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

Abstract

A mobile body management device, a security system, a mobile body management method, and a program manage the movement of an autonomous mobile body so that the autonomous mobile body operates more efficiently while ensuring the security of a facility. A mobile body management device (3) of a security system (1) is provided with a region management unit (8), a determination unit (9), and a route search unit (10). A region management unit (8) associatively updates and manages prohibited specification information indicating a specification for prohibiting entry for each region (4) of a facility in which an autonomous mobile body (2) operates. The determination unit (9) determines whether or not the autonomous moving body (2) can enter the respective regions (4) on the basis of the prohibition specification information associated with the respective regions (4) and the specification of the autonomous moving body (2). A path search unit (10) searches for a path along which the autonomous moving body (2) moves in the facility, on the basis of whether or not the autonomous moving body (2) can enter the respective areas (4) as determined by the determination unit (9).

Description

Technical Field

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

[0002] Patent Document 1 discloses an example of a moving object control system. The moving object control system unlocks locked doors in the facility to allow autonomous moving objects to pass while ensuring the safety of the facility.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2019-130616

[0004] In the mobile control system of Patent Document 1, the autonomous mobile body moves along a path included in a pre-set static scenario. Therefore, when the usage of the area in the facility or the operating conditions such as the access authority change dynamically, the autonomous mobile body may not be able to operate according to the predetermined scenario. 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 body management device, a safety system, a mobile body management method, and a mobile body management program for managing the movement of autonomous mobile bodies in a manner that enables the autonomous mobile bodies to operate more efficiently while ensuring the safety of facilities.

[0006] The mobile body management device of the present invention comprises: an area management unit, which updates and manages prohibited specification information indicating prohibited entry specifications in association with each of a plurality of areas of the facility that an autonomous mobile body moving in the facility can enter; a judgment unit, which judges whether the autonomous mobile body can enter each of the plurality of areas based on the prohibited specification information associated with each of the plurality of areas and the specifications of the autonomous mobile body; and a path search unit, which searches for a path for the autonomous mobile body to move in the facility based on whether the autonomous mobile body can enter each of the plurality of areas determined by the judgment unit.

[0007] The safety system of the present invention comprises: an entry and exit management device, which manages the entry and exit of the autonomous mobile body moving in the facility for at least any one of the multiple areas of the facility that the autonomous mobile body can enter; and a mobile body management device, the mobile body management device comprising: an area management unit, which updates and manages restriction specification information representing specifications for restricted entry in an associated manner for each of the multiple areas; a judgment unit, which judges whether the autonomous mobile body can enter each of the multiple areas based on the restriction specification information associated with each of the multiple areas and the specifications of the autonomous mobile body; and a path search unit, which searches for the path of the autonomous mobile body moving in the facility based on the judgment of whether the autonomous mobile body can enter each of the multiple areas by the judgment unit.

[0008] The safety system of the present invention comprises: an elevator management device, which manages the use of elevators in any of a plurality of areas of the facility that can be entered by an autonomous mobile body moving in the facility; and a mobile body management device, the mobile body management device comprising: an area management unit, which updates and manages restriction specification information indicating specifications for restricted entry in an associated manner for each of the plurality of areas; a judgment unit, which judges whether the autonomous mobile body can enter each of the plurality of areas based on the restriction specification information associated with each of the plurality of areas and the specifications of the autonomous mobile body; and a path search unit, which searches for a path for the autonomous mobile body to move in the facility based on the judgment of whether the autonomous mobile body can enter each of the plurality of areas by the judgment unit.

[0009] The mobile body management method of the present invention is a method in which a computer performs the following actions: for each of a plurality of areas of the facility that an autonomous mobile body moving in the facility can enter, prohibition specification information indicating specifications for prohibited entry is updated and managed in an associated manner; whether the autonomous mobile body can enter each of the plurality of areas based on the prohibition specification information associated with each of the plurality of areas and the specifications of the autonomous mobile body; and based on whether the autonomous mobile body can enter each of the plurality of areas, a path for the autonomous mobile body to move in the facility is searched.

[0010] The mobile body management program of the present invention enables a computer to perform the following actions: for each of the multiple areas of the facility that an autonomous mobile body moving in the facility can enter, prohibition specification information indicating specifications for prohibited entry is updated and managed in an associated manner; based on the prohibition specification information associated with each of the multiple areas and the specifications of the autonomous mobile body, whether the autonomous mobile body can enter each of the multiple areas; and based on whether the autonomous mobile body can enter each of the multiple areas, searching for a path for the autonomous mobile body to move in the facility.

[0011] According to the mobile object management device, the safety system, the mobile object management method or the mobile object management program of the present invention, the movement of the autonomous mobile object can be managed in a manner that enables the autonomous mobile object to operate more efficiently while ensuring the safety of facilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a structural diagram of the security system according to the first embodiment.

[0013] Figure 2 This is a functional block diagram showing the configuration of the security system according to the first embodiment.

[0014] Figure 3A This is a table showing an example of area information stored in the storage unit according to the first embodiment.

[0015] Figure 3B This is a table showing an example of the moving object information stored in the storage unit according to the first embodiment.

[0016] Figure 3C This is a table showing an example of the prohibited specification information stored in the storage unit according to the first embodiment.

[0017] Figure 4A This is a flowchart showing an example of the operation of the security system according to the first embodiment.

[0018] Figure 4B This is a flowchart showing an example of the operation of the security system according to the first embodiment.

[0019] Figure 5 This is a flowchart showing an example of the operation of the security system according to the first embodiment.

[0020] Figure 6 This is a diagram showing an example of patrol by the autonomous mobile body according to the first embodiment.

[0021] Figure 7 This is a hardware configuration diagram of the main parts of the security system according to the first embodiment.

[0022] Figure 8 This is a table showing an example of the prohibited specification information stored in the storage unit according to the second embodiment.

[0023] Fig. 9 This is a flowchart showing an example of the operation of the security system according to the second embodiment.

[0024] Fig.10 This is a functional block diagram showing the configuration of a security system according to a third embodiment.

[0025] Fig.11A This is a table showing an example of the inter-area distance information stored in the storage unit according to the third embodiment.

[0026] Fig. 11B This is a table showing an example of elevator utilization information stored in the storage unit according to the third embodiment.

[0027] Fig. 11C This is a table showing an example of moving object information stored in the storage unit according to the third embodiment.

[0028] Fig.11D This is a table showing an example of job information stored in the storage unit according to the third embodiment.

[0029] Fig. 12A This is a flowchart showing an example of the operation of the security system according to the third embodiment.

[0030] Fig. 12B This is a flowchart showing an example of the operation of the security system according to the third embodiment.

[0031] Fig.13 This is a flowchart showing an example of the operation of the security system according to the third embodiment.

[0032] Fig.14 This is a table showing an example of calculation of the estimated travel time by the route planning unit according to the third embodiment.

[0033] Fig.15A This is a diagram showing an example of movement route planning for an autonomous moving object by a route planning unit according to the third embodiment.

[0034] Fig. 15B This is a diagram showing an example of movement route planning for an autonomous moving object by a route planning unit according to the third embodiment.

[0035] Fig.16 This is a flowchart showing an example of the operation of the security system according to the fourth embodiment.

[0036] Fig.17 This is a diagram showing an example of movement route planning for an autonomous moving object by a route planning unit according to the fourth embodiment.

[0037] Description of symbols

[0038] 1: security system; 2: autonomous moving body; 3: moving body management device; 4: area; 5: entry and exit management device; 6: elevator management device; 7: storage unit; 8: area management unit; 9: judgment unit; 10: path search unit; 11: moving body control unit; 12: path planning unit; 100a: processor; 100b: memory; 200: dedicated hardware. DETAILED DESCRIPTION

[0039] Referring to the accompanying drawings, the method for implementing the object of the present invention is described. In each figure, the same or corresponding parts are marked with the same reference numerals, 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.

[0040] Implementation Method 1

[0041] Figure 1 This is a configuration diagram of the security system 1 according to the first embodiment.

[0042] The security system 1 is applied to a facility. The security system 1 is a system for improving the security in the facility. The facility is, for example, an indoor facility or an outdoor facility, or a facility composed of these facilities. The facility is, for example, composed of one or more buildings. The facility may also be a part of a building.

[0043] In the facility, one or more autonomous mobile bodies 2 are operating. 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, according to the movement instructions of the mobile body management device 3, for example, to provide services such as security, cleaning, and transportation. In this example, the autonomous mobile body 2 repeatedly moves in the facility in a patrol manner regularly or irregularly, thereby providing services. The mobile body management device 3 is a device that performs information processing related to the management of the movement of the autonomous mobile body 2 in the facility. The mobile body management device 3 is composed of, for example, one or more server computers. Part or all of the mobile body management device 3 can be set in the facility or outside the facility. Part or all of the functions of the mobile body management device 3 can also be installed through processing or storage resources on a cloud service.

[0044] The facility includes a plurality of areas 4. Each area 4 is a space in the facility where the autonomous mobile body 2 or the user of the facility as a person can pass through. The area 4 of the facility includes, for example, a conference corner or a conference room where users hold meetings. The area 4 of the facility includes, for example, an office. The area 4 of the facility includes, for example, the home position of the autonomous mobile body 2. The home position of the autonomous mobile body 2 is a place where the autonomous mobile body 2 that is not in operation waits in the facility. The autonomous mobile body 2 moves in the facility starting from the home position and returns to the home position after the service is provided. In the home position of the autonomous mobile body 2, for example, a charger for the autonomous mobile body 2 may also be arranged. The area 4 of the facility includes, for example, an elevator. The area 4 of the elevator includes, for example, a space in a car where users take the car, and a space such as a landing where users who take the car wait. In this example, doors are provided at the entrances of the conference corner, conference room, and office. The area 4 in the facility may also include a conference corner without a door. In this example, no door is provided at the entrance of the home position of the autonomous mobile body 2. The area 4 of the facility may also be one floor in the facility. For example, area 4 of the facility may be a single floor such as a VIP floor.

[0045] The entry and exit management device 5 is applied in the facility. The entry and exit management device 5 is a device for managing the entry and exit of the autonomous mobile body 2 and the user to the area 4 in the facility. The entry and exit management device 5 is composed of, for example, one or more server computers. Part or all of the entry and exit management device 5 can be set in the facility or outside the facility. Part or all of the functions of the entry and exit management device 5 can also be installed through processing or storage resources on a cloud service. The entry and exit management device 5 is equipped with a function of unlocking and unlocking the electronic lock of the door set at the entrance of the area 4.

