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

Abstract

Provided are a traffic management device, a traffic management method, a traffic management program, a moving body system, and a movement control system that manage the movement of a moving body so as to further improve the movement efficiency. 【Solution means】The traffic management device 9 includes an area management unit 10, a reception unit 12, a selection unit 13, and a command unit 14. The area management unit 10 manages area information including information on adjacent nodes 6 and information on combinations of traffic routes that can be traveled simultaneously for each negotiation area 5. The traffic route is determined by a set of nodes 6 at which traffic starts and ends. The negotiation request includes information on an entry node at which traffic starts and an exit node at which traffic ends. The selection unit 13 selects a permission route for permitting traffic based on the negotiation request received by the reception unit 12 from the moving body 2 and the area information managed by the area management unit 10. The command unit 14 outputs a traffic instruction to the moving body 2 traveling on the selected permission route.

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 movement control system.

Background Art

[0002] Patent Document 1 discloses an example of a system for managing the passage of mobile bodies. The system acquires a digital certificate corresponding to the use or service from each mobile body. The system uses the acquired digital certificate to determine which mobile body should be given priority to pass.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the system of Patent Document 1, which mobile body is allowed to pass in the area for managing movement is determined based on a one-to-one priority determination for each mobile body, and a driving instruction is output to the mobile body based on the result of the determination. Therefore, the mobile bodies allowed to pass through the area are limited to one at a time, and the movement efficiency of the mobile bodies may decrease in the vicinity of 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 movement control system that manage the movement of mobile bodies so as to further improve the movement efficiency.

Means for Solving the Problems

[0006] The traffic management device according to the present disclosure manages area information including information on combinations of the above-mentioned passage routes that can simultaneously pass through each of one or more preset mediation areas, information on nodes adjacent to the mediation area, and information on the passage route of the mediation area determined by a set of a node that starts passage through the mediation area and a node that completes passage through the mediation area among the nodes adjacent to the mediation area. The traffic management device includes an area management unit, a reception unit, a selection unit, a command unit, and a notification unit. The reception unit receives a mediation request including information on an entry node representing a node that starts passage and an exit node representing a node that completes passage among the nodes adjacent to at least one of the one or more mediation areas from one or more moving bodies each attempting to pass through at least one of the one or more mediation areas. The selection unit selects a permitted route, which is the above-mentioned passage route for permitting passage, for at least one of the one or more mediation areas based on the mediation request received by the reception unit and the area information managed by the area management unit. The command unit outputs a passage instruction for permitting passage of the permitted route to at least one of the moving bodies that pass through the permitted route selected by the selection unit among the one or more moving bodies. The reception unit has a function of receiving an inquiry about the mediation status for any of the one or more mediation areas from any of the one or more moving bodies. When the reception unit receives the inquiry about the mediation status, the notification unit Based on the inquiry of the received mediation situation, identify the mediation area to be the subject of the inquiry and generate information on the mediation situation for the mediation area. notifies the moving body of the mediation status of the mediation area. The traffic management device according to the present disclosure includes, for each of one or more preset mediation areas, information on nodes adjacent to the mediation area, and a passage route of the mediation area determined by a set of a node that starts passage through the mediation area and a node that completes passage through the mediation area among the nodes adjacent to the mediation area. An area management unit that manages area information including information on combinations of the passage routes that can pass through the mediation area at the same time; and, from one or more moving bodies each trying to pass through at least one of the one or more mediation areas, among the nodes adjacent to at least one of the one or more mediation areas, an entry node representing a node that starts passage and an exit node representing a node that completes passage. A reception unit that receives a mediation request including information; a selection unit that selects a permission route, which is the passage route that permits passage, for at least one of the one or more mediation areas based on the mediation request received by the reception unit and the area information managed by the area management unit; and, for at least one of the moving bodies that pass through the permission route selected by the selection unit among the one or more moving bodies, a command unit that outputs a passage instruction that permits passage through the permission route; and a moving body management unit that manages while updating information on the current position of each of the one or more moving bodies. The reception unit rejects the mediation request when the moving body that issues the mediation request is outside a preset reception range with respect to the mediation area that the moving body tries to pass through by the mediation request.

