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

Abstract

A traffic management device, a traffic management method, a traffic management program, a mobile body system, and a mobile body control system are provided for managing the movement of mobile bodies so as to increase the efficiency of movement. [Solution] In a mobile body system 1, a plurality of management spaces 5 that manages interference with passage between mobile bodies 2 are set in advance. The space management information includes information for identifying the corresponding management space 5, information on entrances / exits 7, and attribute information. When a use request for two management spaces 5 is output from a mobile body 2, a dynamic space management unit 13 generates space management information for a dynamic space set consisting of these spaces if it determines that interference with passage of the mobile body 2 will occur in an intermediate space 8 between the two management spaces 5. A space situation management unit 14 manages information on the usage status of the mobile body 2 in the management space 5 based on the space management information, and a passage instruction unit 15 outputs a passage instruction for the mobile body 2 through the management space 5 based on the information.

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 with 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 permits the later moving object to enter the intersection. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-107270 A Summary of the Invention [Problem to be solved by the invention]

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

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

[0006] Traffic management device according to the present disclosure In the traffic management device, the space management information for the management space that manages the traffic interference between a plurality of moving bodies includes information for identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space. teeth, Each consists of a single space For each of the multiple management spaces set in advance The above a management information storage unit for storing space management information; Pre-configured a dynamic space management unit that generates the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space when a use request is output for a first space and a second space that do not share an entrance / exit among a plurality of management spaces and it is determined that traffic interference may occur in an intermediate space between the first space and the second space through which the moving body passes; and Pre-configured Each of the multiple management spaces and the space to which the dynamic space set corresponds a spatial situation management unit that manages information on the usage status of the plurality of moving objects in the Pre-configured Multiple Management Spaces or the dynamic space set corresponds to and a passage instruction unit that outputs a passage instruction to permit passage of the first space, the intermediate space, and the second space, and the space management information at the time of generation of the dynamic space set includes a space that is a combination of the first space, the intermediate space, and the second space as a corresponding management space, includes information on an entrance / exit of the first space and the second space that does not lead to the intermediate space as information on an entrance / exit of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space. The usage status of the plurality of moving objects includes information on whether each of the plurality of moving objects is in the plurality of pre-set management spaces or the space corresponding to the dynamic space set. .

[0007] Traffic management method according to the present disclosure In the traffic management method, the space management information for the management space that manages the traffic interference between a plurality of moving objects includes information for identifying the corresponding management space, information for one or more entrances and exits of the management space, and attribute information of the management space. The computer Each consists of a single space For each of the multiple management spaces set in advance The above storing space management information; and Pre-configuredWhen a use request is output for a first space and a second space that do not share an entrance among a plurality of management spaces, if it is determined that traffic interference may occur in an intermediate space between the first space and the second space through which the moving object passes, generating the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space; Pre-configured Each of the multiple management spaces and the space to which the dynamic space set corresponds and managing information on the usage status of the plurality of moving objects in the Pre-configured Multiple Management Spaces or the dynamic space set corresponds to and outputting a passage instruction to permit passage of the first space, the intermediate space, and the second space, wherein the space management information at the time of generation of the dynamic space set corresponds to a combined space of the first space, the intermediate space, and the second space, and includes information of an entrance / exit of the first space and the second space that does not lead to the intermediate space as information of the entrance / exit of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space. The usage status of the plurality of moving objects includes information on whether each of the plurality of moving objects is in the plurality of pre-set management spaces or the space corresponding to the dynamic space set. .

[0008] Traffic management program according to the present disclosure In the traffic management program, the space management information for the management space that manages the traffic interference between a plurality of moving objects includes information for identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space. to the computer, Each consists of a single space For each of the multiple management spaces set in advance The above storing space management information; and Pre-configured When a use request is output for a first space and a second space that do not share an entrance among a plurality of management spaces, if it is determined that traffic interference may occur in an intermediate space between the first space and the second space through which the moving object passes, generating the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space; Pre-configured Each of the multiple management spaces and the space to which the dynamic space set corresponds and managing information on the usage status of the plurality of moving objects in the Pre-configured Multiple Management Spaces or the dynamic space set corresponds toand outputting a passage instruction to permit passage of the first space, the intermediate space, and the second space, and the space management information at the time of generation of the dynamic space set includes a combined space of the first space, the intermediate space, and the second space as a corresponding management space, information of an entrance / exit of the first space and the second space that does not lead to the intermediate space as information of an entrance / exit of the corresponding management space, and attribute information of the dynamic space set as attribute information of the corresponding management space. The usage status of the plurality of moving objects includes information on whether each of the plurality of moving objects is in the plurality of pre-set management spaces or the space corresponding to the dynamic space set. .

