Traffic management device, traffic management method, traffic management program, mobile body system, and mobile body control system

Abstract

To provide a traffic management device, a traffic management method, a traffic management program, a mobile body system, and a mobile body control system for managing the movement of a mobile body so as to improve movement efficiency.SOLUTION: A traffic management device 9 comprises an area management section 10, a reception section 12, a selection section 13, and a command section 14. The area management section 10 manages area information, including information on adjacent nodes 6, for each arbitration area 5. When a switching condition that does not depend on the state of a mobile body 2 is satisfied, the selection section 13 switches the selection of a permitted node through which entry for the arbitration area 5 is permitted. The command section 14 outputs an entry instruction to the mobile body 2 entering from the selected permitted node. When there is the mobile body 2 waiting for entry from the permitted node and there is no mobile body 2 waiting for entry from another node 6, the selection section 13 suspends switching of the selection of the permitted node even when the switching condition is satisfied.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Patent Document 1 discloses an example of a system for managing the passage of mobile objects. The system acquires a digital certificate from each mobile object according to its purpose or service. The system uses the acquired digital certificate to determine which mobile object should be given priority for passage. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2023 / 013326 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the system of Patent Document 1, which mobile bodies passing through an area where movement is managed are allowed to enter is determined based on a one-to-one priority determination for each mobile body, and driving instructions are output to the mobile bodies based on the result of this determination. As a result, only one mobile body can enter the area at a time, which may reduce the movement efficiency of mobile bodies around the area.

[0005] The present disclosure relates to solving such problems, and provides a traffic management device, a traffic management method, a traffic management program, a mobile object system, and a mobile object control system that manage the movement of mobile objects so as to further improve travel efficiency. [Means for solving the problem]

[0006] The traffic management device of the present disclosure comprises an area management unit that manages area information for a predetermined arbitration area, including information on nodes adjacent to the arbitration area; a reception unit that receives arbitration requests for entry instructions from one or more mobile bodies each attempting to enter the arbitration area; a selection unit that switches the selection of an allowed node among the adjacent nodes to allow entry into the arbitration area when a predetermined switching condition that is not dependent on the status of the one or more mobile bodies is met; and a command unit that outputs an entry instruction to at least one of the one or more mobile bodies that enters from the allowed node selected by the selection unit, wherein when there is a mobile body waiting to enter the arbitration area from the allowed node but there is no mobile body waiting to enter from another node adjacent to the arbitration area, the selection unit suspends switching the selection of the allowed node even if the switching condition is met.

[0007] The traffic management method of the present disclosure is a method in which a computer manages area information for a predetermined arbitration area, including information on nodes adjacent to the arbitration area; accepts arbitration requests for entry instructions from one or more mobile bodies each attempting to enter the arbitration area; when a predetermined switching condition that is independent of the status of the one or more mobile bodies is met, switches the selection of an allowed node among the adjacent nodes that will allow entry into the arbitration area; and outputs an entry instruction to at least one of the one or more mobile bodies that enters from the selected allowed node; and when there is a mobile body waiting to enter the arbitration area from the allowed node but no mobile body waiting to enter from another node adjacent to the arbitration area, the computer suspends switching the selection of the allowed node even if the switching condition is met.

[0008] The traffic management program of the present disclosure causes a computer to manage area information for a predetermined arbitration area, including information on nodes adjacent to the arbitration area; accept arbitration requests for entry instructions from one or more mobile bodies each attempting to enter the arbitration area; switch the selection of an allowed node among the adjacent nodes that will allow entry into the arbitration area when a predetermined switching condition that is independent of the status of the one or more mobile bodies is met; and output an entry instruction to at least one of the one or more mobile bodies that enters from the selected allowed node; and when there is a mobile body waiting to enter the arbitration area from the allowed node but no mobile body waiting to enter from another node adjacent to the arbitration area, the computer is caused to suspend switching the selection of the allowed node even if the switching condition is met.

[0009] The mobile body system of the present disclosure comprises an area management unit that manages area information including one or more mobile bodies each attempting to enter a predetermined arbitration area and information on nodes adjacent to the arbitration area; a reception unit that receives arbitration requests from the one or more mobile bodies requesting an entry instruction; a selection unit that switches the selection of an allowed node among the adjacent nodes to be allowed to enter the arbitration area when a predetermined switching condition that is not dependent on the status of the one or more mobile bodies is met; and a command unit that outputs an entry instruction to at least one of the one or more mobile bodies that enters from the allowed node selected by the selection unit, wherein when there is a mobile body waiting to enter the arbitration area from the allowed node but there is no mobile body waiting to enter from another node adjacent to the arbitration area, the selection unit suspends switching the selection of the allowed node even if the switching condition is met.

[0010] The mobile body control system of the present disclosure comprises a mobile body control unit that controls the movement of one or more mobile bodies each attempting to enter a predetermined arbitration area; an area management unit that manages area information including information on nodes adjacent to the arbitration area; a reception unit that receives arbitration requests from the one or more mobile bodies requesting an entry instruction; a selection unit that switches the selection of an allowed node among the adjacent nodes to allow entry into the arbitration area when a predetermined switching condition that is not dependent on the status of the one or more mobile bodies is met; and a command unit that outputs an entry instruction to at least one of the one or more mobile bodies that enters from the allowed node selected by the selection unit, wherein when there is a mobile body waiting to enter the arbitration area from the allowed node but there is no mobile body waiting to enter from another node adjacent to the arbitration area, the selection unit suspends switching the selection of the allowed node even if the switching condition is met. [Effects of the Invention]

[0011] According to the traffic management device, traffic management method, traffic management program, mobile body system, or mobile body control system disclosed herein, the movement of mobile bodies is managed so as to further improve movement efficiency. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a configuration diagram of a mobile body system according to a first embodiment. [Figure 2] 1 is a plan view illustrating an example of an arbitration area in a mobile body system according to a first embodiment. [Figure 3] 4 is a flowchart showing an example of the operation of the mobile body system according to the first embodiment. [Figure 4] 4 is a flowchart showing an example of the operation of the mobile body system according to the first embodiment. [Figure 5] 4 is a flowchart showing an example of the operation of the mobile body system according to the first embodiment. [Figure 6] 1 is a hardware configuration diagram of a main part of a mobile body system according to a first embodiment. [Figure 7] 10 is a flowchart showing an example of the operation of the mobile body system according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] The following describes embodiments of the subject matter of the present disclosure with reference to the accompanying drawings. In each drawing, identical or corresponding parts are designated by the same reference numerals, and redundant explanations are appropriately simplified or omitted. Note that the subject matter of the present disclosure is not limited to the following embodiments, and any component of the embodiments may be modified or omitted within the scope of the gist of the present disclosure.