[0007] The traffic management method according to the present disclosure is such that a computer manages area information including information on combinations of the passing routes that can pass through a mediation area simultaneously, for each of one or more preset mediation areas, regarding information on nodes adjacent to the mediation area, and regarding the passing route of the mediation area determined by a set of a node that starts passing through the mediation area and a node that completes passing through the mediation area among the nodes adjacent to the mediation area. The computer receives a mediation request including information on an entry node representing a node that starts passing and an exit node representing a node that completes passing, among the nodes adjacent to at least one of the one or more mediation areas, from one or more moving bodies each attempting to pass through at least one of the one or more mediation areas. Based on the received mediation request and the managed area information, the computer selects a permitted route, which is the passing route for permitting passing, for at least one of the one or more mediation areas. The computer outputs a passing instruction for permitting passing of the selected permitted route to at least one of the moving bodies passing through the selected permitted route among the one or more moving bodies. When the computer receives an inquiry about the mediation status for any of the one or more mediation areas from any of the one or more moving bodies, and when receiving the inquiry about the mediation status, Based on the inquiry of the received mediation situation, identify the mediation area to be the subject of the inquiry and generate information on the mediation situation for the mediation area. This is a method of notifying the moving body of the mediation status of the mediation area. The traffic management method according to the present disclosure includes a computer managing area information including information on combinations of the traffic routes that can simultaneously pass through each of one or more preset negotiation areas, for each of the one or more preset negotiation areas, information on nodes adjacent to the negotiation area, and information on the traffic route of the negotiation area determined by a set of a node that starts passing through the negotiation area and a node that completes passing through the negotiation area among the nodes adjacent to the negotiation area; managing while updating information on the current position of each of the one or more moving bodies; receiving, from each of the one or more moving bodies attempting to pass through at least any one of the one or more negotiation areas, a negotiation request including information on an entry node representing a node that starts passing through and an exit node representing a node that completes passing through, among the nodes adjacent to at least any one of the one or more negotiation areas; selecting, based on the received negotiation request and the managed area information, a permitted route that is the traffic route for permitting passage, for at least any one of the one or more negotiation areas; and outputting a traffic instruction for permitting passage of the permitted route to at least any one of the moving bodies passing through the selected permitted route among the one or more moving bodies. The computer rejects the negotiation request when the moving body that issues the negotiation request is outside a preset reception range with respect to the negotiation area that the moving body attempts to pass through due to the negotiation request.

[0008] The traffic management program according to the present disclosure causes a computer to manage area information including information on combinations of the traffic routes of the mediation areas that can be simultaneously passed through, for each of one or more preset mediation areas, information on nodes adjacent to the mediation area, and the traffic route of the mediation area determined by a set of a node that starts passing through the mediation area and a node that completes passing through the mediation area among the nodes adjacent to the mediation area; receive a mediation request including information on an entry node representing a node that starts passing through and an exit node representing a node that completes passing through, among the nodes adjacent to at least one of the one or more mediation areas, from one or more moving bodies each attempting to pass through at least one of the one or more mediation areas; select a permitted route, which is the traffic route for permitting passage, for at least one of the one or more mediation areas based on the received mediation request and the managed area information; and output a traffic instruction for permitting passage of the selected permitted route to at least one of the one or more moving bodies passing through the selected permitted route. The computer is caused to receive an inquiry about the mediation status for any of the one or more mediation areas from any of the one or more moving bodies, and when the inquiry about the mediation status is received, Based on the received inquiry of the negotiation status, specifying the negotiation area that is the subject of the inquiry and generating information on the negotiation status for the negotiation area. cause the moving body to be notified of the mediation status of the mediation area. The traffic management program according to the present disclosure causes a computer to manage area information including information on combinations of the passage routes that can simultaneously pass through each of one or more preset mediation areas, regarding information on nodes adjacent to each of the one or more mediation areas, and regarding the passage routes of each of the one or more mediation areas determined by a set of a node that starts passage through the mediation area and a node that completes passage through the mediation area among the nodes adjacent to the mediation area; to manage while updating information on the current position of each of the one or more moving bodies; to receive a mediation request including information on an entry node representing a node that starts passage and an exit node representing a node that completes passage among the nodes adjacent to at least one of the one or more mediation areas from one or more moving bodies each attempting to pass through at least one of the one or more mediation areas; to select a permitted route, which is the passage route for permitting passage, for at least one of the one or more mediation areas based on the received mediation request and the managed area information; and to output a passage instruction for permitting passage of the selected permitted route to at least one of the one or more moving bodies passing through the selected permitted route, and causes the computer to reject the mediation request when the moving body that issues the mediation request is outside a preset reception range with respect to the mediation area through which the moving body attempts to pass according to the mediation request.

