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 further increase the efficiency of movement.SOLUTION: In a mobile body system 1, a plurality of management spaces 5 for managing the interference of passage between mobile bodies 2 are preliminarily set. Space management information includes information for identifying a corresponding management space 5, information on an entrance / exit 7, and attribute information. When a request for use of two management spaces 5 is outputted from a mobile body 2 and when it is determined that interference occurs to passage of the mobile body 2 in an intermediate space 8 between the two management spaces 5, a dynamic space management unit 13 generates space management information regarding a dynamic space set composed of these spaces. A space state management unit 14 manages information on a use state of the mobile body 2 in the management space 5 on the basis of space management information, and a passage indication unit 15 outputs an indication for passage of the mobile body 2 in the management space 5 on the basis of the information.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 that manages the passage of multiple moving objects. In this system, an intersection is set as an intersection area and a stop point. A management device of this system stops a moving object that enters the intersection area later at the stop point until the moving object that entered earlier exits the intersection. The management device determines whether the later moving object can enter the intersection. When the management device determines that entry is possible, it allows the later moving object to enter the intersection. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-107270 Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the system of Patent Document 1, instructions to a moving object are given for a single intersection. Therefore, when a moving object passes through a space where traffic interference is managed, such as an intersection, instructions are output to the moving object regardless of the situation in the space before and after the moving object. In this case, depending on the situation in the space before and after the moving object, the movement efficiency of the moving object may decrease.

[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] A traffic management device according to the present disclosure includes a management information storage unit that stores, for each of a plurality of pre-defined management spaces that manage traffic interference between a plurality of mobile bodies, space management information including information identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space; a dynamic space management unit that, when a use request for a first space and a second space that do not share an entrance and exit among the plurality of management spaces is output from one of the plurality of mobile bodies, generates the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space when it is determined that traffic interference may occur in an intermediate space through which the mobile body passes between the first space and the second space; and a dynamic space management unit that generates the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space when it determines that traffic interference may occur in an intermediate space through which the mobile body passes, and and a space situation management unit that manages information on the usage status of the plurality of moving bodies in each of the plurality of managed spaces based on the usage status of the plurality of moving bodies managed by the space situation management unit and the space management information generated by the dynamic space management unit, and a passage instruction unit that outputs passage instructions for each of the plurality of managed spaces to each of the plurality of moving bodies based on the usage status of the plurality of moving bodies managed by the space situation management unit, wherein the space management information at the time of generation of the dynamic space set corresponds to a space that is a combination of the first space, the intermediate space, and the second space, and includes information on the entrances / exits of the first space and the second space that do not lead to the intermediate space as information on the entrances / exits of the corresponding managed space, and includes attribute information of the dynamic space set as attribute information of the corresponding managed space.

[0007] A traffic management method according to the present disclosure includes a computer storing space management information, for each of a plurality of pre-defined management spaces that manage traffic interference between a plurality of mobile bodies, including information identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space; and when a use request is output from any one of the plurality of mobile bodies for a first space and a second space that do not share an entrance and exit among the plurality of management spaces, if it is determined that traffic interference may occur in an intermediate space between the first space and the second space through which the mobile body passes, the computer stores the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space. a method for generating a dynamic space set, managing information on the usage status of the plurality of moving bodies in each of the plurality of managed spaces based on the space management information, and outputting passage instructions for the plurality of managed spaces to each of the plurality of moving bodies based on the usage status of the plurality of moving bodies, wherein the space management information at the time of generation for the dynamic space set corresponds to a space that is a combination of the first space, the intermediate space, and the second space, includes information on the entrances / exits of the first space and the second space that do not lead to the intermediate space as information on the entrances / exits of the corresponding managed space, and includes attribute information of the dynamic space set as attribute information of the corresponding managed space.

[0008] A traffic management program according to the present disclosure includes storing, in a computer, space management information including, for each of a plurality of pre-set management spaces that manage traffic interference between a plurality of mobile bodies, information identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space; and when a use request is output from one of the plurality of mobile bodies for a first space and a second space that do not share an entrance and exit among the plurality of management spaces, if it is determined that traffic interference may occur in an intermediate space through which the mobile body passes between the first space and the second space, the space for a dynamic space set consisting of the first space, the intermediate space, and the second space is used. The system executes the following: generating management information; managing information on the usage status of the plurality of moving bodies in each of the plurality of managed spaces based on the space management information; and outputting passage instructions for the plurality of managed spaces to each of the plurality of moving bodies based on the usage status of the plurality of moving bodies, wherein the space management information at the time of generation for the dynamic space set corresponds to the combined space of the first space, the intermediate space, and the second space, includes information on the entrances / exits of the first space and the second space that do not lead to the intermediate space as information on the entrances / exits of the corresponding managed space, and includes attribute information of the dynamic space set as attribute information of the corresponding managed space.

[0009] The mobile body system according to the present disclosure includes a plurality of mobile bodies each passing through a plurality of predetermined management spaces, a management information storage unit that stores, for each of the plurality of management spaces that manages traffic interference between the plurality of mobile bodies, space management information including information identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, a dynamic space management unit that, when a use request for a first space and a second space that do not share an entrance and exit among the plurality of management spaces is output from one of the plurality of mobile bodies, generates the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space when it is determined that traffic interference may occur in an intermediate space through which the mobile body passes between the first space and the second space, and a management information storage unit that stores, for each of the plurality of management spaces that manages traffic interference between the plurality of mobile bodies, information identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, and a dynamic space management unit that generates the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space when it is determined that traffic interference may occur in an intermediate space through which the mobile body passes between the first space and the second space when it is determined that traffic interference may occur in an intermediate space through which the mobile body passes between the first space and the second space when it is determined that traffic interference may occur in an intermediate space through which the mobile body passes between the first space and the second space when it determines ..., and and a passage instruction unit that outputs passage instructions for each of the plurality of moving bodies through the plurality of managed spaces based on the usage status of the plurality of moving bodies managed by the space situation management unit. The space management information at the time of generation of the dynamic space set includes: a space situation management unit that manages information on the usage status of the plurality of moving bodies in each of the plurality of managed spaces based on the space management information stored in a physical information storage unit and the space management information generated by the dynamic space management unit; and a passage instruction unit that outputs passage instructions for each of the plurality of managed spaces through the plurality of managed spaces based on the usage status of the plurality of moving bodies managed by the space situation management unit. The space management information at the time of generation of the dynamic space set includes: a space that is a combination of the first space, the intermediate space, and the second space; information on the entrances / exits of the first space and the second space that do not lead to the intermediate space as information on the entrances / exits of the corresponding managed space; and attribute information of the dynamic space set as attribute information of the corresponding managed space.

[0010] A mobile object control system according to the present disclosure includes a mobile object control unit that controls the movement of a plurality of mobile objects that each pass through a plurality of preset management spaces; a management information storage unit that stores, for each of the plurality of management spaces that manages traffic interference between the plurality of mobile objects, space management information including information that identifies the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space; and a dynamic space management unit that generates the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space when it determines that traffic interference may occur in an intermediate space between the first space and the second space through which the mobile object passes, when a use request for a first space and a second space that do not share an entrance and exit of the plurality of management spaces is output from any of the plurality of mobile objects. The system comprises a management unit, a space situation management unit that manages information on the usage status of the multiple moving bodies in each of the multiple management spaces based on the space management information stored in the management information storage unit and the space management information generated by the dynamic space management unit, and a passage instruction unit that outputs passage instructions for each of the multiple management spaces to each of the multiple moving bodies based on the usage status of the multiple moving bodies managed by the space situation management unit, wherein the space management information at the time of generation for the dynamic space set corresponds to the combined space of the first space, the intermediate space, and the second space, includes information on the entrances / exits of the first space and the second space that do not lead to the intermediate space as information on the entrances / exits of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space. [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]3 is a diagram illustrating an example of space management information in the mobile body system according to the first embodiment. FIG. [Figure 3] 3 is a diagram illustrating an example of space management information in the mobile body system according to the first embodiment. FIG. [Figure 4] 3 is a diagram illustrating an example of space management information in the mobile body system according to the first embodiment. FIG. [Figure 5] 10] FIG. 10 is a diagram illustrating an example of updating space management information of a dynamic space set in the mobile body system according to the first embodiment. [Figure 6] FIG. 4 is a sequence diagram showing an example of an operation of the mobile body system according to the first embodiment. [Figure 7] FIG. 10 is a sequence diagram showing an example of the operation of a modified example of the mobile body system according to the first embodiment. [Figure 8] FIG. 10 is a sequence diagram showing an example of the operation of a modified example of the mobile body system according to the first embodiment. [Figure 9] 1 is a hardware configuration diagram of a main part of a mobile body system according to a first embodiment. [Figure 10] FIG. 10 is a configuration diagram of a mobile body system according to a second embodiment. [Figure 11] FIG. 10 is a sequence diagram showing an example of an 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] In an area where the mobile system 1 is applied, such as a facility 3, multiple management spaces 5, such as management space 5a and management space 5b, are set in advance. Here, when multiple management spaces, such as management space 5a and management space 5b, are not particularly distinguished from each other, they may be simply referred to as management spaces 5. The management space 5 is a space in the mobile system 1 where traffic interference between multiple mobile objects 2 is managed. The management space 5 is, for example, an intersection such as a crossroads, a T-junction, or a three-way intersection, or a narrow road where mobile objects 2 may intersect. The management space 5 may be, for example, a room or a space. The management space 5 may be, for example, a space corresponding to equipment 6 installed in the facility 3. The equipment 6 includes, for example, an elevator, an escalator, or a security gate. The management space 5 may be a space corresponding to multiple equipment 6, or a space corresponding to no equipment 6.

