Moving body management device, security system, moving body management method, and moving body management program

Abstract

To provide a moving body management device, a security system, a moving body management method, and a moving body management program, which manage a movement of an autonomous moving body so as to operate an autonomous moving body more efficiently while maintaining a security of a facility.SOLUTION: A moving body management device 3 of a security system 1 comprises an area management unit 8, a determination unit 9, and a route search unit 10. As to each area 4 of a facility in which an autonomous moving body 2 operates, the area management unit 8 manages the area by updating prohibition specification information, which represents a specification that prohibits an entry of the autonomous moving body, so that the prohibition specification information is associated with each area. The determination unit 9 determines whether or not the autonomous moving body 2 may enter each area 4 based on the prohibition specification information associated with each area 4 and the specification of the autonomous moving body 2. The route search unit 10 searches for a route along which the autonomous moving body 2 travels within the facility based on the determination by the determination unit 9 of whether the autonomous moving body can enter each area 4.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a mobile object management device, a security system, a mobile object management method, and a mobile object management program. [Background technology]

[0002] Patent Document 1 discloses an example of a mobile object control system. The mobile object control system unlocks locked doors in a facility to allow an autonomous mobile object to pass through while ensuring the security of the facility. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-130616 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the mobile object control system of Patent Document 1, the autonomous mobile object moves according to a route included in a preset static scenario. Therefore, when the operational situation such as the use of the area in the facility or the entry authority changes dynamically, the autonomous mobile object may not be able to operate according to the predetermined scenario. In this case, the autonomous mobile object may not be able to operate efficiently in the facility.

[0005] The present disclosure relates to solving such problems. The present disclosure provides a mobile object management device, a security system, a mobile object management method, and a mobile object management program that manage the movement of an autonomous mobile object so that the autonomous mobile object can be operated more efficiently while maintaining the security of a facility. [Means for solving the problem]

[0006] The mobile body management device of the present disclosure includes an area management unit that manages, while updating, each of a plurality of areas of a facility into which an autonomous mobile body moving through the facility may enter, prohibition specification information that represents specifications that prohibit entry so as to be linked to each of the plurality of areas, a judgment unit that judges whether or not the autonomous mobile body can enter each of the plurality of areas based on the prohibition specification information linked to each of the plurality of areas and the specifications of the autonomous mobile body, and a route search unit that searches for a route for the autonomous mobile body to move through the facility based on the entry ability of each of the plurality of areas judged by the judgment unit.

[0007] The security system according to the present disclosure comprises an entry / exit management device that manages the entry and exit of an autonomous mobile body moving through the facility for at least one of a plurality of areas of the facility into which the autonomous mobile body may enter, and a mobile body management device, wherein the mobile body management device comprises an area management unit that manages each of the plurality of areas while updating the restriction specification information that represents specifications that restrict entry so as to link the areas, a judgment unit that judges whether the autonomous mobile body can enter each of the plurality of areas based on the restriction specification information linked to each of the plurality of areas and the specifications of the autonomous mobile body, and a route search unit that searches for a route for the autonomous mobile body to move through the facility based on the entry ability of each of the plurality of areas judged by the judgment unit. The security system according to the present disclosure comprises an elevator management device that manages the use of elevators in any of a plurality of areas of a facility into which an autonomous mobile body moving through the facility can enter, and a mobile body management device, wherein the mobile body management device comprises an area management unit that manages each of the plurality of areas while updating restriction specification information that represents specifications that restrict entry so as to link the areas, a judgment unit that judges whether the autonomous mobile body can enter each of the plurality of areas based on the restriction specification information linked to each of the plurality of areas and the specifications of the autonomous mobile body, and a route search unit that searches for a route for the autonomous mobile body to move through the facility based on the ability to enter each of the plurality of areas judged by the judgment unit.

[0008] The mobile object management method of the present disclosure is a method in which a computer manages, while updating, each of a plurality of areas of a facility into which an autonomous mobile object moving through the facility may enter, determining whether or not the autonomous mobile object can enter each of the plurality of areas based on the prohibition specification information linked to each of the plurality of areas and the specifications of the autonomous mobile object, and searching for a route for the autonomous mobile object to move through the facility based on the ability to enter each of the plurality of areas.

[0009] The mobile object management program of the present disclosure causes a computer to manage, while updating, each of a plurality of areas of a facility into which an autonomous mobile object moving through the facility may enter, determine whether or not the autonomous mobile object can enter each of the plurality of areas based on the prohibition specification information linked to each of the plurality of areas and the specifications of the autonomous mobile object, and search for a route for the autonomous mobile object to move through the facility based on the ability to enter each of the plurality of areas. Effect of the Invention

[0010] According to the mobile object management device, security system, mobile object management method, or mobile object management program of the present disclosure, it is possible to manage the movement of autonomous mobile objects so as to operate the autonomous mobile objects more efficiently while maintaining the security of the facility. [Brief description of the drawings]

[0011] [Figure 1] 1 is a configuration diagram of a security system according to a first embodiment. [Diagram 2] 1 is a functional block diagram showing a configuration of a security system according to a first embodiment. [Figure 3A] 4 is a table illustrating an example of area information stored in a storage unit according to the first embodiment. [Figure 3B] 4 is a table illustrating an example of moving object information stored in a storage unit according to the first embodiment. [Figure 3C] 4 is a table illustrating an example of prohibited specification information stored in a storage unit according to the first embodiment. [Figure 4A] 4 is a flowchart showing an example of the operation of the security system according to the first embodiment. [Figure 4B] 4 is a flowchart showing an example of the operation of the security system according to the first embodiment. [Diagram 5] 5 is a flowchart showing an example of the operation of the security system according to the first embodiment. [Figure 6] FIG. 2 is a diagram illustrating an example of patrol of an autonomous moving body according to the first embodiment. [Figure 7] 1 is a hardware configuration diagram of a main part of a security system according to a first embodiment. [Figure 8] 13 is a table illustrating an example of prohibited specification information stored in a storage unit according to the second embodiment. [Figure 9] 10 is a flowchart showing an example of the operation of the security system according to the second embodiment. [Figure 10] FIG. 11 is a functional block diagram showing a configuration of a security system according to a third embodiment. [Figure 11A] 13 is a table showing an example of inter-area distance information stored in a storage unit according to the third embodiment. [Figure 11B] 13 is a table showing an example of elevator use information stored in a storage unit according to the third embodiment. [Figure 11C] 13 is a table illustrating an example of moving object information stored in a storage unit according to the third embodiment. [Figure 11D] 13 is a table illustrating an example of work information stored in a storage unit according to the third embodiment. [Figure 12A] 13 is a flowchart showing an example of the operation of the security system according to the third embodiment. [Figure 12B] 13 is a flowchart showing an example of the operation of the security system according to the third embodiment. [Figure 13] 13 is a flowchart showing an example of the operation of the security system according to the third embodiment. [Figure 14]13 is a table showing an example of calculation of a scheduled passage time by a route planning unit according to the third embodiment. [Figure 15A] 13 is a diagram showing an example of a plan of a path for movement of an autonomous moving body by a path planner according to the third embodiment. FIG. [Figure 15B] 13 is a diagram showing an example of a plan of a path for movement of an autonomous moving body by a path planner according to the third embodiment. FIG. [Figure 16] 13 is a flowchart showing an example of the operation of the security system according to the fourth embodiment. [Figure 17] FIG. 13 is a diagram showing an example of a plan of a path for movement of an autonomous moving body by a path planner according to the fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The embodiments for carrying out the subject of the present disclosure will be described with reference to the accompanying drawings. In each drawing, the same or corresponding parts are given the same reference numerals, and duplicated descriptions are appropriately simplified or omitted. Note that the subject of the present disclosure is not limited to the following embodiments, and any component of the embodiment may be modified or omitted within the scope of the gist of the present disclosure.

[0013] Embodiment 1 FIG. 1 is a configuration diagram of a security system 1 according to the first embodiment.

[0014] The security system 1 is applied to a facility. The security system 1 is a system that enhances security in the facility. The facility is, for example, an indoor facility, an outdoor facility, or a facility that is a combination of these. The facility is, for example, made up of one or more buildings. The facility may be, for example, a part of a building.

[0015] One or more autonomous mobile bodies 2 operate in a facility. Each autonomous mobile body 2 is a robot, a drone, or other mobile equipment that moves autonomously in the facility. The autonomous mobile body 2 moves around the facility based on, for example, a movement instruction from the mobile body management device 3, and provides services such as security, cleaning, and transportation. In this example, the autonomous mobile body 2 provides services by moving so as to patrol the facility periodically or irregularly. The mobile body management device 3 is a device that performs information processing related to management of the movement of the autonomous mobile body 2 in the facility. The mobile body management device 3 is composed of, for example, one or more server computers. A part or all of the mobile body management device 3 may be provided in the facility or outside the facility. A part or all of the functions of the mobile body management device 3 may be implemented by processing or storage resources on a cloud service.

[0016] The facility includes a plurality of areas 4. Each area 4 is a space in the facility through which the autonomous mobile body 2 or the user of the facility, who is a person, can pass. The area 4 of the facility includes, for example, a meeting corner or a conference room where the user holds a meeting. The area 4 of the facility includes, for example, an office. The area 4 of the facility includes, for example, a home of the autonomous mobile body 2. The home of the autonomous mobile body 2 is a place where the autonomous mobile body 2 that is not in operation waits in the facility. The autonomous mobile body 2 moves within the facility from the home and returns to the home after the service is completed. In the home of the autonomous mobile body 2, for example, a charger for the autonomous mobile body 2 may be arranged. The area 4 of the facility includes, for example, an elevator. The area 4 that is an elevator includes, for example, a space inside the car where the user gets on, and a space such as a landing where the user who gets on the car waits. In this example, doors are provided at the entrances of the meeting corner, the conference room, and the office. The area 4 in the facility may include a meeting corner without a door. In this example, no door is provided at the entrance to the home of the autonomous moving body 2. The area 4 of the facility may be one floor in the facility. For example, the area 4 of the facility may be a single floor such as a VIP floor.