[0046] The elevator management device 6 is applied in the facility. The elevator management device 6 is a device that manages the operation of the elevator installed in the facility. The elevator management device 6 may be composed of one or more server computers, for example. The elevator management device 6 may also include, for example, a control panel that controls the travel of the elevator car, a group management panel that manages the operation of multiple elevator cars, etc. A part or all of the elevator management device 6 may be installed in the facility or outside the facility. A part or all of the functions of the elevator management device 6 may also be installed through processing or storage resources on a cloud service. The elevator management device 6 is equipped with a function of accepting elevator call registrations, for example.

[0047] In this example, the security system 1 includes a mobile body management device 3, an entry and exit management device 5, and an elevator management device 6. The devices constituting the security system 1, such as the mobile body management device 3, the entry and exit management device 5, and the elevator management device 6, are configured to be able to communicate with each other via a communication network such as the Internet or a telephone line network. The security system 1 can also be newly applied to a facility that has already applied the entry and exit management device 5 and the elevator management device 6, for example.

[0048] Figure 2 This is a functional block diagram showing the configuration of the safety system 1 according to the first embodiment.

[0049] The moving body management device 3 includes a storage unit 7 , an area management unit 8 , a determination unit 9 , a route search unit 10 , and a moving body control unit 11 .

[0050] The storage unit 7 is a part equipped with the function of storing information. The storage unit 7 may be composed of a single hardware or a plurality of hardware. The storage unit 7 composed of a plurality of hardware may, for example, store different types of information for each hardware. The storage unit 7 stores, for example, area information, moving body information, and prohibited specification information. The area information includes, for example, information such as the location of each area 4. The moving body information includes, for example, information such as the specifications of the autonomous moving body 2. The prohibited specification information includes, for example, information specifying the specifications of the autonomous moving body 2 that is prohibited from entering each area 4. The prohibited specification information changes, for example, depending on the usage status of each area 4.

[0051] The area management unit 8 is a part equipped with a function of managing the prohibition specification information associated with each area 4. In this example, the area management unit 8 updates and manages the prohibition specification information stored in the storage unit 7 in real time. The area management unit 8 updates the prohibition specification information based on information on the use status of each area 4 obtained from the entry and exit management device 5 or the elevator management device 6, for example. For example, in the case where an operation panel for switching the use status of the area 4 such as "vacant" or "in use" is provided in each area 4 such as a conference room, the area management unit 8 may also update the prohibition specification information based on information from the operation panel. In addition, the use status of each area 4 may also be set, for example, by remote operation.

[0052] The determination unit 9 determines whether the autonomous mobile body 2 can enter each area 4 based on the prohibited specification information associated with each area 4 and the specifications of the autonomous mobile body 2. For example, when a specific specification is specified as the prohibited specification information of a certain area 4, the determination unit 9 determines whether the autonomous mobile body 2 is equipped with the specific specification. At this time, when any specification of the autonomous mobile body 2 is a specification included in the prohibited specification information of the area 4, the determination unit 9 determines that the autonomous mobile body 2 cannot enter the area 4. On the other hand, when the autonomous mobile body 2 is not equipped with any specification included in the prohibited specification information of the area 4, the determination unit 9 determines that the autonomous mobile body 2 can enter the area 4.

[0053] The path search unit 10 is a part equipped with a function of searching for a path for the autonomous mobile body 2 to move in the facility. In this example, the path search unit 10 searches for a path for the autonomous mobile body 2 based on whether or not each area 4 can be entered as determined by the determination unit 9. For example, the path search unit 10 may search for a path for subsequent movement in the facility while the autonomous mobile body 2 is moving in the facility. In this example, the path search unit 10 searches for a path using a pre-set patrol area list. The patrol area list is a list of areas 4 that the autonomous mobile body 2 moves in each patrol. The patrol area list is stored in advance in the storage unit 7, etc., in correspondence with the autonomous mobile body 2. In each patrol, the autonomous mobile body 2 in this example moves in a manner starting from the area 4 that is the home position and returning to the area 4 that is the home position. Therefore, the patrol area list is configured as a list having the area 4 that is the home position at the beginning and the end. The path search unit 10 edits the pre-set patrol area list, for example, based on the determination result of whether or not each area 4 can be entered as determined by the determination unit 9, thereby searching for the movement path of the autonomous mobile body 2.

[0054] The mobile body control unit 11 is a part equipped with a function of controlling the autonomous mobile body 2 to move in the facility. The mobile body control unit 11 controls the autonomous mobile body 2, for example, according to the path searched by the path search unit 10. The mobile body control unit 11 waits for the patrol start time when the autonomous mobile body 2 starts to move for patrol. The patrol start time is, for example, a predetermined regular or irregular time. When the patrol start time comes, the mobile body control unit 11 starts controlling the autonomous mobile body 2 to move according to the path searched by the path search unit 10.

[0055] Next, examples of various data used in the security system 1 will be described using FIG. 3 .

[0056] Figure 3A This is a table showing an example of the area information stored in the storage unit 7 according to the first embodiment.

[0057] Figure 3B This is a table showing an example of the moving object information stored in the storage unit 7 according to the first embodiment.

[0058] Figure 3C This is a table showing an example of the prohibited specification information stored in the storage unit 7 according to the first embodiment.

[0059] like Figure 3AAs shown, the area information corresponds to the inherent area ID (ID: IDentifier) ​​that identifies each area 4. The area information includes, for example, information on the name of each area 4. The area information includes, for example, information on the floor where each area 4 is installed. The area information includes information on the attributes of each area 4. Attributes are, for example, "door", "home position" or "elevator". An area 4 with the attribute of "door" is, for example, an area 4 with a door installed at an entrance and exit. An area 4 with the attribute of "home position" is, for example, an area 4 that is the home position of the autonomous moving body 2. An area 4 with the attribute of "elevator" is, for example, an elevator installed in a facility. Regarding the area 4 with the attribute of "elevator", the area 4 covers multiple floors, so a "null" value may also be set as information on the floor where the area 4 is installed. The area information may also include these other information about each area 4.

[0060] like Figure 3B As shown, the mobile body information corresponds to the mobile body ID that identifies each main mobile body 2. The mobile body information includes, for example, information on the attributes of the autonomous mobile body 2. The attributes of the autonomous mobile body 2 include, for example, information indicating the services provided by the autonomous mobile body 2. The attributes of the autonomous mobile body 2 are, for example, "security robot", "cleaning robot" or "transport robot". The mobile body information includes, for example, information on the specifications of the equipment installed in each main mobile body 2. The specifications of the autonomous mobile body 2 include, for example, "camera", "recording", "large" or "noise". The specification "camera" means that a camera that records images by shooting is installed on the autonomous mobile body 2. The specification "recording" means that a microphone that records sound is installed on the autonomous mobile body 2. The specification "large" means that the size or weight of the autonomous mobile body 2 is larger than a preset range. The specification "noise" means that the autonomous mobile body 2 generates noise exceeding a preset level during operation. The specification "noise" is, for example, the specification of a cleaning robot that cleans by suction. The specification "noise" is an example of environmental impact information that affects the environment of area 4. The information of the specifications of the autonomous mobile body 2 may also be set to these other specifications, and may be further subdivided according to type or performance. For example, the specification "camera" may be subdivided according to the type of camera, such as an infrared camera or a visible light camera, or may be subdivided according to performance such as resolution. In addition, the mobile body information may also correspond to a device type ID for identifying the device type or model of the autonomous mobile body 2.

[0061] like Figure 3CAs shown, the prohibited specification information is associated with the area ID for identifying each area 4. The prohibited specification information specifies the specifications of the autonomous mobile body 2 that is prohibited from entering in each area 4. The prohibited specification information may specify a plurality of specifications for one area 4. In addition, there may be an area 4 in the facility that does not specify the specifications for which entry is prohibited. In this example, the specification "camera" and the specification "recording" are specified for area C. In this case, the autonomous mobile body 2 equipped with at least one of the specifications "camera" and "recording" is prohibited from entering area C. In this example, for example, when the specification "camera" is specified for area C, the autonomous mobile body 2 is prohibited from entering area C as long as the autonomous mobile body 2 is equipped with a camera function as a specification, regardless of whether the autonomous mobile body 2 is in an action state in which the camera function is enabled. The same is true for other specifications and areas 4. In this example, the specification "large" and the specification "noise" are specified for area A. In this case, the autonomous mobile body 2 equipped with at least one of the specifications "large" and "noise" is prohibited from entering area A. In this example, the specification "camera", the specification "recording" and the specification "noise" are specified for area B. At this time, the autonomous mobile body 2 equipped with at least one of the specification "camera", specification "recording" and specification "noise" is prohibited from entering the area B. In this example, the specification "large" is specified for the area E. At this time, the autonomous mobile body 2 equipped with the specification "large" is prohibited from entering the area E. In this example, no specification is specified for the area D. At this time, the autonomous mobile body 2 is not prohibited from entering the area D. In addition, the prohibition specification information can also correspond to the category or attribute of the area 4.

[0062] The prohibited specification information is updated and managed by, for example, the area management unit 8. For example, for area 4 that is a conference room, when the utilization status is "free", the area management unit 8 updates the prohibited specification information in a manner that does not specify the specification for prohibiting entry into the area 4. On the other hand, for area 4 that is a conference room, when the utilization status is "in use", the area management unit 8 updates the prohibited specification information in a manner that specifies "camera", "recording" and "noise" as the specifications for prohibiting entry into the area 4. In addition, for area 4 that handles information with relatively low confidentiality, when the utilization status is "in use", the area management unit 8 may update the prohibited specification information in a manner that specifies only "noise" as the specification for prohibiting entry into the area 4. The correspondence of the prohibited specifications corresponding to the area 4 and the utilization status may be pre-set by, for example, the manager of the facility, or may be set each time by the user of the area 4.

[0063] Next, using Figure 4 and Figure 5 , an example of the operation of the safety system 1 is described.

[0064] Figure 4A , Figure 4B and Figure 5 This is a flowchart showing an example of the operation of the security system 1 according to the first embodiment.