[0020] The management space 5a has entrances 7a1, 7a2, 7a3, and 7a4. The management space 5b has entrances 7b1, 7b2, and 7b3. Here, when multiple entrances such as entrances 7a1, 7a2, and 7b1 are not particularly distinguished from one another, they may be simply referred to as entrances 7. In this way, one or more entrances 7 are provided in each management space 5. The entrances 7 of a management space 5 represent locations where entry into or exit from the management space 5 is possible. For example, the entrances 7 of a management space 5 such as an intersection correspond to the passages leading to the intersection. In this example, the management space 5a and the management space 5b do not share the entrances 7. The management space 5a is an example of a first space. The management space 5b is an example of a second space. An intermediate space 8a is provided between the management space 5a and the management space 5b. Here, when there is no particular distinction between the intermediate space 8a and the management space between other management spaces 5, it may be simply referred to as the intermediate space 8. The intermediate space 8 is a space between the management spaces 5 through which the moving object 2 can pass.

[0021] The mobile body system 1 includes a mobile body control system 9. The mobile body control system 9 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 9 includes a mobile body control device 10 and a traffic management device 11.

[0022] The mobile body control device 10 is a part that controls the movement of the mobile body 2 and operations such as task execution. The mobile body control device 10 is an example of a mobile body control unit. The mobile body control device 10 communicates with external devices via the communication network 4 or the like. The mobile body control device 10 may control the operations of multiple mobile bodies 2. Multiple mobile body control devices 10 may be provided in the mobile body control system 9. Each mobile body control device 10 may be managed by, for example, a different administrator. The administrator of the mobile body control device 10 may be, for example, the manufacturer or management company of the corresponding mobile body 2. Note that the same administrator may manage multiple mobile body control devices 10. Some or all of the mobile body control devices 10 may be devices within the mobile body system 1, or may be devices outside the system that cooperate with the mobile body system 1. Each mobile body control device 10 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 body control device 10 may be located in different locations. At this time, the multiple server devices communicate information with each other, for example, via a communication network 4. Some or all of the functions of the mobile object control device 10 may be implemented, for example, by processing or storage resources on a cloud service. Note that some or all of the mobile objects 2 operating in the mobile object system 1 may operate autonomously without being controlled by the mobile object control device 10.

[0023] The traffic management device 11 is a part that performs processes such as arbitrating movement between mobile objects 2. The traffic management device 11 communicates with external devices via a communication network 4 or the like. The traffic management device 11 is, for example, a computer system including one or more server devices. The multiple server devices that make up the traffic management device 11 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 11 may be implemented, for example, by processing or storage resources on a cloud service. Note that the traffic management device 11 may include some or all of the functions of the mobile object control device 10. The traffic management device 11 includes a management information storage unit 12, a dynamic space management unit 13, a space situation management unit 14, and a passage instruction unit 15.

[0024] The management information storage unit 12 is a component equipped with a function for storing space management information for each management space 5. The space management information includes information for identifying the management space 5, such as an identifier for the corresponding management space 5. The information for identifying the management space 5 may be, for example, the coordinates of a reference point for the management space 5, or a coordinate range representing the extent of the management space 5. The space management information includes information on one or more entrances 7 for the corresponding management space 5. The information on the entrances 7 for the management space 5 may be, for example, the coordinates of the entrances 7 relative to the reference point for the management space 5. The space management information includes attribute information for the corresponding management space 5. The attributes of the management space 5 include, for example, information on the shape of the space, such as a crossroads, a T-junction, a three-way intersection, or a narrow street. The attributes of the management space 5 include, for example, information on the facility equipment 6 corresponding to the space, such as an elevator or security gate. The space management information may include information such as the allowable width, allowable number, allowable time, and other constraints for mobile objects 2 permitted to pass through the corresponding management space 5. The allowable width of a management space 5 represents, for example, the upper limit of the effective width of a mobile object 2 that can pass through the management space 5. The effective width of a mobile object 2 is the width necessary to ensure sufficient collision avoidance, and is set, for example, according to the physical width of the mobile object 2's body and its mobility performance, such as its movement accuracy and turning radius. The allowable number of mobile objects 2 in a management space 5 represents, for example, the upper limit of the number of mobile objects 2 that can simultaneously use the management space 5. The allowable time for a management space 5 represents, for example, the upper limit of the time that a mobile object 2 can continuously stay in the management space 5. The space management information represents, for example, information regarding the passage of mobile objects 2 through the management space 5, modeled as a conceptual model. The management information storage unit 12 stores information on relationships between management spaces 5, such as whether or not passage is permitted. Information on relationships between management spaces 5 includes, for example, information identifying intermediate spaces 8 that must be passed through when passing between management spaces 5. The management information storage unit 12 stores the space management information for each management space 5, for example, by storing the information in a database or the like.

[0025] The dynamic space management unit 13 is a part that has a function of generating space management information for one or more dynamic space sets. Each dynamic space set includes two management spaces 5 that do not share an entrance / exit 7 with each other, and an intermediate space 8 between the management spaces 5. The space management information for a dynamic space set generated by the dynamic space management unit 13 defines the corresponding management space 5 as a space that combines the two management spaces 5 included in the dynamic space set and the intermediate space 8 between the management spaces 5. The space management information generated for a dynamic space set includes information on the entrance / exit 7 of the two management spaces 5 included in the dynamic space set that does not lead to the intermediate space 8 as information on the entrance / exit 7 of the corresponding management space 5. The space management information for a dynamic space set includes attribute information of the dynamic space set as attribute information of the corresponding management space 5. The attribute information of a dynamic space set is, for example, an attribute that combines the attributes of the two management spaces 5 included in the dynamic space set. Like the space management information for a single management space 5, the space management information for a dynamic space set includes information for identifying the corresponding management space 5, information on the entrances and exits 7, and attribute information. Therefore, the traffic management device 11 may handle the space management information for a dynamic space set in the same way as the space management information for a single management space 5. The dynamic space management unit 13 manages the space management information for each dynamic space set by storing it in, for example, a database. The dynamic space management unit 13 manages the space management information for the generated dynamic space set while updating it according to the status of the moving body 2, etc.

[0026] The space situation management unit 14 is a component equipped with a function for managing information on the usage status of mobile objects 2 in each managed space 5. The space situation management unit 14 manages the usage status information based on the space management information for each managed space 5 and the space management information for each dynamic space set stored in the management information storage unit 12. The usage status information for the managed space 5 includes, for example, information on whether each mobile object 2 is present in the managed space 5. The usage status information for the managed space 5 includes, for example, information on the purpose of use and usage time of each mobile object 2 in the managed space 5. The purpose of use includes, for example, simply passing through the managed space 5 as a travel route, or a purpose other than passing through, such as performing a service task in the managed space 5. The purpose other than passing through includes, for example, cleaning the managed space 5. The usage time includes, for example, the elapsed time since entering the managed space 5. The usage status information for the managed space 5 includes, for example, information on the status of the equipment 6 installed in the managed space 5. The status information of the equipment 6 includes, for example, the open / close status of a security gate. The space situation management unit 14 manages information on the usage status of the mobile object 2 by storing the information in, for example, a database. The information management by the dynamic space management unit 13 includes adding, holding, updating, correcting, or deleting information. The space situation management unit 14 manages the information on the usage status in the management space 5, updating it as needed to reflect the current situation.

[0027] The passage instruction unit 15 is a part that has a function of outputting passage instructions for each moving body 2 in the managed space 5. The passage instruction unit 15 outputs instructions to the moving body 2 based on the usage status of the moving body 2 managed by the spatial situation management unit 14. The instructions to the moving body 2 may be output via the mobile body control device 10 that controls the movement of the moving body 2, or may be output to the moving body 2 without going through the mobile body control device 10. The passage instructions for the managed space 5 include, for example, an instruction to enter the managed space 5, an instruction to exit the managed space 5, or both.

[0028] For example, when approaching the managed space 5a, each mobile body 2 outputs a usage request to pass through the managed space 5a to the traffic management device 11. The usage request output by the mobile body 2 may be output to the traffic management device 11 via the mobile body control device 10. The usage request of the mobile body 2 may be output to the traffic management device 11 from the mobile body control device 10 that controls the mobile body 2. Each mobile body 2 may determine whether it has approached the managed space 5a using information such as its own current position and the distance from the managed space 5a based on that position. Information on the current position of each mobile body 2 is acquired by the mobile body 2 itself or the mobile body control device 10 using, for example, a satellite positioning system such as a GPS (Global Positioning System), an autonomous navigation system, an indoor positioning system, or other positioning systems. The usage request includes, for example, information identifying the mobile body 2, such as an identifier of the mobile body 2, and information identifying the managed space 5a to be used by the mobile body 2, such as an identifier of the managed space 5a. The use request may include information such as the effective width of the mobile object 2. The use request may also include information on the purpose of use of the managed space 5a by the mobile object 2. For example, after outputting a use request, each mobile object 2 waits at a point just before the managed space 5a without entering the managed space 5a until it receives a passage instruction from the passage instruction unit 15. Note that the mobile object 2 may output a use request for the managed space 5 before approaching the managed space 5. Alternatively, each mobile object 2 may wait at a predetermined position, for example, an entrance / exit 7a1 of the managed space 5a, upon arriving at the predetermined position and output a use request to pass through the managed space 5a to the traffic management device 11. The predetermined position is information managed by the traffic management device 11 in association with information on the entrance / exit 7. The mobile object system 1 may be configured to share information on the predetermined position as an initial setting when the mobile object 2 is introduced into the facility 3. The spatial situation management unit 14 manages information on the predetermined position set for the entrance / exit 7 by storing the information in, for example, a database. The moving object 2 may simultaneously output to the traffic control device 11 requests to use each of the multiple managed spaces 5 on the moving route.