[0017] An entrance / exit management device 5 is applied in a facility. The entrance / exit management device 5 is a device that manages the entrance and exit of the autonomous mobile object 2 and the user to an area 4 in the facility. The entrance / exit management device 5 is configured by, for example, one or more server computers. A part or all of the entrance / exit management device 5 may be provided in the facility or outside the facility. A part or all of the functions of the entrance / exit management device 5 may be implemented by processing or storage resources on a cloud service. The entrance / exit management device 5 is equipped with a function for controlling locking and unlocking of an electric lock on a door provided at the entrance to the area 4, for example.

[0018] In a facility, an elevator management device 6 is applied. The elevator management device 6 is a device that manages the operation of an elevator installed in the facility. The elevator management device 6 may be configured with, for example, one or more server computers. The elevator management device 6 may include, for example, a control panel that controls the running of an elevator car, a group management panel that manages the operation of multiple elevator cars, and the like. A part or all of the elevator management device 6 may be provided in the facility, or may be provided outside the facility. A part or all of the functions of the elevator management device 6 may be implemented by processing or storage resources on a cloud service. The elevator management device 6 is equipped with, for example, a function of accepting registration of an elevator call.

[0019] In this example, the security system 1 includes a mobile object management device 3, an entrance / exit management device 5, and an elevator management device 6. The devices constituting the security system 1, such as the mobile object management device 3, the entrance / exit management device 5, and the elevator management device 6, are configured to be able to communicate with each other via a communication network, such as the Internet or a telephone line network. The security system 1 may be newly applied to a facility to which the entrance / exit management device 5, the elevator management device 6, and the like are already applied.

[0020] FIG. 2 is a functional block diagram showing a configuration of the security system 1 according to the first embodiment.

[0021] The mobile object management device 3 includes a storage unit 7, an area management unit 8, a determination unit 9, a route search unit 10, and a mobile object control unit 11.

[0022] The storage unit 7 is a part equipped with a function of storing information. The storage unit 7 may be configured by a single piece of hardware, or may be configured by multiple pieces of hardware. The storage unit 7 configured by multiple pieces of hardware may store different types of information for each piece of hardware, for example. The storage unit 7 stores, for example, area information, moving body information, and prohibited specification information. The area information includes, for example, information such as the position of each area 4. The moving body information includes, for example, information such as the specifications of the autonomous moving body 2. The prohibited specification information includes, for example, information specifying the specifications of the autonomous moving body 2 that are prohibited from entering each area 4. The prohibited specification information changes, for example, depending on the usage status of each area 4.

[0023] The area management unit 8 is a part equipped with a function of managing the prohibited specification information linked to each area 4. In this example, the area management unit 8 manages the prohibited specification information stored in the storage unit 7 while updating it in real time. The area management unit 8 updates the prohibited specification information based on information on the usage status of each area 4 acquired from, for example, the entrance / exit management device 5 or the elevator management device 6. For example, in the case where an operation panel or the like for switching the usage status of the area 4, such as "vacant" or "in use," is provided in each area 4 such as a conference room, the area management unit 8 may update the prohibited specification information based on information from the operation panel or the like. The usage status of each area 4 may be set, for example, by remote control.

[0024] The determination unit 9 determines whether or not the autonomous moving body 2 can enter each area 4 based on the prohibited specification information linked to each area 4 and the specifications of the autonomous moving body 2. For example, when a specific specification is specified as prohibited specification information for a certain area 4, the determination unit 9 determines whether the autonomous moving body 2 is equipped with the specific specification. At this time, when any specification of the autonomous moving body 2 is included in the prohibited specification information for the area 4, the determination unit 9 determines that the entry of the autonomous moving body 2 into the area 4 is prohibited. On the other hand, when the autonomous moving body 2 is not equipped with any specification included in the prohibited specification information for the area 4, the determination unit 9 determines that the entry of the autonomous moving body 2 into the area 4 is permitted.

[0025] The route search unit 10 is a part equipped with a function of searching for a route along which the autonomous mobile body 2 moves through a facility. In this example, the route search unit 10 searches for a route for the autonomous mobile body 2 based on the possibility of entry into each area 4 determined by the determination unit 9. For example, the route search unit 10 may search for a route for subsequent movement through a facility while the autonomous mobile body 2 is moving through the facility. In this example, the route search unit 10 searches for a route using a preset tour area list. The tour area list is a list of areas 4 through which the autonomous mobile body 2 moves in each tour. The tour area list is stored in advance in the storage unit 7 or the like in association with the autonomous mobile body 2. In this example, the autonomous mobile body 2 moves so as to start from the area 4, which is its home, and return to the area 4, which is its home, in each tour. For this reason, the tour area list is configured as a list having the area 4, which is its home, at the beginning and end. The route search unit 10 searches for a route for the movement of the autonomous moving body 2, for example, by editing a preset tour area list based on the result of the determination by the determination unit 9 as to whether or not entry into each area 4 is permitted.

[0026] The mobile object control unit 11 is a unit equipped with a function of controlling the movement of the autonomous mobile object 2 in a facility. The mobile object control unit 11 controls the autonomous mobile object 2, for example, according to a route searched by the route search unit 10. The mobile object control unit 11 waits until a patrol start time at which the autonomous mobile object 2 starts moving for patrol. The patrol start time is, for example, a time at a regular or irregular timing that is set in advance. When the patrol start time arrives, the mobile object control unit 11 starts controlling the autonomous mobile object 2 to move according to the route searched by the route search unit 10.

[0027] Next, examples of various data used in the security system 1 will be described with reference to FIG. FIG. 3A is a table illustrating an example of area information stored in the storage unit 7 according to the first embodiment. FIG. 3B is a table illustrating an example of moving object information stored in storage unit 7 according to the first embodiment. FIG. 3C is a table illustrating an example of prohibited specification information stored in the storage unit 7 according to the first embodiment.

[0028] As shown in FIG. 3A, the area information is associated with a unique area ID (ID: IDentifier) ​​that identifies each area 4. The area information includes, for example, information on the name of each area 4. The area information includes, for example, information on the floor on which each area 4 is provided. The area information includes information on the attributes of each area 4. The attributes are, for example, "door", "platform", or "elevator". An area 4 with the attribute "door" is, for example, an area 4 with a door provided at the entrance / exit. An area 4 with the attribute "platform" is, for example, an area 4 that is the home of the autonomous moving body 2. An area 4 with the attribute "elevator" is, for example, an elevator provided in a facility. For an area 4 with the attribute "elevator", since the area 4 spans multiple floors, a "null" value may be set as information on the floor on which the area 4 is provided. The area information may include these other pieces of information about each area 4.

[0029] As shown in FIG. 3B, the moving body information is associated with a moving body ID that identifies each autonomous moving body 2. The moving body information includes, for example, information on the attributes of the autonomous moving body 2. The attributes of the autonomous moving body 2 include, for example, information representing services provided by the autonomous moving body 2. The attributes of the autonomous moving body 2 are, for example, a "security robot," a "cleaning robot," or a "transport robot." The moving body information includes, for example, information on the specifications of devices mounted on each autonomous moving body 2. The specifications of the autonomous moving body 2 include, for example, "camera," "recording," "large," or "noise." The specification "camera" indicates that a camera that records images by shooting is mounted on the autonomous moving body 2. The specification "recording" indicates that a microphone that records sound is mounted on the autonomous moving body 2. The specification "large" indicates that the dimensions or weight of the autonomous moving body 2 are larger than a preset range. The specification "noise" indicates that the autonomous moving body 2 generates noise at a preset level or higher when in operation. The specification "noise" is, for example, a specification of a cleaning robot that cleans by suction. The specification "noise" is an example of environmental impact information that affects the environment of the area 4. The specification information of the autonomous moving body 2 may include other specifications, or may be subdivided by type or performance. For example, the specification "camera" may be subdivided by type of camera, such as an infrared camera or a visible light camera, or may be subdivided by performance such as resolution. The moving body information may be associated with a model ID that identifies the model or type of the autonomous moving body 2.

[0030] As shown in FIG. 3C, the prohibition specification information is associated with an area ID that identifies each area 4. The prohibition specification information specifies the specifications of the autonomous moving body 2 that is prohibited from entering each area 4. The prohibition specification information may specify multiple specifications for one area 4. Note that there may be an area 4 in a facility that does not specify a specification for which entry is prohibited. In this example, the specification "camera" and the specification "audio recording" are specified for the area C. At this time, an autonomous moving body 2 equipped with at least one of the specifications "camera" or the specification "audio recording" is prohibited from entering the area C. In this example, for example, when the specification "camera" is specified for the area C, regardless of whether the autonomous moving body 2 is in an operating state that enables the camera function, if the autonomous moving body 2 is equipped with a camera function as a specification, the autonomous moving body 2 is prohibited from entering the area C. The same applies to other specifications and areas 4. In this example, the specification "large" and the specification "noise" are specified for the area A. At this time, an autonomous moving body 2 equipped with at least one of the specifications "large" or the specification "noise" is prohibited from entering the area A. In this example, the specifications "camera", "audio recording" and "noise" are specified for area B. At this time, an autonomous moving body 2 equipped with at least one of the specifications "camera", "audio recording" or "noise" is prohibited from entering area B. In this example, the specification "large" is specified for area E. At this time, an autonomous moving body 2 equipped with the specification "large" is prohibited from entering area E. In this example, no specifications are specified for area D. At this time, the autonomous moving body 2 is not prohibited from entering area D. Note that the prohibited specification information may be associated with the type or attribute of area 4.

[0031] The prohibition specification information is managed while being updated, for example, by the area management unit 8. For example, when the usage status of the area 4, which is a conference room, is "vacant", the area management unit 8 updates the prohibition specification information so as not to specify the specification for prohibiting entry to the area 4. On the other hand, when the usage status of the area 4, which is a conference room, is "in use", the area management unit 8 updates the prohibition specification information so as to specify "camera", "recording", and "noise" as the specification for prohibiting entry to the area 4. Note that, when the usage status of the area 4, which handles information of relatively low confidentiality, is "in use", the area management unit 8 may update the prohibition specification information so as to specify only "noise" as the specification for prohibiting entry to the area 4. The correspondence of the prohibition specification according to the area 4 and the usage status may be set in advance by, for example, a facility manager, or may be set each time by a user of the area 4.

[0032] Next, an example of the operation of the security system 1 will be described with reference to FIGS. 4A, 4B, and 5 are flowcharts showing an example of the operation of the security system 1 according to the first embodiment.

