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

Abstract

A traffic management device, a traffic management method, a traffic management program, a mobile body system, and a control system, which can manage the movement of a mobile body so as to further improve the movement efficiency. In a mobile body system (1), a plurality of management spaces (5) for managing interference of passage between mobile bodies (2), and a space set comprising two or more management spaces (5) connected in an adjacent relationship sharing an entrance / exit (7) are set in advance. The space management information includes information specifying the corresponding management space (5), information of the gateway (7), and attribute information. A space status management unit (12) manages information on the use status of the moving body (2) in the management space (5) on the basis of space management information relating to each of the management spaces (5) and the space set, and a traffic instruction unit (13) outputs a traffic instruction for the management space (5) to the moving body (2) on the basis of the information.

Description

Technical Field

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

[0002] Patent Document 1 discloses an example of a system for managing the passage of multiple moving objects. In this system, an intersection area and a stopping point are set for each intersection. A management device in this system causes a moving object that enters the intersection area later to stop at the stopping point until the moving object that entered the intersection area earlier exits the intersection. The management device then determines whether the following moving object can enter the intersection. If the management device determines that entry is permitted, it permits the following moving object to enter the intersection.

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 2017-107270

[0004] However, the system of Patent Document 1 issues traffic instructions to mobile objects at a single intersection. Therefore, when mobile objects sequentially pass through a space such as an intersection where traffic interference is managed, instructions to the mobile objects are output regardless of the conditions of the spaces before and after them. This can sometimes reduce the efficiency of the mobile object's movement depending on the conditions of the spaces before and after them. Summary of the Invention

[0005] The present invention relates to a solution to such a problem and provides a traffic management device, a traffic management method, a traffic management program, a mobile system, and a mobile control system that manage the movement of mobile objects to further improve movement efficiency.

[0006] The traffic management device of the present invention comprises: a management information storage unit, which stores space management information related to each of a plurality of pre-set management spaces for managing interference in the passage of a plurality of mobile bodies, and the space management information related to a space set, wherein the space management information includes information for determining the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, and the space set is composed of two or more management spaces connected by an adjacent relationship of sharing any entrance and exit among the plurality of management spaces; a space status management unit, which manages the utilization of the plurality of mobile bodies in each of the plurality of management spaces according to the space management information stored in the management information storage unit The spatial status management unit manages information on the status of the multiple mobile bodies; and a passage indication unit, which outputs a passage indication for each of the multiple mobile bodies, allowing them to pass through the multiple management spaces, based on the utilization status of the multiple mobile bodies managed by the spatial status management unit, and sets the space formed by merging the two or more management spaces included in the spatial set as the corresponding management space. The spatial management information related to the spatial set includes information on entrances and exits that are not shared between adjacent management spaces in the spatial set among the entrances and exits of the two or more management spaces included in the spatial set as information on the entrances and exits of the corresponding management space, and includes attribute information of the spatial set as attribute information of the corresponding management space.

[0007] In the traffic management method of the present invention, a computer performs the following processing: storing space management information related to each of a plurality of pre-set management spaces for managing interference in the passage of a plurality of mobile bodies, and the space management information related to a space set, the space management information including information identifying a corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, the space set being composed of two or more management spaces among the plurality of management spaces connected in an adjacent relationship of sharing arbitrary entrances and exits; managing information on the utilization status of the plurality of mobile bodies in each of the plurality of management spaces based on the space management information; and outputting a passage instruction for each of the plurality of mobile bodies, permitting passage through the plurality of management spaces based on the utilization status of the plurality of mobile bodies, setting a space formed by merging the two or more management spaces included in the space set as a corresponding management space, the space management information related to the space set including information on entrances and exits of the two or more management spaces included in the space set that are not shared between management spaces in an adjacent relationship within the space set as information on the entrances and exits of the corresponding management space, and including attribute information of the space set as attribute information of the corresponding management space.

[0008] The traffic management program of the present invention causes a computer to perform the following processing: storing space management information related to each of a plurality of pre-set management spaces for managing interference in the passage of a plurality of mobile bodies, and the space management information related to a space set, the space management information including information identifying a corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, the space set being composed of two or more management spaces among the plurality of management spaces connected in an adjacent relationship of sharing arbitrary entrances and exits; managing information on the utilization status of the plurality of mobile bodies in each of the plurality of management spaces based on the space management information; and outputting a passage instruction for each of the plurality of mobile bodies, permitting passage through the plurality of management spaces based on the utilization status of the plurality of mobile bodies, setting a space formed by merging the two or more management spaces included in the space set as a corresponding management space, the space management information related to the space set including information on entrances and exits of the two or more management spaces included in the space set that are not shared between adjacent management spaces in the space set as information on the entrances and exits of the corresponding management space, and including attribute information of the space set as attribute information of the corresponding management space.

[0009] The mobile body system of the present invention comprises: a plurality of mobile bodies, which respectively pass through a plurality of pre-set management spaces; a management information storage unit, which stores space management information related to each of the plurality of management spaces for managing interference in the passage between the plurality of mobile bodies, and the space management information related to a space set, wherein the space management information includes information for determining a corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, and the space set is composed of two or more management spaces in the plurality of management spaces that are connected by an adjacent relationship of sharing any entrance and exit; a space status management unit, which manages each of the plurality of management spaces based on the space management information stored in the management information storage unit. The spatial status management unit manages the information on the utilization status of the multiple mobile bodies; and a passage indication unit, which outputs a passage indication for each of the multiple mobile bodies, allowing them to pass through the multiple management spaces, based on the utilization status of the multiple mobile bodies managed by the spatial status management unit, and sets the space formed by merging the two or more management spaces included in the spatial set as the corresponding management space. The spatial management information related to the spatial set includes information on entrances and exits that are not shared between adjacent management spaces in the spatial set among the entrances and exits of the two or more management spaces included in the spatial set as information on the entrances and exits of the corresponding management space, and includes attribute information of the spatial set as attribute information of the corresponding management space.

[0010] The mobile body control system of the present invention comprises: a mobile body control unit, which controls the movement of multiple mobile bodies passing through multiple pre-set management spaces respectively; a management information storage unit, which stores space management information related to each of the multiple management spaces for managing the interference of the passage between the multiple mobile bodies, and the space management information related to the space set, the space management information including information for determining the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, the space set being composed of two or more management spaces in the multiple management spaces connected by an adjacent relationship of sharing any entrance and exit; a space status management unit, which controls the movement of the multiple management spaces based on the space management information stored in the management information storage unit. The spatial status management unit manages information on the utilization status of the multiple mobile bodies in each of the multiple management spaces; and a passage instruction unit, which outputs a passage instruction for each of the multiple mobile bodies, allowing them to pass through the multiple management spaces, based on the utilization status of the multiple mobile bodies managed by the spatial status management unit, and sets the space formed by merging the two or more management spaces included in the spatial set as the corresponding management space. The spatial management information related to the spatial set includes information on entrances and exits that are not shared between adjacent management spaces in the spatial set among the entrances and exits of the two or more management spaces included in the spatial set as information on the entrances and exits of the corresponding management space, and includes attribute information of the spatial set as attribute information of the corresponding management space.

[0011] Effects of the Invention

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

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

[0014] Figure 2 This is a diagram illustrating an example of space management information in the mobile system according to the first embodiment.

[0015] Figure 3 This is a diagram illustrating an example of space management information in the mobile system according to the first embodiment.

[0016] Figure 4 This is a diagram illustrating an example of space management information in the mobile system according to the first embodiment.

[0017] Figure 5 This is a diagram illustrating an example of space management information in the mobile system according to the first embodiment.

[0018] Figure 6 This is a diagram illustrating an example of space management information in the mobile system according to the first embodiment.

[0019] Figure 7 This is a diagram illustrating an example of space management information in the mobile system according to the first embodiment.

[0020] Figure 8 This is a diagram illustrating an example of space management information in the mobile system according to the first embodiment.

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

[0022] Figure 10 This is a hardware configuration diagram of the main parts of the mobile system according to the first embodiment.

[0023] Figure 11 This is a configuration diagram of a moving body system according to the second embodiment.

[0024] Figure 12 This is a sequence diagram showing an example of the operation of the mobile system according to the second embodiment.

[0025] Figure 13 This is a structural diagram of a moving body system according to the third embodiment.

[0026] Figure 14 This is a diagram illustrating an example of a passage instruction for a management space in a mobile system according to a fourth embodiment.

[0027] Description of labels

[0028] 1: Mobile system; 2: Mobile; 3: Facilities; 4: Communication network; 5, 5a, 5b1, 5b2, 5c, 5d, 5e, 5e1, 5e2, 5f1, 5f2, 5f0, 5g1, 5g1A, 5g1B, 5g1C, 5g2, 5g2A, 5g2B, 5g2C, 5g3, 5g3A, 5g3B, 5g3C, 5h, 5hA, 5 hB, 5hC, 5g13, 5g13B, 5i: Management space; 6: Machine equipment; 7, 7a1, 7a2, 7a3, 7a4, 7b1, 7b2, 7b3, 7b4, 7c1, 7c2, 7d1, 7d2, 7e1, 7e2, 7e3, 7f1, 7f2, 7f3, 7f4, 7g1, 7g1A, 7g1B, 7g1C, 7g 2. 7g2A, 7g2B, 7g2C, 7g3, 7g3A, 7g3B, 7g3C, 7h1, 7h1A, 7h1B, 7h1C, 7h2, 7h2A, 7h2B, 7h2C, 7h3, 7h3A, 7h3B, 7h3C, 7i1, 7i2, 7i3: entrance and exit; 8: mobile body control system; 9: mobile body control device; 10: traffic management device; 11: management information storage unit; 12: space status management unit; 13: passage instruction unit; 14: temporary retreat area; 15: mobile body management unit; 16: measuring device; 17, 17i1, 17i2, 17i3, 17i4, 17i5: fixed point; 18: passing point; 100a: processor; 100b: memory; 200: dedicated hardware. DETAILED DESCRIPTION

[0029] The embodiments of the present invention will be described with reference to the accompanying drawings. In the figures, identical or corresponding parts are denoted by the same reference numerals, and repeated descriptions are simplified or omitted as appropriate. The present invention is not limited to the following embodiments, and any structural elements of the embodiments may be modified or omitted without departing from the spirit of the present invention.

[0030] Implementation Method 1

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

[0032] Mobile system 1 is a system that provides services, etc., using mobile devices, namely mobile devices 2. In this example, mobile system 1 is applied to facility 3. Facility 3, for example, includes one or more buildings. Facility 3 may also be part or all of a building. Facility 3 may also include one or both of the outdoor and indoor areas of a building. Facility 3 may also be, for example, a commercial facility, office building, accommodation facility, residential facility, public welfare facility, or other facility, or a combination thereof. Mobile system 1 includes one or more mobile devices 2. In this example, mobile system 1 includes multiple mobile devices 2.

[0033] Each mobile object 2 is a device that provides services by moving. Examples of mobile objects 2 include autonomous mobile objects. Mobile objects 2 may also be robots, drones, mobile objects, self-driving vehicles, or other mobile devices. Mobile objects 2 may move by driving, walking, flying, sailing, or other means. Examples of services provided by mobile objects 2 include transportation, guidance, security, and cleaning services.

[0034] Each mobile object 2 is equipped with wireless communication functionality to enable information communication with external devices. Each mobile object 2 communicates with external devices directly or indirectly via a communication network 4. Examples of the communication network 4 include the Internet, a telephone network, or an optical communication network. The communication network 4 may include a local area network such as a LAN (Local Area Network) within the facility 3, or industrial communication such as short-range wireless communication. The communication network 4 may also include a wired or wireless intranet.

[0035] Part or all of the mobile objects 2 operating in the mobile system 1 may be devices within the mobile system 1 or devices outside the system that cooperates with the mobile system 1. The mobile objects 2 may be devices that move within a predetermined range, such as within a facility 3, or may have an unrestricted range, such as a vehicle traveling on a road. In this case, the mobile system 1 can also be applied to a region encompassing roads or other wide areas.

