server, 10 equipment communication unit, 11 first communication unit, 12 coordination management unit, 13 second communication unit, 14 mobile body communication unit, 15 main management unit, 16 instruction unit, 100a processor, 100b memory, 200 dedicated hardware. DETAILED DESCRIPTION

[0026] The method for implementing the object of the present disclosure is described with reference to the accompanying drawings. In each figure, the same or equivalent parts are marked with the same reference numerals, and repeated descriptions are appropriately simplified or omitted. In addition, the object of the present disclosure is not limited to the following embodiments, and any structural element of the embodiment can be deformed or omitted within the scope of the main purpose of the present disclosure.

[0027] Implementation Method 1

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

[0029] The mobile object management system 1 is applied to a facility. The facility is, for example, an indoor facility or an outdoor facility, or a facility that combines indoor facilities and outdoor facilities. The facility is, for example, composed of one or more buildings. The facility may also be a part of a building. The mobile object management system 1 is a system that manages the movement of autonomous mobile objects 2 operating in the facility.

[0030] In the facility of this example, a plurality of autonomous mobile bodies 2 are in operation. Each autonomous mobile body 2 is a robot, drone or other movable device that moves autonomously in the facility. The autonomous mobile body 2 moves in the facility, for example, based on the movement instructions of the mobile body control server 3, for example, to provide services such as security, transportation, cleaning, and guidance. Each autonomous mobile body 2 moves from a departure point in the facility to a destination so as to provide services. The moving path from the departure point to the destination is generated, for example, by a path generation server 4. Depending on the services provided by the autonomous mobile body 2, the departure point and the destination are sometimes fixed. In such a case, the moving path from the departure point to the destination may also be a fixed path. Alternatively, the moving path from the departure point to the destination may also be dynamically generated by a path generation server 4. The path generation server 4, for example, has a path generation unit 5 that generates a moving path from the departure point to the destination of the autonomous mobile body 2 based on map data of the facility. The mobile body control server 3 and the path generation server 4 are each composed of, for example, one or more server computers. Part or all of the functions of the mobile body control server 3 and the path generation server 4 may be installed on the same hardware. Part or all of the functions of the mobile body control server 3 and the path generation server 4 may be installed in the facility or outside the facility. Part or all of the functions of the mobile body control server 3 and the path generation server 4 may also be installed by processing or storage resources on the cloud service.

[0031] A plurality of devices 6 are provided in the facility. The plurality of devices 6 include, for example, elevators, security gates, and automatic doors. The elevator is a device 6 that transports people who use the facility, i.e., users, and autonomous moving bodies 2 operating in the facility, between multiple floors of the facility. Security gates and automatic doors are devices 6 that restrict the passage of people or autonomous moving bodies 2 based on the passage rights of people or autonomous moving bodies 2. Security gates and automatic doors are examples of passage management devices that manage whether people or autonomous moving bodies 2 can pass. Each autonomous moving body 2 operating in the facility moves within the facility using a device 6. Each device 6 may be an internal device included in the moving body management system 1, or may be an external device outside the moving body management system 1.

[0032] The mobile body management system 1 includes a mobile body management device 7. The mobile body management device 7 is composed of, for example, one or more server computers. A part or all of the mobile body management device 7 may be set in a facility or outside the facility. A part or all of the functions of the mobile body management device 7 may also be installed through processing or storage resources on a cloud service. In addition, the mobile body management device 7 may also be equipped with a part or all of the functions of the mobile body control server 3 and the path generation server 4. In addition, a part or all of the functions of the mobile body management device 7 may also be installed on the mobile body control server 3, the path generation server 4 or the autonomous mobile body 2. For example, one or more server computers constituting the mobile body management system 1 respectively operate according to a program to realize the functions of the mobile body management system 1. The one or more server computers constituting the mobile body management system 1 are connected to each other in a manner that allows communication through, for example, a local network such as a LAN (Local Area Network) in the facility, a telephone line network, or a wide area network such as the Internet. The program that realizes the functions of the mobile body management system 1 may also be a software package including a plurality of software applied to a plurality of computers, etc. In this example, the mobile body management device 7 includes a device coordination server 8 and a traffic management server 9 .