[0033] 4A and 4B show an example of the operation of the mobile object management device 3 with respect to the autonomous mobile object 2 when it is a patrol start time for the autonomous mobile object 2 to start moving for patrol. When starting the processing of FIG. 4A and FIG. 4B, the route search unit 10 reads a patrol area list that is preset for the autonomous mobile object 2.

[0034] In step S101 of Fig. 4A, the route search unit 10 reads out area 4 at the top of the tour area list. The route search unit 10 deletes the read out area 4 from the tour area list. The route search unit 10 sets the read out area 4 as the departure area. After that, the operation of the security system 1 proceeds to step S102.

[0035] In step S102, the route search unit 10 reads out area 4 at the top of the travel area list. The route search unit 10 deletes the read out area 4 at the top from the travel area list. The route search unit 10 sets the read out area 4 as the destination area. After that, the operation of the security system 1 proceeds to step S103.

[0036] In step S103, the route search unit 10 determines whether a valid area 4 is set in the destination area. For example, if the tour area list is already empty at the start of step S102, a valid area 4 is not set in the destination area at the end of this step. On the other hand, if one or more areas 4 remain in the tour area list at the start of step S102, a valid area 4 is set in the destination area at the end of this step. If a valid area 4 is not set in the destination area, the operation of the security system 1 regarding the current tour of the autonomous moving body 2 ends. On the other hand, if a valid area 4 is set in the destination area, the operation of the security system 1 proceeds to step S104.

[0037] In step S104, the route search unit 10 determines whether the departure area and the destination area are the same area 4. If these areas 4 are the same area 4, the operation of the security system 1 proceeds to step S102. On the other hand, if these areas 4 are different areas 4, the operation of the security system 1 proceeds to step S105.

[0038] In step S105, the route search unit 10 determines whether the departure area and the destination area are on the same floor. If these areas 4 are on different floors, the operation of the security system 1 proceeds to step S106. On the other hand, if these areas 4 are on the same floor, the operation of the security system 1 proceeds to step S111 in FIG. 4B.

[0039] In step S106, the route search unit 10 searches for a movement route from the current position of the autonomous moving body 2 to the area 4, which is an elevator. The moving body control unit 11 moves the autonomous moving body 2 to the area 4, which is an elevator. In this example, the moving body control unit 11 moves the autonomous moving body 2 to the elevator hall. The route search unit 10 waits until the autonomous moving body 2 arrives in front of the area 4. After that, the operation of the security system 1 proceeds to step S107.

[0040] In step S107, the route search unit 10 transmits a hall call request to the elevator control device 6. After that, the operation of the security system 1 proceeds to step S108.

[0041] In step S108, the mobile object control unit 11 moves the autonomous mobile object 2 to the area 4, which is an elevator. In this example, the mobile object control unit 11 moves the autonomous mobile object 2 to the inside of the elevator car. The path search unit 10 waits until the autonomous mobile object 2 arrives at the area 4. After that, the operation of the security system 1 proceeds to step S109.

[0042] In step S109, the route search unit 10 transmits a car call request to the elevator control device 6. Thereafter, the operation of the security system 1 proceeds to step S110.

[0043] In step S110, the mobile object control unit 11 moves the autonomous mobile object 2 to the front of the area 4, which is an elevator, when the elevator car arrives at a floor in the destination area. In this example, the mobile object control unit 11 moves the autonomous mobile object 2 to the elevator landing. The path search unit 10 waits until the autonomous mobile object 2 arrives in front of the area 4. Thereafter, the operation of the security system 1 proceeds to step S111 in FIG. 4B.

[0044] In step S111 of Fig. 4B, the route search unit 10 searches for a moving route from the current position of the autonomous moving body 2 to in front of the destination area. The moving body control unit 11 moves the autonomous moving body 2 to in front of the destination area. The route search unit 10 waits until the autonomous moving body 2 arrives in front of the area 4. Thereafter, the operation of the security system 1 proceeds to step S112.

[0045] In step S112, the determination unit 9 determines whether or not the autonomous moving body 2 can enter the destination area. When the determination unit 9 determines that entry is not permitted, the operation of the security system 1 proceeds to step S102 in Fig. 4A. On the other hand, when the determination unit 9 determines that entry is permitted, the operation of the security system 1 proceeds to step S113.

[0046] In step S113, the route search unit 10 determines whether the destination area has a "door" attribute. If the destination area has the "door" attribute, the operation of the security system 1 proceeds to step S114. On the other hand, if the destination area does not have the "door" attribute, the operation of the security system 1 proceeds to step S115.

[0047] In step S114, the route search unit 10 transmits a request to unlock the door for entry into the destination area to the entrance / exit management device 5. When a notification is received from the entrance / exit management device 5 that the door has been unlocked in response to the request, the operation of the security system 1 proceeds to step S115. On the other hand, when the entrance / exit management device 5 determines that entry is not permitted and does not unlock the door, the operation of the security system 1 proceeds to step S120.

[0048] In step S115, the mobile object control unit 11 causes the autonomous mobile object 2 to enter the interior of the destination area. The mobile object control unit 11 operates the autonomous mobile object 2 so that the autonomous mobile object 2 can perform work such as providing services in the destination area. The autonomous mobile object 2 provides services such as cleaning services, security services, or transportation services in the destination area. When there is no work for the autonomous mobile object 2 to perform in the destination area, the autonomous mobile object 2 may simply pass through the destination area. Thereafter, the operation of the security system 1 proceeds to step S116.

[0049] In step S116, the route search unit 10 waits until the work in the destination area of ​​the autonomous moving body 2 is completed. When the destination area is the home of the autonomous moving body 2, the route search unit 10 may determine that the work is completed when the autonomous moving body 2 arrives at the area 4. Thereafter, the operation of the security system 1 proceeds to step S117.

[0050] In step S117, the route search unit 10 determines whether the destination area has a "door" attribute. If the destination area has the "door" attribute, the operation of the security system 1 proceeds to step S118. On the other hand, if the destination area does not have the "door" attribute, the operation of the security system 1 proceeds to step S119.

[0051] In step S118, the route search unit 10 transmits an unlocking request for exiting the destination area to the entrance / exit management device 5. The entrance / exit management device 5 unlocks the door in response to the request. The route search unit 10 receives a notification of unlocking from the entrance / exit management device 5. After that, the operation of the security system 1 proceeds to step S119.

[0052] In step S119, the mobile object control unit 11 moves the autonomous mobile object 2 to the front of the destination area 4. The route search unit 10 waits until the autonomous mobile object 2 arrives in front of the area 4. Thereafter, the operation of the security system 1 proceeds to step S120.

[0053] In step S120, the route search unit 10 sets the destination area to the new departure area. After that, the operation of the security system 1 proceeds to step S102 in FIG. 4A.

[0054] Fig. 5 shows an example of an operation of the determination unit 9 to determine whether entry is permitted. The process of Fig. 5 is an example of the internal process of step S112 of Fig. 4B. When starting the process of Fig. 5, the determination unit 9 acquires information for identifying the target autonomous moving body 2 and the target area 4.

[0055] In step S201, the determination unit 9 reads moving body information about the target autonomous moving body 2 from, for example, the storage unit 7. Thereafter, the operation of the security system 1 proceeds to step S202.

[0056] In step S202, the determination unit 9 reads prohibition specification information for the target area 4 from, for example, the storage unit 7. Thereafter, the operation of the security system 1 proceeds to step S203.

[0057] In step S203, it is determined whether any of the specifications specified in the prohibition specification information as prohibiting entry into the target area 4 is installed in the target autonomous moving body 2. When any of the specifications specified in the prohibition specification information is installed in the autonomous moving body 2, the determination unit 9 determines that entry of the target autonomous moving body 2 into the target area 4 is prohibited. On the other hand, when none of the specifications specified in the prohibition specification information is installed in the autonomous moving body 2, the determination unit 9 determines that entry of the target autonomous moving body 2 into the target area 4 is permitted. Thereafter, the operation of the security system 1 related to the determination by the determination unit 9 of entry permission or not is terminated.

[0058] Next, an example of the patrol of the autonomous mobile body 2 in a facility will be described with reference to FIG. FIG. 6 is a diagram showing an example of a tour of the autonomous moving body 2 according to the first embodiment.

[0059] In this example, the tour area list preset in the autonomous mobile body 2 has area D, area A, area C, area B, and area D registered in that order from the top. Area D is the home of the autonomous mobile body 2 located on the first floor. Area A is a meeting corner located on the first floor. Area C is an office located on the second floor. Area B is a conference room located on the first floor. Area E is an elevator that operates between the first and second floors. Area E is not included in the tour area list.

[0060] First, the route search unit 10 sets the area D as the departure area, and the area A as the destination area. The route search unit 10 searches for a moving route from the area D to in front of the area A. The mobile body control unit 11 moves the autonomous moving body 2 to in front of the area A, which is the destination area. The judgment unit 9 judges whether the autonomous moving body 2 can enter the area A. In this example, the judgment unit 9 judges that the entry is permitted. Note that the judgment unit 9 may judge whether the autonomous moving body 2 can enter the destination area before departing from the departure area. Since a door is provided at the entrance of the area A, the route search unit 10 transmits a request for entry into the area A to the entrance and exit management device 5. After unlocking the door at the entrance of the area A, the mobile body control unit 11 causes the autonomous moving body 2 to enter the interior of the area A. The mobile body control unit 11 causes the autonomous moving body 2 to perform work within the area A. After completing the work in area A, the mobile object control unit 11 transmits a request to exit area A to the entrance / exit management device 5. After unlocking the door at the entrance to area A, the mobile object control unit 11 causes the autonomous mobile object 2 to exit area A. The mobile object control unit 11 causes the autonomous mobile object 2 to move to the front of area A.

