Mobile object traffic management system and mobile object traffic management method

Abstract

To efficiently manage the passage of autonomously moving mobile objects.SOLUTION: A mobile object traffic management system, which manages the traffic of autonomously moving mobile objects, includes: a storage unit that stores marker identification information that identifies a marker installed in a target facility through which the mobile object passes, in association with marker position information that indicates a position of the marker in the target facility; a communication unit that communicates with the mobile object; and a control unit that, when receiving the marker identification information from the mobile object, reads the marker position information associated with the marker identification information from the storage unit and transmits the marker position information to the mobile object.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a mobile object traffic management system and a mobile object traffic management method. [Background technology]

[0002] Conventionally, autonomously traveling mobile bodies are used in factories, logistics warehouses, etc. One example is an unmanned guided vehicle that travels along a prescribed travel route to transport parts and perform loading and unloading work. Patent Document 1 discloses a method for controlling an autonomously traveling mobile body. This publication describes a mobile body system having a flat sign arranged according to a preset travel route and a mobile body that travels autonomously along the travel route, the mobile body having a distance direction detection device that is provided on the mobile body and detects the distance and direction from the mobile body to an object present within a predetermined search range by scanning a detection light within the search range, and a travel direction determination means that determines the travel direction of the mobile body based on the detection result of the distance direction detection device, the flat sign including a mirror surface and a diffuse reflection surface that diffusely reflects incident light at a higher rate than the mirror surface. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2012-113765 A Summary of the Invention [Problem to be solved by the invention]

[0004] As with the above-mentioned conventional technology, driving control of moving objects is already in use, assuming unmanned factories, etc. In such a limited environment, the operation of multiple moving objects can be collectively and integrally managed. However, in recent years, due to the decline in the working population, there is a demand for more versatile mobile object operations. For example, transport robots, cleaning robots, security robots, etc. may be operated inside commercial facilities where people are present. In such operations, it is not realistic for the facility manager to centrally manage all mobile objects, and it is expected that the facility manager and the mobile object manager will be different persons.

[0005] In the above-mentioned conventional technology, the mobile object recognizes the sign and controls its travel, but if there are different mobile object managers for different purposes, and the specifications of the sign are different for each mobile object manager, each manager will have to place the sign. As a result, a large number of signs will be placed, which is unreasonable and spoils the aesthetic appearance. Additionally, in an environment where a wide variety of moving objects exist, there are also challenges in coordinating passage. It is a large burden for facility managers to centrally manage the passage of a wide variety of moving objects, and it is also difficult to coordinate passage between different moving object managers. Furthermore, when a mobile object uses facility equipment, such as an elevator or automatic doors, it is necessary to minimize the burden on both the facility manager and the mobile object manager while enabling the facility to be used. An object of the present invention is to efficiently manage the passage of autonomously moving objects even when a facility manager and a moving object manager are different persons. [Means for solving the problem]

[0006] In order to achieve the above-mentioned object, one representative mobile object traffic management system of the present invention is a mobile object traffic management system that manages the passage of autonomously moving mobile objects, and is characterized in that it includes a memory unit that stores marker identification information that identifies a marker installed in a target facility through which the mobile object passes, in association with marker position information that indicates the position of the marker in the target facility, a communication unit that communicates with the mobile object, and a control unit that, when the marker identification information is received from the mobile object, reads out the marker position information associated with the marker identification information from the memory unit and transmits it to the mobile object. Furthermore, one representative mobile object traffic management method of the present invention is a mobile object traffic management method for managing the traffic of an autonomously moving mobile object, characterized in including the steps of: a server storing in a memory unit marker identification information that identifies a marker installed in a target facility through which the mobile object passes, in association with marker position information indicating the position of the marker in the target facility; a server receiving the marker identification information from the mobile object; and a server reading out the marker position information associated with the marker identification information from the memory unit and transmitting it to the mobile object.