[0014] Embodiment 1 FIG. 1 is a configuration diagram of a mobile system 1 according to the first embodiment.

[0015] The mobile system 1 is a system that provides services using mobile objects 2, which are mobile devices. In this example, the mobile system 1 is applied to a facility 3. The facility 3 includes, for example, one or more buildings. The facility 3 may be part or all of a building. The facility 3 may include one or both of the outdoor and indoor parts of a building. The facility 3 may be, for example, a commercial facility, an office building, an accommodation facility, a residential facility, a public facility, or other facility, or a complex of these. The mobile system 1 includes one or more mobile objects 2. In this example, the mobile system 1 includes multiple mobile objects 2.

[0016] Each mobile object 2 is a device that provides services by moving. The mobile object 2 is, for example, an autonomous mobile object that moves autonomously. The mobile object 2 may be, for example, a robot, a drone, mobility, an autonomous vehicle, or other mobile equipment. The mobile object 2 moves, for example, by running, walking, flying, navigating, or in other ways. Services provided by the mobile object 2 include, for example, transportation, guidance, security, or cleaning services.

[0017] Each mobile object 2 is equipped with a wireless communication function so that it can communicate information with external devices. Each mobile object 2 communicates with external devices directly or indirectly via a communication network 4 or the like. The communication network 4 includes, for example, the Internet, a telephone network, or an optical communication network. The communication network 4 may include a local network such as a LAN (Local Area Network) within the facility 3, or may include industrial communication such as short-range wireless communication. The communication network 4 may also include a wired or wireless intranet.

[0018] Some or all of the mobile objects 2 operating in the mobile object system 1 may be devices within the mobile object system 1, or may be devices outside the system that cooperate with the mobile object system 1. The mobile objects 2 may be devices that move within a predetermined range, such as within a facility 3, or may be devices with an unlimited range of movement, such as vehicles that travel on roads. In this case, the mobile object system 1 may be applied to an area including roads or other wide areas.

[0019] One or more arbitration areas 5 are set in an area to which the mobile object system 1 is applied, such as a facility 3. In this example, multiple arbitration areas 5 are set in advance. The arbitration area 5 is, for example, a narrow street or an intersection where mobile objects 2 may intersect. The arbitration area 5 may also be a space such as a room or an open space. The arbitration area 5 may also be a space including an elevator applied to the facility 3. In this case, the arbitration area 5 is set as, for example, an area including the inside of the elevator car and the halls of each floor. For each arbitration area 5, one or more adjacent nodes 6 are set in advance. Each node 6 corresponds, for example, to an entrance / exit to the arbitration area 5. For example, each node 6 adjacent to an arbitration area 5 such as an intersection corresponds to an aisle leading to the intersection.

[0020] The mobile body system 1 includes a mobile body control system 7. The mobile body control system 7 is a system that controls the movement of mobile bodies 2, the execution of service tasks, and the like, as well as arbitrates between mobile bodies 2. The mobile body control system 7 includes a mobile body control device 8 and a traffic management device 9.

[0021] The mobile object control device 8 is a part that controls the movement of the mobile object 2 and the operation of the mobile object 2, such as the execution of tasks. The mobile object control device 8 is an example of a mobile object control unit. The mobile object control device 8 communicates with external devices via the communication network 4 or the like. The mobile object control device 8 may control the operation of multiple mobile objects 2. Multiple mobile object control devices 8 may be provided in the mobile object control system 7. Each mobile object control device 8 may be managed by, for example, a different administrator. The administrator of the mobile object control device 8 may be, for example, the manufacturer or management company of the corresponding mobile object 2. The same administrator may manage multiple mobile object control devices 8. Some or all of the mobile object control devices 8 may be devices within the mobile object system 1, or may be devices outside the system that cooperates with the mobile object system 1. Each mobile object control device 8 is, for example, a computer system consisting of one or more server devices. Here, a computer system consisting of one or more devices may simply be referred to as a computer. The multiple server devices that make up the mobile object control device 8 may be located in different locations. In this case, the multiple server devices communicate information with each other, for example, via the communication network 4. Some or all of the functions of the mobile body control device 8 may be implemented, for example, by processing or storage resources on a cloud service. Note that some or all of the mobile bodies 2 operating in the mobile body system 1 may operate autonomously without being controlled by the mobile body control device 8.

[0022] The traffic management device 9 is a part that performs processes such as arbitrating movement between mobile objects 2. The traffic management device 9 communicates with external devices via the communication network 4 or the like. The traffic management device 9 is, for example, a computer system including one or more server devices. The multiple server devices that make up the traffic management device 9 may be located in different locations. In this case, the multiple server devices communicate information with each other, for example, via the communication network 4. Some or all of the functions of the traffic management device 9 may be implemented, for example, by processing or storage resources on a cloud service. Note that the traffic management device 9 may include some or all of the functions of the mobile object control device 8. The traffic management device 9 includes an area management unit 10, a mobile object management unit 11, a reception unit 12, a selection unit 13, a command unit 14, and a notification unit 15.

