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 space set composed of a plurality of management spaces 5 for managing the interference of passage between mobile bodies 2, and two or more management spaces 5 connected by an adjacency relation sharing an entrance / exit 7 is preliminarily set. Space management information includes information for identifying the corresponding management space 5, information on the entrance / exit 7, and attribute information. A space state management unit 12 manages information on a use state of the mobile bodies 2 in the management spaces 5 on the basis of space management information pertaining to each individual management space 5 and the space set, and a passage indication unit 13 outputs an indication for passage of the mobile bodies 2 in the management spaces 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] The traffic management device of the present disclosure comprises: a management information storage unit that stores, for each of a plurality of pre-set management spaces that manage 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, as well as the space management information for a space set consisting of two or more management spaces connected in an adjacent relationship that share one of the entrances and exits of the plurality of management spaces; a space situation management unit that manages information on the usage status of the plurality of moving bodies in each of the plurality of management spaces based on the space management information stored in the management information storage unit; and a passage instruction unit that outputs passage instructions for the plurality of management 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 for the space set is the combined space of the two or more management spaces included in the space set as the corresponding management space, includes information on entrances and exits of the two or more management spaces included in the space set that are not shared between adjacent management spaces within the space set as information on the entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space.

[0007] The traffic management method of the present disclosure is a method in which a computer stores, for each of a plurality of pre-defined management spaces that manage 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, as well as the space management information for a space set consisting of two or more management spaces connected in an adjacent relationship that share one of the entrances and exits of the plurality of management spaces, manages information on the usage status of the plurality of moving bodies in each of the plurality of management spaces based on the space management information, and outputs passage instructions for the plurality of management 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 for the space set defines the combined space of the two or more management spaces included in the space set as the corresponding management space, includes information on entrances and exits of the two or more management spaces included in the space set that are not shared between adjacent management spaces within the space set as information on the entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space.

[0008] The traffic management program of the present disclosure causes a computer to store, for each of a plurality of pre-set 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, as well as the space management information for a space set consisting of two or more management spaces connected in an adjacent relationship that share one of the entrances and exits of the plurality of management spaces; manage information on the usage status of the plurality of mobile bodies in each of the plurality of management spaces based on the space management information; and output passage instructions for the plurality of management spaces to each of the plurality of mobile bodies based on the usage status of the plurality of mobile bodies, wherein the space management information for the space set is the combined space of the two or more management spaces included in the space set as the corresponding management space, includes information on entrances and exits of the two or more management spaces included in the space set that are not shared between adjacent management spaces within the space set as information on the entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space.

[0009] The mobile body system according to the present disclosure includes a management information storage unit that stores, for each of a plurality of mobile bodies that pass through a plurality of predetermined management spaces and a plurality of management spaces that manages interference between the plurality of mobile bodies, 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, as well as the space management information for a space set consisting of two or more management spaces that are connected in an adjacent relationship and share any of the entrances and exits of the plurality of management spaces; and a management information storage unit that stores, for each of the plurality of management spaces that manages interference between the plurality of mobile bodies that pass through the plurality of management spaces, the 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, as well as the space management information for a space set consisting of two or more management spaces that are connected in an adjacent relationship and share any of the entrances and exits of the plurality of management spaces, and a management information storage unit that stores the space management information for a space set consisting of two or more management spaces that are connected in an adjacent relationship and share any of the entrances and exits of the plurality of management spaces, and The space management system comprises a space situation management unit that manages information on usage status, and a passage instruction unit that outputs passage instructions for each of the multiple mobile bodies through the multiple managed spaces based on the usage status of the multiple mobile bodies managed by the space situation management unit, and the space management information for the space set defines the combined space of the two or more managed spaces included in the space set as the corresponding managed space, includes information on entrances and exits of the two or more managed spaces included in the space set that are not shared between adjacent managed spaces within the space set as information on the entrances and exits of the corresponding managed space, and includes attribute information of the space set as attribute information of the corresponding managed space.

[0010] The 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 interference between the passage of 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, as well as the space management information for a space set consisting of two or more management spaces that are connected in an adjacent relationship and share any of the entrances and exits of the plurality of management spaces; and a management information storage unit that stores, based on the space management information stored in the management information storage unit, the space management information for each of the plurality of management spaces. The system comprises a spatial situation management unit that manages information on the usage status of multiple mobile bodies, and a passage instruction unit that outputs passage instructions for each of the multiple mobile bodies through the multiple management spaces based on the usage status of the multiple mobile bodies managed by the spatial situation management unit, and the spatial management information for the space set defines the combined space of the two or more management spaces included in the space set as the corresponding management space, includes information on entrances and exits of the two or more management spaces included in the space set that are not shared between adjacent management spaces within the space set as information on the entrances and exits of the corresponding management space, and includes attribute information of the 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] 3 is a diagram illustrating an example of space management information in the mobile body system according to the first embodiment. FIG. [Figure 6] 3 is a diagram illustrating an example of space management information in the mobile body system according to the first embodiment. FIG. [Figure 7] 3 is a diagram illustrating an example of space management information in the mobile body system according to the first embodiment. FIG. [Figure 8] 3 is a diagram illustrating an example of space management information in the mobile body system according to the first embodiment. FIG. [Figure 9] FIG. 4 is a sequence diagram showing an example of an operation of the mobile body system according to the first embodiment. [Figure 10] 1 is a hardware configuration diagram of a main part of a mobile body system according to a first embodiment. [Figure 11] FIG. 10 is a configuration diagram of a mobile body system according to a second embodiment. [Figure 12] FIG. 10 is a sequence diagram showing an example of an operation of the mobile body system according to the second embodiment. [Figure 13] FIG. 11 is a configuration diagram of a mobile body system according to a third embodiment. [Figure 14] 13 is a diagram illustrating an example of a passage instruction for a management space in a mobile body system according to a fourth embodiment. FIG. 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, such as management space 5a, management space 5b1, and management space 5b2, are set in advance. Here, when multiple management spaces, such as management space 5a, management space 5b1, and management space 5b2, are not particularly distinguished from one another, they may be simply referred to as management space 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 managed space 5a has entrances 7a1, 7a2, 7a3, and 7a4. The managed space 5b1 has entrances 7b1, 7b2, and 7b3. The managed space 5b2 has entrances 7b2 and 7b4. The managed spaces 5b1 and 5b2 share entrance 7b2. Here, when multiple entrances such as entrances 7a1, 7a2, and 7b1 are not particularly distinguished, they may be simply referred to as entrances 7. In this way, one or more entrances 7 are provided in each managed space 5. The entrances 7 of a managed space 5 represent locations where entry into or exit from the managed space 5 is possible. For example, the entrances 7 of a managed space 5 at an intersection correspond to the passages leading to the intersection.

[0021] In the mobile system 1, one or more space sets are set in advance. Each space set includes two or more management spaces 5. Here, when multiple management spaces 5 share an entrance / exit 7, the multiple management spaces 5 are said to be adjacent to each other. The management spaces 5 included in each space set are connected in an adjacent relationship. Note that the two or more management spaces 5 included in a space set only need to be connected by tracing the adjacency relationship between the management spaces 5, and the space set may include a combination of two or more management spaces 5 that are not directly adjacent to each other. For example, when a space set includes three management spaces 5 arranged in a straight line, the two end spaces do not need to be adjacent to each other as long as both end spaces are adjacent to the middle space.

[0022] The mobile body system 1 includes a mobile body control system 8. The mobile body control system 8 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 8 includes a mobile body control device 9 and a traffic management device 10.

[0023] The mobile object control device 9 is a part that controls the movement of the mobile object 2 and the operation of the mobile object 2, such as the execution of tasks. The mobile object control device 9 is an example of a mobile object control unit. The mobile object control device 9 communicates with external devices via the communication network 4 or the like. The mobile object control device 9 may control the operation of multiple mobile objects 2. Multiple mobile object control devices 9 may be provided in the mobile object control system 8. Each mobile object control device 9 may be managed by, for example, a different administrator. The administrator of the mobile object control device 9 may be, for example, the manufacturer or management company of the corresponding mobile object 2. The same administrator may manage multiple mobile object control devices 9. Some or all of the mobile object control devices 9 may be devices within the mobile object system 1, or may be devices outside the system that cooperates with the mobile object system 1. Each mobile object control device 9 is, for example, a computer system consisting of one or more server devices. Here, a computer system consisting of one or more devices may simply be referred to as a computer. The multiple server devices that make up the mobile object control device 9 may be located in different locations. In this case, the multiple server devices communicate information with each other, for example, via the communication network 4. Some or all of the functions of the mobile object control device 9 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 9.

[0024] The traffic management device 10 is a part that performs processes such as arbitrating movement between mobile objects 2. The traffic management device 10 communicates with external devices via a communication network 4 or the like. The traffic management device 10 is, for example, a computer system including one or more server devices. The multiple server devices that make up the traffic management device 10 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 10 may be implemented, for example, by processing or storage resources on a cloud service. Note that the traffic management device 10 may include some or all of the functions of the mobile object control device 9. The traffic management device 10 includes a management information storage unit 11, a spatial situation management unit 12, and a passage instruction unit 13.