[0033] The device coordination server 8 includes a device communication unit 10, a first communication unit 11, and a coordination management unit 12. The device communication unit 10 is a part that communicates with each device 6 installed in the facility. The first communication unit 11 is a part that communicates with the traffic management server 9, which is another server constituting the mobile body management device 7. The device communication unit 10 and the first communication unit 11 communicate by wire or wireless through a network such as a LAN or the Internet in the facility. The coordination management unit 12 is a part that manages the coordination between the autonomous mobile bodies 2 and the devices 6 operating in the facility. The coordination management unit 12 manages the utilization priority set for each device 6 for each autonomous mobile body 2. The utilization priority of the device 6 is set, for example, based on the function or role of the autonomous mobile body 2, the scope of service provided, etc. More specifically, for example, a higher priority is set for the autonomous mobile body 2 that performs a high-urgency guard than other autonomous mobile bodies 2 so that it can reach the destination earlier. On the other hand, for the passages set between the equipment 6 in the facility, even if it is the same passage, the priority order may be different depending on the purpose of movement of the autonomous mobile body 2, the movement path, whether the equipment 6 is used, etc., and there are many passages themselves, so the priority order of the autonomous mobile body 2 is not set in advance. When the priority order is not set in the passage, the autonomous mobile body 2 should avoid interference with other autonomous mobile bodies 2 in the same way as avoiding obstacles. However, at this time, the autonomous mobile bodies 2 may fall into a stalemate state where they cannot move due to mutual courtesy, etc. Therefore, the passage of the autonomous mobile bodies 2 in the facility is managed by the passage management server 9.

[0034] The traffic management server 9 includes a second communication unit 13, a mobile communication unit 14, a main management unit 15, and an instruction unit 16. The second communication unit 13 is a part that communicates with the device coordination server 8, which is another server constituting the mobile management device 7. The mobile communication unit 14 is a part that communicates with each autonomous mobile body 2 operating in the facility. The mobile communication unit 14 may also communicate with the autonomous mobile body 2 through the mobile control server 3 that controls the movement of the autonomous mobile body 2. The second communication unit 13 and the mobile communication unit 14 communicate by wire or wireless through a network such as a LAN or the Internet in the facility. The main management unit 15 is a part that manages tasks such as movement and service provision of the autonomous mobile body 2 operating in the facility. The main management unit 15 manages, for example, the schedule of tasks for each autonomous mobile body 2. The instruction unit 16 is a part that outputs instructions related to movement, etc. to the autonomous mobile body 2 operating in the facility. The instruction unit 16 outputs instructions to the autonomous mobile body 2, for example, through the mobile communication unit 14. The command unit 16 performs, for example, setting of the priority of passage of the passage, so as to control the passage of the autonomous mobile bodies 2 moving in the facility. The command unit 16 obtains information such as the movement route from the departure point to the destination of the autonomous mobile body 2 generated by the route generation server 4 and the current position of the autonomous mobile body 2 managed by the mobile body control server 3, etc., through the mobile body communication unit 14, etc. The command unit 16 outputs the command set using the information thus obtained to each autonomous mobile body 2.

[0035] Next, use Figure 2 An example of setting the priority order of passage of the passages in the instruction unit 16 will be described.

[0036] Figure 2 This is a table showing an example of setting of the priority order by the instruction unit 16 according to the first embodiment.

[0037] In this example, a moving body A, which is an autonomous moving body 2, sequentially uses equipment X, equipment Y, and equipment Z to travel from a departure point to a destination. When moving from a departure point to equipment X, moving body A travels through passage P. When moving from equipment X to equipment Y, moving body A travels through passage Q. When moving from equipment Y to equipment Z, moving body A travels through passage R and passage S. When moving from equipment Z to a destination, moving body A travels through passage T and passage U, etc. The instruction unit 16 obtains the moving path of moving body A generated by the path generation unit 5 in this way. In addition, moving body B, which is an autonomous moving body 2, also moves on the same path as moving body A.

[0038] Here, with respect to the mobile body A, the priority of using the device X is preset to be the first. On the other hand, with respect to the mobile body B, the priority of using the device X is preset to be the second. Furthermore, with respect to the mobile body A, the priority of using the device Y is preset to be the second. On the other hand, with respect to the mobile body B, the priority of using the device Y is preset to be the first. Furthermore, with respect to the mobile body A, the priority of using the device Z is preset to be the first. On the other hand, with respect to the mobile body B, the priority of using the device Z is preset to be the second.

[0039] Regarding the passages between devices such as device X, device Y, and device Z, the priority of passage of each autonomous mobile body 2 is not set in advance. Therefore, when the command unit 16 obtains information on the current position and the moving path from the autonomous mobile body 2, for example, it sets the priority of passage based on the priority of use of facilities. For example, the command unit 16 sets the priority of the passage using the priority of the equipment that passes after the passage for the autonomous mobile body 2 passing in the same direction. In this example, since the priority of mobile body A to device X after passage P is higher than the priority of mobile body B to device X after passage P, the command unit 16 sets the priority of mobile body A to pass through passage P to be higher than the priority of mobile body B to pass through passage P. That is, the command unit 16 sets the priority of passage P for mobile body A to be the first, and sets the priority of passage P for mobile body B to be the second. Similarly, the command unit 16 sets the priority of passage of passage Q to the first for the mobile body B and the priority of passage of passage Q to the second for the mobile body A based on the priority of use of equipment Y. Furthermore, the command unit 16 sets the priority of passage of passage R and passage S to the first for the mobile body A and the priority of passage of passage R and passage S to the second for the mobile body B based on the priority of use of equipment Z. On the other hand, since the mobile bodies A and B do not use equipment after passage T and passage U, etc., the command unit 16 sets the priority of passage T and passage U, etc. using the priority of equipment that passes before passage T and passage U, etc. That is, the command unit 16 sets the priority of passage T and passage U, etc. to the first for the mobile body A and the priority of passage T and passage U, etc. to the second for the mobile body B based on the priority of use of equipment Z.

