Traffic regulation system, facility management device, traffic regulation method, and traffic regulation program

Abstract

A traffic control system, facility management device, traffic control method, and traffic control procedure are provided to manage the movement of mobile bodies in a manner that can further improve the movement efficiency of mobile bodies operating in the facility. The facility is divided into multiple zones. The traffic control system (1) includes a facility information management department (15), a traffic management department (16), and a mobile body control department. Nodes represent the locations where mobile bodies (2) move. Areas correspond to zones and are collections containing nodes as elements. The facility information management department (15) manages information about nodes and areas. Nodes with external attributes are contained as common elements in multiple areas. Nodes with intermediate attributes are contained as elements in a single area. The traffic management department (16) sorts and selects two nodes with external and intermediate attributes in the same area to set traffic rules, thereby managing traffic for multiple mobile bodies (2) in multiple adjacent zones.

Description

Technical Field

[0001] This disclosure relates to traffic control systems, facility management devices, traffic control methods, and traffic control procedures. Background Technology

[0002] In recent years, autonomous mobile bodies have been utilized in manned facilities. Regarding autonomous mobile bodies, examples include cleaning, security, and transport services, where a single individual performs a single task for various other purposes. Autonomous mobile bodies automatically set paths to target locations, moving while avoiding obstacles. The path setting is planned to continuously designate multiple target locations and move along a single, continuous route. Here, when multiple mobile bodies utilize the facility, there are concerns about them obstructing each other's movement. Therefore, in public roads and facilities, traffic rules are stipulated according to regulations or customs, and mobile bodies follow these rules to improve movement efficiency. In facilities, to support the passage of multiple people, passage management equipment is installed. This passage management equipment is designed according to regulations designed for safe human use, autonomously judging based on the surrounding conditions and managing the usage status. Alternatively, in the case of autonomous mobile bodies, as in Patent Document 1, a one-dimensional curved guide path is determined in the facility, and branching paths are set up to avoid congestion on the guide path. In addition, the moving body has a device for indicating a guidance method for guiding movement along a branch path.

[0003] Patent Document 1 discloses an example of a control system for a mobile body operating in a facility. In the control system, a guide path formed by a magnetic tape or the like is provided. In the control system, a temporary stopping area is provided near the confluence of branch guide paths. When a mobile body moving on one side of a branch guide path passes through the confluence, the control system causes the mobile body moving on the other side of the branch guide path to wait in the temporary stopping area.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 11-242519 Summary of the Invention

[0007] The problem the invention aims to solve

[0008] However, in the control system of Patent Document 1, the moving body moves along a pre-set one-dimensional curved guide path. Only a single moving body can pass through the merging points on the guide path simultaneously, which sometimes causes congestion of moving bodies on the guide path, thus reducing the moving efficiency of the moving body.

[0009] The prior art described in Patent Document 1, etc., employs a method where, when multiple guide paths are managed to pass through a single convergence point, priority time zones are used for management if the vehicles arrive at the convergence point simultaneously. This presents a problem: while management works on guide paths in one direction, time zone management fails when vehicles converge from multiple directions, leading to congestion. Furthermore, the prior art requires a device for indicating the guide method for each management group of vehicles. These management groups vary, for example, depending on the manufacturer. Moreover, the guide paths for vehicles differ significantly for each business. Based on the above, it is impractical to set up one-dimensional curved guide paths in the facility to manage multiple vehicles. Additionally, a one-dimensional curve is synonymous with movement along a single-stroke route, a common problem in methods of indicating routes.

[0010] This disclosure addresses such problems. It provides a traffic control system, facility management device, traffic control method, and traffic control procedure for managing the movement of mobile bodies operating within a facility in a manner that further improves the efficiency of movement.

[0011] means for solving problems

[0012] The traffic control system disclosed herein sets traffic rules within or between zones, enabling the management of traffic from multiple mobile bodies operating within a facility divided into multiple zones. The traffic control system comprises: a facility information management unit that manages facility information; a traffic management unit that manages the movement of the mobile bodies within the facility based on the information managed by the facility information management unit; and a mobile body control unit that controls the movement of the mobile bodies within the facility based on instructions generated by the traffic management unit for the mobile bodies. The facility information management unit manages information indicating which node attribute (including internal and external attributes) each node possesses, wherein multiple nodes are configured within the facility. The nodes represent locations where the mobile bodies move between them; and information indicates which of the nodes in the facility is included as an element among multiple nodes set as a set of areas, wherein the areas correspond to the partitions and multiple are set in the facility, nodes with the external attribute are included as common elements in at least two distinct areas, and nodes with the intermediate attribute are included as elements in any one area. The traffic management department sorts and selects two nodes with the external attribute and the intermediate attribute in the same area to set the traffic rules, thereby managing traffic for multiple mobile bodies in multiple adjacent partitions of the facility.

[0013] The facility management device disclosed herein sets traffic rules within or between zones, enabling the management of traffic flow for multiple mobile bodies operating within a facility divided into multiple zones. The facility management device comprises: a facility information management unit that manages information about the facility; and a traffic management unit that manages the movement of the mobile bodies within the facility based on the information managed by the facility information management unit. The facility information management unit manages information indicating which node attribute, including internal and external attributes, each node possesses, wherein multiple nodes are defined within the facility, and each node represents a location where the mobile body moves between them. And information indicating which of the nodes in the facility is included as an element in each area of ​​the set, wherein the area corresponds to the partition and is included in the facility in multiple ways, the nodes having the external attribute are included as common elements in at least two distinct areas, the nodes having the intermediate attribute are included as elements in any one area, the traffic management department sorts and selects two nodes with the external attribute and the intermediate attribute in the same area to set the traffic rules, thereby managing traffic in the multiple adjacent partitions of the facility for multiple moving bodies.

[0014] The traffic control method disclosed herein establishes traffic rules within or between zones, enabling the management of traffic from multiple mobile bodies operating within a facility divided into multiple zones. A computer performs the following processes: managing information about the facility; and managing the movement of the mobile bodies within the facility based on the managed facility information. The facility information managed by the computer includes: information indicating which node attribute, comprising internal and external attributes, each node has, wherein multiple nodes are defined within the facility, and each node represents a location from which the mobile body moves; and information indicating that each area, as a set, is contained within the facility. The system is configured with information on which of the multiple nodes is used as an element, wherein the area corresponds to the partition and multiple are configured in the facility, the nodes with the external attribute are included as common elements in at least two distinct areas, and the nodes with the intermediate attribute are included as elements in any one area. In the management of the movement of the mobile body in the facility, the computer sorts and selects two nodes with the external attribute and the intermediate attribute in the same area to set the traffic rules, thereby managing traffic for multiple mobile bodies in multiple adjacent partitions of the facility.

[0015] The traffic control procedure disclosed herein sets traffic rules within or between zones, enabling the management of traffic for multiple mobile bodies operating in facilities divided into multiple zones. The traffic control procedure causes a computer to perform the following processes: managing information about facilities for the operation of mobile bodies; and managing the movement of the mobile bodies within the facilities based on the managed information about the facilities, wherein the computer-managed information about the facilities includes: information indicating which node attribute, comprising internal and external attributes, each node has, wherein multiple nodes are defined in the facilities, and each node represents a location where the mobile body moves between them; and information representing various areas as a set. The information includes which of the multiple nodes set in the facility is used as an element, wherein the area corresponds to the partition and multiple are set in the facility, the nodes with the external attribute are included as common elements in at least two distinct areas, and the nodes with the intermediate attribute are included as elements in any one area. In the management of the movement of the mobile body in the facility, the computer sorts and selects two nodes with the external attribute and the intermediate attribute in the same area to set the traffic rules, thereby managing traffic for multiple mobile bodies in multiple adjacent partitions of the facility.

[0016] The effects of the invention

[0017] The movement of mobile bodies is managed in a manner that can further improve the movement efficiency of mobile bodies operating in the facility, according to the traffic control system, facility management device, traffic control method or traffic control procedure disclosed herein. Attached Figure Description

[0018] Figure 1 This is a structural diagram of the traffic control system in Implementation Method 1.

[0019] Figure 2 This is a diagram illustrating an example of information used in the traffic management of a moving vehicle by the traffic control system of Implementation 1.

[0020] Figure 3 This is a diagram illustrating another example of the information used in the traffic management of moving bodies by the traffic control system of Implementation 1.

[0021] Figure 4 This is a table showing examples of information managed by the facility information management department in Implementation 1.

[0022] Figure 5 This is a diagram illustrating an example of traffic management of moving bodies by the traffic control system of Implementation Method 1.

[0023] Figure 6This is a table illustrating examples of controlling moving bodies in the traffic control system of Implementation Method 1.

[0024] Figure 7 This is a diagram illustrating an example of the movement of a movable body in the facility according to Embodiment 1.

[0025] Figure 8 This is a timing diagram illustrating an example of the operation of a traffic control system when a mobile body moves in the facility of Embodiment 1.

[0026] Figure 9 This is a timing diagram illustrating an example of the operation of a traffic control system when a mobile body moves in the facility of Embodiment 1.

[0027] Figure 10 This is a diagram illustrating an example of the movement of a movable body in the facility according to Embodiment 1.

[0028] Figure 11 This is a diagram illustrating an example of the movement of a movable body in the facility according to Embodiment 1.

[0029] Figure 12 This is a timing diagram illustrating an example of the operation of a traffic control system when a mobile body moves in the facility of Embodiment 1.

[0030] Figure 13 This is a diagram illustrating an example of the movement of a movable body in the facility according to Embodiment 1.

[0031] Figure 14 This is a diagram illustrating an example of the movement of a movable body in the facility according to Embodiment 1.

[0032] Figure 15 This is a timing diagram illustrating an example of the operation of a traffic control system when a mobile body moves in the facility of Embodiment 1.

[0033] Figure 16 This is a diagram illustrating an example of the movement of a movable body in the facility according to Embodiment 1.

[0034] Figure 17 This is a timing diagram illustrating an example of the operation of a traffic control system when a mobile body moves in the facility of Embodiment 1.

[0035] Figure 18 This is a diagram illustrating an example of the movement of a movable body in the facility according to Embodiment 1.

[0036] Figure 19 This is a timing diagram illustrating an example of the operation of a traffic control system when a mobile body moves in the facility of Embodiment 1.

[0037] Figure 20 This is a diagram illustrating an example of the movement of a movable body in the facility according to Embodiment 1.

[0038] Figure 21 This is a timing diagram illustrating an example of the operation of a traffic control system when a mobile body moves in the facility of Embodiment 1.

[0039] Figure 22A This is a diagram illustrating an example of the arrangement of areas and nodes in the pathway of the facility according to Embodiment 1.

[0040] Figure 22B This is a diagram illustrating an example of the arrangement of areas and nodes in the pathway of the facility according to Embodiment 1.

[0041] Figure 23 This is a diagram illustrating an example of the arrangement of areas and nodes in the pathway of the facility according to Embodiment 1.

[0042] Figure 24 This is a diagram illustrating an example of traffic control in the traffic control system of Implementation Method 1.

[0043] Figure 25 This is a diagram illustrating an example of traffic control in the traffic control system of Implementation Method 1.

[0044] Figure 26 This is a diagram illustrating an example of traffic control in the traffic control system of Implementation Method 1.

[0045] Figure 27 This is a diagram illustrating an example of traffic control in the traffic control system of Implementation Method 1.

[0046] Figure 28A This is a diagram illustrating an example of traffic control in the traffic control system of Implementation Method 1.

[0047] Figure 28B This is a diagram illustrating an example of traffic control in the traffic control system of Implementation Method 1.

[0048] Figure 28C This is a diagram illustrating an example of traffic control in the traffic control system of Implementation Method 1.

[0049] Figure 28D This is a diagram illustrating an example of traffic control in the traffic control system of Implementation Method 1.

[0050] Figure 29 This is a diagram illustrating an example of information used in the traffic management of a moving vehicle by the traffic control system of Implementation 2.

[0051] Figure 30 This is a diagram illustrating an example of information used in the traffic management of a moving vehicle by the traffic control system of Implementation 2.

[0052] Figure 31This is a diagram illustrating an example of the movement of a movable body in the facility according to Embodiment 3.

[0053] Figure 32 This is a timing diagram illustrating an example of the operation of a traffic control system when a mobile body moves in the facility of Embodiment 3.

[0054] Figure 33 This is a diagram illustrating an example of the movement of a movable body in the facility according to Embodiment 3.

[0055] Figure 34 This is a timing diagram illustrating an example of the operation of a traffic control system when a mobile body moves in the facility of Embodiment 3.

[0056] Figure 35 This is a diagram illustrating an example of the movement of a movable body in the facility according to Embodiment 3.

[0057] Figure 36 This is a diagram illustrating an example of the movement of a movable body in the facility according to Embodiment 3.

[0058] Figure 37 This is a diagram illustrating an example of the movement of a movable body in the facility according to Embodiment 3.

[0059] Figure 38 This is a timing diagram illustrating an example of the operation of a traffic control system when a mobile body moves in the facility of Embodiment 3.

[0060] Figure 39 This is a diagram illustrating another example of the setting of areas and nodes in the facility of Implementation Method 3.

[0061] Figure 40 This is a diagram illustrating another example of the setting of areas and nodes in the facility of Implementation Method 3.

[0062] Figure 41 This is a diagram illustrating an example of the setting of areas and nodes in the facility according to Embodiment 4.

[0063] Figure 42 This is a diagram illustrating an example of the setting of areas and nodes in the facility according to Embodiment 4.

[0064] Figure 43 This is a diagram illustrating an example of the movement of a movable body in the facility according to Embodiment 4.

[0065] Figure 44 This is a timing diagram illustrating an example of the operation of a traffic control system when a mobile body moves in the facility of Embodiment 4.

[0066] Figure 45 This is a diagram illustrating an example of the movement of a movable body in the facility according to Embodiment 4.

[0067] Figure 46 This is a timing diagram illustrating an example of the operation of a traffic control system when a mobile body moves in the facility of Embodiment 4.

[0068] Figure 47 This is a diagram illustrating an example of the movement of a movable body in the facility according to Embodiment 4.

[0069] Figure 48 This is a timing diagram illustrating an example of the operation of a traffic control system when a mobile body moves in the facility of Embodiment 4.

[0070] Figure 49 This is a diagram illustrating another example of the setting of areas and nodes in the facility of embodiment 4.

[0071] Figure 50 This is a diagram illustrating another example of the setting of areas and nodes in the facility of embodiment 4.

[0072] Figure 51 This is a diagram illustrating another example of the setting of areas and nodes in the facility of embodiment 4.

[0073] Figure 52 This is a diagram illustrating another example of the setting of areas and nodes in the facility of embodiment 4.

[0074] Figure 53 This is a diagram illustrating another example of the setting of areas and nodes in the facility of embodiment 4.

[0075] Figure 54 This is a diagram illustrating another example of the setting of areas and nodes in the facility of embodiment 4.

[0076] Figure 55 This is a diagram illustrating another example of the setting of areas and nodes in the facility of embodiment 4.

[0077] Figure 56 This is a diagram illustrating another example of the setting of areas and nodes in the facility of embodiment 4. Detailed Implementation

[0078] The embodiments for implementing this disclosure will be described with reference to the accompanying drawings. In the drawings, identical or equivalent parts are labeled with the same reference numerals, and repeated descriptions are simplified or omitted where appropriate. Furthermore, the scope of this disclosure is not limited to the following embodiments; any modifications to the constituent elements of the embodiments or the omission of any constituent elements of the embodiments can be made without departing from the spirit of this disclosure.

[0079] Implementation method 1.

[0080] Figure 1This is a structural diagram of the traffic control system 1 according to implementation method 1.

[0081] Traffic control system 1 is a system that manages traffic and other activities of mobile bodies 2 operating within the facility.

[0082] Facilities may include, for example, one or more buildings. Facilities may also be part or all of a building. Facilities may include one or both of the outdoor and indoor parts of a building. Facilities may also be, for example, commercial facilities, office buildings, accommodation facilities, residential facilities, public facilities, or other facilities, or a combination thereof.

[0083] The facility is divided into multiple zones. That is, the facility consists of multiple zones. Zones can be, for example, passageways between rooms. Within the facility, users of the facility are permitted free movement within each zone. Physical partitions such as walls, steps, or partitions restrict movement between zones. Logical constraints also restrict movement between zones through traffic rules indicated by white lines or signs, or through audible or visual warnings. Access devices such as doors temporarily allow movement between zones. These doors, like automatic doors or security doors, can autonomously determine usage status. Even when two zones are physically separated, units can be connected via access devices. For example, stairs, ladders, or elevators at different heights allow movement between passageways. Elevators, such as elevators or escalators, are examples of such access devices. The elevator can also autonomously determine the overall vertical utilization status of the facility and enable multiple machines to work together through group management and control.

[0084] Mobile body 2 is a mobile machine that operates in a manner capable of providing services within a facility. In this example facility, multiple mobile bodies 2 operate. Mobile bodies 2 can be, for example, autonomous mobile bodies that move autonomously. Mobile bodies 2 can also be, for example, robots, drones, mobile devices, or other mobile machines. Mobile bodies 2 can be machines within the traffic control system 1 or machines outside the system that cooperate with the traffic control system 1. Each mobile body 2 includes a computing unit 3a, a storage unit 4a, a communication unit 5a, a measurement unit 6, and a drive unit 7.

[0085] The arithmetic unit 3a is, for example, a CPU (Central Processing Unit), a computing device, a microprocessor, or a microcomputer. The storage unit 4a corresponds, for example, to non-volatile or volatile semiconductor memories such as RAM (Random Access Memory), ROM (Read-Only Memory), flash memory, EPROM (Erasable Programmable Read-Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory), or devices such as disks, floppy disks, optical disks, compact disks, mini-disks, or DVDs (Digital Versatile Discs). Part or all of the arithmetic unit 3a and the storage unit 4a may also be composed of dedicated processing circuitry. The storage unit 4a stores programs, for example, as software or firmware. In the mobile unit 2, pre-set processing is performed by executing the programs stored in the storage unit 4a by the arithmetic unit 3a, and various functions are realized as a result of hardware and software cooperation. Each function of the mobile body 2 can also be implemented separately by the processing circuitry. Alternatively, some or all of the functions of the mobile body 2 can also be implemented uniformly by the processing circuitry. Furthermore, the processing circuitry can be implemented, for example, by a single circuit, a composite circuit, a programmable processor, a parallel programmable processor, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array), or a combination thereof.

[0086] The communication unit 5a is a component equipped with the function of communicating information with external devices such as those on the mobile body 2. The communication unit 5a communicates with external devices, for example, via wireless communication. The communication unit 5a communicates with external devices, for example, via a communication network 8 such as the Internet, telephone line network, or optical communication line network. The communication network 8 may include local networks such as LANs (Local Area Networks) within the facility, or industrial communications such as short-range wireless communication. The communication network 8 may include wired or wireless intranets.

[0087] The measurement unit 6 includes devices that measure information necessary for the operation of the moving body 2, such as the surrounding environment. The measurement unit 6 can be, for example, a LiDAR (Light Detection and Ranging) system, an IMU (Inertial Measurement Unit), an ultrasonic sensor, an RGBD (Red-Green-Blue-Depth) camera, a stereo camera, a satellite positioning system such as GPS (Global Positioning System), an indoor positioning system, other sensors, or modules of other measurement systems. The information measured by the measurement unit 6 is processed in the processing unit 3a, etc.

[0088] The drive unit 7 includes devices that generate driving force to move the mobile body 2. The drive unit 7 may include, for example, a motor, wheels, tracks, a quadrupedal drive unit, a bipedal drive unit, or an inverted pendulum drive unit. The drive unit 7 obtains a path from the calculation unit 3a and controls the drive source to follow the path. The drive unit 7 obtains the state of the mobile body 2 from the measurement unit 6 and controls or temporarily stops the drive source to ensure safety. The drive unit 7 obtains the configuration of surrounding obstacles from the measurement unit 6 and controls or temporarily stops the drive source to avoid obstacles. The drive unit 7 also includes functions for managing the drive source used to perform the services provided by the mobile body 2.

[0089] The arithmetic unit 3a includes an action control unit 9. The action control unit 9 controls the movement of the mobile body 2 within the facility. The movement of the mobile body 2 within the facility includes movement within the facility and the execution of tasks related to services provided by the mobile body 2 within the facility. The action control unit 9 controls the movement of the mobile body 2 by outputting control signals to the drive unit 7, for example, based on information measured by the measurement unit 6. The action control unit 9 operates according to a procedure that registers and manages the behavior or state of the mobile body 2. When the mobile body 2 is capable of performing behavior based on multiple states, it switches the control commands set for the drive unit 7 based on information obtained from the communication unit 5a and the measurement unit 6. The mobile body 2 has the function of autonomously switching states according to the status of the drive unit 7. The action control unit 9 manages the timing of state transitions and the synchronization of states with other machines. The action control unit 9 operates, for example, according to a finite state machine-based procedure. The action control unit 9 operates, for example, according to a state transition diagram-based procedure. The action control unit 9 operates, for example, according to a sequence-based control procedure.

