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] A traffic management device 9 includes an area management unit 10, a reception unit 12, a mobile unit management unit 11, a selection unit 13, and a command unit 14. The area management unit 10 manages area information including information on adjacent nodes 6 for each arbitration area 5. The reception unit 12 receives an arbitration request from a mobile unit 2 attempting to enter the arbitration area 5. The mobile unit management unit 11 manages priority information for the mobile unit 2. The selection unit 13 selects an allowed node from among the adjacent nodes 6 that is permitted to enter the arbitration area 5 based on the priority of the mobile unit 2 entering from the adjacent node 6. The command unit 14 outputs an entry instruction to the mobile unit 2 entering from the allowed node selected by the selection unit 13.

Description

[Technical field]

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

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

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

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

[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] The traffic management device according to the present disclosure includes an area management unit that manages area information including information on nodes adjacent to a preset arbitration area, and a traffic management unit that manages area information including information on nodes adjacent to the ... To the arbitration area a receiving unit that receives an arbitration request for an entry instruction; a mobile object management unit that manages priority information of each of the one or more mobile objects; a selection unit that selects an allowed node from among adjacent nodes to permit entry into the arbitration area based on the priority of a mobile object entering from the adjacent node; and a command unit that outputs an entry instruction to at least one of the one or more mobile objects entering from the allowed node selected by the selection unit. The mobile object management unit manages the current location of each of the one or more mobile objects while updating it, and the reception unit rejects the arbitration request when the mobile object that issues the arbitration request for entry at the current time is outside a preset reception range for the arbitration area that the mobile object is attempting to enter by the arbitration request. . The traffic management device of the present disclosure comprises an area management unit that manages area information for a predetermined arbitration area, including information on nodes adjacent to the arbitration area; a reception unit that accepts arbitration requests from one or more moving bodies each attempting to enter the arbitration area, requesting an entry instruction to the arbitration area at the current time; a mobile body management unit that manages priority information for each of the one or more moving bodies; a selection unit that selects an allowed node from among the adjacent nodes to permit entry into the arbitration area based on the priority of the mobile body entering from the adjacent node; and a command unit that outputs an entry instruction to at least any of the one or more mobile bodies entering from the allowed node selected by the selection unit, and the reception unit accepts reservations for arbitration requests from the one or more mobile bodies requesting an entry instruction for the arbitration area at a future reservation time. The traffic management device according to the present disclosure includes an area management unit that manages area information for a preset arbitration area, the area information including information on nodes adjacent to the arbitration area; a reception unit that receives arbitration requests for entry instructions from one or more mobile bodies each attempting to enter the arbitration area; a mobile body management unit that manages priority information for each of the one or more mobile bodies; a selection unit that selects, for the arbitration area, an allowed node from among the adjacent nodes that is permitted to enter the area based on the priority of a mobile body entering from the adjacent node; and a selection unit that selects, from among the one or more mobile bodies, an allowed node selected by the selection unit. and a command unit that outputs an entry instruction to at least one of the moving bodies to permit entry from the permitted node, wherein when the one or more moving bodies include a first moving body and a second moving body having a lower priority than the first moving body, the mobile body management unit manages while updating information as to whether each of the one or more moving bodies is currently in the arbitration area, and when the second moving body is staying in the arbitration area where the first moving body is attempting to enter, the command unit outputs an exit instruction to the second moving body, and then outputs an entry instruction to the first moving body to permit entry into the arbitration area. The traffic management device of the present disclosure comprises an area management unit that manages area information for a predetermined arbitration area, including information on nodes adjacent to the arbitration area; a reception unit that receives arbitration requests requesting entry instructions from one or more moving bodies each attempting to enter the arbitration area; a mobile body management unit that manages priority information for each of the one or more moving bodies; a selection unit that selects an allowed node from among adjacent nodes to permit entry into the arbitration area based on the priority of the moving body entering from the adjacent node; and a command unit that outputs an entry instruction to at least any of the one or more moving bodies entering from the allowed node selected by the selection unit, to permit entry from the allowed node.When at least one of the number of moving bodies or waiting time waiting to enter from any of the nodes adjacent to the arbitration area exceeds a predetermined criterion, the selection unit selects the node that exceeds the criterion as the allowed node, regardless of the priority of the moving body entering the arbitration area.

[0007] The traffic management method according to the present disclosure includes the steps of: managing area information for a preset arbitration area, the area information including information on nodes adjacent to the arbitration area; and detecting, from one or more moving bodies each attempting to enter the arbitration area, To the arbitration area receiving an arbitration request for an entry instruction; managing priority information of each of the one or more moving bodies; selecting an allowed node from among the adjacent nodes for allowing entry into the arbitration area based on the priority of the moving body entering from the adjacent node; and outputting an entry instruction for allowing entry from the allowed node to at least one of the moving bodies entering from the selected allowed node among the one or more moving bodies. the computer manages the current location of each of the one or more moving bodies while updating it, and when a moving body that issues the arbitration request for entry at the current time is outside a preset acceptance range for an arbitration area that the moving body is attempting to enter by the arbitration request, the computer rejects the arbitration request. . The traffic management method of the present disclosure is a method in which a computer executes the following steps for managing area information for a predetermined arbitration area, including information on nodes adjacent to the arbitration area; accepting arbitration requests from one or more moving bodies each attempting to enter the arbitration area, requesting an entry instruction to the arbitration area at the current time; managing priority information for each of the one or more moving bodies; selecting an allowed node from among the adjacent nodes to permit entry into the arbitration area based on the priority of the mobile body entering from the adjacent node; and outputting an entry instruction to at least one of the one or more moving bodies entering from the selected allowed node, permitting entry from the allowed node; and the computer accepts reservations for arbitration requests from the one or more moving bodies requesting an entry instruction for the arbitration area at a future reservation time. A traffic management method according to the present disclosure includes a computer managing area information for a preset arbitration area, the area information including information on nodes adjacent to the arbitration area; accepting arbitration requests for entry instructions from one or more moving bodies each attempting to enter the arbitration area; managing priority information for each of the one or more moving bodies; selecting an permission node from among the adjacent nodes for permitting entry into the arbitration area based on the priority of a moving body entering from the adjacent node; and calculating at least one priority of a moving body entering from the selected permission node from among the one or more moving bodies. and outputting an entry instruction to any one of the one or more moving bodies permitting entry from the permitted node; when the one or more moving bodies include a first moving body and a second moving body having a lower priority than the first moving body, the computer manages, while updating, information as to whether each of the one or more moving bodies is currently in the arbitration area, and when the second moving body is present in the arbitration area into which the first moving body is attempting to enter, the computer outputs an exit instruction to the second moving body, and then outputs an entry instruction to the first moving body permitting entry into the arbitration area. A traffic management method according to the present disclosure is a method in which a computer executes the following steps: for a preset arbitration area, managing area information including information on nodes adjacent to the arbitration area; accepting arbitration requests requesting entry instructions from one or more moving bodies each attempting to enter the arbitration area; managing priority information for each of the one or more moving bodies; for the arbitration area, selecting an allowed node from among the adjacent nodes to permit entry based on the priority of the moving body entering from the adjacent node; and outputting an entry instruction to at least one of the one or more moving bodies entering from the selected allowed node, permitting entry from the allowed node; and when at least one of the number of moving bodies or waiting time waiting to enter from any of the nodes adjacent to the arbitration area exceeds a preset criterion, the computer selects the node that exceeds the criterion as the allowed node, regardless of the priority of the moving body entering the arbitration area.

