Area management system, area management method, and area management program

Abstract

To provide an area management system, an area management method, and an area management program capable of accurately managing a management object area.SOLUTION: An area management system according to the present embodiment includes: an acquisition unit which acquires information regarding movement history of one or more moving bodies moving in a management object area; a statistical processing unit which generates a distribution of existence probability of one or more moving bodies in the management object area by applying the statistical process to the information regarding the moving history of one or more moving bodies; an area specifying unit which specifies a prescribed area contained in the management object area together with its area attribute on the basis of the distribution of the existence probability of one or more moving bodies in the management object area.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to an area management system, an area management method, and an area management program. [Background technology]

[0002] In recent years, there has been a demand for accurate monitoring of the status of moving objects, including work robots and workers, in a given area such as a factory.

[0003] The area situation confirmation system disclosed in Patent Document 1 includes an imaging device that captures an image of a specified area, a position calculation unit that calculates the position of a person or object from an image of the area captured by the imaging device, a transmission unit that transmits the position calculated by the position calculation unit as position information, a reception unit that receives the position information transmitted by the transmission unit, and an image synthesis unit that displays the person or object as a symbol and synthesizes it on an image of the area that has been captured in advance based on the position information received by the reception unit. This area situation confirmation system makes it easy to grasp the environment of the specified area and can reduce communication traffic. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-113875 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the system disclosed in Patent Document 1, a symbol indicating the position of a person or object is merely displayed together with an area image, and no definition is made of a moving area in which a moving object moves, a working area in which a moving object performs work, etc., in a predetermined area. In other words, in this system, the user himself must determine the moving area, the working area, etc. Therefore, in this system, errors are likely to occur in the determination of the moving area and the working area. As a result, there is a problem that this system cannot accurately manage a predetermined area. In addition, when such a system is applied to a system that automatically monitors moving objects, the moving objects cannot be monitored accurately.

[0006] The present disclosure has been made in consideration of the above background, and aims to provide an area management system, an area management method, and an area management program capable of managing a managed area with high accuracy. [Means for solving the problem]

[0007] The area management system according to the present disclosure includes an acquisition unit that acquires information on the movement history of one or more moving objects moving within a managed area, a statistical processing unit that performs statistical processing on information on the movement history of the one or more moving objects to generate a distribution of the presence probability of the one or more moving objects in the managed area, and an area definition unit that defines a predetermined area included in the managed area together with its area attributes based on the distribution of the presence probability of the one or more moving objects in the managed area. This area management system automatically defines the moving areas in the managed area where moving objects such as people, vehicles, and work robots move, and the work areas where the moving objects perform work, thereby eliminating the need for users to determine the moving areas and work areas, which are prone to errors. This area management system can accurately manage the managed area. Furthermore, when such a system is applied to a system that automatically monitors moving objects, it can accurately monitor the moving objects.

[0008] The area definition unit may define an area in which a distribution of the presence probability with a standard deviation smaller than a first predetermined deviation continues for a first predetermined distance or more as a movement area in which a moving body among the moving bodies moves and whose movement route is predetermined.

[0009] The moving body whose moving path is determined in advance may include an AGV (Automatic Guided Vehicle).

[0010] The area definition unit may define an area in which a distribution of the presence probability with a standard deviation larger than a second predetermined deviation continues for a second predetermined distance or more as a movement area in which moving bodies among the moving bodies whose movement route has not been determined in advance move.

[0011] The moving object whose movement route is not determined in advance may include a person and an Autonomous Mobile Robot (AMR).

[0012] The area defining unit may define an area that is partially or completely surrounded by a point where continuity of the distribution of the presence probability is broken as a work area where a predetermined work is performed by the moving body.

[0013] The system may further include a database in which multiple types of existence probability distributions are linked and stored with multiple area attributes, and the area definition unit may define at least a portion of the existence probability distribution generated by the statistical processing unit as the specified area, and extract from the database an area attribute linked to a type of existence probability distribution corresponding to at least a portion of the existence probability distribution generated by the statistical processing unit, and define the extracted area attribute as the area attribute of at least a portion of the existence probability distribution generated by the statistical processing unit.

[0014] The area definition unit may be configured to be able to identify a position in the specified area, which is defined as a moving area in which the moving body moves, where the probability of the moving body's presence at a planned location after a specified time has elapsed is equal to or lower than a specified probability.

