Mobile body management apparatus, mobile body management system, mobile body management method, and mobile body management program

Abstract

To provide a mobile body management apparatus, a mobile body management system, a mobile body management method, and a mobile body management program for managing the movement of an autonomous mobile body so as to efficiently operate in a facility.SOLUTION: In a mobile body management system 1, a mobile body management apparatus 7 includes a cooperation management unit 12 and a command unit 16. The cooperation management unit 12 manages the priority order of use of each equipment 6 provided in a facility, for each of autonomous mobile bodies 2 that move in the facility. Two autonomous mobile bodies 2 may interfere with each other in a passage leading from a current position to a destination. In this case, the command unit 16 issues, based on the priority order managed by the cooperation management unit 12 for equipment 6 to be used before and after the passage, an instruction to allow one of the autonomous mobile bodies 2 to preferentially pass through the passage, to both autonomous mobile bodies 2.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Patent Document 1 discloses an example of a mobility support system. The mobility support system accepts registration of elevator destination floors by autonomous mobile bodies such as robots. The mobility support system assigns one of the elevator cars to a call corresponding to the registered destination floor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2020 / 230305 Summary of the Invention [Problem to be solved by the invention]

[0004] In the mobility support system of Patent Document 1, a priority is set for a plurality of autonomous mobile bodies moving around a facility for the use of elevators, which are facilities of the facility. On the other hand, a priority is not set for the passages leading to the facilities in the facility. For this reason, a plurality of autonomous mobile bodies moving around the facility may get into a stalemate in which they are unable to move in passages where a priority is not set. In this case, the autonomous mobile bodies 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 mobile object management system, a mobile object management method, and a mobile object management program that manage the movement of autonomous mobile objects so as to operate more efficiently in a facility. [Means for solving the problem]

[0006] The mobile body management device of the present disclosure includes a coordination management unit that manages the usage priority of each of a plurality of facilities provided in a facility for a first autonomous mobile body and a second autonomous mobile body that each move within the facility, and a command unit that, when the first autonomous mobile body and the second autonomous mobile body interfere with each other in a passage that they pass through to move from their current position to their destination, issues an instruction to both the first autonomous mobile body and the second autonomous mobile body to give priority to either the first autonomous mobile body or the second autonomous mobile body to pass through the passage based on the usage priority managed by the coordination management unit for equipment among the plurality of facilities that is used before or after the passage.

[0007] The mobile body management system according to the present disclosure includes a plurality of pieces of equipment provided in a facility in which each of a first autonomous mobile body and a second autonomous mobile body moves; a coordination management unit that manages the usage priority of each of the plurality of pieces of equipment for the first autonomous mobile body and the second autonomous mobile body; and a command unit that, when the first autonomous mobile body and the second autonomous mobile body interfere with each other in a passage through which the first autonomous mobile body and the second autonomous mobile body pass while moving from their current position to their destination, issues an instruction to both the first autonomous mobile body and the second autonomous mobile body to give priority to either the first autonomous mobile body or the second autonomous mobile body passing through the passage based on the usage priority managed by the coordination management unit for equipment among the plurality of pieces of equipment that is used before or after the passage.

[0008] The mobile body management method according to the present disclosure is a method in which a computer manages the usage priority of each of a plurality of pieces of equipment provided in a facility for a first autonomous mobile body and a second autonomous mobile body each moving through the facility, and when the first autonomous mobile body and the second autonomous mobile body interfere with each other in a passage through which they move from their current position to their destination, instructs both the first autonomous mobile body and the second autonomous mobile body to give priority to either the first autonomous mobile body or the second autonomous mobile body passing through the passage based on the usage priority of equipment among the plurality of pieces of equipment that is used before or after the passage.

[0009] A mobile body management program according to the present disclosure causes a computer to manage the usage priority of each of a plurality of pieces of equipment provided in a facility for a first autonomous mobile body and a second autonomous mobile body each moving through the facility, and, when the first autonomous mobile body and the second autonomous mobile body interfere with each other in a passage through which they move from their current position to their destination, give instructions to both the first autonomous mobile body and the second autonomous mobile body to give priority to either the first autonomous mobile body or the second autonomous mobile body passing through the passage based on the usage priority for equipment among the plurality of pieces of equipment that is used before or after the passage. Effect of the Invention

[0010] According to the mobile object management device, mobile object management system, mobile object management method, or mobile object management program of the present disclosure, the movement of autonomous mobile objects is managed so as to operate more efficiently in a facility. [Brief description of the drawings]

[0011] [Figure 1] 1 is a configuration diagram of a mobile object management system according to a first embodiment. [Diagram 2] 4 is a table showing an example of setting of priorities by a command unit according to the first embodiment. [Diagram 3] 2 is a diagram showing an example of management of passage of an autonomous moving object in the moving object management system according to the first embodiment; FIG. [Figure 4] 2 is a diagram showing an example of management of passage of an autonomous moving object in the moving object management system according to the first embodiment; FIG. [Diagram 5] 2 is a diagram showing an example of management of passage of an autonomous moving object in the moving object management system according to the first embodiment; FIG. [Figure 6] 5 is a flowchart showing an example of the operation of the mobile object management system according to the first embodiment. [Figure 7] 5 is a flowchart showing an example of the operation of the mobile object management system according to the first embodiment. [Figure 8]1 is a hardware configuration diagram of a main part of a mobile object management system according to a first 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 mobile object management system 1 according to the first embodiment.