[0023] The area management unit 10 is a component that has a function for managing area information for each arbitration area 5. The area information for an arbitration area 5 includes, for example, the coordinates, range, identifier, name, attributes, number of moving objects 2 currently present in the arbitration area 5, the upper limit number, and other information for the arbitration area 5. The upper limit number for an arbitration area 5 indicates, for example, the upper limit of moving objects 2 that can be present in the arbitration area 5. For example, in an arbitration area 5 with an upper limit number of three moving objects 2, three moving objects 2 are permitted in the arbitration area 5, but four or more moving objects 2 are not permitted in the arbitration area 5. The upper limit number for some or all arbitration areas 5 may be set to one. The upper limit number for an arbitration area 5 may be set according to time. The upper limit number set according to time may be set according to a time period of a day, such as morning, noon, evening, or night, or according to day attributes, such as weekday, holiday, or day of the week. The area information of an arbitration area 5 includes information about nodes 6 adjacent to the arbitration area 5, such as an identifier that identifies the arbitration area 5, as well as the coordinates, range, identifier, name, attributes, and other information of each node 6. The area management unit 10 manages the area information by storing it in, for example, a database. The area management unit 10 may also manage information about the relationships between arbitration areas 5. Information about the relationships between arbitration areas 5 includes connection information, such as whether or not traffic is possible between arbitration areas 5. The management of information by the area management unit 10 includes adding, retaining, updating, correcting, or deleting information. The area management unit 10 manages changing information in the area information, updating it as needed to reflect the current situation.

[0024] The mobile object management unit 11 is a part that has a function for managing information about each mobile object 2. The information about the mobile object 2 includes, for example, the identifier of the mobile object 2, the type of service provided by the mobile object 2, size information such as the width and weight of the mobile object 2, the identifier of the mobile object control device 8 that controls the mobile object 2, and other attributes of the mobile object 2. The information about the mobile object 2 includes, for example, the rated speed, maximum speed, turning radius, or other mobility performance information of the mobile object 2. The information about the mobile object 2 includes, for example, the current location, current speed, and current status of the mobile object 2. The status of the mobile object 2 includes, for example, information about whether the mobile object 2 is in an arbitration area 5, information about the identifier of the arbitration area 5, information about whether the mobile object 2 is executing a task, and information about the type of the task. The information about whether the mobile object 2 is currently in the arbitration area 5 may be, for example, information about the current location of the mobile object 2. Information about the current location of the mobile object 2 is acquired by the mobile object 2 itself or the mobile object control device 8, for example, using a satellite positioning system such as a GPS (Global Positioning System), an autonomous navigation system, an indoor positioning system, or other positioning systems. Information about the current location of the mobile object 2 is provided to the traffic management device 9 from the mobile object 2 itself or the mobile object control device 8 as needed. The mobile object management unit 11 manages the information about the mobile object 2 by storing the information in, for example, a database. The management of information by the mobile object management unit 11 includes adding, holding, updating, correcting, or deleting information. The mobile object management unit 11 manages changing information about the mobile object 2, updating it as needed to reflect the current situation.

[0025] The reception unit 12 is a part that has a function of receiving an arbitration request from each mobile body 2. The arbitration request from a mobile body 2 is transmitted via the communication network 4 or the like when the mobile body 2 attempts to enter one of the arbitration areas 5. The arbitration request from a mobile body 2 may be transmitted from the mobile body control device 8 corresponding to the mobile body 2. The arbitration request is a signal that requests an instruction to enter the arbitration area 5 from the traffic management system. The arbitration request includes information such as the identifier of the mobile body 2, the identifier of the arbitration area 5, and the identifier of the entry node, which is the node 6 that serves as the entrance to the arbitration area 5.

[0026] The selection unit 13 is a part that has a function of selecting an allowed node that will allow the mobile unit 2 to enter each arbitration area 5 for which an arbitration request has been made. The selection unit 13 selects one of the nodes 6 adjacent to the arbitration area 5 as an allowed node based on the area information of the arbitration area 5 managed by the area management unit 10, etc.

[0027] A switching condition for switching the selection of permitted nodes is set in advance in the selection unit 13. The switching condition is, for example, a condition that does not depend on the status of the moving object 2. The switching condition includes, for example, a condition based on the passage of time, such as the passage of a predetermined time from a reference point in time. The reference point in time is, for example, the point in time when the previous selection of permitted nodes was switched. The selection unit 13 cyclically switches the selection of permitted nodes for each of the nodes 6 adjacent to the arbitration area 5, for example, every time a predetermined time has elapsed. The selection unit 13 may, for example, sequentially select permitted nodes clockwise or counterclockwise. The selection unit 13 may set, for each node 6 adjacent to the arbitration area 5, the elapsed time from when the selection unit 13 selects a node 6 as a permitted node until when the selection unit 13 selects another node 6 as a permitted node.

[0028] The command unit 14 is a part that has a function of outputting an entry instruction to the moving body 2 to enter the arbitration area 5. The command unit 14 transmits the entry instruction to the moving body 2 via the communication network 4 or the like. The command unit 14 may transmit the entry instruction to the moving body 2 to the mobile body control device 8 corresponding to the moving body 2. The command unit 14 outputs an entry instruction to a moving body 2 that enters from an allowed node selected by the selection unit 13. When there are multiple moving bodies 2 entering from an allowed node, the command unit 14 may output the entry instruction to the multiple moving bodies 2 in sequence, or may output the entry instruction to all or some of the moving bodies 2 simultaneously when the multiple moving bodies 2 do not interfere with each other, for example.

[0029] The notification unit 15 is a part that has a function of sending a notification to the mobile body 2. The notification unit 15 transmits a notification to the mobile body 2 via the communication network 4 or the like. The notification unit 15 may transmit the notification to the mobile body 2 to the mobile body control device 8 corresponding to the mobile body 2. The notification unit 15 may, for example, notify the mobile body 2 that the reception unit 12 has received an arbitration request.

[0030] FIG. 2 is a plan view illustrating an example of the arbitration area 5 in the mobile body system 1 according to the first embodiment.

[0031] The arbitration area 5 is set, for example, within the range of an intersection where passageways intersect. Four adjacent nodes 6 are set in the arbitration area 5. Each node 6 corresponds to a passageway leading to the arbitration area 5. For example, when each moving body 2 approaches the arbitration area 5, it outputs an arbitration request to enter the arbitration area 5 to the traffic management device 9. Each moving body 2 may determine whether it has approached the arbitration area 5 using information such as its own current position and the distance to the arbitration area 5 based on that position. For example, when each moving body 2 arrives at a point just before the arbitration area 5 after outputting an arbitration request, it waits without entering the arbitration area 5 until it receives an entry instruction from the traffic management device 9.

[0032] Next, an example of the operation of the mobile system 1 will be described with reference to FIGS. 3 to 5 are flowcharts showing examples of the operation of the mobile body system 1 according to the first embodiment.