[0025] The management information storage unit 11 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 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 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 information on the facility equipment 6 corresponding to the space, such as an elevator or security gate. The space management information may include information on the allowable width, allowable number, allowable time, and other restrictions for mobile objects 2 permitted to pass through the corresponding management space 5. The allowable width of the management space 5 represents, for example, the upper limit of the effective width of a moving body 2 that can pass through the management space 5. The effective width of a moving body 2 is the width necessary to ensure sufficient collision avoidance, which is set, for example, according to the physical width of the body of the moving body 2 and its movement performance, such as movement accuracy and turning radius. The allowable number of vehicles in the management space 5 represents, for example, the upper limit of the number of moving bodies 2 that can use the management space 5 simultaneously. The allowable time for the management space 5 represents, for example, the upper limit of the time that a moving body 2 can continuously stay in the management space 5. The space management information represents, for example, information regarding the passage of moving bodies 2 through the management space 5 modeled as a conceptual model. The management information storage unit 11 stores the space management information by storing it in, for example, a database.

[0026] The management information storage unit 11 stores space management information for each space set. The space management information for a space set defines the combined space of two or more management spaces 5 included in the space set as the corresponding management space 5. The space management information for a space set includes information on the entrances / exits 7 of the corresponding management space 5, which are not shared between adjacent management spaces 5 within the space set, among the entrances / exits 7 of the two or more management spaces 5 included in the space set. The space management information for a space set includes attribute information of the space set as attribute information of the corresponding management space 5. The attribute information of a space set is, for example, an attribute combining the attributes of two or more management spaces 5 included in the space set. Similar to the space management information for a single management space 5, the space management information for a space set includes information identifying the corresponding management space 5, information on the entrances / exits 7, and attribute information. Therefore, the management information storage unit 11 may store space management information for a space set in the same way as space management information for a single management space 5.

[0027] The space situation management unit 12 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 12 manages the usage status information based on the space management information for each managed space 5 and the space management information for each space set stored in the management information storage unit 11. The usage status information for a 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 a 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 a 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 spatial situation management unit 12 manages information on the usage status of the mobile object 2 by storing the information in, for example, a database. The spatial situation management unit 12 manages the information on the usage status in the management space 5 while updating it as needed so that the information can reflect the current situation.

[0028] The passage instruction unit 13 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 13 outputs instructions to the moving body 2 based on the usage status of the moving body 2 managed by the spatial situation management unit 12. The instructions to the moving body 2 may be output via a mobile body control device 9 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 9. 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.

[0029] For example, when approaching the managed space 5a, each mobile object 2 outputs a usage request to pass through the managed space 5a to the traffic management device 10. The usage request output by the mobile object 2 may be output to the traffic management device 10 via the mobile object control device 9. The usage request of the mobile object 2 may be output to the traffic management device 10 from the mobile object control device 9 that controls the mobile object 2. Each mobile object 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 object 2 is acquired by the mobile object 2 itself or the mobile object control device 9 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 object 2, such as an identifier of the mobile object 2, and information identifying the managed space 5a used by the mobile object 2, such as an identifier of the managed space 5a. The usage request may also include information such as the effective width of the mobile object 2. The use request may include information on the purpose of use of the managed space 5a by the mobile object 2. For example, after outputting the 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 13. Alternatively, each mobile object 2 may wait at a predetermined position, for example, an entrance / exit 7a1, which is one of the entrances / exits to 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 10. The predetermined position is information managed by the traffic management device 10 in association with information on the entrance / exit 7, and 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 12 manages information on the predetermined position set for the entrance / exit 7 by storing it in, for example, a database.

[0030] The traffic management device 10 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 13 refers to information on the usage status of the mobile object 2 in the managed space 5a managed by the spatial situation management unit 12. Based on the referred information, the passage instruction unit 13 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.

[0031] The passage instruction unit 13 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 13 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 13 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 13 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.

[0032] Alternatively, the passage instruction unit 13 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 13 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 13 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 13 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.

[0033] The passage instruction unit 13 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 13 may multiply the effective width by a preset coefficient greater than 1, or may add a preset positive value to the effective width.

[0034] When it is determined that no traffic interference will occur in the managed space 5a, the passage instruction unit 13 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 9. The passage instruction for the mobile body 2 may be output from the traffic management device 10 to the mobile body control device 9 that controls the mobile body 2. After that, the mobile body 2 that has received the passage instruction enters the managed space 5a.

[0035] The spatial situation management unit 12 updates the usage status of the managed space 5a when the moving object 2 enters the managed space 5a. The spatial situation management unit 12 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 12 updates, for example, information about the moving object 2 currently located in the managed space 5a. The spatial situation management unit 12 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 12 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 12 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.

[0036] When the moving object 2 exits the managed space 5a, the spatial situation management unit 12 updates the usage status of the managed space 5a. The spatial situation management unit 12 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 12 updates, for example, information about the moving object 2 currently located in the managed space 5a. The spatial situation management unit 12 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.

[0037] The mobile body system 1 may include a plurality of traffic management devices 10. In this case, the plurality of traffic management devices 10 may share a database in which, for example, space management information, usage status information, and the like are stored.

[0038] 2 to 8 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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 13 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.

[0043] 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.

[0044] The managed space 5e has a physical width of W and corresponds to a narrow passage including the temporary evacuation area 14. 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 14. 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.

[0045] 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 if 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 13 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.

[0046] In addition, in the managed space 5e, the actual passage procedure for passing each other using the temporary evacuation area 14 may be set by the mobile object 2 or the mobile object control device 9, or may be instructed to the mobile object 2 by the traffic management device 10. Determining the passage procedure includes, for example, determining whether the mobile object 2 on the east side or the mobile object 2 on the west side will enter the temporary evacuation area 14. Furthermore, the managed space 5e may be a space set consisting of two managed spaces, the managed space 5e1 and the managed space 5e2, which are adjacent to each other. In this case, the procedure for enabling the mobile objects 2 to pass each other may be, for example, a procedure in which one mobile object 2 moves from the narrow managed space 5e1 to the managed space 5e2, which is the temporary evacuation area 14, and then instructs the other mobile object 2 to begin passing through the narrow managed space 5e1.

[0047] In FIG. 4, an example of spatial management information for a spatial set is shown.

[0048] Management space 5f1 corresponds to a three-way intersection. Management space 5f2 corresponds to a narrow road adjacent to the three-way intersection. Management space 5f1 has entrances 7f1, 7f2, and 7f3. Management space 5f2 has entrances 7f3 and 7f4. In this way, the adjacent management spaces 5f1 and 5f2 share entrance 7f3.

[0049] The management information storage unit 11 stores space management information for the management space 5f1 and space management information for the management space 5f2. The space management information for the management space 5f1 includes information on the attribute "three-way intersection." The space management information for the management space 5f2 includes information on the attribute "narrow road."

[0050] In the mobile system 1, a space set consisting of a management space 5f1 and a management space 5f2 is set. The management information storage unit 11 stores space management information for the space set. The space management information for the space set includes information identifying a management space 5f0, which is the combination of the management space 5f1 and the management space 5f2, as the corresponding management space 5. The space management information for the space set includes, as information on entrances 7, information on entrances 7f1, 7f2, and 7f4 that are not shared by the adjacent management spaces 5f1 and 5f2. The space management information for the space set does not need to include information on the entrance 7f3 shared by the management spaces 5f1 and 5f2, or may include a location corresponding to the entrance 7f3, for example, as information on a temporary evacuation area 14. The space management information for the space set includes information on the attribute "conditional three-way intersection," which is different from the individual attributes of the management spaces 5f1 and 5f2. The space management information for the space set may also 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 width for each of the management spaces 5f1 and 5f2. The space management information for the 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.

[0051] The spatial situation management unit 12 performs an update process for the usage status information for a 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 5f0 of a space set that combines management spaces 5f1 and 5f2, the spatial situation management unit 12 updates the usage status of the space set. For example, the spatial situation management unit 12 updates the information of the moving object 2 currently located in the management space 5f0. For example, the spatial situation management unit 12 may update the information of the moving object 2 currently located in each of the management spaces 5f1 and 5f2 included in the space set. The spatial situation management unit 12 may manage the usage status of the space set assuming that at least a portion of the management space 5f0 is occupied by the moving object 2. For example, the spatial situation management unit 12 may manage the usage status of each of the management spaces 5f1 and 5f2 included in the space set assuming that at least a portion of the management space 5f0 is occupied by the moving object 2. Furthermore, the spatial situation management unit 12 updates the usage status of the space set, for example, when the moving object 2 exits the management space 5f0. The spatial situation management unit 12 updates information about the moving object 2 currently located in the management space 5f0. The spatial situation management unit 12 may manage the usage status of the space set by assuming that the portion of the management space 5f0 occupied by the moving object 2 is released.