[0009] Mobile system according to the present disclosure In the mobile system, the space management information for the management space that manages the interference between the passages of a plurality of mobile bodies includes information for identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space. teeth, Each consists of a single space A plurality of moving objects each passing through a plurality of preset management spaces; The preset For each of the multiple management spaces The above a management information storage unit for storing space management information; Pre-configured a dynamic space management unit that generates the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space when a use request is output for a first space and a second space that do not share an entrance / exit among a plurality of management spaces and it is determined that traffic interference may occur in an intermediate space between the first space and the second space through which the moving body passes; and Pre-configured Each of the multiple management spaces and the space to which the dynamic space set corresponds a spatial situation management unit that manages information on the usage status of the plurality of moving objects in the Pre-configured Multiple Management Spaces or the dynamic space set corresponds to and a passage instruction unit that outputs a passage instruction to permit passage of the first space, the intermediate space, and the second space, and the space management information at the time of generation of the dynamic space set includes a space that is a combination of the first space, the intermediate space, and the second space as a corresponding management space, includes information on an entrance / exit of the first space and the second space that does not lead to the intermediate space as information on an entrance / exit of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space. The usage status of the plurality of moving objects includes information on whether each of the plurality of moving objects is in the plurality of pre-set management spaces or the space corresponding to the dynamic space set. .

[0010] MOBILE BODY CONTROL SYSTEM The space management information for the management space that manages the interference between the passages of a plurality of mobile bodies includes information for identifying the corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, teeth, Each consists of a single space A mobile object control unit that controls the movement of a plurality of mobile objects each passing through a plurality of preset management spaces; The preset For each of the multiple management spaces The above a management information storage unit for storing space management information; Pre-configured a dynamic space management unit that generates the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space when a use request is output for a first space and a second space that do not share an entrance / exit among a plurality of management spaces and it is determined that traffic interference may occur in an intermediate space between the first space and the second space through which the moving body passes; and Pre-configured Each of the multiple management spaces and the space to which the dynamic space set corresponds a spatial situation management unit that manages information on the usage status of the plurality of moving objects in the Pre-configured Multiple Management Spaces or the dynamic space set corresponds to and a passage instruction unit that outputs a passage instruction to permit passage of the first space, the intermediate space, and the second space, and the space management information at the time of generation of the dynamic space set includes a space that is a combination of the first space, the intermediate space, and the second space as a corresponding management space, includes information on an entrance / exit of the first space and the second space that does not lead to the intermediate space as information on an entrance / exit of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space. The usage status of the plurality of moving objects includes information on whether each of the plurality of moving objects is in the plurality of pre-set management spaces or the space corresponding to the dynamic space set. . Effect of the Invention

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

[0012] [Figure 1] 1 is a configuration diagram of a mobile system according to a first embodiment. [Diagram 2] 3A to 3C are diagrams illustrating an example of space management information in the mobile system according to the first embodiment. [Diagram 3] 3A to 3C are diagrams illustrating an example of space management information in the mobile system according to the first embodiment. [Figure 4] 3A to 3C are diagrams illustrating an example of space management information in the mobile system according to the first embodiment. [Diagram 5] 11 is a diagram illustrating an example of updating space management information of a dynamic space set in the mobile body system according to the first embodiment. FIG. [Figure 6] 4 is a sequence diagram showing an example of an operation of the mobile system according to the first embodiment. FIG. [Figure 7] FIG. 11 is a sequence diagram showing an example of the operation of a modified example of the mobile body system according to the first embodiment. [Figure 8] FIG. 11 is a sequence diagram showing an example of the operation of a modified example of the mobile body system according to the first embodiment. [Figure 9] 1 is a hardware configuration diagram of a main part of a mobile body system according to a first embodiment. [Figure 10] FIG. 11 is a configuration diagram of a mobile body system according to a second embodiment. [Figure 11] FIG. 11 is a sequence diagram showing an example of an operation of a mobile system according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] The embodiments for carrying out the subject of the present disclosure will be described with reference to the accompanying drawings. In each drawing, the same or corresponding parts are given the same reference numerals, and duplicated descriptions are appropriately simplified or omitted. Note that the subject of the present disclosure is not limited to the following embodiments, and any component of the embodiment may be modified or omitted within the scope of the gist of the present disclosure.