[0090] In the traffic control system 1, a mobile device server 10 is provided. The mobile device server 10 is a component that controls the actions of mobile devices 2. The actions of mobile devices 2 include information processing within the mobile device 2 and movement of the mobile device 2 within the facility. The mobile device server 10 can also control the actions of multiple mobile devices 2. In the computing units 3a, etc., installed in each mobile device 2, performance is sometimes limited by the power capacity of the mobile device 2's battery, etc. In such cases, the mobile device server 10 can undertake some or all of the processing related to controlling the actions of the mobile device 2. On the other hand, for example, if the performance limitations of the computing units 3a installed in each mobile device 2 are less, the mobile device 2 can also undertake some or all of the processing of the mobile device server 10. In the traffic control system 1, multiple mobile device servers 10 may also be provided. Each mobile device server 10 may be managed by different administrators, for example. The administrator of the mobile device server 10 may be, for example, the manufacturer or manager of the mobile device 2. Alternatively, the same administrator may manage multiple mobile device servers 10. The mobile server 10 may be part or all of a device within the traffic control system 1, or it may be an external device that cooperates with the traffic control system 1. Each mobile server 10 may be a server device, for example, composed of one or more server computers. Multiple server devices constituting the mobile server 10 may also be located in different places. In this case, the multiple server devices may communicate with each other, for example, through a communication network 8. Each mobile server 10 includes a computing unit 3b, a storage unit 4b, and a communication unit 5b.

[0091] The arithmetic unit 3b is, for example, a CPU, a computing device, a microprocessor, or a microcomputer. The storage unit 4b is, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, and EEPROM, or a device such as a disk, floppy disk, optical disk, compact disk, mini disk, or DVD. Part or all of the arithmetic unit 3b and the storage unit 4b may also be constructed using dedicated processing circuitry. The storage unit 4b stores programs, for example, as software or firmware. In the mobile server 10, pre-set processing is performed by executing programs stored in the storage unit 4b by the arithmetic unit 3b, and various functions are realized as a result of hardware and software cooperation. Each function of the mobile server 10 may also be implemented separately by processing circuitry. Alternatively, part or all of the functions of the mobile server 10 may be implemented uniformly by processing circuitry. Furthermore, the processing circuitry may be implemented, for example, by a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC or FPGA, or a combination thereof. Part or all of the functions of the mobile server 10 may also be installed using processing or storage resources on a cloud service.

[0092] The communication unit 5b is a component equipped with the function of communicating information with external devices such as the mobile unit server 10. The communication unit 5b communicates with external devices via a communication network 8, for example, through wired or wireless communication. As an external device, the communication unit 5b communicates information with one or more mobile units 2 that are the objects of control actions.

[0093] The computing unit 3b includes an action planning unit 11. The action planning unit 11 is responsible for planning the movement of the mobile unit 2 within the facility and managing necessary information. Information management includes operations such as maintaining, adding, modifying, and deleting information. The information managed by the action planning unit 11 includes information about facilities related to the movement of the mobile unit 2. Information required for the movement of the mobile unit 2 within the facility includes, for example, an environment map. Information required for the movement of the mobile unit 2 within the facility also includes, for example, information indicating the configuration of partitions within the facility. Information required for the movement of the mobile unit 2 within the facility also includes, for example, information indicating the connection relationships between multiple partitions within the facility. The action planning unit 11 sets the sequence of actions based on the environment map, the partition configuration, and the connection relationships. The action planning unit 11 of the mobile unit server 10 and the action control unit 9 of the mobile unit 2 are examples of mobile unit control units that control the movement of the mobile unit 2.

[0094] The traffic control system 1 includes a facility server 12. The facility server 12 is responsible for managing facility information, etc. Facility information may include, for example, information indicating the configuration of partitions within the facility. Facility information may also include, for example, information indicating the connection relationships between multiple partitions within the facility. Facility information may also include, for example, information related to the configuration, status, and control of access control equipment that manages the connection relationships between multiple partitions. The facility server 12 is an example of a facility management device. The facility server 12 may be a server device composed of one or more server computers. The multiple server devices constituting the facility server 12 may also be configured in different locations. In this case, the multiple server devices may communicate with each other via, for example, a communication network 8. The facility server 12 includes a computing unit 3c, a storage unit 4c, a communication unit 5c, an input unit 13, and an output unit 14.

[0095] The arithmetic unit 3c is, for example, a CPU, a computing device, a microprocessor, or a microcomputer. The storage unit 4c is, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, and EEPROM, or a device such as a disk, floppy disk, optical disk, compact disk, mini disk, or DVD. Part or all of the arithmetic unit 3c and the storage unit 4c may also be constructed using dedicated processing circuitry. The storage unit 4c stores programs, for example, as software or firmware. In the facility server 12, pre-set processing is performed by executing programs stored in the storage unit 4c by the arithmetic unit 3c, and various functions are realized as a result of hardware and software cooperation. Each function of the facility server 12 may also be implemented separately by processing circuitry. Alternatively, part or all of the functions of the facility server 12 may be implemented uniformly by processing circuitry. Furthermore, the processing circuitry may be implemented, for example, by a single circuit, a composite circuit, a programmable processor, a parallel programmable processor, an ASIC or FPGA, or a combination thereof. Part or all of the functions of the facility server 12 may be implemented, for example, by processing or storage resources on a cloud service.

[0096] The communication unit 5c is a component equipped with the function of communicating information with external devices such as the facility server 12. The communication unit 5c communicates with external devices via the communication network 8, for example, through wired or wireless communication. The communication unit 5c, acting as an external device, communicates information with devices such as the mobile server 10 or the mobile device 2. The communication unit 5c communicates with external devices using, for example, the MQTT (Message Queuing Telemetry Transport) protocol or other communication standards.

[0097] The input unit 13 is a component equipped with the function of accepting information input to the facility server 12. The input unit 13 may include, for example, an input device such as a keyboard or mouse, or an information processing terminal device connected to the facility server 12. The input unit 13 may also accept communication commands based on an API (Application Programming Interface) from an external device such as the mobile server 10. Part or all of the input unit 13 may also be composed of a computing unit 3c and a communication unit 5c.

[0098] Output unit 14 is a part equipped with the function of outputting information from facility server 12. Output unit 14 may include, for example, an output device such as a display panel, or an information processing terminal device connected to facility server 12. Output unit 14 may also output API-based communication commands as instructions to external devices such as mobile server 10. Some or all of output unit 14 may be composed of a computing unit 3c and a communication unit 5c.

[0099] The computing unit 3c includes a facility information management unit 15 and a traffic management unit 16. The facility information management unit 15 manages information related to facilities concerning the movement of the mobile body 2. For example, it manages information such as traffic rules set within the facility. The traffic management unit 16 manages the movement of the mobile body 2 within the facility. For example, it manages coordination between multiple mobile bodies 2 and cooperation with equipment and machinery used by the mobile body 2 during its movement within the facility.

[0100] Traffic rules, for example, are rules governing the actions of multiple mobile entities 2 using a facility, specifically designed for a particular location, to prevent them from obstructing each other's movement. Here, the actions of the mobile entity 2 may also include changes in its state. State changes of the mobile entity 2 may include, for example, the turning on and off of safety lights. Traffic rules are rules established within a facility; they may also be referred to as internal passage rules, facility utilization rules, or driving rules for the mobile entity 2. Traffic rules can include multiple rules.

[0101] Traffic rules may be set, for example, that within a designated area, a moving body 2 may travel to the right of the center line. Traffic rules may be set, for example, that restrict the passage of a moving body 2 exceeding a certain height within a specific area. Traffic rules may be set, for example, that within a specific area, safety lights must be installed in a manner visible from a certain height. In this case, traffic rules may also require the moving body 2 to illuminate its safety lights when passing through that area, or prohibit the passage of a moving body 2 that does not possess the required safety lights within that area.

[0102] Furthermore, traffic rules include requiring mobile vehicle 2 to comply with the coordination of a third party within a designated area. For example, traffic rules may stipulate that within a specific area, mobile vehicle 2 shall temporarily stop and wait until a signal of permission to proceed is received. Traffic rules may also stipulate that mobile vehicle 2 shall be notified in advance of its passage within a specific area, and then proceed only after receiving confirmation from a third party that there is a gap in that area for a certain period of time. Traffic rules may also stipulate that mobile vehicle 2 shall notify the third party of the confirmation that there is a gap in the specific area.

[0103] Here, "setting traffic rules" means, for example, specifying both the range and the action for the mobile body 2, so that the mobile body 2 can perform the set actions within a specific range.

[0104] The setting of traffic rules includes, for example, "determining a one-dimensional curved guide path," "regularly notifying the moving body of its position on the guide path," and "stopping or restarting movement within a specific range or under specific conditions." The traffic rules set here apply to moving body 2 moving on the "one-dimensional curved guide path." In the case of multiple moving bodies 2, the "one-dimensional curved guide path" is shared. Furthermore, the setting of traffic rules also includes the installation of a device to monitor a specific range on the one-dimensional curved guide path, and the decision to "stop or restart movement" based on the measurement results of this device.

[0105] Furthermore, the setting of traffic rules includes, for example, "determining the coordinate system as the reference," "the moving body periodically notifying the coordinate system," and "stopping or restarting movement within a specific range or under specific conditions." The traffic rules set here apply to moving bodies 2 that are capable of moving autonomously relative to the "coordinate system as the reference." In the case of multiple moving bodies 2, the "coordinate system as the reference" is shared.

[0106] The setting of traffic rules refers, for example, to "determining the marking of a reference geometry (e.g., a line or rectangle)," "setting up markings in facilities," and "instructing a moving body to obtain movement instructions based on the geometry obtained by measuring the markings." The traffic rules set here apply to a moving body 2 that "can measure the geometry obtained by measuring the markings set up in facilities." In the case of multiple moving bodies 2, the "measurement method" is standardized and shared. Geometric-based traffic rules are represented, for example, by colored lines; when colored lines are marked on the road surface, the moving body 2 moves in a manner that allows passage on the left side of the line. Relative position information relative to the aforementioned "reference coordinate system" can also be embedded in the geometry. The geometry can also function as the aforementioned "one-dimensional curved guide path."

[0107] The movement and travel of the mobile body 2 are related to traffic rules. The traffic rules for the mobile body 2 are the same as those for people, which are determined by regulations or customs related to traffic within the facility, such as maximum speed, distance from walls, movement to avoid specific areas, temporary stopping, prohibition of passing, and priority passage.

[0108] Next, use Figures 2 to 4 An example of information used for traffic management of mobile body 2 will be provided.

[0109] Figure 2This is a diagram illustrating an example of information used by the traffic control system 1 of Implementation 1 in the traffic management of a moving body 2.

[0110] In this example facility, mobile body 2p and mobile body 2q are operating. Here, without specifically distinguishing between mobile body 2p and mobile body 2q, they are sometimes referred to simply as mobile body 2. Mobile body 2p is controlled by mobile body server 10p. Mobile body 2q is controlled by mobile body server 10q. Here, without specifically distinguishing between mobile body server 10p and mobile body server 10q, they are sometimes referred to simply as mobile body server 10. Mobile body server 10p controls mobile body 2p while communicating with facility server 12 via, for example, API-based communication commands. Mobile body server 10q controls mobile body 2q while communicating with facility server 12 via, for example, API-based communication commands.

[0111] Multiple nodes are set up in the facility. Each node represents a location within the facility. The location of the facility indicates the position where the mobile body 2 passes through or stops when moving within the facility. Here, when the mobile body 2 moves between the locations corresponding to two nodes respectively, it is sometimes described as the mobile body 2 moving between those nodes. The location of the facility may also include information about the range encompassing that location. Nodes contain information about the corresponding location. Nodes may also include information about the range encompassing the corresponding location. If the mobile body 2 exists within the range defined for a certain node, the traffic control system 1 determines that the mobile body 2 is located at that node. The mobile body 2 moves between the locations within the facility. That is, the movement of the mobile body 2 can be determined by the nodes representing the locations. In addition, multiple different nodes may represent the same location. In this case, when the mobile body 2 switches its own node from a certain node to another node representing the same location as that node, it is sometimes described as the mobile body 2 moving between these nodes. The node information is managed, for example, by the facility information management unit 15 and stored in the storage unit 4c, etc. Furthermore, the node information is managed, for example, by the mobile body server 10 and stored in the storage unit 4b, etc. In the facility information management unit 15 and the mobile server 10, the information of the nodes is managed in a unique way by using the same symbol to represent the same location.

[0112] Multiple zones are defined within the facility. Each zone is a collection that includes one or more nodes as elements. Each zone is associated with a pre-defined spatial range within the facility. This range may be part or all of the range relating to rooms, passageways, and equipment within the facility, or their boundaries, etc. The pre-defined spatial range may be, for example, a partition of the facility. Nodes contain information about the range of locations, so a collection containing multiple nodes as elements can be associated with a partition of the facility. Here, when a mobile body 2 is located within a spatial range associated with a certain zone, it is sometimes stated that the mobile body 2 is located in that zone. Partitions are information related to the management of the facility; for example, the facility information management unit 15 manages this information. On the other hand, zones are information related to the management of mobile bodies; for example, the mobile body server 10 manages this information. Here, partitions and zones are associated via nodes, so the facility information management unit 15 can manage the information of the zones.

[0113] In this example, we define regions A and B. Region A contains six nodes as elements: A-In-1-1, A-In-1-2, AB-Out-1-1, AB-Out-1-2, AC-Out-1-1, and AD-Out-1-1. The moving body 2q is determined to be located at node A-In-1-2. Similarly, region B contains six nodes as elements: B-In-1-1, B-In-2-1, B-In-2-2, AB-Out-1-1, AB-Out-1-2, and BE-Out-1-1. Nodes AB-Out-1-1 and AB-Out-1-2 are included as common elements within both regions A and B, which are essentially the same region.

[0114] Define node attributes for each node. Node attributes include middle attributes and external attributes. A middle attribute is a node attribute that is contained as an element in any single region. An external attribute is a node attribute that is contained as a common element in at least two distinct regions. In this example, nodes A-In-1-1, A-In-1-2, B-In-1-1, B-In-2-1, and B-In-2-2 have middle attributes. Additionally, nodes AB-Out-1-1 and AB-Out-1-2 have external attributes. In this example, nodes with middle attributes are represented by black circles, and nodes with external attributes are represented by white circles.

[0115] Each region has one or more partial regions. A partial region is a collection of regions whose elements have nodes with the same node attribute. The partial regions of region A include partial regions A-In-1, AB-Out-1, AC-Out-1, and AD-Out-1. The partial regions of region B include partial regions B-In-1, B-In-2, AB-Out-1, and BE-Out-1. Partial region A-In-1 contains nodes A-In-1-1 and A-In-1-2 with the attribute "middle". Partial region AB-Out-1 contains nodes AB-Out-1-1 and AB-Out-1-2 with the attribute "outer". For a given region, there can also be multiple different partial regions corresponding to the same node attribute. For example, for region B, partial regions B-In-1 and B-In-2 are defined corresponding to the attribute "middle".

[0116] Information about nodes, regions, and partial regions is managed by the Facility Information Management Department 15. For example, the Facility Information Management Department 15 manages information such as the node attributes of each node by storing it in the storage department 4c. Furthermore, the Facility Information Management Department 15 manages information such as which node is an element in each region by storing it in the storage department 4c. Additionally, the Facility Information Management Department 15 manages information such as which region each partial region corresponds to and which node is an element in each partial region by storing it in the storage department 4c.

[0117] Figure 3 This is another example of information used by the traffic control system 1 of embodiment 1 in the traffic management of the moving body 2.

[0118] In addition to the intermediate and external attributes, node attributes also include the backoff attribute. The backoff attribute is a node attribute used for temporary retreat to avoid interference between mobile body 2 and other mobile bodies 2 or users within the facility. In this example, region A includes node A-Avoid-1-1 with the backoff attribute as an element. Region A has a partial region A-Avoid-1. Partial region A-Avoid-1 contains node A-Avoid-1-1 as an element. Nodes with the backoff attribute can also be included within the range of the partial region corresponding to the intermediate attribute. Node B-Avoid-1-1 with the backoff attribute is included within the range of partial region B-In-1 corresponding to the intermediate attribute in the partial region of region B. Alternatively, nodes with the intermediate attribute can also have the backoff attribute. Nodes with the backoff attribute are not included within the range of the partial region corresponding to the external attribute. In this example, nodes with the backoff attribute are represented by circles drawn with a slashed line.

[0119] Figure 4 This is a table showing examples of information managed by the facility information management department 15 in Embodiment 1.

[0120] The facility information management unit 15 manages information for each region, for example, through a table for each region. In this table, regions are distinguished by corresponding node attributes and project numbers that identify those regions. For each node included as an element in each region, there is an identifier that identifies that node. For example, regions are managed using identifiers such as A-In-1, formed by connecting the corresponding region, node attributes, and project numbers with hyphens or other separators. Nodes are managed using identifiers such as A-In-1-1, formed by connecting the identifiers of the regions included as elements and branch numbers with hyphens or other separators. The facility information management unit 15 can also separately manage tables that map the same node to other regions sharing that node, such as tables that map nodes with external attributes. In this example, the facility information management unit 15 separately manages a table that maps two nodes with external attributes to each other as identical nodes between nodes in regions A and B. Furthermore, the facility information management unit 15 can also include information about the regions sharing the node in the name of the node's identifier itself. The facility information management unit 15 may, for example, name the identifiers of nodes shared in area A and area B as node AB-Out-1-1 and node AB-Out-1-2, etc. Furthermore, the facility information management unit 15 may also make the order of the areas in the names of the identifiers of some areas directional, such as describing each area as partial area AB-Out-1 and partial area BA-Out-1, etc.

[0121] Next, use Figure 5 This illustrates an example of traffic management by traffic control system 1 for moving body 2.

[0122] Figure 5 This is a diagram illustrating an example of traffic management of a moving body 2 by the traffic control system 1 of Implementation Method 1.

[0123] The action planning unit 11 of the mobile unit server 10 plans the movement of the mobile unit 2 within the facility. For example, the action planning unit 11 generates a travel plan, such as a plan for the mobile unit 2 to move from one location within the facility to another. The action planning unit 11 generates the travel plan based on facility information obtained from the facility information management unit 15 of the facility server 12. The travel plan is, for example, a path within the facility from a starting point area to a destination area. The travel plan is, for example, a sequence of components, including the areas traversed by the mobile unit 2 as it moves from the starting point area to the destination area. Alternatively, the travel plan is, for example, a path from a partial area within the facility to a partial area at the destination. The travel plan is, for example, represented by a sequence of partial areas as a sequence, which includes, as components, the partial areas traversed by the mobile unit 2 as it moves from the partial area corresponding to the middle attribute of the starting point area to the partial area corresponding to the middle attribute of the destination area. The partial area sequence alternately includes partial areas corresponding to the middle attribute and partial areas corresponding to the external attribute as components of the sequence. For example, the action planning unit 11 uses a graph formed by connecting regions in the facility to regions that can interact with each other, with regions as vertices and edges, and generates a sequence of regions or a partial sequence of regions through path searching on this graph. The mobile unit server 10 sends the travel plan generated by the action planning unit 11 to the facility server 12, requesting instructions for movement between nodes in the facility. The generation of the travel plan and the request for movement instructions can be made only once when the mobile unit 2 departs from the starting point in the facility, or at any time during the movement of the mobile unit 2 in the facility. The travel plan can be, for example, a path from the current location of the mobile unit 2 in the facility to the destination point, or a path to intermediate locations. Furthermore, the travel plan can be, for example, a transit point sequence, which is a sequence of locations passed by the mobile unit 2 as components when moving from the starting point to the destination point. The transit point sequence can be, for example, a sequence of information indicating the location of the facility or a sequence of corresponding nodes. The mobile unit server 10 or the facility information management unit 15 generates a sequence of regions based on the node information, referring to the corresponding nodes from the locations in the transit point sequence.

[0124] In this example, the action planning unit 11 generates a partial region sequence as a driving plan, which sequentially includes the partial region AC-Out-1 corresponding to the external attribute of region A, the partial region A-In-1 corresponding to the middle attribute of region A, the partial regions AB-Out-1 corresponding to the external attributes of regions A and B, the partial region B-In-1 corresponding to the middle attribute of region B, and the partial region BD-Out-1 corresponding to the external attribute of region B as components. The driving plan may also include other partial regions as components before and after it. The action planning unit 11 may also generate a driving plan starting from a partial region corresponding to the external attribute, passing through the partial region corresponding to the middle attribute, and ending at the next partial region corresponding to the external attribute each time it passes through the range associated with the partial region corresponding to the middle attribute.