[0008] The traffic management program according to the present disclosure is installed on a computer. Any of the above traffic management methods Execute the command.

[0009] The mobile system according to the present disclosure includes: Any one of the above traffic management devices, One or more moving objects each attempting to enter the arbitration area ,of Prepare.

[0010] The mobile object control system according to the present disclosure includes: Any one of the above traffic management devices, a mobile object control unit that controls the movement of one or more mobile objects each attempting to enter the arbitration area; ,of Prepare. 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] 1 is a plan view illustrating an example of an arbitration area in a mobile body system according to a first embodiment. [Diagram 3] 4 is a sequence diagram showing an example of an operation of the mobile system according to the first embodiment. FIG. [Figure 4] 5 is a flowchart showing an example of the operation of the mobile body system according to the first embodiment. [Diagram 5] 1 is a hardware configuration diagram of a main part of a mobile body system according to a first embodiment. [Figure 6] FIG. 11 is a plan view illustrating an example of an arbitration area in a mobile body system according to a second embodiment. [Figure 7] 11 is a flowchart showing an example of the operation of the mobile body system according to the second embodiment. [Figure 8] 11 is a flowchart showing an example of the operation of the mobile body system according to the second embodiment. [Figure 9] 13 is a flowchart showing an example of the operation of the mobile body system according to the third 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, one or more arbitration areas 5 are set. In this example, a plurality of arbitration areas 5 are set in advance. The arbitration area 5 is, for example, a place where the mobile body 2 may cross, such as a narrow road or an intersection. The arbitration area 5 may be, for example, a space such as a room or a space. The arbitration area 5 may be a space including an elevator applied to the facility 3. In this case, the arbitration area 5 is set, for example, in a range including the inside of the elevator car and the hall of each floor. For each arbitration area 5, one or more adjacent nodes 6 are set in advance. Each node 6 corresponds, for example, to each entrance and exit to the arbitration area 5. For example, each node 6 adjacent to an arbitration area 5 such as an intersection corresponds to each passage leading to the intersection.

[0020] The mobile object system 1 includes a mobile object control system 7. The mobile object control system 7 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 7 includes a mobile object control device 8 and a traffic management device 9.

[0021] The mobile body control device 8 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 8 is an example of a mobile body control unit. The mobile body control device 8 communicates with an external device via the communication network 4 or the like. The mobile body control device 8 may control the operation of multiple mobile bodies 2. Multiple mobile body control devices 8 may be provided in the mobile body control system 7. Each mobile body control device 8 may be managed by, for example, different administrators. The administrator of the mobile body control device 8 is, for example, the manufacturer or management company of the corresponding mobile body 2. The same administrator may manage multiple mobile body control devices 8. Some or all of the mobile body control devices 8 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 8 is, for example, a computer system consisting of one or more server devices. Here, a computer system consisting of one or more devices may simply be called a computer. The multiple server devices that constitute the mobile body control device 8 may be located in different locations. At this time, the multiple server devices communicate information with each other, for example, via the communication network 4. Some or all of the functions of the mobile body control device 8 may be implemented, for example, by processing or storage resources on a cloud service. Note that some or all of the mobile bodies 2 operating in the mobile body system 1 may operate autonomously without being controlled by the mobile body control device 8.

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

[0023] The area management unit 10 is a part that has a function of managing area information for each arbitration area 5. The area information for the arbitration area 5 includes, for example, the coordinates, range, identifier, name, attributes, number of moving objects 2 currently in the arbitration area 5, identifiers of each of the moving objects 2, and other information for the arbitration area 5. The area information for the arbitration area 5 includes, for example, information such as an identifier that identifies the arbitration area 5, and coordinates, range, identifier, name, attributes, and other information for each node 6 adjacent to the arbitration area 5. The area management unit 10 manages the area information by storing it in, for example, a database. The area management unit 10 may also manage information on the relationship between the arbitration areas 5. The information on the relationship between the arbitration areas 5 includes connection information such as whether or not traffic can be made between the arbitration areas 5. The management of information by the area management unit 10 includes adding, holding, updating, correcting, or deleting information. The area management unit 10 manages information that changes among the area information while updating it as needed to reflect the current situation.

[0024] The mobile body management unit 11 is a part that has a function of managing information about each mobile body 2. The information about the mobile body 2 includes, for example, an identifier of the mobile body 2, a type of service provided by the mobile body 2, size information such as width and weight of the mobile body 2, an identifier of the mobile body control device 8 that controls the mobile body 2, and other attributes of the mobile body 2. The information about the mobile body 2 includes, for example, information about the rated movement speed, maximum movement speed, turning radius, or other movement performance of the mobile body 2. The information about the mobile body 2 includes, for example, information about the current position, current speed, and current state of the mobile body 2. The state of the mobile body 2 includes, for example, information about whether the mobile body 2 is in the arbitration area 5 or not, information about the identifier of the arbitration area 5, information about whether the mobile body 2 is executing a task or not, and information about the type of the task. The information about whether the mobile body 2 is currently in the arbitration area 5 or not may be, for example, information about the current position of the mobile body 2. Information on the current location of the mobile body 2 is acquired by the mobile body 2 itself or the mobile body control device 8, for example, using a satellite positioning system such as a GPS (Global Positioning System), an autonomous navigation system, an indoor positioning system, or other positioning systems. Information on the current location of the mobile body 2 is provided from the mobile body 2 itself or the mobile body control device 8 to the traffic management device 9 as needed. The mobile body management unit 11 manages the information of the mobile body 2 by storing it in a database, for example. The management of information by the mobile body management unit 11 includes adding, holding, updating, correcting, or deleting information. The mobile body management unit 11 manages information of the mobile body 2 that changes while updating it as needed to reflect the current situation.