[0007] According to the present invention, the passage of autonomously moving objects can be efficiently managed. Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments. [Brief description of the drawings]

[0008] [Figure 1] An explanatory diagram of traffic management using a mobile traffic management system [Diagram 2] Building management and mobility management diagram [Diagram 3] Building management server configuration diagram [Figure 4] Robot configuration diagram [Diagram 5] Marker data illustration [Figure 6] Building management server flowchart [Figure 7] Robot Flowchart DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment will be described with reference to the drawings. EXAMPLES

[0010] FIG. 1 is an explanatory diagram of passage management by a mobile object management system. The mobile object shown in this embodiment is a robot 30 capable of autonomous travel. Markers 20 are appropriately installed on buildings, which are target facilities through which the robot 30 passes. As the markers 20, two-dimensional barcodes that indicate information in optically readable binary codes can be used. The markers 20 indicate, as information, a marker ID, which is identification information that uniquely identifies the marker.

[0011] The building management server 60 manages the marker ID as marker data 64a by associating marker position information, rules, and facility usage information. The marker position information indicates the position of the marker 20 in the building. The rules are rules regarding passage near the marker 20, such as speed limits and no-entry rules. The facility usage information is information necessary for the robot 30 to use the building's facilities, such as elevators and automatic doors. The marker position information, rules, and facility usage information will be described in detail later.

[0012] The robot 30 reads the marker IDs from the surrounding markers 20 (1). The robot 30 transmits the read marker IDs to the building management server 60 (2). Upon receiving the marker ID from the robot 30, the building management server 60 reads the marker position, rules, and facility usage information associated with the received marker ID from the marker data 64a and transmits them to the robot 30 (3). The robot 30 uses the received information to control its travel.

[0013] 2 is an explanatory diagram of building management and mobile object management. Installation and maintenance of the markers 20 and registration and editing of the marker data 64a belong to building management. Operation of the robot 30 belongs to mobile object management. When a building manager who manages the building and a mobile body manager who manages the mobile bodies are different persons, the building manager only needs to manage the markers 20 and the marker data 64a, and does not need to be directly involved in the operation of the individual mobile bodies.

[0014] The robot 30, which is a moving body, uses the marker position information received via the marker 20 to estimate its own position. The robot 30 can also use elevators and automatic doors by using the facility usage information received via the marker 20. The robot 30 uses the result of position estimation and controls its travel while using the facilities in accordance with the rules received via the marker 20. In this way, since the robot 30 can control its travel based on the recognized marker 20, the mobile object manager does not need to be concerned with managing the marker 20 or the marker data 64a when managing the operation of the robot 30.

[0015] Fig. 3 is a configuration diagram of the building management server 60. As shown in Fig. 4, the building management server 60 includes a CPU (Central Processing Unit) 61, a memory 62, a communication unit 63, and a storage unit 64.

[0016] The storage unit 64 is an auxiliary storage device that stores programs and various data, and stores marker data 64a, log data 64b, and the like. The marker data 64a is data in which marker position information, rules, and facility usage information are associated with a marker ID. The log data 64b is a history of reception of the marker ID from the robot 30, and is data in which the identification information of the robot 30 and the marker ID are associated with the date and time.

[0017] The communication unit 63 is a communication interface used when wirelessly communicating with the robot 30. The communication unit 63 is used to receive a marker ID from the robot 30, transmit marker position information to the robot 30, transmit rules to the robot 30, and transmit facility usage information to the robot 30.

[0018] The CPU 61 loads the programs read from the storage unit 64 into the memory 62, which is a main storage device, and executes them in sequence, thereby implementing the functions of a marker data management unit 61a, a marker data provision unit 61b, and a history management unit 61c.

[0019] The marker data management unit 61a is a processing unit that registers and edits the marker data 64a. For example, when a new marker 20 is placed in a building, the marker data management unit 61a registers data of the new marker 20 in the marker data 64a. In addition, when the position of the marker 20 is changed, the marker data management unit 61a rewrites the marker position information of the marker 20.