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

[0015] The mobile system 1 is a system that provides services, etc., 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 a part or all of a building. The facility 3 may include one or both of an outdoor portion and an indoor portion 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 moving body 2 is a device that provides services by moving. The moving body 2 is, for example, an autonomous moving body that moves autonomously. The moving body 2 may be, for example, a robot, a drone, mobility, an autonomous vehicle, or other mobile equipment. The moving body 2 moves, for example, by running, walking, flying, navigating, or in other ways. The services provided by the moving body 2 include, for example, transportation, guidance, security, cleaning, or other services.

[0017] Each mobile object 2 is equipped with a wireless communication function so that information can be communicated with an external device or the like. Each mobile object 2 communicates with an external device directly or indirectly via a communication network 4 or the like. The communication network 4 includes, for example, the Internet, a telephone line network, or an optical communication line 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 include a wired or wireless intranet, or the like.

[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 preset 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 body system 1 is applied, such as a facility 3, a plurality of managed spaces 5, such as a managed space 5a and a managed space 5b, are set in advance. Here, when the plurality of managed spaces, such as the managed space 5a and the managed space 5b, are not particularly distinguished from each other, they may be simply referred to as the managed space 5. The managed space 5 is a space in which the traffic interference between a plurality of mobile bodies 2 is managed in the mobile body system 1. The managed space 5 is, for example, a crossroad such as a crossroad, a T-shaped intersection, or a three-way intersection, or a place where the mobile bodies 2 may cross, such as a narrow road. The managed space 5 may be, for example, a space such as a room or a space. The managed space 5 may be a space corresponding to the equipment 6 provided in the facility 3. The equipment 6 includes, for example, an elevator, an escalator, or a security gate. The managed space 5 may be a space corresponding to a plurality of equipment 6, or a space not corresponding to any equipment 6.

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

[0021] The mobile object system 1 includes a mobile object control system 9. The mobile object control system 9 is a system that controls the movement of the mobile object 2, the execution of service tasks, and the like, and arbitrates between the mobile objects 2. The mobile object control system 9 includes a mobile object control device 10 and a traffic management device 11.

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

[0023] The traffic management device 11 is a part that performs processing such as arbitration of movement between mobile objects 2. The traffic management device 11 communicates with external devices via a communication network 4 or the like. The traffic management device 11 is, for example, a computer system consisting of one or more server devices. The multiple server devices that constitute the traffic management device 11 may be located in different locations. In this case, the multiple server devices communicate information with each other, for example, via the communication network 4. Some or all of the functions of the traffic management device 11 may be implemented, for example, by processing or storage resources on a cloud service. The traffic management device 11 may include some or all of the functions of the mobile object control device 10. The traffic management device 11 includes a management information storage unit 12, a dynamic space management unit 13, a space situation management unit 14, and a passage instruction unit 15.

[0024] The management information storage unit 12 is a part that has a function of storing space management information and the like for each management space 5. The space management information includes information that identifies the management space 5, such as an identifier of the corresponding management space 5. The information that identifies the management space 5 may be the coordinates of a reference point of the management space 5, or a coordinate range that indicates the range of the management space 5. The space management information includes information on one or more entrances 7 of the corresponding management space 5. The information on the entrances 7 of the management space 5 may be, for example, the coordinates of the entrances 7 relative to the reference point of the management space 5. The space management information includes attribute information of the corresponding management space 5. The attributes of the management space 5 include, for example, information on the shape of the space, such as a crossroads, a T-shaped intersection, a three-way intersection, or a narrow road. The attributes of the management space 5 include, for example, information on the facility equipment 6 that the space corresponds to, such as an elevator or a security gate. The space management information may include information such as the allowable width, allowable number, allowable time, and other constraints of the moving objects 2 that are allowed 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 the mobile object 2 that can pass through the management space 5. The effective width of the mobile object 2 is, for example, a width necessary to make collision avoidance sufficiently possible, which is set according to the physical width of the body of the mobile object 2, as well as the movement performance such as the movement accuracy and turning radius. The allowable number of mobile objects in the management space 5 represents, for example, the upper limit of the number of mobile objects 2 that can simultaneously use the management space 5. The allowable time of the management space 5 represents, for example, the upper limit of the time that the mobile object 2 can continuously stay in the management space 5. The space management information represents, for example, information on the passage of the mobile object 2 in the management space 5 modeled as a conceptual model. The management information storage unit 12 stores information on the relationship between the management spaces 5, such as whether or not the mobile object 2 can pass through the management space 5. The information on the relationship between the management spaces 5 is, for example, information specifying the intermediate space 8 through which the mobile object 2 passes when passing between the management spaces 5. The management information storage unit 12 stores the space management information for each management space 5, for example, by storing the information in a database or the like.