[0014] The mobile object management system 1 is applied to a 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. The mobile object management system 1 is a system that manages the movement of an autonomous mobile object 2 operating in the facility.

[0015] In the facility of this example, a plurality of autonomous mobile bodies 2 are in operation. Each of the autonomous mobile bodies 2 is a robot, a drone, or other mobile equipment that moves autonomously in the facility. The autonomous mobile body 2 moves in the facility based on, for example, a movement instruction from the mobile body control server 3, and provides services such as security, transportation, cleaning, and guidance. Each of the autonomous mobile bodies 2 moves from a departure point to a destination in the facility so as to provide the service. The route of movement from the departure point to the destination is generated by, for example, a route generation server 4. Depending on the service provided by the autonomous mobile body 2, the departure point and the destination may be fixed. In such a case, the route of movement from the departure point to the destination may be a fixed route. Alternatively, the route of movement from the departure point to the destination may be dynamically generated by the route generation server 4. The route generation server 4 includes a route generation unit 5 that generates a route of movement from the departure point of the autonomous mobile body 2 to the destination based on, for example, map data of the facility. Each of the mobile body control server 3 and the route generation server 4 is configured by, for example, one or more server computers. A part or all of the functions of the mobile object control server 3 and the route generation server 4 may be implemented on the same hardware. A part or all of the functions of the mobile object control server 3 and the route generation server 4 may be provided in a facility or outside the facility. A part or all of the functions of the mobile object control server 3 and the route generation server 4 may be implemented by processing or storage resources on a cloud service.

[0016] A plurality of pieces of equipment 6 are provided in the facility. The plurality of pieces of equipment 6 include, for example, elevators, security gates, and automatic doors. The elevator is the equipment 6 that transports users who use the facility and the autonomous moving bodies 2 operating in the facility between a plurality of floors of the facility. The security gates and automatic doors are the equipment 6 that restrict the passage of people or the autonomous moving bodies 2 according to their passage authority and the like. The security gates and automatic doors are examples of passage management equipment that manages whether or not the people or the autonomous moving bodies 2 can pass. Each of the autonomous moving bodies 2 operating in the facility moves within the facility using the equipment 6. Each of the pieces of equipment 6 may be an internal device included in the mobile body management system 1, or may be an external device outside the mobile body management system 1.

[0017] The mobile object management system 1 includes a mobile object management device 7. The mobile object management device 7 is configured by, for example, one or more server computers. A part or all of the mobile object management device 7 may be provided in a facility or outside the facility. A part or all of the functions of the mobile object management device 7 may be implemented by processing or storage resources on a cloud service. The mobile object management device 7 may also be equipped with a part or all of the functions of the mobile object control server 3 and the route generation server 4. A part or all of the functions of the mobile object management device 7 may also be equipped in the mobile object control server 3, the route generation server 4, or the autonomous mobile object 2. The functions of the mobile object management system 1 are realized, for example, by one or more server computers constituting the mobile object management system 1 operating according to a program. The one or more server computers constituting the mobile object management system 1 are connected to each other so as to be able to communicate with each other, for example, through a local network such as a LAN (Local Area Network) in a facility, or a wide area network such as a telephone line network or the Internet. A program that realizes the functions of the mobile object management system 1 may be a software package including multiple software programs that are applied to multiple computers, etc. In this example, the mobile object management device 7 includes a facility cooperation server 8 and a traffic management server 9.

[0018] The facility cooperation server 8 includes a facility communication unit 10, a first communication unit 11, and a cooperation management unit 12. The facility communication unit 10 is a unit that communicates with each facility 6 provided in the facility. The first communication unit 11 is a unit that communicates with the passage management server 9, which is another server constituting the mobile management device 7. The facility communication unit 10 and the first communication unit 11 communicate with each other by wire or wirelessly through a network such as a LAN in the facility or the Internet. The cooperation management unit 12 is a unit that manages cooperation between the autonomous moving body 2 operating in the facility and the facility 6. The cooperation management unit 12 manages the use priority set for each facility 6 for each autonomous moving body 2. The use priority of the facility 6 is set according to, for example, the function or role of the autonomous moving body 2, the range of the service provided, and the like. More specifically, for example, a higher priority is set for an autonomous moving body 2 performing security with high urgency than for other autonomous moving bodies 2 so that the autonomous moving body 2 can arrive at the destination earlier. On the other hand, for the passages provided between the equipment 6 in the facility, the priority of the autonomous moving body 2 may differ depending on the purpose of movement of the autonomous moving body 2, the movement route, and whether or not the equipment 6 is used, even for the same passage, and since there are many passages, the priority of the autonomous moving body 2 is not set in advance. If the priority of the passage is not set, the autonomous moving body 2 will try to avoid interference with other autonomous moving bodies 2 in the same way as avoiding obstacles, but at this time, there is a possibility that the autonomous moving bodies 2 will fall into a stalemate in which they are unable to move due to mutual yielding. For this reason, the passage of the autonomous moving bodies 2 in the facility is managed by a passage management server 9.

