Information management device, traffic regulation system, traffic regulation method, and traffic regulation program

Abstract

This invention provides an information management device, a traffic control system, a traffic control method, and a traffic control procedure for managing the movement of mobile bodies operating within a facility in a manner that can further improve the movement efficiency of mobile bodies. In the traffic control system (1), the facility information management unit (15) of the information management device manages information from an application map, which includes: a first vertex representing a first region consisting of a set of nodes representing multiple locations within a first spatial range of the facility; a second vertex representing a second region consisting of a set of nodes representing multiple locations within a second spatial range that partially overlaps with the first spatial range; and an edge connecting the first vertex and the second vertex, representing a common region consisting of a set of common nodes representing one or more locations within the partially overlapping range, and which are collectively contained within the first and second regions. The traffic management unit (16) generates instructions for mobile bodies (2) moving within the facility based on the information from the application map.

Description

Technical Field

[0001] This disclosure relates to information management devices, traffic control systems, 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 that 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 the following method: when managing multiple guide paths passing through a single convergence point, management is performed using a priority time period when the vehicles arrive at the convergence point simultaneously. This presents the following problem: while management works on a guide path in one direction, time period 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. Management groups, for example, vary by manufacturer. Moreover, the guide paths for vehicles differ significantly for each business. Based on the above, it is impractical to set up a one-dimensional curved guide path 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 relates to solving such problems. This disclosure provides an information management device, a traffic control system, a traffic control method, and a traffic control procedure for managing the movement of mobile bodies operating in facilities in a manner that can further improve the efficiency of movement.

[0011] Methods for solving problems

[0012] The information management device disclosed herein includes: a facility information management unit that manages information of an operation map; and a traffic management unit that generates instructions for a moving body moving within the facility based on the information of the operation map, wherein the operation map includes: a first vertex representing a first region consisting of a set of nodes representing multiple locations within a first spatial range of the facility; a second vertex representing a second region consisting of a set of nodes representing multiple locations within a second spatial range, the second spatial range partially overlapping the first spatial range; and an edge connecting the first vertex and the second vertex, representing a common region consisting of a set of common nodes that represent one or more locations within the partially overlapping range and are collectively contained within the first region and the second region.

[0013] The traffic control system disclosed herein comprises: a facility information management unit that manages information from an operational map; a traffic management unit that generates instructions for a moving body moving within the facility based on the operational map information; and a moving body control unit that controls the movement of the moving body within the facility based on the instructions generated by the traffic management unit for the moving body, wherein the operational map includes: a first vertex representing a first region consisting of a set of nodes representing multiple locations within a first spatial range of the facility; a second vertex representing a second region consisting of a set of nodes representing multiple locations within a second spatial range, the second spatial range partially overlapping the first spatial range; and an edge connecting the first vertex and the second vertex, representing a common region consisting of a set of common nodes that are nodes representing one or more locations within the partially overlapping range and are collectively contained within the first region and the second region.

[0014] The traffic control method disclosed herein is performed by a computer using the following steps: managing information of an operational map; and generating instructions for a moving body moving within a facility based on the information of the operational map, wherein the operational map includes: a first vertex representing a first region consisting of a set of nodes representing multiple locations within a first spatial range of the facility; a second vertex representing a second region consisting of a set of nodes representing multiple locations within a second spatial range, the second spatial range partially overlapping the first spatial range; and an edge connecting the first vertex and the second vertex, representing a common region consisting of a set of common nodes that are nodes representing more than one location within the partially overlapping range and are collectively contained within the first region and the second region.

[0015] The traffic control procedure disclosed herein enables a computer to perform the following processes: managing information from an operational map; and generating instructions for a moving body moving within a facility based on the information from the operational map, wherein the operational map includes: a first vertex representing a first region consisting of a set of nodes representing multiple locations within a first spatial range of the facility; a second vertex representing a second region consisting of a set of nodes representing multiple locations within a second spatial range that partially overlaps with the first spatial range; and an edge connecting the first vertex and the second vertex, representing a common region consisting of a set of common nodes that are nodes representing more than one location within the partially overlapping range and are collectively contained within the first region and the second region.

[0016] Invention Effects

[0017] According to the information management device, traffic control system, traffic control method or traffic control procedure disclosed herein, the movement of mobile bodies can be managed in a manner that can further improve the movement efficiency of mobile bodies operating in the facility. 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 an example of information used in the traffic management of a moving vehicle by the traffic control system of Implementation 1.

[0021] Figure 4 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.

[0022] Figure 5 This is a diagram illustrating an example of the functional sharing of the traffic control system in Implementation Method 1.

[0023] Figure 6 This is a diagram illustrating an example of the time hierarchy for classifying information in the traffic control system of Implementation Method 1.

[0024] Figure 7 This is a timing diagram illustrating an example of cooperation between mobile bodies and equipment machines via the traffic control system of Implementation 1.

[0025] Figure 8 This is a timing diagram illustrating an example of cooperation between mobile bodies and equipment machines via the traffic control system of Implementation 1.

[0026] Figure 9 This is a perspective view showing an example of a device or machine that cooperates with a moving body in the traffic control system of Embodiment 1.

[0027] Figure 10 This is a diagram illustrating an example of the state transitions of the equipment and machinery in the facility of Embodiment 1.

[0028] Figure 11 This is a diagram illustrating an example of the state transition of a moving body according to Embodiment 1.

[0029] Figure 12 This is a diagram illustrating an example of the state transition of a moving body according to Embodiment 1.

[0030] Figure 13This is a timing diagram illustrating an example of cooperation between mobile bodies and equipment machines via the traffic control system of Implementation 1.

[0031] Figure 14 This is a top view showing an example of a device or machine that works in cooperation with a moving body in the traffic control system of Embodiment 1.

[0032] Figure 15 This is a timing diagram illustrating an example of cooperation between mobile bodies and equipment machines via the traffic control system of Implementation 1.

[0033] Figure 16 This is a top view showing an example of a device or machine that works in cooperation with a moving body in the traffic control system of Embodiment 1.

[0034] Figure 17 This is a timing diagram illustrating an example of cooperation between mobile bodies and equipment machines via the traffic control system of Implementation 1.

[0035] Figure 18 This is a top view showing an example of a device or machine that works in cooperation with a moving body in the traffic control system of Embodiment 1.

[0036] Figure 19 This is a timing diagram illustrating an example of cooperation between mobile bodies and equipment machines via the traffic control system of Implementation 1.

[0037] Figure 20 This is a structural diagram of the traffic control system in Implementation Method 2.

[0038] Figure 21 This is a diagram illustrating an example of how the support server in Implementation 2 supports information input to the information management device.

[0039] Figure 22 This is a diagram illustrating another example of how the support server in Implementation 2 supports information input to the information management device.

[0040] Figure 23 This is a diagram illustrating another example of how the support server in Implementation 2 supports information input to the information management device.

[0041] Figure 24 This is a diagram illustrating an example of data generated in the support server of Implementation Method 2. Detailed Implementation

[0042] 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 appropriately simplified or omitted. Furthermore, the scope of this disclosure is not limited to the following embodiments; any modifications or omissions of any constituent elements of the embodiments are permissible without departing from the spirit of this disclosure.

[0043] Implementation method 1.

[0044] Figure 1 This is a structural diagram of the traffic control system 1 according to implementation method 1.

[0045] Traffic control system 1 is a system that manages traffic and other activities of mobile bodies 2 operating within the facility.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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. Part or all of the input unit 13 may also be composed of an arithmetic unit 3c and a communication unit 5c. 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.

[0062] 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. Part or all of output unit 14 may also be composed of a computing unit 3c and a communication unit 5c. Output unit 14 may also output API-based communication commands as instructions to external devices such as mobile server 10.

[0063] 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 the movement of the mobile body 2 within the facility. The information managed by the facility information management unit 15 may also include information such as the status of the equipment and machinery used by the mobile body 2 during its movement within the facility. The management of this information by the facility information management unit 15 includes maintaining, adding, modifying, deleting, and performing other operations. The traffic management unit 16 manages the movement of the mobile body 2 within the facility. The traffic management unit 16, for example, manages coordination of movement between multiple mobile bodies 2 and cooperation with the equipment and machinery used by the mobile body 2 during its movement within the facility.

[0064] Next, use Figures 2 to 4 An example of traffic management information used for mobile body 2 will be provided.

[0065] Figures 2 to 4 This 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.

[0066] like Figure 2 As shown, in this example facility, mobile body 2p and mobile body 2q are operating. Here, unless otherwise specified, mobile body 2p and mobile body 2q 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, unless otherwise specified, mobile body server 10p and mobile body server 10q are sometimes referred to simply as mobile body server 10.

[0067] The management of transportation within a facility requires coordination between various stakeholders, including those managing the convenience and safety of shared facilities, and service providers and users of the facility space. Within the facility, the facility manager manages the convenience for facility users, while the mobility manager manages the convenience of services for mobility vehicle 2, establishing a reasonable agreement between the two. The facility manager has the authority to obtain and disclose the necessary information. The mobility manager has the authority to obtain and disclose the necessary information for mobility vehicle 2.

[0068] The facility manager inputs the facility's structural data into the facility server 12. This structural data includes, for example, information about the configuration and adjacency of rooms and passageways within the facility, as well as the configuration and types of equipment and machinery installed within the facility. The structural data can be, for example, architectural drawings. Architectural drawings can also be CAD data (Computer-Aided Design). The structural data can also include information about above-ground features. This information can be from a public database of geospatial information data at different levels.

[0069] The facility administrator inputs the traffic rules for mobile body 2 within the facility into the facility server 12. These traffic rules are, for example, the rules that mobile body 2 should follow when moving within the facility.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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."

[0077] 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.

[0078] The administrator of Mobile 2p inputs the application definition of Mobile 2p into the facility server 12. The application definition of Mobile 2p includes information such as the types of services provided by Mobile 2p in the facility and the locations where they are provided. Similarly, the administrator of Mobile 2q inputs the application definition of Mobile 2q into the facility server 12.

[0079] Based on the input information, facility server 12 generates data for managing the movement of mobile body 2, and performs processing such as saving it to a database. The database is stored, for example, in storage unit 4c.

[0080] The administrator of Mobile 2p inputs the Mobile 2p usage plan into Mobile Server 10p. The Mobile 2p usage plan includes information such as the service delivery schedule of Mobile 2p, outlining how Mobile 2p operates within the facility. Similarly, the administrator of Mobile 2q inputs the Mobile 2q usage plan into Mobile Server 10q.

[0081] Mobile server 10p controls mobile body 2p while communicating with facility server 12 via, for example, API-based communication commands. Mobile server 10p controls mobile body 2p, for example, by instructing mobile body 2p on action plans. The action plan for mobile body 2p includes, for example, information such as the path mobile body 2p takes as it moves within the facility. The action plan for mobile body 2p also includes, for example, information about the desired operations of mobile body 2p at a specific location or between multiple locations within the facility. Similarly, mobile server 10q controls mobile body 2q while communicating with facility server 12 via, for example, API-based communication commands. Mobile server 10 and facility server 12 communicate information such as the current location of mobile body 2 within the facility and the operating status of equipment and machinery within the facility.

[0082] like Figure 3As shown, 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 moves within the facility, or the position through which the mobile body 2 passes or stops while moving. 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 locations. Nodes may also include information about the range encompassing the corresponding locations. 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.

[0083] Multiple zones are defined within the facility. Each zone is a set of elements including one or more nodes. 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. The pre-defined spatial range may be, for example, a partition of the facility. Nodes contain information about the range of locations, so a set 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 within that zone. Furthermore, when the mobile body 2 can travel between ranges corresponding to two different zones, these two zones contain at least one node as a common element. It can also be represented as two adjacent zones. Two adjacent zones may also contain multiple nodes as common elements. Partitions are information related to facility management, for example, managed by the facility information management unit 15. On the other hand, zones are information related to mobile body management, for example, managed by the mobile body server 10. Here, partitions and zones are associated via nodes, so the facility information management unit 15 can manage zone information.

[0084] The facility comprises multiple areas, including independent areas and bridging areas. An independent area is a region that does not contain nodes that overlap with other independent areas. In this example, the range associated with a certain independent area does not overlap with the ranges associated with other independent areas. An independent area, for example, corresponds to a room in the facility. Mobile body 2 primarily performs actions such as providing services in the independent area. A bridging area is a region that contains nodes that overlap with other areas. A bridging area, for example, shares nodes with independent areas. A bridging area may also share nodes with other bridging areas. The range associated with a bridging area is, for example, set to span the ranges associated with multiple independent areas. This indicates that mobile body 2 can move between these ranges. A bridging area, for example, corresponds to passageways, room entrances / exits, gates, or doors in the facility. Mobile body 2 primarily performs actions such as moving between independent areas in the bridging area. A bridging area may also include nodes that do not overlap with other areas.