[0025] In this example, the information on the moving object 2 managed by the moving object management unit 11 includes information on the priority of the moving object 2. The priority of the moving object 2 is, for example, a numerical value indicating the degree to which the moving object 2 should be prioritized for entry into the arbitration area 5. The priority of the moving object 2 is set, for example, based on the moving performance of the moving object 2, such as the maximum moving speed or turning radius, the size of the moving object 2, the type of service provided by the moving object 2, or other static attributes of the moving object 2. The priority of the moving object 2 is set, for example, based on the current location of the moving object 2, the remaining amount of energy, such as the power or fuel, of a battery mounted on the moving object 2, the type or urgency of a task being executed by the moving object 2, or other quasi-static, quasi-dynamic, or dynamic information.

[0026] The reception unit 12 is a part equipped with a function for receiving an arbitration request from each mobile body 2. The arbitration request from a mobile body 2 is transmitted via the communication network 4 or the like when the mobile body 2 attempts to enter any of the arbitration areas 5. The arbitration request from a mobile body 2 may be transmitted from the mobile body control device 8 corresponding to the mobile body 2. The arbitration request is a signal that requests an instruction to enter the arbitration area 5 from the traffic management system. The arbitration request includes information such as the identifier of the mobile body 2, the identifier of the arbitration area 5, and the identifier of the entry node which is the node 6 serving as the entrance to the arbitration area 5.

[0027] The selection unit 13 is a part that has a function of selecting an allowed node that permits entry of the mobile unit 2 for each arbitration area 5 for which an arbitration request has been made. When the reception unit 12 receives an arbitration request for any of the arbitration areas 5, the selection unit 13 selects one of the nodes 6 adjacent to the arbitration area 5 as an allowed node based on the area information of the arbitration area 5 managed by the area management unit 10.

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

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

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

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

[0032] In this example, three mobile units, 2a, 2b, and 2c, are about to enter the same arbitration area 5. In addition, when there is no particular distinction between the mobile units 2a, 2b, and 2c, they may be simply referred to as mobile units 2. The mobile unit 2a enters from the western node 6 and passes through the arbitration area 5. The mobile unit 2b enters from the northern node 6 and passes through the arbitration area 5. The mobile unit 2c enters from the northern node 6 and passes through the arbitration area 5. For example, when the selection unit 13 selects the western node 6 as an allowed node, the command unit 14 outputs an entry instruction to the mobile unit 2a waiting to enter at the western node 6. The mobile unit 2a that has received the entry instruction enters the arbitration area 5 from the western node 6, which is an allowed node, and passes through the arbitration area 5.

[0033] Next, an example of the operation of the mobile system 1 will be described with reference to FIG. 3 and FIG. FIG. 3 is a sequence diagram showing an example of the operation of the mobile system 1 according to the first embodiment. FIG. 4 is a flowchart showing an example of the operation of the mobile body system 1 according to the first embodiment.

[0034] Fig. 3 shows an example of arbitration in the situation shown in Fig. 2. In this example, mobile unit 2a, mobile unit 2b, and mobile unit 2c arrive at node 6 adjacent to arbitration area 5 in this order and output arbitration requests in this order. The priority of mobile unit 2b is lower than the priority of mobile unit 2a. The priority of mobile unit 2c is higher than the priority of mobile unit 2a.

[0035] When the moving object 2 a is about to enter the arbitration area 5 , it outputs an arbitration request to the traffic control device 9 .

[0036] The reception unit 12 of the traffic management device 9 receives an arbitration request from the mobile unit 2a. The notification unit 15 notifies the mobile unit 2a that the reception unit 12 has received the arbitration request. The selection unit 13 refers to the area information managed by the area management unit 10 and the information of the mobile unit 2 managed by the mobile unit management unit 11 based on information such as an identifier included in the arbitration request. The selection unit 13 selects one of the nodes 6 adjacent to the arbitration area 5 as an allowed node based on the referred information. In this example, since there is no other mobile unit 2 than the mobile unit 2a that has output an arbitration request, the selection unit 13 selects the node 6 on the west side where the mobile unit 2a is about to enter as an allowed node.

[0037] The command unit 14 outputs an entry instruction to the moving body 2 entering from the permitted node selected by the selection unit 13. In this example, since only one moving body, 2a, is waiting to enter the permitted node, the command unit 14 outputs an entry instruction to the moving body 2a.

[0038] The mobile unit 2a, which has received an entry instruction from the command unit 14, enters the arbitration area 5 from the western node 6, which is an allowed node, and passes through the arbitration area 5. During this time, the mobile unit 2b outputs an arbitration request to the traffic management device 9 when it attempts to enter the arbitration area 5.

[0039] The reception unit 12 of the traffic management device 9 receives an arbitration request from the mobile unit 2b. The notification unit 15 notifies the mobile unit 2b that the reception unit 12 has received the arbitration request. The selection unit 13 performs a process of selecting an allowed node. In this example, the selection unit 13 selects node 6 on the west side, where the mobile unit 2a enters, as the allowed node. The selection unit 13 compares the priorities of the mobile unit 2a entering from node 6 on the west side and the mobile unit 2b entering from node 6 on the north side. Since the priority of the mobile unit 2a is higher than the priority of the mobile unit 2b, the selection unit 13 maintains the selection of node 6 on the west side, where the mobile unit 2a enters, as the allowed node.

[0040] While the moving body 2a is passing through the arbitration area 5, the moving body 2b waits at the northern node 6 to enter the arbitration area 5. During this time, the moving body 2c outputs an arbitration request to the traffic management device 9 when it attempts to enter the arbitration area 5.

[0041] The reception unit 12 of the traffic management device 9 receives an arbitration request from the mobile unit 2c. The notification unit 15 notifies the mobile unit 2c that the reception unit 12 has received the arbitration request. The selection unit 13 performs a process of selecting an allowed node. In this example, the selection unit 13 selects the western node 6 through which the mobile unit 2a enters as the allowed node. The selection unit 13 compares the priorities of the mobile unit 2a entering from the western node 6 and the mobile unit 2c entering from the northern node 6. Since the priority of the mobile unit 2c is higher than the priority of the mobile unit 2a, the selection unit 13 selects the northern node 6 through which the mobile unit 2c enters as the allowed node.