[0019] The passage management server 9 includes a second communication unit 13, a mobile communication unit 14, a task management unit 15, and a command unit 16. The second communication unit 13 is a unit that communicates with the facility cooperation server 8, which is another server that constitutes the mobile management device 7. The mobile communication unit 14 is a unit that communicates with each autonomous mobile body 2 operating in the facility. The mobile communication unit 14 may communicate with the autonomous mobile body 2 through a mobile control server 3 that controls the movement of the autonomous mobile body 2. The second communication unit 13 and the mobile communication unit 14 communicate with each other by wire or wirelessly through a network such as a LAN in the facility or the Internet. The task management unit 15 is a unit that manages tasks such as the movement and service provision of the autonomous mobile body 2 operating in the facility. The task management unit 15 manages, for example, a schedule of tasks for each autonomous mobile body 2. The command unit 16 is a unit that outputs commands regarding movement and the like to the autonomous mobile body 2 operating in the facility. The command unit 16 outputs a command to the autonomous moving body 2, for example, via the mobile body communication unit 14 or the like. The command unit 16 performs, for example, setting the priority order of passage through passageways so as to control the passage of the autonomous moving body 2 moving in a facility. The command unit 16 acquires information such as the route of movement from the departure point to the destination of the autonomous moving body 2 generated by the route generation server 4 and the current position of the autonomous moving body 2 managed by the mobile body control server 3 or the like, via the mobile body communication unit 14 or the like. The command unit 16 outputs a command set using the information acquired in this manner to each autonomous moving body 2.

[0020] Next, an example of how the command unit 16 sets the priority order for passage through a passage will be described with reference to FIG. FIG. 2 is a table showing an example of setting of priorities by the command unit 16 according to the first embodiment.

[0021] In this example, moving body A, which is an autonomous moving body 2, travels from the departure point to the destination by using facility X, facility Y, and facility Z in that order. When moving from the departure point to facility X, moving body A travels along passage P. When moving from facility X to facility Y, moving body A travels along passage Q. When moving from facility Y to facility Z, moving body A travels along passages R and S. When moving from facility Z to the destination, moving body A travels along passages T and U, etc. The command unit 16 acquires the travel route of moving body A thus generated by the route generation unit 5. In addition, moving body B, which is an autonomous moving body 2, also travels along the same route as moving body A.

[0022] Here, for mobile unit A, the priority of use of facility X is preset to be first. On the other hand, for mobile unit B, the priority of use of facility X is preset to be second. Furthermore, for mobile unit A, the priority of use of facility Y is preset to be second. On the other hand, for mobile unit B, the priority of use of facility Y is preset to be first. Furthermore, for mobile unit A, the priority of use of facility Z is preset to be first. On the other hand, for mobile unit B, the priority of use of facility Z is preset to be second.

[0023] The priority of passage of each autonomous mobile body 2 between facilities such as facility X, facility Y, and facility Z is not set in advance. For this reason, the command unit 16 sets the priority of passage based on the priority of facility use, for example, when acquiring information on the current position and moving route from the autonomous mobile body 2. For example, for the autonomous mobile body 2 traveling in the same direction, the command unit 16 sets the priority of the passage using the priority of the facility that the autonomous mobile body 2 travels through after the passage it travels through. In this example, since the priority of facility X after the passage P is higher for mobile body A than for mobile body B, the command unit 16 sets the priority of passage through the passage P so that the priority of the mobile body A is higher than that of the mobile body B. That is, the command unit 16 sets the priority of passage through the passage P for the mobile body A to be first, and the priority of passage through the passage P for the mobile body B to be second. Similarly, the command unit 16 sets the priority of passage through passage Q for the moving body B to the first rank, and sets the priority of passage through passage Q for the moving body A to the second rank, based on the priority of use of facility Y. Also, the command unit 16 sets the priority of passage through passages R and S for the moving body A to the first rank, and sets the priority of passage through passages R and S for the moving body B to the second rank, based on the priority of use of facility Z. On the other hand, since the moving bodies A and B do not use facilities after passages T and U, etc., the command unit 16 sets the priority of passages T and U, etc., using the priority of facilities that are passed before passages T and U, etc. That is, the command unit 16 sets the priority of passage through passages T and U, etc. for the moving body A to the first rank, and sets the priority of passage through passages T and U, etc., for the moving body B to the second rank, based on the priority of use of facility Z.

[0024] Next, an example of management of passage of the autonomous moving body 2 in the moving body management system 1 will be described with reference to FIG. 3 to FIG. 3 to 5 are diagrams showing an example of management of passage of an autonomous moving object 2 in the moving object management system 1 according to the first embodiment.

[0025] In this example, the facility has floors from the first floor to the fifth floor. Point K is located on the first floor of the facility. A security gate 6a is located on the first floor of the facility. An elevator 6b and an elevator 6c are located on the facility as equipment that can be used to move from the first floor to the fifth floor. When elevators 6b and 6c are not particularly distinguished from each other, they may be simply referred to as elevators. An elevator landing is located on each floor of the facility. An automatic door 6d is located on the fifth floor of the facility as equipment. Point L is located on the fifth floor of the facility. Point K and the security gate 6a are connected by a passage α on the first floor of the facility. The security gate 6a and the elevator landing are connected by a passage β on the first floor of the facility. The elevator landing and the automatic door 6d are connected by a passage γ on the fifth floor of the facility. The automatic door 6d and point L are connected by a passage δ on the fifth floor of the facility.