[0085] The Facility Information Management Department 15 manages facility information such as nodes and regions as a hypergraph. A hypergraph is an extension of the graph concept. A graph defines a set of nodes (vertices) and a set of edges (edges), having the mathematical function of specifying a group of two nodes from the set of nodes when an edge is specified. Conversely, a hypergraph defines a set of nodes (vertices) and a set of hyperedges (edges), having the mathematical function of specifying a subset of nodes with more than two nodes from the set of nodes when a hyperedge is specified. That is, a graph uses pairs of nodes as edges, while a hypergraph uses sets of nodes as hyperedges. Hypergraphs and, as described later, operating subgraphs, define "hyperedges" or "edges" representing connections between nodes for "nodes" representing locations; in contrast, the applied graphs described later define "edges" representing connections between hyperedges, using "hyperedges" representing regions as vertices. Figure 3The image shows an example of a hypergraph managed by Facility Information Management Department 15. The hypergraph includes multiple nodes and multiple hyperedges, each a set of arbitrary nodes. Each hyperedge corresponds to a region within the facility. In this example, nodes contained within only one region are indicated by black circles. Nodes shared by multiple regions are indicated by white circles. Furthermore, hyperedges corresponding to independent regions are represented by dashed ellipses. Hyperedges corresponding to bridging regions are represented by solid ellipses. That is, regions B, D, G, I, and K are hyperedges corresponding to independent regions, while regions A, C, E, F, H, J, L, M, and N are hyperedges corresponding to bridging regions. Here, for example, region D is adjacent to regions C and E in a manner that allows movement of a mobile body 2 between them. In this case, region D shares nodes with regions C and E respectively. Here, for example, region A is adjacent to region B in a manner that allows simultaneous movement of two mobile bodies 2 between them. Here, for example, region D is adjacent to region F in such a way that at most one mobile body 2 can travel between the two locations simultaneously between region D and region F.

[0086] like Figure 4 As shown, an operation subgraph is set up in the facility. The operation subgraph is managed in the facility information management unit 15 of the facility server 12. The operation subgraph shows whether passage is possible or the weight of passage between nodes in each area. The weight of passage between nodes represents, for example, the cost value when passing between nodes in path search, etc. The weight of passage between nodes can correspond to, for example, the physical distance between the locations corresponding to the nodes, or it can be a value set as a constraint on the movement of the moving body 2. The weight of passage between nodes can also be set with different values ​​for outbound and return paths, for example. In addition, the operation subgraph can indicate whether passage is possible by the connection relationship between nodes, or it can indicate that passage between nodes is not possible by setting the weight of passage between nodes to be large enough. The facility information management unit 15 can also manage multiple operation subgraphs corresponding to the nature of the area, etc. The operation subgraph is, for example, a directed graph with edges as elements of sequential pairs of nodes as the start and end points. In this example, the operation subgraph includes a main line graph of multiple nodes written in a single stroke as a subgraph. The nodes at both ends of the main map are, for example, nodes shared by multiple areas. The running submap is an example of pre-defined traffic rules within a facility.

[0087] Traffic Management Department 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. In this case, part or all of the running subgraph can be a coordination graph to handle abnormal actions such as retreat instructions. The coordination graph includes a subgraph of a line graph, which represents a branch from the main line graph when a retreat instruction is given. The subgraph is, for example, a directed graph with an edge that is a sequential pair between the starting or ending node of the edge of the main line graph and the node that moves when a retreat instruction is given. The subgraph can also contain edges between nodes that move when a retreat instruction is given. The coordination graph can also contain multiple subgraphs. In this example, the edges of the main line graph included in the coordination graph are represented by solid arrows. Furthermore, the edges of the subgraphs included in the coordination graph are represented by dashed arrows.

[0088] The facility information management unit 15 generates an application graph based on the facility's hypergraph. The application graph is, for example, an undirected graph representing the adjacency relationships between areas within the facility. An application graph is a graph structure where each area is a vertex, and when two different areas share a node, the two different areas are connected by edges. In this example application graph, the vertex corresponding to area D is connected to the vertices corresponding to areas C, E, and F via edges. The facility information management unit 15 manages information by treating the nodes shared by the two different areas as common nodes. Furthermore, the facility information management unit 15 manages information by treating a set containing one or more common nodes contained in the two different areas as a common region for the two areas. A common region is, for example, a set containing one common node. A common region is, for example, a set of common nodes representing exclusive locations where multiple mobile bodies 2 cannot simultaneously travel between the two areas, or a power of the aforementioned sets. The application graph can also connect the two different areas by edges corresponding to the number of common regions when two different areas share multiple nodes. In the application diagram of this example, the number of common regions of region A and region B is 1 or 2, and the vertex corresponding to region A and the vertex corresponding to region B are connected by 1 or 2 edges.

[0089] The Traffic Management Department 16 generates an operation diagram based on the application diagram and the operation sub-diagram. For example, the Traffic Management Department 16 generates the operation diagram by applying operation sub-diagrams corresponding to the properties of each region, which serves as a vertex of the operation diagram. The operation diagram can represent a diagram connecting any nodes contained within different regions of the facility.

[0090] For example, the action planning unit 11 of the mobile unit server 10 plans the movement of the mobile unit 2 within the facility. The action planning unit 11 generates, for example, a travel 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 information such as the operation map obtained from the facility information management unit 15 of the facility server 12. The travel plan can be generated each time a movement occurs, or it can be preset in the operation plan, etc. The travel plan, for example, sequentially includes the areas traversed by the mobile unit 2 as a sequence of components when moving from the starting area to the destination area within the facility. In this case, the travel plan becomes a path on the operation map from the starting area to the destination area. 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 within the facility.

[0091] Based on the travel plan received from the mobile body server 10 of the mobile body 2, the traffic management unit 16 of the facility server 12 generates instructions for the mobile body 2 regarding movement between nodes in the facility. The traffic management unit 16 generates a travel map, for example, by applying a travel subgraph to each vertex in the path on the application map. Alternatively, the traffic management unit 16 may generate a travel map by applying a travel subgraph to vertices within a pre-defined range, including the vertex corresponding to the area where the mobile body 2 is currently located, in the path on the application map. Alternatively, the traffic management unit 16 may generate a travel map by applying a travel subgraph to all vertices in the application map. The traffic management unit 16 may also generate a travel map using other methods. Furthermore, the traffic management unit 16 may apply a coordination graph to the vertices of the travel map. The traffic management unit 16 sends the generated travel map as a movement instruction to the mobile body server 10.

[0092] The action planning unit 11 of the mobile unit server 10 generates an action plan for the mobile unit 2 based on the operation map received from the facility server 12. The action plan for the mobile unit 2 includes, for example, multiple edges traversed by the mobile unit 2 as it moves from its starting point to its destination within the facility. In this case, the action plan becomes a subgraph on the operation map from the starting point to the destination. Alternatively, the action plan may be a subgraph on the operation map that corresponds to a pre-defined area before and after the vertex corresponding to the area where the mobile unit 2 is currently located, within the path on the application map. The action plan may also include, for example, a normal action map that passes through multiple nodes in a single stroke, based on the main line graph of the operation subgraph applied on the application map. The nodes at both ends of the normal action map are, for example, nodes corresponding to the starting point and the destination. A node at one end of the normal action map may be a node corresponding to the current location of the mobile unit 2. A node at one end of the normal action map may also be a node corresponding to the location traversed by the mobile unit 2 until it reaches its destination. Action plans can also include non-normal action diagrams as sub-diagrams, such as branch diagrams representing branches from normal action diagrams, based on coordination diagrams applied on the application diagram. Action planning unit 11 can also generate action plans whenever the moving body 2 enters a new area.

[0093] The mobile body 2 moves between locations corresponding to nodes in the facility based on the action plan received from the mobile body server 10. The action control unit 9 of the mobile body 2, for example, based on the measurement results of the measurement unit 6, dynamically avoids obstacles detected during movement between nodes, and moves from the starting node to the ending node on the edge of the action plan via the drive unit 7.

[0094] Next, use Figure 5 Illustrate an example of functional sharing in traffic control system 1.

[0095] Figure 5 This is a diagram illustrating an example of the functional distribution of the traffic control system 1 in Implementation Method 1.

[0096] The traffic control system 1 has node management, area management, traffic rule management, and coordination functions. The node management function registers, deletes, updates, maintains, and manages information about nodes within the facility. Information managed in the node management function includes, for example, node identifiers, node locations, and node attributes. The area management function registers, deletes, updates, maintains, and manages information about areas within the facility. Information managed in the area management function includes, for example, which nodes are elements in each area, which area within the facility each area corresponds to, and which areas overlap with each other. The area management function includes independent area management and bridging area management. The traffic rule management function registers, deletes, updates, maintains, and manages information about traffic rules set within the facility. The coordination function includes, for example, generating and outputting commands for coordinating movement between multiple mobile entities 2 within the facility, as well as generating and outputting commands to equipment cooperating with the mobile entities 2.

[0097] In traffic control system 1, the device that performs node management, area management, traffic rule management, and coordination functions is called a facility management device. The facility management device can be a device composed of one or more server computers, and some or all of the facility management device's functions can be implemented by other devices. For example, some or all of the functions of the facility management device are implemented by the facility server 12. The node management, area management, and traffic rule management functions are implemented, for example, by the facility information management unit 15.

[0098] Coordination functions are implemented, for example, by the traffic management department 16. The traffic control system 1 has action planning, equipment cooperation, movement processing, and service execution functions for the mobile body 2. The action planning function enables the mobile body 2 to move sequentially through nodes within the facility and perform specific actions at each node. The functions performed by the mobile body 2 at each node are based on information such as the starting and ending points of the nodes along the path the mobile body 2 is moving. The equipment cooperation function is, for example, the function of cooperating with the mobile body 2 and the equipment and machines within the facility. The movement processing function is, for example, the function of moving the mobile body 2 according to movement instructions based on the action planning function, via its drive unit 7, etc. The service execution function is the function of enabling the mobile body 2 to provide services.

[0099] In traffic control system 1, the device that implements functions such as action planning, equipment collaboration, mobility processing, and service execution for mobile vehicle 2 is called a mobile vehicle management terminal device. The mobile vehicle management terminal device can be a device composed of one or more server computers, etc., and some or all of the functions of the mobile vehicle management terminal device can also be implemented by other devices. Some or all of the functions of the mobile vehicle management terminal device are implemented, for example, by the mobile vehicle server 10 and the mobile vehicle 2. Action planning and equipment collaboration functions are implemented, for example, by the action planning unit 11 and the action control unit 9. Mobility processing and service execution functions are implemented, for example, by the action control unit 9.

[0100] Traffic control system 1 has functions for managing operation maps, operating maps, and coordination maps. The operation map management function handles the registration, deletion, updating, maintenance, and other management of operation map information. This function may include, for example, the generation of operation maps based on hypermaps. The operating map management function handles the registration, deletion, updating, maintenance, and other management of operating map information. This function may include, for example, the generation of operating maps by applying operating submaps to operation maps. The coordination map management function handles the registration, deletion, updating, maintenance, and other management of coordination map information. Traffic control system 1 may also have an operating submap management function that handles the registration, deletion, updating, maintenance, and other management of operating submap information. The operating submap management function may also include the coordination map management function. Part or all of the operating submap management function may also be included in the traffic rule management function.

[0101] Traffic control system 1 has path generation and traffic rule application functions. The path generation function uses a graph structure to interpret the movement routes within the facility and generate the movement paths of mobile bodies 2. This function includes, for example, generating paths on an application graph and generating paths on a running graph. The traffic rule application function determines the passage of mobile bodies 2 between areas and between nodes, as well as the permission or weight of passage, according to pre-set traffic rules. Furthermore, traffic control system 1 is equipped with information management databases at different time levels. These databases categorize and store the data managed by traffic control system 1 according to the time level representing the frequency of information updates.

[0102] In traffic control system 1, the device that implements map management functions, operation map management functions, coordination map management functions, route generation functions, traffic rule application functions, and information management databases at different time levels is called the operation management device. The operation management device can be a device composed of one or more server computers, etc., and part or all of the operation management device can also be implemented by other devices. Part or all of the functions of the operation management device are implemented, for example, by facility server 12 and mobile unit server 10. Map management functions, operation map management functions, and coordination map management functions are implemented, for example, by facility information management unit 15. Route generation functions and traffic rule application functions are implemented, for example, by facility information management unit 15 and action planning unit 11. Data in the information management databases at different time levels is stored, for example, in storage units 4b and 4c. The classification and reading / writing management of data in the information management databases at different time levels are implemented, for example, by computing unit 3b and computing unit 3c, which includes facility information management unit 15.

[0103] Furthermore, the functional sharing in traffic control system 1 is not limited to what is illustrated here. For example, depending on the management entity of the associated information, part or all of the function of managing that information may also be implemented through a server computer managed or utilized by that management entity.

[0104] Next, use Figure 6 This section illustrates an example of the time hierarchy in traffic control system 1 for classifying information.