[0042] In this example, since the moving object 2a has already entered the arbitration area 5, the command unit 14 waits to output an entry instruction until the moving object 2a has completed passing through the arbitration area 5. During this time, the moving objects 2b and 2c wait at the node 6 on the north side to enter the arbitration area 5.

[0043] Thereafter, based on a notification from the moving object 2a or the like, the traffic management device 9 determines that the moving object 2a has completed passing through the arbitration area 5. The traffic management device 9 may determine the completion of the passage of the moving object 2a based on information on the current position of the moving object 2a managed by the moving object management unit 11 or the like.

[0044] Thereafter, the command unit 14 outputs an entry instruction to the moving body 2 entering from the permission node selected by the selection unit 13. In this example, moving body 2b and moving body 2c are waiting to enter at the permission node. The command unit 14 outputs an entry instruction to moving body 2b in the order of arrival of the arbitration request, and then outputs an entry instruction to moving body 2c. At this time, the command unit 14 may output an entry instruction to the next moving body 2c before the preceding moving body 2b completes passage through the arbitration area 5. Note that the command unit 14 may output an entry instruction to the moving bodies 2 in the order of arrival at the permission node.

[0045] While the moving body 2a passes through the arbitration area 5 and the moving body 2b waits to enter the arbitration area 5, another moving body 2 entering from the western node 6, which is an allowed node, may output an arbitration request before the arbitration request of the moving body 2c. If the priority of the other moving body 2 is higher than that of the moving body 2b, the selection unit 13 maintains the selection of the western node 6, where the other moving body 2 enters, as the allowed node. In this case, since the other moving body 2 enters from the western node 6 selected as the allowed node, the command unit 14 outputs an entry instruction to the other moving body 2. The command unit 14 may output an entry instruction to the other moving body 2 before the preceding moving body 2a completes passage through the arbitration area 5.

[0046] FIG. 4 shows an example of the operation of the traffic management device 9 with respect to the selection of an allowed node and the output of an entry instruction.

[0047] In step S11, the selection unit 13 judges whether there is a mobile object 2 that enters from the current permission node and passes through the arbitration area 5. The mobile object 2 includes, for example, a mobile object 2 waiting for an entry instruction at the permission node and a mobile object 2 that entered from the permission node and passes through the arbitration area 5. The judgment is made based on, for example, the arbitration request accepted by the reception unit 12, the entry instruction output by the command unit 14, and the position of the mobile object 2 managed by the mobile object management unit 11. When there is a mobile object 2 that enters from the permission node and passes through the arbitration area 5, the processing of the traffic management device 9 proceeds to step S12. On the other hand, when there is no mobile object 2 that enters from the permission node and passes through the arbitration area 5, the processing of the traffic management device 9 proceeds to step S13.

[0048] In step S12, the selection unit 13 judges whether there is a node 6 among the nodes 6 adjacent to the arbitration area 5, where a mobile body 2 with a higher priority than the mobile body 2 that enters from the current permission node and passes through the arbitration area 5 is waiting for an entry instruction. When there are multiple mobile bodies 2 entering from the current permission node, the selection unit 13 compares, for example, the highest priority among the multiple mobile bodies 2 of the permission node with the priority of the mobile body 2 of the other node 6. When there is a node 6 where a mobile body 2 with a higher priority than the mobile body 2 of the current permission node is waiting for an entry instruction, the processing of the traffic management device 9 proceeds to step S13. On the other hand, when there is no node 6 where a mobile body 2 with a higher priority than the mobile body 2 of the current permission node is waiting for an entry instruction, the selection unit 13 maintains the selection of the permission node as the current node 6. After that, the processing of the traffic management device 9 proceeds to step S14.

[0049] In step S13, the selection unit 13 selects, as an allowed node, a node 6 having the highest priority for a mobile unit 2 waiting for an entry instruction there, among the nodes 6 adjacent to the arbitration area 5. When there is a node 6 at which multiple mobile units 2 are waiting for an entry instruction, the selection unit 13 compares the nodes 6 using the highest priority among the multiple mobile units 2 at that node 6. When there are multiple nodes 6 at which the waiting mobile units 2 have the highest priority, the selection unit 13 may select, for example, as an allowed node, a node 6 at which a mobile unit 2 that outputted the earliest arbitration request is waiting, among the multiple high-priority nodes 6. After the selection of the allowed node, the process of the traffic management device 9 proceeds to step S14.

[0050] In step S14, the command unit 14 outputs an entry instruction to the mobile body 2 waiting to enter from the permission node. The command unit 14 may wait for the output of the entry instruction while the mobile body 2 that entered from another node 6 is passing through the arbitration area 5. When a mobile body 2 that entered earlier from the permission node is passing through the arbitration area 5, the command unit 14 may output an entry instruction to the waiting mobile body 2 without waiting for the mobile body 2 that entered earlier to complete its passage. After outputting the entry instruction, the processing of the traffic management device 9 proceeds to step S11.

[0051] As described above, the mobile body system 1 according to the first embodiment includes one or more mobile bodies 2 and a mobile body control system 7. The mobile body control system 7 includes a mobile body control device 8 and a traffic management device 9. The mobile body control device 8 controls the movement of the mobile body 2. The traffic management device 9 includes an area management unit 10, a reception unit 12, a mobile body management unit 11, a selection unit 13, and a command unit 14. The area management unit 10 manages area information for each arbitration area 5. The area information for the arbitration area 5 includes information on adjacent nodes 6. The reception unit 12 receives an arbitration request from each mobile body 2 attempting to enter the arbitration area 5. The mobile body management unit 11 manages priority information for each mobile body 2. The selection unit 13 selects an allowed node that is permitted to enter the arbitration area 5 from among the adjacent nodes 6 based on the priority of the mobile body 2 entering from the adjacent node 6. The command unit 14 outputs an entry instruction to the moving object 2 entering from the permitted node selected by the selection unit 13.

[0052] With this configuration, an entry instruction is output from the permission node to the moving body 2 entering the selection. This reduces the possibility of blockages and the like when entering the arbitration area 5, and reduces the decrease in the movement efficiency of the moving body 2. In addition, the permission node allows the entry instruction to be output continuously to multiple moving bodies 2 entering the arbitration area 5, so that the traffic flow in the arbitration area 5 is less likely to be interrupted and the movement of the moving body 2 is less likely to be delayed. In addition, the selection of the permission node is performed based on the priority of the moving body 2 waiting at each node 6, so that a moving body 2 with a higher priority can pass through the arbitration area 5 more quickly. This further improves the quality of the service provided by the moving body 2. In addition, since the traffic management device 9 arbitrates the movement between multiple moving bodies 2 in response to an arbitration request, even in cases where direct cooperation between the moving bodies 2 is difficult, such as when the moving bodies 2 are manufactured by different manufacturers, crossings between the moving bodies 2 are less likely to occur. In this way, the movement efficiency of the moving body 2 is further improved in the moving body system 1.