[0036] In an area such as a facility 3 where the mobile system 1 is applied, multiple managed spaces are pre-defined, such as a managed space 5a, a managed space 5b1, and a managed space 5b2. Here, when multiple managed spaces such as the managed space 5a, the managed space 5b1, and the managed space 5b2 are not specifically distinguished, they may be simply referred to as the managed space 5. The managed space 5 is a space used to manage interference between multiple mobile objects 2 in the mobile system 1. Examples of managed spaces 5 include intersections such as crossroads, T-junctions, or three-way roads, or narrow roads where mobile objects 2 can cross. For example, the managed space 5 may be a room or an open space. The managed space 5 may also be a space corresponding to equipment 6 installed in the facility 3. Equipment 6 includes, for example, elevators, escalators, and security gates. The managed space 5 may be a space corresponding to multiple equipment 6 or a space corresponding to no equipment 6.

[0037] Managed space 5a has entrances and exits 7a1, 7a2, 7a3, and 7a4. Managed space 5b1 has entrances and exits 7b1, 7b2, and 7b3. Managed space 5b2 has entrances and exits 7b2 and 7b4. Managed space 5b1 and managed space 5b2 share entrance and exit 7b2. Here, when multiple entrances and exits, such as entrances and exits 7a1, 7a2, and 7b1, are not specifically distinguished, they may be simply referred to as entrances and exits 7. Thus, each managed space 5 has one or more entrances and exits 7. The entrances and exits 7 of a managed space 5 indicate locations where one can enter or exit the managed space 5. For example, the entrances and exits 7 of a managed space 5, such as an intersection, correspond to the passageways leading to the intersection.

[0038] In the mobile system 1, one or more space sets are pre-set. Each space set contains two or more managed spaces 5. Here, when multiple managed spaces 5 share an entrance and exit 7, the multiple managed spaces 5 are said to be in an adjacent relationship. The managed spaces 5 included in each space set are connected in an adjacent relationship. In addition, the two or more managed spaces 5 included in the space set can be connected along the adjacent relationship between the managed spaces 5, and the space set can also contain a combination of two or more managed spaces 5 that are not in a direct adjacent relationship with each other. For example, when a space set contains three managed spaces 5 arranged in a straight line, if the spaces at both ends are adjacent to the middle space, the spaces at both ends may not be adjacent to each other.

[0039] The mobile system 1 includes a mobile control system 8. The mobile control system 8 is a system that controls the movement of the mobile 2, the execution of service tasks, and mediation between the mobiles 2. The mobile control system 8 includes a mobile control device 9 and a traffic management device 10.

[0040] The mobile control device 9 is a component that controls the movement of the mobile object 2 and the execution of tasks. The mobile control device 9 is an example of a mobile control unit. The mobile control device 9 communicates with external devices via the communication network 4 or the like. The mobile control device 9 can also control the movements of multiple mobile objects 2. Multiple mobile control devices 9 may be provided in the mobile control system 8. Each mobile control device 9 may be managed by a different administrator, for example. The administrator of the mobile control device 9 may be, for example, the manufacturer or management company of the corresponding mobile object 2. Alternatively, the same administrator may manage multiple mobile control devices 9. Some or all of the mobile control devices 9 may be devices within the mobile system 1 or devices outside the system that cooperates with the mobile system 1. Each mobile control device 9 is, for example, a computer system composed of one or more server devices. Here, a computer system composed of one or more devices may sometimes be simply referred to as a computer. The multiple server devices that comprise the mobile control device 9 may also be located in different locations. In this case, the multiple server devices communicate information with each other, for example, via the communication network 4. Part or all of the functions of the mobile control device 9 may be implemented using processing or storage resources on a cloud service, for example. In addition, part or all of the mobile body 2 operating in the mobile system 1 may operate autonomously without being controlled by the mobile control device 9.

[0041] The traffic management device 10 is a part that performs processes such as mediation of movement between mobile bodies 2. The traffic management device 10 communicates with external devices via the communication network 4 or the like. The traffic management device 10 is, for example, a computer system composed of one or more server devices or the like. The multiple server devices that constitute the traffic management device 10 can also be configured in different places from each other. In this case, the multiple server devices communicate information with each other, for example, via the communication network 4. Part or all of the functions of the traffic management device 10 can also be installed, for example, through processing or storage resources on a cloud service. In addition, the traffic management device 10 can also include part or all of the functions of the mobile body control device 9. The traffic management device 10 has a management information storage unit 11, a space status management unit 12, and a traffic instruction unit 13.

[0042] The management information storage unit 11 is a component equipped with a function to store space management information related to each managed space 5. The space management information includes information identifying the managed space 5, such as an identifier for the corresponding managed space 5. The information identifying the managed space 5 may include, for example, the coordinates of a reference point for the managed space 5 or a coordinate range indicating the extent of the managed space 5. The space management information includes information on one or more entrances and exits 7 of the corresponding managed space 5. Information on the entrances and exits 7 of a managed space 5 may also include, for example, the coordinates of the entrances and exits 7 relative to the reference point for the managed space 5. The space management information includes attribute information for the corresponding managed space 5. Attributes of a managed space 5 include, for example, information related to the shape of the space, such as a crossroads, T-junctions, three-way intersections, or narrow roads. Attributes of a managed space 5 include, for example, information related to equipment 6 associated with the space, such as elevators and security gates. The space management information may also include information on the permissible width, number of vehicles allowed, time allowed, and other restrictions on the movement of mobile objects 2 permitted in the corresponding managed space 5. The permissible width of the management space 5 represents, for example, the upper limit of the effective width of the mobile body 2 that can pass through the management space 5. The effective width of the mobile body 2 is, for example, the width required to fully avoid collisions, which is set based on the physical width of the main body of the mobile body 2 and its mobility performance such as movement accuracy and turning radius. The permissible number of vehicles in the management space 5 represents, for example, the upper limit of the number of mobile bodies 2 that can simultaneously utilize the management space 5. The permissible time of the management space 5 represents, for example, the upper limit of the time that the mobile body 2 can continuously stay in the management space 5. The space management information is represented by, for example, modeling information related to the passage of the mobile body 2 in the management space 5 as a conceptual model. The management information storage unit 11 stores the space management information, for example, by storing it in a database.

[0043] The management information storage unit 11 stores space management information related to each space set. In the space management information related to a space set, a space formed by merging two or more management spaces 5 included in the space set is set as the corresponding management space 5. The space management information related to a space set includes information on the entrances and exits 7 of the two or more management spaces 5 included in the space set that are not shared between adjacent management spaces 5 in the space set as information on the entrances and exits 7 of the corresponding management space 5. The space management information related to a space set includes attribute information of the space set as attribute information of the corresponding management space 5. The attribute information of a space set is, for example, an attribute formed by merging the attributes of the two or more management spaces 5 included in the space set. Similar to the space management information related to a single management space 5, the space management information related to a space set includes information identifying the corresponding management space 5, information on the entrances and exits 7, and attribute information. Therefore, the management information storage unit 11 can also store space management information related to a space set in the same way as the space management information related to a single management space 5.

[0044] The space status management unit 12 is a component equipped with functions for managing information on the usage status of mobile objects 2 in each managed space 5. The space status management unit 12 manages this usage status information based on the space management information related to each managed space 5 and the space management information related to each space set stored in the management information storage unit 11. Information on the usage status of a managed space 5 includes, for example, whether each mobile object 2 is located in that managed space 5. Information on the usage status of a managed space 5 also includes information on the purpose and time of use of each mobile object 2 in that managed space 5. Examples of usage purposes include using the managed space 5 solely as a travel route or performing a service task in the managed space 5. Examples of purposes other than passing through include cleaning the managed space 5. Examples of usage time include the elapsed time since entering the managed space 5. Examples of information on the status of equipment 6 installed in that managed space 5 include information on the status of equipment 6. Examples of equipment 6 status information include whether a security door is open or closed. The space status management unit 12 manages information on the usage status of mobile objects 2 by storing it in a database, for example. The space status management unit 12 updates and manages the information on the utilization status of the management space 5 at any time so as to reflect the current status.

[0045] The passage instruction unit 13 is a component equipped with the function of outputting passage instructions for each mobile object 2 in the managed space 5. The passage instruction unit 13 outputs instructions for each mobile object 2 based on the utilization status of the mobile object 2 managed by the space status management unit 12. The instructions for the mobile object 2 can be output via the mobile object control device 9 that controls the movement of the mobile object 2, or can be output to the mobile object 2 without going through the mobile object control device 9. The passage instructions for the managed space 5 include, for example, instructions for entering the managed space 5, instructions for exiting the managed space 5, or both.

[0046] For example, when each mobile object 2 approaches the managed space 5a, it outputs a utilization request to the traffic management device 10 to pass through the managed space 5a. The utilization request output by the mobile object 2 may also be output to the traffic management device 10 via the mobile object control device 9. Alternatively, the utilization request of the mobile object 2 may be output to the traffic management device 10 from the mobile object control device 9 that controls the mobile object 2. Each mobile object 2 may determine whether it has approached the managed space 5a using information such as its current position and the distance to the managed space 5a based on its current position. For example, the current position information of each mobile object 2 may be obtained by the mobile object 2 itself or the mobile object control device 9 using a satellite positioning system such as the Global Positioning System (GPS), an autonomous navigation system, an indoor positioning system, or other positioning systems. The utilization request includes, for example, information identifying the mobile object 2, such as an identifier of the mobile object 2, and information identifying the managed space 5a to be utilized by the mobile object 2, such as an identifier of the managed space 5a. The utilization request may also include information such as the effective width of the mobile object 2. The utilization request may also include information regarding the purpose of the mobile object 2's use of the managed space 5a. For example, after outputting a request for use, each mobile body 2 waits at a location immediately before the managed space 5a without entering the managed space 5a until a pass instruction is received from the pass instruction unit 13. Alternatively, for example, each mobile body 2 may wait at a predetermined location of the entrance 7a1, which is one of the entrances and exits of the managed space 5a, and output a request for use to pass through the managed space 5a to the traffic management device 10. The predetermined location is information managed by the traffic management device 10 in association with the information of the entrance 7. The mobile body system 1 may also be configured so that when the mobile body 2 is introduced into the facility 3, the information of the predetermined location is shared as an initial setting. The space status management unit 12 manages the information of the predetermined location set in the entrance 7 by storing it in a database, for example.

[0047] The traffic management device 10 receives a request to use the managed space 5a from a mobile object 2 via the communication network 4. At this time, the passage instruction unit 13 refers to the information on the usage status of the mobile object 2 in the managed space 5a managed by the space status management unit 12. Based on the referenced information, the passage instruction unit 13 determines whether or not there is any interference with traffic in the managed space 5a when the mobile object 2 that has issued the utilization request enters the managed space 5a.

[0048] The passage instruction unit 13 determines whether passage interference has occurred based on, for example, the permitted number of vehicles in the managed space 5a and the number of mobile vehicles 2 already in the managed space 5a. For example, the passage instruction unit 13 determines that passage interference has occurred in the managed space 5a if the sum of the number of mobile vehicles 2 already in the managed space 5a and the number of mobile vehicles 2 that have issued utilization requests exceeds the permitted number of vehicles in the managed space 5a. For example, the passage instruction unit 13 determines that passage interference has not occurred in the managed space 5a if the sum of the number of mobile vehicles 2 already in the managed space 5a and the number of mobile vehicles 2 that have issued utilization requests does not exceed the permitted number of vehicles in the managed space 5a. Alternatively, the passage instruction unit 13 may determine that passage interference has not occurred in the managed space 5a if no other mobile vehicles 2 are present in the managed space 5a.

[0049] Alternatively, the passage instruction unit 13 may determine whether passage interference has occurred based on, for example, the permissible width of the managed space 5a, the effective width of the mobile object 2 already in the managed space 5a, and the effective width of the mobile object 2 that has issued a utilization request. For example, if the sum of the effective width of the mobile object 2 already in the managed space 5a and the effective width of the mobile object 2a that has issued a utilization request exceeds the permissible width of the managed space 5a, the passage instruction unit 13 may determine that passage interference has occurred in the managed space 5a. For example, if the sum of the effective width of the mobile object 2 already in the managed space 5a and the effective width of the mobile object 2a that has issued a utilization request does not exceed the permissible width of the managed space 5a, the passage instruction unit 13 may determine that passage interference has not occurred in the managed space 5a. For example, when no other moving objects 2 exist in the managed space 5a and the effective width of the moving object 2a that has output a utilization request does not exceed the permissible width of the managed space 5a, the passage instruction unit 13 determines that no passage interference occurs in the managed space 5a.