[0065] exist Figure 4A and Figure 4B , an example of the operation of the mobile body management device 3 with respect to the autonomous mobile body 2 at the patrol start time when the autonomous mobile body 2 starts to move for patrol is shown. Figure 4A and Figure 4B During the processing, the route search unit 10 reads a patrol area list preset for the autonomous mobile body 2.

[0066] exist Figure 4A In step S101, the route search unit 10 reads the first area 4 of the patrol area list. The route search unit 10 deletes the read first area 4 from the patrol area list. The route search unit 10 sets the read area 4 as the departure area. Then, the operation of the safety system 1 proceeds to step S102.

[0067] In step S102, the route search unit 10 reads the first area 4 of the patrol area list. The route search unit 10 deletes the read first area 4 from the patrol area list. The route search unit 10 sets the read area 4 as the destination area. Then, the operation of the security system 1 proceeds to step S103.

[0068] In step S103, the route search unit 10 determines whether an effective area 4 is set in the destination area. For example, when the patrol area list is empty at the start time of step S102, the effective area 4 is not set in the destination area at the end time of this step. On the other hand, for example, when one or more areas 4 remain in the patrol area list at the start time of step S102, the effective area 4 is set in the destination area at the end time of this step. When the effective area 4 is not set in the destination area, the operation of the safety system 1 related to the patrol of the autonomous mobile body 2 this time ends. On the other hand, when the effective area 4 is set in the destination area, the operation of the safety system 1 enters step S104.

[0069] In step S104, the route search unit 10 determines whether the departure area and the destination area are the same area 4. If these areas 4 are the same area 4, the operation of the safety system 1 proceeds to step S102. On the other hand, if these areas 4 are different areas 4, the operation of the safety system 1 proceeds to step S105.

[0070] In step S105, the route search unit 10 determines whether the departure area and the destination area are located on the same floor. If these areas 4 are located on different floors, the operation of the safety system 1 proceeds to step S106. On the other hand, if these areas 4 are located on the same floor, the operation of the safety system 1 proceeds to step S107. Figure 4B Step S111.

[0071] In step S106, the path search unit 10 searches for a moving path from the current position of the autonomous moving body 2 to the front of the area 4 which is the elevator. The moving body control unit 11 moves the autonomous moving body 2 to the front of the area 4 which is the elevator. In this example, the moving body control unit 11 moves the autonomous moving body 2 to the landing of the elevator. The path search unit 10 waits until the autonomous moving body 2 arrives in front of the area 4. Then, the operation of the safety system 1 proceeds to step S107.

[0072] In step S107, the route search unit 10 transmits a landing call request to the elevator management device 6. Then, the operation of the safety system 1 proceeds to step S108.

[0073] In step S108, the moving body control unit 11 moves the autonomous moving body 2 to the area 4 which is the elevator. In this example, the moving body control unit 11 moves the autonomous moving body 2 to the inside of the elevator car. The path search unit 10 waits until the autonomous moving body 2 reaches the area 4. Then, the operation of the safety system 1 proceeds to step S109.

[0074] In step S109, the route search unit 10 transmits a request for a car call to the elevator management device 6. Then, the operation of the safety system 1 proceeds to step S110.

[0075] In step S110, when the elevator car arrives at the floor with the destination area, the mobile body control unit 11 moves the autonomous mobile body 2 to the front of the area 4 which is the elevator. In this example, the mobile body control unit 11 moves the autonomous mobile body 2 to the landing of the elevator. The path search unit 10 waits until the autonomous mobile body 2 arrives in front of the area 4. Then, the operation of the safety system 1 enters Figure 4B Step S111.

[0076] exist Figure 4B In step S111, the path search unit 10 searches for a moving path from the current position of the autonomous moving body 2 to the front of the destination area. The moving body control unit 11 moves the autonomous moving body 2 to the front of the destination area. The path search unit 10 waits until the autonomous moving body 2 arrives in front of the area 4. Then, the operation of the safety system 1 proceeds to step S112.

[0077] In step S112, the determination unit 9 determines whether the autonomous mobile body 2 can enter the destination area. If the determination unit 9 determines that the autonomous mobile body 2 cannot enter, the operation of the security system 1 enters Figure 4A On the other hand, when the determination unit 9 determines that entry is possible, the operation of the security system 1 proceeds to step S113.

[0078] In step S113, the route search unit 10 determines whether the destination area has a "gate" attribute. If the destination area has a "gate" attribute, the operation of the security system 1 proceeds to step S114. On the other hand, if the destination area does not have a "gate" attribute, the operation of the security system 1 proceeds to step S115.

[0079] In step S114, the route search unit 10 sends a request for unlocking for entering the destination area to the entry and exit management device 5. When receiving a notification of unlocking in accordance with the request from the entry and exit management device 5, the operation of the security system 1 proceeds to step S115. On the other hand, when the entry and exit management device 5 determines that entry is not possible and does not unlock, the operation of the security system 1 proceeds to step S120.

[0080] In step S115, the mobile body control unit 11 causes the autonomous mobile body 2 to enter the interior of the destination area. The mobile body control unit 11 operates the autonomous mobile body 2 in such a manner that the autonomous mobile body 2 can perform operations such as providing services in the destination area. For example, the autonomous mobile body 2 provides services such as cleaning services, security services, or transportation services in the destination area. When there is no operation to be performed by the autonomous mobile body 2 in the destination area, the autonomous mobile body 2 may simply pass through the destination area. Then, the operation of the security system 1 proceeds to step S116.

[0081] In step S116, the path search unit 10 waits until the autonomous mobile body 2 completes the work in the destination area. In addition, when the destination area is the home position of the autonomous mobile body 2, the path search unit 10 may determine that the work is completed when the autonomous mobile body 2 arrives at the area 4. Then, the operation of the safety system 1 proceeds to step S117.

[0082] In step S117, the route search unit 10 determines whether the destination area has a "gate" attribute. If the destination area has a "gate" attribute, the operation of the security system 1 proceeds to step S118. On the other hand, if the destination area does not have a "gate" attribute, the operation of the security system 1 proceeds to step S119.

[0083] In step S118, the route search unit 10 sends an unlock request for exiting the destination area to the entry and exit management device 5. The entry and exit management device 5 unlocks the door according to the request. The route search unit 10 receives the unlock notification from the entry and exit management device 5. Then, the operation of the security system 1 proceeds to step S119.

[0084] In step S119, the moving body control unit 11 moves the autonomous moving body 2 to the front of the destination area. The route search unit 10 waits until the autonomous moving body 2 reaches the front of the area 4. Then, the operation of the safety system 1 proceeds to step S120.

[0085] In step S120, the route search unit 10 sets the destination area as a new departure area. Then, the operation of the safety system 1 enters Figure 4A Step S102.

[0086] exist Figure 5 , an example of the operation of the determination unit 9 on whether entry is permitted is shown. Figure 5 The processing is Figure 4B This is an example of the internal processing in step S112. Figure 5 During the processing, the determination unit 9 obtains information on the autonomous mobile object 2 and the object area 4 as the identification object.

[0087] In step S201, the determination unit 9 reads the moving object information about the target autonomous moving object 2 from, for example, the storage unit 7. Then, the operation of the security system 1 proceeds to step S202.

[0088] In step S202, the determination unit 9 reads the prohibition specification information on the target area 4 from, for example, the storage unit 7. Then, the operation of the security system 1 proceeds to step S203.

[0089] In step S203, it is determined whether any of the specifications specified by the prohibition specification information as the specifications prohibited from entering the target area 4 is mounted on the target autonomous mobile body 2. When any of the specifications specified by the prohibition specification information is mounted on the autonomous mobile body 2, the determination unit 9 determines that the target autonomous mobile body 2 cannot enter the target area 4. On the other hand, when none of the specifications specified by the prohibition specification information is mounted on the autonomous mobile body 2, the determination unit 9 determines that the target autonomous mobile body 2 can enter the target area 4. Then, the operation of the safety system 1 related to the determination of the entry permission by the determination unit 9 ends.

[0090] Next, use Figure 6 , illustrating an example of the autonomous mobile body 2 patrolling in a facility.

[0091] Figure 6 This is a diagram showing an example of patrol by the autonomous mobile body 2 according to the first embodiment.

[0092] In this example, in the patrol area list pre-set in the autonomous mobile body 2, area D, area A, area C, area B, and area D are registered in order from the beginning. Area D is the home position of the autonomous mobile body 2 arranged on the 1st floor. Area A is a meeting corner arranged on the 1st floor. Area C is an office arranged on the 2nd floor. Area B is a conference room arranged on the 1st floor. Area E is an elevator operating between the 1st floor and the 2nd floor. Area E is not included in the patrol area list.

[0093] First, the path search unit 10 sets the area D as the departure area and the area A as the destination area. The path search unit 10 searches for a moving path from the area D to the front of the area A. The moving body control unit 11 moves the autonomous moving body 2 to the front of the area A which is the destination area. The judgment unit 9 judges whether the autonomous moving body 2 can enter the area A. In this example, the judgment unit 9 judges that it can enter. In addition, the judgment unit 9 may judge whether the autonomous moving body 2 can enter the destination area before the autonomous moving body 2 departs from the departure area. Since a door is provided at the entrance of the area A, the path search unit 10 sends a request to enter the area A to the entry and exit management device 5. After the door at the entrance of the area A is unlocked, the moving body control unit 11 makes the autonomous moving body 2 enter the inside of the area A. The moving body control unit 11 makes the autonomous moving body 2 perform work in the area A. After the work in the area A is completed, the moving body control unit 11 sends a request to exit from the area A to the entry and exit management device 5. After the door at the entrance of the area A is unlocked, the moving body control unit 11 makes the autonomous moving body 2 exit from the inside of the area A. The moving body control unit 11 moves the autonomous moving body 2 to the front of the area A.