[0040] Next, use Figures 3 to 5 An example of management of the passage of the autonomous moving object 2 in the moving object management system 1 will be described.

[0041] Figures 3 to 5 This is a diagram showing an example of traffic management of the autonomous moving object 2 in the moving object management system 1 according to the first embodiment.

[0042] In this example, the facility has floors from the 1st floor to the 5th floor. A location K is arranged on the 1st floor of the facility. A safety door 6a is arranged on the 1st floor of the facility as a facility. In the facility, an elevator 6b and an elevator 6c that can be used for movement from the 1st floor to the 5th floor are arranged as facilities. In addition, when the elevator 6b and the elevator 6c are not particularly distinguished, they are sometimes simply recorded as elevators. Elevator landings are arranged on each floor of the facility. An automatic door 6d is arranged on the 5th floor of the facility as a facility. A location L is arranged on the 5th floor of the facility. On the 1st floor of the facility, location K and the safety door 6a are connected by a passage α. On the 1st floor of the facility, the safety door 6a and the elevator landing are connected by a passage β. On the 5th floor of the facility, the elevator landing and the automatic door 6d are connected by a passage γ. On the 5th floor of the facility, the automatic door 6d and the location L are connected by a passage δ.

[0043] The priority order of use of each device is set in advance for the moving body A, the moving body B, and the moving body C as the autonomous moving body 2. The priority order of use of the security door 6a is set as follows: the moving body B is the first, the moving body A is the second, and the moving body C is the third. The priority order of use of the elevator 6b is set as follows: the moving body A is the first, the moving body B is the second, and the moving body C is the third. The priority order of use of the elevator 6c is set as follows: the moving body B is the first, the moving body A is the second, and the moving body C is the third. The priority order of use of the automatic door 6d is set as follows: the moving body A is the first, the moving body B is the second, and the moving body C is the third.

[0044] exist Figure 3 , an example is shown in which a moving body A moves from a point K as a departure point to a point L as a destination. In this example, moving bodies B and C do not move in the facility. At this time, the moving path of the moving body A is set to the point K, passage α, security door 6a, passage β, elevator 6b or elevator 6c, passage γ, automatic door 6d, passage δ, and point L in this order.

[0045] Since the moving bodies B and C are not moving in the facility, the command unit 16 sets the priority of passage for the moving body A moving in the facility. The command unit 16 sets the priority of the moving body A to the first for passage α to passage δ. The command unit 16 outputs a command to the moving body A to pass through the facility.

[0046] Based on the input command, the moving body A moves in the order of location K, passage α, security door 6a, passage β, and elevator landing on the first floor of the facility. The moving body A requests elevator call registration, for example, through the coordination management server. The moving body A moves from the first floor to the fifth floor using the elevator 6b and the elevator 6c to which the call is assigned. The moving body A moves in the order of passage γ, automatic door 6d, passage δ, and location L on the fifth floor of the facility.

[0047] exist Figure 4 , an example is shown in which a moving body A and a moving body B simultaneously move from a point K as a departure point to a point L as a destination. In this example, a moving body C does not move in the facility. At this time, the moving path of the moving body A is set in the order of point K, passage α, safety door 6a, passage β, elevator 6b or elevator 6c, passage γ, automatic door d, passage δ, and point L. Similarly, the moving path of the moving body B is set in the order of point K, passage α, safety door 6a, passage β, elevator 6b or elevator 6c, passage γ, automatic door 6d, passage δ, and point L.

[0048] Since the moving body C is not moving in the facility, the command unit 16 sets the priority of passage for the moving bodies A and B moving in the facility. The command unit 16 sets the priority of the moving body A to the first for passage α to passage δ. The command unit 16 outputs a command to the moving body A to pass through the facility.