[0020] Furthermore, if rules are defined for passage around the marker 20, the marker data management unit 61a registers the rules in association with the marker 20. Similarly, if there is equipment such as an elevator or automatic doors near the marker 20, the marker data management unit 61a registers facility use information in association with the marker 20. The rules and facility use information are registered as necessary, but are not essential. Also, if there are any changes to the rules or facilities, they can be dynamically accommodated by editing the marker data 64a.

[0021] When the marker data providing unit 61b receives a marker ID from the robot 30, it refers to the marker data 64a, reads out the marker position information associated with the received marker ID, and transmits it to the robot 30. Furthermore, when a rule is associated with the marker ID received from the robot 30, the marker data providing unit 61b transmits the rule to the robot 30 together with the marker position information. Similarly, when the facility usage information is associated with the marker ID received from the robot 30, the marker data providing unit 61b transmits the facility usage information to the robot 30 together with the marker position information.

[0022] The history management unit 61c associates the marker ID received from the robot 30 with the robot ID of the sender and the date and time of reception, and accumulates them in the log data 64b. This log data 64b makes it possible to confirm how each robot 30 moved within the building.

[0023] Fig. 4 is a configuration diagram of the robot 30. As shown in Fig. 4, the robot 30 includes a CPU 31, a memory 32, a communication unit 33, a storage unit , a drive unit 35, and a camera .

[0024] The camera 36 is a unit that captures images of the surroundings of the robot 30. The drive unit 35 is a unit that drives the robot 30, and includes wheels, a motor, and the like.

[0025] The storage unit 34 is an auxiliary storage device that stores programs and various data, and stores a robot ID 34a and path data 34b. The robot ID 34 a is identification information that uniquely identifies the robot 30 . The route data 34b indicates a route along which the robot 30 travels. The route data 34b may be provided from an external source, or may be generated by the robot 30 from map data or the like.

[0026] The communication unit 33 is a communication interface used when wirelessly communicating with the building management server 60. The communication unit 33 is used to transmit a marker ID to the building management server 60, receive marker position information from the building management server 60, receive rules from the building management server 60, and receive facility usage information from the building management server 60.

[0027] The CPU 31 loads the programs read from the storage unit 34 into the memory 32, which is a main storage device, and executes them sequentially, thereby implementing the functions of a position management unit 31a, a travel control unit 31b, and a facility utilization unit 31c.

[0028] The position management unit 31a is a processing unit that manages the position of the robot 30. The position management unit 31a extracts the image of the marker 20 from the image captured by the camera 36, ​​reads the marker ID from the image of the marker 20, and calculates the relative relationship between the marker coordinate system and the camera coordinate system. The position management unit 31a transmits the read marker ID together with the robot ID 34a to the building management server 60, and receives marker position information, rules, and facility usage information. The position management unit 31a uses the marker position information received from the building management server 60 and the relative relationship with the marker 20 to perform self-position estimation to estimate the position of the robot 30 in the building coordinate system.

[0029] The facility use unit 31c performs various processes for using facilities such as elevators and automatic doors. Specifically, the facility use unit 31c identifies the type, location, and orientation of facilities located around the robot 30 based on the facility use information. The facility use unit 31c acquires data required for facility use using a URI indicated in the facility use information. If requested by the travel control unit 31b, the facility use unit 31c executes a process for using the facilities based on the data required for facility use. For example, when an automatic door is used, the facility use unit 31c requests the control device of the automatic door to open the door. Also, when an elevator is used, the facility use unit 31c requests the control device of the elevator to call a car to the current floor and sets the destination floor.