[0094] Next, the path search unit 10 sets area A as a new departure area and area C as a new destination area. Since area A and area C are arranged on different floors, the path search unit 10 searches for a movement path using area E as an elevator. The path search unit 10 searches for a movement path from area A to the front of area E on the first floor. The moving body control unit 11 moves the autonomous moving body 1 to the front of area E on the second floor. The path search unit 10 sends a request for a landing call on the first floor to the elevator management device 6. After the elevator car arrives at the first floor and the car door opens, the moving body control unit 11 moves the autonomous moving body 2 to the inside of the elevator car. The path search unit 10 sends a request for a car call on the second floor to the elevator management device 6. After the elevator car arrives at the second floor and the car door opens, the moving body control unit 11 moves the autonomous moving body 2 from the inside of the elevator car. The moving body control unit 11 moves the autonomous moving body 2 to the front of area E on the second floor. The path search unit 10 searches for a movement path from area E on the second floor to the front of area C. The moving body control unit 11 moves the autonomous moving body 2 to the front of the area C. The judgment unit 9 judges whether the autonomous moving body 2 can enter the area C. In this example, the judgment unit 9 judges that it can enter. In addition, the judgment unit 9 may also judge whether the autonomous moving body 2 can enter the destination area before it departs from the departure area. Since a door is provided at the entrance of the area C, the path search unit 10 sends a request to enter the area C to the entry and exit management device 5. After the door at the entrance of the area C is unlocked, the moving body control unit 11 makes the autonomous moving body 2 enter the interior of the area C. The moving body control unit 11 makes the autonomous moving body 2 perform work in the area C. After the work in the area C is completed, the moving body control unit 11 sends a request to exit from the area C to the entry and exit management device 5. After the door at the entrance of the area C is unlocked, the moving body control unit 11 makes the autonomous moving body 2 exit from the interior of the area C. The moving body control unit 11 moves the autonomous moving body 2 to the front of the area C.

[0095] Next, the route search unit 10 sets area C as a new departure area and area B as a new destination area. Area C and area B are arranged on different floors, so the route search unit 10 searches for a movement route using area E as an elevator. The route search unit 10 searches for a movement route from area C to the front of area E on the second floor. The moving body control unit 11 moves the autonomous moving body 2 to the front of area E on the second floor. The route search unit 10 sends a request for a landing call on the second floor to the elevator management device 6. After the elevator car arrives at the second floor and the car door opens, the moving body control unit 11 moves the autonomous moving body 2 to the inside of the elevator car. The route search unit 10 sends a request for a car call on the first floor to the elevator management device 6. After the elevator car arrives at the first floor and the car door opens, the moving body control unit 11 moves the autonomous moving body 2 from the inside of the elevator car. The moving body control unit 11 moves the autonomous moving body 1 to the front of area E on the second floor. The route search unit 10 searches for a movement route from area E on the first floor to the front of area B. The moving body control unit 11 moves the autonomous moving body 2 to the front of the area B. The judging unit 9 judges whether the autonomous moving body 2 can enter the area B. In this example, the judging unit 9 judges that it can enter. In addition, the judging unit 9 may also judge whether the autonomous moving body 2 can enter the destination area before it departs from the departure area. Since a door is provided at the entrance of the area B, the path search unit 10 sends a request to enter the area B to the entry and exit management device 5. After the door at the entrance of the area B is unlocked, the moving body control unit 11 makes the autonomous moving body 2 enter the interior of the area B. The moving body control unit 11 makes the autonomous moving body 2 perform work in the area B. After the work in the area B is completed, the moving body control unit 11 sends a request to exit from the area B to the entry and exit management device 5. After the door at the entrance of the area B is unlocked, the moving body control unit 11 makes the autonomous moving body 2 exit from the interior of the area B. The moving body control unit 11 moves the autonomous moving body 2 to the front of the area B.

[0096] Next, the path search unit 10 sets area B as a new departure area and area D as a new destination area. The path search unit 10 searches for a moving path from area B to the front of area D. The moving body control unit 11 moves the autonomous moving body 2 to the front of area D. The judgment unit 9 judges whether the autonomous moving body 2 can enter area D. In this example, the judgment unit 9 judges that it can enter. In addition, the judgment unit 9 may also judge whether the autonomous moving body 2 can enter the destination area before it departs from the departure area. In addition, the judgment unit 9 may also judge that it can enter unconditionally with respect to area 4, which is the home position of the autonomous moving body 2. Since there is no door at the entrance of area D, the moving body control unit 11 makes the autonomous moving body 2 directly enter the interior of area B. Since there is no work to be performed in area D, the moving body control unit 11 judges that the work of the autonomous moving body 2 has been completed at the time of arriving at area D.

[0097] Next, the route search unit 10 sets the area D as a new departure area. At this time, since no effective area 4 is set in the new destination area, the route search unit 10 ends the operation related to the current patrol of the autonomous moving body 2.

[0098] As described above, the mobile body management device 3 of the safety system 1 of the first embodiment includes an area management unit 8, a determination unit 9, and a path search unit 10. The area management unit 8 updates and manages the prohibition specification information indicating the specification of prohibition of entry in association with each area 4 of the facility where the autonomous mobile body 2 operates. The determination unit 9 determines whether the autonomous mobile body 2 can enter each area 4 based on the prohibition specification information associated with each area 4 and the specifications of the autonomous mobile body 2. The path search unit 10 searches for a path for the autonomous mobile body 2 to move in the facility based on whether the autonomous mobile body 2 can enter each area 4 determined by the determination unit 9.

[0099] According to such a structure, the prohibition specification information indicating the specification of prohibiting entry into each area 4 is dynamically updated according to the utilization status of each area 4. In the case where an area 4 that cannot be entered due to its specifications is located on the patrol path, the autonomous mobile body 2 patrols without passing through the area 4, for example. As described above, since the autonomous mobile body 2 can patrol the facility flexibly according to the status of each area 4 and the specifications of the autonomous mobile body 2, the autonomous mobile body 2 can operate more efficiently while ensuring the safety of the facility.

[0100] In addition, the prohibition specification information includes information prohibiting the entry of an autonomous mobile body 2 having a sound or image recording function as a specification. Thus, the safety of the facility in terms of information management and the like can be further improved. In addition, the prohibition specification information includes information prohibiting the entry of an autonomous mobile body 2 that makes noise during operation as environmental impact information affecting the environment of the area 4. Thus, the operation of the autonomous mobile body 2 is less likely to hinder users who use each area 4. In addition, the prohibition specification information includes information prohibiting the entry of the autonomous mobile body 2 based on size or weight. Thus, since the autonomous mobile body 2 pre-determines the area 4 that it is not desired to enter due to its size, etc., the movement of the autonomous mobile body 2 in the facility becomes more efficient. In addition, the case where the autonomous mobile body 2 is not desired to enter the area 4 may include the following case: even if it can physically enter the area 4 due to size or weight, it is desired to temporarily restrict the autonomous mobile body 2 from entering the area 4 because it hinders users who use the area 4 for reasons such as seat exchange or cleaning. In addition, it may also include the following case: as a result of changing the seat configuration, it is desired to permanently restrict the autonomous mobile body 2 from entering the area 4.

[0101] In addition, the prohibition specification information includes information prohibiting the entry of an autonomous mobile body 2 having a function of outputting sound guidance or music as environmental impact information affecting the environment of the area 4. Thus, the sound output by the autonomous mobile body 2 is less likely to hinder the users who use each area 4. In addition, the prohibition specification information includes information prohibiting the entry of an autonomous mobile body 2 having a function of outputting light such as a lighting device as environmental impact information affecting the environment of the area 4. Thus, the light emitted by the autonomous mobile body 2 is less likely to hinder the users who use each area 4. In addition, the prohibition specification information includes information prohibiting the entry of an autonomous mobile body 2 that may emit odors such as peculiar smells or bad smells accompanying operation, such as a cleaning robot during or after cleaning work, as environmental impact information affecting the environment of the area 4. Thus, the users who use each area 4 are less likely to feel uncomfortable due to the odors emitted by the autonomous mobile body 2. In addition, the prohibition specification information includes information related to the appearance of the autonomous mobile body 2. The appearance of the autonomous mobile body 2 refers to at least one of the shape, pattern, and color of the main body of the autonomous mobile body 2. Thus, the users who use each area 4 are less likely to feel uncomfortable due to the appearance of the autonomous mobile body 2.

[0102] In addition, part or all of the functions of the security system 1 may be mounted on the mobile body management device 3, the entry and exit management device 5, the elevator management device 6, the autonomous mobile body 2, or other devices.

[0103] Next, use Figure 7 , an example of the hardware structure of the security system 1 is described.

[0104] Figure 7 This is a hardware configuration diagram of the main parts of the security system 1 according to the first embodiment.

[0105] Each function of the security system 1 can be implemented by a processing circuit. The processing circuit has at least one processor 100a and at least one memory 100b. The processing circuit can 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 security 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 implements each function of the security 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 security system 1 can be implemented by a processing circuit separately. Alternatively, each function of the security system 1 can also be implemented uniformly by a processing circuit. Regarding each function of the security system 1, a part can also 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 security 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 8 This is a table showing an example of the prohibited specification information stored in the storage unit 7 according to the second embodiment.

[0113] The prohibition specification information includes prohibition information depending on the time related to the specification. In this example, the prohibition specification information specifies the specification of prohibition entry by dividing the time period. The prohibition specification information includes information on the prohibition start time and the prohibition end time. In the time period from the prohibition start time to the prohibition end time, the autonomous mobile body 2 carrying the specification specified by the prohibition specification information about each area 4 is prohibited from entering the area 4. In this example, for area C, the prohibition start time "March 14, 2023 13:00" and the prohibition end time "March 14, 2023 15:00", the specification "camera" and the specification "recording" are specified. At this time, in the time period from 13:00 to 15:00 on March 14, 2023, the autonomous mobile body 2 carrying at least one of the specifications "camera" and "recording" is prohibited from entering area C. In addition, the prohibition specification information can also specify the specifications for a single area 4 by dividing multiple time periods. In addition, the designation of the prohibition start time and the prohibition end time can also be regular, such as "15:00 every Wednesday". In addition, the prohibited specification information may include, for example, designation of a specification that does not depend on time and is based on the utilization status of the area 4 input through an operation panel or the like.

[0114] Next, use Fig. 9 , an example of the operation of the safety system 1 is described.

[0115] Fig. 9 This is a flowchart showing an example of the operation of the security system 1 according to the second embodiment.

[0116] exist Fig. 9 4 shows an example of the operation of the determination unit 9 for determining whether or not entry is permitted. When the patrol start time comes for the autonomous mobile body 2 to start patrolling movement, the security system 1 performs the same processing as that in FIG. 4 , for example. Fig. 9 The processing is Figure 4B This is an example of the processing in step S112. Fig. 9 When processing, the judgment unit 9 obtains information on the autonomous mobile object 2 and the target area 4. In addition, when the same area 4 is divided into multiple time periods and the specification is specified, the judgment unit 9 can also perform the processing according to the multiple time periods. Fig. 9 processing.