[0015] The area management method according to the present disclosure acquires information on the movement history of one or more moving objects moving within a managed area, generates a distribution of the presence probability of the one or more moving objects in the managed area by performing statistical processing on the acquired information on the movement history of the one or more moving objects, and defines a predetermined area included in the managed area together with its area attributes based on the generated distribution of the presence probability of the one or more moving objects in the managed area. This area management method automatically defines the movement areas in the managed area where moving objects such as people, vehicles, and work robots move, and the work areas where work is performed by the moving objects, thereby eliminating the need for users to determine the movement areas and work areas, which are prone to errors. As a result, this area management method can accurately manage the managed area. Furthermore, when such a method is applied to a system that automatically monitors moving objects, it can accurately monitor the moving objects.

[0016] The area management program according to the present disclosure causes a computer to execute the following processes: acquiring information on the movement history of one or more moving objects moving within a managed area; generating a distribution of the presence probability of the one or more moving objects in the managed area by performing statistical processing on the acquired information on the movement history of the one or more moving objects; and defining a predetermined area included in the managed area together with its area attributes based on the generated distribution of the presence probability of the one or more moving objects in the managed area. This area management program automatically defines the moving areas in the managed area where moving objects such as people, vehicles, and work robots move, and the work areas where the moving objects perform work, thereby eliminating the need for users to determine the moving areas and work areas, which are prone to errors. This area management program can accurately manage the managed area. Furthermore, when such a program is applied to a system that automatically monitors moving objects, the moving objects can be monitored accurately. Effect of the Invention

[0017] The present disclosure makes it possible to provide an area management system, an area management method, and an area management program capable of managing a management target area with high accuracy. [Brief description of the drawings]

[0018] [Figure 1] 1 is a block diagram showing a configuration example of an area management system according to a first embodiment. [Diagram 2] FIG. 2 is a schematic perspective view showing an application example of the area management system shown in FIG. [Diagram 3] 2 is a flowchart showing the operation of the area management system shown in FIG. [Figure 4] FIG. 2 is a schematic plan view showing the distribution of the probability of a moving object being present in a management area. [Diagram 5] FIG. 2 is a schematic plan view showing the distribution of the probability of a moving object being present in a management area. [Figure 6]1 is a schematic plan view showing areas and their attributes defined based on the distribution of the probability of a moving object being present in a management target area. FIG. [Figure 7] 10 is a diagram for explaining a method for defining an area susceptible to the influence of disturbances from the distribution of the probability of the presence of a moving object in a management area. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] The present invention will be described below through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. In addition, not all of the configurations described in the embodiments are necessarily essential means for solving the problems. For clarity of explanation, the following description and drawings are omitted and simplified as appropriate. In each drawing, the same elements are given the same reference numerals, and repeated explanations are omitted as necessary.

[0020] <Embodiment 1> FIG. 1 is a block diagram showing a configuration example of an area management system 1 according to a first embodiment. FIG. 2 is a schematic perspective view showing an application example of the area management system 1. The area management system 1 according to the present embodiment automatically defines areas in a management target area where moving objects such as people, vehicles, and work robots move, and work areas where work is performed by the moving objects, thereby eliminating the need for users to determine areas in which errors are likely to occur, such as moving areas and work areas. As a result, the area management system 1 according to the present embodiment can accurately manage the management target area. Furthermore, when such a system is applied to a system that automatically monitors moving objects, the moving objects can be monitored with high accuracy. A specific description will be given below.

[0021] The area management system 1 is applied to a facility PL1 such as a factory, and includes n (n is an integer equal to or greater than 1) sensors 11_1 to 11_n and an area management device 12. The area management device 12 can also be referred to as the area management system 1.

[0022] The sensors 11_1 to 11_n are installed on the ceiling of the facility PL1 or the like, and detect moving bodies M including a worker 901, a first moving body 902, and a second moving body 903 that exist in a management target area TA in the facility PL1. In the example of Fig. 2, one worker 901, one first moving body 902, and one second moving body 903 exist in the management target area TA as the moving bodies M, but this is not limited thereto, and one or more workers 901, one or more first moving bodies 902, and one or more second moving bodies 903 may exist in the management target area TA. Also, some of the sensors 11_1 to 11_n may be attached to any of the moving bodies M.