[0125] The traffic management unit 16 of facility server 12 generates instructions for the mobile vehicle 2 regarding movement between nodes within the facility, based on the travel plan received from the mobile vehicle server 10 of the mobile vehicle 2. For example, the traffic management unit 16 selects at least one node from each of the constituent parts of the partial area sequence received as a travel plan. The traffic management unit 16 sorts and arranges the selected nodes according to the order of the constituent parts of the partial area sequence, generating a node sequence. The traffic management unit 16 generates instructions for the mobile vehicle 2, for example, in a manner that includes a normal action graph, which is a directed graph with edges as elements, where each edge is a sequential pair of two adjacent nodes in the node sequence. Facility server 12 sends the instructions containing the normal action graph generated by traffic management unit 16 to the mobile vehicle server 10 of the mobile vehicle 2. Alternatively, the traffic management unit 16 may also generate the instructions in a sequential sequence containing the selected nodes. Based on the instructions from facility server 12, the mobile vehicle 2 moves within or between sections of the facility.

[0126] In this example, the traffic management department 16 selects node AC-Out-1-1 as an element of part area AC-Out-1, node A-In-1-1 as an element of part area A-In-1, node AB-Out-1-1 as an element of part area AB-Out-1, node B-In-1-1 and node B-In-1-2 as elements of part area B-In-1, and node BD-Out-1-1 as an element of part area BD-Out-1, and generates a node sequence by arranging them in this order. Traffic Management Department 16 generates a normal action graph with sequential pairs of edges (AC-Out-1-1, A-In-1-1), (A-In-1-1, AB-Out-1-1), (AB-Out-1-1, B-In-1-1), (B-In-1-1, B-In-1-2), and (B-In-1-2, BD-Out-1-1) as information contained in the instructions for the moving body 2. The normal action graph may also include edges between it and other nodes before and after it. In this example, the normal action graph is represented by solid arrows.

[0127] Traffic management unit 16 can also generate and output a retreat instruction for mobile body 2 when mobile body 2 may interfere with other mobile bodies 2 or users within the facility. For example, traffic management unit 16 can generate a directed graph with edges that branch from the normal action graph and include it in advance in the instruction to mobile body 2, wherein the edges are pairs of nodes whose starting or ending points are nodes in the normal action graph and which move when a retreat instruction is provided. The abnormal action graph can also be sent to mobile body 2 simultaneously with the normal action graph. Facility server 12 can send the abnormal action graph and the retreat instruction to mobile body 2 simultaneously, or it can send the abnormal action graph as a retreat instruction to mobile body 2. In this example, the abnormal action graph does not contain edges that start with nodes of the neutral attribute and end with nodes of other attributes. In this example, the abnormal action graph does not contain edges that start with nodes of the retreat attribute and end with nodes of other attributes. In this example, an abnormal action graph can also contain edges that start at a node with the backoff attribute and end at other nodes with the backoff attribute. An abnormal action graph can also contain edges that start at a node with the neutral attribute and end at other nodes with the neutral attribute. An abnormal action graph can also contain multiple edges representing branches of the normal action graph. An abnormal action graph can also contain edges between nodes that move when a backoff instruction is given. In this example, the abnormal action graph is represented by dashed arrows.

[0128] Traffic Management Department 16 generates, for example, an abnormal action graph containing edges (AB-Out-1-1, A-Avoid-1-1) and (A-Avoid-1-1, A-In-1-1). Traffic Management Department 16 generates, for example, an abnormal action graph containing edges (AB-Out-1-1, B-Avoid-1-1), (B-Avoid-1-1, B-Avoid-1-2), and (B-Avoid-1-2, B-In-1-2). Traffic Management Department 16 generates, for example, an abnormal action graph containing edges (B-In-1-1, B-Avoid-1-1) and (B-Avoid-1-1, B-In-1-1). Traffic Management Department 16 generates, for example, an abnormal action graph containing edges (A-In-1-1, A-In-1-2) and (A-In-1-2, A-In-1-1).

[0129] In addition, Figure 5 In the diagram, to facilitate observation, a partial region of region A's external attributes, such as AB-Out-1, is displayed on the line representing region A. Thus, the partial region of external attributes displayed on the region's frame sometimes represents a portion of the region contained within that region. Region A contains partial regions A-In-1, A-Avoid-1, AB-Out-1, and AC-Out-1. Similarly, region B contains partial regions B-In-1, B-Avoid-1, AB-Out-1, and BD-Out-1. In subsequent diagrams, to facilitate observation, a partial region of the region's external attributes is sometimes displayed on the line representing the region's frame.

[0130] Next, use Figure 6 This example illustrates the control of a moving body 2 in traffic control system 1.

[0131] Figure 6 This is a table illustrating an example of controlling a moving body 2 in the traffic control system 1 of Implementation Method 1. Figure 6 For example, a table illustrating state transitions.

[0132] The mobile unit server 10, based on a directed graph such as a normal or abnormal action graph indicated by the facility server 12, enables the mobile unit 2 to perform actions within the facility. Control of the mobile unit 2's actions based on the directed graph can also be performed by the mobile unit 2 itself. For example, the mobile unit server 10 controls the actions performed by the mobile unit 2 based on the node attributes of the start and end nodes of the edges contained in the directed graph. The start node is, for example, the node where the mobile unit 2 is currently located. The end node is, for example, the node where the mobile unit 2 will move next. The mobile unit server 10, for example, maintains the information of the start node during edge-based control. The mobile unit server 10 maintains the start and end node information of the edges, and when moving to the end node, keeps the end node as the new start node, and updates the new end node sequentially based on the next edge. Additionally, the two nodes contained in an edge can refer to the same location. When the start node and the end node refer to the same location, for example, actions will be performed according to... Figure 6 The state transition table processing is considered as movement. When the reference start node and the end node are different, the moving body 2 autonomously moves to the end location. Here, processing can also be defined separately for the start, middle, and end of the movement. The processing registered in the state transition is the action of the moving body 2 in accordance with traffic rules.

[0133] For example, when the starting node has a neutral attribute and the ending node has an external attribute, the mobile server 10 causes the mobile body 2 to exit the range associated with the region containing the starting node. Upon exiting, the mobile body 2 queries the facility server 12 whether it is possible to travel between the ranges of two regions that share the ending node as a common element. For example, the mobile body 2 queries the facility server 12 for the availability of the ending node with the external attribute. For example, when the starting node has an external attribute and the ending node has a neutral attribute, the mobile server 10 causes the mobile body 2 to enter the range associated with the region containing the ending node. Upon entering, the mobile body 2 notifies the facility server 12 of the exit from the range containing the region containing the starting node. For example, the mobile body 2 notifies the facility server 12 of the availability of the starting node with the external attribute. For example, when the starting node has a neutral attribute and the ending node is another node with a neutral attribute, the mobile server 10 causes the mobile body 2 to move from the starting node to the ending node. For example, if the starting node has an external attribute and the ending node is the same node with an external attribute, the mobile server 10 causes the mobile 2 to suspend the currently executed action.

[0134] In the directed graph contained in the instructions from facility server 12, if the starting node is a node corresponding to the neutral attribute and the ending node is a node corresponding to the backoff attribute, the mobile unit server 10, for example, causes the mobile unit 2 to temporarily suspend its currently executing action. This instruction could be, for example, an instruction from facility server 12 causing the mobile unit 2 to temporarily back off. During the temporary suspension, the mobile unit 2 stores current information such as the normal action graph of the currently executing action. The mobile unit server 10 then causes the mobile unit 2 to move towards a node in that other region. In a subsequent instruction from facility server 12, if the starting node is a node with the backoff attribute and the ending node is the original neutral attribute node, the mobile unit server 10 causes the mobile unit 2 to resume the temporarily suspended action. Upon resumption, the mobile unit 2 reads the stored normal action graph and other information. The mobile unit server 10 then causes the mobile unit 2 to move towards the original neutral attribute node. On the other hand, in a subsequent instruction from facility server 12, if the starting node is the node with the backoff attribute and the ending node is also the same node, mobile unit server 10 causes mobile unit 2 to extend its temporary stop. Mobile unit 2 continues to wait at the location of that node.

[0135] The mobile unit server 10 can also perform other controls on the mobile unit 2. For example, in the directed graph contained in the instructions from the facility server 12, if the starting node is a node in a region corresponding to the attribute and the ending node is a node in another region, the mobile unit server 10 can also transform the directed graph of the mobile unit 2 during movement into a directed graph on that other region. The mobile unit 2 moves according to the directed graph on that other region. Alternatively, when changing regions, similar to exiting the range of the original region and entering the range of the destination region, the mobile unit 2 moves based on notifications and queries of the availability status of each region.

[0136] Next, use Figures 7 to 9 This illustrates an example of the movement of mobile body 2 within the facility.

[0137] Figure 7 This is a diagram illustrating an example of the movement of the movable body 2 in the facility of Embodiment 1.

[0138] Figure 8 and Figure 9 This is a timing diagram illustrating an example of the operation of the traffic control system 1 when the mobile body 2 moves in the facility of Embodiment 1.

[0139] like Figure 7As shown, in this example, regions A and B are defined as adjacent to each other. Region A has a partial region A-In-1 corresponding to the middle attribute and a partial region AB-Out-1 corresponding to the outer attribute. Region B has a partial region B-In-1 corresponding to the middle attribute and a partial region AB-Out-1 corresponding to the outer attribute. Partial region A-In-1 contains nodes A-In-1-1 and A-In-1-2 of the middle attribute as elements. Partial region B-In-1 contains nodes B-In-1-1 and B-In-1-2 of the middle attribute as elements. Partial region AB-Out-1 contains node AB-Out-1-1 of the outer attribute as an element. Mobile body 2p, controlled by mobile body server 10p, is located at node A-In-1-1. Mobile body 2q, controlled by mobile body server 10q, is located at node B-In-1-2. In this example, mobile body 2p moves from region A to region B.

[0140] like Figure 8 As shown, the facility server 12 continuously distributes information to the mobile server 10 and collects information from the mobile server 10.

[0141] The facility information management unit 15 of facility server 12 generates information for distribution to mobile unit 2 based on information stored in storage unit 4c (step S801). Here, information distribution is performed, for example, by publishing to an MQTT topic. The distributed information includes, for example, information about each node and region, and information about adjacency relationships between regions within the facility. Mobile unit server 10p sends a message registering its subscription to this information to facility server 12 to enable it to receive facility information distribution (step S802). Here, information subscription is performed, for example, by subscribing to an MQTT topic. If registration has already been completed, sending the registration message may be omitted. Mobile unit server 10q sends a message registering its subscription to this information to facility server 12 to enable it to receive facility information distribution (step S803). Facility server 12 distributes the facility information to the registered mobile unit servers 10p and 10q (steps S804, S805). Mobile server 10p and mobile server 10q each store the information distributed from facility server 12 in, for example, storage unit 4b (steps S806, S807). The distribution of facility information can be performed periodically or irregularly when facility information is updated.

[0142] Furthermore, the mobile server 10p obtains the current location of mobile 2p within the facility from mobile 2p itself. The mobile server 10p notifies the facility server 12 of the obtained location of mobile 2p along with its ID (IDentifier) ​​(step S808). Similarly, the mobile server 10q notifies the facility server 12 of the current location of mobile 2q within the facility along with its ID (step S809). The notification of mobile 2's location can be performed periodically, or irregularly, such as when mobile 2 begins to move. The location information of mobile 2 can be, for example, the name of the identifier of the node where mobile 2 is currently located. Based on this collected information, the facility server 12 determines whether mobile 2p is located at node A-In-1-1 and whether mobile 2q is located at node B-In-1-2 (step S810).

[0143] Next, as Figure 9 As shown, the action planning unit 11 of the mobile unit server 10p generates a travel plan for the mobile unit 2p. In this example, the action planning unit 11 generates a travel plan that sequentially includes parts of area A-In-1, parts of area AB-Out-1, and parts of area B-In-1. The mobile unit server 10p sends the travel plan generated by the action planning unit 11, along with the ID of the mobile unit 2p, to the facility server 12, requesting instructions for movement between nodes in the facility (step S901). Based on the travel plan received from the mobile unit server 10p, the traffic management unit 16 of the facility server 12 generates instructions for the mobile unit 2p that include a normal action map (step S902).

[0144] In this example, the travel plan of the mobile body 2p received by the traffic management department 16 is a travel plan that involves passage through at least one of the nodes with external attributes shared by areas A and B, i.e., a travel plan that involves passage between the range associated with area A and the range associated with area B. At this time, the traffic management department 16 determines whether to permit passage based on the sum of the occupancy values ​​of nodes with external attributes that are included as common elements in areas A and B, i.e., nodes included as elements in the part of area AB-Out-1 shared by areas A and B and corresponding to the external attributes. Here, the occupancy value of a node is, for example, a value indicating the vacancy status of the node, such as the number of mobile bodies 2 located at that node. Alternatively, the occupancy value of a node may also be a value indicating the size of the mobile body 2 located at that node. The size of the mobile body 2 may be, for example, its width, height, or depth, weight, or turning radius during movement. The traffic management department 16 calculates the occupancy value of a node, for example, based on information collected from the mobile body 2 each time. In this example, the area AB-Out-1 contains only node AB-Out-1-1. Therefore, the traffic management unit 16 determines whether to permit the passage of mobile body 2p based on the occupancy value of node AB-Out-1-1. For example, the traffic management unit 16 permits the passage of mobile body 2 if the sum of the occupancy values ​​does not reach a pre-set upper limit for the two areas. In this example, since there are no other mobile bodies 2 at node AB-Out-1-1, the occupancy value of this node is 0. Therefore, for example, if the upper limit of the occupancy value between area A and area B is set to 1, the traffic management unit 16 permits the passage of mobile body 2p.

[0145] Furthermore, in this example, the travel plan of the mobile body 2p received by the traffic management department 16 is a travel plan to move from a node that is not included as an element in area B to at least one node of the intermediate attribute in area B, i.e., a travel plan to enter the area associated with area B. In this case, the traffic management department 16 determines whether to permit the entry based on the occupancy values ​​of nodes that are included as elements in area B, specifically the sum of the occupancy values ​​of nodes included as elements in part of area B-In-1 corresponding to the intermediate attribute and nodes included as elements in part of area B-Out-1 corresponding to the outer attribute. In this example, part of area B-In-1 contains nodes B-In-1-1 and B-In-1-1, and part of area AB-Out-1 contains node AB-Out-1-1. Therefore, the traffic management department 16 determines whether to permit the entry of the mobile body 2p based on the sum of the occupancy values ​​of these three nodes. For example, the traffic management department 16 permits the passage of the mobile body 2p if the sum of the occupancy values ​​does not reach a pre-set upper limit for the area to be entered. In this example, apart from the mobile body 2q located at node B-In-1-2, there is no mobile body 2 in area B. The occupancy value of the node in area B is 1 unit. Therefore, for example, when the upper limit of the occupancy value is set to 2 units for area B, the traffic management department 16 permits the entry of mobile body 2p.

[0146] Traffic management unit 16 generates a normal action map as an instruction to mobile body 2p, for example, based on the determination of occupancy value as described above. In this example, mobile body 2p is permitted to travel between area A and area B and to enter area B. Therefore, traffic management unit 16 generates a normal action map containing edges (A-In-1-1, AB-Out-1-1) and (AB-Out-1-1, node B-In-1-1). Facility server 12 outputs the instruction containing the normal action map generated by traffic management unit 16 to mobile body server 10p.

[0147] The movement control unit 9 of mobile body 2p receives instructions from facility server 12 and performs passage processing from area A to area B based on the normal movement map generated by traffic management unit 16 (step S903). During passage processing, the movement control unit 9 determines the starting and ending nodes of the edges that mobile body 2p will move along based on the normal movement map. For example, the movement control unit 9 performs control corresponding to the node attributes of the starting and ending nodes, while moving mobile body 2p sequentially along each edge of the normal movement map. The movement control unit 9 repeatedly performs movement control of mobile body 2p until it reaches the end point of the last edge of the normal movement map. Here, the two nodes contained in the edge can also refer to the same location. That is, mobile body 2p changes from the initial node to the next node through state transition processing, moving between different partial areas. Here, the end point of the last edge of the normal movement map is, for example, a node whose starting point is not contained in the normal movement map.

[0148] When the mobile unit server 10p completes the passage processing of mobile unit 2p from area A to area B based on the normal action map, it reports completion to the facility server 12 (step S904). The facility server 12 updates information on the movement status of each mobile unit 2 in the facility, such as the occupancy value of nodes sharing external attributes in areas A and B (step S905). Afterward, the mobile unit server 10p continues to control the subsequent movements of mobile unit 2p (step S906). The mobile unit server 10q can also control the movements of mobile unit 2q in parallel (step S907).

[0149] Next, use Figures 10 to 12 This illustrates an example of the movement of multiple moving bodies 2 within a facility.

[0150] Figure 10 and Figure 11 This is a diagram illustrating an example of the movement of the movable body 2 in the facility of Embodiment 1.

[0151] Figure 12 This is a timing diagram illustrating an example of the operation of the traffic control system 1 when the mobile body 2 moves in the facility of Embodiment 1.

[0152] exist Figure 10 and Figure 11 In, with Figure 7 Similarly, regions, partial regions, and nodes are defined. In this example, moving body 2p moves from region A to region B. Furthermore, assume that moving body 2q, different from moving body 2p, moves from region B to region A.

[0153] like Figure 10As shown, mobile body 2q moves from node B-In-1-2 to node AB-Out-1-1 via path E-b2, and then moves from node AB-Out-1-1 to node A-In-1-2 via path E-a2. Paths E-b2 and E-a2 are generated by the action planning unit 11 of mobile body 2q, for example, based on information such as the location of each node. Here, when generating the travel plan for mobile body 2p to move from region A to region B, mobile body 2q, which has already started moving, is located at node AB-Out-1-1, which shares external attributes with regions A and B. At this time, the traffic management unit 16 of facility server 12 adjusts, for example, the timing of mobile body 2p's movement so that mobile body 2p and mobile body 2q do not interfere with each other at nodes such as AB-Out-1-1, which share external attributes.

[0154] After that, as Figure 11 As shown, the mobile body 2p moves from node A-In-1-1 to node AB-Out-1-1 via path E-a1, and then moves from node AB-Out-1-1 to node B-In-1-1 via path E-b1. Paths E-a1 and E-b1 are generated by the action planning unit 11 of the mobile body 2p, for example, based on information such as the location of each node.

[0155] like Figure 12 As shown, the movement control unit 9 of mobile body 2q performs passage processing from area B to area A based on the normal movement map generated by the traffic management unit 16 of facility server 12 (step S1201). During this passage processing, mobile body 2q passes through node AB-Out-1-1. During this period, mobile body server 10p sends the travel plan generated by the movement planning unit 11 along with the ID of mobile body 2p to facility server 12, requesting instructions for movement between nodes in the facility (step S1202). The traffic management unit 16 of facility server 12 receives the travel plan from mobile body server 10p (step S1203).

[0156] Traffic Management Department 16 generates a normal action map as an instruction to mobile body 2p based on judgments made using the occupancy values ​​of nodes with shared external attributes in areas A and B. In this example, there is another mobile body 2q at node AB-Out-1-1, and the occupancy value of this node is 1 unit. Therefore, if the upper limit of the occupancy value is set to 1 unit for areas A and B, Traffic Management Department 16 refuses passage to mobile body 2p. When Traffic Management Department 16 refuses passage to mobile body 2p, Facility Server 12 can either ignore the request for instructions from Mobile Body Server 10p, respond with a refusal to pass, or output a standby instruction, etc.

[0157] When the mobile unit server 10q completes the passage process of mobile unit 2q from area B to area A based on the normal action map, it reports completion to the facility server 12 (step S1204). Afterwards, the mobile unit server 10p continues to control the subsequent actions of mobile unit 2p (step S1205).

[0158] Facility server 12 updates information on the movement status of each mobile body 2 in the facility, such as the occupancy value of nodes sharing external attributes between area B and area A (step S1206). Based on the updated status, facility server 12 determines whether to allow the passage of mobile body 2p that was denied once (step S1207). Facility server 12 can store the denied passage request and automatically re-determine, or it can re-determine if there is a re-request from mobile body server 10p. In this example, there are no other mobile bodies 2 at node AB-Out-1-1, and the occupancy value of this node is 0, so traffic management department 16 allows the passage of mobile body 2p. In this example, mobile body 2p is allowed to pass between area A and area B and to enter area B. Therefore, traffic management department 16 generates a normal movement graph that sequentially includes edges (A-In-1-1, AB-Out-1-1) and edges (AB-Out-1-1, B-In-1-1). The facility server 12 outputs instructions containing the normal action map generated by the traffic management department 16 to the mobile body server 10p.