[0050] Furthermore, the passage instruction unit 13 may determine the effective width when the purpose of use of the mobile body 2 is other than passage by setting it to a value greater than the effective width when the purpose of use of the mobile body 2 is passage. For example, when the purpose of use of the mobile body 2 is other than passage, the passage instruction unit 13 may multiply the effective width by a predetermined coefficient greater than 1, or may add a predetermined positive value to the effective width.

[0051] If the passage instruction unit 13 determines that no traffic interference occurs in the managed space 5a, it outputs a passage instruction to cause the mobile object 2 that has issued the utilization request to enter the managed space 5a. The passage instruction for the mobile object 2 may also be output to the mobile object 2 via the mobile object control device 9. The passage instruction for the mobile object 2 may also be output from the traffic management device 10 to the mobile object control device 9 that controls the mobile object 2. Then, the mobile object 2 that has received the passage instruction enters the managed space 5a.

[0052] When the mobile body 2 enters the managed space 5a, the space status management unit 12 updates the utilization status of the managed space 5a. The space status management unit 12 detects the entry of the mobile body 2, for example, by outputting an entry notification when the mobile body 2 enters the managed space 5a. The space status management unit 12 updates, for example, the information of the mobile body 2 currently located in the managed space 5a. The space status management unit 12 may also manage the utilization status of the managed space 5a by assuming that at least a part of the managed space 5a is occupied by the mobile body 2. For example, when an allowable number of units is set for the managed space 5a, the space status management unit 12 manages the utilization status of the managed space 5a by assuming that one of the allowable number of units is occupied. Alternatively, when an allowable width is set for the managed space 5a, the space status management unit 12 may manage the utilization status of the managed space 5a by assuming that the effective width of the mobile body 2 within the allowable width is occupied.

[0053] When the mobile object 2 exits the managed space 5a, the space status management unit 12 updates the usage status of the managed space 5a. The space status management unit 12 detects the exit of the mobile object 2 by, for example, outputting an exit notification when the mobile object 2 exits the managed space 5a. For example, the space status management unit 12 updates the information about the mobile object 2 currently located in the managed space 5a. Alternatively, the space status management unit 12 may manage the usage status of the managed space 5a when the portion of the managed space 5a occupied by the mobile object 2 is released.

[0054] Furthermore, the mobile system 1 may include a plurality of traffic management devices 10. In this case, the plurality of traffic management devices 10 may share a database storing, for example, space management information and information on usage status.

[0055] Figures 2 to 8 This is a diagram illustrating an example of space management information in the mobile system 1 according to the first embodiment.

[0056] exist Figure 2 , there are shown a plan view of a management space 5 c corresponding to a narrow road of width W and an example of space management information obtained by conceptually modeling the plan view.

[0057] The managed space 5c, defined for the narrow passage, has entrances and exits 7c1 and 7c2. A moving object 2 traveling from the west to the east in the managed space 5c enters the managed space 5c through entrance and exit 7c1 and exits the managed space 5c through entrance and exit 7c2. On the other hand, when a moving object 2 travels from the east to the west in the managed space 5c, it enters the managed space 5c through entrance and exit 7c2 and exits the managed space 5c through entrance and exit 7c1.

[0058] The space management information, conceptually modeled as a narrow road, includes information about the corresponding managed space 5c, as well as information about the entrances and exits 7c1 and 7c2 of that managed space 5c. Furthermore, the space management information includes information about the "narrow road" attribute of managed space 5c. The space management information also includes information about the permissible width W as part of the managed space 5c. In this example, the permissible width W of managed space 5c corresponds to the physical width W of the narrow road designated as managed space 5c.

[0059] exist Figure 3 , there are shown an example of a plan view of the managed space 5 where passing vehicles are possible and space management information obtained by conceptually modeling the space 5.

[0060] The managed space 5d corresponds to a passage with a physical width of 2W. In this passage, moving bodies 2 with an effective width of less than W can pass each other. The managed space 5d has an entrance and exit 7d1 and an entrance and exit 7d2. A moving body 2 passing from the west to the east in the managed space 5d enters the managed space 5d using entrance and exit 7d1 as an entrance and exits the managed space 5d using entrance and exit 7d2 as an exit. On the other hand, when a moving body 2 passes from the east to the west in the managed space 5d, the moving body 2 enters the managed space 5d using entrance and exit 7d2 as an entrance and exits the managed space 5d using entrance and exit 7d1 as an exit. In addition, for this passage, if the total effective width of two moving bodies 2 in opposite directions is less than 2W, that is, the effective width of each moving body is less than W, then the two moving bodies 2 can pass each other. For example, even if the effective width of one moving object 2 is Wa, which is larger than W, the two moving objects 2 can pass each other as long as the effective width of the other moving object 2 does not exceed (2W - Wa). The passage instruction unit 13 determines whether passage interference occurs in the managed space 5 based on, for example, whether the sum of the effective widths of the moving objects 2 exceeds the permissible width of the managed space 5.

[0061] The space management information obtained by conceptually modeling this passageway includes information about the corresponding managed space 5d, as well as information about the entrances and exits 7d1 and 7d2 of that managed space 5d. Furthermore, the space management information includes information about the "passing passageway" attribute of the managed space 5d. The space management information also includes information about the permissible width W as part of the managed space 5d information.

[0062] The managed space 5e corresponds to a narrow road with a physical width of W and includes a temporary refuge area 14. This road allows vehicles 2 with an effective width of less than W to pass through, and by utilizing the temporary refuge area 14, vehicles 2 can pass each other. The managed space 5e has an entrance 7e1 and an entrance 7e2. A vehicle 2 traveling from the west to the east of the managed space 5e enters the managed space 5e through entrance 7e1 and exits the managed space 5e through entrance 7e2. On the other hand, a vehicle 2 traveling from the east to the west of the managed space 5e enters the managed space 5e through entrance 7e2 and exits the managed space 5e through entrance 7e1.

[0063] The physical shapes of the management space 5d and the management space 5e are different from each other, but they are passages that can allow moving bodies 2 with an effective width of less than W to pass each other. This point can be considered the same in the conceptual model obtained by modeling the information related to the passage of moving bodies 2. Therefore, the space management information related to the management space 5e has the same structure as the space management information related to the management space 5d. In addition, for this passage, the minimum width is W, so as long as the effective width of each of the two moving bodies 2 in opposite directions is less than W, the two moving bodies 2 can pass each other. Such minimum width information may also be included in the space management information. For example, the passage instruction unit 13 can also determine whether there is interference with passage in the management space 5 and whether the moving body 2 can pass based on the effective width of the moving body 2 and the minimum width of the management space 5.

[0064] In addition, in the management space 5e, the actual passing order of the vehicles using the temporary retreat place 14 can be set by the mobile body 2 or the mobile body control device 9, or the traffic management device 10 can instruct the mobile body 2. The judgment of the passing order includes, for example, the judgment of which mobile body 2 on the east side or the west side enters the temporary retreat place 14. In addition, the management space 5e can also be a space set consisting of two management spaces that are adjacent to the management space 5e1 and the management space 5e2. In this case, the order in which the mobile bodies 2 can pass each other can also be, for example, the following order: after one mobile body 2 moves from the management space 5e1 as a narrow road to the management space 5e2 as a temporary retreat place 14, the other mobile body 2 is instructed to start passing to the management space 5e1 as a narrow road.

[0065] exist Figure 4 , an example of space management information related to a space set is shown.

[0066] Managed space 5f1 corresponds to a three-way intersection. Managed space 5f2 corresponds to a narrow road adjacent to the three-way intersection. Managed space 5f1 has entrances 7f1, 7f2, and 7f3. Managed space 5f2 has entrances 7f3 and 7f4. Thus, the adjacent managed spaces 5f1 and 5f2 share entrance 7f3.

[0067] The management information storage unit 11 stores space management information related to the management space 5f1 and space management information related to the management space 5f2. The space management information of the management space 5f1 includes information of the attribute "three-way road". The space management information of the management space 5f2 includes information of the attribute "narrow road".

[0068] In the mobile system 1, a space set consisting of a management space 5f1 and a management space 5f2 is set. In this case, the management information storage unit 11 stores space management information related to the space set. The space management information related to the space set includes information identifying the management space 5f0 formed by merging the management spaces 5f1 and 5f2 as the corresponding management space 5. The space management information related to the space set includes information on entrances 7f1, 7f2, and 7f4, which are not shared by the adjacent management spaces 5f1 and 5f2, as information on entrances 7. The space management information related to the space set may not include information on the entrance 7f3 shared by the management spaces 5f1 and 5f2, but may include information on a location corresponding to entrance 7f3, such as a temporary evacuation location 14. The space management information related to the space set includes information on the attribute "conditional three-way intersection," which is different from the attributes of the management spaces 5f1 and 5f2. The space management information related to the space set may also include information on the permissible width. The permissible width information may include two values ​​associated with each of the management space 5f1 and the management space 5f2, or may be the minimum permissible width of each of the management space 5f1 and the management space 5f2. The space management information associated with the space set may also include information on the permissible number of units. The permissible number of units information may also include two values ​​associated with each of the management space 5f1 and the management space 5f2.

[0069] The space status management unit 12 updates the utilization status information for a space set in the same manner as it updates the utilization status information for a single management space 5. For example, when a mobile object 2 enters a management space 5f0 of a space set formed by merging management spaces 5f1 and 5f2, the space status management unit 12 updates the utilization status of the space set. For example, the space status management unit 12 updates the information of the mobile object 2 currently located in the management space 5f0. For example, the space status management unit 12 may also update the information of the currently existing mobile object 2 for each of the management spaces 5f1 and 5f2 included in the space set. The space status management unit 12 may also manage the utilization status of the space set by assuming that the mobile object 2 occupies at least a portion of the management space 5f0. For example, the space status management unit 12 may also manage the utilization status of the space set by assuming that the mobile object 2 occupies at least a portion of each of the management spaces 5f1 and 5f2 included in the space set. Furthermore, for example, when a mobile object 2 exits the management space 5f0, the space status management unit 12 updates the utilization status of the space set. The space status management unit 12 updates information on the mobile object 2 currently located in the management space 5f0, for example. The space status management unit 12 may also manage the utilization status of the space set by releasing a portion of the management space 5f0 occupied by the mobile object 2.

[0070] The passage instruction unit 13 performs the same process of determining interference and outputting a passage instruction for a space set as it does for a single managed space 5. For example, the passage instruction unit 13 determines whether there is interference with passage based on the permitted number of vehicles in the managed space 5f0 and the number of mobile vehicles 2 already in the managed space 5f0. For example, the passage instruction unit 13 may determine whether there is interference with passage based on the permitted number of vehicles and the number of mobile vehicles 2 already in the managed space 5f1 and the managed space 5f2 included in the space set, respectively. For example, the passage instruction unit 13 may determine whether there is interference with passage based on the permitted width of the managed space 5f0, the effective width of the mobile vehicles 2 already in the managed space 5f0, and the effective width of the mobile vehicle 2 that has output a utilization request. For example, the passage instruction unit 13 may determine whether there is a passage interference with the managed space 5f1 and the managed space 5f2 included in the spatial set based on the permissible width and the effective width of the existing mobile object 2 and the mobile object 2 that has issued a utilization request. If the passage instruction unit 13 determines that there is no passage interference, it outputs a passage instruction to cause the mobile object 2 that has issued the utilization request to enter the managed space 5f0. Then, the mobile object 2 that has received the passage instruction enters the managed space 5f0.

[0071] exist Figure 5, an example of space management information related to the management space 5 corresponding to the elevator is shown.

[0072] In the area where the mobile object system 1 is applied, such as in a facility 3, an elevator is installed that can be used by the mobile object 2. The elevator is a piece of equipment 6 that transports the mobile object 2, etc., between multiple floors. In this example, an elevator capable of traveling between floors 1 to 3 is shown, but the elevator can also be capable of traveling between only two floors or between four or more floors. The elevator includes a car that the mobile object 2 can board. In an elevator, the car carries the mobile object 2, etc., traveling up and down in a hoistway from the departure floor to the arrival floor. The elevator has a group consisting of multiple cars. In this example, the elevator group includes car A, car B, and car C. Furthermore, an elevator can include only one car, two cars, or more than four cars. In the facility 3, etc., an elevator lobby is located on each floor. The elevator lobby is where the mobile object 2, etc., can board and disembark from the car.