[0052] The passage instruction unit 13 determines whether interference will occur for a 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 13 determines whether interference will occur for a space set based on, for example, the allowable number of vehicles for the managed space 5f0 and the number of moving bodies 2 already present in the managed space 5f0. The passage instruction unit 13 may determine whether interference will occur for a space set based on, for example, the allowable number of vehicles and the number of moving bodies 2 already present in each of the managed spaces 5f1 and 5f2 included in the space set. The passage instruction unit 13 may determine whether interference will occur for a space set based on, for example, the allowable width of the managed space 5f0, the effective width of the moving bodies 2 already present in the managed space 5f0, and the effective width of the moving body 2 that output the use request. For example, the passage instruction unit 13 may determine whether passage interference will occur for each of the managed spaces 5f1 and 5f2 included in the 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 13 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 managed space 5f0. After that, the moving body 2 that received the passage instruction enters the managed space 5f0.

[0053] FIG. 5 shows an example of space management information for a management space 5 corresponding to an elevator.

[0054] In an area where the mobile object system 1 is applied, such as a facility 3, an elevator that can be used by a mobile object 2 is provided. The elevator is equipment 6 that transports the mobile object 2 and the like between multiple floors. In this example, an elevator capable of moving between floors 1 to 3 is shown, but the elevator may be capable of moving only between two floors, or may be capable of moving between floors four or more. The elevator includes a car that the mobile object 2 can ride in. In the elevator, the car travels up and down the hoistway from the departure floor to the arrival floor, carrying the mobile object 2 and the like. The elevator has a bank including multiple cars. In this example, the elevator bank includes a car A, a car B, and a car C. Note that the elevator may include only one car, or may include two or four or more cars. In a facility 3 and the like, an elevator hall is provided on each floor. The elevator hall is where the mobile object 2 and the like get on and off the car.

[0055] Management space 5g1 corresponds to the hall on the first floor. Management space 5g1 has entrance / exit 7g1 and entrance / exit 7h1. Management space 5g2 corresponds to the hall on the second floor. Management space 5g2 has entrance / exit 7g2 and entrance / exit 7h2. Management space 5g3 corresponds to the hall on the third floor. Management space 5g3 has entrance / exit 7g3 and entrance / exit 7h3. In this example, management space 5g1 corresponds to the portion of the hall on the first floor that leads to each car. That is, management space 5g1 includes the position in the hall on the first floor where passengers board and disembark from the first floor onto the car of car A, the position where passengers board and disembark from the first floor onto the car of car B, and the position where passengers board and disembark from the first floor onto the car of car C. Similarly, management space 5g2 corresponds to the portion of the hall on the second floor that leads to each car, and management space 5g3 corresponds to the portion of the hall on the third floor that leads to each car.

[0056] Control space 5h corresponds to an elevator car. In this example, control space 5h corresponds to the entire elevator bank. That is, control space 5h corresponds to all of elevator cars A, B, and C. Control space 5h has entrances 7h1, 7h2, and 7h3. Control space 5h shares entrance 7h1 with control space 5g1. Control space 5h shares entrance 7h2 with control space 5g2. Control space 5h shares entrance 7h3 with control space 5g3. That is, control space 5h is adjacent to each of control space 5g1, control space 5g2, and control space 5g3.

[0057] In the mobile system 1, a space set consisting of management space 5g1, management space 5h, and management space 5g3 is set to correspond to the case of moving from the first floor to the third floor. Here, management space 5g1, management space 5h, and management space 5g3 are connected in an adjacent relationship. Management space 5g1 and management space 5g3 are both adjacent to management space 5h. Therefore, management space 5g1 and management space 5g3 are not directly adjacent, but are indirectly connected through the adjacent relationship via management space 5h. Management space 5g1 is an example of a first space. Management space 5h is an example of a second space. Management space 5g3 is an example of a third space.

[0058] The management information storage unit 11 stores space management information for the space set. The space management information for the space set includes information for identifying the management space 5g13, which is a combination of the management space 5g1, the management space 5h, and the management space 5g3, as the corresponding management space 5. The space management information for the space set includes, as information on the entrances 7, information on the entrances 7g1 and 7g3 that are not shared in the space set. The space management information for the space set includes, for example, information on the attribute "elevator travel from the first floor to the third floor." In the mobile system 1, space sets corresponding to travel between the other two floors are similarly set, and the management information storage unit 11 stores space management information for each space set.

[0059] FIG. 6 shows another example of space management information for the management space 5 corresponding to an elevator. The elevator shown in FIG. 6 has a bank including a car A, a car B, and a car C, similar to the case shown in FIG.

[0060] Management space 5g1 corresponds to the hall on the first floor. Management space 5g1 has entrance / exit 7g1, entrance / exit 7h1A, entrance / exit 7h1B, and entrance / exit 7h1C. Management space 5g2 corresponds to the hall on the second floor. Management space 5g2 has entrance / exit 7g2, entrance / exit 7h2A, entrance / exit 7h2B, and entrance / exit 7h2C. Management space 5g3 corresponds to the hall on the third floor. Management space 5g3 has entrance / exit 7g3, entrance / exit 7h3A, entrance / exit 7h3B, and entrance / exit 7h3C. Management space 5g1 corresponds to the parts of the hall on the first floor that lead to each car. In other words, management space 5g1 includes the positions in the hall on the first floor where passengers board and disembark from the first floor onto the car of car A, the positions where passengers board and disembark from the first floor onto the car of car B, and the positions where passengers board and disembark from the first floor onto the car of car C. Similarly, the control space 5g2 corresponds to the portion of the hall on the second floor that leads to each car, and the control space 5g3 corresponds to the portion of the hall on the third floor that leads to each car.

[0061] Management space 5hA corresponds to the elevator car of elevator A. Management space 5hA has entrances / exits 7h1A, 7h2A, and 7h3A. Management space 5hB corresponds to the elevator car of elevator B. Management space 5hB has entrances / exits 7h1B, 7h2B, and 7h3B. Management space 5hC corresponds to the elevator car of elevator C. Management space 5hC has entrances / exits 7h1C, 7h2C, and 7h3C. Management space 5hA shares entrance / exit 7h1A with management space 5g1. Management space 5hA shares entrance / exit 7h2A with management space 5g2. Management space 5hA shares entrance / exit 7h3A with management space 5g3. In other words, management space 5hA is adjacent to each of management spaces 5g1, 5g2, and 5g3. Similarly, management space 5hB is adjacent to each of management space 5g1, management space 5g2, and management space 5g3, and management space 5hC is adjacent to each of management space 5g1, management space 5g2, and management space 5g3. Management space 5hA, management space 5hB, and management space 5hC are not adjacent to each other in the sense that they share entrance / exit 7, but may be adjacent to each other in terms of physical arrangement.

[0062] In the mobile system 1, a space set consisting of management space 5g1, management space 5hB, and management space 5g3 is set to correspond to the case of moving from the first floor to the third floor. Here, management space 5g1, management space 5hB, and management space 5g3 are connected in an adjacent relationship. Management space 5g1 is an example of a first space. Management space 5hB is an example of a second space. Management space 5g3 is an example of a third space.

[0063] The management information storage unit 11 stores space management information for the space set. The space management information for the space set includes information for identifying the management space 5g13B, which is a combination of the management space 5g1, the management space 5hB, and the management space 5g3, as the corresponding management space 5. The space management information for the space set includes, as information on the entrances 7, information on the entrances 7g1 and 7g3 that are not shared in the space set. The space management information for the space set includes, for example, information on the attribute "travel in elevator B from the first floor to the third floor." In the mobile system 1, space sets corresponding to travel between other two floors using other cars are similarly set, and the management information storage unit 11 stores space management information for each space set.

[0064] FIG. 7 shows another example of space management information for the management space 5 corresponding to an elevator. The elevator shown in FIG. 7 has a bank including a car A, a car B, and a car C, similar to the case shown in FIG.

[0065] Management space 5g1A corresponds to the hall on the first floor. Management space 5g1A has entrance / exit 7g1A and entrance / exit 7h1A. Management space 5g2A corresponds to the hall on the second floor. Management space 5g2A has entrance / exit 7g2A and entrance / exit 7h2A. Management space 5g3A corresponds to the hall on the third floor. Management space 5g3A has entrance / exit 7g3A and entrance / exit 7h3A. Management space 5g1A corresponds to the part of the hall on the first floor that leads to the car of car A. In other words, management space 5g1A includes the position in the hall on the first floor where passengers board and disembark from the car of car A from the first floor. Similarly, management space 5g2A corresponds to the part of the hall on the second floor that leads to the car of car A, and management space 5g3A corresponds to the part of the hall on the third floor that leads to the car of car A. Similarly, for the car of car B, corresponding management spaces 5g1B, 5g2B, and 5g3B are set in the halls of each floor. Furthermore, for these management spaces 5, entrances 7g1B and 7h1B, entrances 7g2B and 7h2B, and entrances 7g3B and 7h3B are set, respectively. Similarly, for the car of car C, corresponding management spaces 5g1C, 5g2C, and 5g3C are set in the halls of each floor. Furthermore, for these management spaces 5, entrances 7g1C and 7h1C, entrances 7g2C and 7h2C, and entrances 7g3C and 7h3C are set, respectively.