[0029] The traffic management device 11 receives a request to use the managed space 5a from a mobile object 2 via the communication network 4. At this time, the passage instruction unit 15 refers to information on the usage status of the mobile object 2 in the managed space 5a managed by the spatial situation management unit 14. Based on the referred information, the passage instruction unit 15 determines whether traffic interference will occur in the managed space 5a when the mobile object 2 that output the usage request enters the managed space 5a.

[0030] The passage instruction unit 15 determines whether passage interference will occur based on, for example, the allowable number of vehicles in the managed space 5a and the number of moving bodies 2 already in the managed space 5a. The passage instruction unit 15 determines that passage interference will occur in the managed space 5a, for example, when the sum of the number of moving bodies 2 already in the managed space 5a and the number of moving bodies 2 that have output use requests exceeds the allowable number of vehicles in the managed space 5a. The passage instruction unit 15 determines that passage interference will not occur in the managed space 5a, for example, when the sum of the number of moving bodies 2 already in the managed space 5a and the number of moving bodies 2 that have output use requests does not exceed the allowable number of vehicles in the managed space 5a. The passage instruction unit 15 may determine that passage interference will not occur in the managed space 5a, for example, when there are no other moving bodies 2 in the managed space 5a.

[0031] Alternatively, the passage instruction unit 15 may determine whether passage interference will occur based on, for example, the allowable width of the managed space 5a, the effective width of the moving body 2 already in the managed space 5a, and the effective width of the moving body 2 that output the use request. The passage instruction unit 15 determines that passage interference will occur in the managed space 5a, for example, when the sum of the effective width of the moving body 2 already in the managed space 5a and the effective width of the moving body 2a that output the use request exceeds the allowable width of the managed space 5a. The passage instruction unit 15 determines that passage interference will not occur in the managed space 5a, for example, when the sum of the effective width of the moving body 2 already in the managed space 5a and the effective width of the moving body 2a that output the use request does not exceed the allowable width of the managed space 5a. The passage instruction unit 15 determines that no passage interference will occur in the management space 5a, for example, when there are no other moving bodies 2 in the management space 5a and the effective width of the moving body 2a that output the usage request does not exceed the allowable width of the management space 5a.

[0032] The passage instruction unit 15 may determine that the effective width when the purpose of use of the moving object 2 is other than passing is larger than the effective width when the purpose of use of the moving object 2 is passing. For example, when the purpose of use of the moving object 2 is other than passing, the passage instruction unit 15 may multiply the effective width by a preset coefficient greater than 1, or may add a preset positive value to the effective width.

[0033] When it is determined that no traffic interference will occur in the managed space 5a, the passage instruction unit 15 outputs a passage instruction to the mobile body 2 that output the use request to enter the managed space 5a. The passage instruction for the mobile body 2 may be output to the mobile body 2 via the mobile body control device 10. The passage instruction for the mobile body 2 may be output from the traffic management device 11 to the mobile body control device 10 that controls the mobile body 2. After that, the mobile body 2 that has received the passage instruction enters the managed space 5a.

[0034] The spatial situation management unit 14 updates the usage status of the managed space 5a when the moving object 2 enters the managed space 5a. The spatial situation management unit 14 detects the entry of the moving object 2, for example, by an entry notification output when the moving object 2 enters the managed space 5a. The spatial situation management unit 14 updates, for example, information about the moving object 2 currently located in the managed space 5a. The spatial situation management unit 14 may manage the usage status of the managed space 5a by assuming that at least a portion of the managed space 5a is occupied by the moving object 2. For example, when an allowable number of vehicles is set for the managed space 5a, the spatial situation management unit 14 manages the usage status of the managed space 5a by assuming that one of the allowable number of vehicles is occupied. Alternatively, for example, when an allowable width is set for the managed space 5a, the spatial situation management unit 14 may manage the usage status of the managed space 5a by assuming that the effective width of the allowable width for the moving object 2 is occupied.

[0035] The spatial situation management unit 14 updates the usage status of the managed space 5a when the moving object 2 exits the managed space 5a. The spatial situation management unit 14 detects the exit of the moving object 2, for example, by an exit notification output when the moving object 2 exits the managed space 5a. The spatial situation management unit 14 updates, for example, information about the moving object 2 currently located in the managed space 5a. The spatial situation management unit 14 may manage the usage status of the managed space 5a by assuming that the portion of the managed space 5a occupied by the moving object 2 is released.

[0036] The mobile body system 1 may include a plurality of traffic management devices 11. In this case, the plurality of traffic management devices 11 may share a database in which, for example, space management information, usage status information, and the like are stored.

[0037] 2 to 4 are diagrams illustrating examples of space management information in the mobile body system 1 according to the first embodiment. FIG. 2 shows a plan view of a management space 5c corresponding to a narrow passage of width W and an example of space management information that conceptually models this.

[0038] The managed space 5c, which is set up for the narrow passage, has entrance / exit 7c1 and entrance / exit 7c2. A moving object 2 traveling through the managed space 5c from west to east uses entrance / exit 7c1 as an entrance and exits the managed space 5c at entrance / exit 7c2. On the other hand, when a moving object 2 travels through the managed space 5c from east to west, the moving object 2 uses entrance / exit 7c2 as an entrance and exits the managed space 5c at entrance / exit 7c1.

[0039] The space management information, which conceptually models such a narrow passage, includes information on the corresponding management space 5c and information on the entrances / exits 7c1 and 7c2 of the management space 5c. The space management information also includes information on the "narrow passage" attribute of the management space 5c. The space management information also includes information on the allowable width W of the management space 5c. In this example, the allowable width W of the management space 5c corresponds to the physical width W of the narrow passage in which the management space 5c is set.

[0040] FIG. 3 shows a plan view of a management space 5 where vehicles can pass each other and an example of space management information that conceptually models this plan view.

[0041] The managed space 5d corresponds to a passageway with a physical width of 2W. In this passageway, moving objects 2 with an effective width of W or less can pass each other. The managed space 5d has an entrance / exit 7d1 and an entrance / exit 7d2. A moving object 2 traveling through the managed space 5d from west to east enters the managed space 5d through the entrance / exit 7d1 and exits the managed space 5d through the entrance / exit 7d2. On the other hand, when a moving object 2 traveling through the managed space 5d from east to west, the moving object 2 enters the managed space 5d through the entrance / exit 7d2 and exits the managed space 5d through the exit 7d1. Note that in this passageway, if the sum of the effective widths of two opposing moving objects 2 is 2W or less, that is, if the effective width per object is W or less, the two moving objects 2 can pass each other. For example, even if the effective width of one moving body 2 is Wa, which is larger than W, the two moving bodies 2 can pass each other as long as the effective width of the other moving body 2 does not exceed (2W-Wa). The passage instruction unit 15 determines whether passage interference will occur in the management space 5, for example, based on whether the sum of the effective widths of the moving bodies 2 exceeds the allowable width of the management space 5.

[0042] The space management information, which conceptually models such a passageway, includes information on the corresponding management space 5d and information on the entrances 7d1 and 7d2 of the management space 5d. The space management information also includes information on the attribute "passing passage" of the management space 5d. The space management information also includes information on the allowable width W of the management space 5d.

[0043] The managed space 5e has a physical width of W and corresponds to a narrow passage including the temporary evacuation area 16. Mobile objects 2 with an effective width of W or less can pass through this passage, and mobile objects 2 can pass each other by using the temporary evacuation area 16. The managed space 5e has an entrance / exit 7e1 and an entrance / exit 7e2. A mobile object 2 traveling through the managed space 5e from the west side to the east side enters the managed space 5e through the entrance / exit 7e1 and exits the managed space 5e through the exit 7e2. On the other hand, when a mobile object 2 travels through the managed space 5e from the east side to the west side, the mobile object 2 enters the managed space 5e through the entrance / exit 7e2 and exits the managed space 5e through the exit 7e1.

[0044] Although the physical shapes of the managed space 5d and the managed space 5e are different from each other, they can be considered the same in a conceptual model that models information about the passage of the moving objects 2, in that they are passages through which moving objects 2 with an effective width of W or less can pass each other. Therefore, the space management information for the managed space 5e has a structure similar to that of the space management information for the managed space 5d. Note that, since the minimum width of this passage is W, two opposing moving objects 2 can pass each other as long as their effective widths are W or less. Such minimum width information may be included in the space management information. For example, the passage instruction unit 15 may determine whether passage interference will occur in the managed space 5 and whether the moving objects 2 can pass based on the effective widths of the moving objects 2 and the minimum width of the managed space 5.

[0045] In the management space 5e, the actual passing procedure for passing each other using the temporary evacuation area 16 may be set by the mobile body 2 or the mobile body control device 10, or may be instructed by the traffic management device 11 to the mobile body 2. The determination of the passing procedure includes, for example, determining whether the mobile body 2 on the east side or the mobile body 2 on the west side will enter the temporary evacuation area 16.