[0105] Figure 6 This is a diagram illustrating an example of the time hierarchy for classifying information in the traffic control system 1 of Implementation Method 1.

[0106] In traffic control system 1, the data of the managed objects is categorized and managed according to time levels. Time levels are, for example, based on the frequency of information updates and the frequency of judgment updates. For time levels, levels with longer update frequencies can be represented as higher levels.

[0107] The update frequency of information in Traffic Control System 1 includes, for example, the update frequency of application, operation, and measurement. The update frequency of application corresponds, for example, to the update frequency of the service delivery location and schedule provided by Mobile Vehicle 2. The update frequency of operation corresponds, for example, to the delivery time of each service provided by Mobile Vehicle 2. The delivery time of each service corresponds, for example, to the time required from the start of service by Mobile Vehicle 2 until completion, or the travel time from the departure point to the arrival point of Mobile Vehicle 2. The update frequency of measurement corresponds, for example, to the measurement frequency of the measurement unit 6 in Mobile Vehicle 2. The update frequency of judgment in Traffic Control System 1 includes, for example, the update frequency of application judgment, operation judgment, and action control. The update frequency of application judgment corresponds, for example, to the frequency of facility node and area management, and traffic rule management. The update frequency of operation judgment corresponds, for example, to the frequency of facility operation map management and the generation frequency of Mobile Vehicle 2's operation path. The frequency of action judgment updates corresponds to, for example, the frequency of coordination management among multiple mobile entities 2 and the frequency of autonomous movement management of mobile entities 2. The frequency of action control updates corresponds to, for example, the frequency of movement processing of mobile entities 2.

[0108] In traffic control system 1, data is categorized according to time levels, including static data, quasi-static data, quasi-dynamic data, and dynamic data. Traffic control system 1 updates the data corresponding to each time level sequentially. The update frequency of the information corresponds to the time level of the categorized data. Traffic control system 1 performs judgments sequentially based on the data provided corresponding to each time level. The update frequency of these judgments corresponds to the time level of the categorized data.

[0109] Static data includes, for example, data that changes at a frequency lower than the frequency of application updates. Static data also includes data that changes over a period longer than the maintenance period of facilities, equipment, or mobile components. Static data can also be data that changes over a period of one month or longer. Static data is referenced in application updates. Changes in static data can affect, for example, the vertices of the application graph.

[0110] Quasi-static data includes, for example, data that changes at a frequency higher than the application update frequency but lower than the operational update frequency. Quasi-static data includes, for example, data that changes periodically around the start-up time of equipment or machinery in the mobile body 2 or facility. Quasi-static data includes, for example, data that changes periodically from approximately one day to one week. Quasi-static data is referenced in operational decision updates. Changes in quasi-static data can affect, for example, edges of the application graph or vertices of the operational graph. Quasi-static data includes, for example, data related to processing that does not require decision-making by the traffic management department 16 when the mobile body 2 moves from the starting node to the ending node on the edge of the action plan.

[0111] Quasi-dynamic data includes, for example, data that changes at a frequency higher than the operational update frequency but lower than the measured update frequency. Quasi-dynamic data also includes data that changes periodically based on the duration of each service provision by mobile vehicle 2. Quasi-dynamic data also includes data that changes periodically from a few seconds to approximately one hour. Quasi-dynamic data is referenced in the update of action decisions. Changes in quasi-dynamic data can affect, for example, edges of the action plan. Quasi-dynamic data also includes data related to the processing required for decision-making by the traffic management department 16 when mobile vehicle 2 moves from the starting node to the ending node on the edge of the action plan.

[0112] Dynamic data includes, for example, data that changes at a measured update frequency or a higher frequency. Dynamic data also includes data that changes at a period equal to or equal to the control cycle of the mobile body 2. Dynamic data also includes data that changes at a period of less than one second. Dynamic data is referenced in the updates of motion control. Changes in dynamic data can affect, for example, the real-time actions of the mobile body 2. Dynamic data also includes data related to the judgment and processing by the motion control unit 9 of the mobile body 2 when the mobile body 2 moves from the starting node to the ending node on the edge of the action plan.

[0113] As static data, such as facility structure data, it is input into facility server 12 by facility managers, etc. Based on the input data, facility information management unit 15 of facility server 12 sets up areas within the facility through area management functions. Furthermore, the usage definition of mobile vehicle 2 is input into facility server 12 by mobile vehicle 2 managers, etc. Based on the input data, facility information management unit 15 of facility server 12 sets up node allocation and other settings within the facility through node management functions. Additionally, traffic rules within the facility are input into facility server 12 by facility managers, etc. Based on the input data, facility information management unit 15 of facility server 12 sets up operation sub-maps, etc., through traffic rule management functions.

[0114] As quasi-static data, for example, an application plan is input to the mobile device server 10 by the administrator of mobile device 2. Based on the input data, the action planning unit 11 of the mobile device server 10 generates an action plan for mobile device 2 through functions such as operation chart management and path generation. Furthermore, the mobile device server 10 provides the action plan to mobile device 2. Mobile device 2 performs mobile processing functions and service execution functions.

[0115] As quasi-dynamic data, the utilization status of equipment and machinery installed in the facility is input to the facility server 12 via these devices and machinery. Furthermore, information such as the current location of the mobile vehicle 2 is input to the facility server 12 via the mobile vehicle server 10, etc. Based on the input data, the traffic management department 16 of the facility server 12 coordinates the movement of multiple mobile vehicles 2 through coordination functions, etc. Based on the input data, the action planning department 11 of the mobile vehicle server 10 coordinates the cooperation between the mobile vehicle 2 and the equipment and machinery through equipment cooperation functions, etc.

[0116] As dynamic data, such as the gaps in the area and the utilization status of equipment and machines, the measurement unit 6 of the moving body 2 is input to the action control unit 9. Based on the input data, the action control unit 9 autonomously changes the reference target from the edge of the main line graph to the edge of the secondary line graph through an abnormal action graph or the like.

[0117] Next, use Figure 7 and Figure 8 This example illustrates the collaboration between the equipment and machinery in the facility and the mobile body 2.

[0118] Figure 7 This is a timing diagram illustrating an example of the cooperation between a mobile body 2 and equipment machinery via the traffic control system 1 of Embodiment 1.

[0119] This example illustrates the collaboration between the mobile body 2 and a passageway machine with a door or similar passageway. The passageway machine may include, for example, an automatic door or gate installed in the facility. It may also be, for example, a machine in an elevator system containing a car with doors. The passageway machine communicates with the traffic control system 1, for example, via a communication network 8. The passageway machine may be an internal machine included in the traffic control system 1 or an external machine that collaborates with the traffic control system 1. The passageway machine affects the range of movement of the mobile body 2 within the facility. For example, the passageway machine manages the open and closed states of doors, acting on the area or boundaries of the facility. The passageway machine may also be, for example, software that virtually sets a specific area of ​​the facility as an object for traffic management.

[0120] The scope of the facility including the access equipment is defined to correspond to the bridging area. This scope includes, for example, the space in front of and behind doors. In cases where the access equipment, such as an elevator car, has an interior space, this scope includes that interior space. The state of the equipment, such as the opening and closing of doors, coordinates with the traffic management department 16 of the traffic control system 1. The traffic rules managed in the facility information management department 15 of the traffic control system 1 include, for example, information such as the correspondence between the movement of the mobile body 2 and the movement equipment on the operation diagram. The correspondence between the movement of the mobile body 2 and the movement equipment is described, for example, by a state transition diagram or finite state machine that includes the states of both the mobile body 2 and the access equipment. The traffic control system 1 manages the state transitions of both the mobile body 2 and the access equipment.

[0121] The equipment operates normally before cooperating with the mobile body 2 (step S701). Normal operation includes, for example, the normal operating state of the equipment that is accessible to users of the facility.

[0122] Mobile vehicle 2 requests passage through a gate from traffic control system 1 (step S702). Upon receiving the passage request from mobile vehicle 2, traffic control system 1 confirms the operational status of the equipment (step S703). Upon receiving confirmation of the operational status from traffic control system 1, the equipment begins cooperating with mobile vehicle 2. The equipment responds to traffic control system 1 with its operational status (step S704). The operational status includes information such as whether it can cooperate with mobile vehicle 2, whether mobile vehicle 2 can pass, and the occupancy status of other mobile vehicles or users. In this example, the equipment responds with its operational status to enable cooperation and passage with mobile vehicle 2. After receiving the response from the equipment, traffic control system 1 designates the gate of the equipment used by mobile vehicle 2 (step S705). For example, if only one gate can be used in the equipment, traffic control system 1 may omit the designation of the gate. The designation of the gate is, for example, by designating a node corresponding to the location in front of the gate.

[0123] In order to pass through the designated gate, the mobile body 2 moves along an edge whose endpoint is the node corresponding to the location in front of the gate (step S706). The mobile body 2 waits at the endpoint node. During this time, the device performs a gate opening process (step S707). The gate opening process may include, for example, unlocking the lock if the gate is locked. The device notifies the traffic control system 1 when the gate opening process is completed. After the device completes the gate opening process, the traffic control system 1 notifies the mobile body 2 of a passage permit (step S708). The traffic control system 1 may also omit step S708 within the scope determined by traffic rules.

[0124] Upon receiving notification of passage permission, the mobile body 2 confirms, for example, based on the measurement results of the measurement unit 6, whether the gate has actually opened (step S709). After confirming that the gate is open, the mobile body 2 moves through the gate, for example, along an edge starting from the node corresponding to the location in front of the gate (step S710). After passing through the gate, the mobile body 2 notifies the traffic control system 1 that passage is complete (step S711). The mobile body 2 may also omit step S709 within the scope determined by traffic rules.

[0125] Upon receiving notification of passage completion, traffic control system 1 determines whether the passage of mobile body 2 has been completed normally (step S712). If normal completion can be confirmed, traffic control system 1 notifies the equipment that passage has been completed. After receiving notification of passage completion from traffic control system 1, the equipment resumes normal operation (step S713). If traffic control system 1 can determine whether passage has been completed normally through a unit that detects the passage completion of mobile body 2 via traffic control system 1, the equipment, or a third equipment, traffic control system 1 may omit step S711 and execute step S712 within the scope determined by traffic rules. The equipment may also execute step S713 after a certain period of time within the scope determined by traffic rules. Alternatively, the equipment may execute step S713 within the rules for maintaining facility safety. For example, if traffic control system 1 confirms step S713 before executing step S712 based on the status of the equipment, it considers passage not to have proceeded normally and notifies mobile body 2 of the change to abnormal processing.

[0126] Figure 8 This is a timing diagram illustrating an example of the cooperation between a mobile body 2 and equipment machinery via the traffic control system 1 of Embodiment 1.

[0127] exist Figure 8 Examples are shown, such as situations where abnormal actions are taken, like responding to a retreat command.

[0128] After receiving a passage request, the mobile unit 2 waits at a node of the facility for instructions from the traffic control system 1 (step S801). The traffic control system 1 updates map information such as the application map and operation map (step S851). The map information update is performed, for example, in the facility information management department 15, the traffic management department 16, and the action planning department 11. Based on the obtained map information, the status information of the mobile unit 2, and the status information of the equipment, the traffic control system 1 manages the status changes of the mobile unit 2 and the equipment (step S852).

[0129] Traffic control system 1 performs pre-movement coordination processing for mobile body 2 (step S853). This pre-movement coordination processing includes, for example, processing to move mobile body 2 according to a normal movement map. Traffic control system 1 outputs an instruction specifying the edge to mobile body 2, for example, so that mobile body 2 moves along an edge originating from its current node on the normal movement map. Based on the edge-specified instruction from traffic control system 1, mobile body 2 sets a movement target (step S802). Setting the movement target is performed, for example, in movement control unit 9, etc. Mobile body 2 sets, for example, the location of the node ending at the specified edge as the movement target. Mobile body 2 begins movement to the set movement target via drive unit 7, etc. (step S803).

[0130] Traffic control system 1 performs in-movement cooperation processing for mobile body 2 (step S854). In-movement cooperation processing includes, for example, instructing mobile body 2 to perform an abnormal action when an abnormal action occurs, such as when mobile body 2 might interfere with other mobile bodies or users. Abnormal actions include, for example, retreating to a retreat location. In the event of an abnormal action, traffic control system 1 outputs an instruction to mobile body 2 specifying an edge of the abnormal map, enabling mobile body 2 to branch off from the normal action map and retreat. Upon receiving the instruction specifying an edge, mobile body 2 resets its movement target and begins movement to the reset target. On the other hand, if no abnormal action occurs and mobile body 2 reaches the end of an edge, traffic control system 1 performs post-movement cooperation processing for mobile body 2 (step S855). Post-movement cooperation processing includes, for example, determining whether mobile body 2 has completed movement on the normal action map. If the mobile entity 2 has not completed its movement on the normal action map, the traffic control system 1 sets a new node with the current node of the mobile entity 2 as the starting point and performs pre-movement coordination processing again.