[0033] In FIG. 3, an example of the operation of the traffic management device 9 regarding switching of permitted nodes in the arbitration area 5 is shown.

[0034] In step S11, the selection unit 13 determines whether or not the switching condition is satisfied. If the switching condition is satisfied, the processing of the traffic management device 9 proceeds to step S12. On the other hand, if the switching condition is not satisfied, the processing of the traffic management device 9 proceeds to step S16.

[0035] In step S12, the selection unit 13 determines whether there is a mobile object 2 that has issued an arbitration request and is waiting for an entry instruction at the permission node before switching. The selection unit 13 makes this determination based on, for example, the arbitration request accepted by the acceptance unit 12 and the information on the mobile object 2 managed by the mobile object management unit 11. If there is a mobile object 2 waiting for an entry instruction at the permission node, the processing of the traffic management device 9 proceeds to step S13. On the other hand, if there is no mobile object 2 waiting for an entry instruction at the permission node, the processing of the traffic management device 9 proceeds to step S14.

[0036] In step S13, the selection unit 13 determines whether there is a mobile object 2 that has issued an arbitration request and is waiting for an entry instruction at a node 6 other than the permitted node before switching, among the nodes 6 adjacent to the arbitration area 5. The selection unit 13 makes this determination based on, for example, the arbitration request accepted by the acceptance unit 12 and the information on the mobile object 2 managed by the mobile object management unit 11. If there is a mobile object 2 waiting for an entry instruction at another node 6, the processing of the traffic management device 9 proceeds to step S14. On the other hand, if there is no mobile object 2 waiting for an entry instruction at another node 6, the processing of the traffic management device 9 proceeds to step S15.

[0037] In step S14, the selection unit 13 switches the selection of the permitted node. The selection unit 13 selects a new permitted node from among the nodes 6 adjacent to the arbitration area 5 other than the permitted node before the switch, for example, according to a preset selection order. Note that if there is a moving object 2 waiting for an entry instruction at another node 6, the selection unit 13 may select a new permitted node depending on the waiting status of the moving object 2, etc. Thereafter, the processing of the traffic management device 9 proceeds to step S11.

[0038] In step S15, the selection unit 13 reserves the right to switch the selection of the permitted node. At this time, the command unit 14 may output an entry instruction to the moving object 2 waiting at the permitted node before the switch. Thereafter, the processing of the traffic management device 9 proceeds to step S12.

[0039] In step S16, the selection unit 13 determines whether there is a mobile object 2 that has issued an arbitration request and is waiting for an entry instruction at the permission node before switching. The selection unit 13 makes this determination in the same manner as in step S12, for example. If there is a mobile object 2 waiting for an entry instruction at the permission node, the processing of the traffic management device 9 proceeds to step S11. On the other hand, if there is no mobile object 2 waiting for an entry instruction at the permission node, the processing of the traffic management device 9 proceeds to step S17.

[0040] In step S17, the selection unit 13 determines whether there is a mobile object 2 that has issued an arbitration request and is waiting for an entry instruction at a node 6 other than the permitted node before switching, among the nodes 6 adjacent to the arbitration area 5. The selection unit 13 makes this determination in the same manner as in step S13, for example. If there is a mobile object 2 waiting for an entry instruction at another node 6, the processing of the traffic management device 9 proceeds to step S14. On the other hand, if there is no mobile object 2 waiting for an entry instruction at another node 6, the processing of the traffic management device 9 proceeds to step S11.

[0041] In FIG. 4, an example of the operation of the traffic management device 9 regarding the output of an instruction to enter the arbitration area 5 is shown. In this example, the command unit 14 outputs approach instructions to the moving bodies 2 one by one in sequence.

[0042] In step S21, the command unit 14 determines whether the condition for the upper limit number of moving objects 2 in the arbitration area 5 is satisfied when the moving object 2 is allowed to enter the arbitration area 5 from the permitted node. The command unit 14 makes this determination, for example, using the number of moving objects 2 currently in the arbitration area 5 and the upper limit number in the area information managed by the area management unit 10. If the upper limit number of moving objects 2 in the arbitration area 5 is set according to time, the command unit 14 makes this determination, for example, using the number of moving objects 2 currently in the arbitration area 5 and the upper limit number corresponding to the current time. The command unit 14 determines, for example, whether the number of moving objects 2 currently in the arbitration area 5 has reached the upper limit number. Note that when simultaneously outputting entry instructions to multiple moving objects 2 entering from the permitted node, the command unit 14 may determine, for example, whether adding the number of moving objects 2 to which entry instructions are output to the number of moving objects 2 currently in the arbitration area 5 exceeds the upper limit number. If the condition for the upper limit number of vehicles is satisfied when the mobile body 2 is allowed to enter the arbitration area 5 from the permitted node, the processing of the traffic management device 9 proceeds to step S22. On the other hand, if the condition for the upper limit number of vehicles is not satisfied when the mobile body 2 is allowed to enter the arbitration area 5 from the permitted node, the processing of the traffic management device 9 proceeds to step S21 again.

[0043] In step S22, the command unit 14 outputs an entry instruction to the mobile body 2 entering from the permission node selected by the selection unit 13 via the mobile body control device 8. Note that the command unit 14 may also output the entry instruction to the mobile body 2 without going through the mobile body control device 8. The mobile body 2 that has received the entry instruction from the command unit 14 enters the arbitration area 5 from the permission node. Thereafter, the processing of the traffic management device 9 proceeds to step S23.

[0044] In step S23, the area management unit 10 adds the number of moving bodies 2 that have received an entry instruction and entered the arbitration area 5 to the number of moving bodies 2 currently in the arbitration area 5 in the area information. Thereafter, the processing of the traffic management device 9 proceeds to step S21.

[0045] FIG. 5 shows an example of the operation of the traffic control device 9 when the mobile object 2 exits the arbitration area 5.

[0046] In step S31, the traffic management device 9 detects the exit of the mobile object 2 from the arbitration area 5 based on information on the current location of the mobile object 2 managed by the mobile object management unit 11. The traffic management device 9 may detect the exit of the mobile object 2 from the arbitration area 5 based on a notification from the mobile object 2. Thereafter, the processing of the traffic management device 9 proceeds to step S32.