[0159] The movement control unit 9 of mobile body 2p receives instructions from the facility server 12 and performs passage processing from area A to area B based on the normal movement map generated by the traffic management unit 16 (step S1208). When mobile body server 10p completes the passage processing of mobile body 2p from area A to area B based on the normal movement map, it reports completion to the facility server 12 (step S1209). The facility server 12 updates information on the movement status of each mobile body 2 in the facility, such as the occupancy values ​​of nodes sharing external attributes in areas A and B (step S1210). Afterwards, mobile body server 10p continues to control the subsequent movements of mobile body 2p (step S1211).

[0160] Additionally, for example, if there are two or more nodes included as elements in a partial area AB-Out-1 shared by areas A and B and corresponding to external attributes, facility server 12 can also permit the passage of mobile body 2p during the passage of mobile body 2q. For example, partial area AB-Out-1 includes nodes AB-Out-1-1, AB-Out-1-2, and AB-Out-1-3. In this case, traffic management unit 16 can set the upper limit of occupancy to 3 units. At this time, even if mobile body 2q exists at node AB-Out-1-1, since the occupancy value of this node is 1 unit and has not reached the upper limit of 3 units, traffic management unit 16 may permit the passage of mobile body 2p. In this case, traffic management unit 16, for example, avoids node AB-Out-1-1 where mobile body 2q already exists, and generates a normal action graph for mobile body 2p that includes edges (A-In-1-1, AB-Out-1-2) and edges (AB-Out-1-2, B-In-1-1).

[0161] Next, use Figures 13 to 17 This is another example illustrating the movement of multiple mobile bodies 2 within the facility.

[0162] Figure 13 , Figure 14 as well as Figure 16 This is a diagram illustrating an example of the movement of the movable body 2 in the facility of Embodiment 1.

[0163] Figure 15 and Figure 17 This is a timing diagram illustrating an example of the operation of the traffic control system 1 when the mobile body 2 moves in the facility of Embodiment 1.

[0164] exist Figures 13 to 17 In, with Figure 7 Similarly, regions A and B, as well as portions of their regions and nodes, are defined. Region A has a portion A-Avoid-1 corresponding to the backoff attribute. Region B also has a portion B-Avoid-1 corresponding to the backoff attribute. The portion A-Avoid-1 contains the node A-Avoid-1-1 with the backoff attribute as an element. The portion B-Avoid-1 contains the node B-Avoid-1-1 with the backoff attribute as an element. In this example, the moving body 2p moves from region A to region B. Furthermore, assume that the moving body 2q moves from region B to region A.

[0165] In this example, facility server 12 generates a normal action graph containing edge (A-In-1-1, AB-Out-1-1) and edge (AB-Out-1-1, B-In-1-1), and an abnormal action graph containing edge (AB-Out-1-1, A-Avoid-1-1), edge (A-In-1-1, A-Avoid-1-1), and edge (A-Avoid-1-1, A-In-1-1), as information contained in the instruction to the mobile body 2p. Similarly, facility server 12 generates a normal action graph containing edge (B-In-1-1, AB-Out-1-1) and edge (AB-Out-1-1, A-In-1-1), and an abnormal action graph containing edge (AB-Out-1-1, B-Avoid-1-1), edge (B-In-1-1, B-Avoid-1-1), and edge (B-Avoid-1-1, B-In-1-1), as information contained in the instruction to the moving body 2q.

[0166] like Figure 13 As shown, mobile body 2q moves from node B-In-1-1 to node AB-Out-1-1 via path E-b2 according to the normal action plan, and then moves from node AB-Out-1-1 to node A-In-1-1 via path E-a2. Paths E-b2 and E-a2 are generated by the action planning unit 11 of mobile body 2q, for example, based on information such as the location of each node. Here, when generating the travel plan for mobile body 2p to move from region A to region B, mobile body 2q, which has already started moving, is located at node AB-Out-1-1, which shares external attributes with region A and region B. At this time, the traffic management unit 16 of facility server 12 generates instructions such as retreat based on the priority of mobile bodies 2p and 2q, so that mobile bodies 2p and 2q do not interfere with each other.

[0167] The priority of mobile body 2 can be set in facility server 12 based on factors such as the movement status of mobile body 2, traffic conditions within the facility, and the type of mobile body 2. The priority of mobile body 2 can also be set to prioritize mobile bodies 2 that have entered the node earlier. Alternatively, the priority of mobile body 2 can be preset based on factors such as the type of service provided by mobile body 2 or the size of mobile body 2. For example, mobile bodies 2 performing emergency transport can be given high priority. Furthermore, priority can be set based on factors such as the direction of movement of mobile body 2 to optimize the overall traffic flow of the facility. Additionally, priority can be set through auctions between mobile body servers 10p and 10q.

[0168] exist Figure 14 and Figure 15The example shown illustrates a case where mobile body 2p has priority. Facility server 12 outputs a backoff command to mobile body 2q, which has a relatively lower priority. The backoff command is an example of a command concerning an abnormal action.

[0169] like Figure 14 As shown, upon receiving a backoff instruction, mobile entity 2q, following the abnormal action diagram, backs off from node AB-Out-1-1 (external attribute) to node B-Avoid-1-1 (backoff attribute) via path Y-b2. Upon completion of the backoff, mobile entity 2q notifies facility server 12 that the backoff is complete. Then, facility server 12 notifies mobile entity 2p that passage is permitted. Mobile entity 2p, following the normal action diagram, moves from node A-In-1-1 to node AB-Out-1-1 via path E-a1, and then from node AB-Out-1-1 to node B-In-1-1 via path E-b1. When mobile entity 2q is able to move, facility server 12 notifies mobile entity 2q that passage is permitted or the backoff is lifted. Movement 2q returns from node B-Avoid-1-1 to node B-In-1-1 according to the abnormal action diagram, and then restarts its movement through nodes B-In-1-1, AB-Out-1-1, and A-In-1-1 in sequence according to the normal action diagram.

[0170] like Figure 15 As shown, the movement control unit 9 of mobile body 2q performs passage processing from area B to area A based on the normal movement map generated by the traffic management unit 16 of facility server 12 (step S1501). During this passage processing, mobile body 2q passes through node AB-Out-1-1. During this period, mobile body server 10p sends the travel plan generated by the movement planning unit 11 along with the ID of mobile body 2p to facility server 12, requesting instructions for movement between nodes in the facility (step S1502).

[0171] The traffic management department 16 determines whether mobile body 2p might interfere with other mobile bodies 2q based on judgments made using the occupancy values ​​of nodes with shared external attributes in areas A and B. For example, if the sum of the occupancy values ​​of nodes with external attributes reaches a pre-set upper limit between the two areas, the traffic management department 16 determines that mobile bodies 2p and 2q might interfere with each other. In this example, mobile body 2q exists at node AB-Out-1-1, and the occupancy value of this node is 1 unit. Therefore, if the upper limit of the occupancy value is set to 1 unit for areas A and B, the traffic management department 16 determines that mobile bodies 2p and 2q might interfere. At this time, the facility server 12 outputs a backoff command to mobile body 2q, which has a relatively lower priority (step S1503).

[0172] The movement control unit 9 of mobile body 2q receives the backoff command from facility server 12 and performs backoff processing based on the abnormal movement map generated by traffic management unit 16 (step S1504). During the backoff processing, the movement control unit 9 determines the starting and ending nodes of the edges that mobile body 2q will move along based on the abnormal movement map. For example, the movement control unit 9 performs control corresponding to the node attributes of the starting and ending nodes while moving mobile body 2q along each edge of the abnormal movement map. The movement control unit 9 performs movement control of mobile body 2q so that it moves to the end point of any edge in the abnormal movement map. Here, the end point of the edge of the abnormal movement map that mobile body 2q moves along is, for example, a node that is not included in any edge of the normal movement map. When the mobile body server 10q completes the backoff processing of mobile body 2q based on the abnormal movement map, it reports completion to facility server 12.

[0173] Upon receiving the report that the backoff is complete, the facility server 12 updates information such as the occupancy value of each node and the movement status of each mobile body 2 in the facility (step S1505). Based on the updated status, the facility server 12 determines whether to permit the passage of the priority mobile body 2p (step S1506). In this example, there are no other mobile bodies 2 at node AB-Out-1-1, and the occupancy value of this node is 0. Therefore, the facility server 12 notifies the mobile body server 10p that it is permitted to allow the passage of mobile body 2p.

[0174] The movement control unit 9 of mobile body 2p receives instructions from the facility server 12 and performs passage processing from area A to area B based on the normal movement map generated by the traffic management unit 16 (step S1507). When mobile body server 10p completes the passage processing of mobile body 2p from area A to area B based on the normal movement map, it reports completion to the facility server 12 (step S1508). Afterwards, mobile body server 10p continues to control the subsequent movements of mobile body 2p (step S1509).

[0175] Upon receiving the report of passage completion, facility server 12 updates information such as the occupancy value of each node and the movement status of each mobile body 2 in the facility (step S1510). Based on the updated status, facility server 12 determines whether to permit the passage of the retreating mobile body 2q (step S1511). Facility server 12 can store the retreating mobile body 2q and automatically re-determine its status, or it can re-determine its status if there is a request to cancel the retreat from mobile body server 10q. In this example, there are no other mobile bodies 2 at node AB-Out-1-1, and the occupancy value of this node is 0. Therefore, facility server 12 sets the passage of mobile body 2q to be permitted and outputs the instruction to cancel the retreat to mobile body server 10q.

[0176] The movement control unit 9 of mobile body 2q receives the backoff release instruction from facility server 12 and, based on the abnormal movement diagram, causes mobile body 2q to return to node B-In-1-1 on the normal movement diagram. Afterwards, the movement control unit 9 of mobile body 2q restarts the passage process from area B to area A (step S1512). When mobile body server 10q completes the passage process of mobile body 2q from area B to area A based on the normal movement diagram, it reports completion to facility server 12 (step S1513). Afterwards, mobile body server 10q continues to control the subsequent movements of mobile body 2q (step S1514).

[0177] exist Figure 16 and Figure 17 The example shown illustrates the case where mobile body 2q has priority. Facility server 12 outputs a backoff command to mobile body 2p, which has a relatively lower priority.

[0178] like Figure 16 As shown, upon receiving the backoff command, mobile entity 2p, following the abnormal action diagram, backs off from node A-In-1-1 with the backoff attribute via path Y-a1 to node A-Avoid-1-1 with the backoff attribute. Mobile entity 2q, following the normal action diagram, moves from node B-In-1-1 via path E-b2 to node AB-Out-1-1, and then from node AB-Out-1-1 to node A-In-1-1 via path E-a2. When mobile entity 2p is able to move, facility server 12 notifies mobile entity 2p that passage is possible or the backoff is lifted. Mobile entity 2p returns from node A-Avoid-1-1 to node A-In-1-1 according to the abnormal action diagram, and then restarts its movement through nodes A-In-1-1, AB-Out-1-1, and B-In-1-1 sequentially according to the normal action diagram.

[0179] like Figure 17 As shown, the movement control unit 9 of mobile body 2q performs passage processing from area B to area A based on the normal movement map generated by the traffic management unit 16 of facility server 12 (step S1701). During this passage processing, mobile body 2q passes through node AB-Out-1-1. During this period, the movement control unit 9 of mobile body 2p performs passage processing from area A to area B (step S1702). At this time, mobile body 2p is located at node A-In-1-1.

[0180] The traffic management department 16 determines whether mobile body 2p might interfere with other mobile bodies 2q based on judgments made using the occupancy values ​​of nodes with shared external attributes in areas A and B. For example, if the sum of the occupancy values ​​of nodes with external attributes reaches a pre-set upper limit between the two areas, the traffic management department 16 determines that mobile bodies 2p and 2q might interfere with each other. In this example, mobile body 2q exists at node AB-Out-1-1, and the occupancy value of this node is 1 unit. Therefore, if the upper limit of the occupancy value is set to 1 unit for areas A and B, the traffic management department 16 determines that mobile bodies 2p and 2q might interfere. At this time, the facility server 12 outputs a backoff command to mobile body 2p, which has a relatively lower priority (step S1703).

[0181] The movement control unit 9 of mobile body 2p receives the retreat instruction from facility server 12 and performs retreat processing based on the abnormal movement map generated by traffic management unit 16 (step S1704). During retreat processing, the movement control unit 9 determines the starting and ending nodes of the edges that mobile body 2p will move along based on the abnormal movement map. For example, the movement control unit 9 performs control corresponding to the node attributes of the starting and ending nodes while moving mobile body 2p along each edge of the abnormal movement map. The movement control unit 9 performs movement control of mobile body 2p so that it moves to the end point of any edge in the abnormal movement map. Here, the end point of the edge of the abnormal movement map that mobile body 2p moves along is, for example, a node that is not included in any edge of the normal movement map. When the mobile body server 10p completes the retreat processing of mobile body 2p based on the abnormal movement map, it reports completion to facility server 12.

[0182] Upon receiving the report that the backoff is complete, the facility server 12 updates information such as the occupancy value of each node and the movement status of each mobile body 2 in the facility (step S1705). Based on the updated status, the facility server 12 determines whether to permit the passage of the priority mobile body 2q (step S1706). In this example, there are no other mobile bodies 2 at node AB-Out-1-1, and the occupancy value of this node is 0. Therefore, the facility server 12 notifies the mobile body server 10q that it is permitted to allow the passage of mobile body 2q.

[0183] The movement control unit 9 of mobile body 2q receives instructions from facility server 12 and performs passage processing from area B to area A based on the normal movement map generated by traffic management unit 16 (step S1707). When mobile body server 10q completes the passage processing of mobile body 2q from area B to area A based on the normal movement map, it reports completion to facility server 12 (step S1708). Afterwards, mobile body server 10q continues to control the subsequent movements of mobile body 2q (step S1709).

[0184] Upon receiving the report of passage completion, facility server 12 updates information such as the occupancy value of each node and the movement status of each mobile body 2 in the facility (step S1710). Based on the updated status, facility server 12 determines whether to permit the passage of the retreating mobile body 2p (step S1711). Facility server 12 can store the retreating mobile body 2p and automatically re-determine its status, or it can re-determine its status if there is a request to cancel the retreat from mobile body server 10p. In this example, there are no other mobile bodies 2 at node AB-Out-1-1, and the occupancy value of this node is 0. Therefore, facility server 12 sets the passage of mobile body 2p to be permitted and outputs the instruction to cancel the retreat to mobile body server 10p.

[0185] The movement control unit 9 of mobile body 2p receives the backoff release instruction from facility server 12 and, based on the abnormal movement diagram, causes mobile body 2p to return to node A-In-1-1 on the normal movement diagram. Afterwards, the movement control unit 9 of mobile body 2p restarts the passage process from area A to area B (step S1712). When mobile body server 10p completes the passage process of mobile body 2p from area A to area B based on the normal movement diagram, it reports completion to facility server 12 (step S1713). Afterwards, mobile body server 10p continues to control the subsequent movements of mobile body 2p (step S1714).

[0186] Next, use Figures 18 to 21 This is another example illustrating the movement of mobile body 2 within the facility.

[0187] Figure 18 and Figure 20 This is a diagram illustrating an example of the movement of the movable body 2 in the facility of Embodiment 1.

[0188] Figure 19 and Figure 21 This is a timing diagram illustrating an example of the operation of the traffic control system 1 when the mobile body 2 moves in the facility of Embodiment 1.

[0189] exist Figure 18 and Figure 20 In, with Figure 13 Similarly, regions A and B, as well as parts of their regions and nodes, are defined. In this example, the moving body 2 moves from region A to region B. Furthermore, within the facility, it is assumed that a user, acting as a human, moves from region B to region A.

[0190] exist Figure 18 and Figure 19The diagram illustrates an example of a mobile body 2 retreating. In a facility, the priority of users, typically human users, is usually set higher than that of the mobile body 2, which is a machine. Therefore, when the mobile body 2 detects a user as an obstacle on its path, it attempts to retreat to prioritize the user. The mobile body 2 detects obstacles on its path, for example, based on measurement results from the measurement unit 6.

[0191] like Figure 18 As shown, when a user located at node AB-Out-1-1 is detected as an obstacle on the path of travel, mobile body 2 notifies facility server 12 that backoff has begun. Then, mobile body 2, following the abnormal action diagram, backs off from node AB-Out-1-1 (external attribute) to node A-Avoid-1-1 (backoff attribute). Upon completion of backoff, mobile body 2 notifies facility server 12 that backoff is complete. Afterwards, when the user's passage is complete and no user located at node AB-Out-1-1 is detected, mobile body 2 notifies facility server 12 that backoff has been lifted. Subsequently, mobile body 2 returns from node A-Avoid-1-1 to node A-In-1-1 according to the abnormal action diagram, and restarts its movement through nodes A-In-1-1, AB-Out-1-1, and B-In-1-1 sequentially according to the normal action diagram.

[0192] like Figure 19 As shown, the mobile unit server 10 sends the travel plan generated by the action planning unit 11 along with the ID of the mobile unit 2 to the facility server 12, requesting instructions for movement between nodes in the facility (step S1901).

[0193] Traffic Management Department 16 determines whether to permit the passage of mobile body 2 based on the occupancy value of nodes using external attributes shared in Area A and Area B (step S1902). In this example, since the occupancy value of node AB-Out-1-1 is 0, the facility server 12 notifies the mobile body server 10 that it is permitted for mobile body 2 to pass.

[0194] The movement control unit 9 of mobile body 2 receives a notification from the facility server 12 and performs passage processing from area A to area B based on the normal movement map generated by the traffic management unit 16 (step S1903). During this period, mobile body 2 detects users moving at node AB-Out-1-1 on the forward path. At this time, mobile body 2 notifies the facility server 12, for example, through mobile body server 10, that a backoff operation has begun. Based on this notification, the facility server 12 knows that mobile body 2 is performing a backoff operation (step S1904). At this time, the facility server 12 may also maintain information during the passage processing of mobile body 2, such as the authentication result of mobile body 2.

[0195] The movement control unit 9 of mobile body 2 performs backoff processing based on the abnormal movement map generated by the traffic management unit 16 (step S1905). When mobile body server 10 completes the backoff processing of mobile body 2 based on the abnormal movement map, it reports backoff completion to facility server 12. Afterwards, mobile body 2 detects that the user has disappeared from node AB-Out-1-1 on the forward path. At this time, mobile body 2 notifies facility server 12 of backoff release, for example, through mobile body server 10. Based on this notification, facility server 12 knows that mobile body 2 is performing a backoff release action (step S1906). At this time, facility server 12 can also perform cooperative control with equipment and machines in the facility based on information such as the maintained passage processing of mobile body 2.

[0196] Afterwards, the movement control unit 9 of mobile body 2 restarts the passage process from area A to area B (step S1907). When mobile body server 10 completes the passage process of mobile body 2 from area A to area B based on the normal movement map, it reports completion to facility server 12 (step S1908). Upon receiving the completion report, facility server 12 updates information such as the occupancy value of each node and the movement status information of each mobile body 2 in the facility (step S1909). Afterwards, mobile body server 10 continues to control the subsequent movements of mobile body 2 (step S1910).

[0197] exist Figure 20 and Figure 21 The text illustrates examples of situations where moving body 2 does not retreat. For instance, there may be situations where the destination for moving body 2 is not available, preventing retreat. Furthermore, in special circumstances such as emergency transport of moving body 2, sometimes moving body 2 has a higher priority than the user. In such cases, the user may be notified, for example, that moving body 2 will not retreat or cannot retreat, urging the user to retreat.

[0198] like Figure 20 As shown, when a user located at node AB-Out-1-1 is detected as an obstacle on its path, mobile body 2 attempts to back off and notifies facility server 12 that backoff has begun. For example, if mobile body 2 fails to back off on its own, it requests backoff notification to the user from facility server 12. Alternatively, mobile body 2 may request backoff notification to the user from facility server 12 if it receives notification from facility server 12 that the node at the backoff destination is not available and backoff is not possible. Alternatively, mobile body 2 may request backoff notification to the user without attempting its own backoff in high-priority special circumstances such as emergency transport.

[0199] Facility server 12 may notify the user to retreat via equipment or machines within the facility. Notification to the user may include notifications based on speakers, lights, or signal lights installed within the facility. The notification to the user can appeal to any of the user's five senses, including sight or hearing, and is not particularly limited. Alternatively, if the mobile body 2 itself is equipped with a machine to notify the user, the mobile body 2 may also notify the user to retreat directly. Afterwards, when the user has retreated and no user is detected at node AB-Out-1-1, the mobile body 2 notifies facility server 12 that the user's retreat is complete. Then, the mobile body 2 resumes its movement according to the normal action plan, sequentially passing through nodes A-In-1-1, AB-Out-1-1, and B-In-1-1.