[0049] The command unit 16 determines whether the moving body A and the moving body B may interfere with each other in the passage α. In this example, the moving body A and the moving body B start at the same time at the location K, so the command unit 16 determines that the moving body A and the moving body B moving in the same direction in the passage α from the location K to the safety gate 6a may interfere with each other. At this time, the command unit 16 determines the priority of the moving body A and the moving body B in the passage α based on the priority of the equipment 6 after the passage α, that is, the safety gate 6a. In this example, the command unit 16 sets the priority of the moving body B to the first and the priority of the moving body A to the second for the passage α. The command unit 16 outputs a command to the moving body A and the moving body B so that the moving body B has priority over the moving body A.

[0050] For example, when passage α is a wide passage where the moving bodies A and B can stagger, the command unit 16 outputs a stop command to the moving body A with a low priority. The command unit 16 may also output a command to reduce the speed of travel to the moving body A with a low priority. Whether the autonomous moving bodies 2 can stagger is determined by the command unit 16 based on the width of each autonomous moving body 2 and the passage, for example. When passage α is a narrow passage where the moving bodies A and B cannot stagger, the command unit 16 outputs a command to the moving body A with a low priority to retreat to a retreat place pre-set for passage α. The retreat place may be specified by coordinates in the facility or by nodes on a graph representing a path in the facility. The command unit 16 may also output a command to the moving body A with a low priority to retreat to the rear of the moving body B with a high priority based on the positional relationship with the retreat place. The command unit 16 outputs a command to the moving body B so that the moving body B passes through passage α. After the moving body B completes the passage through the passage α, the instruction unit 16 outputs an instruction to the moving body A to permit the passage through the passage α.

[0051] Then, the moving body B passes through the safety gate 6a. Then, the moving body A passes through the safety gate 6a.

[0052] Then, the command unit 16 determines whether the moving body A and the moving body B may interfere with each other in the passage β. In this example, the moving body B and the moving body A pass through the safety gate 6a in sequence. Since the moving body B and the moving body A move in the same direction, it is determined that the moving body A and the moving body B will not interfere with each other in the passage β. At this time, the command unit 16 outputs a command to the moving body A and the moving body B so that the moving body A and the moving body B pass directly in the passage β.

[0053] The moving bodies A and B request elevator call registration, for example, through the coordination management server, etc. The moving bodies A and B use the elevator 6b and the elevator 6c to which the call is assigned to move from the 1st floor to the 5th floor. The elevator calls are assigned based on a preset priority order.

[0054] Then, the command unit 16 determines whether the moving body A and the moving body B may interfere with each other in the passage γ. In the case where the moving body A is still in the elevator when the moving body B gets off the elevator, since the moving body B and the moving body A move in the same direction, the command unit 16 determines that the moving body A and the moving body B will not interfere with each other in the passage γ. At this time, the command unit 16 outputs a command to the moving body A and the moving body B so that the moving body A and the moving body B pass directly in the passage γ. In addition, in the case where the moving body B is still in the elevator when the moving body A gets off the elevator, since the moving body A and the moving body B move in the same direction, the command unit 16 determines that the moving body A and the moving body B will not interfere with each other in the passage γ. At this time, the command unit 16 outputs a command to the moving body A and the moving body B so that the moving body A and the moving body B pass directly in the passage γ.

[0055] In this example, it is assumed that moving body A and moving body B get off the elevator at the same time. At this time, the command unit 16 determines that moving body A and moving body B moving in the same direction in passage γ from the 5th floor landing to the automatic door 6d of the elevator may interfere with each other. In addition, the command unit 16 can also set the time range for judging the elevator's getting off at the same time based on the moving speeds of moving body A and moving body B, etc. At this time, the command unit 16 determines the priority of moving body A and moving body B in passage γ based on the priority of the automatic door 6d, which is the equipment after passage γ. In this example, the command unit 16 sets the priority of moving body A to 1st and the priority of moving body B to 2nd for passage γ. The command unit 16 outputs instructions to moving body A and moving body B so that moving body A takes precedence over moving body B.

[0056] Then, the moving body A passes through the automatic door 6d. Then, the moving body B passes through the automatic door 6d.

[0057] Then, the command unit 16 determines whether the moving body A and the moving body B may interfere with each other in the passage δ. In this example, the moving body A and the moving body B pass through the automatic door 6d in sequence. Since the moving body A and the moving body B move in the same direction, it is determined that the moving body A and the moving body B will not interfere with each other in the passage δ. At this time, the command unit 16 outputs a command to the moving body A and the moving body B so that the moving body A and the moving body B pass directly in the passage δ. Then, the moving body A and the moving body B arrive at the location L.

[0058] exist Figure 5, an example of the case is shown in which after the moving bodies A and B move to the destination point L from the point K as the departure point at the same time, the moving body C moves to the destination point K from the point L as the departure point. At this time, the moving path of the moving body A is set in the order of the point K, passage α, security door 6a, passage β, elevator 6b or elevator 6c, passage γ, automatic door 6d, passage δ, and point L. Similarly, the moving path of the moving body B is set in the order of the point K, passage α, security door 6a, passage β, elevator 6b or elevator 6c, passage γ, automatic door 6d, passage δ, and point L. On the other hand, the moving path of the moving body C is set in the order of the point L, passage δ, automatic door 6d, passage γ, elevator 6b or elevator 6c, passage β, security door 6a, passage α, and point K.