[0117] exist Fig. 9 In step S201 and step S202, the judgment unit 9 performs the Figure 5 The same processing as step S201 and step S202. Fig. 9 In the processing, after step S202, the action of the security system 1 enters step S211.

[0118] In step S211, the determination unit 9 determines whether the current time is included in the time period from the prohibition start time to the prohibition end time. In addition, when the specification in the prohibition specification information does not depend on time, the determination unit 9 may also determine that the current time is included in the time period in which entry of the specification is prohibited. When the current time is included in the time period, the operation of the security system 1 proceeds to step S212. On the other hand, when the current time is not included in the time period, the determination unit 9 determines that the target autonomous mobile body 2 can enter the target area 4. Then, the operation of the security system 1 related to the determination of the determination unit 9 on whether entry is allowed ends.

[0119] In step S212, it is determined whether any one of the specifications specified by the prohibition specification information as prohibiting entry into the target area 4 during the target time period is mounted on the target autonomous mobile body 2. When any one of the specifications specified by the prohibition specification information is mounted on the autonomous mobile body 2, the determination unit 9 determines that the target autonomous mobile body 2 cannot enter the target area 4. On the other hand, when none of the specifications specified by the prohibition specification information is mounted on the autonomous mobile body 2, the determination unit 9 determines that the target autonomous mobile body 2 can enter the target area 4. Then, the operation of the safety system 1 related to the determination of the entry permission by the determination unit 9 ends.

[0120] As described above, in the mobile body management device 3 of the second embodiment, the prohibition specification information includes prohibition information depending on the time related to the specification of the autonomous mobile body 2. The judgment unit 9 judges whether the autonomous mobile body 2 can enter each area 4 based on the current time. The path search unit 10 searches for a path for the autonomous mobile body 2 to move in the facility based on whether the autonomous mobile body 2 can enter each area 4 judged by the judgment unit 9 based on the current time.

[0121] According to such a configuration, the prohibition specification information indicating the specification of prohibiting entry into each area 4 is dynamically updated according to the status of the reservation for use of each area 4, etc. In the case where an area 4 that cannot be entered due to its specifications, etc. is located on the patrol path, the autonomous mobile body 2 patrols by skipping the area 4 without passing through it. As described above, since the autonomous mobile body 2 can patrol the facility flexibly according to the status of the reservation for use of each area 4 and the specifications of the autonomous mobile body 2, the autonomous mobile body 2 can operate more efficiently while ensuring the safety of the facility.

[0122] Implementation 3

[0123] In Embodiment 3, points different from the example disclosed in Embodiment 1 or Embodiment 2 are described in particular detail. For features not described in Embodiment 3, any features of the example disclosed in Embodiment 1 or Embodiment 2 may be adopted.

[0124] Fig.10 This is a functional block diagram showing the configuration of a safety system 1 according to the third embodiment.

[0125] The storage unit 7 stores area information, moving body information, prohibited specification information, distance information between areas 4, elevator use information, operation information, etc. The distance information between areas 4 includes, for example, information on the distance that the autonomous moving body 2 moves when moving between areas 4. The elevator use information includes information on the time required for the autonomous moving body 2 to move between floors. The operation information includes information on the time required for the autonomous moving body 2 to perform operations in each area 4.

[0126] The mobile body management device 3 includes a route planning unit 12. The route planning unit 12 is a part equipped with a function of planning a route for the autonomous mobile body 2 to move in the facility before the autonomous mobile body 2 starts to move, such as patrolling. The route planning unit 12 calculates the scheduled passage time of the autonomous mobile body 2 moving in the planned route for each area 4. The scheduled passage time includes the scheduled arrival time to the target area 4 or the scheduled departure time from the target area 4. The judgment unit 9 judges whether the autonomous mobile body 2 can enter each area 4 based on the scheduled passage time calculated by the route planning unit 12. The route planning unit 12 searches for a route for the autonomous mobile body 2 based on whether the autonomous mobile body 2 can enter each area 4 based on the judgment of the judgment unit 9 based on the scheduled passage time. In this example, the route planning unit 12 uses the patrol area list and various information stored in the storage unit 7 to perform processing such as route planning and scheduled passage time calculation. For example, the route planning unit 12 edits the patrol area list based on the judgment result of the judgment unit 9 on whether each area 4 corresponding to the scheduled passage time can be entered, and generates a planned patrol area list, thereby planning the movement route of the autonomous mobile body 2. The planned patrol area list is a list of areas 4 to which the autonomous mobile body 2 plans to move in the next patrol. The planned patrol area list is stored in correspondence with the autonomous mobile body 2 in, for example, the storage unit 7. Like the patrol area list, the planned patrol area list is configured as a list having the area 4 as the home position at the beginning and the end.

[0127] The path planning unit 12 may also generate a planned patrol area list by rearranging the order of the patrol area list, etc., based on whether each area 4 can be entered at the scheduled passing time. For example, the path planning unit 12 registers the area 4 in the patrol area list that is determined to be inaccessible at the scheduled passing time in the inaccessible list. The path planning unit 12 recalculates the scheduled passing time when passing through the area 4 registered in the inaccessible list before the last autonomous moving body 2 of the patrol returns to its original position. The path planning unit 12 inserts each area 4 registered in the inaccessible list into the front of the end of the planned patrol area list, based on the recalculated whether it can be entered at the scheduled passing time. The path planning unit 12 uses the passable area flag to manage whether each area 4 registered in the inaccessible list has been successfully inserted into the planned patrol area list. The passable area flag is a flag indicating whether there is an area 4 registered in the inaccessible list that has been inserted into the planned patrol area list.

[0128] As in the first or second embodiment, the path search unit 10 edits the planned patrol area list generated by the path planning unit 12, for example, based on the judgment result of the judgment unit 9 on whether each area 4 can be entered, thereby searching for the movement path of the autonomous mobile body 2. For example, while the autonomous mobile body 2 is moving in the facility, the path search unit 10 searches for the subsequent movement path in the facility.

[0129] The mobile body control unit 11 controls the autonomous mobile body 2 so that it moves according to the path pre-planned by the path planning unit 12 and the path search unit 10, for example. After the path planning unit 12 plans the path, the mobile body control unit 11 waits for the patrol start time when the autonomous mobile body 2 starts patrolling. When the patrol start time comes, the mobile body control unit 11 starts controlling the autonomous mobile body 2 to move according to the path pre-planned by the path planning unit 12 and the path search unit 10, for example.

[0130] Next, examples of various data used in the security system 1 will be described using FIG. 11 .

[0131] Fig.11A This is a table showing an example of the distance information between the areas 4 stored in the storage unit 7 according to the third embodiment.

[0132] Fig. 11B This is a table showing an example of elevator utilization information stored in the storage unit 7 according to the third embodiment.

[0133] Fig. 11C This is a table showing an example of the moving object information stored in the storage unit 7 according to the third embodiment.

[0134] Fig.11D This is a table showing an example of the job information stored in the storage unit 7 according to the third embodiment.

[0135] like Fig.11A As shown, the distance information between the areas 4 is associated with a group of two different areas 4. In the distance information between the areas 4 in this example, the group of area A and area B is associated with the distance "20m" that the autonomous moving body 2 moves when moving between the areas 4. In the distance information between the areas 4 in this example, the group of area A and area E is associated with the distance "10m" that the autonomous moving body 2 moves when moving between the areas 4. Here, area E is an elevator that operates between multiple floors. At this time, the group of area A and area E is associated with the distance between area A and area E on the floor where area A is installed.

[0136] like Fig. 11B As shown in FIG. 1 , the elevator use information is associated with a group of two different floors. A group of one floor may be, for example, a sequential pair having an order. In the area 4 distance information of this example, the groups of the 1st and 2nd floors are associated with an average waiting time "16 seconds" until boarding the car and a travel time "15 seconds" of the car when moving between floors.

[0137] like Fig. 11C As shown, the moving body information corresponds to the moving body ID for identifying each autonomous moving body 2. The moving body information includes, for example, information on the moving speed of the autonomous moving body 2. In the moving body information of this example, the moving body Q as the autonomous moving body 2 corresponds to the average moving speed "0.05 m / s" of the autonomous moving body 2.

[0138] like Fig.11D As shown, the work information is associated with the group of the autonomous moving body 2 and the area 4. In the work information of this example, the group of the moving body Q and the area A is associated with the time "600 seconds" required for the work performed by the moving body Q in the area A.

[0139] Next, using Figure 12 and Fig.13 , an example of the operation of the safety system 1 is described.

[0140] Fig. 12A , Fig. 12B and Fig.13 This is a flowchart showing an example of the operation of the security system 1 according to the third embodiment.

[0141] exist Fig. 12A and Fig. 12B 1 shows an example of the operation of the mobile body management device 3 when planning the movement path of the autonomous mobile body 2. The path of the autonomous mobile body 2 is, for example, planned at a predetermined regular or irregular timing. When a plurality of autonomous mobile bodies 2 are operating in a facility, the path planning unit 12 may also sequentially execute the processing of FIG. 12 for each mobile body. Fig. 12A and Fig. 12BWhen the process is performed, the path planning unit 12 reads the patrol area list preset for the autonomous mobile body 2. In addition, at this time, as an initialization process, the path planning unit 12 sets the planned patrol area list and the impassable list to empty lists.

[0142] exist Fig. 12A In step S301, the path planning unit 12 reads the moving body information of the autonomous moving body 2. Then, the operation of the safety system 1 proceeds to step S302.

[0143] In step S302, the route planning unit 12 reads the first area 4 of the patrol area list. The route planning unit 12 deletes the read first area 4 from the patrol area list. The route planning unit 12 sets the read area 4 as the departure area. Then, the operation of the safety system 1 proceeds to step S303.

[0144] In step S303, the route planning unit 12 sets the patrol start time of the autonomous mobile body 2 as the scheduled departure time of the departure area. Then, the operation of the safety system 1 proceeds to step S304.

[0145] In step S304, the route planning unit 12 adds the departure area to the planned patrol area list. Then, the operation of the safety system 1 proceeds to step S305.

[0146] In step S305 , the route planning unit 12 initializes the traffic area flag to “none.” Then, the operation of the safety system 1 proceeds to step S306 .

[0147] In step S306, the route planning unit 12 performs a destination area selection process. If the destination area is not set by the selection process, the operation of the safety system 1 related to the patrol route plan of the autonomous mobile body 2 ends. On the other hand, if the destination area is set by the selection process, the operation of the safety system 1 enters Fig. 12B Step S307.