[0009] The mobile system according to the present disclosure includes: one or more mobile bodies each attempting to pass through at least any one of one or more preset mediation areas; for each of the one or more mediation areas, information on nodes adjacent to the mediation area, and for the passing route of the mediation area determined by a set of a node at which passage through the mediation area starts and a node at which passage through the mediation area ends among the nodes adjacent to the mediation area, an area management unit that manages area information including information on combinations of the passing routes that can pass through the mediation area simultaneously; a reception unit that receives a mediation request including information on an entry node representing a node at which passage starts and an exit node representing a node at which passage ends among the nodes adjacent to at least any one of the one or more mediation areas from the one or more mobile bodies; a selection unit that selects a permitted route, which is the passing route for permitting passage, for at least any one of the one or more mediation areas based on the mediation request received by the reception unit and the area information managed by the area management unit; and a command unit that outputs a passage instruction for permitting passage along the permitted route to at least any one of the mobile bodies passing along the permitted route selected by the selection unit among the one or more mobile bodies. a moving body management unit that manages while updating information on the current position of each of the one or more moving bodies; and includes When the moving body that issues the mediation request is outside a preset reception range with respect to the mediation area through which the moving body attempts to pass according to the mediation request, the reception unit rejects the mediation request . The moving body system according to the present disclosure includes one or more moving bodies each attempting to pass through at least one of one or more preset mediation areas, and an area management unit that manages area information including information on combinations of the passage routes that can simultaneously pass through each of the one or more mediation areas, regarding information on nodes adjacent to each of the one or more mediation areas, and regarding the passage routes of each of the one or more mediation areas determined by a set of a node that starts passage through the mediation area and a node that completes passage through the mediation area among the nodes adjacent to the mediation area; A receiving unit that receives a mediation request including information on an entry node representing a node at which passage starts and an exit node representing a node at which passage is completed among the nodes adjacent to at least one of the one or more mediation areas from the one or more moving bodies; a selection unit that selects a permission route, which is the passage route for permitting passage, for at least one of the one or more mediation areas based on the mediation request received by the receiving unit and the area information managed by the area management unit; a command unit that outputs a passage instruction for permitting passage of the permission route to at least one of the moving bodies that pass through the permission route selected by the selection unit among the one or more moving bodies; and a notification unit. The receiving unit has a function of receiving an inquiry about the mediation status for any one of the one or more mediation areas from any one of the one or more moving bodies. The notification unit notifies the moving body of the mediation status of the mediation area when the receiving unit receives the inquiry about the mediation status. The mediation status notified by the notification unit to the moving body includes information on the number of moving bodies waiting for the passage instruction in the mediation area that is the subject of the inquiry about the mediation status received by the receiving unit. Each of the one or more moving bodies determines whether it is necessary to search for a movement route that does not pass through the mediation area based on whether the number of moving bodies waiting for the passage instruction in the mediation area where the mediation status is inquired is greater than a preset number.