[0059] For example, it is assumed that a moving body C starts from a point L while moving bodies A and B are traveling on path δ.

[0060] At this time, the command unit 16 determines that the moving body C may interfere with the moving body A or the moving body B in the passage δ. In this example, since the moving bodies A and B are already passing through the passage δ, it is determined that the moving body C may interfere with the moving bodies A and B moving in the passage δ in the opposite directions. At this time, the command unit 16 outputs commands to the moving bodies A, B, and C so that the moving bodies A and B that have entered the passage δ first have priority over the moving body C that has not yet entered the passage δ.

[0061] For example, when passage δ is a wide passage where the moving bodies A and B can stagger with the moving body C, the command unit 16 outputs a stop command to the moving body C with a low priority. The command unit 16 may also output a command to reduce the travel speed to the moving body C with a low priority. When passage δ is a narrow passage where the moving bodies A and B cannot stagger with the moving body C, the command unit 16 outputs a command to the moving body C with a low priority to retreat to a retreat place preset for passage δ. The retreat place may be specified by coordinates in a facility or by nodes on a graph representing a path in a facility. The command unit 16 may also output a command to the moving body C with a low priority to retreat backwards based on the positional relationship with the retreat place. The command unit 16 outputs a command to the moving bodies A and B so that the moving bodies A and B pass through passage δ. After the moving bodies A and B complete the passage of passage δ, the command unit 16 outputs a command to the moving body C to allow the passage of passage δ.

[0062] Or, for example, assume that moving body A, moving body B, and moving body C arrive at automatic door 6d at the same time.

[0063] At this time, the command unit 16 obtains the priority order of the automatic door 6d managed by the coordination management unit 12 for the moving bodies A, B, and C. In this example, the priority order of use of the automatic door 6d is set to be first for the moving body A, second for the moving body B, and third for the moving body C. The command unit 16 outputs commands to the moving bodies A, B, and C so that the moving bodies A and B have priority over the moving body C.

[0064] For example, the command unit 16 outputs a command to the mobile body C with a low priority to retreat to a pre-set retreat location for the automatic door 6d. The retreat location can be specified by coordinates in the facility, or by nodes on a graph representing a path in the facility. The command unit 16 can also output a command to the mobile body C with a low priority to make the mobile body C retreat backwards based on the positional relationship with the retreat location. The command unit 16 outputs a command to the mobile body A and the mobile body B so that the mobile body A and the mobile body B pass through the automatic door 6d. After the mobile body A and the mobile body B complete the passage of the automatic door 6d, the command unit 16 outputs a command to the mobile body C to allow the passage of the automatic door 6d.

[0065] In addition, the command unit 16 may output a command by setting the priority of all the autonomous mobile bodies 2 regarding the passage of facilities and passages to the first place, for example, when any autonomous mobile body 2 is to be dispatched in an emergency. The command unit 16 may also grant a privileged mode to the autonomous mobile body 2 dispatched in an emergency. For example, while the autonomous mobile body 2 granted the privileged mode is moving in the facility, the command unit 16 may output a command to other autonomous mobile bodies 2 to stop or retreat to a retreat area. After the autonomous mobile body 2 granted the privileged mode has completed its movement, the command unit 16 cancels the command to stop or retreat to other autonomous mobile bodies 2.

[0066] In addition, in a case where autonomous mobile bodies 2 that do not use common equipment may interfere with each other in a passage such as an intersection, the command unit 16 may also output a command based on a pre-set rule in a manner that gives priority to any autonomous mobile body 2. For example, in a case where there is another autonomous mobile body 2 that is about to enter the intersection from the left when viewed from a certain autonomous mobile body 2, the command unit 16 outputs a command in a manner that gives priority to the other autonomous mobile body 2. For example, the command unit 16 outputs a command to an autonomous mobile body 2 with a low priority to make it wait to enter the intersection. The command unit 16 outputs a command to pass through the intersection to an autonomous mobile body 2 with a high priority, and after the autonomous mobile body 2 has completed the passage through the intersection, the waiting autonomous mobile body 2 is allowed to enter the intersection.

[0067] Next, use Figure 6 and Figure 7 An example of the operation of the mobile object management system 1 will be described.

[0068] Figure 6 and Figure 7 This is a flowchart showing an example of the operation of the mobile object management system 1 according to the first embodiment.

[0069] exist Figure 6 , an example of processing related to setting of the priority of passage in passages in a facility is shown. Figure 6 The processing is performed, for example, at a predetermined regular time or irregular time.