[0046] In FIG. 4, an example of space management information for a dynamic space set is shown.

[0047] In an area where the mobile body system 1 is applied, such as a facility 3, an elevator that can be used by a mobile body 2 is provided. The elevator is equipment 6 that transports the mobile body 2, etc., between multiple floors. The elevator includes one or more cars that can accommodate the mobile body 2 to be transported. In the elevator, each car carries the mobile body 2, etc., and travels up and down a hoistway from a departure floor to an arrival floor. In the facility 3, etc., an elevator hall is provided on each floor. The elevator hall is where the mobile body 2, etc., gets on and off the car.

[0048] In an area where the mobile body system 1 is applied, such as a facility 3, a security gate is installed to restrict the passage of mobile bodies 2, etc. The security gate is a facility device 6 that allows passage of pre-set, authenticated mobile bodies 2, etc., and prevents passage of other mobile bodies 2.

[0049] The controlled space 5f1 corresponds to a security gate. The controlled space 5f1 has an entrance / exit 7f1 and an entrance / exit 7f2. The controlled space 5f2 corresponds to a narrow passage. The controlled space 5f2 has an entrance / exit 7f3 and an entrance / exit 7f4. The controlled space 5f3 corresponds to an elevator hall. The controlled space 5f3 has an entrance / exit 7f5 and an entrance / exit 7f6. The controlled space 5f4 corresponds to an elevator car. The controlled space 5f4 has an entrance / exit 7f6. The controlled space 5f4 has another entrance / exit 7 on another floor not shown. The controlled space 5f5 corresponds to a corner. The controlled space 5f5 has an entrance / exit 7f7 and an entrance / exit 7f8. The controlled space 5f1 and the controlled space 5f2 do not share an entrance / exit 7. The controlled space 5f1 and the controlled space 5f3 do not share an entrance / exit 7. The controlled space 5f2 and the controlled space 5f3 do not share an entrance / exit 7. Management space 5f4 shares entrance 7f6 with management space 5f3. Management space 5f1 and management space 5f2 can communicate with each other via intermediate space 8f1. In management space 5f1, entrance 7f2 leads to intermediate space 8f1, but entrance 7f1 does not lead to intermediate space 8f1. In management space 5f2, entrance 7f3 leads to intermediate space 8f1, but entrance 7f4 does not lead to intermediate space 8f1. Management space 5f1 and management space 5f3 can communicate with each other via intermediate space 8f1. In management space 5f3, entrance 7f5 leads to intermediate space 8f1, but entrance 7f6 does not lead to intermediate space 8f1. Management space 5f2 and management space 5f3 can communicate with each other via intermediate space 8f1. Management space 5f2 and management space 5f5 can communicate with each other via intermediate space 8f2.

[0050] Each moving object 2 outputs to the traffic control device 11 a use request to pass through the managed space 5f1 and a use request to pass through the managed space 5f2, for example, when passing through the managed space 5f1 and the managed space 5f2 in this order.

[0051] The traffic management device 11 receives a request from a moving object 2 to use the managed space 5f1 and the managed space 5f2 via the communication network 4. At this time, the dynamic space management unit 13 determines whether interference with the passage of the moving object 2 may occur in the intermediate space 8f1 between the managed space 5f1 and the managed space 5f2. In this example, the dynamic space management unit 13 determines that interference with the passage of the moving object 2 may occur when there is another moving object 2 passing through the intermediate space 8f1 via a different route. For example, the dynamic space management unit 13 determines that interference with the passage of the moving object 2 may occur when there is another moving object 2 passing through the managed space 5f2 and the managed space 5f1 in this order. For example, the dynamic space management unit 13 determines that interference with the passage of the moving object 2 may occur when there is another moving object 2 passing through the managed space 5f2 and the managed space 5f3 in this order. The dynamic space management unit 13 determines that interference with the passage of the moving body 2 may occur, for example, when there is another moving body 2 passing through the management space 5f3 and the management space 5f1 in this order. Note that the dynamic space management unit 13 may also determine that interference with the passage of the moving body 2 will not occur when the other moving body 2 enters the intermediate space 8 from the same management space 5. The dynamic space management unit 13 may also determine that interference with the passage of the moving body 2 will not occur, for example, when there is another moving body 2 passing through the management space 5f1 and the management space 5f3 in this order. The dynamic space management unit 13 may also determine that interference with the passage of the moving body 2 may occur, for example, when space management information for a dynamic space set including the intermediate space 8f1 has already been generated.

[0052] When the dynamic space management unit 13 determines that traffic interference may occur in the intermediate space 8f1 between the management spaces 5f1 and 5f2, it generates space management information for a dynamic space set consisting of the management spaces 5f1, 5f2, and the intermediate space 8f1. The generated space management information for the dynamic space set includes information identifying the management space 5f6, which is the combination of the management space 5f1, the intermediate space 8f1, and the management space 5f2, as the corresponding management space 5. The space management information for the dynamic space set includes, as information on entrances / exits 7, information on the entrances / exits 7f1 and 7f4 that do not lead to the intermediate space 8f1. The space management information for the dynamic space set does not need to include information on the entrances / exits 7f5 that lead to the intermediate space 8f1 from another management space 5f3 of the management spaces 5f1 and 5f2. Alternatively, the space management information for the dynamic space set may include information on a location corresponding to the entrance / exit 7f5, for example, as information on a temporary evacuation location 16. The space management information for the dynamic space set includes information on the attribute "gate + narrow path," which is different from the individual attributes of the management spaces 5f1 and 5f2. The space management information for the dynamic space set may include information on the allowable width. The information on the allowable width may include two values ​​for each of the management spaces 5f1 and 5f2, or may be the minimum value of the allowable widths of the management spaces 5f1 and 5f2. In this case, no limit on the allowable width may be imposed on the intermediate space 8f1, or the minimum value of the allowable width may be set for the management spaces 5f1 and 5f2. The space management information for the dynamic space set may include information on the allowable number of vehicles. The information on the allowable number of vehicles may include two values ​​for each of the management spaces 5f1 and 5f2. In this case, no limit on the allowable number may be imposed on the intermediate space 8f1, or the sum of the allowable numbers of the management spaces 5f1 and 5f2 may be set for the management space 5f6.

[0053] The dynamic space management unit 13 may generate space management information for a dynamic space set including three or more management spaces 5. For example, when passing through management spaces 5f1, 5f2, and 5f5 in this order, the moving object 2 outputs a use request to pass through management space 5f1, a use request to pass through management space 5f2, and a use request to pass through management space 5f5 to the traffic management device 11. At this time, the dynamic space management unit 13 determines whether traffic interference may occur in one or both of the intermediate space 8f1 between the management spaces 5f1 and 5f2 and the intermediate space 8f2 between the management spaces 5f2 and 5f5. When interference may occur, the dynamic space management unit 13 generates space management information for a dynamic space set consisting of the management spaces 5f1, intermediate space 8f1, management spaces 5f2, intermediate space 8f2, and management space 5f5.

[0054] The spatial situation management unit 14 performs an update process for the usage status information for the generated dynamic space set in the same manner as the update process for the usage status information for a single management space 5. For example, when a moving object 2 enters a management space 5f6 of a dynamic space set that combines the management space 5f1, the intermediate space 8f1, and the management space 5f2, the spatial situation management unit 14 updates the usage status of the dynamic space set. For example, the spatial situation management unit 14 updates the information of the moving object 2 currently located in the management space 5f6. For example, the spatial situation management unit 14 may update the information of the moving object 2 currently located in each of the management space 5f1, the intermediate space 8f1, and the management space 5f2 included in the dynamic space set. The spatial situation management unit 14 may manage the usage status of the dynamic space set by assuming that at least a portion of the management space 5f6 is occupied by the moving object 2. For example, the space situation management unit 14 may manage the usage situation of each of the management space 5f1, the intermediate space 8f1, and the management space 5f2 included in the dynamic space set, assuming that at least a portion of each space is occupied by the moving object 2 in question.

[0055] The dynamic space management unit 13 updates the space management information for the generated dynamic space set in accordance with the movement status of the moving object 2. For example, when the moving object 2 exits the management space 5f1, the dynamic space management unit 13 may update the space management information so as to remove the management space 5f1 from the corresponding management space 5 of the dynamic space set. For example, when the moving object 2 exits the management space 5f6, the dynamic space management unit 13 may discard the space management information of the dynamic space set.

[0056] The passage instruction unit 15 determines whether interference will occur for a dynamic space set and outputs a passage instruction, similar to the process of determining whether interference will occur for a single managed space 5 and outputting a passage instruction. The passage instruction unit 15 determines whether interference will occur for a dynamic space set based on, for example, the allowable number of vehicles in the managed space 5f6 and the number of moving bodies 2 already in the managed space 5f6. The passage instruction unit 15 may determine whether interference will occur for each of the managed spaces 5f1, intermediate spaces 8f1, and managed spaces 5f2 included in the dynamic space set based on the allowable number of vehicles and the number of moving bodies 2 already in the managed space 5f6. The passage instruction unit 15 may determine whether interference will occur for a dynamic space set based on, for example, the allowable width of the managed space 5f6, the effective width of the moving bodies 2 already in the managed space 5f6, and the effective width of the moving body 2 that output the use request. For example, the passage instruction unit 15 may determine whether passage interference will occur for each of the management space 5f1, intermediate space 8f1, and management space 5f2 included in the dynamic space set based on the allowable width and the effective width of the moving body 2 already present and the moving body 2 that output the use request. If the passage instruction unit 15 determines that passage interference will not occur, it outputs a passage instruction to the moving body 2 that output the use request to enter the management space 5f6. After that, the moving body 2 that received the passage instruction enters the management space 5f6.