[0026] A priority order for the use of each facility is set in advance for the autonomous moving bodies 2, that is, moving body A, moving body B, and moving body C. The priority order for the use of the security gate 6a is set so that moving body B takes first place, moving body A takes second place, and moving body C takes third place. The priority order for the use of the elevator 6b is set so that moving body A takes first place, moving body B takes second place, and moving body C takes third place. The priority order for the use of the elevator 6c is set so that moving body B takes first place, moving body A takes second place, and moving body C takes third place. The priority order for the use of the automatic door 6d is set so that moving body A takes first place, moving body B takes second place, and moving body C takes third place.

[0027] 3 shows an example in which a moving object A starts at a point K and moves to a destination point L. In this example, moving objects B and C do not move within the facility. At this time, the moving route of moving object A is set to the following order: point K, passage α, security gate 6a, passage β, elevator 6b or elevator 6c, passage γ, automatic door 6d, passage δ, and point L.

[0028] Since moving object B and moving object C are not moving through the facility, the command unit 16 sets the priority of passage for moving object A, which is moving through the facility. The command unit 16 sets the priority of moving object A to be the first for passages α to δ. The command unit 16 outputs a command to moving object A to pass through the facility.

[0029] Based on the input command, the mobile unit A moves on the first floor of the facility in the order of point K, passage α, security gate 6a, passage β, and the elevator landing. The mobile unit A requests the registration of an elevator call, for example, through a cooperation management server. The mobile unit A moves from the first floor to the fifth floor using either elevator 6b or elevator 6c, whichever is assigned the call. The mobile unit A moves on the fifth floor of the facility in the order of passage γ, automatic door 6d, passage δ, and point L.

[0030] 4 shows an example in which moving body A and moving body B simultaneously move from point K as a starting point to point L as a destination. In this example, moving body C does not move within the facility. At this time, the movement route of moving body A is set in the order of point K, passage α, security gate 6a, passage β, elevator 6b or elevator 6c, passage γ, automatic door d, passage δ, and point L. Similarly, the movement route of moving body B is set in the order of point K, passage α, security gate 6a, passage β, elevator 6b or elevator 6c, passage γ, automatic door 6d, passage δ, and point L.

[0031] Since moving object C is not moving through the facility, command unit 16 sets the priority of passage for moving object A and moving object B, which are moving through the facility. Command unit 16 sets the priority of moving object A to be the first for passages α to δ. Command unit 16 outputs a command to moving object A to pass through the facility.

[0032] The command unit 16 determines whether the moving bodies A and B may interfere with each other on the passage α. In this example, the moving bodies A and B depart from the point K at the same time, so the command unit 16 determines that the moving bodies A and B, which are moving in the same direction on the passage α from the point K to the security gate 6a, may interfere with each other. At this time, the command unit 16 determines the priority of passage of the moving bodies A and B on the passage α based on the priority of the security gate 6a, which is the facility 6 following the passage α. In this example, the command unit 16 sets the priority of the moving body B to first and the priority of the moving body A to second for the passage α. The command unit 16 outputs commands to the moving bodies A and B to give priority to the moving body B over the moving body A.

[0033] For example, when the passage α is a wide passage where the moving body A and the moving body B can pass each other, the command unit 16 outputs a command to stop to the moving body A with a low priority. The command unit 16 may output a command to reduce the traveling speed to the moving body A with a low priority. The command unit 16 determines whether the autonomous moving bodies 2 can pass each other, for example, based on each autonomous moving body 2 and the width of the passage. When the passage α is a narrow passage where the moving body A and the moving body B cannot pass each other, the command unit 16 outputs a command to the moving body A with a low priority to retreat to a retreat location set in advance for the passage α. The retreat location may be specified by coordinates in the facility, or may be specified by a node on a graph representing a route in the facility. The command unit 16 may output a command to the moving body A with a low priority to retreat behind the moving body B with a high priority, depending on the positional relationship with the retreat location. The command unit 16 outputs a command to the moving body B to pass through the passage α. After the moving object B has completed passing through the passage α, the command unit 16 outputs a command to permit the moving object A to pass through the passage α.

[0034] Thereafter, the mobile object B passes through the security gate 6a. Thereafter, the mobile object A passes through the security gate 6a.

[0035] After that, the command unit 16 judges whether the moving body A and the moving body B may interfere with each other in the passage β. In this example, the moving body B and the moving body A pass through the security gate 6a in that order. Since the moving body B and the moving body A are moving in the same direction, it is judged that the moving body A and the moving body B will not interfere with each other in the passage β. At this time, the command unit 16 outputs a command to the moving body A and the moving body B to continue passing through the passage β.

[0036] Mobile units A and B request the registration of an elevator call through, for example, a cooperation management server. Mobile units A and B move from the first floor to the fifth floor using either elevator 6b or elevator 6c to which the call has been assigned. The assignment of the call to the elevator is performed based on a preset priority order.