[0070] In step S11, the command unit 16 obtains information such as the movement route from the departure point to the destination and the current position of each autonomous moving body 2 operating in the facility. The command unit 16 writes and stores the obtained information in a table for each autonomous moving body 2. Then, the process of the moving body management system 1 proceeds to step S12.

[0071] In step S12, the instruction unit 16 reads the priority order of the devices 6 managed by the coordination management unit 12. The instruction unit 16 writes and stores the read information in a table for each autonomous mobile object 2. Then, the process of the mobile object management system 1 proceeds to step S13.

[0072] In step S13, the command unit 16 sets the priority of passage of the passage based on the position and movement path of each autonomous moving body 2 and the priority of the equipment 6. The command unit 16 writes the set information into the table of each autonomous moving body 2 for management. Then, the processing of the moving body management system 1 ends.

[0073] exist Figure 7 In the example of processing when an arbitrary autonomous moving body 2 passes through a passage in a facility, for passages with set passage priority, is shown. For example, based on the current position and movement path of each autonomous moving body 2, each time it is determined that an arbitrary autonomous moving body 2 is about to pass through an arbitrary passage, the autonomous moving body 2 is taken as an object for processing. Figure 7 In addition, when any autonomous moving object 2 attempts to use the equipment 6 in the facility, the moving object management system 1 may also perform the same processing.

[0074] In step S21, the command unit 16 determines whether the autonomous mobile body 2 as the target will interfere with other autonomous mobile bodies 2 in the target path. In addition, the command unit 16 may repeat this determination for all autonomous mobile bodies 2 other than the autonomous mobile body 2 as the target. If there is no interference, the process of the mobile body management system 1 proceeds to step S22. On the other hand, if there is interference, the process of the mobile body management system 1 proceeds to step S23.

[0075] In step S22, the instruction unit 16 outputs an instruction to the autonomous moving object 2 to travel on the target route. Then, the process of the moving object management system 1 ends.

[0076] In step S23, the instruction unit 16 determines whether the priority of the autonomous mobile body 2 as the target in the target path is higher than that of the autonomous mobile body 2 that may interfere. If the priority of the autonomous mobile body 2 as the target is higher, the process of the mobile body management system 1 proceeds to step S24. On the other hand, if the priority of the autonomous mobile body 2 that may interfere is higher, the process of the mobile body management system 1 proceeds to step S25.

[0077] In step S24, the instruction unit 16 outputs an instruction to the target autonomous moving object 2 to pass through the target route, and outputs an instruction to the autonomous moving object 2 that may interfere to wait for passing through the route. Then, the process of the moving object management system 1 proceeds to step S26.

[0078] In step S25, the instruction unit 16 outputs an instruction to the autonomous moving object 2 that may interfere to pass through the target route, and outputs an instruction to the target autonomous moving object 2 to wait for passing through the route. Then, the process of the moving object management system 1 proceeds to step S26.

[0079] In step S26, the instruction unit 16 ends the waiting of the autonomous moving body 2 and outputs an instruction to the autonomous moving body 2 to pass through the target route. Then, the processing of the moving body management system 1 ends.

[0080] As described above, the mobile body management device 7 of the mobile body management system 1 of the first embodiment includes a coordination management unit 12 and an instruction unit 16. The coordination management unit 12 manages the priority of use of each device 6 installed in the facility for each autonomous mobile body 2 moving in the facility. Two autonomous mobile bodies 2 sometimes interfere with each other in the passage they pass through before moving from the current position to the destination. In this case, the instruction unit 16 instructs the autonomous mobile bodies 2 of both parties to give priority to passing through the passage based on the priority managed by the coordination management unit 12 for the devices 6 used before and after the passage. With such a structure, even in a passage where the priority of passage is not directly set, the priority of passage of the passage is determined based on the priority set for the devices 6 before and after, so that the autonomous mobile bodies 2 are not easily trapped in a stalemate state where they cannot move. Therefore, the autonomous mobile bodies 2 can operate more efficiently in the facility. In this way, the movement of the autonomous mobile bodies 2 is managed so that the autonomous mobile bodies 2 can operate more efficiently.

[0081] Furthermore, when two autonomous moving bodies 2 can be staggered in the passage, the command unit 16 instructs the non-priority autonomous moving body 2 to stop. Thus, by stopping the non-priority autonomous moving body 2, the moving distance when resuming passage in the passage can be suppressed. Therefore, the operation efficiency of the autonomous moving body 2 can be further improved.

[0082] Furthermore, when the two autonomous mobile bodies 2 cannot pass each other on the passage, the instruction unit 16 instructs the autonomous mobile body 2 that does not have priority to move to the retreat location.