[0200] like Figure 21 As shown, the mobile unit server 10 sends the travel plan generated by the action planning unit 11 along with the ID of the mobile unit 2 to the facility server 12, requesting instructions for movement between nodes in the facility (step S2101).

[0201] The traffic management department 16 determines whether to permit the passage of mobile body 2 based on the occupancy value of nodes using external attributes shared in areas A and B (step S2102). In this example, since the occupancy value of node AB-Out-1-1 is 0, the facility server 12 notifies the mobile body server 10 that it is permitted for mobile body 2 to pass.

[0202] The movement control unit 9 of mobile body 2 receives a notification from facility server 12 and performs passage processing from area A to area B based on the normal movement map generated by traffic management unit 16 (step S2103). During this period, mobile body 2 detects a user moving at node AB-Out-1-1 on the forward path. Then, mobile body 2 requests a backoff notification for the user from facility server 12, for example, through mobile body server 10. Facility server 12 notifies the user to back off (step S2104). Based on the notification, the user moves, for example, to a location with backoff attribute in area B.

[0203] Mobile body 2 detects that the user has disappeared from node AB-Out-1-1 on the forward path. At this time, mobile body 2 notifies facility server 12, for example, through mobile body server 10, that the user's retreat is complete. Afterwards, the movement control unit 9 of mobile body 2 restarts the passage process from area A to area B (step S2105). When mobile body server 10 completes the passage process of mobile body 2 from area A to area B based on the normal movement map, it reports the completion to facility server 12 (step S2106). Upon receiving the passage completion report, facility server 12 updates information such as the occupancy value of each node and the movement status information of each mobile body 2 in the facility (step S2107). Facility server 12 notifies the user to urge passage (step S2108). Afterwards, mobile server 10 continues to control the subsequent movements of mobile body 2 (step S2109).

[0204] This section describes traffic control related to the movement of the mobile body 2 between spatial areas such as rooms within the facility, but the traffic control system 1 is not limited to this. For example, the traffic control system 1 can also perform traffic control such as coordinating the movement of the mobile body 2 within a pathway.

[0205] Figure 22A , Figure 22B and Figure 23 This diagram illustrates an example of the arrangement of areas and nodes in the pathway of the facility according to Embodiment 1.

[0206] exist Figure 22A and Figure 22B The image shows an example of a path with corners. Regions A, B, and C are defined within this path.

[0207] Regions A, B, and C are each associated with a straight section of the pathway. The areas associated with adjacent regions A and B overlap at the corners of the pathway. The areas associated with adjacent regions B and C overlap at the corners of the pathway.

[0208] like Figure 22AAs shown, region A contains the node A-In-1-1 with the middle attribute as an element. Region B contains the node B-In-1-1 with the middle attribute as an element. Region C contains the node C-In-1-1 with the middle attribute as an element. Regions A and B share the node AB-Out-1-1 with the outer attribute as a common element. Regions B and C share the node BC-Out-1-1 with the outer attribute as a common element. Region B contains the node B-Avoid-1-1 with the backoff attribute as an element. The nodes AB-Out-1-1 and BC-Out-1-1 with the outer attribute, for example, correspond to corner locations. The node B-Avoid-1-1 with the backoff attribute, for example, corresponds to the wider section of a path with a corner.

[0209] By setting up areas and nodes in this way, traffic control system 1 can coordinate the movement of vehicles 2 that are about to enter a corner. For example, in Figure 22A In this scenario, when mobile body 2 is located in a partial area A-In-1 and other mobile bodies 2 are located in partial areas B-In-1, the mobile bodies 2 cannot directly detect each other's presence through the measuring unit 6. As a problem of the prior art, there is the following issue: mobile bodies enter a corner without recognizing each other's presence, thus approaching each other to an unavoidable position, potentially obstructing traffic. In contrast, a method based on the sum of the occupancy values ​​of nodes contained in a partial area corresponding to an external attribute can be used to set traffic rules for temporary stops near corners. Furthermore, by setting a retreat node in area B, traffic rules prioritizing passage from area A to area B or from area C to area B can be set. Similarly, by setting a retreat node in area A or area C, traffic rules prioritizing passage from area B to area A or from area B to area C can be set.

[0210] exist Figure 22B The image shows an example of a narrow passageway where movement is restricted.

[0211] Regions A, B, and C are each associated with a range of straight lines where the upper limit of the occupancy value of a node with a medium attribute differs, for example, depending on factors such as changes in path width. Regions A and C are each assigned to a wide path. Region B is assigned to a narrow path. The ranges associated with adjacent regions A and B overlap in the portion of the path where the width changes. The ranges associated with adjacent regions B and C also overlap in the portion of the path where the width changes.

[0212] Region A contains multiple nodes with the middle attribute, such as A-In-1-1, as elements. Region B contains a node with the middle attribute, B-In-1-1, as an element. Region C contains multiple nodes with the middle attribute, such as C-In-1-1, as elements. Regions A and B share a common element: a node with the outer attribute, AB-Out-1-1. Regions B and C also share a common element: a node with the outer attribute, BC-Out-1-1. For example, the nodes AB-Out-1-1 and BC-Out-1-1 correspond to locations like corners.

[0213] By setting up areas and nodes in this way, traffic control system 1 can coordinate movement of vehicles 2 traveling on narrow roads. For example, in Figure 22B In the prior art, when mobile body 2 is located in partial area A-In-1 and other mobile bodies 2 are located in partial area C-In-1, mobile bodies 2 cannot detect each other's intention to enter partial area B-In-1. As a problem with the prior art, there is the following issue: in narrow passages where the turning radius required to change direction cannot be guaranteed, mobile bodies 2 enter without considering mutual passage, thus approaching each other to unavoidable positions, potentially obstructing traffic. In contrast, a method based on the sum of the occupancy values ​​of nodes contained in partial areas corresponding to area B (internal and external attributes) can establish a traffic rule that prioritizes the passage of mobile body 2 entering area B first over mobile bodies 2 located in either area A or area C.

[0214] Furthermore, multiple nodes can be set in a portion of the common external attributes of areas A and B. This allows for the establishment of traffic rules that reserve the order of passage on narrow roads. For example, if priority is desired for passage from area A to area C, two nodes can be set in a portion of the common external attributes of areas A and B. By making the upper limit of the node occupancy value required to determine entry from area A to area B greater than the upper limit of the node occupancy value required to determine entry from area C to area B, entry from area C to area B is prevented until passage from area A to area C ceases. For example, the traffic control system 1 can change the upper limit of the node occupancy value required to enter area B based on the number of moving bodies 2 in areas A and C, thereby establishing traffic rules that coordinate to suppress traffic congestion around area B.

[0215] exist Figure 23 The example shown is a pathway with an intersection. In this example, a pathway including a crossroads is shown as an intersection. In addition, for four-way intersections other than crossroads, or multi-way intersections with three or more intersections, areas and nodes are also set in the same way.

[0216] Regions A, B, C, D, and E are defined within the pathway. Regions A, B, C, and D are each associated with the straight sections of the pathway. Region E is associated with the intersection portion of the pathway. The extent of Region A adjacent to the intersection overlaps with the extent of Region E near the intersection. Similarly, the extents of Regions B, C, and D overlap with the extent of Region E.

[0217] Region A contains the node A-In-1-1 with the middle attribute as an element. Similarly, regions B, C, and D contain the nodes B-In-1-1, C-In-1-1, and D-In-1-1 with the middle attribute as elements, respectively. Region A shares the node AE-Out-1-1 with the outer attribute with region E. Similarly, regions B, C, and D share the nodes BE-Out-1-1, CE-Out-1-1, and DE-Out-1-1 with the outer attribute with region E, respectively. Region E contains the node E-In-1-1 with the middle attribute and the node E-Avoid-1-1 with the backoff attribute as elements. The nodes AE-Out-1-1, BE-Out-1-1, CE-Out-1-1, and DE-Out-1-1 with the outer attribute, for example, correspond to the nearest location at an intersection. The node E-Avoid-1-1 with the backoff attribute, for example, corresponds to the center location at an intersection.

[0218] By setting up areas and nodes in this way, traffic control system 1 can coordinate the movement of vehicles 2 that are about to enter the intersection.

[0219] As described above, the traffic control system 1 of Embodiment 1 is applied to a facility divided into multiple zones. The traffic control system 1 sets traffic rules within or between zones to manage the traffic of multiple mobile bodies 2 operating within the facility. The traffic control system 1 includes a facility information management unit 15, a traffic management unit 16, and a mobile body control unit. The facility information management unit 15 manages facility information. The traffic management unit 16 manages the movement of mobile bodies 2 within the facility based on the information managed by the facility information management unit 15. The mobile body control unit controls the movement of mobile bodies 2 within the facility based on instructions generated by the traffic management unit 16 for the mobile bodies 2. Multiple nodes are defined within the facility to represent the locations where mobile bodies 2 move between them. Node attributes include internal attributes and external attributes. Multiple regions are defined within the facility as collections containing nodes as elements. Regions correspond to zones. The facility information management unit 15 manages information about which node attribute each node possesses. The facility information management unit 15 manages information about which node is contained as an element for each region. Nodes with external attributes are contained as common elements in at least two distinct regions. Nodes with the intermediate attribute are included as elements in any one area. The traffic management department 16 sorts and selects two nodes with the external and intermediate attributes in the same area to set traffic rules, thereby managing traffic in multiple adjacent zones of the facility for multiple moving bodies 2.

[0220] With this structure, instructions for the mobile body 2 are generated in a manner that includes node attributes reflecting the adjacency relationships between various locations within the facility. Here, the node attribute information reflects the relationships between sets of regions, i.e., nodes. Therefore, compared to issuing instructions for the mobile body 2 based solely on information reflecting the relationships between individual nodes, such as one-dimensional curves connecting individual nodes, the degree of freedom in issuing instructions for the mobile body 2 is increased. Consequently, with instructions that allow for flexible movement of the mobile body 2, the traffic control system 1 and its facility server 12 can further improve the movement efficiency of the mobile body 2 operating within the facility.

[0221] Furthermore, within the facility, the scope of traffic rules and the actions of mobile bodies 2 based on those traffic rules can be precisely set for each zone or section of the facility. Regarding the setting of the scope of traffic rules, this is achieved by setting the location of the mobile body 2's actions based on physical or logical zones, sharing areas and nodes for each zone. In the traffic control system 1, to avoid duplication of occupancy in nodes, the location corresponding to a node can be set individually in the mobile body control unit of the mobile body 2. Therefore, appropriate configurations can be individually adjusted based on individual performance characteristics such as the size or turning ability of the mobile body 2. Furthermore, since the location of the facility is not directly distributed, it is not necessary to share the reference coordinate system possessed by each mobile body 2 among all multiple mobile bodies 2. Moreover, no movement obstacles arise from providing coordinates and measurement results containing errors to other mobile bodies 2. Regarding areas, two types of partial areas are defined based on the central and external attributes of nodes, thereby setting areas in a manner that overlaps with the areas corresponding to adjacent zones, and traffic rules are set based on the transformation of these partial areas. Therefore, it is possible to easily and diversely set traffic rules to coordinate actions in a way that avoids congestion caused by simultaneously referencing a single location. Based on the above, there are no restrictions on the mobile body 2 to which traffic rules can be set, and traffic rules can be set for various mobile bodies 2 utilizing the facility. Therefore, multiple mobile bodies 2 will not be hindered in their movement within the overall facility, and the movement efficiency of the mobile bodies 2 can be improved.

[0222] Furthermore, regarding whether to permit mobile body 2 to enter the zoning of facilities corresponding to any area, the traffic management unit 16 determines this based on the sum of the occupancy values ​​of nodes with intermediate attributes and nodes with external attributes contained in that area. The traffic management unit 16 generates instructions for mobile body 2 based on this determination.

[0223] Furthermore, regarding whether to permit the movement of vehicle 2 between the corresponding facility zones of two distinct areas, the traffic management department 16 determines this based on the sum of the occupancy values ​​of nodes sharing external attributes between the two areas. The traffic management department 16 then generates instructions for vehicle 2 based on this determination.

[0224] With this structure, entry or passage can be determined based on the sum of the occupancy values ​​of multiple nodes, thus allowing multiple mobile bodies 2 to be simultaneously designated for movement between areas within the facility. Since movement instructions between areas can be generated without fixing the paths between areas, blockages that restrict each other's movements due to intersections are less likely to occur among multiple mobile bodies 2 moving simultaneously. In other words, the traffic control system 1 can prevent situations where multiple mobile bodies 2 within the facility obstruct each other's movement within the same zone or between adjacent zones. Furthermore, compared to the case where the area managing the movement of mobile bodies 2 is meticulously divided to suppress blockages, the communication volume with mobile bodies 2 can be reduced. Since mobile bodies 2 communicate via wireless signals, excessive communication volume can easily lead to communication errors and potentially unstable movements. Therefore, by reducing the communication volume with mobile bodies 2, the movements of mobile bodies 2 can be made more stable.

[0225] Furthermore, the traffic management department 16 generates instructions for the moving body 2 using a directed graph. Here, the directed graph uses edges as elements, where each edge is a sequential pair of nodes consisting of a start point and an end point.

[0226] Furthermore, a partial set of regions with nodes having the same node attribute as elements is designated as a partial region. The traffic management unit 16 processes requests for movement instructions from the mobile body 2 by alternately using partial regions with nodes of non-existent attributes as elements and partial regions with nodes of intermediate attributes as elements as a sequence of components. The traffic management unit 16 generates a directed graph of instructions for the mobile body 2, using nodes included as elements in each component of the sequence of partial regions as the start and end points of edges. The traffic management unit 16 generates the directed graph of instructions for the mobile body 2 in a manner that includes a normal action graph, in which nodes are arranged sequentially according to the order of the components of the sequence of partial regions included in the instruction request.

[0227] Furthermore, the Traffic Management Department 16 generates a directed graph that includes both normal and abnormal action graphs. An abnormal graph is a graph with multiple edges representing one or more branches from a normal action graph. Each branch represented by an abnormal action graph does not contain multiple nodes with external attributes. Additionally, at least any one of the branches represented by an abnormal action graph contains a node with a backoff attribute as a node attribute.

[0228] This structure allows for the generation of commands for the moving body 2, including non-normal actions such as retreat. Therefore, blockages caused by the intersection of moving bodies 2 are less likely to occur. Furthermore, the retreat commands have degrees of freedom, enabling efficient movement commands for the moving body 2 even in environments where uncontrolled movement of objects such as users exists.

[0229] Furthermore, the traffic management unit 16, by outputting an instruction indicating abnormal action, temporarily saves the information of the actions being performed on the normal action plan for the mobile body 2, thereby suspending the actions on the normal action plan and branching into actions on the abnormal action plan. The traffic management unit 16, by outputting an instruction indicating the cancellation of the abnormal action, causes the mobile body 2 to return from the actions on the abnormal action plan to the actions on the normal action plan, and restarts the suspended actions on the normal action plan based on the temporarily saved information.

[0230] In addition, the traffic management department 16 outputs instructions containing a directed graph, causing the moving body 2 to perform actions corresponding to the node attributes of the starting node of the edge and the node attributes of the ending node of the same edge.

[0231] Furthermore, when the node at the starting point has a neutral attribute and the node at the end point has an external attribute, the traffic management department 16 causes the mobile body 2 to query whether it can travel between two partitions of two areas that share the node at the end point as a common element, and performs an action of exiting from the partition of the area that includes the node at the starting point.

[0232] Furthermore, when the traffic management department 16 receives an inquiry from the mobile body 2 regarding whether it is permitted to pass, it will suspend the movement of the mobile body 2 if it does not permit the mobile body 2 to pass.

[0233] Furthermore, when the traffic management department 16 receives a query from the mobile body 2 asking whether passage is permitted, if passage of the mobile body 2 is not permitted, the mobile body 2 is temporarily forced to retreat to a node with a retreat attribute as a node attribute.

[0234] Furthermore, when the node at the starting point has an external attribute and the node at the end point has a neutral attribute, the traffic management department 16 notifies the mobile body 2 to exit from the partition of the region containing the node at the starting point as an element, and to enter the partition of the region containing the node at the end point.

[0235] Based on this structure, the facility server 12 generates instructions for the mobile body 2 through a directed graph, thereby enabling the mobile body 2 to perform appropriate actions corresponding to the node attributes of the moving node. This allows for more reliable information exchange between the mobile body 2 and the facility server 12, thus further improving the mobility efficiency of the mobile body 2.

[0236] Next, use Figure 24 Examples illustrating the effectiveness of traffic control system 1.

[0237] Figure 24 This is a diagram illustrating an example of traffic control in the traffic control system 1 of implementation method 1.

[0238] In this example facility, nodes A, B, C, D, E, and F are defined. Assume that mobile body 2p moves from node A to node F. Assume that mobile body 2q moves from node F to node B. Mobile bodies 2p and 2q may interfere with each other on the paths between nodes C and D, and between nodes D and F. The traffic management department 16 of traffic control system 1 generates movement instructions for mobile body 2 using directed graphs such as normal and abnormal movement graphs, where edges are elements of sequential pairs of nodes. As a comparative example, consider a traffic control system that generates movement instructions for mobile body 2 using sequential sequences of nodes.

[0239] The comparative example traffic control system, using information included in the instructions for moving body 2p, generates a sequential sequence containing nodes A, C, D, and F as components. Similarly, the comparative example traffic control system, using information included in the instructions for moving body 2q, generates a sequential sequence containing nodes F, D, C, and B as components. Moving bodies 2p and 2q move according to these sequential sequences.

[0240] Here, when mobile body 2p is located between node C and node D, and mobile body 2q is located at node D, if mobile body 2q moves to node E which is not included in the sequence of instructions for retreating, then mobile body 2q needs to abandon the movement plan specified by the sequence.

[0241] On the other hand, the traffic control system 1 of Implementation 1 generates a directed graph containing edges (A, C), (C, D), and (D, F) as information included in the instructions for the moving body 2p. Furthermore, the traffic control system 1 generates a directed graph containing edges (F, D), (D, C), (C, B), (D, E), and (E, D) as information included in the instructions for the moving body 2q. Here, for example, information indicating that these are normal movement graphs can be added to the edges (A, C), (C, D), and (D, F) of the directed graph of moving body 2p, and to the edges (F, D), (D, C), and (C, B) of the directed graph of moving body 2q. Furthermore, information indicating that these are abnormal movement graphs can be added to the edges (D, E) and (E, D) of the directed graph of moving body 2q. Weights can also be assigned to each edge. Moving bodies 2p and 2q move according to these directed graphs. Movement units 2p and 2q can move by searching for the shortest path on a normal action graph, or by searching for the path with the minimum weight on a directed graph.

[0242] Here, when mobile body 2p is located between nodes C and D, and mobile body 2q is located at node D, mobile body 2q can move towards node E along the edge (D, E) in the directed graph. At this time, mobile body 2q does not need to abandon the directed graph specified by the command. Furthermore, after mobile body 2p passes through node D, mobile body 2q can return to node D along the edge (E, D) in the directed graph. In this way, mobile body 2 can perform backtracking movements while maintaining the directed graph specified by the command. Therefore, the movement of mobile body 2 in the facility is more efficient.

[0243] Next, use Figure 25 and Figure 26 Examples illustrating other effects of traffic control system 1.

[0244] Figure 25 and Figure 26 This is a diagram illustrating an example of traffic control in the traffic control system 1 of implementation method 1.

[0245] In this example facility, a left-hand passageway is configured. For example... Figure 25 As shown, regions A and B are defined as associated with the pathway. Regions C and D are defined in a manner that associates them with the ranges adjacent to the pathway. Region A is associated with the range when traveling left from region C to region D in the pathway. Region B is associated with the range when traveling left from region D to region C in the pathway. Region A contains a portion of region A-In-1 corresponding to the middle attribute. Region B contains a portion of region B-In-1 corresponding to the middle attribute. Regions A and B contain portions of region ABC-Out-1 and region ABD-Out-1 corresponding to the outer attribute. The portion of region A-In-1 contains nodes A-In-1-1 and A-In-1-2 of the middle attribute. The portion of region B-In-1 contains nodes B-In-1-1 and B-In-1-2 of the middle attribute. The portion of region ABC-Out-1 contains nodes ABC-Out-1-1 and ABC-Out-1-2 of the outer attribute shared by regions A, B, and C. The ABD-Out-1 region contains nodes ABD-Out-1-1 that share external attributes with regions A, B, and D.

[0246] Facility server 12 can generate instructions to cause mobile body 2 to enter the area of ​​region A using a directed graph containing edges (ABC-Out-1-1, A-In-1-1). Facility server 12 can also generate instructions to cause mobile body 2 to move within region A using a left-hand passage method using a directed graph containing edges (A-In-1-1, A-In-1-2). Facility server 12 can generate instructions to cause mobile body 2 to exit the area of ​​region A using a directed graph containing edges (A-In-1-2, ABD-Out-1-1). Facility server 12 can also generate instructions to transform the directed graph used by mobile body 2 during movement into a directed graph on region B using a directed graph containing edges (A-In-1-1, B-In-1-1). At this time, mobile body 2 performs the processes of exiting the area of ​​region A and entering the area of ​​region B.