[0030] The traveling control unit 31b outputs an operation instruction to the driving unit 35 based on the position estimated by the position management unit 31a and the route data 34b, and controls the traveling of the robot 30. At this time, if the position management unit 31a has received a rule, the traveling control unit 31b controls the traveling so as to satisfy the received rule. Also, if it is necessary to use a facility, the traveling control unit 31b requests the facility use unit 31c to use the facility.

[0031] The self-location estimation is not limited to the marker position information, and may be performed in combination with other information. Also, the robot 30 may hold in advance the correspondence between the positions of the markers in the building and the marker IDs as building data.

[0032] In the case where the building data is held in advance, the driving control unit 31b can perform control such as, for example, lowering the confidence level of the self-location estimation when a marker that should not be visible is seen while driving according to the marker position information. When the confidence level of the self-location estimation is lowered, the moving speed can be reduced to allow more time for calculation of the self-location estimation. In addition, when the confidence level falls below a threshold, it is desirable to perform a return action. In the return action, when the marker is visible, a candidate for the self-location is generated from the marker position information, and the self-location is estimated by turning on the spot. If the marker is not visible, the marker is searched for by moving at a low speed within a certain range where the vehicle can travel, and if the marker is still not found, an error stop is performed. In addition, the driving control unit 31b also performs a return action when a collision or a traffic jam occurs.

[0033] Fig. 5 is an explanatory diagram of a specific example of the marker data 64a. As shown in Fig. 5, the marker data 64a is data in which marker IDs are associated with marker position information, rules, and facility use information. In this manner, the marker data 64a centrally manages a plurality of types of data with different uses by associating them with the marker IDs.

[0034] The marker position information of the marker data 64a includes a building ID, a floor ID, a marker size, the coordinates of the marker origin in the building coordinate system, the orientation of the marker in the building coordinate system, and the like. The building ID is identification information that uniquely identifies a building. The floor ID is identification information that uniquely identifies a floor. The marker size indicates the physical size of the marker 20 . The coordinates of the marker origin in the building coordinate system indicate the position of the origin, which is the reference position of the marker 20, relative to the building. The orientation of the marker in the building coordinate system indicates, for example, by a quaternion, the direction in which the marker 20 faces relative to the building.

[0035] The position management unit 31a identifies the relative position of the robot 30 with respect to the marker 20 from the appearance of the marker 20 in the image captured by the camera 36 and the size of the marker. By combining this relative position with the coordinates of the marker origin in the building coordinate system and the attitude of the marker in the building coordinate system, the relative position of the robot 30 in the building coordinate system can be estimated.

[0036] The rules of the marker data 64a include speed limits, volume limits, light limits, commands, command area information, and the like. The speed limit indicates a limit to the traveling speed of the robot 30. The volume limit indicates a limit on the volume of a sound when the robot 30 has a task of emitting a sound. The light amount limit is used to reduce the brightness of the screens and LEDs mounted on the robot 30. The commands are restrictions on travel, such as no entry or immediate stop, that are specified based on the positional relationship relative to the marker 20. The command area information defines the shape and size of the area that is the target of the command.

[0037] The facility usage information of the marker data 64a includes the facility type, the coordinates of the facility origin in the marker coordinate system, the facility attitude in the marker coordinate system, the URI of data required for facility usage, and the like. The facility type may be, for example, an elevator or an automatic door. The coordinates of the equipment origin in the marker coordinate system indicate the position of the origin, which is the reference position of the equipment, relative to the marker 20. The attitude of the equipment in the marker coordinate system indicates, for example, by a quaternion, the direction in which the equipment faces with respect to the marker 20. The URI of the data required for facility use indicates, for example, the storage location and file name of various setting files.

[0038] Fig. 6 is a flowchart showing the processing procedure of the building management server 60. Note that, prior to the processing of Fig. 6, the marker data management unit 61a has already executed a step of registering the marker data 64a. 6, first, the marker data providing unit 61b receives a marker ID from the robot 30 (step S101). The marker data providing unit 61b searches the marker data 64a using the received marker ID as a key (step S102).