[0037] After that, the command unit 16 judges whether the moving body A and the moving body B may interfere with each other in the passage γ. If the moving body A is still in the elevator when the moving body B gets off the elevator, the moving body B and the moving body A move in the same direction, so the command unit 16 judges that the moving body A and the moving body B will not interfere with each other in the passage γ. At this time, the command unit 16 outputs a command to the moving body A and the moving body B to continue passing through the passage γ. Also, if the moving body B is still in the elevator when the moving body A gets off the elevator, the moving body A and the moving body B move in the same direction, so the command unit 16 judges that the moving body A and the moving body B will not interfere with each other in the passage γ. At this time, the command unit 16 outputs a command to the moving body A and the moving body B to continue passing through the passage γ.

[0038] In this example, it is assumed that moving body A and moving body B get off the elevator at the same time. At this time, the command unit 16 determines that moving body A and moving body B moving in the same direction may interfere with each other in the passage γ from the elevator landing on the fifth floor to the automatic door 6d. The command unit 16 may set a time range for determining that moving body A and moving body B get off the elevator at the same time, depending on the moving speeds of moving body A and moving body B, etc. At this time, the command unit 16 determines the priority of passage of moving body A and moving body B in the passage γ based on the priority of the automatic door 6d, which is the equipment after the passage γ. In this example, the command unit 16 sets the priority of moving body A to first place and the priority of moving body B to second place with respect to the passage γ. The command unit 16 outputs a command to moving body A and moving body B to give priority to moving body A over moving body B.

[0039] Thereafter, moving object A passes through the automatic door 6d. Thereafter, moving object B passes through the automatic door 6d.

[0040] After that, the command unit 16 judges whether the moving objects A and B may interfere with each other at the passage δ. In this example, the moving objects A and B pass through the automatic door 6d in this order. Since the moving objects A and B are moving in the same direction, it is judged that the moving objects A and B will not interfere with each other at the passage δ. At this time, the command unit 16 outputs a command to the moving objects A and B to continue passing through the passage δ. After that, the moving objects A and B arrive at the point L.

[0041] 5 shows an example in which moving body A and moving body B simultaneously move from point K to point L, which is the destination, and then moving body C moves from point L to point K, which is the destination. In this case, the moving route of moving body A is set in the order of point K, passage α, security gate 6a, passage β, elevator 6b or elevator 6c, passage γ, automatic door 6d, passage δ, and point L. Similarly, the moving route of moving body B is set in the order of point K, passage α, security gate 6a, passage β, elevator 6b or elevator 6c, passage γ, automatic door 6d, passage δ, and point L. On the other hand, the moving route of moving body C is set in the order of point L, passage δ, automatic door 6d, passage γ, elevator 6b or elevator 6c, passage β, security gate 6a, passage α, and point K.

[0042] For example, it is assumed that a moving object C departs from a point L when moving objects A and B are passing through a passage δ.

[0043] At this time, the command unit 16 judges whether the moving body C may interfere with the moving body A or the moving body B in the passage δ. In this example, since the moving body A and the moving body B have already passed through the passage δ, it is judged that the moving body C may interfere with the moving body A and the moving body B moving in the opposite direction on the passage δ. At this time, the command unit 16 outputs a command to the moving body A, the moving body B, and the moving body C so that the moving body A and the moving body B, which have entered the passage δ earlier, are given priority over the moving body C, which has not yet entered the passage δ.

[0044] For example, when the passage δ is a wide passage where the moving body A and the moving body B can pass each other with the moving body C, the command unit 16 outputs a command to stop to the moving body C with a low priority. The command unit 16 may output a command to reduce the traveling speed to the moving body C with a low priority. When the passage δ is a narrow passage where the moving body A and the moving body B cannot pass each other with the moving body C, the command unit 16 outputs a command to the moving body C with a low priority to evacuate to an evacuation place preset for the passage δ. The evacuation place may be specified by coordinates in the facility, or may be specified by a node on a graph representing a route in the facility. The command unit 16 may output a command to the moving body C with a low priority to retreat backward according to a positional relationship with the evacuation place. The command unit 16 outputs a command to the moving body A and the moving body B to pass through the passage δ. After the moving object A and the moving object B have completed passing through the passage δ, the command unit 16 outputs a command to permit the moving object C to pass through the passage δ.

[0045] Alternatively, for example, it is assumed that moving objects A, B, and C arrive at the automatic door 6d at the same time.

[0046] At this time, the command unit 16 acquires the priority order of the automatic door 6d managed by the cooperation management unit 12 for the moving body A, the moving body B, and the moving body C. In this example, the priority order for the use of the automatic door 6d is set so that the first priority is the moving body A, the second priority is the moving body B, and the third priority is the moving body C. The command unit 16 outputs a command to the moving body A, the moving body B, and the moving body C so as to give priority to the moving body A and the moving body B over the moving body C.

[0047] For example, the command unit 16 outputs a command to the moving body C with a low priority to evacuate to a pre-set evacuation location for the automatic door 6d. The evacuation location may be specified by coordinates in the facility, or may be specified by a node on a graph representing a route in the facility. The command unit 16 may output a command to the moving body C with a low priority to retreat backwards, depending on the positional relationship with the evacuation location, etc. The command unit 16 outputs a command to the moving body A and the moving body B to pass through the automatic door 6d. After the moving body A and the moving body B have passed through the automatic door 6d, the command unit 16 outputs a command to the moving body C to allow passage through the automatic door 6d.