[0073] Managed space 5g1 corresponds to the lobby on the first floor. Managed space 5g1 includes entrances 7g1 and 7h1. Managed space 5g2 corresponds to the lobby on the second floor. Managed space 5g2 includes entrances 7g2 and 7h2. Managed space 5g3 corresponds to the lobby on the third floor. Managed space 5g3 includes entrances 7g3 and 7h3. In this example, managed space 5g1 corresponds to the portion of the lobby on the first floor that communicates with each car. That is, managed space 5g1 includes the locations in the lobby on the first floor where cars A board and disembark from the first floor, the locations where cars B board and disembark from the first floor, and the locations where cars C board and disembark from the first floor. Similarly, managed space 5g2 corresponds to the portion of the lobby on the second floor that communicates with each car, and managed space 5g3 corresponds to the portion of the lobby on the third floor that communicates with each car.

[0074] Managed space 5h corresponds to the elevator car. In this example, managed space 5h corresponds to the entire elevator group. That is, managed space 5h corresponds to all of elevator cars A, B, and C. Managed space 5h has entrances 7h1, 7h2, and 7h3. Managed space 5h shares entrance 7h1 with managed space 5g1. Managed space 5h shares entrance 7h2 with managed space 5g2. Managed space 5h shares entrance 7h3 with managed space 5g3. In other words, managed space 5h is adjacent to managed space 5g1, managed space 5g2, and managed space 5g3, respectively.

[0075] In mobile system 1, a space set consisting of managed space 5g1, managed space 5h, and managed space 5g3 is established for movement from the first floor to the third floor. Here, managed space 5g1, managed space 5h, and managed space 5g3 are connected in a neighboring relationship. Both managed space 5g1 and managed space 5g3 are adjacent to managed space 5h. Therefore, managed space 5g1 and managed space 5g3 are not directly adjacent, but are indirectly connected through the neighboring relationship via managed space 5h. Managed space 5g1 is an example of the first space. Managed space 5h is an example of the second space. Managed space 5g3 is an example of the third space.

[0076] The management information storage unit 11 stores space management information related to the space set. The space management information related to the space set includes information identifying management space 5g13, which is a combination of management space 5g1, management space 5h, and management space 5g3, as the corresponding management space 5. The space management information related to the space set includes information on entrances and exits 7g1 and 7g3, which are not shared within the space set, as information on entrances and exits 7. For example, the space management information related to the space set includes information on the attribute "movement from the 1st floor to the 3rd floor by elevator." Similarly, in the mobile system 1, space sets corresponding to movement between two other floors are set, and the management information storage unit 11 stores space management information related to each space set.

[0077] exist Figure 6 , another example of the space management information related to the management space 5 corresponding to the elevator is shown.

[0078] and Figure 5 Similarly, Figure 6 The illustrated elevator has a group including an A-car, a B-car, and a C-car.

[0079] Managed space 5g1 corresponds to the lobby on the first floor. Managed space 5g1 includes entrances 7g1, 7h1A, 7h1B, and 7h1C. Managed space 5g2 corresponds to the lobby on the second floor. Managed space 5g2 includes entrances 7g2, 7h2A, 7h2B, and 7h2C. Managed space 5g3 corresponds to the lobby on the third floor. Managed space 5g3 includes entrances 7g3, 7h3A, 7h3B, and 7h3C. Managed space 5g1 corresponds to the portion of the lobby on the first floor that communicates with each car. In other words, managed space 5g1 includes the locations in the lobby on the first floor where cars A board and disembark from the first floor, the locations where cars B board and disembark from the first floor, and the locations where cars C board and disembark from the first floor. Likewise, the managed space 5g2 corresponds to the portion of the lobby on the second floor that communicates with the cars, and the managed space 5g3 corresponds to the portion of the lobby on the third floor that communicates with the cars.

[0080] The managed space 5hA corresponds to the elevator car A. It has entrances 7h1A, 7h2A, and 7h3A. The managed space 5hB corresponds to the elevator car B. It has entrances 7h1B, 7h2B, and 7h3B. The managed space 5hC corresponds to the elevator car C. It has entrances 7h1C, 7h2C, and 7h3C. The managed space 5hA shares entrance 7h1A with the managed space 5g1. The managed space 5hA shares entrance 7h2A with the managed space 5g2. The managed space 5hA shares entrance 7h3A with the managed space 5g3. In other words, the managed space 5hA is adjacent to the managed space 5g1, the managed space 5g2, and the managed space 5g3, respectively. Similarly, managed space 5hB is adjacent to managed space 5g1, managed space 5g2, and managed space 5g3, respectively, and managed space 5hC is adjacent to managed space 5g1, managed space 5g2, and managed space 5g3, respectively. Managed space 5hA, managed space 5hB, and managed space 5hC may not be adjacent to each other in the sense of sharing entrance 7, but they are physically adjacent to each other.

[0081] In mobile system 1, a space set consisting of managed space 5g1, managed space 5hB, and managed space 5g3 is established to accommodate movement from the first floor to the third floor. Managed space 5g1, managed space 5hB, and managed space 5g3 are connected in a neighboring relationship. Managed space 5g1 is an example of the first space. Managed space 5hB is an example of the second space. Managed space 5g3 is an example of the third space.

[0082] The management information storage unit 11 stores space management information related to the space set. The space management information related to the space set includes information identifying management space 5g13B, which is a combination of management space 5g1, management space 5hB, and management space 5g3, as the corresponding management space 5. The space management information related to the space set includes information on entrances and exits 7g1 and 7g3, which are not shared within the space set, as information on entrances and exits 7. For example, the space management information related to the space set includes information on the attribute "movement from the 1st floor to the 3rd floor using elevator car B." Similarly, in the moving body system 1, space sets corresponding to movements between two other floors using other elevator cars are set, and the management information storage unit 11 stores space management information related to each space set.

[0083] exist Figure 7 , another example of the space management information related to the management space 5 corresponding to the elevator is shown.

[0084] and Figure 5 Similarly, Figure 7 The illustrated elevator has a group including an A-car, a B-car, and a C-car.

[0085] Management space 5g1A corresponds to the lobby on the first floor. Management space 5g1A includes entrances 7g1A and 7h1A. Management space 5g2A corresponds to the lobby on the second floor. Management space 5g2A includes entrances 7g2A and 7h2A. Management space 5g3A corresponds to the lobby on the third floor. Management space 5g3A includes entrances 7g3A and 7h3A. Management space 5g1A corresponds to the portion of the lobby on the first floor that communicates with the car of Elevator A. In other words, management space 5g1A includes the location in the lobby on the first floor where Elevator A's car boarding and disembarking from the first floor are located. Similarly, management space 5g2A corresponds to the portion of the lobby on the second floor that communicates with the car of Elevator A, and management space 5g3A corresponds to the portion of the lobby on the third floor that communicates with the car of Elevator A. Similarly, for the B-car, corresponding management spaces 5g1B, 5g2B, and 5g3B are set up in the lobby of each floor. Furthermore, for these management spaces 5, entrances 7g1B and 7h1B, entrances 7g2B and 7h2B, and entrances 7g3B and 7h3B are set up, respectively. Similarly, for the C-car, corresponding management spaces 5g1C, 5g2C, and 5g3C are set up in the lobby of each floor. Furthermore, for these management spaces 5, entrances 7g1C and 7h1C, entrances 7g2C and 7h2C, and entrances 7g3C and 7h3C are set up, respectively.

[0086] The managed space 5hA corresponds to the elevator car A. It has entrances 7h1A, 7h2A, and 7h3A. The managed space 5hB corresponds to the elevator car B. It has entrances 7h1B, 7h2B, and 7h3B. The managed space 5hC corresponds to the elevator car C. It has entrances 7h1C, 7h2C, and 7h3C. The managed space 5hA shares entrance 7h1A with the managed space 5g1A. The managed space 5hA shares entrance 7h2A with the managed space 5g2A. The managed space 5hA shares entrance 7h3A with the managed space 5g3A. That is, the managed space 5hA is adjacent to the managed space 5g1A, the managed space 5g2A, and the managed space 5g3A, respectively. Similarly, managed space 5hB is adjacent to managed space 5g1, managed space 5g2, and managed space 5g3, respectively. Managed space 5hC is adjacent to managed space 5g1, managed space 5g2, and managed space 5g3, respectively. Managed spaces 5hA, 5hB, and 5hC may not be adjacent to each other in the sense of sharing entrance 7, but they are physically adjacent to each other. Managed spaces 5g1A, 5g1B, and 5g1C may not be adjacent to each other in the sense of sharing entrance 7, but they are physically adjacent to each other. The same applies to managed spaces 5g2A, 5g2B, and 5g2C, as well as managed spaces 5g3A, 5g3B, and 5g3C.

[0087] In mobile system 1, a space set consisting of managed space 5g1B, managed space 5hB, and managed space 5g3B is established to accommodate movement from the first floor to the third floor. Here, managed space 5g1B, managed space 5hB, and managed space 5g3B are connected in a neighboring relationship. Managed space 5g1B is an example of the first space. Managed space 5hB is an example of the second space. Managed space 5g3B is an example of the third space.

[0088] The management information storage unit 11 stores space management information related to the space set. The space management information related to the space set includes information identifying management space 5g13B, which is a combination of management space 5g1B, management space 5hB, and management space 5g3B, as the corresponding management space 5. The space management information related to the space set includes information on entrances and exits 7g1B and 7g3B, which are not shared within the space set, as information on entrances and exits 7. For example, the space management information related to the space set includes information on the attribute "movement from the 1st floor to the 3rd floor using elevator car B." Similarly, in the moving body system 1, space sets corresponding to movements between two other floors using other elevator cars are set, and the management information storage unit 11 stores space management information related to each space set.

[0089] exist Figure 8 , another example of the space management information related to the management space 5 corresponding to the elevator is shown.

[0090] and Figure 5 Similarly, Figure 8 The illustrated elevator has a group including an A-car, a B-car, and a C-car.

[0091] Management space 5g1A corresponds to the lobby on the first floor. Management space 5g1A includes entrances 7g1A and 7h1. Management space 5g2A corresponds to the lobby on the second floor. Management space 5g2A includes entrances 7g2A and 7h2. Management space 5g3A corresponds to the lobby on the third floor. Management space 5g3A includes entrances 7g3A and 7h3. Management space 5g1A corresponds to the portion of the lobby on the first floor that communicates with the car of elevator A. In other words, management space 5g1A includes the location in the lobby on the first floor where the car of elevator A boards and disembarks from the first floor. Similarly, management space 5g2A corresponds to the portion of the lobby on the second floor that communicates with the car of elevator A, and management space 5g3A corresponds to the portion of the lobby on the third floor that communicates with the car of elevator A. Similarly, for the car of elevator B, corresponding management spaces 5g1B, 5g2B, and 5g3B are set up in the lobby on each floor. Furthermore, for these managed spaces 5, entrances 7g1B and 7h1, entrances 7g2B and 7h2, and entrances 7g3B and 7h3 are set respectively. Similarly, for the C-car, corresponding managed spaces 5g1C, 5g2C, and 5g3C are set in the lobby of each floor. Furthermore, for these managed spaces 5, entrances 7g1C and 7h1, entrances 7g2C and 7h2, and entrances 7g3C and 7h3 are set respectively.

[0092] The managed space 5h corresponds to the elevator car. In this example, the managed space 5h corresponds to the entire elevator group. That is, the managed space 5h corresponds to all of the cars A, B, and C. The managed space 5h has entrances 7h1, 7h2, and 7h3. The managed space 5h shares entrance 7h1 with the managed spaces 5g1A, 5g1B, and 5g1C. The managed space 5h shares entrance 7h2 with the managed spaces 5g2A, 5g2B, and 5g2C. The managed space 5h shares entrance 7h3 with the managed spaces 5g3A, 5g3B, and 5g3C. That is, the management space 5h is adjacent to the management space 5g1A, the management space 5g1B, the management space 5g1C, the management space 5g2A, the management space 5g2B, the management space 5g2C, and the management space 5g3A, the management space 5g3B, and the management space 5g3C, respectively.