[0039] The marker data providing unit 61b reads the search results, i.e., marker position information, rules, and facility usage information corresponding to the marker ID, from the marker data 64a, and transmits them to the robot 30 (step S103). After that, the history management unit 61c associates the marker ID received from the robot 30 with the robot ID of the sender and the date and time of reception, and accumulates them in the log data 64b (step S104), and ends the process. In this example, the rule and facility usage information are stored in association with the marker ID, but the rule and facility usage information corresponding to the marker may be generated in real time. Specifically, map data with rules and facility usage information embedded in advance on an area basis may be prepared, the corresponding area may be identified from the marker position information, and the rule and facility usage information to be transmitted to the robot 30 may be generated on demand and in real time.

[0040] FIG. 7 is a flowchart showing a processing procedure related to the traveling control of the robot 30. First, the traveling control unit 31b reads out the route data 34b (step S201). The position management unit 31a identifies the marker 20 from the image captured by the camera 36 (step S202), and transmits the marker ID and the robot ID 34a to the building management server 60 (step S203).

[0041] After step S203, the location management unit 31a receives the marker position information, the rule, and the facility usage information from the building management server 60 (step S204). The location management unit 31a performs self-location estimation using the marker position information received from the building management server 60 (step S205).

[0042] The driving control unit 31b controls driving based on the position estimated by the position management unit 31a and the route data 34b (step S206). At this time, if the position management unit 31a has received a rule, the driving control unit 31b controls driving so as to satisfy the received rule. If it is necessary to use a facility, the facility use unit 31c executes a process required for using the facility. The robot 30 repeatedly executes steps S201 to S206.

[0043] As described above, the system disclosed in the embodiments is a mobile object traffic management system that manages the passage of a robot 30, which is an autonomously moving mobile object, and is characterized by comprising a memory unit 64 that stores marker identification information that identifies a marker 20 installed in a target facility through which the mobile object passes, in association with marker position information that indicates the position of the marker 20 in the target facility, a communication unit 63 that communicates with the mobile object, and a control unit (CPU 61) that, when the marker identification information is received from the mobile object, reads out the marker position information associated with the marker identification information from the memory unit and transmits it to the mobile object. With this configuration and operation, the mobile object traffic management system can efficiently manage the traffic of autonomously moving objects even if the facility manager and the mobile object manager are different persons.

[0044] The storage unit 64 also stores the marker identification information in association with a rule regarding passage in the vicinity of the corresponding marker, and when the rule is associated with the marker identification information received from the moving body, the control unit transmits the rule to the moving body together with the marker position information. Alternatively, the control unit may refer to map data in which rules are associated with areas, and generate a rule to be transmitted to the moving body based on the marker position information. As an example, the rules include any of a speed limit, a light limit, a volume limit, a no entry, and a stop request. The storage unit 64 also stores area information that defines the area to which the rule applies in association with the rule. With this configuration and operation, the mobile object traffic management system can manage the traffic of mobile objects around the marker 20.

[0045] The storage unit 64 also stores the marker identification information in association with facility usage information required for using the facility of the target facility, and when the facility usage information is associated with the marker identification information received from the mobile body, the control unit transmits the facility usage information to the mobile body together with the marker position information. Alternatively, the control unit may refer to map data in which facility usage information is associated with an area, and generate facility usage information to be transmitted to the mobile body based on the marker position information. As an example, the equipment usage information includes the type of equipment and the location and orientation of the target facility relative to the marker. With this configuration and operation, the mobile object traffic control system can allow mobile objects to use facilities such as elevators and automatic doors.

[0046] Furthermore, in the disclosed system, the marker position information includes information identifying the target facility, information identifying a floor within the target facility, and the position and orientation of the marker relative to the target facility. By providing this information, it is possible to manage the passage of mobile objects without being directly involved in the operation of the mobile objects.