[0048] In addition, the command unit 16 may output a command, for example, when an autonomous moving body 2 is dispatched in an emergency, with the priority of passage through all facilities and passageways of the autonomous moving body 2 being the first. The command unit 16 may grant a privileged mode to the autonomous moving body 2 that is dispatched in an emergency. For example, while the autonomous moving body 2 to which the privileged mode has been granted is moving through a facility, the command unit 16 outputs a command to the other autonomous moving bodies 2 to stop or evacuate to an evacuation site. After the movement of the autonomous moving body 2 to which the privileged mode has been granted has been completed, the command unit 16 cancels the command to stop or evacuate to the other autonomous moving bodies 2.

[0049] In addition, the command unit 16 may output a command to give priority to one of the autonomous mobile bodies 2 based on a preset rule when autonomous mobile bodies 2 that do not use common facilities at a passage such as a crossroads may interfere with each other. For example, when there is another autonomous mobile body 2 entering a crossroads from the left side as viewed from a certain autonomous mobile body 2, the command unit 16 outputs a command to give priority to the other autonomous mobile body 2. For example, the command unit 16 outputs a command to an autonomous mobile body 2 with a low priority to wait before entering the crossroads. The command unit 16 outputs a command to an autonomous mobile body 2 with a high priority to pass through the crossroads, and after the autonomous mobile body 2 has passed through the crossroads, the command unit 16 allows the waiting autonomous mobile body 2 to enter the crossroads.

[0050] Next, an example of the operation of the mobile management system 1 will be described with reference to FIGS. 6 and 7 are flowcharts showing an example of the operation of the mobile object management system 1 according to the first embodiment.

[0051] An example of a process for setting priority levels for passage through passageways in a facility is shown in Fig. 6. The process in Fig. 6 is performed, for example, at preset regular or irregular timing.

[0052] In step S11, the command unit 16 acquires information such as a route of movement from a departure point to a destination and a current position for each autonomous moving body 2 operating within the facility. The command unit 16 writes and stores the acquired information in a table for each autonomous moving body 2. Thereafter, the processing of the mobile body management system 1 proceeds to step S12.

[0053] In step S12, the command unit 16 reads the priority of the facility 6 managed by the cooperation management unit 12. The command unit 16 writes and stores the read information in a table for each autonomous moving body 2. Thereafter, the processing of the moving body management system 1 proceeds to step S13.

[0054] In step S13, the command unit 16 sets the priority of passage through the passage based on the position and movement route of each autonomous moving body 2 and the priority of the facility 6. The command unit 16 writes and manages the set information in a table for each autonomous moving body 2. Thereafter, the processing of the mobile body management system 1 ends.

[0055] 7 shows an example of processing when any of the autonomous moving bodies 2 passes through a passage in a facility, for passages for which a priority order for passage has been set. The processing in FIG. 7 is performed for each of the autonomous moving bodies 2 each time it is determined that the autonomous moving body 2 passes through a passage, for example, based on the current position and moving route of each of the autonomous moving bodies 2. Note that the mobile body management system 1 may also perform similar processing when any of the autonomous moving bodies 2 uses equipment 6 in the facility.

[0056] In step S21, the command unit 16 determines whether the target autonomous moving body 2 interferes with another autonomous moving body 2 in the target passage. The command unit 16 may repeat this determination for all autonomous moving bodies 2 other than the target autonomous moving body 2. If there is no interference, the processing of the mobile body management system 1 proceeds to step S22. On the other hand, if there is interference, the processing of the mobile body management system 1 proceeds to step S23.

[0057] In step S22, the command unit 16 outputs a command to make the target autonomous moving body 2 pass through the target passage. After that, the processing of the moving body management system 1 ends.

[0058] In step S23, the command unit 16 determines whether the priority of the target autonomous moving body 2 in the target passage is higher than that of the interfering autonomous moving body 2. If the priority of the target autonomous moving body 2 is higher, the processing of the mobile object management system 1 proceeds to step S24. On the other hand, if the priority of the interfering autonomous moving body 2 is higher, the processing of the mobile object management system 1 proceeds to step S25.

[0059] In step S24, the command unit 16 outputs a command to cause the target autonomous moving body 2 to pass through the target passage, and outputs a command to cause the interfering autonomous moving body 2 to wait for passage through the passage. After that, the processing of the mobile body management system 1 proceeds to step S26.

[0060] In step S25, the command unit 16 outputs a command to the interfering autonomous moving body 2 to pass through the target passage, and outputs a command to the target autonomous moving body 2 to wait for passage through the passage. After that, the processing of the mobile object management system 1 proceeds to step S26.

[0061] In step S26, the command unit 16 outputs a command to release the autonomous moving body 2 from standby and to cause the autonomous moving body 2 to pass through the target passage. After that, the processing of the mobile body management system 1 ends.