[0247] Therefore, as Figure 26 As shown, the traffic control system 1 can implement traffic control in a passage with rules such as left-hand traffic, and can enable moving objects 2 in the passage to perform actions such as U-turns.

[0248] Next, use Figure 27 Figure 28 illustrates other effects of traffic control system 1.

[0249] Figure 27 as well as Figures 28A to 28D This is a diagram illustrating an example of traffic control in the traffic control system 1 of implementation method 1.

[0250] In the facilities of this example, such as Figure 27 As shown, region A is defined as associated with a passageway, and region B is defined as associated with other passageways adjacent to a doorway. Region A contains a portion of region A-In-1 corresponding to the intermediate attribute. Region B contains a portion of region B-In-1 corresponding to the intermediate attribute. Regions A and B contain a portion of region AB-Out-1 corresponding to the outer attribute. The portion of region A-In-1 contains nodes A-In-1-1 and A-In-1-2 of the intermediate attribute. The portion of region B-In-1 contains nodes B-In-1-1 and B-In-1-2 of the intermediate attribute. The portion of region AB-Out-1 contains nodes AB-Out-1-1 and AB-Out-1-2 of the outer attribute shared in regions A and B. Nodes A-In-1-2 and AB-Out-1-1 correspond to the same location. Nodes B-In-1-1 and AB-Out-1-2 correspond to the same location. Mobile body 2 moves from region A to region B. In this example, mobile body 2 switches the map of the referenced facility for each partial region.

[0251] like Figure 28AAs shown, moving body 2 moves from node A-In-1-1 towards node A-In-1-2. At this time, moving body 2 moves with reference to the map MA corresponding to a portion of area A-In-1 of region A. Map MA is, for example, a grid map (raster map) with reference coordinates for the floors of a facility. Moving body 2 refers to map MA when moving within the range corresponding to the attribute in region A. Then, as... Figure 28B As shown, moving body 2 arrives at node A-In-1-2. This location corresponds to node AB-Out-1-1.

[0252] like Figure 28C As shown, moving body 2 moves from node AB-Out-1-1 towards node AB-Out-1-2. At this time, moving body 2 switches the referenced map from map MA, which corresponds to a portion of area A-In-1 of area A, to map MAB, which corresponds to a portion of area A-Out-1 of area A. Moving body 2 moves with reference to map MAB. Map MAB is, for example, a grid map with reference coordinates for the floors of a facility. Moving body 2 refers to map MAB when moving within the range corresponding to the external attributes of area A and area B. In this example, the resolution of map MAB is higher than that of map MA. Alternatively, map MAB is a more detailed map than map MA. The resolutions of map MA and map MAB are set, for example, to maintain a certain number of divisions relative to the minimum width of the passageway to ensure safe avoidance of collisions with walls. Here, the width of the door is narrower than the width of the passageway, and the minimum width of the portion of area AB passing through the door is smaller than the minimum width of area A or area B. Therefore, by making map MAB more detailed than map MA, safe movement of moving body 2 is achieved. Afterwards, moving object 2 arrives at node AB-Out-1-2. This location corresponds to node B-In-1-1.

[0253] like Figure 28D As shown, moving body 2 switches the referenced map from map MAB, which corresponds to a portion of region B (AB-Out-1), to map MB, which corresponds to a portion of region B (A-In-1). Moving body 2 moves with reference to map MB. In this example, the area corresponding to map MB is larger than the area corresponding to map MAB. Map MB is, for example, a grid map with reference coordinates for the floors of a facility. Moving body 2 references map MB when moving within the area corresponding to the attribute in region B.

[0254] In this way, the mobile body 2 can switch the location corresponding to a certain area while moving. Figure 1The mobile body 2 moves within the facility efficiently. For example, when traversing a narrow passageway, including a door, it can reliably pass through the narrow passageway by referring to a detailed map. Furthermore, when traversing a wide passageway, it can take into account the preceding movement by referring to a map representing a large area. This further improves the efficiency of the mobile body 2's movement within the facility. Moreover, this map switching can also be applied, for example, to passage through passageways adjacent to normally closed doors. In this case, for example, map MA and map MB record the closed state of the door, while map MAB records the open state of the door. In this case, by referring to the map corresponding to the open / closed state of the door, the efficiency of the mobile body 2's movement within the facility is further improved. Furthermore, the traffic control system 1 can also set traffic rules such as causing the mobile body 2 to exit when it detects that a door is open or that area B has a gap.

[0255] Implementation method 2.

[0256] In Embodiment 2, the differences from the example disclosed in Embodiment 1 are described in particular detail. Any feature of the example disclosed in Embodiment 1 may be used for features not described in Embodiment 2.

[0257] Figure 29 and Figure 30 This is a diagram illustrating an example of information used by the traffic control system 1 of embodiment 2 in the traffic management of the moving body 2.

[0258] In the facilities of this example, such as Figure 29 As shown, regions A, B, D, and E are defined. Region A contains a portion of region A-In-1 corresponding to the attribute in the middle. Region B contains a portion of region B-In-1 corresponding to the attribute in the middle. Regions A and D contain portions of region AD-Out-1 corresponding to the attribute in the outer. Regions B and E contain a portion of region BE-Out-1 corresponding to the attribute in the outer. Part of region A-In-1 contains nodes such as A-In-1-1 of the attribute in the middle. Part of region B-In-1 contains nodes such as B-In-1-1 of the attribute in the middle. Part of region AD-Out-1 contains nodes such as AD-Out-1-1 of the attribute in the outer, which are shared by regions A and D. Part of region BE-Out-1 contains nodes such as BE-Out-1-1 of the attribute in the outer, which are shared by regions B and E.

[0259] The partitions corresponding to Region A and Region B are spatially separated. Region A and Region B do not share any external attribute areas. However, the partitions corresponding to Region A and Region B can physically interact with each other through intermediate partitions that serve as other partitions. In traffic control system 1, Region A and its constituent nodes are pre-assigned, and traffic rules are pre-set in the partitions corresponding to Region A. In traffic control system 1, Region B and its constituent nodes are pre-assigned, and traffic rules are pre-set in the partitions corresponding to Region B. In traffic control system 1, no areas, nodes, or traffic rules are pre-set for the intermediate partitions between the partitions corresponding to Region A and Region B.

[0260] In this scenario, the facility information management unit 15 establishes a new virtual area C between area A and area B. The virtual area C corresponds to an intermediate partition between the partition corresponding to area A and the partition corresponding to area B. The facility information management unit 15 newly sets virtual nodes representing locations in the intermediate partition as nodes of area C. The newly set virtual nodes can also be nodes shared by area C with area A or area B. In this example, area C is set to include a portion of area C-In-1 corresponding to the intermediate attribute. Area C is set to include a portion of area AC-Out-1 corresponding to the external attribute as a portion shared with area A. Area C is set to include a portion of area BC-Out-1 corresponding to the external attribute as a portion shared with area B. The portion of area C-In-1 includes virtual nodes such as C-In-1-1 for the intermediate attribute. The portion of area AC-Out-1 includes virtual nodes such as AC-Out-1-1 for the external attribute shared in areas A and C. The facility information management unit 15 can also, for example, use a portion of the nodes representing the intermediate attribute of area A as nodes for the external attribute virtually shared in areas A and C. Part of area BC-Out-1 includes nodes such as BC-Out-1-1, which are virtual external attribute nodes shared in areas B and C. The facility information management department 15 may also, for example, use a portion of the attribute nodes in area B as virtual external attribute nodes shared in areas B and C.

[0261] The Facility Information Management Department 15 sets traffic rules that do not contradict the traffic rules of the zones corresponding to Area A and Area B, and uses these as the traffic rules for the zone corresponding to Area C. For example, the Facility Information Management Department 15 sets traffic rules that satisfy both the traffic rules of the zones corresponding to Area A and Area B, and uses these as the traffic rules for the zone corresponding to Area C. The Facility Information Management Department 15 sets traffic rules in a way that avoids contradictions, such as the number of nodes with intermediate or external attributes and the upper limit of their occupancy values. For example, when the number of nodes with intermediate or external attributes is virtually increased or decreased by virtually switching node attributes, the Facility Information Management Department 15 can also increase or decrease the upper limit of the occupancy value based on the increase or decrease in the number of nodes. The Traffic Management Department 16 generates instructions for the moving body 2 based on the virtually set areas and nodes.

[0262] In this way, traffic control system 1 sets up one external attribute partial area for each of the different areas that do not share external attributes, and sets up partial areas with nodes of intermediate attributes as elements between the corresponding partitions, thereby virtually setting up a new area. Thus, traffic control system 1 can manage the traffic of moving bodies 2 between separate partitions. Furthermore, the setting of virtual areas and nodes, as well as the setting of traffic rules, can be performed by the traffic management department 16, etc.

[0263] Here, in regions A, C, and B, regions AD-Out-1, A-In-1, AC-Out-1, C-In-1, BC-Out-1, B-In-1, and BE-Out-1 are adjacent in a sequentially connected manner. That is, the regions corresponding to the external attribute and the regions corresponding to the internal attribute are alternately adjacent.

[0264] At this time, as Figure 30As shown, the facility information management unit 15 can also treat multiple adjacent partial areas in a connected manner as a single area. The traffic management unit 16 generates instructions for the moving body 2 based on the virtually defined areas. For example, the facility information management unit 15 can virtually define a partial area corresponding to a central area to other partial areas corresponding to the central area as a single partial area. In this example, the facility information management unit 15 virtually defines partial areas A-In-1, AC-Out-1, C-In-1, BC-Out-1, and B-In-1 as a single partial area V-In-1 with a central attribute. The facility information management unit 15 can also virtually treat each node contained in these partial areas as a node with a central attribute. In this case, the facility information management unit 15 can reset the number of nodes with a central attribute in the virtual area in a manner that does not exceed the original total number of nodes with a central attribute. The facility information management unit 15 can, for example, invalidate some nodes virtually or add virtual nodes. Furthermore, the facility information management unit 15 can virtually treat areas A, C, and B as a single area V. At this time, the facility information management unit 15 treats the external attribute portion area AD-Out-1 as a portion area DV-Out-1 shared in areas D and V. Furthermore, the facility information management unit 15 treats the external attribute portion area BE-Out-1 as a portion area EV-Out-1 shared in areas E and V.

[0265] In this way, the facility information management unit 15 virtually sets up multiple partial areas, which are adjacent components in a connected manner, as one area in the sequence of partial areas. The traffic management unit 16 generates instructions for the moving body 2 based on the virtually set area. As a result, even when the moving body 2 moves across multiple areas in the facility, it is possible to search for an efficient path that avoids the intersection of the moving body 2 by using the same processing as for movement between adjacent areas.

[0266] The facility information management unit 15 can also virtually combine two areas. For example, the facility information management unit 15 can virtually set up a partial area with a neutral attribute as a single partial area, including partial areas A-In-1, AC-Out-1, and C-In-1. In this case, the facility information management unit 15 treats area A and area C virtually as a single area V. At the same time, the facility information management unit 15 treats the partial area AD-Out-1 with an external attribute as a partial area shared by area D and this virtual area. Furthermore, the facility information management unit 15 treats the partial area BC-Out-1 with an external attribute as a partial area shared by area B and this virtual area. The facility information management unit 15 can also virtually combine four or more areas.

[0267] The facility information management unit 15 can virtually combine virtually set areas with pre-set areas, and can also virtually combine virtually set areas with each other, and can also virtually combine pre-set areas with each other.

[0268] Furthermore, the facility information management unit 15 can also virtually divide any area. The facility information management unit 15 divides a region with a neutral attribute into multiple smaller regions with neutral attributes and one or more smaller regions with external attributes. A smaller region represents a portion of the original region. The facility information management unit 15 virtually divides the original region into multiple regions by merging the divided smaller regions with the original regions with external attributes.

[0269] For example, in Figure 30 When the central region V is a pre-defined region, the facility information management unit 15 divides a portion of the central attribute of region V into smaller regions A-In-1, AC-Out-1, C-In-1, BC-Out-1, and B-In-1. Smaller regions A-In-1, C-In-1, and B-In-1 correspond to the central attribute. Smaller regions AC-Out-1 and BC-Out-1 correspond to the external attribute. At this time, the facility information management unit 15 virtually divides the original region V by merging these smaller regions with the external attribute regions DV-Out-1 and EV-Out-1. For example, the facility information management unit 15 sets DV-Out-1, A-In-1, and AC-Out-1 as a newly virtual region. Facility Information Management Unit 15, for example, sets a small portion of area AC-Out-1, a small portion of area C-In-1, and a small portion of area BC-Out-1 as another new area virtually subdivided. Facility Information Management Unit 15, for example, sets a portion of area BC-Out-1, a small portion of area B-In-1, and a small portion of area EV-Out-1 as another new area virtually subdivided.

[0270] The facility information management unit 15 can divide the virtual land into virtual areas or into pre-defined virtual areas. The facility information management unit 15 can divide one virtual area into two areas or divide one virtual area into four or more areas.

[0271] In this way, the traffic management unit 16 virtually divides a region into partial areas with neutral attributes by forming a sequence of partial areas, wherein the sequence of partial areas alternates between partial areas with nodes of external attributes and partial areas with nodes of neutral attributes. The traffic management unit 16 generates instructions for the moving body 2 based on the virtually defined regions. By virtually dividing the regions in the facility in this way, the traffic control system 1 can manage the traffic of the moving body 2 with greater precision.

[0272] Implementation method 3.

[0273] In Embodiment 3, the differences from the examples disclosed in Embodiment 1 or Embodiment 2 are described in particular detail. Any feature of the examples disclosed in Embodiment 1 or Embodiment 2 may be used for features not described in Embodiment 3.

[0274] In Embodiment 3, an example of a traffic control system 1 that cooperates with a security system installed in a facility is described. In this example, the traffic control system 1 includes a security system. Alternatively, the security system may be an external system that cooperates with the traffic control system 1. The machine of the security system is an example of an equipment machine installed in the facility. The machine of the security system may be, for example, an access control machine including a door or gate installed in the facility. The security system may also include an authentication server, etc., responsible for authentication processing, in which it is determined whether to authenticate the mobile body 2 and the user passing through the facility. The authentication server may be, for example, a server device consisting of one or more server computers connected to a communication network 8, etc. The authentication server may also be included in the facility server 12.

[0275] use Figure 31 and Figure 32 This illustrates an example of the movement of mobile body 2 within the facility.

[0276] Figure 31 This is a diagram illustrating an example of the movement of the movable body 2 in the facility of Embodiment 3.

[0277] Figure 32 This is a timing diagram illustrating an example of the operation of the traffic control system 1 when the mobile body 2 moves in the facility of Embodiment 3.

[0278] In the facilities of this example, such as Figure 31 As shown, the equipment and machinery serving as a security system are equipped with doors that require authentication from the security system for access. Within the facility, two rooms are separated by a door.

[0279] Define three zones within the facility: Zone A, Zone B, and Zone C. Zone A corresponds to the area containing a door. Zone B corresponds to one area of ​​a room separated by a door. Zone C corresponds to another area of ​​a room separated by a door.

[0280] Region A contains a portion of region A-In-1 corresponding to the middle attribute. Region B contains a portion of region B-In-1 corresponding to the middle attribute. Region C contains a portion of region C-In-1 corresponding to the middle attribute. Regions A and B contain a portion of region AB-Out-1 corresponding to the external attribute. Regions A and C contain a portion of region AC-Out-1 corresponding to the external attribute. A portion of region A-In-1 contains nodes A-In-1-1 and A-In-1-2 of the middle attribute, and node A-Avoid-1-1 of the backoff attribute. A portion of region B-In-1 contains nodes B-In-1-1 and B-In-1-2 of the middle attribute, and node B-Avoid-1-1 of the backoff attribute. A portion of region C-In-1 contains node C-In-1-1 of the middle attribute. A portion of region AB-Out-1 contains nodes AB-Out-1-1 of the external attribute and AB-Avoid-1-1 of the backoff attribute, which are shared by regions A and B. Part of region AC-Out-1 contains nodes AC-Out-1-1 that share external attributes in regions A and C.

[0281] Mobile unit 2 moves towards node B-In-1-1 within area B, following the normal movement plan instructed by facility server 12. (Example...) Figure 32 As shown, mobile body 2 sends an authentication request to the security system, for example, through mobile body server 10 and facility server 12 (step S3201). The security system performs authentication processing on the authentication request of mobile body 2 (step S3251). During the authentication processing of the security system, mobile body 2 moves from node B-In-1-1 to node AB-Out-1-1 according to the normal movement diagram. Here, node B-In-1-1 and node AB-Out-1-1 can refer to the same location. That is, mobile body 2 changes from an intermediate attribute node to an external attribute node by sending the authentication request and exits from region B. At this time, mobile body 2 can also perform the exit processing from region B at the same time. Mobile body 2 waits for the authentication result of the security system at node AB-Out-1-1.

[0282] Subsequently, the security system, for example through facility server 12 and mobile agent server 10, notifies mobile agent 2 of the authentication result (step S3252). In this example, mobile agent 2 is authenticated by the security system as being able to pass through the door. Mobile agent 2 receives notification of authentication from the security system. Mobile agent 2 moves from node AB-Out-1-1 to node A-In-1-1 according to the normal action diagram to reach the door (step S3202). Here, node AB-Out-1-1 and node A-In-1-1 can refer to the same location. That is, mobile agent 2 changes from an external attribute node to a medium attribute node by sending an authentication request and enters area A. At this time, mobile agent 2 can also simultaneously perform the process of entering area A.

[0283] Afterwards, the security system unlocks the door, and the traffic control system 1 notifies the mobile body 2 of the door passage instruction (step S3253). The security system can also perform the door opening process simultaneously. After receiving the door passage instruction, the mobile body 2 moves from node A-In-1-1 to node A-In-1-2 according to the normal action map to pass through the door (step S3203). When the mobile body 2 reaches node A-In-1-2 and completes the door passage (step S3204), it notifies the traffic control system 1 that the door passage is complete (step S3205). Afterwards, the mobile body 2 moves according to the normal action map in the order of node A-In-1-2, node AC-Out-1-1, and node C-In-1-1. Here, node A-In-1-2 and node AC-Out-1-1 can refer to the same location. That is, based on the confirmation of the door passage completion, the mobile body 2 changes from a node with an intermediate attribute to a node with an external attribute and exits from area A. Similarly, nodes AC-Out-1-1 and C-In-1-1 can also refer to the same location. That is, based on the notification that passage through the gate is complete, moving body 2 changes from an external attribute node to a medium attribute node and enters region C.

[0284] After traffic control system 1 receives notification from mobile body 2 that passage through the door has been completed, the safety system locks the door (step S3254). The safety system may also close the door before locking it. Afterwards, traffic control system 1 completes the collaborative processing between the safety system and mobile body 2 (step S3255).

[0285] Next, use Figure 33 and Figure 34 This is an example illustrating the situation where the mobile body 2 in the facility retreats during movement.

[0286] Figure 33 This is a diagram illustrating an example of the movement of the movable body 2 in the facility of Embodiment 3.

[0287] Figure 34This is a timing diagram illustrating an example of the operation of the traffic control system 1 when the mobile body 2 moves in the facility of Embodiment 3.

[0288] When receiving a backoff command from facility server 12, such as Figure 33 As shown, mobile body 2 retreats to node A-Avoid-1-1 with the retreat attribute. The retreat instruction for mobile body 2 is output, for example, prioritizing other mobile bodies that entered the cooperation sequence with the equipment machine first. In this example, during the retreat of mobile body 2, the other mobile bodies move as usual. Thus, through the retreat of mobile body 2, the movement of other mobile bodies and cooperation with the equipment machine are executed efficiently without hindrance. Afterwards, upon receiving the retreat release instruction from facility server 12, mobile body 2 resumes movement towards its original destination. Mobile body 2 returns to node A-In-1-1 with the intermediate attribute, for example, according to the abnormal action diagram. Alternatively, mobile body 2 may not necessarily return to the node before retreating.

[0289] like Figure 34 As shown, with Figure 32 Similarly, moving body 2 moves from node A-In-1-1 to node A-In-1-2 according to the normal action diagram (step S3203).

[0290] Subsequently, facility server 12 outputs a backoff command to mobile body 2 based on the movement status of other mobile bodies (step S3456). Upon receiving the backoff command from facility server 12, mobile body 2 backs off to node A-Avoid-1-1 of the backoff attribute according to the abnormal action map (step S3406). At this time, mobile body 2 retains, for example, information about its movement path on the normal action map. Furthermore, the authentication server may also retain information such as the authentication result of mobile body 2.