[0057] FIG. 5 is a diagram illustrating an example of updating the space management information of the dynamic space set in the mobile body system 1 according to the first embodiment. FIG. 5 shows an example of space management information of a dynamic space set that is generated when passing through the management space 5f1 and the management space 5f2 of FIG. 4 in this order.

[0058] When a mobile object 2 approaches managed space 5f1 from entrance / exit 7f1 or when it arrives at a predetermined position at entrance / exit 7f1, it outputs a use request to pass through managed space 5f1 and a use request to pass through managed space 5f2 to traffic management device 11. Dynamic space management unit 13 of traffic management device 11 generates space management information for a dynamic space set including managed space 5f1, intermediate space 8f1, and managed space 5f2. This space management information corresponds to managed space 5f6, which is a combination of managed space 5f1, intermediate space 8f1, and managed space 5f2. When the mobile object 2 enters managed space 5f1 from entrance / exit 7f1, it outputs an entry notification to traffic management device 11.

[0059] The mobile object 2 then exits the managed space 5f1 through the entrance / exit 7f2. At this time, the mobile object 2 outputs a notification of exit from the managed space 5f1 or a notification of completion of use to the traffic management device 11. The dynamic space management unit 13 releases the managed space 5f1 by removing the managed space 5f1 from the managed space 5 corresponding to the space management information of the dynamic space set. At this time, the space management information of the dynamic space set corresponds to the managed space 5f7 which combines the intermediate space 8f1 and the managed space 5f2. The space management information includes information on the entrance / exit 7f4 as information on the entrance / exit 7 of the managed space 5f7.

[0060] Thereafter, when the moving object 2 enters the managed space 5f2 from the entrance / exit 7f3, it outputs an entry notification to the traffic management device 11. The dynamic space management unit 13 releases the intermediate space 8f1 by removing the intermediate space 8f1 from the managed space 5 corresponding to the space management information of the dynamic space set. At this time, the space management information of the dynamic space set corresponds to the managed space 5f2. The space management information includes information on the entrance / exit 7f4 as information on the entrance / exit 7 of the managed space 5f2.

[0061] Thereafter, the moving object 2 exits the managed space 5f2 through the entrance / exit 7f4. At this time, the moving object 2 outputs a notification of exit from the managed space 5f2 or a notification of completion of use to the traffic management device 11. The dynamic space management unit 13 releases the managed space 5f2 by discarding the space management information of the dynamic space set.

[0062] FIG. 6 is a sequence diagram showing an example of the operation of the mobile system 1 according to the first embodiment. FIG. 6 shows an example of the operation of the mobile object system 1 when the mobile object 2 passes through the management space 5f1 and the management space 5f2 of FIG. 4 in this order.

[0063] The mobile object 2 outputs a request to use the managed space 5f1 and the managed space 5f2 to the traffic management device 11. The mobile object 2 may output the request to use the managed space 5f1 and the request to use the managed space 5f2 consecutively, or may output the request to use the managed space 5f1 and the managed space 5f2 together.

[0064] The traffic management device 11 receives a use request from the mobile body 2. At this time, the dynamic space management unit 13 determines whether interference with the passage of the mobile body 2 may occur in the intermediate space 8f1 between the management space 5f1 and the management space 5f2. When the dynamic space management unit 13 determines that interference with the passage of the mobile body 2 will occur, it generates space management information for a dynamic space set. When the dynamic space management unit 13 generates the space management information for the dynamic space set, the traffic management device 11, for example, treats the use request from the mobile body 2 as a use request for the dynamic space set. The traffic management device 11 may notify the mobile body 2 that it will treat the use request as a use request for the dynamic space set.

[0065] The spatial situation management unit 14 makes a reservation for the use of the managed spaces 5f1 and 5f2 for which the mobile object 2 has output a use request. For example, if the managed space 5 corresponds to an equipment device 6, the reservation for the use of the managed space 5 includes notifying the connecting equipment of the planned use by the mobile object 2. When the equipment device 6 receives the reservation for use from the spatial situation management unit 14, it prepares to accept use by the mobile object 2. When the equipment device 6 is ready to accept use by the mobile object 2, it may notify the traffic management device 11 of the completion of preparation. The reservation for the use of the managed space 5 may update the usage status of the managed space 5 managed by the spatial situation management unit 14 to reflect that the mobile object 2 has started using it.

[0066] The passage instruction unit 15 determines whether interference with the passage of the mobile body 2 will occur in the management space 5 specified in the usage request from the mobile body 2. The passage instruction unit 15 may output a standby instruction to the mobile body 2. If it is determined that interference will occur, the passage instruction unit 15 waits until the possibility of interference is resolved. For example, the passage instruction unit 15 waits until one of the mobile bodies 2 exits the management space 5. On the other hand, if it is determined that interference will not occur, the passage instruction unit 15 outputs a passage instruction to the mobile body 2 that output the usage request to enter the management space 5.

[0067] Upon receiving the passage instruction, the mobile body 2 enters the managed space 5f1 included in the managed space 5f6. When the mobile body 2 enters the managed space 5f1, it outputs an entry notification to the traffic management device 11. The spatial situation management unit 14 updates the usage status of the managed space 5f6. The traffic management device 11 monitors the managed space 5f6 in response to the entry notification from the mobile body 2. The monitoring of the managed space 5f6 is performed, for example, based on the usage status managed by the spatial situation management unit 14. The traffic management device 11 monitors, for example, whether conditions such as the allowed number of vehicles, allowed width, allowed time, or other constraints are met in the usage status managed by the spatial situation management unit 14.

[0068] Thereafter, the moving body 2 exits the managed space 5f1. When the moving body 2 exits the managed space 5f1, it outputs an exit notification or a notification of completion of use to the traffic management device 11. The dynamic space management unit 13 releases the managed space 5f1 from the managed space 5 corresponding to the space management information of the dynamic space set. At this time, the space management information of the dynamic space set corresponds to the managed space 5f7, which is a combination of the intermediate space 8f1 and the managed space 5f2. The space situation management unit 14 releases the usage reservation for the managed space 5f1. For example, when the equipment 6 of the managed space 5f1 receives the release of the usage reservation from the space situation management unit 14, it becomes available for use by another moving body 2. The space situation management unit 14 updates the usage status of the managed space 5f1 and the managed space 5f7. The traffic management device 11 continues monitoring the managed space 5f7.

[0069] Thereafter, the moving body 2 enters the managed space 5f2. When the moving body 2 enters the managed space 5f2, it outputs an entry notification to the traffic management device 11. The dynamic space management unit 13 releases the intermediate space 8f1 from the managed space 5 corresponding to the space management information of the dynamic space set. At this time, the space management information of the dynamic space set corresponds to the managed space 5f2. The space situation management unit 14 updates the usage status of the managed space 5f2. The traffic management device 11 continues to monitor the managed space 5f2.

[0070] Thereafter, the moving body 2 exits the managed space 5f2. When the moving body 2 exits the managed space 5f2, it outputs an exit notification or a usage completion notification to the traffic management device 11. The dynamic space management unit 13 releases the managed space 5f2 by discarding the space management information of the dynamic space set. The space situation management unit 14 updates the usage status of the managed space 5f2. The space situation management unit 14 releases the usage reservation for the managed space 5f2. For example, when the equipment 6 in the managed space 5f2 receives the release of the usage reservation from the space situation management unit 14, it becomes available to accept use by another moving body 2. The traffic management device 11 ends monitoring of the managed space 5f2, triggered by an exit notification from the moving body 2, etc.

[0071] The mobile body system 1 may be configured so that a mobile body 2 cannot output a use request to another managed space 5 from the start of use of the managed space 5 for which the use request has been output until the use is completed. For example, the traffic management device 11 may reject a use request from a mobile body 2 that has not completed use.

[0072] FIG. 7 is a sequence diagram showing an example of the operation of a modified example of the mobile body system 1 according to the first embodiment. 7 shows an example of the operation of the mobile body system 1 when the mobile body 2 passes through the managed space 5f1 and the managed space 5f2 in FIG. 4 in this order when the mobile body 2 does not notify the mobile body 2 of its entry into the managed space 5. In FIG.

[0073] After the dynamic space management unit 13 generates space management information for the dynamic space set and the space situation management unit 14 reserves the use of the management space 5f1 and the management space 5f2, the passage instruction unit 15 outputs a passage instruction to the mobile object 2. At this time, the traffic management device 11 starts monitoring the management space 5f6 of the dynamic space set.

[0074] Upon receiving the passage instruction, the moving object 2 enters the managed space 5f1 included in the managed space 5f6. The moving object 2 then exits the managed space 5f1. When the moving object 2 exits the managed space 5f1, it outputs an exit notification or a usage completion notification to the traffic management device 11. The dynamic space management unit 13 releases the managed space 5f1 from the managed space 5 corresponding to the space management information of the dynamic space set. At this time, the space management information of the dynamic space set corresponds to the managed space 5f7, which is a combination of the intermediate space 8f1 and the managed space 5f2. The space situation management unit 14 releases the usage reservation for the managed space 5f1. For example, upon receiving the release of the usage reservation from the space situation management unit 14, the equipment 6 of the managed space 5f1 becomes available for use by another moving object 2. The space situation management unit 14 updates the usage status of the managed space 5f1 and the managed space 5f7. The traffic management device 11 continues monitoring the managed space 5f7.