[0061] Next, the route search unit 10 sets the area A as a new departure area, and sets the area C as a new destination area. Since the areas A and C are located on different floors, the route search unit 10 searches for a travel route that uses the area E, which is an elevator. The route search unit 10 searches for a travel route from the area A to in front of the area E on the first floor. The mobile body control unit 11 moves the autonomous mobile body 2 to in front of the area E on the first floor. The route search unit 10 transmits a request for a hall call for the first floor to the elevator management device 6. After the elevator car arrives at the first floor and the car door opens, the mobile body control unit 11 moves the autonomous mobile body 2 to the inside of the elevator car. The route search unit 10 transmits a request for a car call for the second floor to the elevator management device 6. After the elevator car arrives at the second floor and the car door opens, the mobile body control unit 11 moves the autonomous mobile body 2 from the inside of the elevator car. The mobile body control unit 11 moves the autonomous mobile body 2 to in front of the area E on the second floor. The route search unit 10 searches for a movement route from the area E on the second floor to the area C. The mobile body control unit 11 moves the autonomous mobile body 2 to the area C. The judgment unit 9 judges whether the autonomous mobile body 2 can enter the area C. In this example, the judgment unit 9 judges that the entry is permitted. The judgment unit 9 may judge whether the autonomous mobile body 2 can enter the destination area before the autonomous mobile body 2 leaves the departure area. Since a door is provided at the entrance of the area C, the route search unit 10 transmits a request for entry into the area C to the entrance / exit management device 5. After unlocking the door at the entrance of the area C, the mobile body control unit 11 causes the autonomous mobile body 2 to enter the inside of the area C. The mobile body control unit 11 causes the autonomous mobile body 2 to perform work in the area C. After completing the work in the area C, the mobile body control unit 11 transmits a request for exiting the area C to the entrance / exit management device 5. After unlocking the entrance door to area C, the moving object control unit 11 causes the autonomous moving object 2 to exit from inside area C. The moving object control unit 11 causes the autonomous moving object 2 to move to the front of area C.

[0062] Next, the route search unit 10 sets the area C as a new departure area, and sets the area B as a new destination area. Since the areas C and B are located on different floors, the route search unit 10 searches for a moving route that uses the area E, which is an elevator. The route search unit 10 searches for a moving route from the area C to in front of the area E on the second floor. The mobile body control unit 11 moves the autonomous moving body 2 to in front of the area E on the second floor. The route search unit 10 transmits a request for a hall call for the second floor to the elevator management device 6. After the elevator car arrives at the second floor and the car door opens, the mobile body control unit 11 moves the autonomous moving body 2 to inside the elevator car. The route search unit 10 transmits a request for a car call for the first floor to the elevator management device 6. After the elevator car arrives at the first floor and the car door opens, the mobile body control unit 11 moves the autonomous moving body 2 from inside the elevator car. The mobile body control unit 11 moves the autonomous moving body 2 to in front of the area E on the first floor. The route search unit 10 searches for a movement route from the area E on the first floor to the area B. The mobile body control unit 11 moves the autonomous mobile body 2 to the area B. The judgment unit 9 judges whether the autonomous mobile body 2 can enter the area B. In this example, the judgment unit 9 judges that the entry is permitted. The judgment unit 9 may judge whether the autonomous mobile body 2 can enter the destination area before the autonomous mobile body 2 leaves the departure area. Since a door is provided at the entrance of the area B, the route search unit 10 transmits a request for entry into the area B to the entrance / exit management device 5. After unlocking the door at the entrance of the area B, the mobile body control unit 11 causes the autonomous mobile body 2 to enter the inside of the area B. The mobile body control unit 11 causes the autonomous mobile body 2 to perform work in the area B. After completing the work in the area B, the mobile body control unit 11 transmits a request to exit the area B to the entrance / exit management device 5. After unlocking the entrance door to area B, the moving object control unit 11 causes the autonomous moving object 2 to exit from inside area B. The moving object control unit 11 causes the autonomous moving object 2 to move to the front of area B.

[0063] Next, the route search unit 10 sets the area B as a new departure area, and sets the area D as a new destination area. The route search unit 10 searches for a moving route from the area B to the area D. The mobile body control unit 11 moves the autonomous moving body 2 to the area D. The judgment unit 9 judges whether the autonomous moving body 2 can enter the area D. In this example, the judgment unit 9 judges that the entry is possible. The judgment unit 9 may judge whether the autonomous moving body 2 can enter the destination area before leaving the departure area. The judgment unit 9 may also unconditionally judge that the entry is possible for the area 4, which is the home of the autonomous moving body 2. Since there is no door at the entrance of the area D, the mobile body control unit 11 causes the autonomous moving body 2 to enter the inside of the area B as it is. Since there is no work to be done in the area D, the mobile body control unit 11 judges that the work of the autonomous moving body 2 is completed when it arrives at the area D.

[0064] Next, the route search unit 10 sets the area D as the new departure area. At this time, since a valid area 4 is not set as the new destination area, the route search unit 10 ends the operation related to the current tour of the autonomous moving body 2.

[0065] As described above, the mobile object management device 3 of the security system 1 according to the first embodiment includes the area management unit 8, the determination unit 9, and the route search unit 10. The area management unit 8 manages each area 4 of the facility in which the autonomous mobile object 2 operates by updating the prohibition specification information representing the specification for prohibiting entry so as to link the prohibition specification information to the area 4. The determination unit 9 determines whether or not the autonomous mobile object 2 can enter each area 4 based on the prohibition specification information linked to each area 4 and the specifications of the autonomous mobile object 2. The route search unit 10 searches for a route for the autonomous mobile object 2 to move through the facility based on the permission or non-permission of entry into each area 4 determined by the determination unit 9.

[0066] With this configuration, the prohibition specification information, which indicates specifications that prohibit entry into each area 4, is dynamically updated according to the usage status of each area 4, etc. When an area 4 that cannot be entered due to conditions such as specifications is on the patrol route, the autonomous mobile body 2, for example, skips the area 4 and patrols without passing through it. In this way, the autonomous mobile body 2 can flexibly patrol the facility according to the status of each area 4 and the specifications of the autonomous mobile body 2, so that the autonomous mobile body 2 can operate more efficiently while maintaining the security of the facility.

[0067] The prohibition specification information also includes information that prohibits the entry of an autonomous moving body 2 having a function of recording audio or video as a specification. This further enhances the security of the facility in terms of information management and the like. The prohibition specification information also includes information that prohibits the entry of an autonomous moving body 2 that emits noise during operation as environmental impact information that affects the environment of the area 4. This makes it less likely that the operation of the autonomous moving body 2 will interfere with users who use each area 4. The prohibition specification information also includes information that prohibits the entry of the autonomous moving body 2 based on its size or weight. This makes it possible to determine in advance the area 4 into which the autonomous moving body 2 is not desired to enter due to its size, etc., and therefore makes the movement of the autonomous moving body 2 in the facility more efficient. Note that a case in which the autonomous moving body 2 is not desired to enter an area 4 may also include a case in which the autonomous moving body 2 is physically able to enter the area 4 in terms of its size or weight, but would interfere with users who use the area 4 due to reasons such as changing seats or cleaning, and therefore it is desired to temporarily restrict the entry of the autonomous moving body 2 into the area 4. This may also include a case where, as a result of changing the seating arrangement, it is desired to permanently restrict entry of the autonomous moving body 2 into the area 4.

[0068] The prohibition specification information includes information prohibiting the entry of an autonomous moving body 2 having a function of outputting voice guidance or music as environmental impact information that affects the environment of the area 4. This makes it difficult for the voice output by the autonomous moving body 2 to disturb users who use each area 4. The prohibition specification information also includes information prohibiting the entry of an autonomous moving body 2 having a function of outputting light from a lighting fixture or the like as environmental impact information that affects the environment of the area 4. This makes it difficult for the light emitted by the autonomous moving body 2 to disturb users who use each area 4. The prohibition specification information also includes information prohibiting the entry of an autonomous moving body 2 that may emit odors such as a foul odor or a bad odor as it operates, such as a cleaning robot during or after cleaning work, as environmental impact information that affects the environment of the area 4. This makes it difficult for users who use each area 4 to feel uncomfortable due to the odor emitted by the autonomous moving body 2. The prohibition specification information also includes information regarding the appearance of the autonomous moving body 2. The appearance of the autonomous moving body 2 is at least one of the shape, pattern, and color of the main body of the autonomous moving body 2. This makes it less likely that users using each area 4 will feel uncomfortable due to the appearance of the autonomous moving body 2.

[0069] It should be noted that some or all of the functions of the security system 1 may be installed in the mobile object management device 3, the entrance / exit management device 5, the elevator management device 6, the autonomous mobile object 2, or other devices.

[0070] Next, an example of the hardware configuration of the security system 1 will be described with reference to FIG. FIG. 7 is a hardware configuration diagram of the main part of the security system 1 according to the first embodiment.

[0071] Each function of the security system 1 may be realized by a processing circuit. The processing circuit includes at least one processor 100a and at least one memory 100b. The processing circuit may include at least one dedicated hardware 200 in addition to or in place of the processor 100a and the memory 100b.

[0072] When the processing circuit includes the processor 100a and the memory 100b, each function of the security system 1 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. The program is stored in the memory 100b. The processor 100a realizes each function of the security system 1 by reading and executing the program stored in the memory 100b.

[0073] The processor 100a is also called a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. The memory 100b is composed of a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM.

[0074] Where the processing circuitry comprises dedicated hardware 200, the processing circuitry may be implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0075] Each function of the security system 1 can be realized by a processing circuit. Alternatively, each function of the security system 1 can be realized collectively by a processing circuit. Some of the functions of the security system 1 may be realized by dedicated hardware 200, and the other parts may be realized by software or firmware. In this way, the processing circuit realizes each function of the security system 1 by dedicated hardware 200, software, firmware, or a combination of these.

[0076] Embodiment 2 In the second embodiment, differences from the example disclosed in the first embodiment will be described in particular detail. For features not described in the second embodiment, any of the features of the example disclosed in the first embodiment may be adopted.

[0077] FIG. 8 is a table showing an example of prohibited specification information stored in the storage unit 7 according to the second embodiment.