[0066] Control space 5hA corresponds to the elevator car of elevator A. Control space 5hA has entrance / exit 7h1A, entrance / exit 7h2A, and entrance / exit 7h3A. Control space 5hB corresponds to the elevator car of elevator B. Control space 5hB has entrance / exit 7h1B, entrance / exit 7h2B, and entrance / exit 7h3B. Control space 5hC corresponds to the elevator car of elevator C. Control space 5hC has entrance / exit 7h1C, entrance / exit 7h2C, and entrance / exit 7h3C. Control space 5hA shares entrance / exit 7h1A with control space 5g1A. Control space 5hA shares entrance / exit 7h2A with control space 5g2A. Control space 5hA shares entrance / exit 7h3A with control space 5g3A. That is, management space 5hA is adjacent to each of management space 5g1A, management space 5g2A, and management space 5g3A. Similarly, management space 5hB is adjacent to each of management space 5g1B, management space 5g2B, and management space 5g3B, and management space 5hC is adjacent to each of management space 5g1C, management space 5g2C, and management space 5g3C. Management space 5hA, management space 5hB, and management space 5hC are not adjacent to each other in the sense of sharing an entrance / exit 7, but may be adjacent to each other in terms of physical arrangement. Management space 5g1A, management space 5g1B, and management space 5g1C are not adjacent to each other in the sense of sharing an entrance / exit 7, but may be adjacent to each other in terms of physical arrangement. The same applies to management space 5g2A, management space 5g2B, and management space 5g2C, and management space 5g3A, management space 5g3B, and management space 5g3C.

[0067] In the mobile system 1, a space set consisting of management space 5g1B, management space 5hB, and management space 5g3B is set to correspond to the case of moving from the first floor to the third floor. Here, management space 5g1B, management space 5hB, and management space 5g3B are connected in an adjacent relationship. Management space 5g1B is an example of a first space. Management space 5hB is an example of a second space. Management space 5g3B is an example of a third space.

[0068] The management information storage unit 11 stores space management information for the space set. The space management information for the space set includes information for identifying the management space 5g13B, which is a combination of the management space 5g1B, the management space 5hB, and the management space 5g3B, as the corresponding management space 5. The space management information for the space set includes, as information on the entrances 7, information on the entrances 7g1B and the entrances 7g3B that are not shared in the space set. The space management information for the space set includes, for example, information on the attribute "travel in elevator B from the first floor to the third floor." In the mobile system 1, space sets corresponding to travel between other two floors using other cars are similarly set, and the management information storage unit 11 stores space management information for each space set.

[0069] FIG. 8 shows another example of space management information for the management space 5 corresponding to an elevator. The elevator shown in FIG. 8 has a bank including a car A, a car B, and a car C, similar to the case shown in FIG.

[0070] Management space 5g1A corresponds to the hall on the first floor. Management space 5g1A has entrance / exit 7g1A and entrance / exit 7h1. Management space 5g2A corresponds to the hall on the second floor. Management space 5g2A has entrance / exit 7g2A and entrance / exit 7h2. Management space 5g3A corresponds to the hall on the third floor. Management space 5g3A has entrance / exit 7g3A and entrance / exit 7h3. Management space 5g1A corresponds to the part of the hall on the first floor that leads to the car of car A. In other words, management space 5g1A includes the position in the hall on the first floor where passengers board and disembark from the car of car A from the first floor. Similarly, management space 5g2A corresponds to the part of the hall on the second floor that leads to the car of car A, and management space 5g3A corresponds to the part of the hall on the third floor that leads to the car of car A. Similarly, for the car of car B, corresponding management spaces 5g1B, 5g2B, and 5g3B are set in the halls of each floor. Furthermore, for these management spaces 5, entrances 7g1B and 7h1, entrances 7g2B and 7h2, and entrances 7g3B and 7h3 are set, respectively. Similarly, for the car of car C, corresponding management spaces 5g1C, 5g2C, and 5g3C are set in the halls of each floor. Furthermore, for these management spaces 5, entrances 7g1C and 7h1, entrances 7g2C and 7h2, and entrances 7g3C and 7h3 are set, respectively.

[0071] The control space 5h corresponds to an elevator car. In this example, the control space 5h corresponds to the entire elevator bank. That is, the control space 5h corresponds to all of the cars of elevators A, B, and C. The control space 5h has entrances 7h1, 7h2, and 7h3. The control space 5h shares the entrance 7h1 with the control space 5g1A, 5g1B, and 5g1C. The control space 5h shares the entrance 7h2 with the control space 5g2A, 5g2B, and 5g2C. The control space 5h shares the entrance 7h3 with the control space 5g3A, 5g3B, and 5g3C. That is, the management space 5h is adjacent to each of the management spaces 5g1A, 5g1B, and 5g1C, the management spaces 5g2A, 5g2B, and 5g2C, and the management spaces 5g3A, 5g3B, and 5g3C.

[0072] In the mobile system 1, a space set consisting of management space 5g1B, management space 5h, and management space 5g3B is set to correspond to the case of moving from the first floor to the third floor. Here, management space 5g1B, management space 5h, and management space 5g3B are connected in an adjacent relationship. Management space 5g1B is an example of a first space. Management space 5h is an example of a second space. Management space 5g3B is an example of a third space.

[0073] The management information storage unit 11 stores space management information for the space set. The space management information for the space set includes information identifying the management space 5g13B, which is a combination of the management space 5g1B, the management space 5h, and the management space 5g3B, as the corresponding management space 5. The space management information for the space set includes, as information on the entrances 7, information on the entrances 7g1B and the entrances 7g3B that are not shared in the space set. The space management information for the space set includes, for example, information on the attribute "travel in elevator B from the first floor to the third floor." In the mobile system 1, space sets corresponding to travel between other second floors using other cars are similarly set, and the management information storage unit 11 stores space management information for each space set.

[0074] Next, an example of the operation of the mobile body system 1 according to the first embodiment will be described with reference to FIG. FIG. 9 is a sequence diagram showing an example of the operation of the mobile body system 1 according to the first embodiment.

[0075] When a moving object 2 uses the managed space 5 for passage or the like, it outputs a request to use the managed space 5 to the traffic management device 10. The moving object 2 outputs the request to use, for example, when it approaches the managed space 5 or when it arrives at a predetermined position at the entrance / exit 7 of the managed space 5.

[0076] The traffic management device 10 accepts a use request from a mobile object 2. At this time, the spatial situation management unit 12 makes a reservation for use of the managed space 5. For example, if the managed space 5 corresponds to an equipment device 6, the reservation for use of the managed space 5 includes notifying the connecting device of the planned use by the mobile object 2. When the equipment device 6 accepts the reservation for use from the spatial situation management unit 12, 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 10 of the completion of preparation. The reservation for use of the managed space 5 may update the usage status of the managed space 5 managed by the spatial situation management unit 12 as if the mobile object 2 has started using it.

[0077] When receiving a use request from a mobile body 2, the passage instruction unit 13 determines whether interference with the passage of the mobile body 2 will occur in the managed space 5 specified in the use request. The passage instruction unit 13 may output a wait instruction to the mobile body 2. If it is determined that interference will occur, the passage instruction unit 13 waits until the possibility of interference is resolved. The passage instruction unit 13 waits, for example, until one of the mobile bodies 2 exits the managed space 5. On the other hand, if it is determined that interference will not occur, the passage instruction unit 13 outputs a pass instruction to the mobile body 2 that output the use request to enter the managed space 5.

[0078] The mobile body 2 that has received the passage instruction enters the managed space 5. When the mobile body 2 enters the managed space 5, it outputs an entry notification to the traffic management device 10. The spatial situation management unit 12 updates the usage status of the managed space 5. The traffic management device 10 monitors the managed space 5 using the entry notification from the mobile body 2 as a trigger. The monitoring of the managed space 5 is performed, for example, based on the usage status managed by the spatial situation management unit 12. The traffic management device 10 monitors whether conditions such as the allowable number of vehicles, allowable width, allowable time, or other constraints are met in the usage status managed by the spatial situation management unit 12. Note that the mobile body 2 may omit outputting the entry notification. In this case, the traffic management device 10 may monitor the managed space 5 using the output of the passage instruction to the mobile body 2 as a trigger.

[0079] Thereafter, the mobile object 2 exits the managed space 5. When the mobile object 2 exits the managed space 5, it outputs an exit notification or a usage completion notification to the traffic management device 10. The space situation management unit 12 updates the usage status of the managed space 5. The traffic management device 10 ends monitoring of the managed space 5 in response to the notification from the mobile object 2.

[0080] Thereafter, the spatial situation management unit 12 releases the reservation for use of the managed space 5. For example, when the facility device 6 receives the release of the reservation for use from the spatial situation management unit 12, it becomes available for use by another moving object 2.

[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 8. In the mobile body system 1, a plurality of management spaces 5 that manage traffic interference between the mobile bodies 2, and a space set consisting of two or more management spaces 5 connected in an adjacent relationship and sharing an entrance / exit 7 are set in advance. The mobile body control system 8 includes a mobile body control device 9 and a traffic management device 10. The mobile body control device 9 controls the movement of the mobile bodies 2. The traffic management device 10 includes a management information storage unit 11, a spatial situation management unit 12, and a passage instruction unit 13. The management information storage unit 11 stores space management information for each management space 5 and space set. The space management information includes information identifying the corresponding management space 5, information on the entrance / exit 7 of the management space 5, and attribute information of the management space 5. The space management information for a space set includes, as information on the corresponding management space 5, information on the space combining two or more management spaces 5 included in the space set. The space management information for a space set includes information on entrances / exits 7 that are not shared between adjacent management spaces 5 within the space set, as information on the entrances / exits 7 of the corresponding management spaces 5. The space management information for a space set includes attribute information of the space set as attribute information of the corresponding management spaces 5. The space situation management unit 12 manages information on the usage status of mobile bodies 2 in each management space 5 based on the space management information stored in the management information storage unit 11. The passage instruction unit 13 outputs passage instructions 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 12.