[0291] Afterwards, facility server 12 outputs a backoff release command to mobile body 2 based on the movement status of other mobile bodies (step S3457). Upon receiving the backoff release command from facility server 12, mobile body 2 resumes movement towards its original destination. For example, mobile body 2 returns to node A-In-1-1 of the neutral attribute according to the abnormal movement map (step S3407). Alternatively, mobile body 2 may not necessarily return to the node before the backoff. Then, mobile body 2 restarts the door passage process based on information such as the movement path on the maintained normal movement map. When mobile body 2 reaches node A-In-1-2 and completes door passage (step S3204), it... Figure 32 The same process is applied to complete the passage through the door.

[0292] Next, use Figure 35 This is another example illustrating the situation where the mobile body 2 in the facility retreats during movement.

[0293] Figure 35 This is a diagram illustrating an example of the movement of the movable body 2 in the facility of Embodiment 3.

[0294] Upon receiving a backoff instruction from facility server 12, mobile body 2 backoffs to node AB-Avoid-1-1 with the backoff attribute. At this time, mobile body 2 can also simultaneously exit area A. Afterwards, upon receiving a backoff release instruction from facility server 12, mobile body 2 resumes movement towards its original destination. For example, mobile body 2 returns to node A-In-1-1 with the neutral attribute. At this time, mobile body 2 can also simultaneously enter area A. Alternatively, mobile body 2 may not necessarily return to the node before the backoff upon returning.

[0295] Next, use Figure 36 This is another example illustrating the situation where the mobile body 2 in the facility retreats during movement.

[0296] Figure 36 This is a diagram illustrating an example of the movement of the movable body 2 in the facility of Embodiment 3.

[0297] Upon receiving a backoff instruction from facility server 12, mobile body 2 backoffs to node B-Avoid-1-1 with the backoff attribute. At this time, mobile body 2 can also proceed with the process of entering area B. Afterwards, upon receiving a backoff release instruction from facility server 12, mobile body 2 resumes movement towards its original destination. For example, mobile body 2 returns to node A-In-1-1 with the neutral attribute. At this time, mobile body 2 can also proceed with the process of entering area A. Alternatively, mobile body 2 may not necessarily return to the node it was at before the backoff upon returning.

[0298] Next, use Figure 37 and Figure 38 This illustrates an example of a situation where the mobile body 2 in the facility stops moving.

[0299] Figure 37 This is a diagram illustrating an example of the movement of the movable body 2 in the facility of Embodiment 3.

[0300] Figure 38 This is a timing diagram illustrating an example of the operation of the traffic control system 1 when the mobile body 2 moves in the facility of Embodiment 3.

[0301] When receiving a backoff command from facility server 12, such as Figure 37As shown, mobile body 2 retreats to node AB-Avoid-1-1 with the retreat attribute. Then, upon receiving a stop command from facility server 12, mobile body 2 stops moving according to the normal action diagram. After stopping the movement through the door, mobile body 2 returns, for example, from node AB-Avoid-1-1 via node B-In-1-2 to its waiting location.

[0302] like Figure 38 As shown, when mobile body 2 receives the backoff command from facility server 12, it... Figure 34 Similarly, the process is to retreat to the node AB-Avoid-1-1 with the retreat attribute according to the abnormal action graph (step S3406).

[0303] Subsequently, facility server 12 outputs a stop command to mobile body 2 based on the movement status of other mobile bodies (step S3858). Upon receiving the stop command from facility server 12, mobile body 2 stops its movement through the door at node AB-Avoid-1-1 (step S3809). Then, mobile body 2 moves to its waiting area. As part of the stop process, mobile body 2 may also perform a path search to return to the waiting area. When mobile body 2 completes the stop process for passing through the door, it notifies mobile body server 10 that the stop is complete (step S3810). Then, mobile body 2 departs from node AB-Avoid-1-1. Afterwards, traffic control system 1 and safety system... Figure 32 The same procedure applies to locking the door.

[0304] Figure 39 This is a diagram illustrating another example of the setting of areas and nodes in the facility of Implementation Method 3.

[0305] Define three zones within the facility: Zone A, Zone B, and Zone C. Zone A corresponds to the area containing a door. Zone B corresponds to one area of ​​a room separated by a door. Zone C corresponds to another area of ​​a room separated by a door.

[0306] Region A contains nodes A-In-1-1 and A-In-1-2 with the middle attribute, and node A-Avoid-1-1 with the backoff attribute. Region B contains nodes B-In-1-1 and B-In-1-2 with the middle attribute. Region C contains node C-In-1-1 with the middle attribute. Regions A and B share nodes AB-Out-1-1 and AB-Out-1-2 with the outer attribute as common elements. Regions A and C share node AC-Out-1-1 with the outer attribute as a common element. Nodes AB-Out-1-2 and A-In-1-1 correspond to the same location as each other. Nodes A-In-1-2 and AC-Out-1-1 correspond to the same location as each other.

[0307] Mobile entity 2 moves towards node B-In-1-1 within area B according to the normal action plan instructed by facility server 12. Mobile entity 2 sends an authentication request to the security system. The security system processes the authentication request for mobile entity 2. During the authentication process of the security system, mobile entity 2 moves from node B-In-1-1 to node AB-Out-1-1 according to the normal action plan. Mobile entity 2 waits for the authentication result from the security system at node AB-Out-1-1.

[0308] Subsequently, mobile entity 2 receives a notification from the security system indicating that it has been authenticated. Mobile entity 2 then moves from node AB-Out-1-1 to node AB-Out-1-2 according to the normal action diagram, in order to reach the door.

[0309] After unlocking the door, the security system sends a passage command to mobile entity 2. Upon receiving the passage command, mobile entity 2 changes its node from AB-Out-1-2 to A-In-1-1. Then, mobile entity 2 moves from A-In-1-1 to A-In-1-2 according to the normal movement diagram to pass through the door. Upon reaching A-In-1-2 and passing through the door, mobile entity 2 changes its node from A-In-1-2 to AC-Out-1-1. Then, mobile entity 2 notifies the security system that passage through the door is complete. Finally, mobile entity 2 moves from AC-Out-1-1 to C-In-1-1 according to the normal movement diagram.

[0310] After receiving notification from mobile body 2 that passage through the door has been completed, the security system locks the door. The security system can also close the door before locking it. Afterwards, the security system completes its collaborative processing with mobile body 2.

[0311] Alternatively, when mobile entity 2 receives a backoff instruction from facility server 12, it can backoff to node B-In-1-2 or node A-Avoid-1-1, etc., according to the abnormal action diagram.

[0312] Figure 40 This is a diagram illustrating another example of the setting of areas and nodes in the facility of Implementation Method 3.

[0313] Define three zones within the facility: Zone A, Zone B, and Zone C. Zone B corresponds to one area of ​​a room separated by a door. Zone C corresponds to another area of ​​a room separated by a door. Zone A corresponds to the area near the door of the room next to Zone B.

[0314] Region A contains nodes A-In-1-1 and A-In-1-2 with the middle attribute, and node A-Avoid-1-1 with the backoff attribute. Region B contains nodes B-In-1-1 and B-In-1-2 with the middle attribute, and node B-Avoid-1-1 with the backoff attribute. Region C contains node C-In-1-1 with the middle attribute. Regions A and B share node AB-Out-1-1 with the outside attribute as a common element. Regions A and C share nodes AC-Out-1-1 and AC-Out-1-2 with the outside attribute as common elements. Nodes AB-Out-1-1 and A-In-1-1 correspond to the same location as each other. Nodes A-In-1-2 and AC-Out-1-1 correspond to the same location as each other.

[0315] Mobile entity 2 moves towards node B-In-1-1 within area B according to the normal action plan instructed by facility server 12. Mobile entity 2 sends an authentication request to the security system. The security system processes the authentication request for mobile entity 2. During the authentication process of the security system, mobile entity 2 moves from node B-In-1-1 to node AB-Out-1-1 according to the normal action plan. Mobile entity 2 waits for the authentication result from the security system at node AB-Out-1-1.

[0316] Subsequently, mobile entity 2 receives a notification of authentication from the security system. Upon receiving the authentication notification, mobile entity 2 sets its current node from node AB-Out-1-1 to node A-In-1-1. Mobile entity 2 then moves from node A-In-1-1 to node A-In-1-2 according to the normal movement diagram, aiming to reach the door. After arriving at node A-In-1-2, mobile entity 2 sets its current node from node A-In-1-2 to node AC-Out-1-1.

[0317] After unlocking the door, the security system sends a passage command to mobile entity 2. Upon receiving the passage command, mobile entity 2 moves from node AC-Out-1-1 to node AC-Out-1-2 according to the normal action diagram to pass through the door. Then, mobile entity 2 notifies the security system that passage through the door is complete. Afterward, mobile entity 2 moves from node AC-Out-1-2 to node C-In-1-1 according to the normal action diagram.

[0318] After receiving notification from mobile body 2 that passage through the door has been completed, the security system locks the door. The security system can also close the door before locking it. Afterwards, the security system completes its collaborative processing with mobile body 2.

[0319] In addition, when receiving a backoff instruction from facility server 12, mobile body 2 can also back off to node B-In-1-2, node B-Avoid-1-1, or node A-Avoid-1-1 according to the abnormal action diagram.

[0320] In this way, the facility information management unit 15 assigns the aforementioned external attributes to the nodes of the mobile body waiting for authentication results when cooperating with the passage equipment and machinery that require authentication during passage. By assigning node attributes to the nodes when cooperating with the passage equipment and machinery, the traffic control system 1 can manage the movement of the mobile body 2, which utilizes safety systems, etc., through the same processing as passage in normal routes.

[0321] Implementation method 4.

[0322] In Embodiment 4, the differences from the examples disclosed in Embodiments 1 to 3 are described in particular detail. Regarding features not described in Embodiment 4, any feature from the examples disclosed in Embodiments 1 to 3 may be used.

[0323] In Embodiment 4, an example of a traffic control system 1 that cooperates with an elevator system installed in the facility is described. In this example, the traffic control system 1 includes the elevator system. Alternatively, the elevator system may also be an external system that cooperates with the traffic control system 1. An elevator shaft is provided in the facility. The shaft is a space spanning multiple floors of the facility. The elevator system is a system that transports users or moving bodies 2, etc., from landings on multiple floors of the facility by causing a car to travel vertically in the shaft. The elevator system machine is an example of an equipment machine installed in the facility. The equipment of the elevator system is, for example, a lifting equipment machine including a car installed in the facility. The elevator system includes one or more cars. The elevator system may also include a control device, etc., which manages the allocation of user calls that cause the car to respond. The control device may, for example, consist of one or more computers connected to a communication network 8, etc., via a communication device. Some or all of the functions of the control device may also be included in the facility server 12.

[0324] Figure 41 and Figure 42 This is a diagram illustrating an example of the setting of areas and nodes in the facility according to Embodiment 4.

[0325] exist Figure 41The diagram shows a schematic vertical section of the facility, including floors F1 and F2. The hoistway is a long, vertically elongated space encompassing multiple floors including F1 and F2. The hoistway is adjacent to landings located on each of the multiple floors including F1 and F2. The hoistway and landings are separated by landing doors. The landing doors open and close in conjunction with the car doors when the car arrives at that floor. Figure 42 The image shows a top view of floor F1. Floor F1 is adjacent to two passageways. The elevator system consists of two cars, car 1 and car 2.

[0326] Within the facility, zones A1, A2, H1, H2, and E1 are defined. Zone A1 corresponds to one area of ​​the passageway adjacent to the landing of floor F1. Zone A2 corresponds to another area of ​​the passageway adjacent to the landing of floor F1. Zone H1 corresponds to the area of ​​the landing of floor F1. Zone H2 corresponds to the area of ​​the landing of floor F2. Zone E1 corresponds to the area within the elevator car of the elevator system. In this example, Zone E1 corresponds to the area containing both elevator cars 1 and 2.

[0327] Region A1 contains a portion of region A1-In-1 corresponding to the middle attribute. Region H1 contains a portion of region H1-In-1 corresponding to the middle attribute. Region E1 contains a portion of region E1-In-1 corresponding to the middle attribute. Region H2 contains a portion of region H2-In-1 corresponding to the middle attribute. Regions H1 and A1 contain a portion of region H1A1-Out-1 corresponding to the outer attribute. Regions H1 and E1 contain a portion of region H1E1-Out-1 corresponding to the outer attribute. Regions H2 and E1 contain a portion of region H2E1-Out-1 corresponding to the outer attribute.

[0328] Region A1 contains the node A1-In-1-1 with the medium attribute. Region H1 contains the node H1-In-1-1 with the medium attribute and the node H1-Avoid-1-1 with the backoff attribute. Region E1 contains the nodes E1-In-1-1 and E1-In-1-2 with the medium attribute. Node E1-In-1-1 corresponds to the location inside the car of Unit 1. Node E1-In-1-2 corresponds to the location inside the car of Unit 2. Region H2 contains the node H2-In-1-1 with the medium attribute and the node H2-Avoid-1-1 with the backoff attribute. Region H1 and Region A1 share the node H1A1-Out-1-1 with the external attribute. Region H1 and Region E1 share the nodes H1E1-Out-1-1 and H1E1-Out-1-2 with the external attribute. Node H1E1-Out-1-1 corresponds to the location in front of the door of the landing corresponding to car number 1 in landing F1. Node H1E1-Out-1-2 corresponds to the location in front of the door of the landing corresponding to car number 2 in landing F1. Regions H2 and E1 share the external attributes of nodes H2E1-Out-1-1 and H2E1-Out-1-2. Node H2E1-Out-1-1 corresponds to the location in front of the door of the landing corresponding to car number 1 in landing F2. Node H2E1-Out-1-2 corresponds to the location in front of the door of the landing corresponding to car number 2 in landing F2.

[0329] Next, use Figure 43 and Figure 44 This illustrates an example of the movement of mobile body 2 within the facility.

[0330] Figure 43 This is a diagram illustrating an example of the movement of the movable body 2 in the facility of Embodiment 4.

[0331] Figure 44 This is a timing diagram illustrating an example of the operation of the traffic control system 1 when the mobile body 2 moves in the facility of Embodiment 4.

[0332] In this example, such as Figure 43 As shown, the mobile body 2 enters the landing station of floor F1 from the passageway corresponding to area A1, and moves to floor F2 by taking the elevator car of machine number 1. Afterwards, the mobile body 2 disembarks from the elevator car at the landing station of floor F2 and exits through the passageway adjacent to the landing station.

[0333] Mobile unit 2 moves towards node A1-In-1-1 within area A1, following the normal movement map instructed by facility server 12. For example... Figure 44As shown, mobile body 2 sends an elevator call request to the elevator system, for example, through mobile body server 10 and facility server 12 (step S4401). In this example elevator call request, mobile body 2 does not specify the car it wants to take. The elevator system accepts the elevator call request from mobile body 2 and begins cooperative processing with mobile body 2 (step S4451). The elevator system, for example, allocates the elevator call of mobile body 2 to a car in either elevator machine 1 or elevator machine 2 based on indicators such as the elevator system's transport efficiency. During the allocation processing of the elevator system, mobile body 2 moves from node A1-In-1-1 to node H1A1-Out-1-1 according to the normal action diagram. Here, node A1-In-1-1 and node H1A1-Out-1-1 can refer to the same location. That is, mobile body 2 changes from an internal attribute node to an external attribute node by sending the elevator call request and exits from region A. At this time, mobile body 2 can also perform the process of exiting from region A1 at the same time. Mobile body 2 is waiting in node H1A1-Out-1-1 for notification from a car that has been assigned a call button.

[0334] Subsequently, the elevator system, for example through facility server 12 and mobile body server 10, notifies mobile body 2 of the assigned car (step S4452). In this example, the elevator system assigns mobile body 2's call to car number 1. Mobile body 2 receives notification from the elevator system that a car has been assigned a call. By receiving the car notification, the normal action map is uniquely determined. For example, by including the code for node H1-In-1-1 in the notification, the mobile body control unit determines that node H1-In-1-1 has been selected. Alternatively, by including the location of node H1-In-1-1 in the notification, the mobile body control unit determines that node H1-In-1-1 has been selected. By accepting the notification, mobile body 2 changes from an external attribute node to a medium attribute node and enters region H. Alternatively, by not accepting the car notification, mobile body 2 is considered to have received node A1-In-1-1, changes from an external attribute node to a medium attribute node, and enters region A. According to the normal movement diagram, moving body 2 moves in the order of nodes H1A1-Out-1-1, H1-In-1-1, and H1E1-Out-1-1 to reach the door of the floor corresponding to the car of elevator machine 1 that has been assigned a call (step S4402). At this time, moving body 2 can also simultaneously enter and exit area H1. During this period, the elevator system causes the car of elevator machine 1, which has been assigned a call, to travel towards floor F1 (step S4453). Moving body 2 waits at node H1E1-Out-1-1 for the arrival of the car of elevator machine 1 that has been assigned a call.

[0335] Afterwards, the elevator car of Unit 1 arrives at floor F1. The elevator system notifies moving body 2 of a boarding instruction to the car of Unit 1 (step S4454). Upon receiving the boarding instruction, moving body 2 moves from node H1E1-Out-1-1 to node E1-In-1-1 according to the normal movement diagram to board the car of Unit 1 (step S4403). When moving body 2 reaches node E1-In-1-1 and completes the boarding, it notifies the elevator system that the boarding is complete (step S4404).

[0336] After receiving notification from the moving body 2 that the elevator ride is complete, the elevator system causes the car of elevator number 1, which the moving body 2 is riding, to move towards floor F2 (step S4455).

[0337] Afterwards, the elevator car of Unit 1 arrives at floor F2. The elevator system notifies moving body 2 of the disembarkation command from the car of Unit 1 (step S4456). Upon receiving the disembarkation command, moving body 2 moves from node E1-In-1-1 to node H2E1-Out-1-1 according to the normal movement diagram to disembark from the car of Unit 1 (step S4405). When moving body 2 reaches node H2E1-Out-1-1 and completes the disembarkation, it notifies the elevator system that the disembarkation is complete (step S4406). Afterwards, moving body 2 moves to node H2-In-1-1 according to the normal movement diagram and continues its movement on floor F2.

[0338] After receiving notification from the moving body 2 that the descent is complete, the elevator system completes the collaborative processing with the moving body 2 (step S4457).

[0339] Next, use Figure 45 and Figure 46 This is an example illustrating the situation where the mobile body 2 in the facility retreats during movement.

[0340] Figure 45 This is a diagram illustrating an example of the movement of the movable body 2 in the facility of Embodiment 4.

[0341] Figure 46 This is a timing diagram illustrating an example of the operation of the traffic control system 1 when the mobile body 2 moves in the facility of Embodiment 4.

[0342] When receiving a backoff command from facility server 12, such as Figure 45 As shown, mobile body 2 retreats to node H1-Avoid-1-1 with the retreat attribute. Subsequently, upon receiving the retreat cancellation instruction from facility server 12, mobile body 2 returns to node H1-In-1-1 with the intermediate attribute.

[0343] like Figure 46 As shown, with Figure 44Similarly, moving body 2 moves to node H1-In-1-1 according to the normal action diagram (step S4402).

[0344] Subsequently, facility server 12 outputs a retreat instruction to mobile body 2 based on the movement status of other mobile bodies (step S4658). Upon receiving the retreat instruction from facility server 12, mobile body 2 retreats to node H1-Avoid-1-1 of the retreat attribute according to the abnormal movement map (step S4607). At this time, mobile body 2 maintains, for example, information about its movement path on the normal movement map. Furthermore, the elevator system can also maintain information such as the elevator call allocation result of mobile body 2.

[0345] Subsequently, facility server 12 outputs a backoff release command to mobile body 2 based on the movement status of other mobile bodies (step S4659). Upon receiving the backoff release command from facility server 12, mobile body 2 returns to node H1-In-1-1 of the intermediate attribute according to the abnormal movement diagram (step S4608). Then, based on information about its movement path on the maintained normal movement diagram, mobile body 2 moves to node H1E1-Out-1-1 and restarts the waiting for the car to arrive process. Afterwards, when mobile body 2 receives a ride command to car number 1 from the elevator system, it... Figure 44 The same procedure is performed for the passenger car (step S4403).

[0346] Next, use Figure 47 and Figure 48 This illustrates an example of a situation where the mobile body 2 in the facility stops moving.

[0347] Figure 47 This is a diagram illustrating an example of the movement of the movable body 2 in the facility of Embodiment 4.

[0348] Figure 48 This is a timing diagram illustrating an example of the operation of the traffic control system 1 when the mobile body 2 moves in the facility of Embodiment 4.