[0010] The mobile body control system according to the present disclosure includes a mobile body control unit that controls the movement of one or more mobile bodies each attempting to pass through at least any one of one or more preset mediation areas, and for each of the one or more mediation areas, information on nodes adjacent to the mediation area, and a combination of nodes among the nodes adjacent to the mediation area that start passing through the mediation area and nodes that complete passing through the mediation area. For the passing route of the mediation area determined by the combination, an area management unit that manages area information including information on combinations of passing routes that can simultaneously pass through the mediation area, a reception unit that receives a mediation request including information on an entry node representing a node that starts passing and an exit node representing a node that completes passing among the nodes adjacent to at least any one of the one or more mediation areas from the one or more mobile bodies, a selection unit that selects a permission route that is the passing route for permitting passing for at least any one of the one or more mobile bodies passing through the permission route selected by the selection unit among the one or more mobile bodies, based on the mediation request received by the reception unit and the area information managed by the area management unit, for at least any one of the one or more mediation areas, and a command unit that outputs a passing instruction for permitting passing through the permission route. A moving body management unit that manages while updating the information on the current position of each of the one or more moving bodies; comprising The receiving unit rejects the mediation request when the moving body that issues the mediation request is outside a preset reception range with respect to the mediation area through which the moving body intends to pass by the mediation request. 。 The movement control system according to the present disclosure includes a movement control unit that controls the movement of one or more moving bodies each attempting to pass through at least one of one or more preset mediation areas, and for each of the one or more mediation areas, information on nodes adjacent to the mediation area, and a combination of a node that starts passing through the mediation area and a node that completes passing through the mediation area among the nodes adjacent to the mediation area. An area management unit that manages area information including information on combinations of passing routes that can pass through the mediation area simultaneously for the passing route of the mediation area thus determined, a reception unit that receives a mediation request including information on an entry node representing a node that starts passing and an exit node representing a node that completes passing among the nodes adjacent to at least one of the one or more mediation areas from the one or more moving bodies, and based on the mediation request received by the reception unit and the area information managed by the area management unit, for at least one of the one or more mediation areas, a selection unit that selects a permitted route that is the passing route for which passing is permitted, and a command unit that outputs a passing instruction for permitting passing through the permitted route to at least one of the moving bodies that pass through the permitted route selected by the selection unit among the one or more moving bodies, and a notification unit. The reception unit has a function of receiving an inquiry about the mediation status for any of the one or more mediation areas from any of the one or more moving bodies. When the reception unit receives the inquiry about the mediation status, the notification unit notifies the movement control unit that controls the movement of the moving body of the mediation status of the mediation area. The mediation status notified by the notification unit to the movement control unit includes information on the number of moving bodies waiting for the passing instruction in the mediation area that is the target of the inquiry about the mediation status received by the reception unit. The movement control unit determines whether it is necessary to search for a movement route that does not pass through the mediation area for each of the one or more moving bodies based on whether the number of moving bodies waiting for the passing instruction in the mediation area for which the mediation status has been inquired is greater than a preset number.

Advantages of the Invention

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

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

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Figure 11

Embodiments for Carrying Out the Invention

[0013] Embodiments for carrying out the subject matter of the present disclosure will be described with reference to the accompanying drawings. In each figure, the same or corresponding parts are denoted by the same reference numerals, and duplicate descriptions are appropriately simplified or omitted. Note that the subject matter of the present disclosure is not limited to the following embodiments, and within the scope not departing from the gist of the present disclosure, deformation of any component of the embodiment or omission of any component of the embodiment is possible.

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

[0015] The mobile system 1 is a system that provides services and the like by the mobile body 2 which is a movable device. In this example, the mobile system 1 is applied to the facility 3. The facility 3 includes, for example, one or more buildings. The facility 3 may be part or all of a building. The facility 3 may include one or both of the outdoor part and the indoor part of the building. The facility 3 may be, for example, a commercial facility, an office building, a lodging facility, a residential facility, a public facility, or other facilities, or a complex of these facilities, etc. The mobile system 1 includes one or more mobile bodies 2. In this example, the mobile system 1 includes a plurality of mobile bodies 2.

[0016] Each mobile body 2 is a device that provides services and the like by moving. The mobile body 2 is, for example, an autonomous mobile body that moves autonomously. The mobile body 2 may be, for example, a robot, a drone, a mobility device, an autonomous vehicle, or other movable devices. The mobile body 2 moves, for example, by running, walking, flying, sailing, or other modes. The services provided by the mobile body 2 include, for example, services such as transportation, guidance, security, or cleaning.

[0017] Each mobile body 2 is equipped with a wireless communication function so that it can communicate information with external devices and the like. Each mobile body 2 communicates with external devices directly or indirectly via a communication network 4 or the like. The communication network 4 includes, for example, the Internet, a telephone 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.

[0018] Part or all of the mobile body 2 operating in the mobile body system 1 may be devices within the system of the mobile body system 1, or may be devices outside the system that cooperate with the mobile body system 1. The mobile body 2 may be a device that moves within a preset range such as within the facility 3, or may be a device whose moving range is not limited, such as a vehicle traveling on a road. At this time, the mobile body system 1 may be applied to an area including a road or other wide area.