[0023] The worker 901 is a person who has been instructed to perform a predetermined task in the management area TA within the facility PL1. Note that the moving object M is not limited to the worker 901, but also includes passersby passing through the facility PL1.

[0024] The first moving body 902 is a moving body that travels along a predetermined travel route, such as a vehicle that travels on rails, or a vehicle (AGV; Automatic Guided Vehicle) that is set to travel automatically along a predetermined travel route.

[0025] The second moving body 903 is a moving body that automatically determines a moving route according to the surrounding environment such as obstacles and travels, and is, for example, an autonomously movable work robot (AMR: Autonomous Mobile Robot) that is set to automatically perform a predetermined task. The second moving body 902 also includes a vehicle driven by a worker.

[0026] The sensors 11_1 to 11_n are, for example, cameras and are installed so as to be able to capture the entire managed area TA in the facility PL1. Note that the sensors 11_1 to 11_n are not limited to being cameras, and may be any type of sensor capable of detecting a moving object M, such as a distance measuring sensor.

[0027] The area management device 12 is a device that automatically defines the management target area TA within the facility PL1, such as a movement area in which the mobile body M moves and a work area in which the mobile body M performs work, and manages the management target area TA within the facility PL1.

[0028] Specifically, the area management device 12 includes at least an acquisition unit 121 , a storage unit 122 , a statistical processing unit 123 , an area definition unit 124 , and an output unit 125 .

[0029] The acquisition unit 121 acquires information on the movement history of each moving object M detected by the sensors 11_1 to 11_n. Specifically, the acquisition unit 121 periodically acquires position information of each moving object M detected by the sensors 11_1 to 11_n. The position information of each moving object M periodically acquired by the acquisition unit 121 is stored in the storage unit 122 as information on the movement history of each moving object M. Note that the storage unit 122 may be provided as a storage device outside the area management device 12.

[0030] The statistical processing unit 123 extracts features of the one or more moving bodies M by performing statistical processing on information related to the movement history of the one or more moving bodies M stored in the storage unit 122, and expresses the extracted features on a spatial map. In other words, the statistical processing unit 123 generates a distribution of the presence probability of the one or more moving bodies M in the management area TA by performing statistical processing on information related to the movement history of the one or more moving bodies M stored in the storage unit 122.

[0031] The area defining unit 124 defines a predetermined area included in the managed area TA together with its attributes, based on the distribution of the presence probability of one or more moving bodies M in the managed area TA, generated by the statistical processing unit 123. The attribute of the predetermined area indicates whether the predetermined area is a moving area, a working area, etc. For example, the area defining unit 124 defines a moving area, a working area, etc. included in the managed area TA, based on the distribution of the presence probability of one or more moving bodies M in the managed area TA, generated by the statistical processing unit 123.

[0032] The output unit 125 outputs information related to the movement area, the work area, etc. defined by the area defining unit 124. For example, the output unit 125 displays the management target area TA on a monitor in a desired display format together with the movement area, the work area, etc. defined on the management target area TA.

[0033] Next, the operation of the area management system 1 will be described with reference to Fig. 3 in addition to Fig. 1 and Fig. 2. Fig. 3 is a flowchart showing the operation of the area management system 1.

[0034] In the area management system 1, the area management device 12 first acquires information on the position history of each moving object M detected by the sensors 11_1 to 11_n installed in the facility PL1 (step S101). Specifically, the area management device 12 periodically acquires the position information of each moving object M detected by the sensors 11_1 to 11_n, and stores it as information on the movement history of each moving object M. In the example of FIG. 2, the area management device 12 acquires information on the movement history of a worker 901, a first moving object 902, and a second moving object 903.

[0035] Thereafter, the area management device 12 performs statistical processing on information on the movement history of one or more moving objects M to generate a distribution of the presence probability of the one or more moving objects M in the management area TA (step S102). In the example of Fig. 2, the area management device 12 performs statistical processing on information on the movement history of the worker 901, the first moving object 902, and the second moving object 903 to generate a distribution of the presence probability of the worker 901, the first moving object 902, and the second moving object 903 in the management area TA.

[0036] 4 and 5 are schematic plan views showing the distribution of the presence probability of a moving object M in a managed area TA. Note that Fig. 5 partially shows a graph showing the distribution state of the presence probability of a moving object M in the managed area TA. In the example of Fig. 4 and Fig. 5, the closer to black an area of ​​the managed area TA is, the higher the presence probability of a moving object M is, and the closer to white an area is, the lower the presence probability of a moving object M is.