[0082] With this configuration, the movement of the moving object 2 is managed based on information including space management information for a space set consisting of two or more management spaces 5. As a result, when the moving object 2 passes through a management space 5, instructions are output to the moving object 2 according to the status of the management space 5 adjacent to the management space 5. As a result, the movement of the moving object 2 is managed so as to further increase the movement efficiency of the moving object 2.

[0083] Furthermore, when a request to use the managed space 5 is output from the mobile object 2, the passage instruction unit 13 determines whether or not a passage interference will occur when the mobile object 2 enters the managed space 5, based on information on the usage status of the mobile object 2 in the managed space 5. If no interference will occur, the passage instruction unit 13 outputs a passage instruction for the mobile object 2 to enter the managed space 5.

[0084] With this configuration, the mobile object 2 is permitted to enter the managed space 5 if no interference occurs in the managed space 5, so that the managed space 5 can be used by the mobile object 2 more efficiently.

[0085] The space management information also includes information on the allowable width for allowing passage in the corresponding management space 5. The passage instruction unit 13 determines whether 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.

[0086] With this configuration, the presence or absence of interference is determined according to the effective width of each moving body 2, making it possible to make flexible decisions according to the moving body 2 passing by. This further improves the movement efficiency of the moving body 2.

[0087] In addition, the passage direction unit 13 determines whether passage interference will occur for each moving body 2 by setting the effective width of the managed space 5 used when the purpose of use is not passage to a value greater than the effective width when the purpose of use of the managed space 5 is passage.

[0088] With this configuration, the presence or absence of interference is determined depending on the purpose of use of the moving object 2. For example, a moving object 2 that uses the managed space 5 for purposes such as cleaning may move more widely through the managed space 5 than when simply passing through. In this way, even for the same moving object 2, the effective width may differ depending on the purpose of use. Since a determination is made depending on such purpose of use, the movement of the moving object 2 is managed so that interference does not occur depending on the actual use of the moving object 2.

[0089] Furthermore, when a moving object 2 enters the managed space 5, the spatial situation management unit 12 manages the usage status information assuming that at least a portion of the managed space 5 is occupied by the moving object 2. When a moving object 2 exits the managed space 5, the spatial situation management unit 12 manages the usage status information assuming that the portion of the managed space 5 that was occupied by the moving object 2 is released.

[0090] With this configuration, the usage status of the managed space 5 is managed in accordance with the movement of the mobile object 2, so that the movement of the mobile object 2 is managed in accordance with the actual usage status of the mobile object 2 so as not to cause interference or the like.

[0091] The plurality of management spaces 5 also include a first space corresponding to the hall of the elevator's departure floor, a second space adjacent to the first space corresponding to the elevator car, and a third space adjacent to the second space corresponding to the hall of the elevator's arrival floor. The management information storage unit 11 stores space management information for a space set consisting of the first space, the second space, and the third space.

[0092] With this configuration, elevator movements from the departure floor to the arrival floor are managed collectively, making it less likely that situations will occur where the moving object 2 is trapped and unable to disembark at the arrival floor. This prevents a decrease in elevator utilization efficiency.

[0093] The elevator also has a bank containing multiple cars. In this case, the second space corresponds to all of the cars in the bank. The first space includes all of the parts of the departure floor hall that lead to each car in the bank. The third space includes all of the parts of the arrival floor hall that lead to each car in the bank.

[0094] With this configuration, even when there are multiple cars, the movement of the moving object 2 can be managed using the same processing as when there is a single car. This prevents the processing of managing the movement of the moving object 2 from becoming overly complicated. Furthermore, because the management space 5 corresponding to the car includes the entire bank, even when the car assigned to the moving object 2 is changed, it becomes easy to handle things like getting on and off the new car.

[0095] Alternatively, the second space corresponds to any one of the cars. The first space includes all the portions of the hall at the departure floor that lead to each car in the bank. The third space includes all the portions of the hall at the arrival floor that lead to each car in the bank.

[0096] With this configuration, entry into the hall can be handled regardless of the car assigned to the moving object 2. Also, since the management space 5 corresponding to each car is set for each car, it is less likely that the movements of moving objects 2 will overlap when passengers get on and off the car. This makes the movement of moving objects 2 more efficient.

[0097] Alternatively, the second space corresponds to one of the cars, the first space corresponds to a portion of the hall on the departure floor that leads to the car, and the third space corresponds to a portion of the hall on the arrival floor that leads to the car.

[0098] With this configuration, the movement of the moving objects 2 in the hall is managed for each assigned car, making it easier for the moving objects 2 to get on and off the assigned car. Also, since the management space 5 corresponding to each car is set for each car, it is less likely that the movements of the moving objects 2 will overlap when getting on and off the car. This makes the movement of the moving objects 2 more efficient.

[0099] Alternatively, the second space corresponds to the entire bank of cars, the first space corresponds to a portion of the hall on the departure floor that leads to one of the cars, and the third space corresponds to a portion of the hall on the arrival floor that leads to that car.

[0100] With this configuration, the movement of the moving object 2 in the hall is managed for each assigned car, making it easier for the moving object 2 to get on and off the assigned car. Also, since the management space 5 corresponding to the car includes the entire bank, even if the car assigned to the moving object 2 is changed, it becomes easy to handle things like getting on and off the new car.

[0101] Next, an example of the hardware configuration of the mobile system 1 will be described with reference to FIG. FIG. 10 is a hardware configuration diagram of the main part of the mobile body system 1 according to the first embodiment.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] FIG. 11 is a configuration diagram of a mobile body system 1 according to the second embodiment.

[0109] The traffic management device 10 includes a mobile object management unit 15. The mobile object management unit 15 is a unit equipped with a function for managing information about each mobile object 2. 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 10 as needed, for example, from the mobile object 2 itself or the mobile object control device 9. The mobile object management unit 15 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 15 includes adding, retaining, updating, correcting, or deleting information. The mobile object management unit 15 manages the changing information about the mobile object 2 by updating it as needed to reflect the current situation.

[0110] The spatial situation management unit 12 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 15.

[0111] Next, an example of the operation of the mobile body system 1 according to the second embodiment will be described. FIG. 12 is a sequence diagram showing an example of the operation of the mobile body system 1 according to the second embodiment.

[0112] The mobile object 2 constantly provides information such as its current location to the traffic management device 10. The mobile object management unit 15 manages the information of the mobile object 2 while updating it based on the information provided by the mobile object 2.

[0113] When a moving object 2 uses the managed space 5 for passage or the like, it outputs a request to use the managed space 5 to the traffic management device 10. The moving object 2 outputs the request to use, for example, when it approaches the managed space 5 or when it arrives at a predetermined position at the entrance / exit 7 of the managed space 5.

[0114] The traffic management device 10 receives a use request from a mobile body 2. At this time, the spatial situation management unit 12 makes a reservation for use of the managed space 5. When receiving a use request from a mobile body 2, the passage instruction unit 13 determines whether interference with the passage of the mobile body 2 will occur in the managed space 5 specified in the use request. The passage instruction unit 13 may output a wait instruction to the mobile body 2. If it is determined that interference will occur, the passage instruction unit 13 waits until the possibility of interference is resolved. The passage instruction unit 13 waits, for example, until one of the mobile bodies 2 exits the managed space 5. On the other hand, if it is determined that interference will not occur, the passage instruction unit 13 outputs a pass instruction to the mobile body 2 that output the use request to enter the managed space 5.

[0115] Upon receiving the passage instruction, the mobile object 2 enters the managed space 5. The spatial situation management unit 12 updates the usage status of the managed space 5. The traffic management device 10 monitors the managed space 5 in response to the entry of the mobile object 2 into the managed space 5. The monitoring of the managed space 5 is performed, for example, based on the usage status managed by the spatial situation management unit 12 and information on the current location of the mobile object 2 managed by the mobile object management unit 15. The traffic management device 10 monitors whether conditions such as the allowable number of vehicles, the allowable width, the allowable time, or other constraints are satisfied in the usage status managed by the spatial situation management unit 12. The passage instruction unit 13 determines whether an abnormal approach has occurred between any pair of mobile objects 2 based on information on the current location of the mobile objects 2. An abnormal approach between mobile objects 2 is, for example, an event in which the mobile objects 2 approach each other closer than a predetermined range. The range of abnormal approach may be set, for example, based on the effective width of the mobile objects 2. When abnormal approach occurs, the passage instruction unit 13 outputs an instruction to stop temporarily to one or both of the approaching moving bodies 2. The moving bodies 2 that receive the instruction to stop temporarily stop temporarily and then move so as to avoid the abnormal approach.