[0349] When receiving a backoff command from facility server 12, such as Figure 47As shown, mobile body 2 retreats to node H1-Avoid-1-1 with the retreat attribute. The retreat instruction for mobile body 2 is output, for example, to prioritize other mobile bodies that entered the cooperation sequence with the equipment machine first. In this example, during the retreat of mobile body 2, the other mobile bodies move as usual. Thus, through the retreat of mobile body 2, the movement of other mobile bodies and cooperation with the equipment machine are executed efficiently without hindrance. Afterwards, upon receiving a stop instruction from facility server 12, mobile body 2 stops moving according to the normal action diagram. After terminating the use of the elevator system, mobile body 2 returns to its waiting location, for example, from node H1-Avoid-1-1 via nodes H1A1-Out-1-1 and A1-In-1-1.

[0350] like Figure 48 As shown, when mobile body 2 receives the backoff command from facility server 12, it... Figure 34 Similarly, the process is to retreat to the node H1-Avoid-1-1 with the retreat attribute according to the abnormal action graph (step S4607).

[0351] Afterwards, facility server 12 outputs a stop command to mobile body 2 based on the movement status of other mobile bodies (step S4860). Upon receiving the stop command from facility server 12, mobile body 2 stops using the elevator system at node H1-Avoid-1-1 (step S4809). Then, mobile body 2 moves to its waiting area, etc. As part of the stop process, mobile body 2 may also perform a path search to return to the waiting area, etc. When mobile body 2 completes the stop process for using the elevator system (step S4810), it notifies mobile body server 10 that the stop is complete (step S4811). Then, mobile body 2 departs from node H1-Avoid-1-1. Afterwards, the elevator system and... Figure 44 The same collaborative processing with the moving body 2 is performed (step S4457).

[0352] Figure 49 and Figure 50 This is a diagram illustrating another example of the setting of areas and nodes in the facility of embodiment 4.

[0353] exist Figure 49 The image shows a schematic diagram of the vertical section of the facility, including floors F1 and F2. Figure 50 The image shows a top view of floor F1. The elevator system consists of two cars, number 1 and number 2.

[0354] In the facility, with Figure 41 and Figure 42Similarly, regions A1, A2, H1, and H2 are defined. Additionally, regions E1 and E2 are defined within the facility. Region E1 corresponds to the area within the car of elevator machine number 1 of the elevator system. Region E2 corresponds to the area within the car of elevator machine number 2 of the elevator system. Regions A1, A2, H1, H2, E1, and E2 each contain nodes with intermediate attributes. Furthermore, adjacent regions H1 and A1 share nodes with external attributes. Similarly, regions H1 and A2, H1 and E1, H1 and E2, H2 and E1, and H2 and E2 each share nodes with external attributes. In this way, the areas and nodes of traffic control system 1 can be defined for each car of the elevator system. Furthermore, for the areas corresponding to the interior area of ​​the car, the weight or size of the moving body can be set as the upper limit of the occupancy value for each car.

[0355] In this example elevator call request, the moving body 2 specifies the car it wishes to take. The moving body 2 may specify the car of elevator number 1, for example, by specifying a portion of area E1 or a node. The moving body 2 may also specify the car it wishes to take, for example, by specifying a weight or size not exceeding an upper limit set as an occupancy value. The elevator system determines whether to assign the moving body 2's call to the specified car of elevator number 1 based on indicators such as the elevator system's transport efficiency. If the moving body 2's call is not assigned to the specified car, the elevator system may, for example, notify the moving body 2 of the assignment of calls to other cars, or notify the moving body 2 of a suspension instruction for elevator system usage.

[0356] Figure 51 This is a diagram illustrating another example of the setting of areas and nodes in the facility of embodiment 4.

[0357] exist Figure 51 The diagram shows a top view of floor F1 of the facility. The elevator system contains only one car. The landing of floor F1 is adjacent to one passageway. Areas A1, H1, and E1 are defined within the facility. Area A1 corresponds to the area of ​​the passageway adjacent to the landing of floor F1. Area H1 corresponds to the area of ​​the landing of floor F1. Area E1 corresponds to the area within the elevator car. Areas A1, H1, and E1 each contain nodes with internal attributes. Furthermore, adjacent areas H1 and A1, and areas H1 and E1, share nodes with external attributes. A moving body 2 entering the landing of floor F1 can then take the following actions: ride the elevator car to another floor, or return via the passageway adjacent to the landing.

[0358] Figure 52 This is a diagram illustrating another example of the setting of areas and nodes in the facility of embodiment 4.

[0359] exist Figure 52 The diagram shows a top view of floor F1 of the facility. The elevator system contains only one car. The landing of floor F1 is adjacent to two passageways. Within the facility, areas A1, A2, H1, and E1 are defined. Areas A1 and A2 correspond to the ranges of the two passageways adjacent to the landing of floor F1, respectively. Area H1 corresponds to the range of the landing of floor F1. Area E1 corresponds to the range within the elevator car. Areas A1, A2, H1, and E1 each contain nodes with intermediate attributes. Furthermore, adjacent areas H1 and A1, H1 and A2, and H1 and E1 share nodes with external attributes. A moving body 2 entering the landing of floor F1 from the passageway corresponding to area A1 can then take the following actions: ride the elevator car to another floor, return from the passageway corresponding to area A1, or pass through the passageway corresponding to area A2.

[0360] Figure 53 This is a diagram illustrating another example of the setting of areas and nodes in the facility of embodiment 4.

[0361] exist Figure 53 The image shows a top view of floor F1 of the facility. The elevator system contains only one car. The landing of floor F1 is adjacent to three passageways. Within the facility, areas A1, A2, A3, H1, and E1 are defined. Areas A1, A2, and A3 correspond to the ranges of the three passageways adjacent to the landing of floor F1. Area H1 corresponds to the range of the landing of floor F1. Area E1 corresponds to the range within the elevator car. Areas A1, A2, A3, H1, and E1 each contain nodes with intermediate attributes. Furthermore, adjacent areas H1 and A1, H1 and A2, H1 and A3, and H1 and E1 share nodes with external attributes. At this time, the moving body 2, which enters the floor F1 station from the path corresponding to area A1, can take the following actions: take the elevator car to move to other floors, return from the path corresponding to area A1, or pass through the path corresponding to area A2 or area A3. Areas and nodes can also be set similarly when the station is adjacent to four or more paths.

[0362] Figure 54 This is a diagram illustrating another example of the setting of areas and nodes in the facility of embodiment 4.

[0363] exist Figure 54The image shows a top view of floor F1 of the facility. The elevator system consists of three cars: machine 1, machine 2, and machine 3. All three cars are located on the same side of the landing. Floor F1 is adjacent to two passageways. The facility is divided into zones A1, A2, H1, E1, E2, and E3. Zones A1 and A2 correspond to the areas of the two passageways adjacent to the landing of floor F1. Zone H1 corresponds to the area of ​​the landing of floor F1. Zone E1 corresponds to the area inside the car of elevator machine 1. Zone E2 corresponds to the area inside the car of elevator machine 2. Zone E3 corresponds to the area inside the car of elevator machine 3. Zones A1, A2, H1, E1, E2, and E3 each contain nodes with specific attributes. Furthermore, adjacent regions H1 and A1, H1 and A2, H1 and E1, H1 and E2, and H1 and E3 share nodes with external attributes. This allows for the creation of traffic control system 1 regions and nodes for each elevator car when the elevator system contains three or more cars. Additionally, regions corresponding to the area of ​​some or all of the multiple cars within the elevator system can also be defined.

[0364] Figure 55 This is a diagram illustrating another example of the setting of areas and nodes in the facility of embodiment 4.

[0365] exist Figure 55 The image shows a top view of floor F1 of the facility. The elevator system consists of three cars: car 1, car 2, and car 3. Cars 1 and 2 are located on the same side of the landing. Car 3 is located on the opposite side of the landing relative to cars 1 and 2. Floor F1 is adjacent to two passageways. The facility is divided into zones A1, A2, H1, E1, and E2. Zones A1 and A2 correspond to the areas of the two passageways adjacent to the landing of floor F1, respectively. Zone H1 corresponds to the area of ​​the landing of floor F1. Zone E1 corresponds to the area within the car of elevator car 1. Zone E2 corresponds to the areas within the cars of elevator cars 2 and 3. Zones A1, A2, H1, E1, and E2 each contain nodes with specific attributes. The nodes with intermediate attributes in region E2 include nodes corresponding to the range within the car of unit 2 and nodes corresponding to the range within the car of unit 3. Furthermore, adjacent regions H1 and A1, H1 and A2, H1 and E1, and H1 and E2 share nodes with external attributes. In this way, a single region can be virtually defined for multiple cars, such as units 2 and 3, that are configured in different directions relative to the landing.

[0366] Figure 56 This is a diagram illustrating another example of the setting of areas and nodes in the facility of embodiment 4.

[0367] exist Figure 56 The image shows a top view of floor F1 of the facility. The elevator system consists of three cars: Machine 1, Machine 2, and Machine 3. Machines 1 and 3 are positioned on opposite sides of the landing. Machine 2 is positioned in a different direction relative to the landing than Machines 1 and 2. Floor F1 is adjacent to two passageways. The facility is divided into zones A1, A2, H1, and E1. Zones A1 and A2 correspond to the areas of the two passageways adjacent to the landing of floor F1. Zone H1 corresponds to the area of ​​the landing of floor F1. Zone E1 corresponds to the area within all three cars (Machines 1, 2, and 3). Zones A1, A2, H1, and E1 each contain nodes with specific attributes. The nodes in the middle attribute of region E1 include nodes corresponding to the range inside car 1, the range inside car 2, and the range inside car 3. Furthermore, adjacent regions H1 and A1, region H1 and A2, and region H1 and E1 share nodes in the outer attribute. Thus, a virtual region can be set up for three or more cars configured in different directions relative to the landing.

[0368] In this way, the facility information management department 15 assigns external attributes to the nodes of the mobile body 2 waiting to board the elevator machine in cooperation with the elevator machine that transports the mobile body 2 between two floors. By assigning node attributes to the nodes that cooperate with the elevator machine in this way, the traffic control system 1 can manage the movement of the mobile body 2 across floors using the elevator system, etc., through the same processing as normal passage.

[0369] Industrial availability

[0370] Traffic control systems, facility management devices, traffic control methods, and traffic control procedures can be applied to the management of the movement of mobile bodies operating within facilities. Through these systems, devices, methods, or procedures, mobile bodies can be utilized based on node and area information, even in facilities not specifically designed for mobile bodies. Furthermore, these systems enable the passage of mobile bodies, cooperation with equipment and machinery, and collaboration with other mobile bodies, even without the installation of sensors on the facility side. This reduces the costs associated with operating multiple mobile bodies within a facility. Additionally, modifications can be made to allow the operation of multiple mobile bodies within existing facilities.

[0371] Label Explanation

[0372] 1. Traffic Control System; 2. 2p, 2q. Mobile Units; 3a, 3b, 3c. Computing Unit; 4a, 4b, 4c. Storage Unit; 5a, 5b, 5c. Communication Unit; 6. Measurement Unit; 7. Drive Unit; 8. Communication Network; 9. Action Control Unit; 10. 10p, 10q. Mobile Unit Server; 11. Action Planning Unit; 12. Facility Server; 13. Input Unit; 14. Output Unit; 15. Facility Information Management Unit; 16. Traffic Management Unit

Claims

1. A traffic control system that sets traffic rules within or between zones, enabling the management of traffic involving multiple moving bodies operating within a facility divided into multiple zones, wherein, The traffic control system has the following features: The Facilities Information Management Department manages the information of the facilities. The traffic management department manages the movement of the mobile body within the facility based on information managed by the facility information management department; as well as The mobile body control unit controls the movement of the mobile body within the facility based on instructions generated by the traffic management unit for the mobile body. The Facility Information Management Department manages the following information: Information indicating which node attribute, comprising internal and external attributes, each node possesses, wherein multiple nodes are defined in the facility, and each node represents a location where the mobile body moves among them; and Information indicating which of the multiple nodes defined in the facility contains each region as an element, wherein the region corresponds to the partition and multiple partitions are defined in the facility. Nodes possessing the aforementioned external attribute are contained as common elements within at least two distinct regions. The nodes possessing the aforementioned attributes are included as elements within any one of the regions. The traffic management department sorts and selects two nodes of the external and internal attributes in the same area to set the traffic rules, thereby managing traffic for multiple moving bodies in multiple adjacent zones of the facility.

2. The traffic control system according to claim 1, wherein, The traffic management department determines whether to permit the mobile body to enter the partition of the facility corresponding to any area in the region based on the sum of the following possession values, thereby generating an instruction for the mobile body, wherein the sum of possession values ​​is the sum of the possession values ​​of nodes with the middle attribute among the nodes contained in the region and the possession values ​​of nodes with the external attribute among the nodes contained in the region.

3. The traffic control system according to claim 1 or 2, wherein, The traffic management department determines whether to permit the passage of the mobile body between the partitions of the facilities corresponding to the two different areas based on the sum of the occupancy values ​​of the nodes with the external attributes that are included as common elements in the two different areas, thereby generating instructions for the mobile body.

4. The traffic control system according to any one of claims 1 to 3, wherein, The traffic management department generates instructions for the moving body using a directed graph that includes edges as elements, where each edge is a sequential pair of nodes consisting of a start point and an end point. The mobile body control unit controls the movement of the mobile body in accordance with the traffic rules based on the edges or nodes contained in the directed graph.

5. The traffic control system according to claim 4, wherein, When a partial set of regions whose elements have the same node attributes is defined as a partial region... The traffic management department processes requests for movement instructions from the moving body by alternately using the partial regions with the nodes of the external attribute as elements and the partial regions with the nodes of the intermediate attribute as elements as a sequential sequence of components. The traffic management department sets the nodes included as elements in each component of the sequence of the partial area as the start and end points of the edges, and generates the directed graph in a manner that includes a normal action graph in which the nodes are arranged sequentially according to the order of the components of the sequence of the partial area, as an instruction for the moving body.

6. The traffic control system according to claim 5, wherein, The facility information management department sets one partial region with the external attribute for each of two different regions that do not share the external attribute, and then sets a new partial region between these two regions, using the node with the intermediate attribute as an element, thereby virtually serving as one region. The facility information management department may virtually treat multiple partial areas, which are adjacent components in a connected manner within the sequential sequence of the partial areas, as a single area, or... The facility information management department divides the portion of the region containing the intermediate attribute into a sequence of portion regions that alternately consist of the portion regions corresponding to the external attribute and the portion regions corresponding to the intermediate attribute, thereby virtually dividing the region into multiple regions. The traffic management department generates instructions for the moving body based on the virtual area set by the facility information management department.

7. The traffic control system according to claim 5 or 6, wherein, The traffic management department generates the directed graph in a manner that includes both the normal and abnormal action graphs, wherein the abnormal action graph has multiple edges representing one or more branches from the normal action graph. Each branch represented by the abnormal action graph does not contain multiple nodes with the aforementioned external attributes.

8. The traffic control system according to claim 5 or 6, wherein, The traffic management department generates the directed graph in a manner that includes both the normal and abnormal action graphs, wherein the abnormal action graph has multiple edges representing one or more branches from the normal action graph. At least one branch in the non-normal action graph represents a node that has a backoff attribute as a node attribute.

9. The traffic control system according to claim 7 or 8, wherein, The traffic management department, by outputting instructions indicating abnormal actions, causes the mobile entity to pause its actions on the normal action map while temporarily saving the information of its actions on the normal action map, and branch out to take actions on the abnormal action map. The traffic management department, by outputting an instruction indicating the cancellation of abnormal actions, causes the moving body to return from its actions on the abnormal action map to its actions on the normal action map, and restarts the suspended actions on the normal action map based on the information of the temporarily saved actions on the normal action map.

10. The traffic control system according to any one of claims 4 to 9, wherein, The traffic management department outputs instructions containing the directed graph, causing the moving body to perform actions corresponding to the node attributes of the node at the starting point of the edge and the node attributes of the node at the ending point of the same edge.

11. The traffic control system according to claim 10, wherein, When the traffic management department determines that the node at the starting point has the intermediate attribute and the node at the destination has the external attribute, it causes the moving body to query whether it can travel between the partitions of the two regions that share the node at the destination as a common element, as an action to exit from the partition of the region that includes the node at the starting point. When the traffic management department receives a query from the mobile vehicle asking whether it is permitted to pass, if it does not permit the mobile vehicle to pass, it will either suspend the movement of the mobile vehicle or temporarily cause the mobile vehicle to retreat to a node with a retreat attribute as its node attribute. When the node at the starting point has the external attribute and the node at the end point has the intermediate attribute, the traffic management department notifies the mobile body to exit from the partition of the region containing the node at the starting point as an element, as an action to enter the partition of the region containing the node at the end point.

12. The traffic control system according to any one of claims 1 to 11, wherein, In collaboration with the equipment and machinery in the facility, the facility information management department assigns the external attribute to the node where the mobile body waits while using the equipment and machinery.

13. The traffic control system according to claim 12, wherein, The aforementioned equipment is the access control equipment that requires authentication during passage. In cooperation with the access control equipment, the facility information management department assigns the external attribute to the node on which the mobile body is waiting for the authentication result regarding the access control equipment.

14. The traffic control system according to claim 12, wherein, The equipment is a lifting device that transports the moving body between two different floors in the facility, where each floor has a station. In cooperation with the elevator machine, the facility information management department assigns the external attributes to the node in front of the door of the floor where the mobile body is waiting to board the elevator machine.

15. The traffic control system according to claim 12, wherein, The equipment is an elevator that transports the moving body between two different floors with stations in the facility. In cooperation with the elevator, the facility information management department assigns the external attributes to the node in front of the door of the floor where the moving body is waiting to board the elevator. In its collaboration with the elevator, the traffic management department sets the following traffic rules: after receiving notification of car allocation for a call request for the elevator car, it moves from the node of the middle attribute to the node of the outer attribute.

16. A facility management device that sets traffic rules within or between zones, enabling the management of traffic flow for multiple mobile bodies operating within a facility divided into multiple zones, wherein, The facility management device includes: The Facility Information Management Department manages information about the facilities; and The traffic management department, based on information managed by the facility information management department, manages the movement of the mobile body within the facility. The Facility Information Management Department manages the following information: Information indicating which node attribute, comprising internal and external attributes, each node possesses, wherein multiple nodes are defined in the facility, and each node represents a location where the mobile body moves among them; and Information indicating which of the multiple nodes defined in the facility contains each region as an element, wherein the region corresponds to the partition and multiple partitions are defined in the facility. Nodes possessing the aforementioned external attribute are contained as common elements within at least two distinct regions. The nodes possessing the aforementioned attributes are included as elements within any one of the regions. The traffic management department sorts and selects two nodes of the external and internal attributes in the same area to set the traffic rules, thereby managing traffic for multiple moving bodies in multiple adjacent zones of the facility.

17. A traffic control method comprising setting traffic rules within a zone or between said zones, thereby enabling the management of traffic involving multiple moving bodies operating within a facility divided into multiple said zones, wherein, The computer performs the following processing: Information on the management of the facilities; and Based on information about the managed facility, the movement of the mobile body within the facility is managed. The information of the facility managed by the computer includes: Information indicating which node attribute, comprising internal and external attributes, each node possesses, wherein multiple nodes are defined in the facility, and each node represents a location where the mobile body moves among them; and Information indicating which of the multiple nodes defined in the facility contains each region as an element, wherein the region corresponds to the partition and multiple partitions are defined in the facility. Nodes possessing the aforementioned external attribute are contained as common elements within at least two distinct regions. The nodes possessing the aforementioned attributes are included as elements within any one of the regions. In the management of the movement of the mobile body in the facility, the computer sorts and selects two nodes of the external attribute and the internal attribute in the same area to set the traffic rules, thereby managing traffic for multiple mobile bodies in multiple adjacent zones of the facility.

18. A traffic control procedure that establishes traffic rules within or between zones, enabling the management of traffic involving multiple moving bodies operating within a facility divided into multiple zones, wherein, The traffic control procedure causes the computer to perform the following processes: Information on the management of the facilities; and Based on information about the managed facility, the movement of the mobile body within the facility is managed. The information of the facility managed by the computer includes: Information indicating which node attribute, comprising internal and external attributes, each node possesses, wherein multiple nodes are defined in the facility, and each node represents a location where the mobile body moves among them; and Information indicating which of the multiple nodes defined in the facility contains each region as an element, wherein the region corresponds to the partition and multiple partitions are defined in the facility. Nodes possessing the aforementioned external attribute are contained as common elements within at least two distinct regions. The nodes possessing the aforementioned attributes are included as elements within any one of the regions. In the management of the movement of the mobile body in the facility, the computer sorts and selects two nodes of the external attribute and the internal attribute in the same area to set the traffic rules, thereby managing traffic for multiple mobile bodies in multiple adjacent zones of the facility.

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