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

[0026] The space situation management unit 14 is a part that has a function of managing information on the usage status of the moving object 2 in each managed space 5. The space situation management unit 14 manages the information on the usage status based on the space management information for each managed space 5 and the space management information for each dynamic space set stored in the management information storage unit 12. The information on the usage status in the managed space 5 includes, for example, information on whether each moving object 2 is in the managed space 5. The information on the usage status in the managed space 5 includes, for example, information on the purpose of use and the usage time of each moving object 2 in the managed space 5. The purpose of use includes, for example, simply passing through the managed space 5 as a movement route, or a purpose other than passing through the managed space 5 to perform a service task. The purpose other than passing through includes, for example, cleaning the managed space 5. The usage time is, for example, the elapsed time after entering the managed space 5. The information on the usage status in the managed space 5 includes, for example, information on the state of the equipment 6 provided in the managed space 5. The information on the state of the equipment 6 is, for example, the open / close state of a security gate. The spatial situation management unit 14 manages information on the usage status of the mobile object 2 by storing the information in a database, for example. The management of information by the dynamic space management unit 13 includes adding, holding, updating, correcting, and deleting information. The spatial situation management unit 14 manages the information on the usage status in the management space 5 while updating it as needed to reflect the current situation.

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

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

[0029] The traffic management device 11 receives a request to use the managed space 5a from the mobile object 2 via the communication network 4. At this time, the passage instruction unit 15 refers to information on the usage status of the mobile object 2 in the managed space 5a managed by the spatial situation management unit 14. Based on the referred information, the passage instruction unit 15 determines whether or not traffic interference will occur in the managed space 5a when the mobile object 2 that has outputted the usage request enters the managed space 5a.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

[0044] Although the physical shapes of the management space 5d and the management space 5e are different from each other, they can be regarded as the same in a conceptual model that models information about the passage of the moving body 2, in that they are passages in which the moving body 2 can pass each other with an effective width of W or less. Therefore, the space management information about the management space 5e has a structure similar to that of the space management information about the management space 5d. Since the minimum width of this passage is W, if the effective width of each of the two opposing moving bodies 2 is W or less, the two moving bodies 2 can pass each other. The space management information may include such information on the minimum width. For example, the passage instruction unit 15 may determine whether or not interference occurs in passage in the management space 5 and whether or not the moving body 2 can pass, based on the effective width of the moving body 2 and the minimum width of the management space 5.

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

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

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

[0048] In an area where the mobile body system 1 is applied, such as a facility 3, a security gate is provided to restrict the passage of mobile bodies 2, etc. The security gate is a facility device 6 that permits the passage of mobile bodies 2, etc. that can be authenticated in advance, and prevents the passage of other mobile bodies 2.