[0019] In the area to which the mobile body system 1 such as the facility 3 is applied, one or more mediation areas 5 are set. In this example, a plurality of mediation areas 5 are preset. The mediation area 5 is, for example, a place where the mobile bodies 2 can intersect, such as a narrow road or an intersection. The mediation area 5 may be, for example, a space such as a room or a space. The mediation area 5 may be a space including an elevator applied to the facility 3. At this time, the mediation area 5 is set, for example, in a range including the elevator car and the hall on each floor. For each mediation area 5, one or a plurality of adjacent nodes 6 are preset. Each node 6 corresponds to, for example, each entrance and exit to the mediation area 5. For example, each node 6 adjacent to the mediation area 5 such as an intersection corresponds to each passage leading to the intersection.

[0020] The mobile body system 1 includes a movement control system 7. The movement control system 7 is a system that controls the movement of the mobile body 2 and the execution of service tasks, and performs mediation between the mobile bodies 2. The movement control system 7 includes a movement control device 8 and a traffic management device 9.

[0021] The movement control device 8 is a part that controls operations such as the movement of the mobile body 2 and the execution of tasks. The movement control device 8 is an example of a movement control unit. The movement control device 8 communicates with external devices via a communication network 4 or the like. The movement control device 8 may control the operations of a plurality of mobile bodies 2. In the movement control system 7, a plurality of movement control devices 8 may be provided. Each movement control device 8 may be managed, for example, by different administrators. The administrator of the movement control device 8 is, for example, the manufacturer or the management company of the corresponding mobile body 2. Note that the same administrator may manage a plurality of movement control devices 8. Part or all of the movement control device 8 may be a device within the system of the mobile body system 1, or may be a device outside the system that cooperates with the mobile body system 1. Each movement control device 8 is, for example, a computer system composed of one or more server devices or the like. Here, a computer system composed of one or more devices may sometimes be simply referred to as a computer. The plurality of server devices constituting the movement control device 8 may be arranged at different locations. At this time, the plurality of server devices communicate information with each other, for example, through the communication network 4. Part or all of the functions of the movement control device 8 may be implemented, for example, by processing or storage resources on a cloud service. Note that part or all of the mobile bodies 2 operating in the mobile body system 1 may operate autonomously without receiving control by the movement control device 8.

[0022] The traffic management device 9 is a part that performs processes such as mediation of movement between the moving bodies 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 composed of one or more server devices or the like. The plurality of server devices constituting the traffic management device 9 may be arranged at different locations from each other. At this time, the plurality of server devices communicate information with each other, for example, through the communication network 4. Part 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 or the like. Note that the traffic management device 9 may include part or all of the functions of the movement control device 8. The traffic management device 9 includes an area management unit 10, a moving body 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 equipped with a function for managing area information for each mediation area 5. The area information of the mediation area 5 includes, for example, coordinates, range, identifier, name, attribute, and other information about the mediation area 5. The area information of the mediation area 5 includes information about nodes 6 adjacent to the mediation area 5, such as information like the identifier for identifying the mediation area 5, and coordinates, range, identifier, name, attribute, and other information of each node 6. The area information of the mediation area 5 includes information about the traffic route of the mediation area 5. The traffic route of the mediation area 5 is determined by a set such as an ordered pair of the entrance node 6 where the passage of the mediation area 5 starts and the exit node 6 where the passage of the mediation area 5 ends among the nodes 6 adjacent to the mediation area 5. In the traffic route, the entrance node 6 and the exit node 6 may be the same node 6. The area information of the mediation area 5 includes information about the traffic rules set for the mediation area 5. The information about the traffic rules includes, for example, information about combinations of traffic routes that can pass through the mediation area 5 simultaneously. The information about the traffic rules includes, for example, designation of the traffic range such as right or left, or information such as whether passing is allowed or not. 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 about the relationship between the mediation areas 5. The information about the relationship between the mediation areas 5 includes connection information such as whether passage between the mediation areas 5 is possible. The management of information by the area management unit 10 includes addition, retention, update, modification, or deletion of information. The area management unit 10 manages the variable information among the area information while updating it at any time so as to reflect the current situation.