[0093] In mobile system 1, a space set consisting of managed space 5g1B, managed space 5h, and managed space 5g3B is established to correspond to movement from the first floor to the third floor. Here, managed space 5g1B, managed space 5h, and managed space 5g3B are connected in a neighboring relationship. Managed space 5g1B is an example of the first space. Managed space 5h is an example of the second space. Managed space 5g3B is an example of the third space.

[0094] The management information storage unit 11 stores space management information related to the space set. The space management information related to the space set includes information identifying management space 5g13B, which is a combination of management space 5g1B, management space 5h, and management space 5g3B, as the corresponding management space 5. The space management information related to the space set includes information on entrances and exits 7g1B and 7g3B, which are not shared within the space set, as information on entrances and exits 7. For example, the space management information related to the space set includes information on the attribute "movement from the 1st floor to the 3rd floor using elevator car B." Similarly, in the moving body system 1, space sets corresponding to movements between two other floors using other elevator cars are set, and the management information storage unit 11 stores space management information related to each space set.

[0095] Next, use Figure 9 An example of the operation of the mobile system 1 according to the first embodiment will be described.

[0096] Figure 9 This is a sequence diagram showing an example of the operation of the mobile system 1 according to the first embodiment.

[0097] When the mobile body 2 uses the managed space 5 during passage, it outputs a use request for the managed space 5 to the traffic management device 10. The mobile body 2 outputs the use request when it approaches the managed space 5 or reaches a predetermined position of the entrance 7 of the managed space 5.

[0098] The traffic management device 10 accepts a request for use from a mobile object 2. At this time, the space status management unit 12 makes a reservation for use of the managed space 5. For example, if the managed space 5 corresponds to a device 6, the reservation for use of the managed space 5 includes a notification of the scheduled use of the mobile object 2 for the device 6. Upon accepting the reservation for use from the space status management unit 12, the device 6 prepares to accept use of the mobile object 2. The device 6 may also notify the traffic management device 10 of the completion of preparations when preparations for accepting use of the mobile object 2 are complete. The reservation for use of the managed space 5 may also update the utilization status of the managed space 5 managed by the space status management unit 12 to indicate the start of use of the mobile object 2.

[0099] Upon receiving a utilization request from a mobile object 2, the passage instruction unit 13 determines whether interference with the passage of the mobile object 2 occurs within the managed space 5 specified in the utilization request. The passage instruction unit 13 may also output a standby instruction to the mobile object 2. If it determines that interference occurs, the passage instruction unit 13 waits until the possibility of interference is eliminated. For example, the passage instruction unit 13 waits until any mobile object 2 exits the managed space 5. On the other hand, if it determines that no interference occurs, the passage instruction unit 13 outputs a pass instruction to the mobile object 2 that issued the utilization request, causing it to enter the managed space 5.

[0100] The mobile body 2 that has received the pass instruction enters the managed space 5. When entering the managed space 5, the mobile body 2 outputs an entry notification to the traffic management device 10. The space status management unit 12 updates the utilization status of the managed space 5. The traffic management device 10 uses the entry notification from the mobile body 2 as a trigger to monitor the managed space 5. For example, the management space 5 is monitored based on the utilization status managed by the space status management unit 12. The traffic management device 10 monitors whether the utilization status managed by the space status management unit 12 satisfies conditions such as the allowed number of vehicles, allowed width, allowed time, or other constraints. In addition, the mobile body 2 may omit the output of the entry notification. At this time, the traffic management device 10 may also use the output of the pass instruction to the mobile body 2 as a trigger to monitor the managed space 5.

[0101] Then, the mobile object 2 exits the managed space 5. Upon exiting the managed space 5, the mobile object 2 outputs an exit notification or a usage completion notification to the traffic management device 10. The space status management unit 12 updates the usage status of the managed space 5. The traffic management device 10 uses this notification from the mobile object 2 as a trigger to terminate monitoring of the managed space 5.

[0102] Then, the space status management unit 12 releases the utilization reservation of the managed space 5. When the facility device 6 receives the release of the utilization reservation from the space status management unit 12, for example, it can accept utilization by another mobile object 2.

[0103] As described above, the mobile body system 1 of embodiment 1 has a plurality of mobile bodies 2 and a mobile body control system 8. In the mobile body system 1, a plurality of management spaces 5 for managing the interference of passage between the mobile bodies 2 and a space set consisting of two or more management spaces 5 connected in an adjacent relationship with a common entrance and exit 7 are pre-set. The mobile body control system 8 has a mobile body control device 9 and a traffic management device 10. The mobile body control device 9 controls the movement of the mobile body 2. The traffic management device 10 has a management information storage unit 11, a space status management unit 12, and a passage instruction unit 13. The management information storage unit 11 stores space management information for each management space 5 and space set. The space management information includes information for identifying the corresponding management space 5, information for the entrance and exit 7 of the management space 5, and attribute information of the management space 5. The space management information related to the space set includes information on a space formed by merging two or more management spaces 5 included in the space set as information on the corresponding management space 5. The space management information associated with a space set includes information about entrances and exits 7 not shared between adjacent managed spaces 5 within the space set as information about the entrances and exits 7 of the corresponding managed spaces 5. The space management information associated with a space set includes attribute information about the space set as attribute information about the corresponding managed spaces 5. The space status management unit 12 manages information about the usage status of mobile objects 2 in each managed space 5 based on the space management information stored in the management information storage unit 11. The passage instruction unit 13 outputs passage instructions for mobile objects 2 in the managed spaces 5 based on the usage status of mobile objects 2 managed by the space status management unit 12.

[0104] With this configuration, the movement of the mobile object 2 is managed based on information including space management information related to a space set consisting of two or more managed spaces 5. Thus, when the mobile object 2 passes through a managed space 5, instructions for the mobile object 2 are output based on the conditions of the managed spaces 5 adjacent to that managed space 5. Consequently, the movement of the mobile object 2 can be managed, further improving the efficiency of the movement of the mobile object 2.

[0105] Furthermore, when a request for use of the managed space 5 is output from the mobile object 2, the passage instruction unit 13 determines whether or not interference with the passage of the mobile object 2 will occur if the mobile object 2 enters the managed space 5 based on information on the usage status of the mobile object 2 in the managed space 5. If no interference occurs, the passage instruction unit 13 outputs a passage instruction to allow the mobile object 2 to enter the managed space 5.

[0106] According to this configuration, the entry of the movable body 2 into the managed space 5 is permitted without causing interference, and thus the movable body 2 can utilize the managed space 5 more efficiently.

[0107] Furthermore, the space management information includes information on the permissible width for passage within the corresponding managed space 5. The passage instruction unit 13 determines whether or not there is any interference with passage within the managed space 5 based on the permissible width associated with the managed space 5 subject to the utilization request, the effective width of the mobile object 2 already located within the managed space 5, and the mobile object 2 that has issued the utilization request.

[0108] According to this configuration, the presence or absence of interference is determined based on the effective width of each moving body 2, thereby enabling flexible determination corresponding to the passing moving body 2. This further improves the movement efficiency of the moving body 2.

[0109] Furthermore, the passage instruction unit 13 sets the effective width of each mobile body 2 when the managed space 5 to be used is not for passage to a value larger than the effective width when the managed space 5 is for passage, and determines whether passage interference occurs.

[0110] With this configuration, the presence or absence of interference is determined based on the purpose of use of the mobile object 2. For example, a mobile object 2 using the managed space 5 for cleaning or other purposes may move wider within the managed space 5 than when simply passing through. Thus, even for the same mobile object 2, the effective width may vary depending on the purpose of use. By making this determination based on the purpose of use, the movement of the mobile object 2 can be managed based on its actual use to avoid interference.

[0111] Furthermore, when the mobile object 2 enters the managed space 5, the space status management unit 12 manages information on the usage status by assuming that the mobile object 2 occupies at least a portion of the managed space 5. When the mobile object 2 exits the managed space 5, the space status management unit 12 manages information on the usage status by assuming that the portion of the managed space 5 occupied by the mobile object 2 is released.

[0112] According to this configuration, the utilization status of the management space 5 is managed according to the movement of the mobile body 2 . Therefore, the movement of the mobile body 2 can be managed according to the actual utilization status of the mobile body 2 so as not to cause interference.

[0113] Furthermore, the plurality of managed spaces 5 include a first space corresponding to the lobby of the elevator's departure floor, a second space adjacent to the first space and corresponding to the elevator's car, and a third space adjacent to the second space and corresponding to the lobby of the elevator's arrival floor. The management information storage unit 11 stores space management information related to the space set consisting of the first space, the second space, and the third space.

[0114] According to this structure, the movement from the departure floor to the arrival floor of the elevator is centrally managed, so it is not easy to produce the situation such as the moving body 2 being trapped and unable to get off the elevator at the arrival floor.

[0115] Furthermore, an elevator has a group consisting of multiple cars. In this case, the second space corresponds to the entire group of cars. The first space includes all of the areas in the lobby on the departure floor that communicate with each car in the group. The third space includes all of the areas in the lobby on the arrival floor that communicate with each car in the group.

[0116] According to this configuration, even when there are multiple cars, the movement of the moving object 2 can be managed using the same process as when there is a single car. Therefore, the process of managing the movement of the moving object 2 is not overly complicated. In addition, the management space 5 corresponding to the car includes the entire group. Therefore, if the car assigned to the moving object 2 is changed, it is easy to handle boarding and alighting to the changed car.

[0117] Alternatively, the second space corresponds to any one of the cars. The first space includes all portions of the lobby on the departure floor that communicate with each car in the group. The third space includes all portions of the lobby on the arrival floor that communicate with each car in the group.

[0118] This configuration allows entry to the lobby to be handled regardless of the car assigned to the moving object 2. Furthermore, since the management space 5 corresponding to each car is set for each car, the movement of the moving objects 2 is less likely to overlap when boarding or alighting from the car. This improves the efficiency of the movement of the moving objects 2.

[0119] Alternatively, the second space corresponds to any one of the cars. The first space corresponds to the portion of the lobby on the departure floor that communicates with the car. The third space corresponds to the portion of the lobby on the arrival floor that communicates with the car.

[0120] With this structure, the movement of the moving objects 2 in the lobby is managed for each assigned car, making it easier for the moving objects 2 to board and disembark from the assigned car. Furthermore, the management space 5 corresponding to each car is set for each car, so when boarding and disembarking, the movement of the moving objects 2 is less likely to overlap. This improves the efficiency of the movement of the moving objects 2.

[0121] Alternatively, the second space corresponds to the entire group of cars. The first space corresponds to a portion of the lobby on the departure floor that communicates with any one of the cars. The third space corresponds to a portion of the lobby on the arrival floor that communicates with the car.

[0122] According to this structure, the movement of the moving body 2 in the lobby is managed for each assigned car, making it easier for the moving body 2 to board or disembark from the assigned car. In addition, the management space 5 corresponding to the car includes the entire group. Therefore, even if the car assigned to the moving body 2 is changed, it is easy to board or disembark from the changed car.

[0123] Next, use Figure 10 An example of the hardware configuration of the mobile system 1 will be described.

[0124] Figure 10 This is a hardware configuration diagram of the main parts of the mobile system 1 according to the first embodiment.

[0125] A portion or all of the functions of the mobile system 1 can be implemented by a processing circuit. The processing circuit includes at least one processor 100a and at least one memory 100b. The processing circuit may also include at least one dedicated hardware 200 in addition to or in place of the processor 100a and the memory 100b.

[0126] When the processing circuit includes a processor 100a and a memory 100b, the various functions of the mobile system 1 are implemented using software, firmware, or a combination of software and firmware. At least one of the software and firmware is described as a program. This program is stored in the memory 100b. The processor 100a reads and executes the program stored in the memory 100b, thereby implementing the various functions of the mobile system 1. The program may also be a program package containing multiple subroutines, modules, or libraries. A program is sometimes also referred to as a program product.