[0148] exist Fig. 12B In step S307, the route planning unit 12 reads the area information of the departure area and the destination area. Then, the operation of the safety system 1 proceeds to step S308.

[0149] In step S308, the route planning unit 12 determines whether the departure area and the destination area are located on the same floor. If these areas 4 are located on different floors, the operation of the safety system 1 proceeds to step S309. On the other hand, if these areas 4 are located on the same floor, the operation of the safety system 1 proceeds to step S311.

[0150] In step S309, the route planning unit 12 reads the elevator use information on the combination of the floor where the departure area exists and the floor where the destination area exists. Then, the operation of the safety system 1 proceeds to step S310.

[0151] In step S310, the route planning unit 12 calculates the time required for the autonomous moving body 2 to use the elevator based on the read elevator use information. In this example, the route planning unit 12 sets the time required for the autonomous moving body 2 to use the elevator as the sum of the average waiting time until boarding the car and the read value of the travel time of the car when moving between floors. Then, the operation of the safety system 1 proceeds to step S311.

[0152] In step S311, the path planning unit 12 reads the distance information between the areas 4 of the group of the departure area and the destination area. The path planning unit 12 sets the read distance as the moving distance of the autonomous moving body 2 from the departure area to the destination area. In addition, when the departure area and the destination area are located on different floors, the path planning unit 12 may also read the distance information when passing through the area 4 as an elevator. That is, the path planning unit 12 may also read the distance from the departure area to the area 4 as an elevator and the distance from the area 4 as an elevator to the destination area, respectively, and add them together, thereby calculating the moving distance of the autonomous moving body 2 from the departure area to the destination area. Then, the operation of the safety system 1 enters step S312.

[0153] In step S312, the path planning unit 12 calculates the scheduled arrival time of the destination area. For example, the path planning unit 12 divides the moving distance of the autonomous moving body 2 obtained in step S311 by the moving speed of the autonomous moving body 2, thereby calculating the travel time of the autonomous moving body 2 from the departure area to the destination area. In addition, when the departure area and the destination area are located on different floors, the path planning unit 12 adds the time required to use the elevator to the travel time of the autonomous moving body 2. The path planning unit 12 sets the time after the travel time of the autonomous moving body 2 from the scheduled departure time of the departure area as the scheduled arrival time of the destination area. Then, the operation of the safety system 1 enters step S313.

[0154] In step S313, the determination unit 9 determines whether the autonomous mobile body 2 can enter the destination area at the scheduled arrival time. Fig. 9 The judgment of whether the user can enter at the current time is processed in the same manner. When the judgment unit 9 judges that the user can enter, the operation of the security system 1 proceeds to step S314. On the other hand, when the judgment unit 9 judges that the user cannot enter, the operation of the security system 1 proceeds to step S319.

[0155] In step S314, the route planning unit 12 reads the operation information on the combination of the autonomous mobile object 2 and the destination area. Then, the operation of the safety system 1 proceeds to step S315.

[0156] In step S315, the route planning unit 12 calculates the scheduled departure time of the destination area. For example, the route planning unit 12 sets the scheduled departure time of the destination area as the time after the time required for the work read as the work information from the scheduled arrival time of the destination area. Then, the operation of the safety system 1 proceeds to step S316.

[0157] In step S316 , the route planning unit 12 sets the passable area flag to “yes.” Then, the operation of the safety system 1 proceeds to step S317 .

[0158] In step S317, the route planning unit 12 adds the destination area to the planned patrol area list. Then, the operation of the security system 1 proceeds to step S318.

[0159] In step S318, the route planning unit 12 sets the destination area as the new departure area. Then, the operation of the safety system 1 enters Fig. 12A Step S306.

[0160] In step S319, the route planning unit 12 adds the destination area to the inaccessible list. Then, the operation of the safety system 1 enters Fig. 12A Step S306.

[0161] exist Fig.13 , an example of a destination area selection process is shown. Fig.13 The processing is Fig. 12A This is an example of the internal processing in step S306. Fig.13 During the processing, the route planning unit 12 reads the departure area, the patrol area list, the inaccessible list and the passable area flag.

[0162] In step S401, the route planning unit 12 reads the leading area 4 of the patrol area list. The route planning unit 12 deletes the leading area 4 read from the patrol area list. The route planning unit 12 sets the read area 4 as the destination area. Then, the operation of the security system 1 proceeds to step S402.

[0163] In step S402, the route planning unit 12 determines whether the effective area 4 is set in the destination area. When the effective area 4 is not set in the destination area, it is determined that the destination area cannot be set, and the operation of the safety system 1 related to the selection process ends. On the other hand, when the effective area 4 other than the home position of the autonomous mobile body 2 is set in the destination area, the operation of the safety system 1 proceeds to step S403. In addition, when the home position of the autonomous mobile body 2 is set in the destination area, the operation of the safety system 1 proceeds to step S404.

[0164] In step S403, the route planning unit 12 determines whether the departure area and the destination area are the same area 4. If these areas 4 are the same area 4, the operation of the safety system 1 proceeds to step S401. On the other hand, if these areas 4 are different areas 4, it is assumed that the destination area has been set, and the operation of the safety system 1 related to the selection process ends.

[0165] In step S404, the route planning unit 12 determines the state of the pass area flag. If the pass area flag is "off", the operation of the safety system 1 proceeds to step S403. On the other hand, if the pass area flag is "on", the operation of the safety system 1 proceeds to step S405.

[0166] In step S405, the route planning unit 12 adds the inaccessible list to the end of the patrol area list. Then, the operation of the security system 1 proceeds to step S406.

[0167] In step S406, the route planning unit 12 clears the impassable list to an empty list. Then, the operation of the security system 1 proceeds to step S407.

[0168] In step S407, the path planning unit 12 adds the area 4, which is the home position of the autonomous mobile body 2, to the end of the patrol area list. Then, the operation of the safety system 1 proceeds to step S408.

[0169] In step S408 , the route planning unit 12 sets the traffic area flag to “none.” Then, the operation of the safety system 1 proceeds to step S401 .

[0170] Next, use Fig.14 , an example of calculating the scheduled passing time is described.

[0171] Fig.14 This is a table showing an example of calculation of the estimated travel time by the route planning unit 12 according to the third embodiment.

[0172] Here, the list of facilities and their patrol areas is explained. Figure 6In this example, the route planning unit 12 calculates the scheduled travel time of the moving body Q, which is the autonomous moving body 2. The patrol start time of the moving body Q is 8:00.

[0173] The route planning unit 12 sets the area D as the departure area and the area A as the destination area.

[0174] Since the area D and the area A are arranged on the same floor, the route planning unit 12 obtains the distance “30 m” between these areas 4 from the distance information between the areas 4 related to the group of the area D and the area A.

[0175] The path planning unit 12 calculates the travel time of the moving object Q to the area A as 600 seconds obtained by dividing the distance “30 m” by the moving speed “0.05 / sec” of the moving object Q.

[0176] The route planning unit 12 sets the estimated arrival time of the moving body Q at the area A at 8:10, which is 600 seconds after 8:00, the patrol start time.

[0177] The route planning unit 12 acquires the work time “600 seconds” from the work information about the pair of the moving body Q and the area A.

[0178] The route planning unit 12 sets 8:20, which is 600 seconds after the scheduled arrival time of 8:10 at the area A, as the scheduled departure time of the moving body Q from the area A.

[0179] Next, the route planning unit 12 sets area A as a new departure area and area C as a new destination area. Since area A and area C are arranged on different floors, the route planning unit 12 uses area E as an elevator to calculate the scheduled travel time. The route planning unit 12 obtains the distance "10m" between these areas 4 from the distance information between the areas 4 of the group of area A and area E on the first floor. The route planning unit 12 calculates the travel time of the moving body Q to area E on the first floor as 200 seconds obtained by dividing the distance "10m" by the moving speed "0.05 / second" of the moving body Q. The route planning unit 12 sets 8:23, which is 200 seconds after the scheduled departure time of area A at 8:10, as the scheduled arrival time of the moving body Q to area E on the first floor. The route planning unit 12 obtains the lifting time "16 seconds" and the average waiting time "15" seconds from the elevator information on the group of the first and second floors. The route planning unit 12 adds the two to obtain 31 seconds as the use time of the elevator of the moving body Q. The path planning unit 12 sets the time 31 seconds after 8:10, which is the scheduled arrival time of the area E on the first floor, as the scheduled arrival time of the moving body Q at the area E on the second floor. The path planning unit 12 obtains the distance "13m" between the areas 4 from the distance information between the areas E and the area C on the second floor. The path planning unit 12 calculates the moving time of the moving body Q to the area C as 260 seconds obtained by dividing the distance "13m" by the moving speed "0.05 / second" of the moving body Q. The path planning unit 12 sets 8:28, which is 260 seconds after the scheduled arrival time of the area E on the second floor, as the scheduled arrival time of the moving body Q at the area C. The path planning unit 12 obtains the operation time "1800 seconds" from the operation information on the group of the moving body Q and the area C. The path planning unit 12 sets 8:58, which is 1800 seconds after the scheduled arrival time of the area C, as the scheduled departure time of the moving body Q from the area C.

[0180] The route planning unit 12 also calculates the estimated travel time for the following area B and area D in the same manner.

[0181] Next, an example will be described using FIG. 15 in which there is an area 4 that is determined to be inaccessible at the scheduled passage time.

[0182] Fig.15A and Fig. 15B This is a diagram showing an example of planning of a movement path of the autonomous moving object 2 by the path planning unit 12 according to the third embodiment.

[0183] like Fig.15AAs shown, in the case where it is determined that the area C cannot be entered when moving in the area 4 in the order of the patrol area list, the area C is temporarily registered in the inaccessible list. After the autonomous mobile body 2 passes through the areas 4 other than the home position without passing through the area C, the path planning unit 12 recalculates the scheduled passage time of the area C when entering the area C. In the case where it is determined that the area C can be entered at the recalculated scheduled passage time, the path planning unit 12 adds the area C to the end of the area 4 other than the home position in the planned patrol area list. At this time, the path planning unit 12 deletes the area C from the inaccessible list. Since the area C registered in the inaccessible list has been inserted into the planned patrol area list, the passable area flag is set to "yes".