[0024] The mobile body management unit 11 is a part equipped with a function for managing information about each mobile body 2. The information of the mobile body 2 includes, for example, the identifier of the mobile body 2, the type of service provided by the mobile body 2, size information such as the width and weight of the mobile body 2, the identifier of the mobile body control device 8 that controls the mobile body 2, and other attribute information of the mobile body 2. The information of the mobile body 2 includes, for example, information on the rated moving speed, maximum moving speed, turning radius, or other moving performance of the mobile body 2. The information of the mobile body 2 includes, for example, information such as the current position, current speed, and current state of the mobile body 2. The state of the mobile body 2 includes, for example, whether the mobile body 2 is in the negotiation area 5, the identifier information of the negotiation area 5, whether the mobile body 2 is executing a task, and the type information of the task. The information on whether the mobile body 2 is currently in the negotiation area 5 may be, for example, the information on the current position of the mobile body 2. The information on the current position of the mobile body 2 is obtained, for example, by the mobile body 2 itself or the mobile body control device 8 using a satellite positioning system such as GPS (Global Positioning System), an autonomous navigation system, an indoor positioning system, or other positioning systems. The information on the current position of the mobile body 2 is provided to the traffic management device 9 from the mobile body 2 itself or the mobile body control device 8 at any time. The mobile body management unit 11 manages the information of the mobile body 2 by storing it in, for example, a database. The management of information by the mobile body management unit 11 includes addition, retention, update, modification, or deletion of information. The mobile body management unit 11 manages the variable information among the information of the mobile body 2 while updating it at any time so as to reflect the current situation.

[0025] The reception unit 12 is a part equipped with a function to receive a mediation request from each mobile body 2. The mediation request from the mobile body 2 is transmitted through a communication network 4 or the like when the mobile body 2 attempts to pass through any one of the mediation areas 5. The mediation request from the mobile body 2 may be transmitted from the movement control device 8 corresponding to the mobile body 2. The mediation request is a signal requesting a passage instruction for the mediation area 5 to the traffic management system. The mediation request includes information such as, for example, an identifier of the mobile body 2, an identifier of the mediation area 5, an identifier of the entry node 6 which is the node where passage starts, and an identifier of the exit node 6 which is the node where passage ends. The entry node is, for example, the node 6 set as an entrance in any one of the passage routes of the mediation area 5. The exit node is, for example, the node 6 set as an exit in any one of the passage routes of the mediation area 5.

[0026] The selection unit 13 is a part equipped with a function to select a permission route for permitting the passage of the mobile body 2 for each mediation area 5 for which a mediation request has been made. When the reception unit 12 receives a mediation request for any one of the mediation areas 5, the selection unit 13 selects any one of the passage routes of the mediation area 5 as the permission route based on the area information of the mediation area 5 managed by the area management unit 10.

[0027] The command unit 14 is a part equipped with a function to output a passage instruction for the mediation area 5 to the mobile body 2. The command unit 14 transmits a passage instruction for the mobile body 2 through a communication network 4 or the like. The command unit 14 may transmit the passage instruction for the mobile body 2 to the movement control device 8 corresponding to the mobile body 2. The command unit 14 outputs a passage instruction to the mobile body 2 passing through the permission route selected by the selection unit 13. When there are a plurality of mobile bodies 2 passing through the permission route, the command unit 14 may output the passage instruction to the plurality of mobile bodies 2 in order, or may output the passage instruction to all or some of the plurality of mobile bodies 2 simultaneously when the plurality of mobile bodies 2 do not interfere with each other.

[0028] The notification unit 15 is a part equipped with a function for notifying the mobile body 2. The notification unit 15 transmits a notification to the mobile body 2 through the communication network 4 or the like. The notification unit 15 may transmit a notification to the mobile body 2 to the movement control device 8 corresponding to the mobile body 2. The notification unit 15 may, for example, notify the mobile body 2 of whether or not the reception unit 12 has received a mediation request.

[0029] FIG. 2 is a plan view for explaining an example of the mediation area 5 in the mobile body system 1 according to the first embodiment.