[0127] The processor 100a is also called a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. The memory 100b is composed of nonvolatile or volatile semiconductor memories such as RAM, ROM, flash memory, EPROM, and EEPROM.

[0128] In the case where the processing circuit has dedicated hardware 200, the processing circuit is implemented by, for example, a single circuit, a complex circuit, a programmed processor, parallel programmed processors, an ASIC, an FPGA, or a combination thereof.

[0129] Each function of the mobile system 1 can be implemented separately by a processing circuit. Alternatively, each function of the mobile system 1 can be implemented collectively by the processing circuit. Each function of the mobile system 1 can also be partially implemented using dedicated hardware 200 and others implemented using software or firmware. In this manner, the processing circuit implements each function of the mobile system 1 using dedicated hardware 200, software, firmware, or a combination thereof.

[0130] Implementation Method 2

[0131] In the second embodiment, differences from the example disclosed in the first embodiment are particularly described in detail. Any features of the example disclosed in the first embodiment may be adopted as well as features not described in the second embodiment.

[0132] Figure 11 This is a configuration diagram of a moving body system 1 according to the second embodiment.

[0133] The traffic management device 10 includes a mobile body management unit 15. The mobile body management unit 15 is a unit equipped with a function of managing information related to each mobile body 2. The information of the mobile body 2 includes, for example, information such as the current position, current speed, and current state of the mobile body 2. The information such as the current position of the mobile body 2 is provided to the traffic management device 10 at any time, for example, from the mobile body 2 itself or the mobile body control device 9. The mobile body management unit 15 manages the information of the mobile body 2 by storing it in a database, for example. The information management performed by the mobile body management unit 15 includes adding, maintaining, updating, correcting, or deleting information. The mobile body management unit 15 updates and manages the changed information of the mobile body 2 at any time so that the current situation can be reflected.

[0134] The space status management unit 12 detects the entry and exit of the mobile body 2 from the managed space 5 based on the information of the mobile body 2 updated and managed by the mobile body management unit 15 .

[0135] Next, an example of the operation of the mobile system 1 according to the second embodiment will be described.

[0136] Figure 12 This is a sequence diagram showing an example of the operation of the mobile system 1 according to the second embodiment.

[0137] The moving object 2 provides information such as its current position to the traffic management device 10 at any time. The moving object management unit 15 updates and manages the information of the moving object 2 based on the information provided from the moving object 2.

[0138] When the mobile body 2 uses the managed space 5 during passage, it outputs a use request for the managed space 5 to the traffic management device 10. The mobile body 2 outputs the use request when it approaches the managed space 5 or reaches a predetermined position of the entrance 7 of the managed space 5.

[0139] The traffic management device 10 accepts a utilization request from a mobile body 2. At this time, the space status management unit 12 makes a utilization reservation for the management space 5. When accepting the utilization request from the mobile body 2, the passage instruction unit 13 determines whether interference with the passage of the mobile body 2 occurs with respect to the management space 5 specified in the utilization request. The passage instruction unit 13 may also output a standby instruction to the mobile body 2. When it is determined that interference occurs, the passage instruction unit 13 waits until the possibility of interference is eliminated. For example, the passage instruction unit 13 waits until any mobile body 2 exits the management space 5. On the other hand, when it is determined that no interference occurs, the passage instruction unit 13 outputs a passage instruction to the mobile body 2 that has outputted the utilization request so that it enters the management space 5.

[0140] A mobile object 2 that has received a pass instruction enters the managed space 5. The space status management unit 12 updates the utilization status of the managed space 5. The traffic management device 10 uses the entry of the mobile object 2 into the managed space 5 as a trigger to monitor the managed space 5. For example, the traffic management device 10 monitors the managed space 5 based on the utilization status managed by the space status management unit 12 and the current location information of the mobile object 2 managed by the mobile object management unit 15. For example, the traffic management device 10 monitors whether the utilization status managed by the space status management unit 12 satisfies conditions such as the permitted number of vehicles, permitted width, permitted time, or other constraints. The passage instruction unit 13 determines whether any group of mobile objects 2 is in abnormal proximity based on the current location information of the mobile objects 2. Abnormal proximity between mobile objects 2 occurs, for example, when the mobile objects 2 come closer than a predetermined range. The range of abnormal proximity can also be set based on, for example, the effective width of the mobile objects 2. If abnormal proximity occurs, the passage instruction unit 13 outputs a temporary stop instruction to one or both of the mobile objects 2 in abnormal proximity. The moving body 2 that receives the temporary stop instruction moves after the temporary stop to avoid abnormal approach.

[0141] Then, the moving object 2 exits the managed space 5. The space status management unit 12 updates the utilization status of the managed space 5. The traffic management device 10 ends monitoring the managed space 5 using the exit of the moving object 2 from the managed space 5 as a trigger.

[0142] Then, the space status management unit 12 releases the utilization reservation of the managed space 5. When the facility device 6 receives the release of the utilization reservation from the space status management unit 12, for example, it can accept utilization by another mobile object 2.

[0143] As described above, the traffic management device 10 of Embodiment 2 includes a moving object management unit 15. The moving object management unit 15 updates and manages information on the current position of each moving object 2. Based on the information managed by the moving object management unit 15, the passage instruction unit 13 determines whether any moving objects 2 are approaching each other abnormally. If an abnormal approach occurs, the passage instruction unit 13 outputs a temporary stop instruction to the moving object 2 approaching abnormally.

[0144] According to this configuration, the proximity of the moving bodies 2 is determined based on the position information of the moving bodies 2, so that interference or the like between the moving bodies 2 is less likely to occur. Therefore, the movement efficiency of the moving bodies 2 is further improved.

[0145] Implementation 3

[0146] In Embodiment 3, differences from the examples disclosed in Embodiments 1 and 2 are particularly described in detail. Any features of the examples disclosed in Embodiments 1 and 2 may be employed for features not described in Embodiment 3.

[0147] Figure 13 This is a configuration diagram of a moving body system 1 according to a third embodiment.

[0148] In an area where the mobile body system 1 is applied, such as a facility 3, one or more measuring devices 16 are installed. The measuring device 16 corresponds to an arbitrary management space 5. The measuring device 16 is installed in the corresponding management space 5. The measuring device 16 is a device that measures information on the current position of the mobile body 2. The measuring device 16 is, for example, a camera or a distance sensor. For example, while the mobile body 2 is in the corresponding management space 5, the measuring device 16 continuously measures the position of the mobile body 2. The measuring device 16 is configured to be activated by a control signal from the traffic management device 10. The control signal is input to the measuring device 16 through, for example, the communication network 4. The measuring device 16 can also be stopped by a control signal from the traffic management device 10, or it can be automatically stopped after a predetermined time has passed since the activation control signal was received.

[0149] The moving object management unit 15 manages information related to each moving object 2. This information includes, for example, the current location of each moving object 2. This information is provided to the traffic management device 10 from, for example, the measuring device 16. The moving object management unit 15 constantly updates and manages the changing information on the moving objects 2 to reflect the current situation.

[0150] When a mobile object 2 requests to use a managed space 5, the space status management unit 12 outputs an activation control signal to the measuring device 16 installed in the managed space 5. Receiving the control signal, the measuring device 16 begins measuring the position of the mobile object 2 in the corresponding managed space 5. The measuring device 16 provides the measurement results of the position of the mobile object 2 to the traffic management device 10. Based on the information managed by the mobile object management unit 15, the space status management unit 12 determines whether the mobile object 2 using the managed space 5 has remained in the same location for longer than a predetermined period of time, that is, whether it has been stranded. If it is determined that a stranded person has occurred, the space status management unit 12 renders the managed space 5 unusable. The passage instruction unit 13 does not output an entry instruction for the mobile object 2 to the unusable managed space 5 or the space set containing the managed space 5. After the stranded person has been eliminated by the mobile object 2 itself or the manager of the facility 3, the space status management unit 12 makes the managed space 5 usable again. The space status management unit 12 may detect the elimination of detention based on information on the current position of the mobile object 2 or the like, or may determine that detention has been eliminated based on an operation by a manager of the facility 3 or the like.

[0151] As described above, in the traffic management device 10 of Embodiment 3, the moving object management unit 15 updates and manages information on the current location of each moving object 2. Based on the information managed by the moving object management unit 15, the space status management unit 12 determines whether a moving object 2 utilizing the managed space 5 has remained in the same location for longer than a predetermined period of time, i.e., whether it has been delayed. If a moving object 2 has been delayed, the space status management unit 12 disables the managed space 5 utilized by the moving object 2.

[0152] This configuration determines whether a mobile object 2 is being held up based on its position information, enabling earlier detection of abnormalities. Furthermore, the managed space 5 where a holdup has occurred is rendered unusable for management, preventing new mobile objects 2 from entering that managed space 5. This further reduces the likelihood of mobile objects 2 being blocked, further improving the efficiency of mobile object 2 movement. Furthermore, the mobile object management unit 15 can manage information such as the current position of the mobile object 2 based on information provided by the mobile object 2 itself or the mobile object control device 9.

[0153] Furthermore, when a request for use of the managed space 5 is output from the mobile object 2, the space status management unit 12 activates the measuring device 16 installed in the managed space 5 to measure the position of the mobile object 2 using the managed space 5. The mobile object management unit 15 manages information on the current position of the mobile object 2 using the managed space 5 based on the information measured by the measuring device 16.

[0154] With this configuration, the movement of the mobile object 2 is managed based on the position information of the mobile object 2 measured by the measuring device 16. This allows detection of abnormalities such as delays even when an abnormality occurs in the positioning of the mobile object 2 itself. Consequently, the traffic management device 10 can more reliably manage the movement of the mobile object 2.

[0155] Implementation 4

[0156] In Embodiment 4, differences from the examples disclosed in Embodiments 1 to 3 are particularly described in detail. Any features of the examples disclosed in Embodiments 1 to 3 may be employed for features not described in Embodiment 4.

[0157] Figure 14 This is a diagram illustrating an example of a passage instruction for a management space 5 in the mobile system 1 according to the fourth embodiment.

[0158] exist Figure 14 , a plan view of the management space 5i corresponding to the three-way intersection is shown.

[0159] The managed space 5i includes entrances 7i1, 7i2, and 7i3. Fixed points 17i1 and 17i2 are set for entrance 7i1. Fixed points 17i2 and 17i3 are set for entrance 7i2. Fixed point 17i2 corresponds to both entrances 7i1 and 7i2. Fixed points 17i4 and 17i5 are set for entrance 7i3. When multiple fixed points, such as fixed points 17i1, 17i2, and 17i3, are not specifically distinguished, they may be simply referred to as fixed points 17. Fixed points 17 are points that are set corresponding to entrances 7 of the managed space 5 and are fixed relative to the managed space 5. Fixed points 17 may be, for example, feature points such as the corners of entrances 7. Markers that can be detected by the mobile object 2 may also be provided at fixed points 17. Reference points are set in the managed space 5. Reference points are, for example, points that serve as positional references for various points within the managed space 5. The reference point may be any of the fixed points 17 set for the entrances and exits 7 of the managed space 5. In this example, the reference point for the managed space 5i is fixed point 17i1. Alternatively, a single fixed point 17 may be set for each entrance and exit 7. For example, a fixed point 17 may be a point that specifies the placement of the entrance and exit 7, such as the point at the right end of the entrance and exit 7 when viewed from the direction of entry into the managed space 5.

[0160] The space management information for the management space 5 includes the absolute coordinates of the fixed points 17 corresponding to each entrance and exit 7. In this example, the space management information for the management space 5i includes the absolute coordinates of fixed points 17i1, 17i2, 17i3, 17i4, and 17i5. Absolute coordinates are expressed, for example, using an xy rectangular coordinate system. In this example, the absolute coordinates of fixed point 17i1, which serves as a reference point, are stored as (X1, Y1). The absolute coordinates of fixed point 17i4 are stored as (X4, Y4).

[0161] In the traffic management device 10, the mobile object management unit 15 manages information related to each mobile object 2. This information about the mobile object 2 includes, for example, the current position and direction of travel of the mobile object 2. This information is constantly provided to the traffic management device 10 by, for example, the mobile object 2 itself or the mobile object control device 9. The mobile object management unit 15 constantly updates and manages the information about the mobile object 2, as it changes, to reflect the current situation.