[0075] The moving body 2 then passes through the intermediate space 8f1 and enters the managed space 5f2. The moving body 2 then exits the managed space 5f2. When the moving body 2 exits the managed space 5f2, it outputs an exit notification or a usage completion notification to the traffic management device 11. The dynamic space management unit 13 releases the intermediate space 8f1 and the managed space 5f2 by discarding the space management information of the dynamic space set. The space situation management unit 14 updates the usage status of the managed space 5f2. The space situation management unit 14 releases the usage reservation for the managed space 5f2. For example, when the equipment 6 in the managed space 5f2 receives the release of the usage reservation from the space situation management unit 14, it becomes available for use by another moving body 2. The traffic management device 11 ends monitoring of the managed space 5f2, triggered by an exit notification from the moving body 2, etc.

[0076] FIG. 8 is a sequence diagram showing an example of the operation of another modified example of the mobile body system 1 according to the first embodiment. When the space management information of the dynamic space set is generated, that is, when the management space 5f1 and the management space 5f2 are treated together as a dynamic space set, the mobile object 2 does not need to notify the mobile object 2 of its exit from the management space 5f1 along the way. An example of the operation of the mobile object system 1 when the mobile object 2 passes through the management space 5f1 and the management space 5f2 in this order in FIG. 4 is shown in FIG. 8.

[0077] After the dynamic space management unit 13 generates space management information for the dynamic space set and the space situation management unit 14 reserves the use of the management space 5f1 and the management space 5f2, the passage instruction unit 15 outputs a passage instruction to the mobile body 2.

[0078] Upon receiving the passage instruction, the mobile object 2 enters the managed space 5f1 included in the managed space 5f6. When the mobile object 2 enters the managed space 5f1, it outputs an entry notification to the traffic management device 11. The space situation management unit 14 updates the usage status of the managed space 5f6. The traffic management device 11 monitors the managed space 5f6 in response to the entry notification from the mobile object 2.

[0079] The moving body 2 then exits the managed space 5f1. The moving body 2 then passes through the intermediate space 8f1 and enters the managed space 5f2. When the moving body 2 enters the managed space 5f2, it outputs an entry notification to the traffic management device 11. The dynamic space management unit 13 releases the managed space 5f1 and the intermediate space 8f1 from the managed space 5 to which the space management information of the dynamic space set corresponds. At this time, the space management information of the dynamic space set corresponds to the managed space 5f2. The space situation management unit 14 releases the use reservation for the managed space 5f1. For example, when the equipment 6 of the managed space 5f1 accepts the release of the use reservation from the space situation management unit 14, it becomes available for use by another moving body 2. The space situation management unit 14 updates the use status of the managed space 5f2. The traffic management device 11 continues monitoring the managed space 5f2.

[0080] Thereafter, the moving body 2 exits the managed space 5f2. When the moving body 2 exits the managed space 5f2, it outputs an exit notification or a usage completion notification to the traffic management device 11. The dynamic space management unit 13 releases the managed space 5f2 by discarding the space management information of the dynamic space set. The space situation management unit 14 updates the usage status of the managed space 5f2. The space situation management unit 14 releases the usage reservation for the managed space 5f2. For example, when the equipment 6 in the managed space 5f2 receives the release of the usage reservation from the space situation management unit 14, it becomes available to accept use by another moving body 2. The traffic management device 11 ends monitoring of the managed space 5f2, triggered by an exit notification from the moving body 2, etc.

[0081] As described above, the mobile body system 1 according to the first embodiment includes a plurality of mobile bodies 2 and a mobile body control system 9. In the mobile body system 1, a plurality of management spaces 5 that manage traffic interference between the mobile bodies 2 are set in advance. The mobile body control system 9 includes a mobile body control device 10 and a traffic management device 11. The mobile body control device 10 controls the movement of the mobile bodies 2. The traffic management device 11 includes a management information storage unit 12, a dynamic space management unit 13, a space situation management unit 14, and a passage instruction unit 15. The management information storage unit 12 stores space management information for each management space 5. The space management information includes information identifying the corresponding management space 5, information on the entrances / exits 7 of the management space 5, and attribute information of the management space 5. When a use request for two management spaces 5 that do not share an entrance / exit 7 is output from a mobile body 2, the dynamic space management unit 13 determines whether traffic interference between the mobile bodies 2 may occur in the intermediate space 8 between the two management spaces 5. When it is determined that interference may occur, the dynamic space management unit 13 generates space management information for a dynamic space set consisting of the two management spaces 5 and the intermediate space 8. The space management information for the dynamic space set at the time of generation includes, as information on the corresponding management space 5, information on the space combined of the two management spaces 5 and the intermediate space 8 included in the dynamic space set. The space management information for the dynamic space set includes, as information on the entrances / exits 7 of the two management spaces 5 that do not lead to the intermediate space 8, as information on the entrances / exits 7 of the corresponding management space 5. The space management information for the dynamic space set includes attribute information of the dynamic space set as attribute information of the corresponding management space 5. The space situation management unit 14 manages information on the usage status of the mobile body 2 in each management space 5 based on the space management information stored in the management information storage unit 12 and the space management information generated by the dynamic space management unit 13. The passage instruction unit 15 outputs a passage instruction for the mobile body 2 through the management space 5 based on the usage status of the mobile body 2 managed by the space situation management unit 14.

[0082] With this configuration, when interference may occur in an intermediate space 8 between two management spaces 5, space management information is generated for a dynamic space set that combines these spaces. In this way, the space in which traffic interference is managed is temporarily expanded by the dynamic space set, so that even in the intermediate space 8 where traffic management of the moving body 2 is not always performed, the movement of the moving body 2 is managed appropriately according to the situation of the moving body 2 in the surrounding space. Therefore, the movement of the moving body 2 is managed so as to further increase the movement efficiency of the moving body 2.

[0083] The space management information also includes information on the allowable width for allowing passage in the corresponding management space 5. The passage instruction unit 15 determines whether or not passage interference will occur in the management space 5 based on the allowable width for the management space 5 that is the subject of the usage request, the effective width of the mobile body 2 already in the management space 5, and the mobile body 2 that output the usage request. If no interference will occur, the passage instruction unit 15 outputs a passage instruction for the mobile body 2 to enter the management space 5.

[0084] With this configuration, the mobile body 2 is permitted to enter the managed space 5 if no interference occurs, thereby enabling the mobile body 2 to more efficiently use the managed space 5. In addition, the presence or absence of interference is determined according to the effective width of each mobile body 2, allowing for flexible decisions to be made according to the mobile body 2 passing through.

[0085] Furthermore, a moving object 2 that has output a use request for two management spaces 5 will first enter one of the management spaces 5 and then exit that management space 5. At this time, the dynamic space management unit 13 releases the management space 5 that was previously exited by removing the management space 5 that was previously exited from the management space 5 that corresponds to the space management information for the dynamic space set. Furthermore, a moving object 2 that has output a request to use two management spaces 5 will first enter one of the management spaces 5, and then enter the intermediate space 8. At this time, the dynamic space management unit 13 releases the management space 5 that was entered earlier by excluding the management space 5 that was entered earlier from the management space 5 that corresponds to the space management information for the dynamic space set. Furthermore, a moving object 2 that has output a use request for two management spaces 5 will first enter one management space 5 and then enter the other management space 5. At this time, the dynamic space management unit 13 removes the management space 5 that was entered earlier from the management space 5 that corresponds to the space management information for the dynamic space set, thereby releasing the management space 5 that was entered earlier. Furthermore, the dynamic space management unit 13 removes the intermediate space 8 from the management space 5 that corresponds to the space management information for the dynamic space set, thereby releasing the intermediate space 8.

[0086] With this configuration, in the space temporarily expanded as a dynamic space set, space is released sequentially according to the passage of the moving object 2. This prevents the management space 5 or intermediate space 8, etc. from being unnecessarily occupied after the moving object 2 has passed, thereby further improving the utilization efficiency of the management space 5.

[0087] Next, an example of the hardware configuration of the mobile system 1 will be described with reference to FIG. FIG. 9 is a hardware configuration diagram of the main part of the mobile body system 1 according to the first embodiment.

[0088] 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 200 in addition to or in place of the processor 100 a and the memory 100 b.

[0089] 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.

[0090] 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.

[0091] Where the processing circuitry comprises dedicated hardware 200, 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.

[0092] Each function of the mobile system 1 can be realized by a processing circuit. Alternatively, all functions 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 200, 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 200, software, firmware, or a combination of these.

[0093] 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.

[0094] FIG. 10 is a configuration diagram of a mobile body system 1 according to the second embodiment.

[0095] The traffic management device 11 includes a mobile object management unit 17. The mobile object management unit 17 is a unit equipped with a function for managing information about each mobile object 2. The information about the mobile object 2 includes, for example, the current position, current speed, and current status of the mobile object 2. Information such as the current position of the mobile object 2 is provided to the traffic management device 11 as needed, for example, from the mobile object 2 itself or the mobile object control device 10. The mobile object management unit 17 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 17 includes adding, retaining, updating, correcting, or deleting information. The mobile object management unit 17 manages the changing information about the mobile object 2 by updating it as needed to reflect the current situation.