[0047] In step S32, the area management unit 10 subtracts the number of moving objects 2 that have exited the arbitration area 5 from the number of moving objects 2 currently in the arbitration area 5 in the area information. After that, the processing of the traffic management device 9 proceeds to step S33.

[0048] In step S33, the traffic control device 9 executes a process of outputting an instruction to enter the arbitration area 5. This process is, for example, the process shown in Fig. 4. Thereafter, the process of the traffic control device 9 ends.

[0049] As described above, the mobile body system 1 according to the first embodiment includes one or more mobile bodies 2 and a mobile body control system 7. The mobile body control system 7 includes a mobile body control device 8 and a traffic management device 9. The mobile body control device 8 controls the movement of the mobile bodies 2. The traffic management device 9 includes an area management unit 10, a reception unit 12, a selection unit 13, and a command unit 14. The area management unit 10 manages area information for each arbitration area 5. The area information for the arbitration area 5 includes information on adjacent nodes 6. The reception unit 12 receives an arbitration request from each mobile body 2 attempting to enter the arbitration area 5. When a switching condition is satisfied, the selection unit 13 switches the selection of an allowed node from among the adjacent nodes 6 that is allowed to enter the arbitration area 5. The switching condition is a preset condition that does not depend on the status of the mobile body 2. The command unit 14 outputs an entry instruction to the mobile body 2 entering from the allowed node selected by the selection unit 13. When there is a mobile object 2 waiting to enter an arbitration area 5 from an allowed node, but there is no mobile object 2 waiting to enter from another node 6 adjacent to the arbitration area 5, the selector 13 postpones switching the selection of the allowed node even if the switching condition is satisfied. Note that the selector 13 may quickly switch the selection of the allowed node when a mobile object 2 is waiting at another node 6.

[0050] With this configuration, an permission node is selected, and an entry instruction is output from the permission node to the mobile unit 2 entering the permission node. This reduces the possibility of blockages and other issues when entering the arbitration area 5, and reduces a decrease in the movement efficiency of the mobile unit 2. Furthermore, the permission node can continuously output entry instructions to multiple mobile units 2 entering the arbitration area 5, which reduces the interruption of traffic flow in the arbitration area 5 and reduces the delay in the movement of the mobile units 2. Furthermore, since the switching condition does not depend on the situation of the mobile unit 2, the mobile unit 2 can easily predict the selection of the permission node. This makes it easier for the mobile unit 2 to select an efficient movement route, etc. Furthermore, fairness among the mobile units 2 is maintained. Furthermore, if there are no mobile units 2 waiting other than the mobile unit 2 attempting to enter from the permission node, the selection of the permission node is not switched based on the switching condition and is instead suspended. This reduces unnecessary waiting time for the mobile unit 2, thereby further improving the movement efficiency of the mobile unit 2. Furthermore, since the traffic management device 9 mediates movement between multiple moving bodies 2 in response to a mediation request, even when direct cooperation between the moving bodies 2 is difficult, for example, because the moving bodies 2 are made by different manufacturers, it is less likely that the moving bodies 2 will cross paths with each other. In this way, the movement efficiency of the moving bodies 2 in the moving body system 1 can be further improved.

[0051] Furthermore, when there is a mobile body 2 waiting to enter an arbitration area 5 from another node 6 adjacent to the arbitration area 5, but there is no mobile body 2 waiting to enter from an authorized node, the selection unit 13 switches the selection of the authorized node even if the switching condition is not satisfied.

[0052] With this configuration, when there is no moving body 2 attempting to enter from an allowed node, the selection of the allowed node is switched regardless of the switching conditions. This reduces the amount of unnecessary waiting time for the moving body 2, thereby further improving the movement efficiency of the moving body 2.

[0053] The area information for the arbitration area 5 also includes information on the maximum number of vehicles in the arbitration area 5 according to time and the number of moving bodies 2 currently in the arbitration area 5. The moving body management unit 11 manages the area information while updating it. The command unit 14 outputs an entry instruction based on the maximum number of vehicles in the arbitration area 5 corresponding to the current time and the number of moving bodies 2 currently in the arbitration area 5.

[0054] With this configuration, congestion within the arbitration area 5 is managed even when there are moving objects 2 with slow movement speeds, thereby reducing the occurrence of blockages and the like within the arbitration area 5. This makes it less likely that the movement efficiency of the moving objects 2 will decrease. Furthermore, because the upper limit number is set according to time, it is possible to set the upper limit number according to the situation in the arbitration area 5. For example, for the same arbitration area 5, the upper limit number during times when there are fewer people, such as at night, may be set higher than the upper limit number during times when there are more people, such as during the day.

[0055] The upper limit number of mobile units in the arbitration area 5 may be set according to the task performed by the mobile units 2. The upper limit number set according to the task may be, for example, a number set individually for each task, or may be an upper limit for a weighted number calculated by multiplying the number by a weight set for each task. In this case, the area information for the arbitration area 5 may include information on the weight for each task in the arbitration area 5. As the upper limit number set according to the task, for example, a relatively small number of mobile units 2 is set for a service task requiring a long stay in the arbitration area 5, such as cleaning. As the upper limit number set according to the task, for example, a relatively large number of mobile units 2 is set for a service task requiring a short stay in the arbitration area 5, such as transportation. The upper limit number set according to the task may be, for example, an upper limit for a weighted number set so as to multiply a larger weight by a service task requiring a longer stay. The upper limit number set according to the task may be, for example, a smaller number of mobile units 2 is set for a service task requiring movement over a wider area within the arbitration area 5, such as cleaning. The upper limit of the number of vehicles in the arbitration area 5 may be set according to both the task and the time.

[0056] When an upper limit on the number of mobile objects 2 in an arbitration area 5 is set for each task, the area management unit 10 manages information on the number of mobile objects 2 currently in the arbitration area 5 for each task as area information for the arbitration area 5. When outputting an entry instruction, the command unit 14 determines, for example, whether the condition for the upper limit on the number of mobile objects 2 in the arbitration area 5 will be met if a mobile object 2 is allowed to enter the arbitration area 5 from an authorized node. This determination is made using, for example, the number of mobile objects 2 currently in the arbitration area 5 for each task and the upper limit on the number of mobile objects for each task. At this time, the command unit 14 determines, for example, for a task to be executed by a mobile object 2 waiting to enter from an authorized node, whether the number of mobile objects 2 currently in the arbitration area 5 executing the task has reached the upper limit on the task. If the condition for the upper limit on the number of mobile objects 2 for each task will be met even if a mobile object 2 is allowed to enter the arbitration area 5 from an authorized node, the command unit 14 outputs an entry instruction.