[0030] The mediation area 5 is set, for example, in the range of an intersection where roads cross. In the mediation area 5, four adjacent nodes 6 are set. Each node 6 corresponds to each road leading to the mediation area 5. Each mobile body 2 outputs, for example, a mediation request for passing through the mediation area 5 to the traffic management device 9 when approaching the mediation area 5. Each mobile body 2 may determine whether or not it has approached the mediation area 5 by using information such as its current position and the distance to the mediation area 5 based thereon. Each mobile body 2 waits, for example, without entering the mediation area 5 until it receives a passage instruction from the traffic management device 9 when it arrives at a point immediately before the mediation area 5 after outputting a mediation request.

[0031] For the negotiation area 5, a traffic route is set. A moving body 2 that goes straight through the negotiation area 5 from west to east passes through a traffic route that has the node 6 on the west side of the negotiation area 5 as the entrance and the node 6 on the east side of the negotiation area 5 as the exit. The moving body 2 passing through the said traffic route outputs a negotiation request to the traffic management device 9 with the west side node 6 as the entry node and the east side node 6 as the exit node. Also, a moving body 2 that turns right through the negotiation area 5 and goes from east to north passes through a traffic route that has the node 6 on the east side of the negotiation area 5 as the entrance and the node 6 on the north side of the negotiation area 5 as the exit. The moving body 2 passing through the said traffic route outputs a negotiation request to the traffic management device 9 with the east side node 6 as the entry node and the north side node 6 as the exit node. For the negotiation area 5, other traffic routes may be set. For example, when the negotiation area 5 is set in a range including the elevator car and the hall on each floor, a traffic route may be set with the node 6 leading to the hall on the departure floor as the entry node and the node 6 leading to the hall on the arrival floor as the exit node.

[0032] When the negotiation area 5 allows passing by on the right side, the moving body 2 going straight through from west to east and the moving body 2 turning right and going from east to north can pass through the negotiation area 5 without intersection. That is, the combination of the traffic route going straight through from west to east and the traffic route turning right and going from east to north is a combination that can pass through the said negotiation area 5 simultaneously.

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

[0034] As shown in FIG. 3, when the moving body 2 attempts to pass through the negotiation area 5, it outputs a negotiation request to the traffic management device 9 through the movement control device 8. Note that the moving body 2 may output a negotiation request to the traffic management device 9 without going through the movement control device 8. Further, the movement control device 8 may spontaneously output a negotiation request of the moving body 2 to the traffic management device 9 regardless of a request from the moving body 2.

[0035] The reception unit 12 of the traffic management device 9 receives a negotiation request from the moving body 2. The selection unit 13 identifies the moving body 2 that output the negotiation request and the negotiation area 5 through which the moving body 2 attempts to pass based on the negotiation request received by the reception unit 12. The selection unit 13 refers to the area information managed by the area management unit 10 and the information of the moving body 2 managed by the moving body management unit 11 based on information such as the identified negotiation area 5 and the identifier of the moving body 2.

[0036] The selection unit 13 selects one of the passing routes as a permitted route for the identified negotiation area 5 based on the referred information. The selection unit 13 selects a permitted route based on, for example, the traffic rules of the negotiation area 5. For example, when there is no moving body 2 other than the moving body 2 that output the negotiation request attempting to pass through the negotiation area 5, the selection unit 13 selects the passing route through which the moving body 2 that output the negotiation request attempts to pass as the permitted route. The selection unit 13 may determine whether the moving body 2 is attempting to pass through the negotiation area 5 depending on the presence or absence of a negotiation request, for example.

[0037] The instruction unit 14 outputs a passage instruction to the moving body 2 passing through the permitted route selected by the selection unit 13 through the movement control device 8. Note that the instruction unit 14 may output a passage instruction to the moving body 2 without going through the movement control device 8. For example, when there is only one moving body 2 passing through the permitted route, the instruction unit 14 outputs a passage instruction to the moving body 2. For example, when there are a plurality of moving bodies 2 passing through the permitted route, the instruction unit 14 may sequentially output passage instructions to the plurality of moving bodies 2. At this time, the instruction unit 14 may output a passage instruction to the next moving body 2 before the preceding moving body 2 completes passing through the mediation area 5. For example, the instruction unit 14 may output a passage instruction to the moving body 2 in the order of arrival of the mediation requests, or may output a passage instruction to the moving body 2 in the order of arrival at the node 6 at the entrance of the mediation area 5. For example, when there are a plurality of moving bodies 2 passing through the permitted route, for example, when the intervals between the current positions of the plurality of moving bodies 2 are wide enough to pass without interfering with each other, the instruction unit 14 may output passage instructions to the plurality of moving bodies 2 simultaneously.