[0047] The marker 20 may be one which indicates the marker identification information by an optically readable binary code. With this configuration, the cost of the markers 20 is reduced, and the arrangement of the markers 20 can be easily changed. Furthermore, the maintenance of the markers 20 is easy. For example, even a facility manager who does not have specialized knowledge about the markers 20 can immediately notice if a marker 20 is missing.

[0048] The control unit also accumulates a history of reception of the marker identification information from the moving object. In this configuration, the movement history of the mobile object can be analyzed later.

[0049] The present invention is not limited to the above-mentioned embodiment, and various modifications are included. For example, the above-mentioned embodiment is described in detail to easily explain the present invention, and is not necessarily limited to the embodiment having all the described configurations. Moreover, the present invention is not limited to the deletion of the configurations, and it is also possible to replace or add the configurations. For example, in the above embodiment, a robot that performs work inside a building is illustrated, but the present invention can also be applied to a mobile object that moves outdoors. In addition, the mode of movement is not limited to running, and may be flying, navigating, or the like. [Explanation of symbols]

[0050] 20: marker, 30: robot, 31: CPU, 31a: position management unit, 31b: driving control unit, 31c: equipment utilization unit, 32: memory, 33: communication unit, 34: storage unit, 34a: robot ID, 34b: route data, 35: driving unit, 36: camera, 60: building management server, 61: CPU, 61a: marker data management unit, 61b: marker data provision unit, 61c: history management unit, 62: memory, 63: communication unit, 64: storage unit, 64a: marker data, 64b: log data

Claims

1. A mobile traffic management system that manages the passage of autonomously moving objects, A storage unit that stores marker identification information, which identifies a marker installed in a target facility through which the moving object passes, in association with marker position information, which indicates the position of the marker in the target facility. A communication unit that communicates with the aforementioned mobile body, When the control unit receives the marker identification information from the mobile body, it reads the marker position information associated with the marker identification information from the storage unit and transmits it to the mobile body. Equipped with, The mobile object traffic management system is characterized in that the control unit transmits rules regarding passage in the vicinity of a marker corresponding to the received marker identification information to the mobile object, along with the marker location information.

2. A mobile traffic management system according to claim 1, The storage unit stores the marker identification information in association with rules regarding passage in the vicinity of the corresponding marker. The control unit transmits the rule to the mobile body along with the marker position information if the rule is associated with the marker identification information received from the mobile body. The aforementioned rules are characterized by including either a no-entry rule or a stop request.

3. A mobile traffic management system according to claim 1, The memory unit stores map data associated with the rules concerning traffic, The control unit generates a rule to be notified to the mobile body based on the marker position information and the map data, and transmits the rule to the mobile body along with the marker position information. The aforementioned rules are characterized by including either a no-entry rule or a stop request.

4. A mobile traffic management system according to any one of Claim 1, Claim 2, or Claim 3, The mobile traffic management system is characterized in that the memory unit further stores area information defining the area to which the rule applies.

5. A mobile traffic management system for managing the passage of autonomously moving objects, A storage unit that stores marker identification information, which identifies a marker installed in a target facility through which the moving object passes, in association with marker position information, which indicates the position of the marker in the target facility. A communication unit that communicates with the aforementioned mobile body, When the control unit receives the marker identification information from the mobile body, it reads the marker position information associated with the marker identification information from the storage unit and transmits it to the mobile body. Equipped with, The storage unit stores the marker identification information in association with the equipment usage information necessary when using the equipment of the target facility. A mobile traffic management system characterized in that, when the control unit is associated with the equipment usage information received from the mobile body, it transmits the equipment usage information together with the marker location information to the mobile body.