[0057] On the other hand, the upper limit number of vehicles in the arbitration area 5 may be set as an upper limit for the weighted number, which is calculated by multiplying the weights set for each task. In this case, the area management unit 10 manages information on the weighted number calculated for the mobile objects 2 currently in the arbitration area 5 as area information for the arbitration area 5. The weighted number is calculated, for example, by the area management unit 10. When outputting an entry instruction, the command unit 14 determines whether the condition for the upper limit number is met when the mobile object 2 is allowed to enter the arbitration area 5 from the permitted node, for example, using the weighted number for the task of the mobile object 2 currently in the arbitration area 5 and the corresponding upper limit number. At this time, the command unit 14 calculates the weighted numbers for the mobile objects 2 currently in the arbitration area 5 and the mobile objects 2 waiting to enter from the permitted node. The command unit 14 compares the calculated weighted number with the current weighted number managed by the area management unit 10 to determine whether the condition for the upper limit number is met. If the condition for the upper limit number of vehicles is satisfied even if the moving object 2 is allowed to enter the arbitration area 5 from the permitted node, the command unit 14 outputs an entry instruction.

[0058] Next, an example of the hardware configuration of the mobile system 1 will be described with reference to FIG. FIG. 6 is a hardware configuration diagram of the main part of the mobile body system 1 according to the first embodiment.

[0059] Some or all of the functions of the mobile system 1 may be implemented by a processing circuit. The processing circuit includes at least one processor 100 a and at least one memory 100 b. The processing circuit may include at least one dedicated hardware in addition to or in place of the processor 100 a and the memory 100 b.

[0060] When the processing circuit includes the processor 100a and the memory 100b, each function of the mobile 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 system 1 by reading and executing the program stored in the memory 100b. The program may be a program package including multiple subprograms, modules, libraries, or the like. The program may also be called a program product.

[0061] The processor 100a is also called a CPU (Central Processing Unit), processing device, arithmetic unit, microprocessor, microcomputer, or DSP. The memory 100b is configured by, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, or EEPROM.

[0062] Where the processing circuitry comprises dedicated hardware, the processing circuitry may be implemented, for example, as a single circuit, multiple circuits, a programmed processor, parallel programmed processors, an ASIC, an FPGA, or a combination thereof.

[0063] Each function of the mobile system 1 can be realized by a processing circuit. Alternatively, each function of the mobile system 1 can be realized collectively by a processing circuit. Some of the functions of the mobile system 1 may be realized by dedicated hardware, and other parts may be realized by software or firmware. In this way, the processing circuit realizes each function of the mobile system 1 by dedicated hardware, software, firmware, or a combination of these.

[0064] 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.

[0065] The area information of the arbitration area 5 includes, for example, information on an upper limit time that indicates the upper limit of the stay time of a mobile object 2 in the arbitration area 5. The upper limit time may be a fixed value that is set in advance, or may be automatically set by the area management unit 10. The area information of the arbitration area 5 may also include information on a method for setting the upper limit time. The method for setting the upper limit time is selected from options such as a fixed value or automatic setting, for example.

[0066] The command unit 14 monitors the stay time of each of the moving bodies 2 in the arbitration area 5. When any of the moving bodies 2 times out, that is, when the stay time of the moving body 2 exceeds the upper limit time of the arbitration area 5, the command unit 14 outputs an exit instruction to the moving body 2.

[0067] Upon receiving an exit instruction from the command unit 14, the mobile object 2 exits the arbitration area 5 to, for example, one of the adjacent nodes 6. The mobile object 2 that has exited the arbitration area 5 may issue an arbitration request again to enter the arbitration area 5, if necessary.

[0068] It may be difficult for the moving body 2 to exit the arbitration area 5 due to the presence of an obstacle in the arbitration area 5 or for other reasons. In such cases, the moving body 2 may stop within the arbitration area 5. The traffic management device 9 detects the occurrence of an abnormality in the arbitration area 5 when the moving body 2, to which an exit instruction has been output from the command unit 14, is still in the arbitration area 5 after a preset time has elapsed since the output of the exit instruction. When detecting the occurrence of an abnormality, the traffic management device 9 may notify the manager of the facility 3 in which the arbitration area 5 is located of the occurrence of the abnormality. The notification is made by, for example, the notification unit 15.

[0069] FIG. 7 is a flowchart showing an example of the operation of the mobile body system 1 according to the second embodiment. Fig. 7 shows an example of the operation of the traffic management device 9 for setting an upper limit time for the arbitration area 5. The processing in Fig. 7 is executed, for example, when a new arbitration area 5 is set for a target to which the mobile system 1 is applied, or when information on the arbitration area 5 is updated.

[0070] In step S41, the area management unit 10 acquires the setting method of the upper limit time for the arbitration area 5. If a fixed value is selected as the setting method, the processing of the traffic management device 9 proceeds to step S42. On the other hand, if automatic setting is selected as the setting method, the processing of the traffic management device 9 proceeds to step S43.

[0071] In step S42, the area management unit 10 receives input of a fixed value from, for example, a manager of the facility 3. The area management unit 10 sets the received input fixed value as the upper limit time for the arbitration area 5. The upper limit time set at this time is applied to, for example, all mobile objects 2 staying in the arbitration area 5. After the upper limit time is set, the processing of the traffic management device 9 ends.

[0072] In step S43, the area management unit 10 automatically sets an upper limit time for the arbitration area 5. In this example, the upper limit time is set individually for each moving body 2. The upper limit time is set, for example, according to the length of the arbitration area 5 and the speed of the moving body 2. The length of the arbitration area 5 is, for example, the maximum or average value of the distance within the arbitration area 5 between adjacent nodes 6, or the maximum or average value of the width or depth of the arbitration area 5. The speed of the moving body 2 is, for example, the rated travel speed of the moving body 2. The upper limit time is set, for example, as a value obtained by dividing the length of the arbitration area 5 by the speed of the moving body 2, plus a predetermined time, or multiplying the value by a predetermined coefficient. Then, the processing of the traffic management device 9 ends.