[0131] For example, when mobile body 2 receives a stop instruction from traffic control system 1, it stops moving along the specified edge (step S804). Afterwards, mobile body 2 waits at its current position or a nearby node. On the other hand, if it completes movement without receiving a stop instruction, mobile body 2 performs arrival processing towards the endpoint of the edge (step S805). Arrival processing includes, for example, notifying traffic control system 1 of an arrival report. Afterwards, mobile body 2 may again wait for instructions from traffic control system 1.

[0132] Furthermore, the cooperation between the mobile body 2 and the equipment / machine may also include the equipment / machine automatically performing actions such as opening a door upon detecting the approach of the mobile body 2 using sensors. Additionally, the cooperation between the mobile body 2 and the equipment / machine may include actions taken when the mobile body 2 is traveling alongside a user. For example, if the equipment / machine performs an abnormal action, the mobile body 2 needs to perform a corresponding action. The traffic control system 1 may also be responsible for processing the cooperation regarding the behavior of the mobile body 2 at this time. The mobile body 2 may, for example, maintain information such as an abnormal action map pre-instructed by the mobile body server 10. The mobile body 2 may also spontaneously switch to movement on the abnormal action map when it detects an abnormal action of the equipment / machine based on the measurement results of the measurement unit 6. It may also spontaneously switch to movement on the abnormal action map when it detects interference with a user or an abnormal action of a user based on the measurement results of the measurement unit 6. For example, when the mobile body 2 spontaneously switches to movement on the abnormal action map, it notifies the traffic control system 1 of this, for example, through the mobile body server 10.

[0133] Furthermore, traffic control system 1 can also determine the door's opening status based on detection results from sensors and other devices installed on the facility's equipment. Additionally, traffic control system 1 can determine situations that cause the mobile body 2 to perform abnormal actions based on user operations. User operations include, for example, operating emergency stop switches installed on the mobile body 2 or the facility's equipment.

[0134] Next, use Figures 9 to 13 This is another example illustrating the collaboration between the equipment and machinery in the facility and the mobile body 2.

[0135] Figure 9 This is a perspective view showing an example of a device or machine that cooperates with a mobile body 2 in a traffic control system 1 according to Embodiment 1.

[0136] In traffic control system 1, the mobile body 2p cooperates with an elevator system, which is a machine installed in the facility. The facility has an elevator shaft. The shaft is a space spanning multiple floors of the facility. The shaft is adjacent to landings located on each floor of the facility. The elevator system includes one or more cars, each with doors. The elevator system transports users or mobile bodies 2, etc., from landings between multiple floors of the facility by moving the cars vertically through the shaft. The shaft and landings are separated by landing doors. Landing doors open and close in conjunction with car doors when the car arrives at that floor. The elevator system may also include a control device that 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 via a communication device. Some or all of the functions of the control device may also be included in the facility server 12. In this example, the elevator system control device communicates with the facility server 12 to process the cooperation with the mobile body 2p.

[0137] Mobile body 2p enters the elevator car from the landing through the landing door. In this example, mobile body 2q is already in the car. In this example, mobile body 2p and mobile body 2q can ride in the same elevator car. In this example, mobile body 2q is already in the car. When mobile body 2p and mobile body 2q can ride in the same elevator car, traffic control system 1 instructs mobile body 2p and mobile body 2q to cooperate in the elevator riding or alighting process. Alternatively, mobile body 2q may not already be in the car. When mobile body 2p and mobile body 2q cannot ride in the same elevator car, traffic control system 1, for example, performs a normal elevator riding process, prioritizing mobile body 2q's alighting and allowing mobile body 2p to wait for the elevator.

[0138] Figure 10 This is a diagram illustrating an example of the state transitions of the equipment and machinery in the facility of Embodiment 1.

[0139] The equipment / machinery's states include an open state and a closed state. These states transition between each other through the opening and closing of the equipment / machinery's doors. The traffic control system 1 or the equipment / machinery can also map the attributes of the open and closed states of the equipment / machinery to each other during the transition. In this example, the open state of the equipment / machinery includes the floor attribute of the landing, and the closed state includes the floor attribute of the car. When the traffic control system 1 transitions from a closed state to an open state, it maps the floor attribute of the car in the closed state to the floor attribute of the landing. Alternatively, if the transition from a closed to an open state can be predicted in advance, the traffic control system 1 or the equipment / machinery can map the floor attribute of the car in the open state to the closed state of the predetermined floor before the transition. In this example, the open and closed states of the equipment / machinery can also include attributes related to the door's position. When the traffic control system 1 or the equipment changes from a closed state to an open state, it makes the position attributes of the open door correspond to the position attributes of the closed door.

[0140] Figure 11 This is a diagram illustrating an example of the state transition of the moving body 2p in Embodiment 1.

[0141] exist Figure 11 The example shown is a state transition of the moving body 2p associated with the gate passage shown as step S710.

[0142] The states of the moving body 2p include being in region A, region B, and region C. Region A corresponds to the area where the moving body 2p was before it moved. Region A is, for example, the area of ​​the starting floor when the moving body 2p uses an elevator system. Region B corresponds to the area of ​​the moving body 2p's destination. Region B is, for example, the area of ​​the destination floor when the moving body 2p uses an elevator system. Region C corresponds to the area of ​​the moving body 2p's destination when it is not its destination. Region C is, for example, the area of ​​intermediate floors between the starting floor and the destination floor when the moving body 2p uses an elevator system.

[0143] The state of the mobile body 2p includes being in a bridging area, which corresponds to a range including the elevator car, etc., of the equipment machine. The mobile body 2p has both waiting and moving states within the bridging area. The waiting and moving of the mobile body 2p within the bridging area changes, for example, based on the measurement results of the mobile body 2p's measurement unit 6 and instructions from the traffic control system 1. The state of the mobile body 2p includes the states of entering and exiting the bridging area via doors between area A, area B, and area C. In this example, the traffic control system 1 may also notify the mobile body 2 of the floor attribute of the station where the equipment machine is in the open state in step S853, and when the door exits, the mobile body 2 sets any one of area A, area B, and area C as the target based on the floor attribute of the station in the open state. In this example, the traffic control system 1 may also notify the mobile body 2 of the position attribute of the door of the equipment machine in the open state when the mobile body 2p enters from area A to the bridging area. Furthermore, the traffic control system 1 can also notify the mobile body 2 of the door position attribute of the equipment machine when the mobile body 2p exits from the bridging area to the exit door of area B or area C. The mobile body 2 can also enter a moving state and turn around in the bridging area based on the door position attribute when entering and exiting the door. Alternatively, the mobile body 2 can instruct the drive unit 7 to move in the forward direction when entering the door, and instruct the drive unit 7 to move in the backward direction when exiting the door. Typically, the configuration of the measuring unit 6 differs in the forward and backward directions, and the drive unit 7 is configured to suppress backward movement. Therefore, when the mobile body 2p instructs the drive unit 7 to move in the backward direction, sometimes unsafe control is given to the drive unit 7, hindering safe operation and efficient operation. In this example, the traffic control system 1 manages the action planning unit 11 of the mobile body 2 according to the equipment machine's state, appropriately setting the instructions to the drive unit 7 when entering the door and moving in the bridging area, and when exiting the door, to achieve safe operation and efficient operation. Here, during movement within the bridging area, the procedure is determined based on traffic rules established according to the characteristics of the moving body 2p. In facilities, the location attributes of doors in the open state of equipment or machinery sometimes differ depending on the floor's attributes. In this example, traffic control system 1 determines whether to omit the aforementioned procedure within the scope determined by traffic rules and manages the action plan unit 11 of the moving body 2.

[0144] The state transitions of the moving body 2p include non-normal state transitions. Non-normal state transitions include, for example, assigning the state of region C to the state of region A or the state of region B.

[0145] Figure 12 This is a diagram illustrating an example of the state transition of the moving body 2q in Embodiment 1.

[0146] The moving body 2q has the function of autonomously determining and interrupting the elevator car's riding or alighting process. The traffic control system 1 can also control the cooperation with the equipment and machinery based on the judgment results of the moving body 2q within the scope determined by traffic rules.

[0147] The state of the moving body 2q includes the state of being in region A′ and the state of being in region B′. Region A′ is the region corresponding to the range of the moving body 2q before it moves. Region A′ is, for example, the area of ​​the starting floor when the moving body 2q uses the elevator system. Region B′ is the region corresponding to the range of the moving body 2q as its destination. Region B′ is, for example, the area of ​​the destination floor when the moving body 2q uses the elevator system.

[0148] The state of the moving body 2q includes being in a bridging region corresponding to a range including the elevator car and other equipment components of the elevator system. The moving body 2q has both waiting and moving states within the bridging region. The waiting and moving of the moving body 2p within the bridging region changes, for example, based on the measurement results of the measuring unit 6 of the moving body 2p and instructions from the traffic control system 1. The state of the moving body 2q includes entering and exiting the bridging region via doors between areas A′ and B′.

[0149] The state of mobile body 2q includes an entry judgment state that determines whether it can enter the bridging area through the door. If it determines that entry is not possible, mobile body 2q remains in area A′. If it determines that entry is possible, mobile body 2q enters the bridging area through the door. The state of mobile body 2q includes an exit judgment state that determines whether it can exit the bridging area through the door. If it determines that exit is not possible, mobile body 2q remains in the bridging area. If it determines that exit is possible, mobile body 2q exits the bridging area through the door.

[0150] Figure 13 This is a timing diagram illustrating an example of the cooperation between a mobile body 2p and a machine via the traffic control system 1 of Embodiment 1.

[0151] The mobile body 2p sends a passage request to the traffic control system 1. The passage request may include, for example, a request for instructions to enter through a door into a bridging area corresponding to the area of ​​the elevator car.

[0152] Traffic control system 1 determines that the moving body 2p can enter based on the status of the elevator system, etc. Traffic control system 1 notifies the moving body 2p of the passage permission. In addition, traffic control system 1 outputs a door opening command to the elevator car doors. The elevator car doors accept the door opening command and open together with the doors of the departure floor and landing of the moving body 2p.

[0153] The mobile unit 2p transitions to a door entry state based on passage permission from the traffic control system 1. The mobile unit 2p detects the opening of the car and landing doors, for example, based on measurement results from the measurement unit 6. The mobile unit 2p enters the car interior from the departure floor landing through the open door. Afterwards, the mobile unit 2p notifies the traffic control system 1 that passage is complete. Then, the mobile unit 2p transitions to a state located in the bridging area.

[0154] After receiving a passage completion notification from mobile vehicle 2p, traffic control system 1 issues a door closing command to the car doors. The car doors accept the closing command and close together with the doors at the departure floor and landing of mobile vehicle 2p. Then, the car starts moving from the departure floor of mobile vehicle 2p and arrives at the destination floor of the already-passing mobile vehicle 2q. Here, the destination floor of mobile vehicle 2q is an intermediate floor between the departure floor and the destination floor of mobile vehicle 2p. Afterwards, traffic control system 1 issues a door opening command to the car doors. The car doors accept the opening command and open together with the doors at the destination floor and landing of mobile vehicle 2q.

[0155] Mobile unit 2q detects arrival at the destination floor and the opening of the door. Mobile unit 2q detects mobile unit 2p, which is also inside the elevator car and located in front of the door, as an obstacle in its path when descending the stairs. Mobile unit 2q notifies mobile unit 2p of its intention to descend the stairs. This notification can be made, for example, by mobile unit 2q approaching mobile unit 2p, through direct communication between mobile unit 2q and mobile unit 2p, or through communication via traffic control system 1, etc.

[0156] When the elevator car arrives at the destination floor of mobile body 2q, mobile body 2p detects the door opening. Mobile body 2p detects mobile body 2q, who is also riding in the elevator car. Mobile body 2p receives a notification from mobile body 2q indicating its intention to disembark and, as an abnormal action, retreats. The retreat decision of mobile body 2p can also be based on an instruction from traffic control system 1. Mobile body 2p notifies traffic control system 1 to retreat. Afterward, mobile body 2p transitions to the door exit state. Having detected the door opening, mobile body 2p exits from the interior of the elevator car through the open door to the intermediate floor.

[0157] Mobile unit 2q detects an obstacle in the path of mobile unit 2p when it is descending the stairs and retreats, while the door in front is open. Mobile unit 2q exits from inside the car through the open door and reaches the destination floor.

[0158] Mobile body 2p, which had retreated to a mid-floor station, is no longer detected due to the descent of mobile body 2q. At this point, mobile body 2p resumes its normal operation from abnormal behavior. The determination of mobile body 2p's resumption can also be based on instructions from traffic control system 1, for example. Mobile body 2p transitions to a door entry state. Having detected the door opening, mobile body 2p enters the car through the open door from the mid-floor station. Afterward, mobile body 2p notifies traffic control system 1 that the retreat has been discontinued.