[0116] Thereafter, the moving object 2 exits the managed space 5. The space situation management unit 12 updates the usage status of the managed space 5. The traffic management device 10 ends monitoring of the managed space 5 using the exit of the moving object 2 from the managed space 5 as a trigger.

[0117] Thereafter, the spatial situation management unit 12 releases the reservation for use of the managed space 5. For example, when the facility device 6 receives the release of the reservation for use from the spatial situation management unit 12, it becomes available for use by another moving object 2.

[0118] As described above, the traffic management device 10 according to the second embodiment includes the mobile object management unit 15. The mobile object management unit 15 manages and updates information on the current location of each mobile object 2. The passage instruction unit 13 determines whether an abnormal approach will occur between any of the mobile objects 2 based on the information managed by the mobile object management unit 15. When an abnormal approach occurs, the passage instruction unit 13 outputs an instruction to stop temporarily to the approaching mobile object 2.

[0119] With this configuration, movement and approach between the moving bodies 2 is determined based on the position information of the moving bodies 2, making it less likely that interference between the moving bodies 2 will occur. This further improves the movement efficiency of the moving bodies 2.

[0120] Embodiment 3 In the third embodiment, differences from the examples disclosed in the first and second embodiments will be described in particular detail. For features not described in the third embodiment, any of the features of the examples disclosed in the first and second embodiments may be adopted.

[0121] FIG. 13 is a configuration diagram of a mobile body system 1 according to the third embodiment.

[0122] One or more measurement devices 16 are provided in an area to which the mobile body system 1 is applied, such as a facility 3. The measurement devices 16 correspond to any of the managed spaces 5. The measurement devices 16 are provided in the corresponding managed spaces 5. The measurement devices 16 are devices that measure information about the current location of the mobile body 2. The measurement devices 16 are, for example, cameras or distance sensors. The measurement devices 16 continuously measure the location of the mobile body 2 while the mobile body 2 is in the corresponding managed space 5. The measurement devices 16 are configured to be activated by a control signal from the traffic management device 10, for example. The control signal is input to the measurement devices 16 via, for example, the communication network 4. The measurement devices 16 may be stopped by a control signal from the traffic management device 10, or may be stopped automatically after a preset time has elapsed since receiving the activation control signal.

[0123] The mobile object management unit 15 manages information about each mobile object 2. The information about the mobile object 2 includes, for example, information such as the current location of the mobile object 2. The information about the current location of the mobile object 2 is provided to the traffic management device 10 from, for example, a measurement device 16. The mobile object management unit 15 manages the changing information about the mobile object 2, updating it as needed to reflect the current situation.

[0124] When a mobile object 2 requests to use a managed space 5, the spatial situation management unit 12 outputs a start-up control signal to the measurement device 16 installed in the managed space 5. Upon receiving the control signal, the measurement device 16 begins measuring the position of the mobile object 2 located in the corresponding managed space 5. The measurement device 16 provides the measurement results of the mobile object 2's position to the traffic management device 10. Based on information managed by the mobile object management unit 15, the spatial situation management unit 12 determines whether a mobile object 2 using the managed space 5 has remained in the same location for longer than a preset time, i.e., whether a congestion has occurred. If it determines that a congestion has occurred, the spatial situation management unit 12 makes the managed space 5 unavailable. For the unavailable managed space 5 and the space set including the managed space 5, the passage instruction unit 13 does not output an entry instruction to the mobile object 2. Thereafter, after the congestion is resolved by the mobile object 2 itself or the manager of the facility 3, the spatial situation management unit 12 makes the managed space 5 available for use again. The spatial situation management unit 12 may detect the end of the congestion based on information on the current position of the moving object 2, for example, or may determine that the congestion has been ended by an operation by the manager of the facility 3 or the like.

[0125] As described above, in the traffic management device 10 according to the third embodiment, the mobile object management unit 15 manages and updates information on the current location of each mobile object 2. Based on the information managed by the mobile object management unit 15, the spatial situation management unit 12 determines whether a mobile object 2 using the managed space 5 will stay in the same place for longer than a preset time, i.e., whether a stagnation will occur. If a stagnation of a mobile object 2 occurs, the spatial situation management unit 12 makes the managed space 5 used by that mobile object 2 unavailable.

[0126] With this configuration, congestion is determined based on the position information of the moving body 2, so that abnormalities can be detected earlier. Furthermore, since the management space 5 where congestion has occurred is managed as unavailable, new moving bodies 2 will not enter the management space 5. This makes it less likely that the moving body 2 will be blocked, and the movement efficiency of the moving body 2 will be further improved. Note that the moving body management unit 15 may manage information such as the current position of the moving body 2 based on information provided by the moving body 2 itself or the mobile body control device 9.

[0127] Furthermore, when a request to use the managed space 5 is output from the mobile body 2, the spatial situation management unit 12 activates the measurement device 16 provided in the managed space 5 so as to measure the position of the mobile body 2 using the managed space 5. The mobile body management unit 15 manages information on the current position of the mobile body 2 using the managed space 5 based on the information measured by the measurement device 16.

[0128] With this configuration, the movement of the moving object 2 is managed based on the position information of the moving object 2 measured by the measuring device 16. As a result, even if an abnormality occurs in the positioning by the moving object 2 itself, an abnormality such as a congestion can be detected. This allows the traffic management device 10 to more reliably manage the movement of the moving object 2.

[0129] Embodiment 4 In the fourth embodiment, differences from the examples disclosed in the first to third embodiments will be described in particular detail. For features not described in the fourth embodiment, any of the features of the examples disclosed in the first to third embodiments may be adopted.

[0130] FIG. 14 is a diagram illustrating an example of a passage instruction for the management space 5 in the mobile body system 1 according to the fourth embodiment. FIG. 14 shows a plan view of a management space 5i corresponding to a three-way intersection.

[0131] The management space 5i has an entrance 7i1, an entrance 7i2, and an entrance 7i3. Fixed points 17i1 and 17i2 are set for the entrance 7i1. Fixed points 17i2 and 17i3 are set for the entrance 7i2. Fixed point 17i2 corresponds to both the entrance 7i1 and the entrance 7i2. Fixed points 17i4 and 17i5 are set for the entrance 7i3. Here, when multiple fixed points such as fixed points 17i1, 17i2, and 17i3 are not particularly distinguished from each other, they may be simply referred to as fixed points 17. Fixed point 17 is a point that is set corresponding to the entrance 7 of the management space 5 and is fixed relative to the management space 5. Fixed point 17 may be a characteristic point such as a corner of the entrance 7. A marker that can be detected by the mobile object 2 may be provided at fixed point 17. A reference point is set in the management space 5. The reference point is, for example, a point that serves as a reference for the position of each point within the management space 5. The reference point may be any of the fixed points 17 set at the entrances / exits 7 of the management space 5. In this example, the reference point of the management space 5i is the fixed point 17i1. Note that one fixed point 17 may be set at each entrance / exit 7. The fixed point 17 may be a point whose location at the entrance / exit 7 is specified, such as a point at the right end of the entrance / exit 7 when viewed from the direction of entering the management space 5.

[0132] The space management information of the management space 5 includes information on the absolute coordinates of the fixed points 17 corresponding to each entrance / exit 7. In this example, the space management information of the management space 5i includes information on the absolute coordinates of each of the fixed points 17i1, 17i2, 17i3, 17i4, and 17i5. The absolute coordinates are expressed, for example, in an xy Cartesian coordinate system. In this example, the absolute coordinates of the fixed point 17i1, which is the reference point, are stored as coordinates (X1, Y1). The absolute coordinates of the fixed point 17i4 are stored as coordinates (X4, Y4).

[0133] In the traffic management device 10, the mobile object management unit 15 manages information about each mobile object 2. The information about the mobile object 2 includes, for example, information about the current position and direction of travel of the mobile object 2. Information about the current position and direction of travel of the mobile object 2 is provided to the traffic management device 10 as needed, for example, from the mobile object 2 itself or the mobile object control device 9. The mobile object management unit 15 manages the changing information about the mobile object 2, updating it as needed to reflect the current situation.

[0134] In this example, each moving body 2 is equipped with a function for measuring the conditions of surrounding structures and the like. The moving body 2 measures, for example, images of surrounding structures or the distance to surrounding structures. The moving body 2 is equipped with a function for detecting the position of a fixed point 17 in the management space 5. The moving body 2 may, for example, detect the position of a marker or the like provided on the fixed point 17, or may detect the position of the fixed point 17, which is a feature point, based on a feature amount extracted from the distance to surrounding structures and the like.

[0135] When a mobile body 2 uses a managed space 5 to pass through or otherwise use the managed space 5, it outputs a request to use the managed space 5 to the traffic management device 10. The mobile body 2 outputs the request for use, for example, when it approaches the managed space 5 or when it arrives at a predetermined position at the entrance / exit 7 of the managed space 5. In this example, the mobile body 2 approaches the managed space 5i from the east side. At this time, the mobile body 2 detects the position of fixed point 17i4 as the fixed point 17 corresponding to the entrance / exit 7i3 of the managed space 5i. The request for use by the mobile body 2 may include information such as the position of the fixed point 17i4 detected by the mobile body 2.