[0162] In this example, each mobile object 2 is equipped with a function to measure the conditions of surrounding structures, etc. For example, mobile object 2 measures images of surrounding structures or the distance to surrounding structures. Mobile object 2 is also equipped with a function to detect the position of fixed point 17 in management space 5. For example, mobile object 2 can detect the position of a marker placed at fixed point 17, or detect the position of fixed point 17, a feature point, based on features extracted based on the distance to surrounding structures, etc.

[0163] When a mobile object 2 utilizes a managed space 5 while traveling, it outputs a request to utilize the managed space 5 to the traffic management device 10. For example, the mobile object 2 outputs a request to utilize the managed space 5 when approaching the managed space 5 or when reaching a predetermined location at the entrance 7 of the managed space 5. In this example, the mobile object 2 approaches the managed space 5i from the east. At this time, the mobile object 2 detects the location of a fixed point 17i4 as the fixed point 17 corresponding to the entrance 7i3 of the managed space 5i. The request to utilize the mobile object 2 may also include information such as the location of the fixed point 17i4 detected by the mobile object 2.

[0164] The traffic management device 10 accepts a request for use from a mobile body 2. When accepting a request for use from a mobile body 2, the passage instruction unit 13 estimates the entrance 7 of the managed space 5 that the mobile body 2 is about to enter based on the information of the mobile body 2 managed by the mobile body management unit 15. This estimation is performed, for example, based on information such as the current position and direction of travel of the mobile body 2. In this example, the passage instruction unit 13 estimates the entrance 7i3 as the entrance 7 that the mobile body 2 is about to enter. The passage instruction unit 13 outputs an instruction of the passage path in the managed space 5i to the mobile body 2 using relative coordinates based on a fixed point 17i4 or a fixed point 17i5 corresponding to the estimated entrance 7i3. The passage instruction unit 13 may also output both instructions based on relative coordinates based on the fixed point 17i4 and instructions based on relative coordinates based on the fixed point 17i5. The passage instruction unit 13 may output one of an instruction based on relative coordinates based on the fixed point 17i4 or an instruction based on relative coordinates based on the fixed point 17i5. For example, the passage instruction unit 13 outputs an instruction based on the fixed point 17i4 whose information is included in the use request.

[0165] exist Figure 14 , an example of relative coordinates based on the fixed point 17i4 is shown. The orientation of the coordinate axis in the relative coordinates may also be different from the orientation of the coordinate axis in the absolute coordinates. In this example, the orientation of the x-axis of the relative coordinates is set so that the direction of travel when entering the management space 5i from the entrance 7i3 is positive. In this example, the orientation of the y-axis of the relative coordinates is set so that the range of the entrance 7i3 is a positive coordinate value. At this time, the relative coordinates of the fixed point 17i4 become the coordinates (0, 0). In addition, the relative coordinates of the fixed point 17i1 become the coordinates (X4-X1, Y4-Y1). For example, the passage path is indicated by a column of relative coordinates of the via point 18 pre-set in the management space 5.

[0166] Furthermore, for example, a location on the movement path at which each mobile object 2 outputs a request to utilize each managed space 5 may be pre-set for each mobile object 2. In this case, when the mobile object 2 that has requested to utilize the managed space 5 arrives at the location, the mobile object 2 outputs the request to utilize the managed space 5 along with notification of its position information. The mobile object management unit 15 may also calculate the difference between the fixed point 17i1, which serves as the reference point for the managed space 5, and the position information notified from the mobile object 2, to correct and manage the position information of the mobile object 2 passing through the managed space 5.

[0167] As described above, in the traffic management device 10 of the fourth embodiment, the moving object management unit 15 updates and manages information on the current position and travel direction of each moving object 2. The space management information includes information on the absolute coordinates of the fixed point 17 corresponding to the entrance or exit 7 of the corresponding managed space 5. When a moving object 2 outputs a request to utilize the managed space 5, the passage instruction unit 13 estimates the entrance or exit 7 of the managed space 5 that the moving object 2 intends to enter based on the information on the moving object 2 managed by the moving object management unit 15. The passage instruction unit 13 outputs instructions for a passage path within the managed space 5 to the moving object 2 using relative coordinates based on the fixed point 17 corresponding to the estimated entrance or exit 7.

[0168] According to this configuration, the passage path is indicated by the common relative coordinates between the mobile object 2 and the traffic management device 10, thereby more reliably avoiding interference between mobile objects 2 within the managed space 5. Furthermore, the mobile object 2 can grasp the entry position into the managed space 5 based on the position of the fixed point 17 detected by the mobile object 2 itself. Therefore, the mobile object 2 can more reliably pass through the managed space 5.

[0169] To summarize the above description, possible configurations of the technology of the present invention include the following configurations shown as supplementary notes.

[0170] (Note 1)

[0171] A traffic management device, comprising:

[0172] a management information storage unit that stores space management information related to each of a plurality of pre-set management spaces for managing interference between passages of a plurality of mobile bodies, the space management information including information identifying a corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, the space set being composed of two or more management spaces from the plurality of management spaces that are connected in an adjacent relationship and share any of the entrances and exits;

[0173] a space status management unit that manages information on utilization status of the plurality of mobile objects in each of the plurality of management spaces based on the space management information stored in the management information storage unit; and

[0174] a passage instruction unit that outputs a passage instruction for permitting passage through the plurality of managed spaces to each of the plurality of mobile bodies based on the utilization status of the plurality of mobile bodies managed by the space status management unit;

[0175] The space formed by merging the two or more management spaces included in the space set is set as the corresponding management space, and the space management information related to the space set includes information on entrances and exits that are not shared between adjacent management spaces in the space set among the entrances and exits of the two or more management spaces included in the space set as information on entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space.

[0176] (Note 2)

[0177] The traffic management device according to Supplement 1, wherein:

[0178] When a utilization request related to any of the multiple management spaces is output from any of the multiple mobile bodies, the passage indication unit determines whether interference with the passage occurs when the mobile body enters the management space based on the information on the utilization status of the multiple mobile bodies in the management space managed by the space status management unit, and outputs a passage indication allowing passage if no interference occurs, so that the mobile body enters the management space.

[0179] (Note 3)

[0180] The traffic management device according to Supplement 2, wherein:

[0181] The space management information includes information on the permissible width allowed for passage in the corresponding management space.

[0182] The passage indication unit determines whether passage interference occurs when the mobile body that has output the utilization request enters the managed space based on the allowable width related to the managed space that is the object of the utilization request, the effective width of the mobile body already located in the managed space, and the effective width of the mobile body that has output the utilization request.

[0183] (Note 4)

[0184] The traffic management device according to Supplement 3, wherein:

[0185] The passage instruction unit sets the effective width of each of the plurality of moving objects when the purpose of using the managed space is not passage to a value larger than the effective width when the purpose of using the managed space is passage, and determines whether passage interference occurs.

[0186] (Note 5)

[0187] The traffic management device according to any one of Supplementary Notes 1 to 4, wherein:

[0188] The space status management unit is configured to manage information on the utilization status when any one of the multiple mobile bodies enters any one of the multiple management spaces and occupies at least a portion of the management space. The space status management unit is configured to manage information on the utilization status when any one of the multiple mobile bodies exits any one of the multiple management spaces and releases the portion of the management space occupied by the mobile body.

[0189] (Note 6)

[0190] The traffic management device according to any one of Supplementary Notes 1 to 5, wherein:

[0191] The traffic management device includes a moving body management unit that updates and manages information on the current positions of the plurality of moving bodies.

[0192] The passage instruction unit determines whether any of the plurality of moving objects are in abnormal proximity to each other based on the information managed by the moving object management unit, and outputs an instruction to temporarily stop to the moving object in abnormal proximity if abnormal proximity occurs.

[0193] (Note 7)

[0194] The traffic management device according to any one of Supplementary Notes 1 to 5, wherein:

[0195] The traffic management device includes a moving body management unit that updates and manages information on the current positions of the plurality of moving bodies.

[0196] The space status management unit determines, based on the information managed by the mobile body management unit, whether any of the multiple mobile bodies using the multiple management spaces stays in the same place longer than a preset time. If a delay occurs, the management space used by the mobile body is set to unusable.

[0197] (Note 8)

[0198] The traffic management device according to Supplement 6 or Supplement 7, wherein:

[0199] When a use request related to any of the plurality of managed spaces is outputted from any of the plurality of mobile bodies, the space status management unit activates a measuring device provided in the managed space so as to measure a position of the mobile body using the managed space.

[0200] The mobile object management unit manages information on a current position of a mobile object using the management space based on information measured by the measurement device.

[0201] (Note 9)

[0202] The traffic management device according to any one of Supplementary Notes 1 to 5, wherein:

[0203] The traffic management device includes a moving body management unit that updates and manages information on the current position and travel direction of each of the plurality of moving bodies.

[0204] The space management information includes information on the absolute coordinates of fixed points corresponding to the entrances and exits of the corresponding management space.

[0205] When a utilization request related to any of the multiple management spaces is output from any of the multiple mobile bodies, the passage indication unit estimates the entrance and exit of the management space that the mobile body is to enter based on the information of the mobile body managed by the mobile body management unit, and outputs an indication indicating that the passage path in the management space is permitted to the mobile body through relative coordinates based on a fixed point corresponding to the estimated entrance and exit.

[0206] (Note 10)

[0207] The traffic management device according to any one of Supplementary Notes 1 to 9, wherein:

[0208] The plurality of managed spaces include a first space corresponding to a lobby on a departure floor of an elevator, a second space adjacent to the first space and corresponding to a car of the elevator, and a third space adjacent to the second space and corresponding to a lobby on an arrival floor of the elevator.

[0209] The management information storage unit stores the space management information related to the space set consisting of the first space, the second space, and the third space.

[0210] (Note 11)

[0211] The traffic management device according to Supplementary Note 10, wherein:

[0212] The elevator has a group including a plurality of cars,

[0213] The second space corresponds to the entirety of the plurality of cars.

[0214] The first space includes all parts of the lobby on the departure floor that communicate with each of the plurality of cars.

[0215] The third space includes all parts of the lobby at the arrival floor that communicate with each of the plurality of cars.

[0216] (Note 12)

[0217] The traffic management device according to Supplementary Note 10, wherein:

[0218] The elevator has a group including a plurality of cars,

[0219] The second space corresponds to any one of the plurality of cars.

[0220] The first space includes all parts of the lobby on the departure floor that communicate with each of the plurality of cars.

[0221] The third space includes all parts of the lobby at the arrival floor that communicate with each of the plurality of cars.

[0222] (Note 13)

[0223] The traffic management device according to Supplementary Note 10, wherein:

[0224] The elevator has a group including a plurality of cars,

[0225] The second space corresponds to any one of the plurality of cars.

[0226] The first space corresponds to a portion of the lobby on the departure floor that communicates with the car.

[0227] The third space corresponds to a portion of the lobby of the arrival floor that communicates with the car.

[0228] (Note 14)

[0229] The traffic management device according to Supplementary Note 10, wherein:

[0230] The elevator has a group including a plurality of cars,

[0231] The second space corresponds to the entirety of the plurality of cars.

[0232] The first space corresponds to a portion of the lobby of the departure floor that communicates with any one of the plurality of cars.

[0233] The third space corresponds to a portion of the lobby of the arrival floor that communicates with the car.

[0234] (Note 15)

[0235] A traffic management method, wherein a computer performs the following processing:

[0236] storing space management information related to each of a plurality of pre-set management spaces for managing interference between passages of a plurality of mobile bodies, and the space management information related to a space set, the space management information including information identifying a corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, the space set being composed of two or more management spaces from the plurality of management spaces connected by an adjacent relationship and sharing any of the entrances and exits;

[0237] managing information on utilization status of the plurality of mobile objects in each of the plurality of management spaces based on the space management information; and

[0238] outputting a passage instruction permitting passage through the plurality of managed spaces to each of the plurality of mobile objects based on the utilization status of the plurality of mobile objects,

[0239] The space formed by merging the two or more management spaces included in the space set is set as the corresponding management space, and the space management information related to the space set includes information on entrances and exits that are not shared between adjacent management spaces in the space set among the entrances and exits of the two or more management spaces included in the space set as information on entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space.