[0078] The prohibition specification information includes information on prohibition depending on time for the specification. In this example, the prohibition specification information specifies a specification for prohibiting entry by dividing a time period. The prohibition specification information includes information on the prohibition start time and the prohibition end time. During the time period from the prohibition start time to the prohibition end time, entry into the area 4 of an autonomous moving body 2 equipped with a specification specified in the prohibition specification information for each area 4 is prohibited. In this example, for the area C, the prohibition start time "March 14, 2023 13:00" and the prohibition end time "March 14, 2023 15:00", as well as the specification "camera" and the specification "audio recording" are specified. At this time, during the time period from 13:00 to 15:00 on March 14, 2023, entry into the area C of an autonomous moving body 2 equipped with at least one of the specification "camera" or the specification "audio recording" is prohibited. Note that the prohibition specification information may specify specifications by dividing a plurality of time periods for a single area 4. The prohibition start time and prohibition end time may be specified periodically, for example, "every Wednesday at 15:00." The prohibition specification information may include a specification that is not dependent on time, for example, based on the usage status of the area 4 inputted through an operation panel or the like.

[0079] Next, an example of the operation of the security system 1 will be described with reference to FIG. FIG. 9 is a flowchart showing an example of the operation of the security system 1 according to the second embodiment. 9 shows an example of the operation of the determination unit 9 to determine whether entry is permitted. When it is time for the autonomous mobile body 2 to start moving for patrol, the security system 1 performs the same process as that shown in FIG. 4, for example. The process shown in FIG. 9 is an example of the process in step S112 in FIG. 4B. When starting the process shown in FIG. 9, the determination unit 9 obtains information for identifying the target autonomous mobile body 2 and the target area 4. When the specifications are specified for the same area 4 by dividing it into a plurality of time periods, the determination unit 9 may perform the process shown in FIG. 9 for each of the plurality of time periods.

[0080] In steps S201 and S202 in Fig. 9, the determination unit 9 performs the same processes as those in steps S201 and S202 in Fig. 5. In the process in Fig. 9, after step S202, the operation of the security system 1 proceeds to step S211.

[0081] In step S211, the determination unit 9 determines whether the current time is included in the time period from the prohibition start time to the prohibition end time. If the specification in the prohibition specification information is time-independent, the determination unit 9 may determine that the current time is included in the time period in which entry of the specification is prohibited. If the current time is included in the time period, the operation of the security system 1 proceeds to step S212. On the other hand, if the current time is not included in the time period, the determination unit 9 determines that entry of the target autonomous moving body 2 into the target area 4 is permitted. Thereafter, the operation of the security system 1 related to the determination by the determination unit 9 of whether entry is permitted or not ends.

[0082] In step S212, it is determined whether the target autonomous moving body 2 is equipped with any of the specifications specified in the prohibition specification information as prohibiting entry into the target area 4 during the target time period. When the autonomous moving body 2 is equipped with any of the specifications specified in the prohibition specification information, the determination unit 9 determines that entry of the target autonomous moving body 2 into the target area 4 is prohibited. On the other hand, when the autonomous moving body 2 is not equipped with any of the specifications specified in the prohibition specification information, the determination unit 9 determines that entry of the target autonomous moving body 2 into the target area 4 is permitted. Thereafter, the operation of the security system 1 related to the determination by the determination unit 9 of entry permission or not is terminated.

[0083] As described above, in the mobile object management device 3 according to the second embodiment, the prohibited specification information includes time-dependent prohibition information regarding the specifications of the autonomous moving object 2. The determination unit 9 determines whether the autonomous moving object 2 can enter each area 4 according to the current time. The route search unit 10 searches for a route for the autonomous moving object 2 to move through the facility, based on the possibility of entry into each area 4 determined by the determination unit 9 according to the current time.

[0084] With this configuration, the prohibition specification information, which indicates specifications that prohibit entry into each area 4, is dynamically updated according to the reservation status of each area 4, etc. When an area 4 that cannot be entered due to conditions such as specifications is on the patrol route, the autonomous mobile body 2, for example, skips the area 4 and patrols without passing through it. In this way, the autonomous mobile body 2 can flexibly patrol the facility according to the reservation status of each area 4 and the specifications of the autonomous mobile body 2, so that the autonomous mobile body 2 can operate more efficiently while maintaining the security of the facility.

[0085] Embodiment 3 In the third embodiment, differences from the examples disclosed in the first or second embodiment will be described in particular detail. For features not described in the third embodiment, any of the features of the examples disclosed in the first or second embodiment may be adopted.

[0086] FIG. 10 is a functional block diagram showing a configuration of a security system 1 according to the third embodiment.

[0087] The storage unit 7 stores area information, moving body information, prohibited specification information, area 4 distance information, elevator use information, work information, etc. The area 4 distance information includes, for example, information on the distance the autonomous moving body 2 moves when moving between each area 4. The elevator use information includes information on the time required for the autonomous moving body 2 to move between each floor. The work information includes information on the time required for the autonomous moving body 2 to perform work in each area 4, etc.

[0088] The mobile body management device 3 includes a route planning unit 12. The route planning unit 12 is a part that includes a function of planning a route for the autonomous mobile body 2 to move through a facility before the autonomous mobile body 2 starts moving, such as patrolling. The route planning unit 12 calculates a planned passage time of the autonomous mobile body 2 moving along the planned route for each area 4. The planned passage time includes a planned arrival time to the target area 4, or a planned departure time from the target area 4. The determination unit 9 determines whether the autonomous mobile body 2 can enter each area 4 according to the planned passage time calculated by the route planning unit 12. The route planning unit 12 searches for a route for the autonomous mobile body 2 based on the possibility of entering each area 4 determined by the determination unit 9 according to the planned passage time. In this example, the route planning unit 12 performs processes such as route planning and calculation of the planned passage time using the patrol area list and various information stored in the storage unit 7. The route planning unit 12 plans a route for movement of the autonomous mobile body 2, for example, by generating a planned tour area list by editing the tour area list based on the result of the decision made by the decision unit 9 as to whether or not entry into each area 4 is possible according to the planned passage time. The planned tour area list is a list of areas 4 in which the autonomous mobile body 2 plans to move in its next tour. The planned tour area list is stored in the storage unit 7 or the like in association with the autonomous mobile body 2. Like the tour area list, the planned tour area list is configured as a list having the home area 4 at the beginning and end.

[0089] The route planning unit 12 may generate a planned tour area list by rearranging the order of the tour area list, depending on whether each area 4 can be entered at the scheduled time of passage. For example, the route planning unit 12 registers an area 4 in the tour area list that is determined to be non-enterable at the scheduled time of passage in the non-passable list. The route planning unit 12 recalculates the scheduled time of passage when the autonomous mobile body 2 passes through the area 4 registered in the non-passable list before returning to the home at the end of the tour. The route planning unit 12 inserts each area 4 registered in the non-passable list just before the end of the planned tour area list, depending on whether the autonomous mobile body 2 can be entered at the recalculated scheduled time of passage. The route planning unit 12 manages the success or failure of inserting each area 4 registered in the non-passable list into the planned tour area list using a passable area flag. The passable area flag is a flag that indicates whether any area 4 registered in the non-passable list can be inserted into the planned tour area list.

[0090] The route search unit 10 searches for a route for movement of the autonomous mobile body 2, for example, by editing the planned tour area list generated by the route planning unit 12 based on the result of the determination by the determination unit 9 as to whether or not entry into each area 4 is possible, as in the first or second embodiment. The route search unit 10 searches for a route for subsequent movement within a facility, for example, while the autonomous mobile body 2 is moving within the facility.

[0091] The mobile object control unit 11 controls the autonomous mobile object 2 to move, for example, according to a route planned in advance by the route planning unit 12 and a route searched for by the route searching unit 10 during movement. After the route planning unit 12 plans a route, the mobile object control unit 11 waits until a patrol start time at which the autonomous mobile object 2 starts moving for patrol. When the patrol start time arrives, the mobile object control unit 11 starts controlling the autonomous mobile object 2 to move according to a route planned in advance by the route planning unit 12 and a route searched for by the route searching unit 10 during movement.

[0092] Next, examples of various data used in the security system 1 will be described with reference to FIG. FIG. 11A is a table illustrating an example of distance information between sections 4 stored in storage unit 7 according to the third embodiment. FIG. 11B is a table illustrating an example of elevator use information stored in the storage unit 7 according to the third embodiment. FIG. 11C is a table illustrating an example of moving object information stored in storage unit 7 according to the third embodiment. FIG. 11D is a table illustrating an example of work information stored in the storage unit 7 according to the third embodiment.

[0093] As shown in FIG. 11A, the inter-area 4 distance information is associated with a pair of two mutually different areas 4. In the inter-area 4 distance information of this example, the pair of area A and area B is associated with a distance of "20 m" that the autonomous moving body 2 travels when moving between the areas 4. In the inter-area 4 distance information of this example, the pair of area A and area E is associated with a distance of "10 m" that the autonomous moving body 2 travels when moving between the areas 4. Here, area E is an elevator that operates between a plurality of floors. In this case, the pair of area A and area E is associated with the distance between area A and area E of the floor on which area A is provided.

[0094] As shown in Fig. 11B, the elevator usage information is associated with two pairs of different floors. One pair of floors may be, for example, an ordered pair. In the distance information between zones 4 in this example, the pair of the first and second floors is associated with an average waiting time to board the car of "16 seconds" and a running time of the car when moving between floors of "15 seconds."

[0095] 11C, the moving body information is associated with a moving body ID that identifies each autonomous moving body 2. The moving body information includes, for example, information on the moving speed of the autonomous moving body 2. In the moving body information of this example, the average moving speed of the autonomous moving body 2, "0.05 m / s", is associated with the moving body Q, which is the autonomous moving body 2.

[0096] 11D, the work information is associated with the pair of the autonomous moving body 2 and the area 4. In this example of the work information, the pair of the moving body Q and the area A is associated with the time required for the moving body Q to perform the work in the area A, which is "600 seconds."

[0097] Next, an example of the operation of the security system 1 will be described with reference to FIGS. 12A, 12B, and 13 are flowcharts showing an example of the operation of the security system 1 according to the third embodiment.

[0098] 12A and 12B show an example of the operation of the mobile body management device 3 when planning a route for the movement of the autonomous mobile body 2. The route of the autonomous mobile body 2 is planned, for example, at a preset regular or irregular timing. When multiple autonomous mobile bodies 2 are operating in a facility, the route planning unit 12 may sequentially execute the process of FIG. 12 for each mobile body. When starting the processes of FIG. 12A and FIG. 12B, the route planning unit 12 reads a tour area list preset for the autonomous mobile body 2. At this time, the route planning unit 12 sets the planned tour area list and the no-passage list to an empty list as an initialization process.