[0159] After receiving the clearance completion notification from the moving body 2p, traffic control system 1 outputs a door closing command to the car doors. The car doors accept the door closing command and close together with the landing doors.

[0160] Afterwards, the elevator car travels to the destination floor of the moving body 2p. The process of moving body 2p descending from the destination floor is performed in the same manner as when the car is boarding the elevator to the departure floor.

[0161] Next, use Figure 14 and Figure 15 This is another example illustrating the collaboration between the equipment and machinery in the facility and the mobile body 2.

[0162] Figure 14 This is a top view showing an example of a device or machine that cooperates with a mobile body 2 in a traffic control system 1 according to Embodiment 1.

[0163] In traffic control system 1, the mobile body 2 cooperates with an automatic door, which is a machine installed in the facility. The automatic door is located at the boundary of adjacent spaces within the facility. One or both sides of the space divided by the automatic door are, for example, rooms or passageways within the facility. The control device for opening and closing the automatic door may be composed of one or more computers connected to a communication network 8 via a communication device. Some or all of the functions of the control device may also be included in the facility server 12. In this example, the control device for the automatic door communicates with the facility server 12 to process the cooperation with the mobile body 2.

[0164] Mobile body 2 moves from one space to another through an automatic door. In this example, it is assumed that the user wants to pass through the automatic door in the opposite direction to mobile body 2. Furthermore, mobile body 2 can also operate in the same way when other mobile bodies move from one space to another through automatic doors. These other mobile bodies may also be mobile bodies not under the control of traffic control system 1.

[0165] In this example, the automatic door and the moving body 2 have the same characteristics as... Figure 10 and Figure 11Similarly, the states change. Regarding the state of the moving body 2, area A is, for example, the room or passageway area before the moving body 2 passes through the automatic door. Area B is, for example, the room or passageway area after the moving body 2 passes through the automatic door. Area C is the area corresponding to the range of the moving body 2's destination, which is not its intended purpose. Area C is, for example, the room or passageway area before the moving body 2 passes through the automatic door. The state of area C corresponds to the state where passage through the automatic door fails. Areas A and C can also be areas corresponding to the same range within the facility. The bridging area is, for example, the area including the front width of the door. The bridging area corresponds to the space required for the moving body to move via the automatic door. The bridging area can also include the detection range of the automatic door's sensors. The bridging area includes, for example, nodes corresponding to the location in front of the door on the area A side and nodes corresponding to the location in front of the door on the area B side. Furthermore, in cases involving unlocking the lock, the bridging area includes, for example, nodes corresponding to locations within the detection range where unlocking is permitted. Area C is, for example, an area that does not contain a bridging area.

[0166] Figure 15 This is a timing diagram illustrating an example of the cooperation between a mobile body 2 and equipment machinery via the traffic control system 1 of Embodiment 1.

[0167] Mobile body 2 performs a passage determination through the automatic door in area A. The passage determination is performed, for example, based on the measurement results of the measurement unit 6 of mobile body 2, in the action control unit 9, etc. Mobile body 2 sends a passage request to traffic control system 1. Mobile body 2 can also send a passage request to traffic control system 1 before arriving at the location in front of the automatic door.

[0168] Based on the status of the automatic door and other factors, traffic control system 1 determines that the moving body 2 is permitted to pass. Traffic control system 1 then notifies the moving body 2 of the passage permission. Furthermore, traffic control system 1 outputs an opening command to the automatic door. The automatic door accepts the opening command and opens.

[0169] Mobile body 2 changes to the gate entry state based on the passage permission from traffic control system 1. Mobile body 2 moves to the location in front of the automatic gate. Mobile body 2 changes to the state of being located in the bridging area.

[0170] During this period, the user performs an exit check to exit area B of the mobile body 2. The user moves towards the location in front of the open automatic door in order to pass through it.

[0171] Mobile body 2 detects users, for example, based on the measurement results of measurement unit 6. If a user is detected, mobile body 2 determines that it cannot pass through the automatic door. In this case, mobile body 2 moves and waits in a manner that allows it to retreat within the bridging area. Mobile body 2 may also remain stationary and wait in place if retreat is not required. Similarly, mobile body 2 may also determine that it cannot pass through the automatic door if it receives permission to pass but the automatic door does not open, or if an open automatic door closes before passage due to time constraints. When it is determined that it cannot pass through the automatic door, mobile body 2 may also change from the bridging area state to the area C state as an abnormal action. In this case, mobile body 2 can also process the door exit state between the bridging area and area C through communication processing and internal processing performed while remaining stationary.

[0172] Users move from one side of the automatic door to the other side through the automatic door.

[0173] Mobile body 2 detects, for example, a user failure based on the measurement results of measurement unit 6. In this case, mobile body 2 determines that the automatic door is passable. Mobile body 2 moves towards the location in front of the automatic door within the bridging area. Alternatively, if mobile body 2 is in area C and determines that the automatic door is passable, it can transition from the area C state to the bridging area state as a recovery from abnormal operation. In this case, mobile body 2 can also process the door entry status between the bridging area and area C through communication processing and internal processing while remaining stationary. For example, mobile body 2 can also re-send a passage request during the door entry status processing.

[0174] The moving body 2 detects the opening of the automatic door, for example, based on the measurement results of the measuring unit 6. The moving body 2 then transitions to a door-out state. The moving body 2 moves through the open door into the area of ​​zone B. Afterward, the moving body 2 notifies the traffic control system 1 that passage is complete.

[0175] Next, use Figure 16 and Figure 17 This is another example illustrating the collaboration between equipment and machinery and mobile bodies 2p within a facility.

[0176] Figure 16 This is a top view showing an example of a device or machine that cooperates with a moving body 2p in the traffic control system 1 of Embodiment 1.

[0177] In traffic control system 1, the mobile body 2p cooperates with a safety gate, which is a piece of equipment installed in the facility. The safety gate is located at the boundary of adjacent spaces within the facility. The safety gate is, for example, a barrier gate that defines the direction of travel for passage and prevents passage in the opposite direction (reverse direction). In this example, the direction of travel for and against the flow of traffic for the safety gate is set each time the safety gate is opened. One or both sides of the space divided by the safety gate are, for example, rooms or passageways within the facility. The control device for opening and closing the safety gate may be, for example, one or more computers connected to a communication network 8 via a communication device. Some or all of the functions of the control device may also be included in the facility server 12. In this example, the safety gate control device communicates with the facility server 12 to process the cooperation with the mobile body 2p, etc.

[0178] Mobile body 2p moves from one space to another through a security gate. In this example, another mobile body 2q needs to pass through the security gate in the opposite direction to mobile body 2p.

[0179] In this example, the safety door, moving body 2p, and moving body 2q have the same characteristics as... Figures 10 to 12 Similarly, the states change. Regarding the state of the security door, the open and closed states correspond, for example, to the open and closed states of a baffle, etc. Regarding the state of the moving body 2p, area A is, for example, the room or passageway area before the moving body 2p passes through the security door. Area B is, for example, the room or passageway area after the moving body 2p passes through the security door. Area C is the area corresponding to the range of the moving destination where the moving body 2p is not the intended destination. Area C is, for example, the room or passageway area before the moving body 2p passes through the security door. The state of area C corresponds to the state where passage through the security door is unsuccessful. Regarding the state of the moving body 2q, area A′ is, for example, the room or passageway area before the moving body 2q passes through the security door. Area B′ is, for example, the room or passageway area after the moving body 2q passes through the security door. Area A of the moving body 2p and area B′ of the moving body 2q can also be areas corresponding to the same range within the facility. Furthermore, area B of the moving body 2p and area A′ of the moving body 2q can also be areas corresponding to the same range within the facility.

[0180] Figure 17 This is a timing diagram illustrating an example of the cooperation between a mobile body 2p and a machine via the traffic control system 1 of Embodiment 1.

[0181] Mobile body 2p performs a passage determination through the security gate in area A. This determination is made, for example, based on the measurement results of mobile body 2p's measurement unit 6, and is performed in the action control unit 9, etc. Mobile body 2p transitions to a gate entry state. Mobile body 2p sends a passage request to traffic control system 1.

[0182] Based on the status of the safety gate, traffic control system 1 determines that the moving body 2p is permitted to move to the safety gate. Traffic control system 1 then notifies the moving body 2p of its movement permission up to the safety gate.

[0183] Mobile body 2 moves to the location in front of the security gate based on the movement permission from traffic control system 1. Mobile body 2p then transitions to a state located in the bridging area.

[0184] Traffic control system 1 requests passage for mobile body 2p from the safety gate. At this time, traffic control system 1 may also send authentication information such as the ID (IDentifier) ​​of mobile body 2p. If the safety gate determines that passage of mobile body 2p is permitted based on the authentication information, it opens the gate, for example, by opening the barrier. At this time, the safety gate sets the direction of passage from the side where mobile body 2p is currently located to the other side as the forward direction. The safety gate notifies traffic control system 1 of permission to pass mobile body 2p. When traffic control system 1 accepts permission from the safety gate, it notifies mobile body 2p of the passage permission in the forward direction.

[0185] The mobile body 2p detects the opening of the safety gate based on the measurement results of the measurement unit 6, for example. The mobile body 2p receives the permission to proceed from the traffic control system 1 and attempts to pass through the safety gate.

[0186] During this period, the mobile body 2q moves to the location in front of the security door and performs an entry judgment to enter area B′. Typically, depending on the placement of the measuring unit, including the camera, it can be difficult for the mobile body to determine whether it is moving forward or backward through the security door. In this case, since a forward direction is already set within the security door, the direction the mobile body 2q attempts to pass through the security door is equivalent to a reverse direction.

[0187] Mobile body 2p detects mobile body 2q traveling in the wrong direction at the safety gate, for example, based on the measurement results of measurement unit 6. Mobile body 2p determines that it cannot pass through the safety gate due to the presence of mobile body 2q. At this time, mobile body 2p notifies traffic control system 1 of the wrong-way travel of mobile body 2q.

[0188] Traffic control system 1 issues a warning to vehicle 2q for traveling in the wrong direction. Vehicle 2q receives the warning from traffic control system 1 and retreats to area A′.

[0189] Based on the measurement results of the measurement unit 6, for example, if mobile body 2p detects that mobile body 2q, which has become an obstacle in its movement path, has retreated and the safety gate is open, then mobile body 2p determines that the safety gate is passable. Mobile body 2p then enters a gate-closed state. Mobile body 2p moves through the open safety gate towards area B. Afterwards, mobile body 2p notifies the traffic control system 1 that passage is complete.

[0190] Next, use Figure 18 and Figure 19 This is another example illustrating the collaboration between equipment and machinery and mobile bodies 2p within a facility.

[0191] Figure 18 This is a top view showing an example of a device or machine that cooperates with a moving body 2p in the traffic control system 1 of Embodiment 1.

[0192] In traffic control system 1, the moving body 2p and Figure 17 The situation shown also works in conjunction with security doors.

[0193] Mobile body 2p moves from one space to another through a safety gate. In this example, another mobile body 2q wants to pass through the safety gate in the opposite direction to mobile body 2p. At this time, the safety gate sets the passage direction of mobile body 2q to the forward direction.

[0194] Figure 19 This is a timing diagram illustrating an example of the cooperation between a mobile body 2p and a machine via the traffic control system 1 of Embodiment 1.

[0195] Mobile body 2q moves to the location in front of the security door and performs an exit check to exit from area A′. The security door, based on mobile body 2q's authentication information, allows mobile body 2q to pass. At this time, the security door sets the direction of travel from the side where mobile body 2q is currently located to the other side as the forward direction.

[0196] Mobile body 2p performs a passage determination through the security gate in area A. The passage determination is performed in the action control unit 9, etc., based on, for example, the measurement results of the measurement unit 6 of mobile body 2p. Mobile body 2p transitions to the gate entry state. Mobile body 2p sends a passage request to the traffic control system 1. Mobile body 2p transitions to the state of being located in the bridging area.

[0197] Traffic control system 1 requests passage for moving body 2p from the safety gate. The safety gate has already allowed passage for moving body 2q, therefore disallowing passage for moving body 2p at that moment. The safety gate notifies traffic control system 1 that passage for moving body 2p is not permitted. The safety gate opens, for example, by opening a barrier, to allow passage for moving body 2q. Upon receiving the disallowance notification from the safety gate, traffic control system 1 issues a retreat instruction to moving body 2p.

[0198] Mobile body 2p detects the opening of the safety gate, for example, based on the measurement results of measurement unit 6. Mobile body 2p receives a retreat command from traffic control system 1 and retreats as an abnormal action. Mobile body 2p transitions to a gate-closed state. Mobile body 2p confirms the direction of the retreat destination and retreats to the area C.

[0199] Mobile unit 2q detects an obstacle in its path when it descends the stairs, and moves away from it, while the safety gate is already open. Mobile unit 2q then moves through the open safety gate towards area B'.