[0062] As described above, the mobile object management device 7 of the mobile object management system 1 according to the first embodiment includes the cooperation management unit 12 and the command unit 16. The cooperation management unit 12 manages the priority of the use of each facility 6 provided in the facility for each autonomous mobile object 2 moving through the facility. Two autonomous mobile objects 2 may interfere with each other in a passage through which they pass from their current position to their destination. In this case, the command unit 16 issues an instruction to both autonomous mobile objects 2 to allow one of the autonomous mobile objects 2 to pass through the passage with priority based on the priority managed by the cooperation management unit 12 for the facilities 6 used before and after the passage. With this configuration, even in a passage in which the priority of passage is not directly set, the priority of passage through the passage is determined based on the priority set for the facilities 6 before and after, so that the autonomous mobile objects 2 are less likely to fall into a stalemate in which they cannot move against each other. This allows the autonomous mobile objects 2 to operate more efficiently in the facility. In this way, the movement of the autonomous mobile objects 2 is managed so that the autonomous mobile objects 2 can operate more efficiently.

[0063] Furthermore, when two autonomous moving bodies 2 can pass each other in a passage, the command unit 16 instructs the autonomous moving body 2 that is not given priority to stop. By stopping the autonomous moving body 2 that is not given priority, it is possible to reduce the moving distance when the autonomous moving body 2 resumes passing through the passage. This makes it possible to further increase the operating efficiency of the autonomous moving body 2.

[0064] Furthermore, when two autonomous moving bodies 2 cannot pass each other in a passageway, the command unit 16 instructs the autonomous moving body 2 that is not given priority to move to a shelter location. This allows the autonomous moving bodies 2 that are not given priority to move aside, so that the autonomous moving bodies 2 that are given priority can move through the passage more smoothly. This makes it possible to further increase the operating efficiency of the autonomous moving bodies 2.

[0065] In addition, when access management facilities for managing accessibility are provided as facilities 6 before and after the passage, the command unit 16 instructs the autonomous moving body 2 not to be given priority to wait to pass through the facility 6 until the autonomous moving body 2 to be given priority has passed through the facility 6. In addition, the command unit 16 allows the autonomous moving body 2 not to be given priority to pass through the passage after the autonomous moving body 2 to be given priority has passed through the passage. As a result, the autonomous moving body 2 not to be given priority waits without passing through the passage or facility 6 of the autonomous moving body 2 to be given priority, so that other autonomous moving bodies 2 are less likely to interfere with the passage of the autonomous moving body 2 to be given priority. This makes it possible to further increase the operating efficiency of the autonomous moving body 2.

[0066] Next, an example of the hardware configuration of the mobility management system 1 will be described with reference to FIG. FIG. 8 is a hardware configuration diagram of a main part of the mobile object management system 1 according to the first embodiment.

[0067] Each function of the mobility management 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 together with the processor 100a and the memory 100b or in place of them.

[0068] When the processing circuit includes the processor 100a and the memory 100b, each function of the mobile object management 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 mobile object management system 1 by reading and executing the program stored in the memory 100b.

[0069] 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.

[0070] 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.

[0071] Each function of the mobile object management system 1 can be realized by a processing circuit. Alternatively, each function of the mobile object management system 1 can be realized collectively by a processing circuit. Some of the functions of the mobile object management 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 mobile object management system 1 by dedicated hardware 200, software, firmware, or a combination of these.

[0072] To summarize the above explanation, possible configurations of the technology according to the present disclosure include the configurations listed below as appendices. (Appendix 1) A cooperation management unit that manages the use priority of each of a plurality of facilities provided in a facility for a first autonomous mobile body and a second autonomous mobile body that each move in the facility; a command unit that issues an instruction to both the first autonomous moving body and the second autonomous moving body to give priority to one of the first autonomous moving body and the second autonomous moving body to pass through the passage based on the usage priority order managed by the cooperation management unit with respect to equipment to be used before or after the passage among the plurality of facilities when the first autonomous moving body and the second autonomous moving body interfere with each other in a passage through which the first autonomous moving body and the second autonomous moving body pass from a current position to a destination; A mobile management device comprising: (Appendix 2) the command unit instructs the second autonomous moving body to stop when the second autonomous moving body is able to pass the first autonomous moving body in the passage when the first autonomous moving body is given priority; 2. A mobility management device as described in claim 1. (Appendix 3) The command unit instructs the second autonomous moving body to move to a shelter when the second autonomous moving body cannot pass the first autonomous moving body in the passage when the first autonomous moving body is given priority. 3. A mobile management device according to claim 1 or 2. (Appendix 4) When the first autonomous moving body is given priority, if a traffic management facility that manages whether or not the passage is permitted is provided as a facility before or after the passage, the command unit instructs the second autonomous moving body to wait for passage of the traffic management facility until the first autonomous moving body has completed passage of the traffic management facility. A mobile management device according to any one of Supplementary Note 1 to Supplementary Note 3. (Appendix 5) When the command unit gives priority to the first autonomous moving body, the command unit permits the second autonomous moving body to pass through the passage after the first autonomous moving body has completed passing through the passage. A mobile management device according to any one of Supplementary Note 1 to Supplementary Note 3. (Appendix 6) A plurality of pieces of equipment provided in a facility through which each of the first autonomous moving body and the second autonomous moving body moves; A cooperation management unit that manages a usage priority order of each of the plurality of facilities for the first autonomous moving body and the second autonomous moving body; a command unit that issues an instruction to both the first autonomous moving body and the second autonomous moving body to give priority to one of the first autonomous moving body and the second autonomous moving body to pass through the passage based on the usage priority order managed by the cooperation management unit with respect to equipment to be used before or after the passage among the plurality of facilities when the first autonomous moving body and the second autonomous moving body interfere with each other in a passage through which the first autonomous moving body and the second autonomous moving body pass from a current position to a destination; A mobile management system comprising: (Appendix 7) The computer Managing a usage priority order of each of a plurality of facilities provided in a facility for a first autonomous moving body and a second autonomous moving body each moving in the facility; When the first autonomous moving body and the second autonomous moving body interfere with each other in a passage through which they travel to move from their current position to their destination, an instruction is given to both the first autonomous moving body and the second autonomous moving body to preferentially pass through the passage, based on the usage priority order for facilities among the plurality of facilities that are to be used before or after the passage, to both the first autonomous moving body and the second autonomous moving body; A mobile management method for performing the above. (Appendix 8) On the computer, Managing a usage priority order of each of a plurality of facilities provided in a facility for a first autonomous moving body and a second autonomous moving body each moving in the facility; When the first autonomous moving body and the second autonomous moving body interfere with each other in a passage through which they travel to move from their current position to their destination, an instruction is given to both the first autonomous moving body and the second autonomous moving body to preferentially pass through the passage, based on the usage priority order for facilities among the plurality of facilities that are to be used before or after the passage, to both the first autonomous moving body and the second autonomous moving body; A mobile management program that executes the above. [Explanation of symbols]