[0099] 12A, the route planning unit 12 reads the moving body information of the autonomous moving body 2. Thereafter, the operation of the security system 1 proceeds to step S302.

[0100] In step S302, the route planning unit 12 reads out area 4 at the top of the tour area list. The route planning unit 12 deletes the read out area 4 from the tour area list. The route planning unit 12 sets the read out area 4 as the starting area. After that, the operation of the security system 1 proceeds to step S303.

[0101] In step S303, the route planning unit 12 sets the patrol start time of the autonomous moving body 2 to the scheduled departure time of the departure area. After that, the operation of the security system 1 proceeds to step S304.

[0102] In step S304, the route planning unit 12 adds the departure area to the planned visiting area list. After that, the operation of the security system 1 proceeds to step S305.

[0103] In step S305, the route planning unit 12 initializes the travel area flag to “none.” After that, the operation of the security system 1 proceeds to step S306.

[0104] In step S306, the route planning unit 12 performs a selection process of the destination area. If the destination area is not set by the selection process, the operation of the security system 1 related to the planning of the route of the current tour of the autonomous moving body 2 ends. On the other hand, if the destination area is set by the selection process, the operation of the security system 1 proceeds to step S307 in FIG. 12B.

[0105] 12B, the route planning unit 12 reads the area information of the departure area and the destination area. After that, the operation of the security system 1 proceeds to step S308.

[0106] In step S308, the route planning unit 12 determines whether the departure area and the destination area are on the same floor. If these areas 4 are on different floors, the operation of the security system 1 proceeds to step S309. On the other hand, if these areas 4 are on the same floor, the operation of the security system 1 proceeds to step S311.

[0107] In step S309, the route planning unit 12 reads elevator use information for a pair of a floor where the departure area is located and a floor where the destination area is located. After that, the operation of the security system 1 proceeds to step S310.

[0108] In step S310, the route planning unit 12 calculates the time required for the autonomous moving body 2 to use the elevator based on the elevator usage information that has been read. In this example, the route planning unit 12 determines, for example, the sum of the read values ​​of the average waiting time until boarding the car and the car's running time when moving between floors as the time required for the autonomous moving body 2 to use the elevator. Thereafter, the operation of the security system 1 proceeds to step S311.

[0109] In step S311, the route planning unit 12 reads the distance information between the zones 4 for the pair of the departure zone and the destination zone. The route planning unit 12 sets the read distance as the distance of the movement of the autonomous moving body 2 from the departure zone to the destination zone. When the departure zone and the destination zone are on different floors, the route planning unit 12 may read information on the distance when passing through the zone 4 that is an elevator. That is, the route planning unit 12 may calculate the distance of the movement of the autonomous moving body 2 from the departure zone to the destination zone by reading and adding the distance from the departure zone to the zone 4 that is an elevator and the distance from the zone 4 that is an elevator to the destination zone. Thereafter, the operation of the security system 1 proceeds to step S312.

[0110] In step S312, the route planning unit 12 calculates the estimated time of arrival at the destination area. For example, the route planning unit 12 calculates the time of movement of the autonomous moving body 2 from the departure area to the destination area by dividing the distance of movement of the autonomous moving body 2 acquired in step S311 by the movement speed of the autonomous moving body 2. When the departure area and the destination area are on different floors, the route planning unit 12 adds the time required to use the elevator to the movement time of the autonomous moving body 2. The route planning unit 12 determines the time that is the elapsed time of movement of the autonomous moving body 2 from the estimated time of departure from the departure area as the estimated time of arrival at the destination area. After that, the operation of the security system 1 proceeds to step S313.

[0111] In step S313, the determination unit 9 determines whether or not the autonomous mobile body 2 can enter the destination area at the estimated arrival time. The determination of whether or not entry is possible at the estimated arrival time is processed in the same manner as the determination of whether or not entry is possible at the current time in Fig. 9. When the determination unit 9 determines that entry is possible, the operation of the security system 1 proceeds to step S314. On the other hand, when the determination unit 9 determines that entry is not possible, the operation of the security system 1 proceeds to step S319.

[0112] In step S314, the route planning unit 12 reads the work information for the pair of the autonomous moving body 2 and the destination area. After that, the operation of the security system 1 proceeds to step S315.

[0113] In step S315, the route planning unit 12 calculates the scheduled departure time for the destination area. For example, the route planning unit 12 sets the scheduled departure time for the destination area to the time that is elapsed from the scheduled arrival time for the destination area by the time required for the work read as the work information. After that, the operation of the security system 1 proceeds to step S316.

[0114] In step S316, the route planning unit 12 sets the travel area flag to “Yes.” After that, the operation of the security system 1 proceeds to step S317.

[0115] In step S317, the route planning unit 12 adds the destination area to the planned visiting area list. After that, the operation of the security system 1 proceeds to step S318.

[0116] In step S318, the route planning unit 12 sets the destination area to the new departure area. After that, the operation of the security system 1 proceeds to step S306 in FIG. 12A.

[0117] In step S319, the route planning unit 12 adds the destination area to the no-passage list. After that, the operation of the security system 1 proceeds to step S306 in FIG. 12A.

[0118] An example of a destination area selection process is shown in Fig. 13. The process in Fig. 13 is an example of an internal process in step S306 in Fig. 12A. When starting the process in Fig. 13, the route planning unit 12 reads the departure area, the travel area list, the no-passage list, and the pass area flag.

[0119] In step S401, the route planning unit 12 reads out area 4 at the top of the tour area list. The route planning unit 12 deletes the read out area 4 from the tour area list. The route planning unit 12 sets the read out area 4 as the destination area. After that, the operation of the security system 1 proceeds to step S402.

[0120] In step S402, the route planning unit 12 determines whether a valid area 4 is set in the destination area. If a valid area 4 is not set in the destination area, it is assumed that the destination area could not be set, and the operation of the security system 1 related to the selection process ends. On the other hand, if a valid area 4 other than the home of the autonomous moving body 2 is set in the destination area, the operation of the security system 1 proceeds to step S403. Also, if the home of the autonomous moving body 2 is set in the destination area, the operation of the security system 1 proceeds to step S404.

[0121] In step S403, the route planning unit 12 determines whether the departure area and the destination area are the same area 4. If these areas 4 are the same area 4, the operation of the security system 1 proceeds to step S401. On the other hand, if these areas 4 are different areas 4, it is assumed that the destination area has been set, and the operation of the security system 1 related to the selection process ends.

[0122] In step S404, the route planning unit 12 determines the state of the travel area flag. If the travel area flag is "absent", the operation of the security system 1 proceeds to step S403. On the other hand, if the travel area flag is "present", the operation of the security system 1 proceeds to step S405.

[0123] In step S405, the route planning unit 12 adds the no-passage list to the end of the patrol area list. After that, the operation of the security system 1 proceeds to step S406.

[0124] In step S406, the route planning unit 12 clears the no-passage list to an empty list. After that, the operation of the security system 1 proceeds to step S407.

[0125] In step S407, the route planning unit 12 adds area 4, which is the home of the autonomous mobile body 2, to the end of the tour area list. After that, the operation of the security system 1 proceeds to step S408.

[0126] In step S408, the route planning unit 12 sets the travel area flag to “none.” After that, the operation of the security system 1 proceeds to step S401.

[0127] Next, an example of calculation of a scheduled passage time will be described with reference to FIG. FIG. 14 is a table showing an example of calculation of a scheduled passage time by the route planning unit 12 according to the third embodiment.

[0128] Here, an example will be described in which the facilities and their travel area list are similar to those shown in Fig. 6. In this example, the route planning unit 12 calculates a scheduled travel time for a moving object Q, which is an autonomous moving object 2. The travel start time of the moving object Q is set to 8:00.

[0129] The route planning unit 12 sets the area D as the departure area and the area A as the destination area. Since area D and area A are located on the same floor, the route planning unit 12 obtains the distance between these areas 4 of "30 m" from the inter-area 4 distance information for the pair of areas D and A. The route planning unit 12 calculates the travel time of the moving object Q to the area A as 600 seconds by dividing the distance "30 m" by the moving speed of the moving object Q, "0.05 per second." The route planning unit 12 determines that the estimated arrival time of the mobile object Q in the area A is 8:10, which is 600 seconds after the tour start time of 8:00. The route planning unit 12 acquires the task time "600 seconds" from the task information for the pair of the moving object Q and the area A. The route planning unit 12 determines that the scheduled departure time of the mobile object Q from the area A is 8:20, which is 600 seconds after the scheduled arrival time in the area A of 8:10.

[0130] Next, the route planning unit 12 sets the area A as a new departure area, and the area C as a new destination area. Since the areas A and C are located on different floors, the route planning unit 12 calculates the expected travel time assuming that the area E, which is an elevator, is used. The route planning unit 12 acquires the distance between these areas 4, "10 m", from the area 4 distance information for the pair of the area A and the area E on the first floor. The route planning unit 12 calculates the travel time of the mobile object Q to the area E on the first floor as 200 seconds by dividing the distance "10 m" by the travel speed of the mobile object Q, "0.05 per second". The route planning unit 12 sets 8:23, which is 200 seconds after the scheduled departure time of the area A, 8:10, as the expected arrival time of the mobile object Q in the area E on the first floor. The route planning unit 12 acquires the ascent / descent time of "16 seconds" and the average waiting time of "15" seconds based on the elevator information for the pair of the first and second floors. The route planning unit 12 determines the sum of these, 31 seconds, as the elevator usage time of the mobile unit Q. The route planning unit 12 determines the time 31 seconds after 8:10, the scheduled arrival time in the area E on the first floor, as the scheduled arrival time of the mobile unit Q in the area E on the second floor. The route planning unit 12 obtains the distance "13 m" between these areas 4 from the distance information between the areas 4 for the pair of the area E and the area C on the second floor. The route planning unit 12 calculates the travel time of the mobile unit Q to the area C as 260 seconds by dividing the distance "13 m" by the travel speed of the mobile unit Q, "0.05 per second." The route planning unit 12 determines 8:28, 260 seconds after the scheduled arrival time in the area E on the second floor, as the scheduled arrival time of the mobile unit Q in the area C. The route planning unit 12 obtains the work time "1800 seconds" from the work information for the pair of the mobile unit Q and the area C. The route planning unit 12 determines that 8:58, which is 1800 seconds after the scheduled arrival time at area C, is the scheduled departure time of the mobile object Q from area C.