[0073] As described above, in the mobile body system 1 according to the second embodiment, the area information includes information on the upper limit time that indicates the upper limit of the stay time in the arbitration area 5. The area management unit 10 automatically sets the upper limit time for each mobile body 2.

[0074] This configuration reduces the effort required to individually set the upper limit time for each moving body 2 for the arbitration area 5. Because the upper limit time for the arbitration area 5 is set for each moving body 2, it becomes less likely that an unnecessarily long upper limit time will be set.

[0075] 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 area information for a predetermined arbitration area, the area information including information on nodes adjacent to the arbitration area; a reception unit that receives an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; a selection unit that switches a selection of an allowed node to be permitted to enter the arbitration area from among adjacent nodes when a predetermined switching condition that does not depend on the state of the one or more moving objects is satisfied; a command unit that outputs an entry instruction to at least one of the one or more moving objects that enters from the permitted node selected by the selection unit; Equipped with the selection unit suspends switching of the selection of the permitted node in the arbitration area even if the switching condition is satisfied, when there is a moving object waiting to enter from the permitted node but there is no moving object waiting to enter from another node adjacent to the arbitration area. Traffic management device. (Appendix 2) the selection unit switches the selection of the permitted node for the arbitration area even if the switching condition is not satisfied, when there is a moving object waiting to enter from another node adjacent to the arbitration area and there is no moving object waiting to enter from the permitted node; 1. A traffic management device as described in Appendix 1. (Appendix 3) the area information includes information on the upper limit number of vehicles in the arbitration area according to time and the number of moving objects currently in the arbitration area; the area management unit manages the area information while updating it; the command unit outputs the entry instruction based on an upper limit number of vehicles in the arbitration area corresponding to the current time and the number of moving bodies currently in the arbitration area. 10. A traffic management device according to claim 1 or 2. (Appendix 4) a mobile entity management unit that manages, while updating, information on tasks executed by each of the one or more mobile entities; Equipped with the area information includes information on the upper limit number of moving objects in the arbitration area for each task and the number of moving objects currently in the arbitration area for each task; the mobile object management unit manages the area information while updating it; the command unit outputs the entry instruction based on an upper limit number of vehicles in the arbitration area for a task to be executed by a mobile body waiting to enter from the permitted node and the number of mobile bodies currently in the arbitration area executing the task. 10. A traffic management device according to claim 1 or 2. (Appendix 5) a mobile entity management unit that manages, while updating, information on tasks executed by each of the one or more mobile entities; Equipped with the area information includes an upper limit number, which is an upper limit on the weighted number calculated by multiplying the weight set for each task, and information on the weighted number calculated for the moving objects currently in the arbitration area; the mobile object management unit manages the area information while updating it; the command unit outputs the entry instruction based on an upper limit number of vehicles according to the task of the arbitration area and the weighted number of vehicles calculated based on the mobile bodies currently in the arbitration area and the mobile bodies waiting to enter from the permitted node. 10. A traffic management device according to claim 1 or 2. (Appendix 6) the area information includes information on an upper limit time indicating an upper limit of a stay time in the arbitration area; the area management unit automatically sets the upper limit time for each of the one or more moving objects; 6. A traffic management device according to any one of claims 1 to 5. (Appendix 7) The computer managing area information for a predetermined arbitration area, the area information including information on nodes adjacent to the arbitration area; receiving an arbitration request for entry instructions from one or more moving objects each attempting to enter the arbitration area; When a predetermined switching condition that is not dependent on the state of the one or more moving bodies is satisfied, switching the selection of an allowed node that is permitted to enter the arbitration area from among adjacent nodes; outputting an entry instruction to at least one of the one or more moving bodies that enters from the selected permitted node; Run When there is a mobile object waiting to enter the arbitration area from the permitted node, but there is no mobile object waiting to enter the arbitration area from another node adjacent to the arbitration area, the computer suspends switching of the selection of the permitted node even if the switching condition is satisfied. Traffic management methods. (Appendix 8) On the computer, managing area information for a predetermined arbitration area, the area information including information on nodes adjacent to the arbitration area; receiving an arbitration request for entry instructions from one or more moving objects each attempting to enter the arbitration area; When a predetermined switching condition that is not dependent on the state of the one or more moving bodies is satisfied, switching the selection of an allowed node that is permitted to enter the arbitration area from among adjacent nodes; outputting an entry instruction to at least one of the one or more moving bodies that enters from the selected permitted node; Execute When there is a mobile object waiting to enter the arbitration area from the permitted node and there is no mobile object waiting to enter the arbitration area from another node adjacent to the arbitration area, the computer is caused to suspend switching of the selection of the permitted node even if the switching condition is satisfied. Traffic management programs. (Appendix 9) one or more moving bodies each attempting to enter a predetermined arbitration area; an area management unit that manages area information including information on nodes adjacent to the arbitration area; a reception unit that receives an arbitration request for an entry instruction from the one or more moving bodies; a selection unit that switches a selection of an allowed node to be permitted to enter the arbitration area from among adjacent nodes when a predetermined switching condition that does not depend on the state of the one or more moving objects is satisfied; a command unit that outputs an entry instruction to at least one of the one or more moving objects that enters from the permitted node selected by the selection unit; Equipped with the selection unit suspends switching of the selection of the permitted node in the arbitration area even if the switching condition is satisfied, when there is a moving object waiting to enter from the permitted node but there is no moving object waiting to enter from another node adjacent to the arbitration area. Mobile systems. (Appendix 10) a mobile object control unit that controls the movement of one or more mobile objects each attempting to enter a predetermined arbitration area; an area management unit that manages area information including information on nodes adjacent to the arbitration area; a reception unit that receives an arbitration request for an entry instruction from the one or more moving bodies; a selection unit that switches a selection of an allowed node to be permitted to enter the arbitration area from among adjacent nodes when a predetermined switching condition that does not depend on the state of the one or more moving objects is satisfied; a command unit that outputs an entry instruction to at least one of the one or more moving objects that enters from the permitted node selected by the selection unit; Equipped with the selection unit suspends switching of the selection of the permitted node in the arbitration area even if the switching condition is satisfied, when there is a moving object waiting to enter from the permitted node but there is no moving object waiting to enter from another node adjacent to the arbitration area. Mobile control system. [Explanation of symbols]