[0083] Thus, by making the autonomous mobile bodies 2 not given priority retreat, it is possible to make the autonomous mobile bodies 2 given priority to pass through the passage more smoothly. Therefore, the operation efficiency of the autonomous mobile bodies 2 can be further improved.

[0084] Furthermore, when a passage management device for managing whether or not to pass is provided as the equipment 6 before and after the passage, the command unit 16 instructs the autonomous moving body 2 with no priority to wait for the passage of the equipment 6 until the autonomous moving body 2 with priority completes the passage of the equipment 6. Furthermore, the command unit 16 permits the autonomous moving body 2 with no priority to pass through the passage after the autonomous moving body 2 with priority completes the passage of the passage. Thus, while the autonomous moving body 2 with priority passes through the passage or the equipment 6, the autonomous moving body 2 with no priority does not pass through but waits, so that other autonomous moving bodies 2 are less likely to interfere with the passage of the autonomous moving body 2 with priority. Therefore, the operation efficiency of the autonomous moving body 2 can be further improved.

[0085] Next, use Figure 8 An example of the hardware configuration of the mobile object management system 1 will be described.

[0086] Figure 8 This is a hardware configuration diagram of the main parts of the mobile object management system 1 according to the first embodiment.

[0087] Each function of the mobile management system 1 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 include the processor 100a, the memory 100b, and at least one dedicated hardware 200, or may include at least one dedicated hardware 200 instead of the processor 100a and the memory 100b.

[0088] When the processing circuit includes a processor 100a and a memory 100b, each function of the mobile body management system 1 is implemented by software, firmware, or a combination of software and firmware. At least one of the software and firmware is described as a program. The program is stored in the memory 100b. The processor 100a reads and executes the program stored in the memory 100b, thereby implementing each function of the mobile body management system 1.

[0089] The processor 100a is also called a CPU (Central Processing Unit), a processing device, a computing 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.

[0090] When the processing circuit has dedicated hardware 200, the processing circuit is implemented by, for example, a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0091] Each function of the mobile body management system 1 can be implemented by a processing circuit separately. Alternatively, each function of the mobile body management system 1 can also be implemented by a processing circuit in a unified manner. Regarding each function of the mobile body management system 1, a part can be implemented by dedicated hardware 200, and the other part can be implemented by software or firmware. In this way, the processing circuit implements each function of the mobile body management system 1 through dedicated hardware 200, software, firmware, or a combination thereof.

[0092] To summarize the above description, the configurations that can be adopted by the technology according to the present disclosure include the configurations shown below as supplementary notes.

[0093] (Note 1)

[0094] A mobile body management device comprising

[0095] a coordination management unit that manages the utilization priority of each of a plurality of devices installed in the facility for a first autonomous mobile body and a second autonomous mobile body that move in the facility respectively; and

[0096] A command unit that, when the first autonomous moving body and the second autonomous moving body interfere with each other in a passage passed from a current position to a destination, instructs both the first autonomous moving body and the second autonomous moving body to have priority in passing through the passage based on the utilization priority managed by the coordination management unit for devices among the plurality of devices that are utilized before or after the passage.

[0097] (Note 2)

[0098] The mobile body management device according to Supplementary Note 1, wherein:

[0099] When giving priority to the first autonomous moving object, the command unit instructs the second autonomous moving object to stop if the second autonomous moving object can be misaligned with the first autonomous moving object on the passage.

[0100] (Note 3)

[0101] The mobile body management device according to Supplement 1 or Supplement 2, wherein:

[0102] When giving priority to the first autonomous moving object, the command unit instructs the second autonomous moving object to move to an evacuation location when the second autonomous moving object cannot deviate from the first autonomous moving object on the passage.

[0103] (Note 4)

[0104] The mobile body management device according to any one of Supplementary Notes 1 to 3, wherein:

[0105] When giving priority to the first autonomous moving body, in the case where a traffic management device for managing whether passage is permitted is provided as a device before or after the passage, the command unit instructs the second autonomous moving body to wait for passage of the traffic management device until the first autonomous moving body completes passage of the traffic management device.

[0106] (Note 5)

[0107] The mobile body management device according to any one of Supplementary Notes 1 to 3, wherein:

[0108] When the first autonomous moving object is given priority, the instruction unit permits the second autonomous moving object to pass through the passage after the first autonomous moving object completes passing through the passage.

[0109] (Note 6)

[0110] A mobile body management system, comprising:

[0111] A plurality of devices are provided in a facility, and the first autonomous mobile body and the second autonomous mobile body move in the facility respectively;

[0112] a coordination management unit that manages the utilization priority of each of the plurality of devices for the first autonomous mobile object and the second autonomous mobile object; and

[0113] A command unit that, when the first autonomous moving body and the second autonomous moving body interfere with each other in a passage passed from a current position to a destination, instructs both the first autonomous moving body and the second autonomous moving body to have priority in passing through the passage based on the utilization priority managed by the coordination management unit for devices among the plurality of devices that are utilized before or after the passage.