[0073] 1 Mobile object management system, 2 Autonomous mobile object, 3 Mobile object control server, 4 Route generation server, 5 Route generation unit, 6 Equipment, 6a Security gate, 6b, 6c Elevator, 6d Automatic door, 7 Mobile object management device, 8 Equipment cooperation server, 9 Traffic management server, 10 Equipment communication unit, 11 First communication unit, 12 Cooperation management unit, 13 Second communication unit, 14 Mobile object communication unit, 15 Task management unit, 16 Command unit, 100a Processor, 100b Memory, 200 Dedicated hardware

Claims

1. A cooperation management unit that manages the use priority of each of a plurality of pieces of equipment provided in a facility for a first autonomous moving body and a second autonomous moving body that each move in the facility; a command unit that issues an instruction to both the first autonomous moving body and the second autonomous moving body to give priority to one of the first autonomous moving body and the second autonomous moving body to pass through the passage based on the usage priority order managed by the cooperation management unit with respect to equipment to be used before or after the passage among the plurality of facilities when the first autonomous moving body and the second autonomous moving body interfere with each other in a passage through which the first autonomous moving body and the second autonomous moving body pass from a current position to a destination; A mobile management device comprising:

2. The command unit instructs the second autonomous moving body to stop when the second autonomous moving body can pass the first autonomous moving body in the passage when the first autonomous moving body is given priority. The mobile management device according to claim 1 .

3. When the first autonomous moving body is given priority, if the second autonomous moving body cannot pass the first autonomous moving body in the passage, the command unit instructs the second autonomous moving body to move to a shelter. The mobile management device according to claim 1 .

4. When the first autonomous moving body is given priority, if a traffic management facility that manages whether or not the passage is permitted is provided as a facility before or after the passage, the command unit instructs the second autonomous moving body to wait for passage of the traffic management facility until the first autonomous moving body has completed passage of the traffic management facility. The mobile object management device according to any one of claims 1 to 3.

5. When the command unit gives priority to the first autonomous moving body, the command unit permits the second autonomous moving body to pass through the passage after the first autonomous moving body has completed passing through the passage. The mobile object management device according to any one of claims 1 to 3.

6. A plurality of pieces of equipment provided in a facility through which each of the first autonomous moving body and the second autonomous moving body moves; A cooperation management unit that manages a usage priority order of each of the plurality of facilities for the first autonomous moving body and the second autonomous moving body; a command unit that issues an instruction to both the first autonomous moving body and the second autonomous moving body to give priority to one of the first autonomous moving body and the second autonomous moving body to pass through the passage based on the usage priority order managed by the cooperation management unit with respect to equipment to be used before or after the passage among the plurality of facilities when the first autonomous moving body and the second autonomous moving body interfere with each other in a passage through which the first autonomous moving body and the second autonomous moving body pass from a current position to a destination; A mobile management system comprising:

7. The computer managing a usage priority order of each of a plurality of pieces of equipment provided in a facility for a first autonomous moving body and a second autonomous moving body each moving in the facility; When the first autonomous moving body and the second autonomous moving body interfere with each other in a passage through which they travel to move from a current position to a destination, an instruction is given to both the first autonomous moving body and the second autonomous moving body to preferentially pass through the passage, based on the usage priority order for facilities among the plurality of facilities that are to be used before or after the passage, and A mobile management method for performing the above.

8. On the computer, managing a usage priority order of each of a plurality of pieces of equipment provided in a facility for a first autonomous moving body and a second autonomous moving body each moving in the facility; When the first autonomous moving body and the second autonomous moving body interfere with each other in a passage through which they travel to move from a current position to a destination, an instruction is given to both the first autonomous moving body and the second autonomous moving body to preferentially pass through the passage, based on the usage priority order for facilities among the plurality of facilities that are to be used before or after the passage, and A mobile management program that executes the above.

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