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

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

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

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

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

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

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

[0056] The passage instruction unit 15 performs the process of determining whether or not interference occurs with respect to a dynamic space set and outputting a passage instruction in the same manner as the process of determining whether or not interference occurs with respect to a single managed space 5 and outputting a passage instruction. The passage instruction unit 15 performs the process of determining whether or not interference occurs with respect to a dynamic space set based on, for example, the allowable number of vehicles in the managed space 5f6 and the number of moving bodies 2 already in the managed space 5f6. The passage instruction unit 15 may perform the process of determining whether or not interference occurs with respect to a dynamic space set based on, for example, the allowable number of vehicles and the number of moving bodies 2 already in the managed space 5f6 for each of the managed spaces 5f1, the intermediate space 8f1, and the managed space 5f2 included in the dynamic space set. The passage instruction unit 15 may perform the process of determining whether or not interference occurs with respect to a dynamic space set based on, for example, the allowable width of the managed space 5f6, the effective width of the moving bodies 2 already in the managed space 5f6, and the effective width of the moving body 2 that has output the use request. For example, the passage instruction unit 15 may determine whether or not passage interference will occur for each of the managed space 5f1, intermediate space 8f1, and managed space 5f2 included in the dynamic space set, based on the allowable width and the effective width of the moving body 2 already there and the moving body 2 that output the use request. When the passage instruction unit 15 determines that passage interference will not occur, it outputs a passage instruction so that the moving body 2 that output the use request enters the managed space 5f6. After that, the moving body 2 that receives the passage instruction enters the managed space 5f6.

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

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

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

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

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

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

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

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

[0065] The spatial situation management unit 14 reserves the use of the managed spaces 5f1 and 5f2 for which the mobile object 2 has output a use request. The reservation for use of the managed space 5 includes, for example, when the managed space 5 corresponds to an equipment device 6, a notification of the planned use of the mobile object 2 to the connection device. When the equipment device 6 accepts the reservation for use from the spatial situation management unit 14, it prepares to accept use by the mobile object 2. When the equipment device 6 completes preparations to accept use by the mobile object 2, it may notify the traffic management device 11 of the completion of preparations. 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 14 as if the mobile object 2 has started using the managed space.

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

[0067] The moving object 2 that has received the passage instruction enters the managed space 5f1 included in the managed space 5f6. When the moving object 2 enters the managed space 5f1, it outputs an entry notification to the traffic management device 11. The spatial situation management unit 14 updates the usage status of the managed space 5f6. The traffic management device 11 performs monitoring of the managed space 5f6 using the entry notification from the moving object 2 as a trigger. The monitoring of the managed space 5f6 is performed, for example, based on the usage status managed by the spatial situation management unit 14. The traffic management device 11 monitors, for example, whether conditions such as the 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 14.

[0068] Thereafter, the moving object 2 exits the managed space 5f1. When the moving object 2 exits the managed space 5f1, the moving object 2 outputs an exit notification or a usage completion notification to the traffic management device 11. The dynamic space management unit 13 releases the managed space 5f1 from the managed space 5 to which the space management information of the dynamic space set corresponds. At this time, the space management information of the dynamic space set corresponds to the managed space 5f7 that combines the intermediate space 8f1 and the managed space 5f2. The space situation management unit 14 releases the use reservation of the managed space 5f1. For example, when the equipment 6 of the managed space 5f1 accepts the release of the use reservation from the space situation management unit 14, it becomes possible to accept the use of the other moving object 2. The space situation management unit 14 updates the usage status of the managed space 5f1 and the managed space 5f7. The traffic management device 11 continues monitoring the managed space 5f7.

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

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

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

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

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

[0074] The moving object 2 that has received the passage instruction enters the managed space 5f1 included in the managed space 5f6. After that, the moving object 2 exits the managed space 5f1. When the moving object 2 exits the managed space 5f1, it outputs an exit notification or a usage completion notification to the traffic management device 11. The dynamic space management unit 13 releases the managed space 5f1 from the managed space 5 to which the space management information of the dynamic space set corresponds. At this time, the space management information of the dynamic space set corresponds to the managed space 5f7 that combines the intermediate space 8f1 and the managed space 5f2. The space situation management unit 14 releases the use reservation of the managed space 5f1. For example, when the equipment 6 of the managed space 5f1 accepts the release of the use reservation from the space situation management unit 14, it becomes possible to accept the use of the other moving object 2. The space situation management unit 14 updates the usage status of the managed space 5f1 and the managed space 5f7. The traffic management device 11 continues monitoring the managed space 5f7.