[0053] Moreover, the priority is set based on the movement performance of each moving body 2. Movement performance such as maximum movement speed affects whether or not moving bodies 2 can overtake each other. By setting the priority of the moving body 2 based on the movement performance, occurrences of overtaking between moving bodies 2 are managed, and the movement efficiency of the moving body 2 is further improved. For example, by setting a high priority for a moving body 2 with high movement performance, occurrences of overtaking between moving bodies 2 are suppressed, and the movement efficiency of the moving body 2 is further improved. Moreover, the priority is set based on the remaining amount of energy of each moving body 2. This suppresses the occurrence of emergency stops of the moving body 2 due to lack of energy, etc., and makes it less likely that blockages of the moving body 2 will occur.

[0054] In addition, when the waiting state of the mobile body 2 at any of the nodes 6 adjacent to the arbitration area 5 exceeds a preset criterion, the selection unit 13 may select the node 6 that exceeds the criterion as an allowed node, regardless of the priority of the mobile body 2. The waiting state of the mobile body 2 at the node 6 may be, for example, one or both of the number of mobile bodies 2 waiting to enter from the node 6. For a node 6 at which multiple mobile bodies 2 are waiting, the selection unit 13 compares the nodes 6 with each other, for example, by the maximum value, average value, or sum of the waiting time of each mobile body 2. For example, when the waiting state at any of the nodes 6 exceeds the criterion, the selection unit 13 temporarily disables the selection of an allowed node based on the priority of the mobile body 2 waiting at each node 6. After that, the selection unit 13 enables the selection of an allowed node based on the priority of the mobile body 2 when, for example, a preset time has elapsed. Alternatively, the selection unit 13 may disable the selection of an allowed node based on the priority of the mobile body 2 until the waiting state at the node 6 falls below the preset criterion. The criteria for temporarily disabling the selection of permitted nodes based on the priority of the moving object 2 and the criteria for canceling the disabling may be different from each other. This prevents the moving object 2 from staying at any of the nodes 6, thereby improving the movement efficiency of the moving object 2.

[0055] Next, an example of the hardware configuration of the mobile system 1 will be described with reference to FIG. FIG. 5 is a hardware configuration diagram of a main part of the mobile body system 1 according to the first embodiment.

[0056] 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 in addition to or in place of the processor 100a and the memory 100b.

[0057] 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.

[0058] 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.

[0059] Where the processing circuitry comprises dedicated hardware, the processing circuitry may be implemented as, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or any combination thereof.

[0060] Each function of the mobile system 1 can be realized by a processing circuit. Alternatively, each function of the mobile system 1 can be realized collectively by a processing circuit. Some of the functions of the mobile system 1 may be realized by dedicated hardware, and the other parts may be realized by software or firmware. In this way, the processing circuit realizes each function of the mobile system 1 by dedicated hardware, software, firmware, or a combination of these.

[0061] 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.

[0062] FIG. 6 is a plan view illustrating an example of the arbitration area 5 in the mobile body system 1 according to the second embodiment.

[0063] The area information of the arbitration area 5 includes, for example, information on a reception range, which is a range within which an arbitration request for entry into the arbitration area 5 is accepted. The reception range is specified, for example, by a straight-line distance from the arbitration area 5 or a distance on a route. The reception range may be, for example, a wider range including each node 6 adjacent to the arbitration area 5. For example, when each mobile object 2 enters the reception range of the arbitration area 5, it outputs an arbitration request to enter the arbitration area 5 to the traffic management device 9. Each mobile object 2 may determine whether or not it is within the reception range of the arbitration area 5 based on information such as its own current position.

[0064] In this example, the mobile unit 2 may output to the traffic management device 9 a reservation for an arbitration request that requests an entry instruction for the arbitration area 5 at a future reservation time. The reservation for the arbitration request is, for example, an arbitration request to which a reservation flag is attached. At this time, the reservation flag is not attached to the arbitration request that requests an entry instruction at the current time. The reservation for the arbitration request includes information such as a time that specifies the reservation time in addition to information of a normal arbitration request. The selection unit 13 selects an allowed node at the reservation time based on the reservation for the arbitration request. The traffic management device 9 performs processing such as selection of an allowed node and output of an entry instruction, assuming that the arbitration request is accepted at the reservation time. For example, the traffic management device 9 cancels the reservation for the arbitration request when outputting an entry instruction based on the reservation for the arbitration request.

[0065] 7 and 8 are flowcharts showing an example of the operation of the mobile body system 1 according to the second embodiment. FIG. 7 shows an example of the operation of the traffic management device 9 when the moving object 2 outputs an arbitration request.

[0066] In step S21, the reception unit 12 receives an arbitration request from the mobile body 2 regarding passage through the arbitration area 5. The reception unit 12 refers to the area information managed by the area management unit 10 and the information of the mobile body 2 managed by the mobile body management unit 11 based on information such as an identifier included in the arbitration request. The information of the mobile body 2 referred to by the reception unit 12 includes information on the current position of the mobile body 2, which is updated and managed by the mobile body management unit 11. Thereafter, the processing of the traffic management device 9 proceeds to step S22.

[0067] In step S22, the reception unit 12 determines whether a reservation flag is set to the arbitration request. If the reservation flag is set, the process of the traffic management device 9 proceeds to step S23. On the other hand, if the reservation flag is not set, the process of the traffic management device 9 proceeds to step S24.

[0068] In step S23, the reception unit 12 receives the arbitration request received from the moving object 2 as a reservation. The traffic management device 9 stores the reservation of the received arbitration request at least until the reservation is made. After that, the processing of the traffic management device 9 ends.

[0069] In step S24, the reception unit 12 determines whether the current position of the identified moving object 2 is within the reception range of the identified arbitration area 5. If the moving object 2 is within the reception range, the process of the traffic management device 9 proceeds to step S25. On the other hand, if the moving object 2 is outside the reception range, the process of the traffic management device 9 proceeds to step S26.

[0070] In step S25, the reception unit 12 receives the arbitration request received from the moving object 2. The traffic management device 9 performs processing such as determining whether to output an entry instruction in response to the received arbitration request. Then, the processing of the traffic management device 9 ends.