[0184] On the other hand, Fig. 15B As shown, when it is determined that area C cannot be entered at the recalculated scheduled passing time, the path planning unit 12 does not add area C to the planned patrol area list. Since area C registered in the inaccessible list is not inserted into the planned patrol area list, the passable area flag is set to "none". In this example, area C that is not registered in the planned patrol area list becomes the area 4 that the autonomous moving body 2 does not pass in this patrol. At this time, the inaccessible list is stored in the storage unit 7, for example. Managers of facilities and the like can also refer to the stored inaccessible list to perform manual operations or additional operations based on the autonomous moving body 2. In addition, in the case where there are other areas 4 that the autonomous moving body 2 does not pass during the actual patrol, the path search unit 10 can also add the area 4 to the inaccessible list stored in the storage unit 7.

[0185] As described above, the mobile body management device 3 of the third embodiment has a path planning unit 12. The path planning unit 12 plans the path for the autonomous mobile body 2 to move in the facility before the movement of the autonomous mobile body 2 starts. The path planning unit 12 calculates the scheduled passage time of the autonomous mobile body 2 moving in the planned path for each area 4. The judgment unit 9 judges whether the autonomous mobile body 2 can enter each area 4 based on the scheduled passage time calculated by the path planning unit 12. The path planning unit 12 plans the path of the autonomous mobile body 2 based on whether the judgment unit 9 can enter each area 4. The path search unit 10 searches for the path for the autonomous mobile body 2 to move in the facility based on whether the judgment unit 9 can enter each area 4 after the movement of the autonomous mobile body 2 starts and before it ends.

[0186] According to such a configuration, since the movement path is planned in advance, the possibility of a decrease in movement efficiency due to the autonomous moving body 2 passing in front of the inaccessible area 4 when operating in the facility can be suppressed. Thus, the autonomous moving body 2 can be operated more efficiently while ensuring the safety of the facility.

[0187] In addition, in planning the route of the autonomous mobile body 2, the judgment unit 9 may judge whether it is possible to enter each area 4 at the scheduled departure time in addition to whether it is possible to enter each area 4 at the scheduled arrival time. In this case, for example, when it is judged that a certain area 4 cannot be entered at one of the scheduled arrival time and the scheduled departure time, the route planning unit 12 may register the area 4 in the inaccessible list. Similarly, the judgment unit 9 may judge whether it is possible to enter at the scheduled time during the period when the autonomous mobile body 2 stays in each area 4.

[0188] In addition, the path planning unit 12 determines whether the patrol area list is passable from the beginning of the patrol area list, so the area 4 closer to the beginning of the patrol area list is more likely to have a chance for the autonomous mobile body 2 to pass. Therefore, the path planning unit 12 may also generate a planned patrol area list after rearranging the order of the patrol area list as an initialization process in the plan for each patrol. For example, the path planning unit 12 may also directly use the patrol area list for odd-numbered patrols to generate a planned patrol area list, and use the patrol area list in the opposite order for even-numbered patrols to generate a planned patrol area list. In addition, the path planning unit 12 may also generate a planned patrol area list after cyclically shifting the order of each area 4 in the patrol area list one by one, except for the area 4 at the beginning and the end as the original position, for each patrol. As a result, each area 4 has a more fair chance for the autonomous mobile body 2 to pass.

[0189] Implementation 4

[0190] In Embodiment 4, points different from the examples disclosed in Embodiments 1 to 3 are described in particular detail. For features not described in Embodiment 4, any features of the examples disclosed in Embodiments 1 to 3 may be adopted.

[0191] If there is an area 4 that the autonomous moving body 2 did not pass through during the previous patrol, the route planning unit 12 plans to preferentially pass through the area 4 during the current patrol.

[0192] Fig.16 This is a flowchart showing an example of the operation of the security system 1 according to the fourth embodiment.

[0193] exist Fig.16 , an example of a process of selecting a destination area by the route planning unit 12 is shown.

[0194] When planning the patrol route of the autonomous mobile body 2 , the safety system 1 performs the same processing as that shown in FIG. 12 , for example. Fig.16 The processing is Fig. 12AThis is an example of the internal processing in step S306. Fig.16 During the processing, the route planning unit 12 reads the departure area, the patrol area list and the passable area flag, the current impassable list and the previous impassable list stored in the storage unit 7 and the like.

[0195] In step S501, the route planning unit 12 determines whether the area 4 on the same floor as the departure area is registered in the previous impassable list. When the area 4 on the same floor as the departure area is registered in the previous impassable list, the route planning unit 12 sets the area 4 as the destination area. Then, the operation of the safety system 1 proceeds to step S502. On the other hand, when the area 4 on the same floor as the departure area is not registered in the previous impassable list, the operation of the safety system 1 proceeds to step S503.

[0196] In step S502, the route planning unit 12 deletes the destination area from the tour area list. Then, the destination area is considered to have been set, and the operation of the security system 1 related to the selection process ends.

[0197] In step S503, the route planning unit 12 reads the leading area 4 of the patrol area list. The route planning unit 12 deletes the leading area 4 read from the patrol area list. The route planning unit 12 sets the read area 4 as the destination area. Then, the operation of the security system 1 proceeds to step S504.

[0198] In step S504, the route planning unit 12 determines whether the effective area 4 is set in the destination area. When the effective area 4 is not set in the destination area, it is determined that the destination area cannot be set, and the operation of the safety system 1 related to the selection process ends. On the other hand, when the effective area 4 other than the home position of the autonomous mobile body 2 is set in the destination area, the operation of the safety system 1 proceeds to step S505. In addition, when the home position of the autonomous mobile body 2 is set in the destination area, the operation of the safety system 1 proceeds to step S506.

[0199] In step S505, the route planning unit 12 determines whether the departure area and the destination area are the same area 4. If these areas 4 are the same area 4, the operation of the safety system 1 proceeds to step S503. On the other hand, if these areas 4 are different areas 4, it is assumed that the destination area has been set, and the operation of the safety system 1 related to the selection process ends.

[0200] In step S506, the route planning unit 12 determines the state of the pass area flag. If the pass area flag is "off", the operation of the safety system 1 proceeds to step S507. On the other hand, if the pass area flag is "on", the operation of the safety system 1 proceeds to step S508.

[0201] In step S507, the route planning unit 12 adds the contents of the current impassable list to the end of the previous impassable list. Then, the operation of the security system 1 proceeds to step S505.

[0202] In step S508, the route planning unit 12 determines whether the previous impassable list is an empty list. If the previous impassable list is an empty list, the operation of the safety system 1 proceeds to step S509. On the other hand, if the previous impassable list is not an empty list, the operation of the safety system 1 proceeds to step S510.

[0203] In step S509, the route planning unit 12 adds the current impassable list to the end of the patrol area list. Then, the operation of the security system 1 proceeds to step S512.

[0204] In step S510, the route planning unit 12 adds the previous impassable list to the end of the patrol area list, and further adds the current impassable list to the end thereof. Then, the operation of the security system 1 proceeds to step S511.

[0205] In step S511, the path planning unit 12 deletes the repeated area 4 in the patrol area list. In this example, the path planning unit 12 retains the area 4 closest to the beginning of the repeated area 4 and deletes the other areas 4. Then, the operation of the security system 1 proceeds to step S512.

[0206] In step S512, the route planning unit 12 clears the current impassable list to an empty list. Then, the operation of the security system 1 proceeds to step S513.

[0207] In step S513, the path planning unit 12 adds the area 4, which is the home position of the autonomous mobile body 2, to the end of the patrol area list. Then, the operation of the safety system 1 proceeds to step S514.

[0208] In step S514 , the route planning unit 12 sets the traffic area flag to “none.” Then, the operation of the safety system 1 proceeds to step S503 .

[0209] Next, use Fig.17 , an example of planning a path of the autonomous mobile body 2 is described.

[0210] Fig.17This is a diagram showing an example of a movement route plan for an autonomous moving object by the route planning unit 12 according to the fourth embodiment.

[0211] In this example, area C is registered in the previous inaccessible list as area 4 that the autonomous moving body 2 did not pass in the previous patrol. In this example, it is assumed that area A, area B, and area C and area D which is the home position of the autonomous moving body 2 are located on the same floor.

[0212] Since area C is registered in the previous impassable list, it is planned to be passed immediately after departure from the original position. At this time, area C is deleted from the patrol area list. Then, other areas 4 except area C are added to the planned patrol area list in sequence according to whether they can be passed according to the judgment of the judgment unit 9 based on the scheduled passing time.

[0213] As described above, in the mobile body management device 3 of the fourth embodiment, the route planning unit 12 plans the route in such a manner that, when the autonomous mobile body 2 moves this time, the autonomous mobile body 2 has priority in passing through the areas 4 stored as areas 4 that the autonomous mobile body 2 did not pass through in the previous movement of the autonomous mobile body 2. Since the route is planned in such a manner that the areas 4 that have not been patrolled are given more priority, each area 4 of the facility has a more equitable opportunity for the autonomous mobile body 2 to pass through.

[0214] To summarize the above description, the configurations that can be adopted by the technology of the present invention include the configurations shown below as supplementary notes.

[0215] (Note 1)

[0216] A mobile body management device, wherein the mobile body management device has:

[0217] an area management unit that updates and manages, in association with each of a plurality of areas of the facility that the autonomous mobile body moving in the facility can enter, prohibition specification information indicating a specification for prohibiting entry;

[0218] a determination unit configured to determine whether the autonomous mobile object can enter each of the plurality of areas based on the prohibition specification information associated with each of the plurality of areas and the specification of the autonomous mobile object; and

[0219] A path search unit searches for a path for the autonomous moving object to move in the facility based on whether or not each of the plurality of areas is enterable determined by the determination unit.

[0220] (Note 2)

[0221] The mobile body management device according to Supplementary Note 1, wherein:

[0222] The prohibition specification information includes prohibition information depending on time associated with the specification,

[0223] The determination unit determines whether the autonomous mobile object can enter each of the plurality of areas based on time.

[0224] (Note 3)

[0225] The mobile body management device according to Supplement 2, wherein:

[0226] The mobile body management device includes a path planning unit that plans a path for the autonomous mobile body to move in the facility before the autonomous mobile body starts moving, and calculates a scheduled passage time of the autonomous mobile body moving in the planned path for each of the plurality of areas.