[0136] The traffic management device 10 receives a usage request from a mobile object 2. When receiving the usage request from the mobile object 2, the passage instruction unit 13 estimates the entrance / exit 7 of the managed space 5 through which the mobile object 2 is attempting to enter, based on information about the mobile object 2 managed by the mobile object management unit 15. The estimation is performed based on information such as the current position and traveling direction of the mobile object 2. In this example, the passage instruction unit 13 estimates entrance / exit 7i3 as the entrance / exit 7 through which the mobile object 2 is attempting to enter. The passage instruction unit 13 outputs instructions for a travel route within the managed space 5i to the mobile object 2 using relative coordinates based on a fixed point 17i4 or a fixed point 17i5 corresponding to the estimated entrance / exit 7i3. The passage instruction unit 13 may output both instructions using relative coordinates based on the fixed point 17i4 and instructions using relative coordinates based on the fixed point 17i5. The passage instruction unit 13 may output either an instruction based on relative coordinates with respect to the fixed point 17i4 or an instruction based on relative coordinates with respect to the fixed point 17i5. For example, the passage instruction unit 13 outputs an instruction based on the fixed point 17i4, information of which is included in the usage request.

[0137] FIG. 14 shows an example of relative coordinates based on fixed point 17i4. The orientation of the coordinate axes in relative coordinates may differ from the orientation of the coordinate axes in absolute coordinates. In this example, the orientation of the x-axis of the relative coordinates is set so that the direction of travel when entering the management space 5i from the entrance / exit 7i3 is positive. In this example, the orientation of the y-axis of the relative coordinates is set so that the range of the entrance / exit 7i3 has positive coordinate values. In this case, the relative coordinates of fixed point 17i4 are coordinates (0,0). Furthermore, the relative coordinates of fixed point 17i1 are coordinates (X4-X1, Y4-Y1). The travel route is indicated, for example, by a sequence of relative coordinates of waypoints 18 set in advance within the management space 5.

[0138] Also, for example, a point on the movement route from which a request to use each managed space 5 is output may be set in advance for each moving body 2. In this case, when the moving body 2 that has requested to use the managed space 5 arrives at the point, the moving body 2 outputs the request to use the managed space 5 together with notification of its location information. The moving body management unit 15 may calculate the difference between the fixed point 17i1, which is the reference point of the managed space 5, and the location information notified from the moving body 2, and correct and manage the location information of the moving body 2 passing through the managed space 5.

[0139] As described above, in the traffic management device 10 according to the fourth embodiment, the mobile object management unit 15 manages, while updating, information on the current position and direction of travel of each mobile object 2. The space management information includes information on the absolute coordinates of the fixed point 17 corresponding to the entrance / exit 7 of the corresponding managed space 5. When a request to use the managed space 5 is output from a mobile object 2, the passage instruction unit 13 estimates the entrance / exit 7 of the managed space 5 that the mobile object 2 is about to enter, based on the information about the mobile object 2 managed by the mobile object management unit 15. The passage instruction unit 13 outputs instructions on the passage route within the managed space 5 to the mobile object 2 using relative coordinates based on the fixed point 17 corresponding to the estimated entrance / exit 7.

[0140] With this configuration, the travel route is indicated by relative coordinates common to the mobile bodies 2 and the traffic control device 10, which makes it possible to more reliably avoid interference between mobile bodies 2 within the managed space 5. Furthermore, the mobile bodies 2 can grasp the entry position into the managed space 5 based on the position of the fixed point 17 detected by the mobile bodies 2 themselves. This allows the mobile bodies 2 to pass through the managed space 5 more reliably.

[0141] 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 manage 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, as well as the space management information for a space set consisting of two or more management spaces that are connected in an adjacent relationship and share one of the entrances and exits of the plurality of management spaces; 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; 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 for the space set defines a space that is a combination of the two or more management spaces included in the space set as a corresponding management space, includes information on entrances and exits of the two or more management spaces included in the space set that are not shared between management spaces that are adjacent to each other within the space set as information on the entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space. Traffic management device. (Appendix 2) 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 enters the managed space based on information on the usage status of the plurality of moving bodies in the managed space managed by the space status management unit, and outputs a passage instruction for the moving body to enter the managed space if no interference will occur. 1. A traffic management device as described in Appendix 1. (Appendix 3) the space management information includes information on an allowable width that allows passage in the corresponding management space, the passage instruction unit determines whether or not a passage interference will occur when the mobile body that has output the usage request enters the management space, based on the allowable width for the management space that is the target of the usage request, the effective width of the mobile body already in the management space, and the effective width of the mobile body that has output the usage request; 1. A traffic management device as described in Appendix 2. (Appendix 4) the passage instruction unit determines whether passage interference will occur for each of the plurality of moving bodies by setting an effective width when the purpose of use of the management space to be used is not passage to a value greater than the effective width when the purpose of use of the management space is passage; 1. A traffic management device as described in Appendix 3. (Appendix 5) the space situation management unit manages information on usage status assuming that when any of the plurality of moving bodies enters any of the plurality of managed spaces, at least a part of the managed space is occupied by that moving body, and when any of the plurality of moving bodies exits any of the plurality of managed spaces, the part of the managed space occupied by that moving body is released, 5. A traffic management device according to any one of claims 1 to 4. (Appendix 6) 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 passage instruction unit determines whether an abnormal approach will occur between any of the plurality of moving bodies based on the information managed by the moving body management unit, and if an abnormal approach will occur, outputs an instruction to the moving body that is approaching abnormally to stop. 6. A traffic management device according to any one of claims 1 to 5. (Appendix 7) 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 space situation management unit determines whether a mobile object among the plurality of mobile objects using one of the plurality of managed spaces will stay in the same place for longer than a preset time based on information managed by the mobile object management unit, and if a stay occurs, makes the managed space used by the mobile object unavailable. 6. A traffic management device according to any one of claims 1 to 5. (Appendix 8) the space situation management unit, when a use request for any of the plurality of managed spaces is output from any of the plurality of moving objects, activates a measurement device provided in the managed space so as to be able to measure the position of the moving object using the managed space; the mobile object management unit manages information on the current positions of mobile objects using the management space based on information measured by the measurement device; 10. A traffic management device according to claim 6 or 7. (Appendix 9) a mobile object management unit that manages, while updating, information on the current position and direction of travel of each of the plurality of mobile objects; Equipped with The space management information includes information on absolute coordinates of fixed points corresponding to entrances and exits of the corresponding management spaces, When a request to use any of the plurality of managed spaces is output from any of the plurality of moving bodies, the passage instruction unit estimates an entrance / exit of the managed space that the moving body is about to enter, based on information about the moving body managed by the moving body management unit, and outputs instructions on a passage route in the managed space to the moving body using relative coordinates based on a fixed point corresponding to the estimated entrance / exit. 6. A traffic management device according to any one of claims 1 to 5. (Appendix 10) the plurality of management spaces include a first space corresponding to a hall of a departure floor of the elevator, a second space adjacent to the first space and corresponding to a car of the elevator, and a third space adjacent to the second space and corresponding to a hall of an arrival floor of the elevator, the management information storage unit stores the space management information for the space set consisting of the first space, the second space, and the third space; 10. A traffic management device according to any one of claims 1 to 9. (Appendix 11) the elevator has a bank including a plurality of cars; The second space corresponds to all of the plurality of cars, The first space includes all parts in the hall of the departure floor that are connected to each of the plurality of cars, The third space includes all parts in the arrival floor hall that are connected to each of the plurality of cars. 11. The traffic management device of claim 10. (Appendix 12) the elevator has a bank including a plurality of cars; The second space corresponds to one of the plurality of cars, The first space includes all parts in the hall of the departure floor that are connected to each of the plurality of cars, The third space includes all parts in the arrival floor hall that are connected to each of the plurality of cars. 11. The traffic management device of claim 10. (Appendix 13) the elevator has a bank including a plurality of cars; The second space corresponds to one of the plurality of cars, The first space corresponds to a portion of the hall of the departure floor that leads to the car, The third space corresponds to a portion of the hall at the arrival floor that leads to the car. 11. The traffic management device of claim 10. (Appendix 14) the elevator has a bank including a plurality of cars; The second space corresponds to all of the plurality of cars, The first space corresponds to a portion of the hall of the departure floor that leads to any one of the plurality of cars, The third space corresponds to a portion of the hall at the arrival floor that leads to the car. 11. The traffic management device of claim 10. (Appendix 15) The computer storing, for each of a plurality of pre-defined management spaces that manage 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, as well as the space management information for a space set consisting of two or more management spaces that are connected in an adjacent relationship and share one of the entrances and exits of the plurality of management spaces; managing information on 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 for the space set defines a space that is a combination of the two or more management spaces included in the space set as a corresponding management space, includes information on entrances and exits of the two or more management spaces included in the space set that are not shared between management spaces that are adjacent to each other within the space set as information on the entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space. Traffic management methods. (Appendix 16) On the computer, storing, for each of a plurality of pre-defined management spaces that manage 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, as well as the space management information for a space set consisting of two or more management spaces that are connected in an adjacent relationship and share one of the entrances and exits of the plurality of management spaces; managing information on 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 for the space set defines a space that is a combination of the two or more management spaces included in the space set as a corresponding management space, includes information on entrances and exits of the two or more management spaces included in the space set that are not shared between management spaces that are adjacent to each other within the space set as information on the entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space. Traffic management programs. (Appendix 17) a plurality of moving objects 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 moving bodies, 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, as well as the space management information for a space set consisting of two or more management spaces that are connected in an adjacent relationship and share one of the entrances and exits of the plurality of management spaces; 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; 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 for the space set defines a space that is a combination of the two or more management spaces included in the space set as a corresponding management space, includes information on entrances and exits of the two or more management spaces included in the space set that are not shared between management spaces that are adjacent to each other within the space set as information on the entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space. Mobile systems. (Appendix 18) 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 moving bodies, 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, as well as the space management information for a space set consisting of two or more management spaces that are connected in an adjacent relationship and share one of the entrances and exits of the plurality of management spaces; 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; 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 for the space set defines a space that is a combination of the two or more management spaces included in the space set as a corresponding management space, includes information on entrances and exits of the two or more management spaces included in the space set that are not shared between management spaces that are adjacent to each other within the space set as information on the entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space. Mobile control system. [Explanation of symbols]