[0075] Thereafter, the moving body 2 passes through the intermediate space 8f1 and enters the managed space 5f2. Thereafter, the moving body 2 exits the managed space 5f2. When the moving body 2 exits the managed space 5f2, it outputs an exit notification or a usage completion notification to the traffic management device 11. The dynamic space management unit 13 releases the intermediate space 8f1 and the managed space 5f2 by discarding the space management information of the dynamic space set. The space situation management unit 14 updates the usage status of the managed space 5f2. The space situation management unit 14 releases the usage reservation of the managed space 5f2. For example, when the equipment 6 of the managed space 5f2 accepts the release of the usage reservation from the space situation management unit 14, it becomes possible to accept the usage of the other moving body 2. The traffic management device 11 ends monitoring in the managed space 5f2 using an exit notification from the moving body 2 as a trigger.

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

[0077] The dynamic space management unit 13 generates space management information for the dynamic space set, and the space situation management unit 14 reserves the use of the managed space 5f1 and the managed space 5f2, after which the passage instruction unit 15 outputs a passage instruction to the moving object 2.

[0078] The moving object 2 that has received the passage instruction enters the managed space 5f1 that is included in the managed space 5f6. When the moving object 2 enters the managed space 5f1, the moving object 2 outputs an entry notification to the traffic management device 11. The space situation management unit 14 updates the usage status of the managed space 5f6. The traffic management device 11 monitors the managed space 5f6 using the entry notification from the moving object 2 as a trigger.

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

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

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

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

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

[0084] With this configuration, the moving body 2 is permitted to enter the managed space 5 if no interference occurs, which allows the moving body 2 to more efficiently use the managed space 5. In addition, the presence or absence of interference is determined according to the effective width of each moving body 2, which allows for flexible judgment according to the moving body 2 passing through.

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

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

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

[0088] A part or all of the functions of the mobile system 1 may be realized by a processing circuit. The processing circuit includes at least one processor 100a and at least one memory 100b. The processing circuit may include at least one dedicated hardware 200 together with or in place of the processor 100a and the memory 100b.

[0089] When the processing circuit includes the processor 100a and the memory 100b, each function of the mobile system 1 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. The program is stored in the memory 100b. The processor 100a realizes each function of the mobile system 1 by reading and executing the program stored in the memory 100b. The program may be a program package including a plurality of subprograms, modules, or libraries. The program may also be called a program product.

[0090] The processor 100a is also called a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. The memory 100b is composed of a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM.

[0091] Where the processing circuitry comprises dedicated hardware 200, the processing circuitry may be implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0092] Each function of the mobile body system 1 can be realized by a processing circuit. Alternatively, each function of the mobile body system 1 can be realized collectively by a processing circuit. Some of the functions of the mobile body system 1 may be realized by dedicated hardware 200, and the other parts may be realized by software or firmware. In this way, the processing circuit realizes each function of the mobile body system 1 by dedicated hardware 200, software, firmware, or a combination of these.

[0093] Embodiment 2 In the second embodiment, differences from the example disclosed in the first embodiment will be described in particular detail. For features not described in the second embodiment, any of the features of the example disclosed in the first embodiment may be adopted.

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

[0095] The traffic management device 11 includes a mobile object management unit 17. The mobile object management unit 17 is a unit equipped with a function for managing information about each mobile object 2. The information about the mobile object 2 includes, for example, the current position, current speed, and current state of the mobile object 2. Information such as the current position of the mobile object 2 is provided to the traffic management device 11 from, for example, the mobile object 2 itself or the mobile object control device 10 at any time. The mobile object management unit 17 manages the information about the mobile object 2 by storing the information in, for example, a database. The management of information by the mobile object management unit 17 includes adding, holding, updating, correcting, or deleting information. The mobile object management unit 17 manages the changing information about the mobile object 2 while updating it at any time so that the information can reflect the current situation.

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

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

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

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

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

[0101] The moving object 2 that has received the passage instruction enters the managed space 5f1 included in the managed space 5f6. The dynamic space management unit 13 detects the entry of the moving object 2 into the managed space 5f1 based on the information on the current position of the moving object 2 managed by the moving object management unit 17. The space situation management unit 14 updates the usage status of the managed space 5f6. The traffic management device 11 monitors the managed space 5f6 using the entry of the moving object 2 as a trigger. The monitoring of the managed space 5f6 is performed based on, for example, the usage status managed by the space situation management unit 14 and the information on the current position of the moving object 2 managed by the moving object management unit 17.