[0200] Subsequently, the mobile unit 2p detects cases where the user has failed to pass, for example, based on the measurement results of the measurement unit 6. Here, if the passage application of the mobile unit 2p, which is denied at the security gate, is cancelled, the mobile unit 2p, for example, allocates the area including its current location to a new area A and resubmits the passage application. On the other hand, if there are still denied passage applications from the mobile unit 2p at the security gate, the mobile unit 2p may also change from the state of area C to the state of a bridging area as a recovery from abnormal operation. Alternatively, the mobile unit 2p may, for example, change from the state of area C to the state of area A as a recovery from abnormal operation based on instructions from the traffic control system 1, and then change to the state of a bridging area.

[0201] As explained above, the information management device of the traffic control system 1 in Embodiment 1 includes a facility information management unit 15 and a traffic management unit 16. The facility information management unit 15 manages information from an application map. The application map includes a first vertex, a second vertex, and edges. The first vertex of the application map represents a first region consisting of a set of multiple nodes, which represent multiple locations within a first spatial area of ​​the facility. The second vertex of the application map represents a second region consisting of a set of multiple nodes, which represent multiple locations within a second spatial area that partially overlaps with the first spatial area. The edges of the application map connect the first and second vertices, representing a common region consisting of a set of common nodes shared by the first and second regions, where each common node represents one or more locations within the partially overlapping area. The traffic management unit 16 generates instructions for a mobile body 2 moving within the facility based on the information from the application map. The facility information management unit 15 manages information about the facility through which the mobile body 2 operates. The traffic management unit 16 manages the movement of the mobile body 2 within the facility based on the information managed by the facility information management unit 15. Multiple nodes are defined within the facility to represent the locations where the mobile body 2 moves between them. Multiple regions are defined within the facility as collections containing nodes as elements. The facility information management unit 15 manages information about each node. For each region, the facility information management unit 15 manages information about which node is included as an element. When the mobile body 2 can travel between two different regions, those two regions contain at least one node as a common element. The facility information management unit 15 manages information about the application graph. The application graph is a graph structure in which two different regions are connected by edges when they contain at least one node as a common element.

[0202] Through this configuration, the movement of mobile body 2 within the facility is managed using an operational graph that reflects the adjacency relationships between various locations within the facility. The operational graph is generated based on a hypergraph, which has hyperedges that can contain multiple nodes. Therefore, compared to situations where instructions for mobile body 2 are given 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 mobile body 2 is increased. Thus, with more flexible instructions for moving mobile body 2, traffic control system 1 and its facility server 12 can further improve the movement efficiency of mobile body 2 operating within the facility.

[0203] In addition, the Facility Information Management Department 15 manages information from the operation sub-map. The operation sub-map includes a first node representing the nodes contained in the first area, a second node representing the different nodes contained in that area, and edges connecting the first and second nodes. The information in the operation sub-map indicates the occupancy status of nodes determining whether a mobile body 2 is assigned to a location in that area, and the passage permission or weight of the mobile body 2 between nodes in that area. The Facility Information Management Department 15 manages information regarding whether the mobile body 2 can enter the location represented by the first or second node. The Traffic Management Department 16 generates an operation map by applying the operation sub-map to each vertex of the operation map. The Traffic Management Department 16 generates instructions for the mobile body 2 based on the operation map.

[0204] In addition, the facility is equipped with equipment and machinery that manage the movement of the mobile body 2 within the first and second spatial ranges. The facility information management unit 15 manages the following information: information about the facility's equipment and machinery; information about the signals used to manage the facility's equipment and machinery; and information about the mobile body 2 moving within the first or second spatial range. Part or all of the operational sub-diagram is a coordination diagram. The coordination diagram includes a main line diagram and subordinate line diagrams as sub-diagrams. The main line diagram is a diagram that can be written in one stroke through multiple nodes contained in the second spatial range. Sub-line diagrams are diagrams that branch off from nodes on the main line diagram.

[0205] Furthermore, the Traffic Management Department 16 generates sub-maps on the operation map, which includes both normal and abnormal operation maps, as paths. The normal operation map is a map that passes through multiple nodes on the operation map in a single stroke by applying the main line map included in the coordination map to each vertex of the operation map. The abnormal operation map is a map that branches from the nodes on the normal operation map by applying the secondary line map included in the coordination map to each vertex of the operation map. Based on the information of the mobile body 2 and equipment managed by the Facility Information Management Department 15, the Traffic Management Department 16 selects normal and abnormal operation maps from the sub-maps to generate instructions for the mobile body 2 and signals for the equipment of the management facilities.

[0206] One feature of the traffic control system 1 is that it uses a hypergraph to define a database for managing the actions of mobile entities 2. The hypergraph uses a set of nodes as hyperedges, thus providing a spatial representation suitable for depicting operations within a facility. Especially when managing multiple mobile entities 2 simultaneously, it can record the actions or routes of the mobile entities 2 in a set manner, allowing the hypergraph to accurately represent the overall status of the facility. However, hypergraphs can sometimes be difficult to search for paths, making them unsuitable for managing the operation of mobile entities 2. Therefore, one feature of the traffic control system 1 is that it generates graphs for operation management and operation management based on the hypergraph. Furthermore, one feature of the traffic control system 1 is that the graph structure generated from the hypergraph has a representation capable of including temporal branches. Here, the implementation of temporal branches is called a temporal hierarchy. Here, the graphs for operation management and operation management are graphs with different types of vertices and edges. The graph for operation management defines adjacency relationships by using a set of nodes (hyperedges) as vertices, thereby defining the sum of the overall range of movement to be operated as a graph. Therefore, it is possible to manage the routes by ignoring subtle changes in the movements of multiple mobile entities 2. On the other hand, the operation management graph defines subtle changes in a region by observing the actions of two adjacent regions (hyperedges) and assigning priority to branches. Therefore, it is possible to manage the dynamic changes of the mobile body 2. Regarding the edges involved in nodes and branches, the primary priority can be uniquely determined when generating subgraphs of the operation graph based on the hypergraph by defining the state at the time level. For example, traffic control system 1 can find representative movement paths through a search. For example, if traffic control system 1 generates a quasi-static operation graph at the time level, it can manage the movement path of a mobile body 2 using existing graph search algorithms such as Dijkstra's algorithm. As an example of implementing the above structure, a traffic control system 1 is suggested, which includes: an information management device consisting of a facility management device defining the hypergraph and an operation management device generating the graph based on the hypergraph; and an autonomous movement management terminal device capable of reading the graph provided by the hypergraph and segmented by the time level.

[0207] Furthermore, the Facility Information Management Department 15 categorizes the data to be managed according to the time hierarchy of the information update frequency. The Facility Information Management Department 15 classifies data that does not require judgment from the Traffic Management Department 16 during the movement of the moving body 2 between nodes as quasi-static data. The Facility Information Management Department 15 classifies data that requires judgment from the Traffic Management Department 16 during the movement of the moving body 2 between nodes as quasi-dynamic data. The Facility Information Management Department 15 classifies data that requires judgment from the moving body 2 during the movement of the moving body 2 between nodes as dynamic data.

[0208] With this structure, in a moving body 2 controlled by multiple time axes, such as a subsampling model, the data used for control is appropriately managed according to the time axes. Regarding the traffic rules applied to the moving body 2, there are rules corresponding to different time axes, such as quasi-dynamic rules that can be mixed to handle intersections between moving bodies 2 and prevent congestion, and quasi-static rules that determine the permitted passage range of the moving body 2. At this time, by classifying and managing traffic rules according to time hierarchy, appropriate traffic rules corresponding to each time axis are applied in the control of the moving body 2.

[0209] Furthermore, by managing information such as traffic rules according to each time level, the management of information required for the movement of the mobile body 2, such as traffic rules, becomes easier. For example, generally speaking, facility managers are sometimes not experts on the mobile body 2. Even in such cases, when discussing safety countermeasures for the mobile body 2 with the facility manager during risk assessments, it becomes easier for the facility manager to choose how to take the necessary countermeasures. For example, for incidents caused by the structure of the facility, the facility manager can take countermeasures based on static traffic rules. For example, for daily activities that require adjustments to congestion or density, the facility manager can take countermeasures based on quasi-static traffic rules. For example, for incidents that impede flow, such as deadlocks, where the situation changes due to the user's intended actions, the facility manager can take countermeasures based on quasi-dynamic traffic rules. For example, for incidents that cause the situation to change, such as collisions of the mobile body 2, where the situation changes due to the user or the mobile body 2 taking unintended actions, the facility manager can take countermeasures based on dynamic traffic rules. In addition, in general, risk assessments quantify risks according to the frequency of occurrence of each incident for a specific location within the facility. On the other hand, the movement of mobile body 2 is not limited to specific locations within the facility. Therefore, if the frequency of events occurring within the facility as a whole is evaluated on a per-use basis, the risk assessment is generally high, and sometimes the response requires high costs. In contrast, by classifying the use and operation of mobile body 2 by time level, the frequency of each event can be managed on a per-facility basis, thus reducing the management costs associated with moving mobile body 2 within the facility. This, in turn, promotes the application of mobile body 2 within the facility.

[0210] Traffic rules set within the facility can also include information such as the priority of passage between mobile bodies 2. Passage priority is used for coordination when mobile bodies 2 intersect. Traffic rules can also include information such as the priority of passage between mobile bodies 2 and users (humans). Normally, users cannot communicate with mobile bodies 2, so the user's priority is set higher than the mobile body 2's priority. On the other hand, users can be given a passage priority according to traffic rules when notifications can be sent to them via displays on the facility's screens or announcements from speakers. Furthermore, when mobile bodies 2 are moving for emergency transport, their priority can be set to the highest. In this case, the priority of mobile bodies 2 can also be set higher than that of users. Additionally, passage priority can be set based on the size or weight of mobile bodies 2 or the goods they transport. Generally, prioritizing the passage of mobile bodies 2 transporting large goods improves the overall efficiency of the facility, so the priority of mobile bodies 2 transporting large goods can be set higher. When transporting large quantities of goods within a facility, prior communication with the facility's management is usually required. Therefore, the priority setting for Mobile Body 2 can also be pre-set by the facility's management. Traffic rules within the facility are applicable to any object moving within the facility, including Mobile Body 2, and are not limited to the rules listed here.

[0211] Traffic control systems are large-scale systems. Typically, centralized information management, such as at airports for takeoff and landing, train control, and urban traffic control, requires large-scale systems and incurs significant costs.

[0212] In contrast, the traffic control system 1 disclosed herein can also be configured as a distributed system. For example, the facility server 12 can also have multiple facility management devices. These multiple facility management devices can collaborate through communication, for example, to perform node management, area management, and traffic rule functions, thereby functioning as an information management device. Furthermore, the information management device can also set up coordination functions for facility management devices, coordination map management functions for operation management devices, and traffic rule application functions on a regional basis. Multiple mobile bodies 2 are managed with quasi-dynamic traffic control relative to the operation submap, so operation obstacles caused by congestion can be suppressed through locally set traffic control. On the other hand, by using the map management function, the configuration of mobile bodies 2 of the facility as a whole, such as schedule management, is optimized quasi-statically, thereby preventing operation obstacles and achieving efficient operation of the facility as a whole. Since the information management databases at different time levels are managed with communication synchronization as the update cycle, they are managed in an autonomous and distributed structure. Therefore, it is easy to ensure security when expanding the equipment. Thus, the traffic control system 1 can be appropriately scaled up or down with the expansion or contraction of the service scale.

[0213] Traffic control systems require a significant margin due to the varying number of mobile vehicles relative to their operating area. This presents a particular challenge regarding the increased burden on fixed assets such as traffic equipment and machinery. In contrast, the traffic control system 1 disclosed herein possesses equipment collaboration capabilities, enabling flexible setting of traffic rules. Therefore, a suitable compromise between cost and safety can be established by both facility managers and mobile vehicle managers. Based on the above, the economic burden is reduced by constructing an autonomous mobile vehicle system, promoting its widespread adoption throughout society. Consequently, for example, it is expected to contribute broadly to society by maintaining public facilities for workers whose building maintenance is difficult due to declining birthrates and an aging population.

[0214] Implementation method 2.

[0215] 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.

[0216] Figure 20 This is a structural diagram of traffic control system 1 in implementation method 2.

[0217] The traffic control system 1 includes a support server 17. The support server 17 is a component that supports information input to the information management device. The support server 17 is, for example, a server device composed of one or more server computers. Part or all of the support server 17 may also be included in the facility server 12 or mobile server 10, which functions as an information management device in the traffic control system 1. The support server 17 may also be an external device of the traffic control system 1. Multiple server devices constituting the support server 17 may also be located in different locations. In this case, the multiple server devices communicate with each other, for example, through a communication network 8. The support server 17 includes a computing unit 3d, a storage unit 4d, and a communication unit 5d.