[0037] 5, for example, the presence probability of a moving object M on the line segment connecting positions a1 and a2 in the management area TA is lowest at positions a1 and a2, gradually increases from positions a1 and a2 to the midpoint am between positions a1 and a2, and is highest at the midpoint am. The standard deviation αa of the distribution of this presence probability is larger than a predetermined second predetermined deviation α2 (i.e., the variation of the distribution of this presence probability is relatively large). Moreover, this distribution of the standard deviation αa larger than the second predetermined deviation α2 continues for a distance La that is equal to or larger than the second predetermined distance L2.

[0038] The presence probability of a moving object M on the line segment connecting positions b1 and b2 in the management area TA is lowest at positions b1 and b2, gradually increases from positions b1 and b2 to the midpoint bm between positions b1 and b2, and is highest at the midpoint bm. The standard deviation αb of the presence probability distribution is smaller than a first predetermined deviation α1 (i.e., the variation in the presence probability distribution is relatively small). The distribution of the standard deviation αb smaller than the first predetermined deviation α1 continues for a distance Lb that is equal to or greater than the first predetermined distance L1.

[0039] Furthermore, the presence probability of the moving object M on the line segment connecting positions c1 and c2 in the managed area TA is highest at positions c1 and c2, gradually decreases from positions c1 and c2 to the midpoint cm between positions c1 and c2, and is lowest at the midpoint cm. Furthermore, the continuity of the distribution of the presence probability of the moving object M is broken at each of positions c1 and c2. Similarly, the presence probability of the moving object M on the line segment connecting positions d1 and d2 in the managed area TA is highest at positions d1 and d2, gradually decreases from positions d1 and d2 to the midpoint dm between positions d1 and d2, and is lowest at the midpoint dm. Furthermore, the continuity of the distribution of the presence probability of the moving object M is broken at each of positions d1 and d2.

[0040] Thereafter, the area management device 12 defines predetermined areas included in the management area TA together with their attributes, based on the distribution of the presence probability of one or more moving objects M in the management area TA (step S103).

[0041] Fig. 6 is a schematic plan view showing areas and their attributes defined based on the distribution of the existence probability of a moving object M in a management target area TA. The management target area TA shown in Fig. 6 corresponds to the management target area TA shown in Figs. 4 and 5.

[0042] 5 and 6, first, the area management device 12 defines an area MA1 in which a distribution of the existence probability of a moving object M in the management area TA has a standard deviation αa larger than the second predetermined deviation α2 that continues for a distance La equal to or larger than the second predetermined distance L2 as a moving area in which a moving object whose movement route is not determined in advance moves. In other words, the area management device 12 defines an area MA1 in which a continuous area has a relatively large variation in the distribution of the existence probability of a moving object M has a moving area in which a moving object whose movement route is not determined in advance moves. The moving object whose movement route is not determined in advance is, for example, a second moving object 903 including an autonomously movable work robot set to automatically perform a predetermined task, or a worker 901.

[0043] Furthermore, the area management device 12 defines an area MA2 in which distributions of the existence probability of the moving object M in the management area TA have a standard deviation αb smaller than the first predetermined deviation α1 and continue for a distance Lb equal to or greater than the first predetermined distance L1 as a moving area in which a moving object with a predetermined moving route moves. In other words, the area management device 12 defines an area MA2 in which areas in which the distribution of the existence probability of the moving object M has a relatively small variation continue as a moving area in which a moving object with a predetermined moving route moves. Note that a moving object with a predetermined moving route is, for example, a first moving object 902 including a vehicle that runs on rails and a vehicle such as an AGV that is set to automatically run along a predetermined moving route.

[0044] Furthermore, the area management device 12 defines the areas WA1 and WA2 that are partially or completely surrounded by points where the continuity of the distribution of the presence probability of the moving body M in the managed area TA is broken as work areas where a predetermined task is performed by the moving body M. In other words, the area management device 12 defines the areas WA1 and WA2 that are partially or completely surrounded by a specific position where the moving body M stays to perform the predetermined task as work areas where a predetermined task is performed by the moving body M.

[0045] Thereafter, the area management device 12 outputs information related to the defined movement area, work area, etc. (step S104). For example, the area management device 12 displays the management target area TA on a monitor in a desired display format together with the movement area, work area, etc. defined on the management target area TA.