[0227] The judging unit judges whether the autonomous mobile body can enter each of the plurality of areas according to the scheduled passing time calculated by the path planning unit,

[0228] The path planning unit plans a path for the autonomous mobile body according to whether the autonomous mobile body can enter each of the plurality of areas determined by the determination unit.

[0229] The path search unit searches for a path for the autonomous moving body to move in the facility based on whether or not each of the plurality of areas is enterable as determined by the determination unit after the autonomous moving body starts moving and before the autonomous moving body ends moving.

[0230] (Note 4)

[0231] The mobile body management device according to Supplement 3, wherein:

[0232] The autonomous moving body moves repeatedly in the facility regularly or irregularly,

[0233] The route planning unit plans a route so that, during the current movement of the autonomous moving body, the autonomous moving body preferentially passes through an area stored as an area that the autonomous moving body did not pass through during the previous movement of the autonomous moving body.

[0234] (Note 5)

[0235] The mobile object management device according to any one of Supplementary Notes 1 to 4, wherein:

[0236] The prohibition specification information includes information prohibiting an autonomous mobile body having a sound or video recording function from entering as a specification.

[0237] (Note 6)

[0238] The mobile object management device according to any one of Supplementary Notes 1 to 5, wherein:

[0239] The prohibition specification information includes information prohibiting entry of an autonomous mobile body having environmental impact information as a specification, the environmental impact information affecting the environment of at least any one of the plurality of areas.

[0240] (Note 7)

[0241] The mobile body management device according to Supplementary Note 6, wherein:

[0242] The autonomous mobile object having the environmental impact information as a specification includes an autonomous mobile object that generates noise during operation.

[0243] (Note 8)

[0244] The mobile body management device according to Supplement 6 or 7, wherein:

[0245] The autonomous mobile object having the environmental impact information as a specification includes an autonomous mobile object that generates an odor while operating.

[0246] (Note 9)

[0247] The mobile object management device according to any one of Supplementary Notes 6 to 8, wherein:

[0248] The autonomous mobile object having the environmental impact information as a specification includes an autonomous mobile object having a function of emitting at least one of light and sound.

[0249] (Note 10)

[0250] The mobile object management device according to any one of Supplementary Notes 1 to 9, wherein:

[0251] The prohibition specification information includes information prohibiting the autonomous mobile body from entering based on size or weight.

[0252] (Note 11)

[0253] The mobile object management device according to any one of Supplementary Notes 1 to 10, wherein:

[0254] The prohibition specification information includes information for prohibiting the autonomous mobile object from entering based on the appearance of the autonomous mobile object.

[0255] (Note 12)

[0256] A safety system, wherein the safety system has:

[0257] an entry and exit management device for managing the entry and exit of an autonomous mobile body moving in the facility with respect to at least any one of a plurality of areas of the facility that the autonomous mobile body can enter; and

[0258] Mobile body management device,

[0259] The mobile body management device comprises:

[0260] an area management unit that updates and manages restriction specification information indicating a specification for restricting entry in association with each of the plurality of areas;

[0261] a determination unit that determines whether the autonomous mobile object can enter each of the plurality of areas based on the restriction specification information associated with each of the plurality of areas and the specification of the autonomous mobile object; and

[0262] A path search unit searches for a path for the autonomous moving object to move in the facility based on whether or not each of the plurality of areas is enterable determined by the determination unit.

[0263] (Note 13)

[0264] A safety system, wherein the safety system has:

[0265] An elevator management device that manages the use of elevators in any of a plurality of areas of a facility that can be entered by an autonomous mobile body moving in the facility; and

[0266] Mobile body management device,

[0267] The mobile body management device comprises:

[0268] an area management unit that updates and manages restriction specification information indicating a specification for restricting entry in association with each of the plurality of areas;

[0269] a determination unit that determines whether the autonomous mobile object can enter each of the plurality of areas based on the restriction specification information associated with each of the plurality of areas and the specification of the autonomous mobile object; and

[0270] A path search unit searches for a path for the autonomous moving object to move in the facility based on whether or not each of the plurality of areas is enterable determined by the determination unit.

[0271] (Note 14)

[0272] A mobile object management method, wherein a computer performs the following actions:

[0273] updating and managing prohibition specification information indicating a specification for prohibiting entry in association with each of a plurality of areas of the facility that can be entered by an autonomous mobile body moving in the facility;

[0274] determining whether the autonomous mobile object can enter each of the plurality of areas based on the prohibition specification information associated with each of the plurality of areas and the specification of the autonomous mobile object; and

[0275] A path for the autonomous moving object to move in the facility is searched based on whether or not each of the plurality of areas can be entered.

[0276] (Note 15)

[0277] A mobile object management program, wherein the mobile object management program causes a computer to perform the following actions:

[0278] updating and managing prohibition specification information indicating a specification for prohibiting entry in association with each of a plurality of areas of the facility that can be entered by an autonomous mobile body moving in the facility;

[0279] determining whether the autonomous mobile object can enter each of the plurality of areas based on the prohibition specification information associated with each of the plurality of areas and the specification of the autonomous mobile object; and

[0280] A path for the autonomous moving object to move in the facility is searched based on whether or not each of the plurality of areas is enterable.

Claims

1. A mobile body management device, wherein: The mobile body management device has: an area management unit that updates and manages, in association with each of a plurality of areas of the facility that the autonomous mobile body moving in the facility can enter, prohibition specification information indicating a specification for prohibiting entry; a determination unit configured to determine whether the autonomous mobile object can enter each of the plurality of areas based on the prohibition specification information associated with each of the plurality of areas and the specification of the autonomous mobile object; as well as A path search unit searches for a path for the autonomous moving object to move in the facility based on whether or not each of the plurality of areas is enterable determined by the determination unit.

2. The mobile body management device according to claim 1, wherein: The prohibition specification information includes prohibition information depending on time associated with the specification, The determination unit determines whether the autonomous mobile object can enter each of the plurality of areas based on time.

3. The mobile body management device according to claim 2, wherein: The mobile body management device includes a path planning unit that plans a path for the autonomous mobile body to move in the facility before the autonomous mobile body starts moving, and calculates a scheduled passage time of the autonomous mobile body moving in the planned path for each of the plurality of areas. The judging unit judges whether the autonomous mobile body can enter each of the plurality of areas according to the scheduled passing time calculated by the path planning unit, The path planning unit plans a path for the autonomous mobile body according to whether the autonomous mobile body can enter each of the plurality of areas determined by the determination unit. The path search unit searches for a path for the autonomous moving body to move in the facility based on whether or not each of the plurality of areas is enterable as determined by the determination unit after the autonomous moving body starts moving and before the autonomous moving body ends moving.

4. The mobile body management device according to claim 3, wherein: The autonomous moving body moves repeatedly in the facility regularly or irregularly, The route planning unit plans a route so that, during the current movement of the autonomous moving body, the autonomous moving body preferentially passes through an area stored as an area that the autonomous moving body did not pass through during the previous movement of the autonomous moving body.

5. The mobile object management device according to any one of claims 1 to 4, wherein: The prohibition specification information includes information prohibiting an autonomous mobile body having a sound or video recording function from entering as a specification.

6. The mobile object management device according to any one of claims 1 to 4, wherein: The prohibition specification information includes information prohibiting entry of an autonomous mobile body having environmental impact information as a specification, the environmental impact information affecting the environment of at least any one of the plurality of areas.

7. The mobile body management device according to claim 6, wherein: The autonomous mobile object having the environmental impact information as a specification includes an autonomous mobile object that generates noise during operation.

8. The mobile body management device according to claim 6, wherein: The autonomous mobile object having the environmental impact information as a specification includes an autonomous mobile object that generates an odor while operating.

9. The mobile body management device according to claim 6, wherein: The autonomous mobile object having the environmental impact information as a specification includes an autonomous mobile object having a function of emitting at least one of light and sound.

10. The mobile object management device according to any one of claims 1 to 4, wherein: The prohibition specification information includes information prohibiting the autonomous mobile body from entering based on size or weight.

11. The mobile object management device according to any one of claims 1 to 4, wherein: The prohibition specification information includes information for prohibiting the autonomous mobile object from entering based on the appearance of the autonomous mobile object.

12. A security system, wherein: The safety system has: an entry and exit management device for managing the entry and exit of an autonomous mobile body moving in the facility for at least any one of a plurality of areas of the facility that the autonomous mobile body can enter; as well as Mobile body management device, The mobile body management device comprises: an area management unit that updates and manages restriction specification information indicating a specification for restricting entry in association with each of the plurality of areas; a determination unit configured to determine whether the autonomous mobile object can enter each of the plurality of areas based on the restriction specification information associated with each of the plurality of areas and the specification of the autonomous mobile object; as well as A path search unit searches for a path for the autonomous moving object to move in the facility based on whether or not each of the plurality of areas is enterable determined by the determination unit.

13. A security system, wherein: The safety system has: an elevator management device that manages the use of an elevator, the elevator being any area of ​​a plurality of areas of the facility that can be entered by an autonomous mobile body moving in the facility; as well as Mobile body management device, The mobile body management device comprises: an area management unit that updates and manages restriction specification information indicating a specification for restricting entry in association with each of the plurality of areas; a determination unit configured to determine whether the autonomous mobile object can enter each of the plurality of areas based on the restriction specification information associated with each of the plurality of areas and the specification of the autonomous mobile object; as well as A path search unit searches for a path for the autonomous moving object to move in the facility based on whether or not each of the plurality of areas is enterable determined by the determination unit.

14. A mobile body management method, wherein: The computer performs the following actions: updating and managing prohibition specification information indicating a specification for prohibiting entry in association with each of a plurality of areas of the facility that can be entered by an autonomous mobile body moving in the facility; determining whether the autonomous mobile object can enter each of the plurality of areas based on the prohibition specification information associated with each of the plurality of areas and the specification of the autonomous mobile object; as well as A path for the autonomous moving object to move in the facility is searched based on whether or not each of the plurality of areas is enterable.

15. A mobile management program, wherein: The mobile management program enables the computer to perform the following actions: updating and managing prohibition specification information indicating a specification for prohibiting entry in association with each of a plurality of areas of the facility that can be entered by an autonomous mobile body moving in the facility; determining whether the autonomous mobile object can enter each of the plurality of areas based on the prohibition specification information associated with each of the plurality of areas and the specification of the autonomous mobile object; as well as A path for the autonomous moving object to move in the facility is searched based on whether or not each of the plurality of areas is enterable.

Images