[0071] In step S26, the reception unit 12 rejects the arbitration request received from the moving object 2 without accepting it. The traffic management device 9 does not perform processing such as determining whether to output an entry instruction for the rejected arbitration request. The notification unit 15 may notify the moving object 2 that the arbitration request has been rejected. Thereafter, the processing of the traffic management device 9 ends.

[0072] FIG. 8 shows an example of the operation of the traffic management device 9 that is periodically executed at a preset cycle.

[0073] In step S31, the selection unit 13 determines whether a preset time has elapsed since the reservation of the arbitration request accepted by the acceptance unit 12. If the preset time has elapsed, the process of the traffic management device 9 proceeds to step S22. On the other hand, if the preset time has not elapsed, the process of the traffic management device 9 ends.

[0074] In step S32, the selection unit 13 performs a process of canceling the reservation of the arbitration request for which a preset time has elapsed since the reservation. After that, the process of the traffic management device 9 ends.

[0075] As described above, in the traffic management device 9 of the mobile body system 1 according to the second embodiment, when the mobile body 2 that issues an arbitration request for entry at the current time is outside the acceptance range of the arbitration area 5 through which the mobile body 2 is to pass according to the arbitration request, the acceptance unit 12 rejects the arbitration request. The acceptance unit 12 uses information on the current position of the mobile body 2 that is updated and managed by the mobile body management unit 11 to determine whether the mobile body 2 is inside or outside the acceptance range.

[0076] With this configuration, an arbitration request output when the moving object 2 is still far from the arbitration area 5 is rejected, making it difficult for unnecessary waiting time to occur. This further improves the movement efficiency of the moving object 2.

[0077] The reception unit 12 also receives a reservation for an arbitration request from the mobile unit 2. The reservation for an arbitration request represents a request for an entry instruction for the arbitration area 5 at a future reservation time. The selection unit 13 selects an allowed node at the reservation time based on the reservation for an arbitration request received by the reception unit 12. The selection unit 13 cancels the reservation for the arbitration request when a preset time has passed since the reservation time.

[0078] With this configuration, the mobile unit 2 can issue a reservation for an arbitration request regardless of its current location. By reserving an arbitration request, information such as the occupancy of the arbitration area 5 by the mobile unit 2 can be known in advance. At this time, the mobile unit 2 can reduce unnecessary waiting time, for example, by re-searching the movement route of the mobile unit 2 or re-setting the task execution schedule. This further improves the movement efficiency of the mobile unit 2. Note that when there is a reservation for an arbitration request, the notification unit 15 may notify the reservation status of the arbitration request, for example, in response to an inquiry from the mobile unit 2.

[0079] Embodiment 3 In the third embodiment, differences from the examples disclosed in the first or second embodiment will be described in particular detail. For features not described in the third embodiment, any of the features of the examples disclosed in the first or second embodiment may be adopted.

[0080] For example, when performing a service task such as cleaning, a moving body 2 may move at a slower moving speed than other moving bodies 2. Also, when performing the task, the moving body 2 may stay in the arbitration area 5 for a longer time than if it simply passes through the arbitration area 5. In such a case, a waiting time may occur for the other moving bodies 2 passing through the arbitration area 5. For this reason, the command unit 14 outputs an instruction to the moving body 2 to exit the arbitration area 5, thereby eliminating such a waiting time.

[0081] The moving object 2 that has received an exit instruction from the command unit 14 exits, for example, from the arbitration area 5 to any of the adjacent nodes 6. The moving object 2 that has exited the arbitration area 5 may reissue an arbitration request to enter the arbitration area 5 as necessary.

[0082] It may be difficult for the moving body 2 to exit the arbitration area 5 due to the presence of an obstacle in the arbitration area 5 or for other reasons. In this case, the moving body 2 may stop within the arbitration area 5. The traffic management device 9 detects the occurrence of an abnormality in the arbitration area 5 when the moving body 2 to which an exit instruction has been output from the command unit 14 is still staying in the arbitration area 5 even after a preset time has elapsed since the output of the exit instruction. When detecting the occurrence of an abnormality, the traffic management device 9 may notify the occurrence of the abnormality to the manager of the facility 3 in which the arbitration area 5 is located, for example. The notification is performed by the notification unit 15, for example.

[0083] FIG. 9 is a flowchart showing an example of the operation of the mobile body system 1 according to the third embodiment. An example of the operation of the traffic management device 9 when outputting an exit instruction is shown in Fig. 9. The process of Fig. 9 may be executed, for example, at the time when a mobile object 2 waiting for an entry instruction occurs at any of the nodes 6 adjacent to the arbitration area 5. Alternatively, the process of Fig. 9 may be executed when either or both of the number of mobile objects 2 waiting for an entry instruction at any of the nodes 6 and the waiting time exceed a preset criterion.

[0084] In step S41, the command unit 14 compares the priority of the moving object 2 staying in the arbitration area 5 with the moving object 2 waiting to enter the arbitration area 5. The command unit 14 performs this comparison based on, for example, information on each moving object 2 managed by the mobile object management unit 11. The command unit 14 compares the priority of the moving object 2 staying in the arbitration area 5 with the moving object 2 entering from the node 6 selected as the permitted node. For example, when there are multiple moving objects 2 waiting to enter, the command unit 14 performs the comparison using the priority of the moving object 2 with the highest priority among them. For example, when there are multiple moving objects 2 staying in the arbitration area 5, the command unit 14 performs the comparison using the priority of the moving object 2 with the highest priority among them. When the priority of the moving object 2 staying in the arbitration area 5 is relatively low, the process of the traffic management device 9 proceeds to step S42. On the other hand, if the priority of the moving object 2 staying in the arbitration area 5 is not relatively low, the process of the traffic management device 9 proceeds to step S43.

[0085] In step S42, the command unit 14 outputs an exit instruction to the moving body 2 staying in the arbitration area 5. The entry instruction may be output through the moving body control device 8. Here, the moving body 2 waiting to enter the arbitration area 5 is an example of a first moving body. Also, the moving body 2 staying in the arbitration area 5 is an example of a second moving body. The first moving body and the second moving body are moving bodies 2 whose priorities were compared in step S41. After outputting the exit instruction, the processing of the traffic management device 9 proceeds to step S43.

[0086] In step S43, the command unit 14 determines whether the moving object 2 that outputted the exit instruction has exited the arbitration area 5. The command unit 14 makes this determination based on, for example, a notification from the moving object 2 or information on the moving object 2 managed by the moving object management unit 11. When the moving object 2 has exited the arbitration area 5, the processing of the traffic management device 9 proceeds to step S44. On the other hand, when the moving object 2 has not exited the arbitration area 5, the processing of the traffic management device 9 proceeds to step S41.