[0046] In this way, the area management system 1 according to the present embodiment automatically defines the movement areas in the management target area TA where moving bodies M such as people, vehicles, and work robots move, and the work areas where work is performed by the moving bodies M, thereby eliminating the need for users to make judgments about movement areas and work areas, which are prone to errors. As a result, the area management system according to the present embodiment can manage the management target area with high accuracy. Furthermore, when such a system is applied to a system that automatically monitors the moving bodies M, the moving bodies M can be monitored with high accuracy.

[0047] The area management system 1 may further include a database in which a plurality of types of presence probability distributions and a plurality of area attributes are stored in association with each other. In this case, the area definition unit 124 provided in the area management device 12 first extracts from the database area attributes associated with the types of presence probability distributions corresponding to at least a portion of the presence probability distributions generated by the statistical processing unit 123. Then, the area definition unit 124 defines a movement area, a working area, etc. for the "at least a portion of the presence probability distributions" generated by the statistical processing unit 123. Note that the database may store various types of area attributes, not limited to working areas and movement areas.

[0048] In the area management system 1, the area management device 12 may have a function of predicting the presence probability of a moving object M, whose movement route R1 is determined in advance, at a position where the moving object M is expected to be present after a predetermined time t1 has elapsed, using a Gaussian process, and specifying a position where the presence probability is equal to or less than a threshold value (predetermined probability). Referring to FIG. 7, the presence probability of a moving object M present at position X1 at position X2, which is a position where the moving object M is expected to be present after a predetermined time t1 has elapsed, is 30%, which is equal to or less than the threshold value, and the presence probability of a moving object M present at position X2 at position X3, which is a position where the moving object M is expected to be present after a predetermined time t1 has elapsed, is 70%, which is equal to or more than the threshold value. Here, it is considered that there is a factor (disturbance) that temporarily obstructs the movement of the moving object M, such as a large number of pedestrians, at position X2, where the presence probability is 30%. The area management device 12 may specify such a position and output the specified information as necessary. This allows the area management system 1 to manage the management area with higher accuracy.

[0049] The present invention is not limited to the above-described embodiment, and can be modified as appropriate without departing from the spirit and scope of the present invention.

[0050] Furthermore, in the present disclosure, a part or all of the processing of the area management device 12 can be realized by causing a CPU (Central Processing Unit) to execute a computer program.

[0051] The above-mentioned program includes a set of instructions (or software code) for making the computer perform one or more functions described in the embodiment when the program is loaded into the computer. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, the computer-readable medium or tangible storage medium includes a random-access memory (RAM), a read-only memory (ROM), a flash memory, a solid-state drive (SSD) or other memory technology, a CD-ROM, a digital versatile disc (DVD), a Blu-ray (registered trademark) disk or other optical disk storage, a magnetic cassette, a magnetic tape, a magnetic disk storage or other magnetic storage device. The program may be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, the transitory computer-readable medium or the communication medium includes an electrical, optical, acoustic, or other form of propagating signal. [Explanation of symbols]

[0052] 1 Area Management System 11_1~11_n Sensor 12 Area management device 121 Acquisition Department 122 Storage section 123 Statistical Processing Unit 124 Area Regulations 125 Output section 901 Worker 902 Autonomous Mobile Object (Mobile Robot) 903 Mobile MA1 Moving Area MA2 Moving Area PL1 Facility R1 Movement route (movement area) TA Managed Area WA1 Working Area WA2 Working Area

Claims

1. An acquisition unit that acquires information regarding the movement history of one or more moving objects that move within a management area; a statistical processing unit that performs statistical processing on information regarding the movement history of the one or more moving objects to generate a distribution of a presence probability of the one or more moving objects in the management target area; an area defining unit that defines a predetermined area included in the management target area together with area attributes based on a distribution of a presence probability of the one or more moving objects in the management target area; An area management system comprising: the area defining unit defines an area in which a distribution of the existence probability having a standard deviation smaller than a first predetermined deviation continues for a first predetermined distance or more as a moving area in which a moving body having a predetermined moving route moves among the moving bodies; Area management system.

2. The moving body having a predetermined moving route includes an AGV (Automatic Guided Vehicle), The area management system according to claim 1 .