6. A mobile traffic management system for managing the passage of autonomously moving objects, A storage unit that stores marker identification information, which identifies a marker installed in a target facility through which the moving object passes, in association with marker position information, which indicates the position of the marker in the target facility. A communication unit that communicates with the aforementioned mobile body, When the control unit receives the marker identification information from the mobile body, it reads the marker position information associated with the marker identification information from the storage unit and transmits it to the mobile body. Equipped with, The storage unit stores map data associated with equipment usage information necessary when using the equipment of the target facility. The mobile traffic management system is characterized in that the control unit generates equipment usage information to be notified to the mobile body based on the marker location information and the map data, and transmits the equipment usage information to the mobile body together with the marker location information.

7. A mobile traffic management system according to claim 5 or 6, A mobile traffic management system characterized in that the equipment usage information includes the type of equipment and the location and orientation of the target facility relative to the marker.

8. A mobile traffic management system for managing the passage of autonomously moving mobile bodies, A storage unit that stores marker identification information, which identifies a marker installed in a target facility through which the moving object passes, in association with marker position information, which indicates the position of the marker in the target facility. A communication unit that communicates with the aforementioned mobile body, When the control unit receives the marker identification information from the mobile body, it reads the marker position information associated with the marker identification information from the storage unit and transmits it to the mobile body. Equipped with, A mobile traffic management system characterized in that the marker position information includes information that identifies the target facility, information that identifies the floor within the target facility, and the position and orientation of the marker relative to the target facility.

9. A mobile traffic management system according to any one of Claim 1, Claim 5, Claim 6, or Claim 8, The mobile traffic management system is characterized in that the marker indicates the marker identification information using an optically readable binary code.

10. A mobile traffic management system according to any one of Claim 1, Claim 5, Claim 6, or Claim 8, The control unit is characterized by accumulating a history of receiving the marker identification information from the moving object.

11. A method for managing the passage of autonomously moving objects, The server stores in a storage unit a marker identification information that identifies a marker installed in a target facility through which the mobile object passes, and marker position information that indicates the position of the marker in the target facility, The server receives the marker identification information from the mobile body, The server reads marker position information associated with the marker identification information from the storage unit and transmits it to the mobile body. Includes, A method for managing the passage of a mobile object, characterized in that the server transmits rules regarding passage in the vicinity of a marker corresponding to the marker identification information to the mobile object, along with the marker location information.

12. A method for managing the passage of autonomously moving objects, The server stores in a storage unit a marker identification information that identifies a marker installed in a target facility through which the mobile object passes, and marker position information that indicates the position of the marker in the target facility, The server receives the marker identification information from the mobile body, The server reads marker position information associated with the marker identification information from the storage unit and transmits it to the mobile body. Includes, The storage unit stores the marker identification information in association with the equipment usage information necessary when using the equipment of the target facility. A method for managing the passage of a mobile object, characterized in that, if the server has associated the equipment usage information with the marker identification information received from the mobile object, it transmits the equipment usage information to the mobile object together with the marker location information.

13. A method for managing the passage of autonomously moving objects, The server stores in a storage unit a marker identification information that identifies a marker installed in a target facility through which the mobile object passes, and marker position information that indicates the position of the marker in the target facility, The server receives the marker identification information from the mobile body, The server reads marker position information associated with the marker identification information from the storage unit and transmits it to the mobile body. Includes, The storage unit stores map data associated with equipment usage information necessary when using the equipment of the target facility. A method for managing the passage of a mobile object, characterized in that the server generates equipment usage information to be notified to the mobile object based on the marker location information and the map data, and transmits the equipment usage information to the mobile object together with the marker location information.

14. A method for managing the passage of autonomously moving objects, The server stores in a storage unit a marker identification information that identifies a marker installed in a target facility through which the mobile object passes, and marker position information that indicates the position of the marker in the target facility, The server receives the marker identification information from the mobile body, The server reads marker position information associated with the marker identification information from the storage unit and transmits it to the mobile body. Includes, A method for managing the passage of moving objects, characterized in that the marker position information includes information that identifies the target facility, information that identifies the floor within the target facility, and the position and orientation of the marker relative to the target facility.

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