[0131] The route planning unit 12 similarly calculates the planned passage times for the subsequent areas B and D.

[0132] Next, an example in which there is an area 4 that is determined to be inaccessible at the scheduled passage time will be described with reference to FIG. 15A and 15B are diagrams illustrating an example of a plan of a path for the movement of the autonomous moving body 2 by the path planner 12 according to the third embodiment.

[0133] As shown in FIG. 15A, if it is determined that area C is not accessible when moving through area 4 in the order of the tour area list, area C is temporarily registered in the no-passage list. The route planning unit 12 recalculates the planned passage time for area C in the case of entering area C after passing through other areas 4 excluding the home of the autonomous mobile body 2 without passing through area C. If it is determined that area C is accessible at the recalculated planned passage time, the route planning unit 12 adds area C to the end of area 4 excluding the home in the planned tour area list. At this time, the route planning unit 12 deletes area C from the no-passage list. Since area C registered in the no-passage list could be inserted into the planned tour area list, the pass area flag is set to "Yes".

[0134] On the other hand, as shown in FIG. 15B, when the area C is determined to be inaccessible even at the recalculated scheduled travel time, the route planning unit 12 does not add the area C to the planned tour area list. Since the area C registered in the non-passable list could not be inserted into the planned tour area list, the passable area flag is set to "none". In this example, the area C not registered in the planned tour area list becomes the area 4 in which the autonomous moving body 2 does not pass during the current tour. At this time, the non-passable list is stored, for example, in the storage unit 7. The facility manager or the like may take measures such as manual work or additional work by the autonomous moving body 2 by referring to the stored non-passable list. Note that, when there is another area 4 in which the autonomous moving body 2 could not pass during the actual tour, the route search unit 10 may add the area 4 to the non-passable list stored in the storage unit 7.

[0135] As described above, the mobile body management device 3 according to the third embodiment includes the route planning unit 12. The route planning unit 12 plans a route for the autonomous mobile body 2 to move through a facility before the autonomous mobile body 2 starts moving. The route planning unit 12 calculates a planned passage time for the autonomous mobile body 2 moving through the planned route for each area 4. The determination unit 9 determines whether the autonomous mobile body 2 can enter each area 4 according to the planned passage time calculated by the route planning unit 12. The route planning unit 12 plans a route for the autonomous mobile body 2 based on the possibility of entry into each area 4 determined by the determination unit 9. The route searching unit 10 searches for a route for the autonomous mobile body 2 to move through a facility after the autonomous mobile body 2 starts moving and before the autonomous mobile body 2 ends moving, based on the possibility of entry into each area 4 determined by the determination unit 9.

[0136] With this configuration, the movement route is planned in advance, so that the possibility of the autonomous moving body 2 stopping in front of the no-entry area 4 while operating within the facility and thus reducing the efficiency of movement is reduced. This allows the autonomous moving body 2 to operate more efficiently while maintaining the security of the facility.

[0137] In addition, in planning the path of the autonomous moving body 2, the determination unit 9 may determine whether entry is permitted at the scheduled time of departure from each area 4 in addition to whether entry is permitted at the scheduled time of arrival at each area 4. In this case, when it is determined that entry is not permitted at either the scheduled time of arrival or the scheduled time of departure for a certain area 4, for example, the path planning unit 12 may register the area 4 in a no-passage list. Similarly, the determination unit 9 may determine whether entry is permitted at the scheduled time while the autonomous moving body 2 is staying in each area 4.

[0138] In addition, since the route planning unit 12 determines whether or not an area 4 can pass through from the top of the tour area list, the area 4 closer to the top of the tour area list is more likely to have a chance of passage of the autonomous mobile body 2. For this reason, the route planning unit 12 may generate the planned tour area list after rearranging the order of the tour area list as an initialization process in the plan for each tour. For example, the route planning unit 12 may generate the planned tour area list by adopting the tour area list as it is for odd-numbered tours, and may generate the planned tour area list by using the tour area list in reverse order for even-numbered tours. In addition, the route planning unit 12 may generate the planned tour area list by shifting the order of each area 4 in the tour area list by one cyclically for each tour, except for the area 4 that is the home at the top and bottom. This allows each area 4 to have a fairer chance of passage of the autonomous mobile body 2.

[0139] Embodiment 4 In the fourth embodiment, differences from the examples disclosed in the first to third embodiments will be described in particular detail. For features not described in the fourth embodiment, any of the features of the examples disclosed in the first to third embodiments may be adopted.

[0140] When there is an area 4 through which the autonomous moving body 2 was unable to pass during the previous patrol, the route planning unit 12 plans to give priority to passing through that area 4 during the current patrol.

[0141] FIG. 16 is a flowchart showing an example of the operation of the security system 1 according to the fourth embodiment. FIG. 16 shows an example of a destination area selection process performed by the route planning unit 12. When planning a patrol route for the autonomous mobile body 2, the security system 1 performs, for example, the same process as that shown in Fig. 12. The process in Fig. 16 is an example of the internal process in step S306 in Fig. 12A. When starting the process in Fig. 16, the route planning unit 12 reads the departure area, the patrol area list, the pass area flag, the current no-pass list, and the previous no-pass list stored in the storage unit 7 or the like.

[0142] In step S501, the route planning unit 12 determines whether the area 4 on the same floor as the departure area is registered in the previous no-passage list. When the area 4 on the same floor as the departure area is registered in the previous no-passage list, the route planning unit 12 sets the area 4 as the destination area. Thereafter, the operation of the security system 1 proceeds to step S502. On the other hand, when the area 4 on the same floor as the departure area is not registered in the previous no-passage list, the operation of the security system 1 proceeds to step S503.

[0143] In step S502, the route planning unit 12 deletes the destination area from the travel area list. After that, it is assumed that the destination area has been set, and the operation of the security system 1 relating to the selection process ends.

[0144] In step S503, the route planning unit 12 reads out area 4 at the top of the tour area list. The route planning unit 12 deletes the read out area 4 from the tour area list. The route planning unit 12 sets the read out area 4 as the destination area. After that, the operation of the security system 1 proceeds to step S504.

[0145] In step S504, the route planning unit 12 determines whether a valid area 4 is set in the destination area. If a valid area 4 is not set in the destination area, it is assumed that the destination area could not be set, and the operation of the security system 1 related to the selection process ends. On the other hand, if a valid area 4 other than the home of the autonomous moving body 2 is set in the destination area, the operation of the security system 1 proceeds to step S505. Also, if the home of the autonomous moving body 2 is set in the destination area, the operation of the security system 1 proceeds to step S506.

[0146] In step S505, the route planning unit 12 determines whether the departure area and the destination area are the same area 4. If these areas 4 are the same area 4, the operation of the security system 1 proceeds to step S503. On the other hand, if these areas 4 are different areas 4, it is assumed that the destination area has been set, and the operation of the security system 1 related to the selection process ends.

[0147] In step S506, the route planning unit 12 determines the state of the travel area flag. If the travel area flag is "absent", the operation of the security system 1 proceeds to step S507. On the other hand, if the travel area flag is "present", the operation of the security system 1 proceeds to step S508.

[0148] In step S507, the route planning unit 12 adds the contents of the current no-passage list to the end of the previous no-passage list. After that, the operation of the security system 1 proceeds to step S505.

[0149] In step S508, the route planning unit 12 determines whether the previous no-passage list is an empty list. If the previous no-passage list is an empty list, the operation of the security system 1 proceeds to step S509. On the other hand, if the previous no-passage list is not an empty list, the operation of the security system 1 proceeds to step S510.

[0150] In step S509, the route planning unit 12 adds the current no-passage list to the end of the patrol area list. After that, the operation of the security system 1 proceeds to step S512.

[0151] In step S510, the route planning unit 12 adds the previous no-passage list to the end of the patrol area list, and then adds the current no-passage list to the end of the previous no-passage list. After that, the operation of the security system 1 proceeds to step S511.

[0152] In step S511, the route planning unit 12 deletes overlapping areas 4 in the tour area list. In this example, the route planning unit 12 leaves the area 4 closest to the beginning of the overlapping areas 4, and deletes the other areas 4. Thereafter, the operation of the security system 1 proceeds to step S512.

[0153] In step S512, the route planning unit 12 clears the current no-passage list to an empty list. After that, the operation of the security system 1 proceeds to step S513.

[0154] In step S513, the route planning unit 12 adds area 4, which is the home of the autonomous mobile body 2, to the end of the tour area list. After that, the operation of the security system 1 proceeds to step S514.

[0155] In step S514, the route planning unit 12 sets the travel area flag to “none.” After that, the operation of the security system 1 proceeds to step S503.

[0156] Next, an example of a route plan for the autonomous moving body 2 will be described with reference to FIG. FIG. 17 is a diagram showing an example of a plan of a path for the movement of the autonomous moving body 2 by the path planner 12 according to the fourth embodiment.

[0157] In this example, area C is registered in the previous no-passage list as area 4 where the autonomous mobile body 2 did not pass during the previous patrol. Also, in this example, areas A, B, and C, as well as area D, which is the home of the autonomous mobile body 2, are on the same floor.

[0158] Since area C was registered in the previous no-passage list, it is planned to be passed through immediately after departing from the platform. At this time, area C is deleted from the tour area list. After that, the other areas 4 except area C are added to the planned tour area list in sequence based on the passability determined by the decision unit 9 according to the scheduled time of passage.

[0159] As described above, in the mobile body management device 3 according to the fourth embodiment, the route planning unit 12 plans a route such that the area 4 stored as the area 4 through which the autonomous mobile body 2 did not pass during the previous movement of the autonomous mobile body 2 is given priority during the current movement of the autonomous mobile body 2. Since the route is planned so that the area 4 that could not be patrolled is given priority, the autonomous mobile body 2 can have a more equal opportunity to pass through each area 4 of the facility.