[0218] The arithmetic unit 3d is, for example, a CPU, a computing device, a microprocessor, or a microcomputer. The storage unit 4d 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 3d and the storage unit 4d may also be constructed using dedicated processing circuitry. The storage unit 4d may, for example, store programs as software or firmware. In the support server 17, pre-set processing is performed by executing programs stored in the storage unit 4d by the arithmetic unit 3d, and various functions are realized as a result of hardware and software cooperation. Each function of the support server 17 may also be implemented separately by processing circuitry. Alternatively, part or all of the functions of the support server 17 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 support server 17 may be implemented, for example, by processing or storage resources on a cloud service.

[0219] The communication unit 5d is a component equipped with the function of communicating information with external devices such as the support server 17. The communication unit 5d communicates with external devices via the communication network 8, for example, through wired or wireless communication. The communication unit 5d, as an external device, communicates information with, for example, the facility server 12 or the mobile device server 10.

[0220] The computation unit 3d includes a learning unit 18. The learning unit 18 carries a large-scale language model (LLM). A large-scale language model is an example of a language model. The data of the large-scale language model is stored, for example, in a storage unit 4d. The large-scale language model is a model that has been learned in advance to be able to interpret natural language. Furthermore, the large-scale language model is a model that has been learned in advance to be able to interpret graph languages, which are formal languages ​​describing graph structures. Additionally, the large-scale language model is a model that has been learned in advance to be able to interpret finite state machines that describe the actions of the mobile entity 2 moving within the facility. Here, the graph structure includes not only graph structures with node pairs as edges, but also hypergraph structures with sets of nodes as hyperedges. The large-scale language model is a model that has been learned in advance to be able to interpret modeling languages ​​that describe the actions of the mobile entity 2 moving within the facility. Modeling languages ​​include, for example, formal languages ​​such as PDDL (Planning Domain Definition Language). The large-scale language model can also be a model that has been learned in advance for multiple natural languages, graph languages, and modeling languages ​​respectively. A large-scale language model can also be a model that has been learned in advance to be able to interpret other forms of language. A large-scale language model can also be a model that has been learned in advance to be able to interpret drawings or other data. The learning unit 18 is the part that uses the learned large-scale language model to output, etc., a facility management model that represents information related to the management of the movement of the mobile body 2 within the facility.

[0221] Facility management models may contain graph-structured data, such as hypergraphs, utilization diagrams, operational subgraphs, coordination diagrams, and operation diagrams, describing the relationships between nodes and areas within a facility. Graph-structured data may be described using graph languages. Facility management models may also include data such as traffic rules. Traffic rule data may be described using modeling languages. Facility management models may also contain other types of data. Furthermore, a facility management model may not be described using only a single formal language. For example, a facility management model may be partially described using graph languages ​​and partially using modeling languages.

[0222] Figure 21 This is a diagram illustrating an example of how the support server 17 in Embodiment 2 supports information input to the information management device.

[0223] The learning unit 18 learns the corresponding model in advance by accepting inputs with prior descriptions using natural language and formal language. The corresponding model is a model that corresponds to the natural language-based description of the facility management model and the formal language-based description of the facility management model, including graph languages ​​and modeling languages. Information about the corresponding model is stored, for example, in the storage unit 4d. The corresponding model may also be an intermediate representation used internally within the learning unit 18.

[0224] Some or all of the prior instructions are input by, for example, the developers or managers of traffic control system 1. Prior instructions are input, for example, from the facility information management department 15 of facility server 12. Prior instructions are input, for example, when traffic control system 1 begins operation. Prior instructions include common information such as definitions of terms used in traffic control system 1, which are independent of the facilities using traffic control system 1. Prior instructions are, for example, described using natural language.

[0225] In this example, as a preliminary explanation of the learning unit 18, the terminology and definitions of facility structure data are described. The preliminary explanation may also include descriptions related to methods for representing nodes and regions using natural language. The preliminary explanation may include descriptions related to naming rules for nodes and regions. Furthermore, as a preliminary explanation for the learning unit 18, the terminology and definitions of each function of the traffic control system 1, which includes equipment collaboration and coordination functions, are described. Additionally, as a preliminary explanation for the learning unit 18, the correspondences of the hypergraph, application graph, operation graph, operation subgraph, coordination graph, and other graph structures in the traffic control system 1 are described. The preliminary explanation may also include information about graph generation rules. Part of the preliminary explanation may also be described using graph language, modeling language, or other formal languages ​​or data that can be interpreted by large-scale language models.

[0226] After learning the corresponding model, the learning unit 18 receives management documents written in natural language and generates a facility management model written in formal language. The management document is a document written in natural language describing information related to the management of the movement of the mobile body 2 within the facility. The management document is input, for example, from the facility information management unit 15 of the facility server 12. The facility management document can be input when the traffic control system 1 is first applied to the facility, or it can be input for a traffic control system 1 that is already operating in a manner applied to the facility. The management document can be a concise document such as a single statement, or a large-scale document containing drawings and other data. Furthermore, the facility management model generated by the learning unit 18 can also be part of a complete model that includes all data related to the management of the movement of the mobile body 2 within the traffic control system 1. For example, the facility management model generated by the learning unit 18 can also be arbitrary graph structure data written in graph language. Information such as the facility management model generated by the learning unit 18 can also be displayed to the administrator who input the management document via the output unit 14 of the facility server 12.

[0227] For example, the facility's construction workers input the facility's drawings, construction status, operational routes, and equipment configuration as management documents into the learning unit 18. The learning unit 18 interprets the management documents using a large-scale language model and generates at least a portion of the facility management model described in a formal language based on the corresponding model. In this example, the learning unit 18 generates structural data of the facility, described in a graphical or modeling language, as static information for the facility management model based on the management documents input from the facility's construction workers. The generated structural data of the facility is managed, for example, in the facility information management unit 15 of the facility server 12.

[0228] For example, the facility manager inputs information such as risk assessment data for each area and a diagram of the desired action of the mobile body 2 into the learning unit 18 as a management document. The information recorded in the management document may also include non-rigid information such as diagrams. The learning unit 18 may also request the required information in a conversational manner using natural language, for example, if the information required to generate the facility management model is insufficient. The learning unit 18 interprets the management document using a large-scale language model and generates at least a portion of the facility management model described in a formal language using a corresponding model. In this example, the learning unit 18 generates traffic rules described in a graph language or modeling language as static information for the facility management model based on the management document input from the facility manager. The generated traffic rules are managed, for example, in the facility information management unit 15 of the facility server 12.

[0229] For example, the manager of mobile entity 2 inputs information such as the mobility specifications of mobile entity 2, the service delivery location and schedule, and the action algorithm when mobile entity 2 performs actions according to the set traffic rules into the learning unit 18 as a management document. The learning unit 18 interprets the management document using a large-scale language model and generates at least a portion of the facility management model described in a formal language through the corresponding model. In this example, based on the management document input from the manager of mobile entity 2, the learning unit 18 generates application definitions described in a graph language or modeling language as static information of the facility management model. The generated application definitions are managed, for example, in the facility information management unit 15 of the facility server 12.

[0230] Based on the structural data, traffic rules, and operational definitions of the facilities generated in this way, the Facility Information Management Department 15 generates hypergraphs, operational diagrams, and operation diagrams or operation sub-diagrams to manage the movement of the mobile body 2, and performs processing such as storing them in a database. The Facility Information Management Department 15 can also generate operation sub-diagrams or coordination diagrams.

[0231] Furthermore, the support server 17 can have multiple dedicated learning units 18 corresponding to the generation of data such as facility structure data, traffic rules, and operational definitions, or it can have a single, general learning unit 18 corresponding to the generation of some or all of their data. In this example, the learning unit 18 generates data related to the content described in each individually input management document within the facility management model. Thus, the correspondence between each management document and the generated facility management model becomes clear.

[0232] Figure 22 This is a diagram illustrating another example of how the support server 17 in Embodiment 2 supports information input to the information management device.

[0233] In this example, the learning unit 18 receives facility drawings, construction status, and information on movement patterns within the facility, as well as equipment and machinery configurations, from the facility's construction contractor as management documents. Additionally, the learning unit 18 receives risk assessment information for each area and images illustrating the desired movement patterns of mobile body 2 from the facility's manager as management documents. Furthermore, the learning unit 18 receives information from the manager of mobile body 2, including the movement specifications of mobile body 2, service delivery locations and schedules, and the movement algorithms for mobile body 2 when it moves according to established traffic rules, as management documents. The learning unit 18 interprets these management documents using a large-scale language model and generates at least a portion of the facility management model described in a formal language through the corresponding model. In this example, the learning unit 18 generates a facility management model described in a graphical language or modeling language based on the management documents input from the facility's construction contractor, the facility's manager, and the mobile body 2's manager. As the facility management model, the learning unit 18 generates a hypergraph, an operational diagram, and a running diagram in one step, based on the facility's structural data, traffic rules, and operational definitions. Learning Department 18 can also generate operational sub-diagrams or coordination diagrams. In this example, Learning Department 18 accepts individually input management documents, integrates the content described in these documents, and generates a facility management model. This generates a facility management model that further ensures overall compatibility.

[0234] Figure 23 This is a diagram illustrating another example of how the support server 17 in Embodiment 2 supports information input to the information management device.

[0235] The prior instructions for Learning Department 18 may include part or all of the facility management model. In this example, the prior instructions input into Learning Department 18 include data such as the facility's static structure data, static traffic rules, and static operational definitions. Some of these facility management models may also be generated separately within Learning Department 18.

[0236] For example, the facility manager inputs information such as the facility's current status, traffic rule changes in each area, and relationships with other moving bodies outside the management of traffic control system 1 as a management document into the learning unit 18. The learning unit 18 interprets the management document using a large-scale language model and generates at least a portion of the facility management model described in a formal language based on the corresponding model. In this example, based on the management document input from the facility manager, the learning unit 18 generates quasi-static structural data, quasi-static traffic rules, and quasi-static application definitions of the facility, described in a graph language or modeling language, as quasi-static information for the facility management model. This generated data is managed, for example, in the facility information management unit 15 of the facility server 12.

[0237] For example, the administrator of mobile unit 2 inputs a management document describing the operation plan of mobile unit 2 in natural language into learning unit 18. Learning unit 18 interprets the management document using a large-scale language model and generates at least a portion of a facility management model described in a formal language based on the corresponding model. In this example, learning unit 18 generates an operation plan described in a graph language or modeling language as quasi-static information for the facility management model based on the management document input from the administrator of mobile unit 2. The generated operation plan is managed, for example, in the facility information management unit 15 of facility server 12.

[0238] Based on the information generated, including facility structure data, traffic rules, operation definitions, and operation plans, the Facility Information Management Department 15 generates hypermaps, operation diagrams, operation diagrams, and action plans to manage the movement of the mobile body 2, and performs processing such as storing them in a database. The Facility Information Management Department 15 can also generate operation sub-diagrams or coordination diagrams. Furthermore, the Facility Information Management Department 15 can update the already managed facility management model based on the data generated by the Learning Department 18.

[0239] In this example, the Facility Information Management Department 15 manages master data for a pre-defined facility management model. This master data may be, for example, a facility management model not generated by the Learning Department 18. When the Learning Department 18 generates a facility management model based on management documents, the Facility Information Management Department 15 obtains this facility management model as update data. The Facility Information Management Department 15 compares the master data and the update data, for example, in a formal language such as a graph language or a modeling language. The Facility Information Management Department 15 inputs a formal language-based description of the differences found during the comparison to the Learning Department. The Learning Department 18 interprets the formal language-input differences using a large-scale language model, generating a natural language-based description of the differences between the master data and the update data. In this example, the Learning Department 18 generates the description of the differences between the master data and the update data using a natural language similar to the natural language used to describe the management documents. This natural language-based description is then displayed, for example, via the output section 14 of the Facility Server 12 to the administrator who input the management documents. Managers can use natural language-based descriptions to verify whether the intent entered through management documents matches the generated facility management model.

[0240] Figure 24 This is a diagram illustrating an example of data generated in the support server 17 of implementation method 2.

[0241] exist Figure 24The diagram shows an example of the state machine of a robot, which is considered a mobile body 2. The manager of mobile body 2 describes the definition of the robot's state machine as a management document, for example, by inputting it into facility server 12. The management document contains, for example, the following statement: "'The robot transitions to 'Initializing' after power is turned on, and then to 'Waiting' after initialization is complete. The robot has a 'Running' state, and can also be in either 'Remote Operation' or 'Autonomous Movement' states. A robot in 'Waiting' transitions to 'Autonomous Movement' after {Move Instruction}. 'Autonomous Movement' has a 'Autonomous Control' state, but if {Temporary Stop} is received from the outside, it becomes 'Temporarily Stopped'. Furthermore, if {Restart} is indicated from Temporary Stop, it returns to Automatic Control. If {Mode Switching} is performed during Temporary Stop, it transitions to 'Manual Control'. After {Reaching Target}, the robot ends Autonomous Control and Autonomous Movement and returns to Waiting. If {Abnormal Stop} is received during Operation, it transitions to 'Abnormal Stop'; if {Recovery} is received, it transitions to Waiting. On the other hand, if {Emergency Stop} is received, the robot terminates. In the case where the robot completes its task and power is cut off, if {End Instruction} is received while 'Waiting', it terminates after 'End Processing'." Management documents, such as those input by the Facility Information Management Department 15, are entered into the Learning Department 18. The Learning Department 18 interprets these management documents using a large-scale language model. Figure 24 The state machine shown is used as a facility management model. The learning unit 18 outputs the mastered state machine to, for example, the facility server 12 using a modeling language.