[0076] 1 Mobile system, 2 Mobile body, 3 Facility, 4 Communication network, 5 Arbitration area, 6 Node, 7 Mobile body control system, 8 Mobile body control device, 9 Traffic management device, 10 Area management unit, 11 Mobile body management unit, 12 Reception unit, 13 Selection unit, 14 Command unit, 15 Notification unit, 100a Processor, 100b Memory, 200 Dedicated hardware

Claims

1. an area management unit that manages area information for a predetermined arbitration area, the area information including information on nodes adjacent to the arbitration area; a reception unit that receives an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; a selection unit that switches a selection of an allowed node to be permitted to enter the arbitration area from among adjacent nodes when a predetermined switching condition that does not depend on the state of the one or more moving objects is satisfied; a command unit that outputs an entry instruction to at least one of the one or more moving objects that enters from the permitted node selected by the selection unit; Equipped with the selection unit suspends switching of the selection of the permitted node in the arbitration area even if the switching condition is satisfied, when there is a moving object waiting to enter from the permitted node but there is no moving object waiting to enter from another node adjacent to the arbitration area. Traffic management device.

2. the selection unit switches the selection of the permitted node for the arbitration area even if the switching condition is not satisfied, when there is a moving object waiting to enter from another node adjacent to the arbitration area and there is no moving object waiting to enter from the permitted node; The traffic management device of claim 1 .

3. the area information includes information on the upper limit number of vehicles in the arbitration area according to time and the number of moving objects currently in the arbitration area; the area management unit manages the area information while updating it; the command unit outputs the entry instruction based on an upper limit number of vehicles in the arbitration area corresponding to the current time and the number of moving bodies currently in the arbitration area. The traffic management device according to claim 1 or 2.

4. a mobile entity management unit that manages, while updating, information on tasks executed by each of the one or more mobile entities; Equipped with the area information includes information on the upper limit number of moving objects in the arbitration area for each task and the number of moving objects currently in the arbitration area for each task; the mobile object management unit manages the area information while updating it; the command unit outputs the entry instruction based on an upper limit number of vehicles in the arbitration area for a task to be executed by a mobile body waiting to enter from the permitted node and the number of mobile bodies currently in the arbitration area executing the task. The traffic management device according to claim 1 or 2.

5. a mobile entity management unit that manages, while updating, information on tasks executed by each of the one or more mobile entities; Equipped with the area information includes an upper limit number, which is an upper limit on the weighted number calculated by multiplying the weight set for each task, and information on the weighted number calculated for the moving objects currently in the arbitration area; the mobile object management unit manages the area information while updating it; the command unit outputs the entry instruction based on an upper limit number of vehicles according to the task of the arbitration area and the weighted number of vehicles calculated based on the mobile bodies currently in the arbitration area and the mobile bodies waiting to enter from the permitted node. The traffic management device according to claim 1 or 2.

6. the area information includes information on an upper limit time indicating an upper limit of a stay time in the arbitration area; the area management unit automatically sets the upper limit time for each of the one or more moving objects; The traffic management device according to claim 1 or 2.

7. The computer managing area information for a predetermined arbitration area, the area information including information on nodes adjacent to the arbitration area; receiving an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; switching a selection of an allowed node to be permitted to enter the arbitration area from among adjacent nodes when a preset switching condition that is not dependent on the state of the one or more moving bodies is satisfied; outputting an entry instruction to at least one of the one or more moving bodies that enters from the selected permitted node; Run When there is a mobile object waiting to enter the arbitration area from the permitted node, but there is no mobile object waiting to enter the arbitration area from another node adjacent to the arbitration area, the computer suspends switching of the selection of the permitted node even if the switching condition is satisfied. Traffic management methods.

8. On the computer, managing area information for a predetermined arbitration area, the area information including information on nodes adjacent to the arbitration area; receiving an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; switching a selection of an allowed node to be permitted to enter the arbitration area from among adjacent nodes when a preset switching condition that is not dependent on the state of the one or more moving bodies is satisfied; outputting an entry instruction to at least one of the one or more moving bodies that enters from the selected permitted node; Execute When there is a mobile object waiting to enter the arbitration area from the permitted node and there is no mobile object waiting to enter the arbitration area from another node adjacent to the arbitration area, the computer is caused to suspend switching of the selection of the permitted node even if the switching condition is satisfied. Traffic management programs.

9. one or more moving bodies each attempting to enter a predetermined arbitration area; an area management unit that manages area information including information on nodes adjacent to the arbitration area; a reception unit that receives an arbitration request for an entry instruction from the one or more moving bodies; a selection unit that switches a selection of an allowed node to be permitted to enter the arbitration area from among adjacent nodes when a predetermined switching condition that does not depend on the state of the one or more moving objects is satisfied; a command unit that outputs an entry instruction to at least one of the one or more moving objects that enters from the permitted node selected by the selection unit; Equipped with the selection unit suspends switching of the selection of the permitted node in the arbitration area even if the switching condition is satisfied, when there is a moving object waiting to enter from the permitted node but there is no moving object waiting to enter from another node adjacent to the arbitration area. Mobile systems.

10. a mobile object control unit that controls the movement of one or more mobile objects each attempting to enter a predetermined arbitration area; an area management unit that manages area information including information on nodes adjacent to the arbitration area; a reception unit that receives an arbitration request for an entry instruction from the one or more moving bodies; a selection unit that switches a selection of an allowed node to be permitted to enter the arbitration area from among adjacent nodes when a predetermined switching condition that does not depend on the state of the one or more moving objects is satisfied; a command unit that outputs an entry instruction to at least one of the one or more moving objects that enters from the permitted node selected by the selection unit; Equipped with the selection unit suspends switching of the selection of the permitted node in the arbitration area even if the switching condition is satisfied, when there is a moving object waiting to enter from the permitted node but there is no moving object waiting to enter from another node adjacent to the arbitration area. Mobile control system.

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