[0087] In step S44, the command unit 14 outputs an entry instruction to the mobile object 2 waiting to enter the arbitration area 5 whose priorities were compared in step S41. The entry instruction may be output via the mobile object control device 8. Thereafter, the processing of the traffic management device 9 ends.

[0088] As described above, in the mobile body system 1 according to the third embodiment, when a moving body 2 with a lower priority is staying in the arbitration area 5 into which the moving body 2 is attempting to enter, the command unit 14 outputs an exit instruction to the moving body 2. Thereafter, the command unit 14 outputs an entry instruction to the moving body 2 attempting to enter the arbitration area 5.

[0089] With this configuration, even if a moving object 2 stays in the arbitration area 5 for a long time to execute a task, an exit instruction is output to the staying moving object 2 according to its priority. This allows a moving object 2 with a relatively high priority to pass through the arbitration area 5, thereby enabling the moving object 2 to execute various tasks and the other moving objects 2 to move efficiently at the same time.

[0090] To summarize the above explanation, possible configurations of the technology according to the present disclosure include the configurations listed below as appendices. (Appendix 1) an area management unit that manages area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; a reception unit that receives an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; a mobile object management unit for managing information on the priority of each of the one or more mobile objects; a selection unit that selects an allowed node that is permitted to enter the arbitration area from among the adjacent nodes based on a priority of a moving object entering the arbitration area from the adjacent nodes; For at least one of the moving objects that enters from the permitted node selected by the selection unit among the one or more moving objects, Allow entry from the authorized node A command unit for outputting approach instructions; A traffic management device comprising: (Appendix 2) The priority of each of the one or more moving objects is set based on mobility performance. 2. A traffic management device as described in claim 1. (Appendix 3) The mobile object management unit manages a current location of each of the one or more mobile objects while updating the current location of each of the one or more mobile objects; the reception unit rejects the arbitration request when the moving body issuing the arbitration request for entry at the current time is outside a preset reception range for the arbitration area into which the moving body is attempting to enter by the arbitration request. 3. A traffic management device according to claim 1 or 2. (Appendix 4) the reception unit receives a reservation for an arbitration request from the one or more moving objects to request an entry instruction for the arbitration area at a future reservation time; the selection unit selects the permitted node at a time point of reservation based on the reservation of the arbitration request accepted by the acceptance unit, and cancels the reservation of the arbitration request when a preset time has elapsed from the time point of reservation. 4. A traffic management device according to any one of claims 1 to 3. (Appendix 5) When the one or more moving bodies include a first moving body and a second moving body having a lower priority than the first moving body, the mobile object management unit manages, while updating, information on whether each of the one or more mobile objects is currently in the arbitration area; When the second moving object is staying in the arbitration area in which the first moving object is about to enter, the command unit outputs an exit command to the second moving object, and then outputs an exit command to the first moving object. and permit entry into said arbitration area. Output approach instructions, 5. A traffic management device according to any one of claims 1 to 4. (Appendix 6) when at least one of the number of moving objects waiting to enter the arbitration area from any of the nodes adjacent to the arbitration area or a waiting time exceeds a preset criterion, the selection unit selects the node that has exceeded the criterion as the permitted node, regardless of the priority of the moving object entering the arbitration area. 6. A traffic management device according to any one of claims 1 to 5. (Appendix 7) The computer managing area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; receiving an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; Managing priority information of each of the one or more moving objects; selecting an allowed node from among the adjacent nodes for the arbitration area based on a priority of a moving object entering the arbitration area from the adjacent nodes; For at least one of the one or more moving objects that enters through the selected permitted node, Allow entry from the authorized node outputting an entry instruction; and A traffic management method. (Appendix 8) On the computer, managing area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; receiving an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; Managing priority information of each of the one or more moving objects; selecting an allowed node from among the adjacent nodes for the arbitration area based on a priority of a moving object entering the arbitration area from the adjacent nodes; For at least one of the one or more moving objects that enters through the selected permitted node, Allow entry from the authorized node outputting an entry instruction; and A traffic management program that (Appendix 9) One or more moving objects each attempting to enter a predetermined arbitration area; an area management unit that manages area information for the arbitration area, the area information including information on nodes adjacent to the arbitration area; A reception unit that receives an arbitration request for an entry instruction from the one or more moving objects; a mobile object management unit for managing information on the priority of each of the one or more mobile objects; a selection unit that selects an allowed node that is permitted to enter the arbitration area from among the adjacent nodes based on a priority of a moving object entering the arbitration area from the adjacent nodes; For at least one of the moving objects that enters from the permitted node selected by the selection unit among the one or more moving objects, Allow entry from the authorized node A command unit for outputting approach instructions; A mobile system comprising: (Appendix 10) a mobile object control unit that controls the movement of one or more mobile objects each attempting to enter a preset arbitration area; an area management unit that manages area information for the arbitration area, the area information including information on nodes adjacent to the arbitration area; A reception unit that receives an arbitration request for an entry instruction from the one or more moving objects; a mobile object management unit for managing information on the priority of each of the one or more mobile objects; a selection unit that selects an allowed node that is permitted to enter the arbitration area from among the adjacent nodes based on a priority of a moving object entering the arbitration area from the adjacent nodes; For at least one of the moving objects that enters from the permitted node selected by the selection unit among the one or more moving objects, Allow entry from the authorized node A command unit for outputting approach instructions; A mobile control system comprising: [Explanation of symbols]

[0091] REFERENCE SIGNS LIST 1 Mobile system, 2, 2a, 2b, 2c Mobile body, 3 Facility, 4 Communication network, 5 Arbitration area, 6 Node, 7 Mobile body control system, 8 Mobile body control device, 9 Traffic management device, 10 Area management unit, 11 Mobile body management unit, 12 Reception unit, 13 Selection unit, 14 Command unit, 15 Notification unit, 100a Processor, 100b Memory, 200 Dedicated hardware

Claims

1. an area management unit that manages area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; a reception unit that receives an arbitration request from one or more moving objects each attempting to enter the arbitration area, the arbitration request instructing the moving object to enter the arbitration area; a mobile object management unit for managing information on the priority of each of the one or more mobile objects; a selection unit that selects an allowed node that is allowed to enter the arbitration area from among the adjacent nodes based on a priority of a moving object entering the arbitration area from the adjacent nodes; a command unit that outputs an entry instruction to at least one of the moving objects that enters through the permission node selected by the selection unit among the one or more moving objects, to permit the moving object to enter through the permission node; Equipped with The mobile object management unit manages a current position of each of the one or more mobile objects while updating the current position of each of the one or more mobile objects; the reception unit rejects the arbitration request when the moving body issuing the arbitration request for entry at the current time is outside a preset reception range for the arbitration area into which the moving body is attempting to enter by the arbitration request. Traffic management device.