[0242] The manager of Mobile Unit 2 verifies whether the intent of the input management document matches the generated facility management model. The manager describes the actions of Mobile Unit 2, for example, using natural language, and inputs this information into Facility Server 12. The manager describes the actions of Mobile Unit 2, for example, using the following statement: "Mr. / Ms. K, as the user, powered on the robot placed in the warehouse at 8:00 AM. The goods arrived at 10:00 AM, so the robot waited at the entrance at 9:30 AM. The robot, loaded with goods, transported the goods to Mr. / Ms. K's room. Midway, while crossing near an intersection, a camera detected a person, so the robot was instructed to stop until the person passed. The robot confirmed the person had passed and resumed transporting the goods. Upon arrival, it received an instruction to go to the entrance, but an anomaly was detected when the person contacted the robot midway. Mr. / Ms. K, after confirming the robot was functioning correctly, allowed it to resume. After some time, Mr. / Ms. K went to the entrance." This description of the situation is input into the Learning Department 18, for example, by Facility Information Management Department 15, etc. The learning department 18 interprets the article using a large-scale language model and outputs the result to the facility server 12 using a formal language such as a modeling language.

[0243] The facility server 12 simulates the actions of the mobile body 2 under the condition of a facility management model described in a formal language and the actions performed by the mobile body 2. In simulating the actions of the mobile body 2, the facility server 12 uses, for example, the same algorithm as the actual control. Furthermore, the facility server 12 can also collaborate with the mobile body server 10, etc., in simulating the actions of the mobile body 2. The actions of the mobile body 2 include, for example, state transitions according to a state machine. The simulated actions of the mobile body 2 are described, for example, in a formal language. The facility information management unit 15 of the facility server 12 generates a natural language-based description of the actions by inputting the actions of the mobile body 2 described in the formal language into the learning unit 18. In this example, the learning unit 18 generates a description of the actions of the mobile body 2 using the same natural language as the natural language used to describe the management documents. The generated natural language-based description is then displayed, for example, via the output unit 14 of the facility server 12 to the administrator who input the management documents. The administrator can use the natural language-based description to confirm whether the intent input through the management documents matches the generated facility management model.

[0244] As explained above, the information management device of the traffic control system 1 in Embodiment 2 includes a learning unit 18. The learning unit 18 is equipped with a language model that interprets both natural language and a formal language capable of describing at least a portion of the facility management model. The facility management model represents information related to the management of the movement of the mobile body 2 within the facility. The learning unit 18 learns a corresponding model in advance by accepting input of prior descriptions using both natural language and formal language. The corresponding model maps the natural language-based description and the formal language-based description of the facility management model. The facility information management unit 15 generates a facility management model described in formal language by inputting a management document into the learning unit 18, which has learned the corresponding model. The management document is a document describing information related to the management of the movement of the mobile body 2 within the facility in natural language. The traffic management unit 16 manages the movement of the mobile body 2 within the facility based on the generated facility management model described in formal language.

[0245] This structure simplifies the management of facility management models within the facility. Because hierarchical and complex facility management models can be set up using natural language, even facility managers who are not technical experts in Mobile Vehicle 2 can appropriately configure these models. Furthermore, since the facility management model can be updated using natural language descriptions, even facility managers who are not Mobile Vehicle 2 experts can flexibly and quickly edit the model. This enables flexible utilization and operational management of Mobile Vehicle 2 within the facility.

[0246] In addition, the language model interpretation of the learning unit 18 includes graph language that describes graph structures and modeling language that describes the actions of the moving body 2 in the facility.

[0247] This structure allows for the integrated management of two different representations of the facility management model: a graphical structure and a description based on a modeling language. Therefore, it eliminates the need for separate language-specific interfaces, thus reducing the development costs of the traffic control system 1. Furthermore, the ability to manage hierarchical and complex facility management models through a comprehensive representation further reduces the operational and maintenance costs of the traffic control system 1.

[0248] Furthermore, the Facility Information Management Department 15 compares the master data with the updated data. The master data is a pre-defined facility management model. The updated data is a facility management model described in formal language, generated by inputting management documents into the Learning Department 18. The Facility Information Management Department 15 generates a natural language-based description of the comparison results by inputting the formal language-based description of the comparison results into the Learning Department 18.

[0249] Furthermore, the Facility Information Management Unit 15 obtains a formal language-based description of the situation by inputting the situation described in natural language into the Learning Unit 18. The Facility Information Management Unit 15 then inputs a formal language-based description of the actions of the moving body under that situation, calculated using the facility management model, based on the formal language-based description of the situation, into the Learning Unit 18. Thus, the Facility Information Management Unit 15 generates a natural language-based description of that action.

[0250] Based on this structure, the intermediate processing, such as comparison and motion simulation, can be performed more accurately by using formal language. Furthermore, since the processing results are described in natural language, even managers who are not technical experts in the mobile unit 2 can easily understand them. This makes it easier to judge the accuracy and appropriateness of the established facility management model.

[0251] Industrial availability

[0252] Information management devices, traffic control systems, traffic control methods, and traffic control procedures can be applied to the management of the movement of mobile bodies operating within facilities and the management of information used therein.

[0253] Label Explanation

[0254] 1 Traffic control system; 2, 2p, 2q Mobile units; 3a, 3b, 3c, 3d Computing unit; 4a, 4b, 4c, 4d Storage unit; 5a, 5b, 5c, 5d 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; 17 Support server; 18 Learning unit.

Claims

1. An information management device, comprising: The Facility Information Management Department, including its management and operation diagrams; and The traffic management department, based on the information in the aforementioned operational diagram, generates instructions for mobile entities moving within the facility. in, The application diagram includes: The first vertex represents the first region, which is a set of multiple nodes representing multiple locations within the first spatial range of the facility; The second vertex represents the second region, which is a set of nodes representing multiple locations within a second spatial range, which partially overlaps with the first spatial range; and An edge, which connects the first vertex and the second vertex, represents a common region consisting of a set of common nodes, wherein the common nodes are nodes representing more than one location within the partially overlapping range and are collectively contained within the first region and the second region.

2. The information management device according to claim 1, wherein, The facility information management department manages information about the operation submap, which includes a first node representing the nodes contained in the first area, a second node representing the different nodes contained in the area, and edges connecting the first node and the second node. It also represents the occupancy status of nodes used to determine whether to allocate the mobile body to a location in the area, and the passability or weight of the mobile bodies between the nodes in the area. The facility information management department also manages information regarding whether the mobile entity can enter the location represented by the first node or the second node. The traffic management department generates a running map by applying the running sub-map to each vertex of the application map, and generates instructions for the moving body based on the running map.

3. The information management device according to claim 2, wherein, The facility includes equipment that manages the movement of the mobile body within the first spatial range and the second spatial range. The Facility Information Management Department manages the following information: Information about the equipment and machinery of the facility; Information on the signals of the equipment and machinery managing the facility; and Information about the moving body moving within the first spatial range or the second spatial range. Some or all of the running subgraph is a coordination graph. The coordination diagram includes a main line diagram and a secondary line diagram as sub-diagrams. The main line diagram is written in one stroke through multiple nodes contained in the second spatial range, and the secondary line diagram branches from the nodes on the main line diagram.

4. The information management device according to claim 3, wherein, The traffic management department generates sub-graphs on the operation map, which include both normal and abnormal operation maps, as paths. The normal operation map is written in a single stroke through multiple nodes on the operation map by applying the main line graph included in the coordination map to each vertex of the application map. The abnormal operation map branches from the nodes on the normal operation map by applying the secondary line graph included in the coordination map to each vertex of the application map. Based on the information of the mobile body and the equipment and machinery managed by the facility information management department, the traffic management department selects the normal action map and the abnormal action map from the sub-map, and generates instructions for the mobile body and signals for managing the equipment and machinery of the facility.

5. The information management device according to any one of claims 1 to 4, wherein, The facility information management department will perform the following processing: The data to be managed is classified according to the time hierarchy of the information update frequency. Data that does not require the judgment of the traffic management department during the movement of the moving body between the nodes is classified as quasi-static data. Data requiring judgment from the traffic management department during the movement of the moving bodies between the nodes is classified as quasi-dynamic data. Data that requires the determination of the moving body during its movement between the nodes is classified as dynamic data.

6. The information management device according to any one of claims 1 to 5, wherein, The information management device includes a learning unit equipped with a language model. This language model interprets both natural language and a formal language capable of describing at least a portion of a facility management model, wherein the facility management model represents information related to the management of the movement of the mobile body within the facility. The learning unit, by accepting pre-defined inputs using the natural language and the formal language, pre-learns a corresponding model that makes the facility management model correspond between the natural language-based description and the formal language-based description. The facility information management department inputs a management document into the learning department after learning the corresponding model, thereby generating the facility management model described in the formal language. This management document, in natural language, describes information related to the management of the movement of the mobile body within the facility. The traffic management department manages the movement of the mobile body within the facility based on the facility management model generated and described in the formal language.

7. The information management device according to any one of claims 1 to 5, wherein, The facility information management department inputs management documents into the learning department, thereby generating a facility management model described in a formal language. The learning department is equipped with a language model that interprets both natural language and the formal language capable of describing at least a portion of the facility management model. The facility management model represents information related to the management of the movement of the mobile body within the facility. The learning department, using pre-defined inputs of the natural language and the formal language, pre-learns a corresponding model that maps the natural language-based description of the facility management model to the formal language-based description. The management document describes the information related to the management of the movement of the mobile body within the facility in the natural language. The traffic management department manages the movement of the mobile body within the facility based on the facility management model generated and described in the formal language.

8. The information management device according to claim 6 or 7, wherein, The language model interprets various formal languages, including graph languages ​​that describe graph structures and modeling languages ​​that describe actions including the movement of the moving body within the facility.

9. The information management device according to any one of claims 6 to 8, wherein, The facility information management department compares the master data and the updated data, and inputs the description based on the formal language as the comparison result into the learning department, thereby generating a description based on the natural language of the comparison result. The master data is the pre-set facility management model, and the updated data is the facility management model described in the formal language, generated by inputting the management document into the learning department.

10. The information management device according to any one of claims 6 to 9, wherein, The facility information management department obtains a description of the situation based on the formal language by inputting the situation described in the natural language into the learning department. The facility information management department inputs the formal language-based description of the situation and the formal language-based description of the movement of the mobile body under the situation, calculated using the facility management model, into the learning department, thereby generating a natural language-based description of the movement.

11. A traffic control system, comprising: The Facility Information Management Department manages and utilizes information from diagrams. The traffic management department, based on the information in the operation diagram, generates instructions for mobile bodies moving within the facility; and 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. in, The application diagram includes: The first vertex represents the first region, which is a set of multiple nodes representing multiple locations within the first spatial range of the facility; The second vertex represents the second region, which is a set of nodes representing multiple locations within a second spatial range, which partially overlaps with the first spatial range; and An edge, which connects the first vertex and the second vertex, represents a common region consisting of a set of common nodes, wherein the common nodes are nodes representing more than one location within the partially overlapping range and are collectively contained within the first region and the second region.

12. A traffic control method, wherein, The computer performs the following steps: Management and application of information; and Based on the information in the application diagram, instructions are generated for mobile bodies moving within the facility. The application diagram includes: The first vertex represents the first region, which is a set of multiple nodes representing multiple locations within the first spatial range of the facility; The second vertex represents the second region, which is a set of nodes representing multiple locations within a second spatial range, which partially overlaps with the first spatial range; and An edge, which connects the first vertex and the second vertex, represents a common region consisting of a set of common nodes, wherein the common nodes are nodes representing more than one location within the partially overlapping range and are collectively contained within the first region and the second region.

13. A traffic control procedure that causes a computer to perform the following steps: Management and application of information; and Based on the information in the application diagram, instructions are generated for mobile bodies moving within the facility. in, The application diagram includes: The first vertex represents the first region, which is a set of multiple nodes representing multiple locations within the first spatial range of the facility; The second vertex represents the second region, which is a set of nodes representing multiple locations within a second spatial range, which partially overlaps with the first spatial range; and An edge, which connects the first vertex and the second vertex, represents a common region consisting of a set of common nodes, wherein the common nodes are nodes representing more than one location within the partially overlapping range and are collectively contained within the first region and the second region.

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