[0096] The dynamic space management unit 13 detects, for example, the entry of a moving body 2 into the management space 5 and the exit of a moving body 2 from the management space 5 based on information about the moving body 2 that is updated and managed by the moving body management unit 17.

[0097] Next, an example of the operation of the mobile body system 1 according to the second embodiment will be described. FIG. 11 is a sequence diagram showing an example of the operation of the mobile body system 1 according to the second embodiment. FIG. 11 shows an example of the operation of the mobile object system 1 when the mobile object 2 passes through the management space 5f1 and the management space 5f2 of FIG. 4 in this order.

[0098] The mobile object 2 constantly provides information such as its current location to the traffic management device 11. The mobile object management unit 17 manages the information of the mobile object 2 while updating it based on the information provided by the mobile object 2.

[0099] The mobile object 2 outputs a request to use the managed space 5f1 and the managed space 5f2 to the traffic management device 11. The mobile object 2 may output the request to use the managed space 5f1 and the request to use the managed space 5f2 consecutively, or may output the request to use the managed space 5f1 and the managed space 5f2 together.

[0100] The traffic management device 11 accepts a use request from the mobile body 2. As in the case shown in Fig. 6, the dynamic space management unit 13 generates space management information for the dynamic space set, and the space situation management unit 14 reserves the use of the management space 5f1 and the management space 5f2, and then the passage instruction unit 15 outputs a passage instruction to the mobile body 2.

[0101] Upon receiving the passage instruction, the mobile object 2 enters the managed space 5f1 included in the managed space 5f6. The dynamic space management unit 13 detects the entry of the mobile object 2 into the managed space 5f1 based on information on the current location of the mobile object 2 managed by the mobile object management unit 17. The space situation management unit 14 updates the usage status of the managed space 5f6. The traffic management device 11 monitors the managed space 5f6 in response to the entry of the mobile object 2. The monitoring of the managed space 5f6 is performed, for example, based on the usage status managed by the space situation management unit 14 and information on the current location of the mobile object 2 managed by the mobile object management unit 17.

[0102] The moving object 2 then exits the managed space 5f1. The dynamic space management unit 13 detects the exit of the moving object 2 from the managed space 5f1 based on the information on the current location of the moving object 2 managed by the moving object management unit 17. When the moving object 2 exits the managed space 5f1, the dynamic space management unit 13 releases the managed space 5f1 from the managed space 5 corresponding to the space management information of the dynamic space set. At this time, the space management information of the dynamic space set corresponds to the managed space 5f7, which is a combination of the intermediate space 8f1 and the managed space 5f2. The space situation management unit 14 releases the usage reservation for the managed space 5f1. For example, when the equipment 6 of the managed space 5f1 receives the release of the usage reservation from the space situation management unit 14, it becomes available for use by another moving object 2. The space situation management unit 14 updates the usage status of the managed space 5f1 and the managed space 5f7. The traffic management device 11 continues monitoring the managed space 5f7.

[0103] Thereafter, the moving body 2 enters the managed space 5f2. The dynamic space management unit 13 detects the moving body 2's entry into the managed space 5f2 based on the information on the current location of the moving body 2 managed by the moving body management unit 17. When the moving body 2 enters the managed space 5f2, the dynamic space management unit 13 releases the intermediate space 8f1 from the managed space 5 corresponding to the space management information of the dynamic space set. At this time, the space management information of the dynamic space set corresponds to the managed space 5f2. The space situation management unit 14 updates the usage status of the managed space 5f2. The traffic management device 11 continues to monitor the managed space 5f2.

[0104] The moving object 2 then exits the managed space 5f2. The dynamic space management unit 13 detects the moving object 2's exit from the managed space 5f2 based on the information on the current location of the moving object 2 managed by the moving object management unit 17. When the moving object 2 exits the managed space 5f2, the dynamic space management unit 13 releases the managed space 5f2 by discarding the space management information of the dynamic space set. The space situation management unit 14 updates the usage status of the managed space 5f2. The space situation management unit 14 releases the usage reservation for the managed space 5f2. For example, when the equipment 6 in the managed space 5f2 receives the release of the usage reservation from the space situation management unit 14, it becomes available for use by another moving object 2. The traffic management device 11 ends monitoring of the managed space 5f2, triggered by the moving object 2's exit from the managed space 5f2. Note that the moving object 2 may output a usage completion notification to the traffic management device 11 when it has completed usage of the entire managed space 5 for which it output a usage request.

[0105] As described above, the traffic management device 11 according to the second embodiment includes the mobile object management unit 17. The mobile object management unit 17 manages and updates information on the current location of each mobile object 2. The dynamic space management unit 13 detects the entry and exit of a mobile object 2 into and from the management space 5 based on the information managed by the mobile object management unit 17.

[0106] With this configuration, entry and exit of the managed space 5 is detected based on the position information of the mobile object 2, so that the movement efficiency of the mobile object 2 can be improved even if the mobile object 2 does not notify each time.

[0107] 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 management information storage unit that stores, for each of a plurality of pre-defined management spaces that manages interference between a plurality of moving bodies, space management information including information identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space; a dynamic space management unit that generates the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space when it determines that traffic interference may occur in an intermediate space through which the mobile object passes between the first space and the second space when a use request for a first space and a second space that do not share an entrance / exit among the multiple management spaces is output from any of the multiple mobile objects; a space situation management unit that manages information on usage situations of the plurality of moving objects in each of the plurality of management spaces based on the space management information stored in the management information storage unit and the space management information generated by the dynamic space management unit; a passage instruction unit that outputs passage instructions for each of the plurality of moving bodies through the plurality of managed spaces based on the usage status of the plurality of moving bodies managed by the space status management unit; Equipped with The space management information at the time of generation of the dynamic space set includes a space that is a combination of the first space, the intermediate space, and the second space as a corresponding management space, includes information on entrances and exits of the first space and the second space that do not lead to the intermediate space as information on entrances and exits of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space. Traffic management device. (Appendix 2) the dynamic space management unit, when a moving object that has output a use request for the first space and the second space exits the first space, releases the first space by removing the first space from a management space corresponding to the space management information for the dynamic space set. 10. A traffic management device as described in Appendix 1. (Appendix 3) the dynamic space management unit, when a moving object that has output a use request for the first space and the second space enters the first space and then enters the intermediate space, determines that the moving object has exited the first space and releases the first space. 1. A traffic management device as described in Appendix 2. (Appendix 4) the dynamic space management unit, when a moving object that has output a use request for the first space and the second space enters the first space and then enters the second space, releases the intermediate space by removing the intermediate space from the management space corresponding to the space management information for the dynamic space set. 4. A traffic management device according to any one of claims 1 to 3. (Appendix 5) a mobile object management unit that manages and updates information on the current location of each of the plurality of mobile objects; Equipped with the dynamic space management unit detects entry and exit of the plurality of moving objects into and from the plurality of managed spaces based on information managed by the moving object management unit; 5. A traffic management device according to any one of Supplementary Note 2 to Supplementary Note 4. (Appendix 6) the space management information includes information on an allowable width that allows passage in the corresponding management space, When a use request for one of the plurality of managed spaces is output from one of the plurality of moving bodies, the passage instruction unit determines whether or not a passage interference will occur when the moving body that output the use request enters the managed space based on the allowable width for the managed space, the effective width of the moving body already in the managed space, and the effective width of the moving body that output the use request, and outputs a passage instruction for the moving body to enter the managed space if no interference will occur. 6. A traffic management device according to any one of claims 1 to 5. (Appendix 7) The computer storing space management information including, for each of a plurality of pre-defined management spaces that manages traffic interference between a plurality of moving bodies, information identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space; When a use request for a first space and a second space that do not share an entrance / exit among the plurality of management spaces is output from any one of the plurality of moving bodies, if it is determined that traffic interference may occur in an intermediate space through which the moving body passes between the first space and the second space, generating the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space; managing information on the usage status of the plurality of moving objects in each of the plurality of management spaces based on the space management information; outputting a passage instruction for each of the plurality of mobile bodies through the plurality of managed spaces based on a usage status of the plurality of mobile bodies; Run The space management information at the time of generation of the dynamic space set includes a space that is a combination of the first space, the intermediate space, and the second space as a corresponding management space, includes information on entrances and exits of the first space and the second space that do not lead to the intermediate space as information on entrances and exits of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space. Traffic management methods. (Appendix 8) On the computer, storing space management information including, for each of a plurality of pre-defined management spaces that manages traffic interference between a plurality of moving bodies, information identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space; When a use request for a first space and a second space that do not share an entrance / exit among the plurality of management spaces is output from any one of the plurality of moving bodies, if it is determined that traffic interference may occur in an intermediate space through which the moving body passes between the first space and the second space, generating the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space; managing information on the usage status of the plurality of moving objects in each of the plurality of management spaces based on the space management information; outputting a passage instruction for each of the plurality of mobile bodies through the plurality of managed spaces based on a usage status of the plurality of mobile bodies; Execute The space management information at the time of generation of the dynamic space set includes a space that is a combination of the first space, the intermediate space, and the second space as a corresponding management space, includes information on entrances and exits of the first space and the second space that do not lead to the intermediate space as information on entrances and exits of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space. Traffic management programs. (Appendix 9) a plurality of moving objects each passing through a plurality of predetermined management spaces; a management information storage unit configured to store, for each of the plurality of management spaces that manages the interference of passage between the plurality of moving bodies, space management information including information identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space; a dynamic space management unit that generates the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space when it determines that traffic interference may occur in an intermediate space through which the mobile object passes between the first space and the second space when a use request for a first space and a second space that do not share an entrance / exit among the multiple management spaces is output from any of the multiple mobile objects; a space situation management unit that manages information on usage situations of the plurality of moving objects in each of the plurality of management spaces based on the space management information stored in the management information storage unit and the space management information generated by the dynamic space management unit; a passage instruction unit that outputs passage instructions for each of the plurality of moving bodies through the plurality of managed spaces based on the usage status of the plurality of moving bodies managed by the space status management unit; Equipped with The space management information at the time of generation of the dynamic space set includes a space that is a combination of the first space, the intermediate space, and the second space as a corresponding management space, includes information on entrances and exits of the first space and the second space that do not lead to the intermediate space as information on entrances and exits of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space. Mobile systems. (Appendix 10) a mobile object control unit that controls the movement of a plurality of mobile objects that pass through a plurality of predetermined management spaces; a management information storage unit configured to store, for each of the plurality of management spaces that manages the interference of passage between the plurality of moving bodies, space management information including information identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space; a dynamic space management unit that generates the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space when it determines that traffic interference may occur in an intermediate space through which the mobile object passes between the first space and the second space when a use request for a first space and a second space that do not share an entrance / exit among the multiple management spaces is output from any of the multiple mobile objects; a space situation management unit that manages information on usage situations of the plurality of moving objects in each of the plurality of management spaces based on the space management information stored in the management information storage unit and the space management information generated by the dynamic space management unit; a passage instruction unit that outputs passage instructions for each of the plurality of moving bodies through the plurality of managed spaces based on the usage status of the plurality of moving bodies managed by the space status management unit; Equipped with The space management information at the time of generation of the dynamic space set includes a space that is a combination of the first space, the intermediate space, and the second space as a corresponding management space, includes information on entrances and exits of the first space and the second space that do not lead to the intermediate space as information on entrances and exits of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space. Mobile control system. [Explanation of symbols]