[0142] 1 mobile system, 2 mobile object, 3 facility, 4 communication network, 5, 5a, 5b1, 5b2, 5c, 5d, 5e, 5e1, 5e2, 5f1, 5f2, 5f0, 5g1, 5g1A, 5g1B, 5g1C, 5g 2, 5g2A, 5g2B, 5g2C, 5g3, 5g3A, 5g3B, 5g3C, 5h, 5hA, 5hB, 5hC, 5g13, 5g13B, 5i Management space, 6 equipment, 7, 7a1, 7a2, 7a3, 7a4, 7b1, 7b2, 7b3, 7b4, 7c1, 7c2, 7d1, 7d2, 7e1, 7e2, 7e3, 7f1, 7f2, 7f3, 7f4, 7g1, 7g1A, 7g1B, 7g1C, 7g2, 7g2A, 7g2B, 7g2C, 7g3, 7g3A, 7g3B, 7g3C, 7h1, 7h1A, 7h1B, 7h1C, 7h2, 7h2A, 7h2B, 7h2C, 7h3, 7h3A, 7h3B, 7h3C, 7i1, 7i2, 7i3 entrance / exit, 8 mobile object control system, 9 mobile object control device, 10 traffic management device, 11 management information storage section, 12 Spatial situation management unit, 13 Traffic direction unit, 14 Temporary evacuation location, 15 Moving object management unit, 16 Measuring device, 17, 17i1, 17i2, 17i3, 17i4, 17i5 Fixed point, 18 Way point, 100a Processor, 100b Memory, 200 Dedicated hardware

Claims

1. 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 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, as well as the space management information for a space set consisting of two or more management spaces that are adjacently connected and share one of the entrances and exits of the plurality of management spaces; 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; 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 for the space set defines a space that is a combination of the two or more management spaces included in the space set as a corresponding management space, includes information on entrances and exits of the two or more management spaces included in the space set that are not shared between management spaces that are adjacent to each other within the space set as information on the entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space. Traffic management device.

2. 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 enters the managed space based on information on the usage status of the plurality of moving bodies in the managed space managed by the space status management unit, and outputs a passage instruction for the moving body to enter the managed space if no interference will occur. The traffic management device of claim 1 .

3. the space management information includes information on an allowable width that allows passage in the corresponding management space, the passage instruction unit determines whether or not a passage interference will occur when the mobile body that has output the usage request enters the management space, based on the allowable width for the management space that is the target of the usage request, the effective width of the mobile body already in the management space, and the effective width of the mobile body that has output the usage request; The traffic management device of claim 2 .

4. the passage instruction unit determines whether passage interference will occur for each of the plurality of moving bodies by setting an effective width when the purpose of use of the management space to be used is not passage to a value greater than the effective width when the purpose of use of the management space is passage; The traffic management device of claim 3.

5. the space situation management unit manages information on usage status assuming that when any of the plurality of moving bodies enters any of the plurality of managed spaces, at least a part of the managed space is occupied by that moving body, and when any of the plurality of moving bodies exits any of the plurality of managed spaces, the part of the managed space occupied by that moving body is released, The traffic management device of claim 1 .

6. 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 passage instruction unit determines whether an abnormal approach will occur between any of the plurality of moving bodies based on the information managed by the moving body management unit, and if an abnormal approach will occur, outputs an instruction to the moving body that is approaching abnormally to stop. The traffic management device of claim 1 .

7. 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 space situation management unit determines whether a mobile object among the plurality of mobile objects using one of the plurality of managed spaces will stay in the same place for longer than a preset time based on information managed by the mobile object management unit, and if a stay occurs, makes the managed space used by the mobile object unavailable. The traffic management device of claim 1 .

8. the space situation management unit, when a use request for any of the plurality of managed spaces is output from any of the plurality of moving objects, activates a measurement device provided in the managed space so as to be able to measure the position of the moving object using the managed space; the mobile object management unit manages information on the current positions of mobile objects using the management space based on information measured by the measurement device; 8. The traffic management device of claim 7.

9. a mobile object management unit that manages, while updating, information on the current position and direction of travel of each of the plurality of mobile objects; Equipped with The space management information includes information on absolute coordinates of fixed points corresponding to entrances and exits of the corresponding management spaces, When a request to use any of the plurality of managed spaces is output from any of the plurality of moving bodies, the passage instruction unit estimates an entrance / exit of the managed space that the moving body is about to enter, based on information about the moving body managed by the moving body management unit, and outputs instructions on a passage route in the managed space to the moving body using relative coordinates based on a fixed point corresponding to the estimated entrance / exit. The traffic management device of claim 1 .

10. the plurality of management spaces include a first space corresponding to a hall of a departure floor of the elevator, a second space adjacent to the first space and corresponding to a car of the elevator, and a third space adjacent to the second space and corresponding to a hall of an arrival floor of the elevator, the management information storage unit stores the space management information for the space set consisting of the first space, the second space, and the third space; A traffic management device according to any one of claims 1 to 9.

11. the elevator has a bank including a plurality of cars; The second space corresponds to all of the plurality of cars, The first space includes all parts in the hall of the departure floor that are connected to each of the plurality of cars, The third space includes all parts in the arrival floor hall that are connected to each of the plurality of cars.

11. The traffic management device of claim 10.

12. the elevator has a bank including a plurality of cars; The second space corresponds to any one of the plurality of cars, The first space includes all parts in the hall of the departure floor that are connected to each of the plurality of cars, The third space includes all parts in the arrival floor hall that are connected to each of the plurality of cars.

11. The traffic management device of claim 10.

13. the elevator has a bank including a plurality of cars; The second space corresponds to any one of the plurality of cars, the first space corresponds to a portion of the hall of the departure floor that is connected to the car; The third space corresponds to a portion of the hall at the arrival floor that leads to the car.

11. The traffic management device of claim 10.

14. the elevator has a bank including a plurality of cars; The second space corresponds to all of the plurality of cars, the first space corresponds to a portion of the hall of the departure floor that leads to any one of the plurality of cars; The third space corresponds to a portion of the hall at the arrival floor that leads to the car.

11. The traffic management device of claim 10.

15. The computer storing, for each of a plurality of pre-defined management spaces that manage 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, as well as the space management information for a space set consisting of two or more management spaces that are connected in an adjacent relationship and share one of the entrances and exits of the plurality of management spaces; managing information on 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 for the space set defines a space that is a combination of the two or more management spaces included in the space set as a corresponding management space, includes information on entrances and exits of the two or more management spaces included in the space set that are not shared between management spaces that are adjacent to each other within the space set as information on the entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space. Traffic management methods.

16. On the computer, storing, for each of a plurality of pre-defined management spaces that manage 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, as well as the space management information for a space set consisting of two or more management spaces that are connected in an adjacent relationship and share one of the entrances and exits of the plurality of management spaces; managing information on 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 for the space set defines a space that is a combination of the two or more management spaces included in the space set as a corresponding management space, includes information on entrances and exits of the two or more management spaces included in the space set that are not shared between management spaces that are adjacent to each other within the space set as information on the entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space. Traffic management programs.

17. a plurality of moving objects 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 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, as well as the space management information for a space set consisting of two or more management spaces that are connected in an adjacent relationship and share one of the entrances and exits of the plurality of management spaces; 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; 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 for the space set defines a space that is a combination of the two or more management spaces included in the space set as a corresponding management space, includes information on entrances and exits of the two or more management spaces included in the space set that are not shared between management spaces that are adjacent to each other within the space set as information on the entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space. Mobile systems.

18. 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 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, as well as the space management information for a space set consisting of two or more management spaces that are connected in an adjacent relationship and share one of the entrances and exits of the plurality of management spaces; 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; 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 for the space set defines a space that is a combination of the two or more management spaces included in the space set as a corresponding management space, includes information on entrances and exits of the two or more management spaces included in the space set that are not shared between management spaces that are adjacent to each other within the space set as information on the entrances and exits of the corresponding management space, and includes attribute information of the space set as attribute information of the corresponding management space. Mobile control system.

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