2. an area management unit that manages area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; a reception unit that receives an arbitration request from one or more moving objects each attempting to enter the arbitration area, the arbitration request instructing the moving object to enter the arbitration area at a current time; a mobile object management unit for managing information on the priority of each of the one or more mobile objects; a selection unit that selects an allowed node that is allowed to enter the arbitration area from among the adjacent nodes based on a priority of a moving object entering the arbitration area from the adjacent nodes; a command unit that outputs an entry instruction to at least one of the moving objects that enters through the permission node selected by the selection unit among the one or more moving objects, to permit the moving object to enter through the permission node; Equipped with the reception unit receives a reservation for an arbitration request from the one or more moving objects to request an entry instruction for the arbitration area at a future reservation time point; Traffic management device.

3. The selection unit selects the permitted node at a time point based on a reservation of the arbitration request accepted by the acceptance unit.

3. A traffic management device according to claim 2.

4. The selection unit cancels the reservation of the arbitration request when a preset time has elapsed from the time of the reservation. A traffic management device according to claim 2 or 3.

5. an area management unit that manages area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; a reception unit that receives an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; a mobile object management unit for managing information on the priority of each of the one or more mobile objects; a selection unit that selects an allowed node that is permitted to enter the arbitration area from among the adjacent nodes based on a priority of a moving object entering the arbitration area from the adjacent nodes; a command unit that outputs an entry instruction to at least one of the moving objects that enters through the permission node selected by the selection unit among the one or more moving objects, to permit the moving object to enter through the permission node; Equipped with When the one or more moving bodies include a first moving body and a second moving body having a lower priority than the first moving body, the mobile object management unit manages, while updating, information on whether each of the one or more mobile objects is currently in the arbitration area; when the second moving body is staying in the arbitration area into which the first moving body is about to enter, the command unit outputs an exit instruction to the second moving body, and thereafter outputs an entry instruction to the first moving body to permit the first moving body to enter the arbitration area. Traffic management device.

6. an area management unit that manages area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; a reception unit that receives an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; a mobile object management unit for managing information on the priority of each of the one or more mobile objects; a selection unit that selects an allowed node that is permitted to enter the arbitration area from among the adjacent nodes based on a priority of a moving object entering the arbitration area from the adjacent nodes; a command unit that outputs an entry instruction to at least one of the moving objects that enters through the permission node selected by the selection unit among the one or more moving objects, to permit the moving object to enter through the permission node; Equipped with when at least one of the number of moving objects waiting to enter the arbitration area from any of the nodes adjacent to the arbitration area or a waiting time exceeds a preset criterion, the selection unit selects the node that has exceeded the criterion as the permitted node, regardless of the priority of the moving object entering the arbitration area. Traffic management device.

7. A traffic management device according to any one of claims 1 to 3, claim 5, or claim 6; one or more moving objects each attempting to enter the arbitration area; A mobile system comprising:

8. A traffic management device according to any one of claims 1 to 3, claim 5, or claim 6; a moving object control unit that controls the movement of one or more moving objects each attempting to enter the arbitration area; A mobile control system comprising:

9. The computer managing area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; receiving an arbitration request from one or more moving objects each attempting to enter the arbitration area, the arbitration request instructing the moving object to enter the arbitration area; Managing priority information of each of the one or more moving objects; selecting an allowed node from among the adjacent nodes for the arbitration area based on a priority of a moving object entering the arbitration area from the adjacent nodes; outputting an entry instruction to at least one of the one or more moving objects entering from the selected permission node, the entry instruction permitting the entry from the permission node; Run The computer manages the current position of each of the one or more moving objects while updating the current position of each of the one or more moving objects; the computer rejects the arbitration request when the mobile unit issuing the arbitration request for entry at the current time is outside a preset acceptance range for the arbitration area to be entered by the arbitration request; Traffic management methods.

10. The computer Managing area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; receiving an arbitration request from one or more moving objects each attempting to enter the arbitration area, the arbitration request instructing the moving object to enter the arbitration area at a current time; Managing priority information of each of the one or more moving objects; selecting an allowed node from among the adjacent nodes for the arbitration area based on a priority of a moving object entering the arbitration area from the adjacent nodes; outputting an entry instruction to at least one of the one or more moving objects entering from the selected permission node, the entry instruction permitting the entry from the permission node; Run the computer accepts, from the one or more mobile bodies, a reservation for an arbitration request for an entry instruction for the arbitration area at a future reservation time; Traffic management methods.

11. The computer managing area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; receiving an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; Managing priority information of each of the one or more moving objects; selecting an allowed node from among the adjacent nodes for the arbitration area based on a priority of a moving object entering the arbitration area from the adjacent nodes; outputting an entry instruction to at least one of the one or more moving objects entering from the selected permission node, the entry instruction permitting the entry from the permission node; Run When the one or more moving bodies include a first moving body and a second moving body having a lower priority than the first moving body, The computer manages, while updating, information on whether each of the one or more moving bodies is currently in the arbitration area; when the second moving body is staying in the arbitration area into which the first moving body is about to enter, the computer outputs an exit instruction to the second moving body, and thereafter outputs an entry instruction to the first moving body to permit the first moving body to enter the arbitration area. Traffic management methods.

12. The computer managing area information including information on nodes adjacent to a preset arbitration area for the preset arbitration area; receiving an arbitration request for an entry instruction from one or more moving objects each attempting to enter the arbitration area; Managing priority information of each of the one or more moving objects; selecting an allowed node from among the adjacent nodes for the arbitration area based on a priority of a moving object entering the arbitration area from the adjacent nodes; outputting an entry instruction to at least one of the one or more moving objects entering from the selected permission node, the entry instruction permitting the entry from the permission node; Run when at least one of the number of moving objects waiting to enter the arbitration area from any of the nodes adjacent to the arbitration area or the waiting time exceeds a preset criterion, the computer selects the node that has exceeded the criterion as the permitted node, regardless of the priority of the moving object entering the arbitration area; Traffic management methods.

13. On the computer, Executing the traffic management method according to any one of claims 9 to 12, Traffic management programs.

Images