[0102] After that, the moving object 2 exits from the managed space 5f1. The dynamic space management unit 13 detects the exit of the moving object 2 from the managed space 5f1 based on the information of the current position of the moving object 2 managed by the moving object management unit 17. When the moving object 2 exits from the managed space 5f1, the dynamic space management unit 13 releases the managed space 5f1 from the managed space 5 to which the space management information of the dynamic space set corresponds. At this time, the space management information of the dynamic space set corresponds to the managed space 5f7 that combines the intermediate space 8f1 and the managed space 5f2. The space situation management unit 14 releases the reservation for use of the managed space 5f1. For example, when the equipment 6 of the managed space 5f1 accepts the release of the reservation for use from the space situation management unit 14, it becomes possible to accept the use of the other moving object 2. The space situation management unit 14 updates the usage status of the managed space 5f1 and the managed space 5f7. The traffic management device 11 continues monitoring the managed space 5f7.

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

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

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

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

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

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

Claims

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

2. the dynamic space management unit, when a moving object that has outputted a use request for the first space and the second space exits the first space, releases the first space by removing the first space from a management space corresponding to the space management information for the dynamic space set.

2. A traffic management device according to claim 1.

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

3. A traffic management device according to claim 2.

4. the dynamic space management unit, when a moving body that has output a use request for the first space and the second space enters the first space and then enters the second space, releases the intermediate space by removing the intermediate space from a management space corresponding to the space management information for the dynamic space set.

2. A traffic management device according to claim 1.

5. A mobile object management unit that manages, while updating, information on the current location of each of the plurality of mobile objects. Equipped with The dynamic space management unit detects, based on information managed by the moving body management unit, entry and exit of the plurality of moving bodies into and out of the plurality of preset management spaces or a space corresponding to the dynamic space set. A traffic management device according to any one of claims 2 to 4.

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

7. Space management information for a management space that manages interference with passage between a plurality of moving bodies includes information for identifying a corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, The computer storing the space management information for each of a plurality of predefined management spaces, each of which is made up of a single space; generating the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space when it is determined that, when a use request for a first space and a second space that do not share an entrance / exit among the plurality of management spaces is output from any one of the plurality of moving bodies, traffic interference may occur in an intermediate space between the first space and the second space through which the moving body passes; managing information on the utilization status of the plurality of moving objects in each of the plurality of management spaces set in advance and in a space corresponding to the dynamic space set based on the space management information; outputting a passage instruction for permitting passage of each of the plurality of moving bodies through the plurality of preset management spaces or the spaces corresponding to the dynamic space set based on a usage status of the plurality of moving bodies; Run The space management information at the time of generation of the dynamic space set corresponds to a management space that is a combination of the first space, the intermediate space, and the second space, includes information on the entrances of the first space and the second space that do not lead to the intermediate space as information on the entrances of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space, The usage status of the plurality of moving objects includes information on whether each of the plurality of moving objects is in the plurality of predetermined management spaces or the space corresponding to the dynamic space set. Traffic management methods.

8. Space management information for a management space that manages interference between a plurality of moving bodies includes information for identifying a corresponding management space, information on one or more entrances and exits of the management space, and attribute information of the management space, On the computer, storing the space management information for each of a plurality of predefined management spaces, each of which is made up of a single space; generating the space management information for a dynamic space set consisting of the first space, the intermediate space, and the second space when it is determined that, when a use request for a first space and a second space that do not share an entrance / exit among the plurality of management spaces is output from any one of the plurality of moving bodies, traffic interference may occur in an intermediate space between the first space and the second space through which the moving body passes; managing information on the utilization status of the plurality of moving objects in each of the plurality of management spaces set in advance and in the space corresponding to the dynamic space set based on the space management information; outputting a passage instruction for permitting passage of each of the plurality of moving bodies through the plurality of preset management spaces or the spaces corresponding to the dynamic space set based on a usage status of the plurality of moving bodies; Run the command, The space management information at the time of generation of the dynamic space set corresponds to a management space that is a combination of the first space, the intermediate space, and the second space, includes information on the entrances of the first space and the second space that do not lead to the intermediate space as information on the entrances of the corresponding management space, and includes attribute information of the dynamic space set as attribute information of the corresponding management space, The usage status of the plurality of moving objects includes information on whether each of the plurality of moving objects is in the plurality of predetermined management spaces or the space corresponding to the dynamic space set. Traffic management programs.

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

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

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