3. An acquisition unit that acquires information regarding the movement history of one or more moving objects that move within a management area; a statistical processing unit that performs statistical processing on information regarding the movement history of the one or more moving objects to generate a distribution of a presence probability of the one or more moving objects in the management target area; an area defining unit that defines a predetermined area included in the management target area together with area attributes based on a distribution of a presence probability of the one or more moving objects in the management target area; An area management system comprising: the area defining unit defines an area in which a distribution of the existence probability having a standard deviation larger than a second predetermined deviation continues for a second predetermined distance or more as a moving area in which a moving body whose moving route is not determined in advance moves among the moving bodies. Area management system.

4. The moving object whose moving route is not determined in advance includes a person and an AMR (Autonomous Mobile Robot). The area management system according to claim 3 .

5. An acquisition unit that acquires information regarding the movement history of one or more moving objects that move within a management area; a statistical processing unit that performs statistical processing on information regarding the movement history of the one or more moving objects to generate a distribution of a presence probability of the one or more moving objects in the management target area; an area defining unit that defines a predetermined area included in the management target area together with area attributes based on a distribution of a presence probability of the one or more moving objects in the management target area; An area management system comprising: The area defining unit defines an area that is surrounded in part or in whole by a point where continuity of the distribution of the presence probability is interrupted as a work area where a predetermined work is performed by the moving object. Area management system.

6. Obtaining information regarding the movement history of one or more mobile objects moving within the management area; generating a distribution of the presence probability of the one or more moving objects in the management area by performing statistical processing on the acquired information on the movement history of the one or more moving objects; defining a predetermined area included in the management target area together with its area attributes based on the generated distribution of the presence probability of the one or more moving objects in the management target area; 1. An area management method, comprising: In defining the predetermined area, an area in which a distribution of the existence probability having a standard deviation smaller than a first predetermined deviation continues for a first predetermined distance or more is defined as a moving area in which a moving body having a predetermined moving route moves among the moving bodies. Area management methods.

7. Obtaining information regarding the movement history of one or more mobile objects moving within the management area; generating a distribution of the presence probability of the one or more moving objects in the management area by performing statistical processing on the acquired information on the movement history of the one or more moving objects; defining a predetermined area included in the management target area together with its area attributes based on the generated distribution of the presence probability of the one or more moving objects in the management target area; 1. An area management method, comprising: In defining the predetermined area, an area in which a distribution of the existence probability having a standard deviation larger than a second predetermined deviation continues for a second predetermined distance or more is defined as a moving area in which a moving body whose moving route is not determined in advance moves among the moving bodies. Area management methods.

8. Obtaining information regarding the movement history of one or more mobile objects moving within the management area; generating a distribution of the presence probability of the one or more moving objects in the management area by performing statistical processing on the acquired information on the movement history of the one or more moving objects; defining a predetermined area included in the management target area together with its area attributes based on the generated distribution of the presence probability of the one or more moving objects in the management target area; 1. An area management method, comprising: In defining the predetermined area, an area that is partially or completely surrounded by a point where the continuity of the distribution of the presence probability is broken is defined as a work area where a predetermined work is performed by the moving object. Area management methods.

9. A process of acquiring information regarding the movement history of one or more mobile objects moving within a management area; generating a distribution of the presence probability of the one or more moving objects in the management area by performing statistical processing on the acquired information on the movement history of the one or more moving objects; A process of defining a predetermined area included in the management target area together with area attributes based on the generated distribution of the presence probability of the one or more moving objects in the management target area; An area management program that causes a computer to execute the following: In the process of defining the predetermined area, an area in which a distribution of the existence probability having a standard deviation smaller than a first predetermined deviation continues for a first predetermined distance or more is defined as a moving area in which a moving body having a predetermined moving route moves among the moving bodies. Area management program.

10. A process of acquiring information regarding the movement history of one or more mobile objects moving within a management area; generating a distribution of the presence probability of the one or more moving objects in the management area by performing statistical processing on the acquired information on the movement history of the one or more moving objects; A process of defining a predetermined area included in the management target area together with area attributes based on the generated distribution of the presence probability of the one or more moving objects in the management target area; An area management program that causes a computer to execute the following: In the process of defining the predetermined area, an area that is partially or completely surrounded by a point where the continuity of the distribution of the presence probability is broken is defined as a work area where a predetermined work is performed by the moving object. Area management program.

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