[0114] (Note 7)

[0115] A mobile body management method, wherein:

[0116] The computer performs the following processing:

[0117] managing, for a first autonomous mobile body and a second autonomous mobile body each moving in a facility, respective utilization priorities of a plurality of devices installed in the facility; and

[0118] In a case where the first autonomous mobile body and the second autonomous mobile body interfere with each other in a passage passed from a current position to a destination, based on the utilization priority associated with devices among the plurality of devices that are utilized before or after the passage, an instruction is given to both the first autonomous mobile body and the second autonomous mobile body to allow either the first autonomous mobile body or the second autonomous mobile body to pass through the passage with priority.

[0119] (Note 8)

[0120] A mobile object management program causes a computer to execute the following processing:

[0121] managing, for a first autonomous mobile body and a second autonomous mobile body each moving in a facility, respective utilization priorities of a plurality of devices installed in the facility; and

[0122] In a case where the first autonomous mobile body and the second autonomous mobile body interfere with each other in a passage passed from a current position to a destination, based on the utilization priority associated with devices among the plurality of devices that are utilized before or after the passage, an instruction is given to both the first autonomous mobile body and the second autonomous mobile body to allow either the first autonomous mobile body or the second autonomous mobile body to pass through the passage with priority.

Claims

1. A mobile object management device, comprising: a coordination management unit that manages the utilization priority of each of a plurality of devices installed in the facility for a first autonomous mobile body and a second autonomous mobile body that move in the facility respectively; and A command unit that, when the first autonomous moving body and the second autonomous moving body interfere with each other in a passage passed from a current position to a destination, instructs both the first autonomous moving body and the second autonomous moving body to have priority in passing through the passage based on the utilization priority managed by the coordination management unit for devices among the plurality of devices that are utilized before or after the passage.

2. The mobile body management device according to claim 1, wherein: When giving priority to the first autonomous moving object, the command unit instructs the second autonomous moving object to stop if the second autonomous moving object can be misaligned with the first autonomous moving object on the passage.

3. The mobile body management device according to claim 1, wherein: When giving priority to the first autonomous moving object, the command unit instructs the second autonomous moving object to move to an evacuation location when the second autonomous moving object cannot deviate from the first autonomous moving object on the passage.

4. The mobile body management device according to any one of claims 1 to 3, wherein: When giving priority to the first autonomous moving body, in the case where a traffic management device for managing whether passage is permitted is provided as a device before or after the passage, the command unit instructs the second autonomous moving body to wait for passage of the traffic management device until the first autonomous moving body completes passage of the traffic management device.

5. The mobile body management device according to any one of claims 1 to 3, wherein: When the first autonomous moving object is given priority, the instruction unit permits the second autonomous moving object to pass through the passage after the first autonomous moving object completes passing through the passage.

6. A mobile body management system, comprising: A plurality of devices are provided in a facility, and the first autonomous mobile body and the second autonomous mobile body move in the facility respectively; a coordination management unit that manages the utilization priority of each of the plurality of devices for the first autonomous mobile object and the second autonomous mobile object; and A command unit that, when the first autonomous moving body and the second autonomous moving body interfere with each other in a passage passed from a current position to a destination, instructs both the first autonomous moving body and the second autonomous moving body to have priority in passing through the passage based on the utilization priority managed by the coordination management unit for devices among the plurality of devices that are utilized before or after the passage.

7. A mobile body management method, wherein: The computer performs the following processing: managing, for a first autonomous mobile body and a second autonomous mobile body respectively moving in a facility, respective utilization priorities of a plurality of devices installed in the facility; as well as In a case where the first autonomous mobile body and the second autonomous mobile body interfere with each other in a passage passed from a current position to a destination, based on the utilization priority associated with devices among the plurality of devices that are utilized before or after the passage, an instruction is given to both the first autonomous mobile body and the second autonomous mobile body to allow either the first autonomous mobile body or the second autonomous mobile body to pass through the passage with priority.

8. A mobile object management program that causes a computer to execute the following processing: managing, for a first autonomous mobile body and a second autonomous mobile body each moving in a facility, respective utilization priorities of a plurality of devices installed in the facility; and In a case where the first autonomous mobile body and the second autonomous mobile body interfere with each other in a passage passed from a current position to a destination, based on the utilization priority associated with devices among the plurality of devices that are utilized before or after the passage, an instruction is given to both the first autonomous mobile body and the second autonomous mobile body to allow either the first autonomous mobile body or the second autonomous mobile body to pass through the passage with priority.

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