[0108] 1 Mobile body system, 2 Mobile body, 3 Facility, 4 Communication network, 5, 5a, 5b, 5c, 5d, 5e, 5f1, 5f2, 5f3, 5f4, 5f5, 5f6, 5f7 Managed space, 6 Facility equipment, 7, 7a1, 7a2, 7a3, 7a4, 7b1, 7b2, 7b3, 7c1, 7c2, 7d1, 7d2, 7e1, 7e2, 7f1, 7f2, 7f3, 7f4, 7f5, 7f6, 7f7, 7f8 Entrance / exit, 8, 8a, 8f1, 8f2 Intermediate space, 9 Mobile body control system, 10 Mobile body control device, 11 Traffic management device, 12 Management information memory unit, 13 Dynamic space management unit, 14 Space situation management unit, 15 Traffic direction unit, 16 Temporary evacuation area, 17 Mobile management department

Claims

1. a management information storage unit that stores, for each of a plurality of pre-defined management spaces that manages traffic interference between a plurality of moving bodies, space management information including information identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space; a dynamic space management unit that generates the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space when it determines that traffic interference may occur in an intermediate space through which the mobile object passes between the first space and the second space when a use request for a first space and a second space that do not share an entrance / exit among the multiple management spaces is output from any of the multiple mobile objects; a space situation management unit that manages information on usage situations of the plurality of moving objects in each of the plurality of management spaces based on the space management information stored in the management information storage unit and the space management information generated by the dynamic space management unit; a passage instruction unit that outputs passage instructions for each of the plurality of moving bodies through the plurality of managed spaces based on the usage status of the plurality of moving bodies managed by the space status management unit; Equipped with The space management information at the time of generation of the dynamic space set includes a space that is a combination of the first space, the intermediate space, and the second space as a corresponding management space, includes information on entrances and exits of the first space and the second space that do not lead to the intermediate space as information on entrances and exits of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space. Traffic management device.

2. the dynamic space management unit, when a moving object that has output a use request for the first space and the second space exits the first space, releases the first space by removing the first space from a management space corresponding to the space management information for the dynamic space set. The traffic management device of claim 1 .

3. the dynamic space management unit, when a moving object that has output a use request for the first space and the second space enters the first space and then enters the intermediate space, determines that the moving object has exited the first space and releases the first space. The traffic management device of claim 2 .

4. the dynamic space management unit, when a moving object that has output a use request for the first space and the second space enters the first space and then enters the second space, releases the intermediate space by removing the intermediate space from the management space corresponding to the space management information for the dynamic space set. The traffic management device of claim 1 .

5. a mobile object management unit that manages and updates information on the current location of each of the plurality of mobile objects; Equipped with the dynamic space management unit detects entry and exit of the plurality of moving objects into and from the plurality of managed spaces based on information managed by the moving object management unit; A traffic management device according to any one of claims 2 to 4.

6. the space management information includes information on an allowable width that allows passage in the corresponding management space, When a use request for one of the plurality of managed spaces is output from one of the plurality of moving bodies, the passage instruction unit determines whether or not a passage interference will occur when the moving body that output the use request enters the managed space based on the allowable width for the managed space, the effective width of the moving body already in the managed space, and the effective width of the moving body that output the use request, and outputs a passage instruction for the moving body to enter the managed space if no interference will occur. A traffic management device according to any one of claims 1 to 4.

7. The computer storing space management information including, for each of a plurality of pre-defined management spaces that manages traffic interference between a plurality of moving bodies, information identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space; When a use request for a first space and a second space that do not share an entrance / exit among the plurality of management spaces is output from any one of the plurality of moving bodies, if it is determined that traffic interference may occur in an intermediate space through which the moving body passes between the first space and the second space, generating the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space; managing information on the usage status of the plurality of moving objects in each of the plurality of management spaces based on the space management information; outputting a passage instruction for each of the plurality of mobile bodies through the plurality of managed spaces based on a usage status of the plurality of mobile bodies; Run The space management information at the time of generation of the dynamic space set includes a space that is a combination of the first space, the intermediate space, and the second space as a corresponding management space, includes information on entrances and exits of the first space and the second space that do not lead to the intermediate space as information on entrances and exits of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space. Traffic management methods.

8. On the computer, storing space management information including, for each of a plurality of pre-defined management spaces that manages traffic interference between a plurality of moving bodies, information identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space; When a use request for a first space and a second space that do not share an entrance / exit among the plurality of management spaces is output from any one of the plurality of moving bodies, if it is determined that traffic interference may occur in an intermediate space through which the moving body passes between the first space and the second space, generating the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space; managing information on the usage status of the plurality of moving objects in each of the plurality of management spaces based on the space management information; outputting a passage instruction for each of the plurality of mobile bodies through the plurality of managed spaces based on a usage status of the plurality of mobile bodies; Execute The space management information at the time of generation of the dynamic space set includes a space that is a combination of the first space, the intermediate space, and the second space as a corresponding management space, includes information on entrances and exits of the first space and the second space that do not lead to the intermediate space as information on entrances and exits of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space. Traffic management programs.

9. a plurality of moving objects each passing through a plurality of predetermined management spaces; a management information storage unit configured to store, for each of the plurality of management spaces that manages interference between the plurality of moving bodies, space management information including information identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space; a dynamic space management unit that generates the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space when it determines that traffic interference may occur in an intermediate space through which the mobile object passes between the first space and the second space when a use request for a first space and a second space that do not share an entrance / exit among the multiple management spaces is output from any of the multiple mobile objects; a space situation management unit that manages information on usage situations of the plurality of moving objects in each of the plurality of management spaces based on the space management information stored in the management information storage unit and the space management information generated by the dynamic space management unit; a passage instruction unit that outputs passage instructions for each of the plurality of moving bodies through the plurality of managed spaces based on the usage status of the plurality of moving bodies managed by the space status management unit; Equipped with The space management information at the time of generation of the dynamic space set includes a space that is a combination of the first space, the intermediate space, and the second space as a corresponding management space, includes information on entrances and exits of the first space and the second space that do not lead to the intermediate space as information on entrances and exits of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space. Mobile systems.

10. a mobile object control unit that controls the movement of a plurality of mobile objects that pass through a plurality of predetermined management spaces; a management information storage unit configured to store, for each of the plurality of management spaces that manages interference between the plurality of moving bodies, space management information including information identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space; a dynamic space management unit that generates the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space when it determines that traffic interference may occur in an intermediate space through which the mobile object passes between the first space and the second space when a use request for a first space and a second space that do not share an entrance / exit among the multiple management spaces is output from any of the multiple mobile objects; a space situation management unit that manages information on usage situations of the plurality of moving objects in each of the plurality of management spaces based on the space management information stored in the management information storage unit and the space management information generated by the dynamic space management unit; a passage instruction unit that outputs passage instructions for each of the plurality of moving bodies through the plurality of managed spaces based on the usage status of the plurality of moving bodies managed by the space status management unit; Equipped with The space management information at the time of generation of the dynamic space set includes a space that is a combination of the first space, the intermediate space, and the second space as a corresponding management space, includes information on entrances and exits of the first space and the second space that do not lead to the intermediate space as information on entrances and exits of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space. Mobile control system.

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