[0160] To summarize the above explanation, possible configurations of the technology according to the present disclosure include the configurations listed below as appendices. (Appendix 1) an area management unit that manages, while linking and updating prohibition specification information that indicates a specification that prohibits entry, each of a plurality of areas of a facility into which an autonomous moving body moving in the facility may enter; A determination unit that determines whether or not the autonomous moving body can enter each of the plurality of areas based on the prohibition specification information associated with each of the plurality of areas and a specification of the autonomous moving body; a route search unit that searches for a route for the autonomous moving body to move through the facility based on the possibility of entry into each of the plurality of areas determined by the determination unit; A mobile management device comprising: (Appendix 2) The prohibited specification information includes information of time-dependent prohibitions on the specification, the determination unit determines whether or not the autonomous moving body can enter each of the plurality of areas depending on time. 2. A mobility management device as described in claim 1. (Appendix 3) a route planning unit that plans a route for the autonomous mobile body to move through the facility before the autonomous mobile body starts moving and calculates a scheduled passage time for the autonomous mobile body moving along the planned route for each of the plurality of areas; Equipped with the determination unit determines whether or not the autonomous moving body can enter each of the plurality of areas according to the scheduled passage time calculated by the route planning unit; The route planning unit plans a route of the autonomous moving body based on the possibility of entry into each of the plurality of areas determined by the determination unit, the route search unit searches for a route for the autonomous moving body to move through the facility based on the possibility of entry into each of the plurality of areas determined by the determination unit after the start and before the end of movement of the autonomous moving body; 3. A mobility management device as described in claim 2. (Appendix 4) the autonomous moving body moves through the facility repeatedly, either periodically or irregularly; The route planning unit plans a route such that an area that was stored as an area through which the autonomous moving body did not pass during a previous movement of the autonomous moving body is passed with priority during a current movement of the autonomous moving body. 4. A mobility management device as described in claim 3. (Appendix 5) The prohibition specification information includes information prohibiting entry of an autonomous moving object having a function of recording audio or video as a specification. A mobile management device according to any one of Supplementary Note 1 to Supplementary Note 4. (Appendix 6) The prohibition specification information includes information prohibiting entry of an autonomous moving body having environmental impact information as a specification that affects an environment of at least one of the plurality of areas. A mobile management device according to any one of Supplementary Note 1 to Supplementary Note 5. (Appendix 7) The autonomous moving body having the environmental impact information as a specification includes an autonomous moving body that generates noise when operating. 7. A mobility management device as described in claim 6. (Appendix 8) The autonomous moving body having the environmental impact information as a specification includes an autonomous moving body that emits an odor during operation. 8. A mobile management device according to claim 6 or 7. (Appendix 9) The autonomous moving body having the environmental impact information as a specification includes an autonomous moving body having a function of emitting at least one of light and sound. A mobile management device according to any one of Supplementary Note 6 to Supplementary Note 8. (Appendix 10) The prohibited specification information includes information prohibiting entry of an autonomous moving body due to size or weight. A mobile management device according to any one of Supplementary Note 1 to Supplementary Note 9. (Appendix 11) The prohibition specification information includes information that prohibits entry of the autonomous moving body based on the appearance of the autonomous moving body. A mobile management device according to any one of Supplementary Note 1 to Supplementary Note 10. (Appendix 12) An entrance / exit management device that manages the entrance / exit of an autonomous mobile body moving in a facility to at least one of a plurality of areas of the facility that the autonomous mobile body can enter; A mobility management device; Equipped with The mobile object management device includes: an area management unit that manages, while linking and updating restriction specification information that indicates a specification for restricting entry to each of the plurality of areas; A determination unit that determines whether or not the autonomous moving body can enter each of the plurality of areas based on the restriction specification information associated with each of the plurality of areas and a specification of the autonomous moving body; a route search unit that searches for a route for the autonomous moving body to move through the facility based on the possibility of entry into each of the plurality of areas determined by the determination unit; Equipped with Security system. (Appendix 13) An elevator management device that manages the use of an elevator in any one of a plurality of areas of a facility that an autonomous mobile body moving in the facility can enter; A mobility management device; Equipped with The mobile object management device includes: an area management unit that manages, while linking and updating restriction specification information that indicates a specification for restricting entry to each of the plurality of areas; A determination unit that determines whether or not the autonomous moving body can enter each of the plurality of areas based on the restriction specification information associated with each of the plurality of areas and a specification of the autonomous moving body; a route search unit that searches for a route for the autonomous moving body to move through the facility based on the possibility of entry into each of the plurality of areas determined by the determination unit; Equipped with Security system. (Appendix 14) The computer Managing, while updating, prohibition specification information that indicates a specification that prohibits entry into each of a plurality of areas of a facility into which an autonomous moving body moving in the facility may enter, in a linked manner; determining whether or not the autonomous moving body can enter each of the plurality of areas based on the prohibition specification information associated with each of the plurality of areas and a specification of the autonomous moving body; searching for a route for the autonomous moving body to move through the facility based on whether or not entry into each of the plurality of areas is possible; A mobile management method for performing the above. (Appendix 15) On the computer, Managing, while updating, prohibition specification information that indicates a specification that prohibits entry into each of a plurality of areas of a facility into which an autonomous moving body moving in the facility may enter, in a linked manner; determining whether or not the autonomous moving body can enter each of the plurality of areas based on the prohibition specification information associated with each of the plurality of areas and a specification of the autonomous moving body; searching for a route for the autonomous moving body to move through the facility based on whether or not entry into each of the plurality of areas is possible; A mobile management program that executes the above. [Explanation of symbols]

[0161] REFERENCE SIGNS LIST 1 security system, 2 autonomous mobile object, 3 mobile object management device, 4 area, 5 entrance / exit management device, 6 elevator management device, 7 memory unit, 8 area management unit, 9 judgment unit, 10 route search unit, 11 mobile object control unit, 12 route planning unit, 100a processor, 100b memory, 200 dedicated hardware

Claims

1. an area management unit that manages, while linking and updating prohibition specification information that indicates a specification that prohibits entry, each of a plurality of areas of a facility into which an autonomous moving body moving in the facility may enter; A determination unit that determines whether or not the autonomous moving body can enter each of the plurality of areas based on the prohibition specification information associated with each of the plurality of areas and a specification of the autonomous moving body; a route search unit that searches for a route for the autonomous moving body to move through the facility based on the possibility of entry into each of the plurality of areas determined by the determination unit; A mobile management device comprising:

2. The prohibited specification information includes information of time-dependent prohibitions on the specification, the determination unit determines whether or not the autonomous moving body can enter each of the plurality of areas depending on time. The mobile management device according to claim 1 .

3. a route planning unit that plans a route for the autonomous mobile body to move through the facility before the autonomous mobile body starts moving and calculates a scheduled passage time for the autonomous mobile body moving along the planned route for each of the plurality of areas; Equipped with the determination unit determines whether or not the autonomous moving body can enter each of the plurality of areas according to the scheduled passage time calculated by the route planning unit; The route planning unit plans a route of the autonomous moving body based on the possibility of entry into each of the plurality of areas determined by the determination unit, the route search unit searches for a route for the autonomous moving body to move through the facility based on the possibility of entry into each of the plurality of areas determined by the determination unit after the start and before the end of movement of the autonomous moving body; The mobile management device according to claim 2.

4. the autonomous moving body moves through the facility repeatedly, either periodically or irregularly; The route planning unit plans a route such that an area that was stored as an area through which the autonomous moving body did not pass during a previous movement of the autonomous moving body is preferentially passed during a current movement of the autonomous moving body. The mobile management device according to claim 3.

5. The prohibition specification information includes information prohibiting entry of an autonomous moving object having a function of recording audio or video as a specification. The mobile object management device according to any one of claims 1 to 4.

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

7. The autonomous moving body having the environmental impact information as a specification includes an autonomous moving body that generates noise when operating. The mobile management device according to claim 6.

8. The autonomous moving body having the environmental impact information as a specification includes an autonomous moving body that emits an odor during operation. The mobile management device according to claim 6.

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

10. The prohibited specification information includes information prohibiting entry of an autonomous moving body due to size or weight. The mobile object management device according to any one of claims 1 to 4.

11. The prohibition specification information includes information that prohibits entry of the autonomous moving body based on the appearance of the autonomous moving body. The mobile object management device according to any one of claims 1 to 4.

12. An entrance / exit management device that manages the entrance and exit of an autonomous mobile body moving in a facility to at least one of a plurality of areas of the facility into which the autonomous mobile body may enter; A mobility management device; Equipped with The mobile management device includes: an area management unit that manages, while linking and updating restriction specification information that indicates a specification for restricting entry to each of the plurality of areas; A determination unit that determines whether or not the autonomous moving body can enter each of the plurality of areas based on the restriction specification information associated with each of the plurality of areas and a specification of the autonomous moving body; a route search unit that searches for a route for the autonomous moving body to move through the facility based on the possibility of entry into each of the plurality of areas determined by the determination unit; Equipped with Security system.

13. An elevator management device that manages the use of an elevator in any one of a plurality of areas of a facility that an autonomous mobile body moving in the facility can enter; A mobility management device; Equipped with The mobile management device includes: an area management unit that manages, while linking and updating restriction specification information that indicates a specification for restricting entry to each of the plurality of areas; A determination unit that determines whether or not the autonomous moving body can enter each of the plurality of areas based on the restriction specification information associated with each of the plurality of areas and a specification of the autonomous moving body; a route search unit that searches for a route for the autonomous moving body to move through the facility based on the possibility of entry into each of the plurality of areas determined by the determination unit; Equipped with Security system.

14. The computer Managing, while updating, prohibition specification information that indicates a specification that prohibits entry into each of a plurality of areas of a facility into which an autonomous moving body moving in the facility may enter, in a linked manner; determining whether or not the autonomous moving body can enter each of the plurality of areas based on the prohibition specification information associated with each of the plurality of areas and a specification of the autonomous moving body; searching for a route for the autonomous moving body to move through the facility based on whether or not entry into each of the plurality of areas is possible; A mobile management method for performing the above.

15. On the computer, Managing, while updating, prohibition specification information that indicates a specification that prohibits entry into each of a plurality of areas of a facility into which an autonomous moving body moving in the facility may enter, in a linked manner; determining whether or not the autonomous moving body can enter each of the plurality of areas based on the prohibition specification information associated with each of the plurality of areas and a specification of the autonomous moving body; searching for a route for the autonomous moving body to move through the facility based on whether or not entry into each of the plurality of areas is possible; A mobile management program that executes the above.

Images