[0240] (Note 16)

[0241] A traffic management program causes a computer to execute the following processing:

[0242] storing space management information related to each of a plurality of pre-set management spaces for managing interference between passages of a plurality of mobile bodies, and the space management information related to a space set, the space management information including information identifying a corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, the space set being composed of two or more management spaces from the plurality of management spaces connected by an adjacent relationship and sharing any of the entrances and exits;

[0243] managing information on utilization status of the plurality of mobile objects in each of the plurality of management spaces based on the space management information; and

[0244] outputting a passage instruction permitting passage through the plurality of managed spaces to each of the plurality of mobile objects based on the utilization status of the plurality of mobile objects,

[0245] The space formed by merging the two or more management spaces included in the space set is set as the corresponding management space, and the space management information related to the space set includes information on entrances and exits that are not shared between adjacent management spaces in the space set among the entrances and exits of the two or more management spaces included in the space set as information on entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space.

[0246] (Note 17)

[0247] A mobile system, comprising:

[0248] Multiple mobile bodies, each of which travels through a plurality of pre-defined management spaces;

[0249] a management information storage unit storing space management information related to each of the plurality of management spaces for managing interference between the plurality of mobile bodies, the space management information including information identifying a corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, the space set consisting of two or more management spaces from the plurality of management spaces connected in an adjacent relationship and sharing any of the entrances and exits;

[0250] a space status management unit that manages information on utilization status of the plurality of mobile objects in each of the plurality of management spaces based on the space management information stored in the management information storage unit; and

[0251] a passage instruction unit that outputs a passage instruction for permitting passage through the plurality of managed spaces to each of the plurality of mobile bodies based on the utilization status of the plurality of mobile bodies managed by the space status management unit;

[0252] The space formed by merging the two or more management spaces included in the space set is set as the corresponding management space, and the space management information related to the space set includes information on entrances and exits that are not shared between adjacent management spaces in the space set among the entrances and exits of the two or more management spaces included in the space set as information on entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space.

[0253] (Note 18)

[0254] A mobile object control system, comprising:

[0255] a moving body control unit for controlling the movement of a plurality of moving bodies passing through a plurality of pre-set management spaces;

[0256] a management information storage unit storing space management information related to each of the plurality of management spaces for managing interference between the plurality of mobile bodies, the space management information including information identifying a corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, the space set consisting of two or more management spaces from the plurality of management spaces connected in an adjacent relationship and sharing any of the entrances and exits;

[0257] a space status management unit that manages information on utilization status of the plurality of mobile objects in each of the plurality of management spaces based on the space management information stored in the management information storage unit; and

[0258] a passage instruction unit that outputs a passage instruction for permitting passage through the plurality of managed spaces to each of the plurality of mobile bodies based on the utilization status of the plurality of mobile bodies managed by the space status management unit;

[0259] The space formed by merging the two or more management spaces included in the space set is set as the corresponding management space, and the space management information related to the space set includes information on entrances and exits that are not shared between adjacent management spaces in the space set among the entrances and exits of the two or more management spaces included in the space set as information on entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space.

Claims

1. A traffic management device, comprising: a management information storage unit that stores space management information related to each of a plurality of pre-set management spaces for managing interference between passages of a plurality of mobile bodies, the space management information including information identifying a corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, the space set being composed of two or more management spaces from the plurality of management spaces that are connected in an adjacent relationship and share any of the entrances and exits; a space status management unit configured to manage information on utilization status of the plurality of mobile objects in each of the plurality of management spaces based on the space management information stored in the management information storage unit; as well as a passage instruction unit that outputs a passage instruction for permitting passage through the plurality of managed spaces to each of the plurality of mobile bodies based on the utilization status of the plurality of mobile bodies managed by the space status management unit; The space formed by merging the two or more management spaces included in the space set is set as the corresponding management space, and the space management information related to the space set includes information on entrances and exits that are not shared between adjacent management spaces in the space set among the entrances and exits of the two or more management spaces included in the space set as information on entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space.

2. The traffic management device according to claim 1, wherein: When a utilization request related to any of the multiple management spaces is output from any of the multiple mobile bodies, the passage indication unit determines whether interference with the passage occurs when the mobile body enters the management space based on the information on the utilization status of the multiple mobile bodies in the management space managed by the space status management unit, and outputs a passage indication allowing passage if no interference occurs, so that the mobile body enters the management space.

3. The traffic management device according to claim 2, wherein: The space management information includes information on the permissible width allowed for passage in the corresponding management space. The passage indication unit determines whether passage interference occurs when the mobile body that has output the utilization request enters the managed space based on the allowable width related to the managed space that is the object of the utilization request, the effective width of the mobile body already located in the managed space, and the effective width of the mobile body that has output the utilization request.

4. The traffic management device according to claim 3, wherein: The passage instruction unit sets the effective width of each of the plurality of moving objects when the purpose of using the managed space is not passage to a value larger than the effective width when the purpose of using the managed space is passage, and determines whether passage interference occurs.

5. The traffic management device according to claim 1, wherein: The space status management unit is configured to manage information on the utilization status when any one of the multiple mobile bodies enters any one of the multiple management spaces and occupies at least a portion of the management space. The space status management unit is configured to manage information on the utilization status when any one of the multiple mobile bodies exits any one of the multiple management spaces and releases the portion of the management space occupied by the mobile body.

6. The traffic management device according to claim 1, wherein: The traffic management device includes a moving body management unit that updates and manages information on the current positions of the plurality of moving bodies. The passage instruction unit determines whether any of the plurality of moving objects are in abnormal proximity to each other based on the information managed by the moving object management unit, and outputs an instruction to temporarily stop to the moving object in abnormal proximity if abnormal proximity occurs.

7. The traffic management device according to claim 1, wherein: The traffic management device includes a moving body management unit that updates and manages information on the current positions of the plurality of moving bodies. The space status management unit determines, based on the information managed by the mobile body management unit, whether any of the multiple mobile bodies using the multiple management spaces stays in the same place longer than a preset time. If a delay occurs, the management space used by the mobile body is set to unusable.

8. The traffic management device according to claim 7, wherein: When a use request related to any of the plurality of managed spaces is outputted from any of the plurality of mobile bodies, the space status management unit activates a measuring device provided in the managed space so as to measure a position of the mobile body using the managed space. The mobile object management unit manages information on a current position of a mobile object using the management space based on information measured by the measurement device.

9. The traffic management device according to claim 1, wherein: The traffic management device includes a moving body management unit that updates and manages information on the current position and travel direction of each of the plurality of moving bodies. The space management information includes information on the absolute coordinates of fixed points corresponding to the entrances and exits of the corresponding management space. When a utilization request related to any of the multiple management spaces is output from any of the multiple mobile bodies, the passage indication unit estimates the entrance and exit of the management space that the mobile body is to enter based on the information of the mobile body managed by the mobile body management unit, and outputs an indication indicating that the passage path in the management space is permitted to the mobile body through relative coordinates based on a fixed point corresponding to the estimated entrance and exit.

10. The traffic management device according to any one of claims 1 to 9, wherein: The plurality of managed spaces include a first space corresponding to a lobby on a departure floor of an elevator, a second space adjacent to the first space and corresponding to a car of the elevator, and a third space adjacent to the second space and corresponding to a lobby on an arrival floor of the elevator. The management information storage unit stores the space management information related to the space set consisting of the first space, the second space, and the third space.

11. The traffic management device according to claim 10, wherein: The elevator has a group including a plurality of cars, The second space corresponds to the entirety of the plurality of cars. The first space includes all parts of the lobby on the departure floor that communicate with each of the plurality of cars. The third space includes all parts of the lobby at the arrival floor that communicate with each of the plurality of cars.

12. The traffic management device according to claim 10, wherein: The elevator has a group including a plurality of cars, The second space corresponds to any one of the plurality of cars. The first space includes all parts of the lobby on the departure floor that communicate with each of the plurality of cars. The third space includes all parts of the lobby at the arrival floor that communicate with each of the plurality of cars.

13. The traffic management device according to claim 10, wherein: The elevator has a group including a plurality of cars, The second space corresponds to any one of the plurality of cars. The first space corresponds to a portion of the lobby on the departure floor that communicates with the car. The third space corresponds to a portion of the lobby of the arrival floor that communicates with the car.

14. The traffic management device according to claim 10, wherein: The elevator has a group including a plurality of cars, The second space corresponds to the entirety of the plurality of cars. The first space corresponds to a portion of the lobby of the departure floor that communicates with any one of the plurality of cars. The third space corresponds to a portion of the lobby of the arrival floor that communicates with the car.

15. A traffic management method, wherein: The computer performs the following processing: storing space management information related to each of a plurality of pre-set management spaces for managing interference between passages of a plurality of mobile bodies, and the space management information related to a space set, the space management information including information identifying a corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, the space set being composed of two or more management spaces from the plurality of management spaces connected by an adjacent relationship and sharing any of the entrances and exits; managing information on utilization status of the plurality of mobile objects in each of the plurality of management spaces based on the space management information; as well as outputting a passage instruction permitting passage through the plurality of managed spaces to each of the plurality of mobile objects based on the utilization status of the plurality of mobile objects, The space formed by merging the two or more management spaces included in the space set is set as the corresponding management space, and the space management information related to the space set includes information on entrances and exits that are not shared between adjacent management spaces in the space set among the entrances and exits of the two or more management spaces included in the space set as information on entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space.

16. A traffic management program, the traffic management program causing a computer to execute the following processing: storing space management information related to each of a plurality of pre-set management spaces for managing interference between passages of a plurality of mobile bodies, and the space management information related to a space set, the space management information including information identifying a corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, the space set being composed of two or more management spaces from the plurality of management spaces connected by an adjacent relationship and sharing any of the entrances and exits; managing information on utilization status of the plurality of mobile objects in each of the plurality of management spaces based on the space management information; as well as outputting a passage instruction permitting passage through the plurality of managed spaces to each of the plurality of mobile objects based on the utilization status of the plurality of mobile objects, The space formed by merging the two or more management spaces included in the space set is set as the corresponding management space, and the space management information related to the space set includes information on entrances and exits that are not shared between adjacent management spaces in the space set among the entrances and exits of the two or more management spaces included in the space set as information on entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space.

17. A mobile system, comprising: Multiple mobile bodies, each of which travels through a plurality of pre-defined management spaces; a management information storage unit storing space management information related to each of the plurality of management spaces for managing interference between the plurality of mobile bodies, the space management information including information identifying a corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, the space set consisting of two or more management spaces from the plurality of management spaces connected in an adjacent relationship and sharing any of the entrances and exits; a space status management unit configured to manage information on utilization status of the plurality of mobile objects in each of the plurality of management spaces based on the space management information stored in the management information storage unit; as well as a passage instruction unit that outputs a passage instruction for permitting passage through the plurality of managed spaces to each of the plurality of mobile bodies based on the utilization status of the plurality of mobile bodies managed by the space status management unit; The space formed by merging the two or more management spaces included in the space set is set as the corresponding management space, and the space management information related to the space set includes information on entrances and exits that are not shared between adjacent management spaces in the space set among the entrances and exits of the two or more management spaces included in the space set as information on entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space.

18. A mobile object control system, comprising: a moving body control unit for controlling the movement of a plurality of moving bodies passing through a plurality of pre-set management spaces; a management information storage unit storing space management information related to each of the plurality of management spaces for managing interference between the plurality of mobile bodies, the space management information including information identifying a corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, the space set consisting of two or more management spaces from the plurality of management spaces connected in an adjacent relationship and sharing any of the entrances and exits; a space status management unit configured to manage information on utilization status of the plurality of mobile objects in each of the plurality of management spaces based on the space management information stored in the management information storage unit; as well as a passage instruction unit that outputs a passage instruction for permitting passage through the plurality of managed spaces to each of the plurality of mobile bodies based on the utilization status of the plurality of mobile bodies managed by the space status management unit; The space formed by merging the two or more management spaces included in the space set is set as the corresponding management space, and the space management information related to the space set includes information on entrances and exits that are not shared between adjacent management spaces in the space set among the entrances and exits of the two or more management spaces included in the space set as information on entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space.

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