[0038] The moving body 2 that has received the passage instruction from the instruction unit 14 passes through the mediation area 5 according to the passage route for which it has requested passage.

[0039] In FIG. 4, an example of the operation of the traffic management device 9 when there are a plurality of moving bodies 2 that have output mediation requests is shown.

[0040] In step S11, the reception unit 12 receives a mediation request regarding passage through the mediation area 5 from the first moving body 2. The moving body 2 is an example of the first moving body. Thereafter, the process of the traffic management device 9 proceeds to step S12.

[0041] In step S12, the reception unit 12 receives a mediation request regarding passage through the same mediation area 5 as the first moving body 2 from a second moving body 2 different from the first moving body 2. The moving body 2 is an example of the second moving body. In this example, the two moving bodies 2 pass through the same mediation area 5 on different passage routes. Thereafter, the process of the traffic management device 9 proceeds to step S13.

[0042] In step S13, the selection unit 13 refers to the area information managed by the area management unit 10 and the information of the moving body 2 managed by the moving body management unit 11, and determines whether the combination of the passing routes of the two moving bodies 2 is a simultaneously passable combination. When these combinations of passing routes are simultaneously passable combinations, the process of the traffic management device 9 proceeds to step S14. On the other hand, when the combination of the passing routes of the two moving bodies 2 is not a simultaneously passable combination, the process of the traffic management device 9 proceeds to step S16.

[0043] In step S14, the selection unit 13 selects both of the passing routes of the two moving bodies 2 as permitted routes. Then, the process of the traffic management device 9 proceeds to step S15.

[0044] In step S15, the command unit 14 outputs a passing instruction to the first moving body 2 passing through one of the permitted routes selected by the selection unit 13. Without waiting for the completion of the passage of the first moving body 2, the command unit 14 outputs a passing instruction to the second moving body 2 passing through the other permitted route selected by the selection unit 13. The command unit 14 may output passing instructions to the first moving body 2 and the second moving body 2 simultaneously. Then, the process of the traffic management device 9 ends.

[0045] In step S16, the selection unit 13 selects the passing route of the first moving body 2 as the permitted route. On the other hand, the selection unit 13 holds the passing route of the second moving body 2 without selecting it as the permitted route. For example, the selection unit 13 may select the passing route of the second moving body 2 as the permitted route after the passage of the mediation area 5 of the first moving body 2 is completed. After selecting the passing route of the first moving body 2 as the permitted route, the process of the traffic management device 9 proceeds to step S17.

[0046] In step S17, the instruction unit 14 outputs a passage instruction to the first moving body 2 that passes through the permitted route selected by the selection unit 13. The instruction unit 14 holds without outputting a passage instruction the second moving body 2 that passes through a passage route not selected by the selection unit 13 as a permitted route. Thereafter, the processing of the traffic management device 9 ends.

[0047] Note that the traffic management device 9 may similarly select a permitted route and output a passage instruction for three or more moving bodies 2.

[0048] As described above, the moving body system 1 according to the first embodiment includes one or more moving bodies 2 and a movement control system 7. The movement control system 7 includes a movement control device 8 and a traffic management device 9. The movement control device 8 controls the movement of the moving body 2. The traffic management device 9 includes an area management unit 10, a reception unit 12, a selection unit 13, and an instruction unit 14. The area management unit 10 manages area information for each mediation area 5. The area information of the mediation area 5 includes information on adjacent nodes 6 and information on combinations of passage routes that can be passed through simultaneously. The passage route is determined by a pair of a node 6 where passage through the mediation area 5 starts and a node 6 where passage ends. The reception unit 12 receives a mediation request from each of the moving bodies 2 that intends to pass through the mediation area 5. The mediation request for the mediation area 5 includes information on an entry node where passage starts and an exit node where passage ends among the adjacent nodes 6. The selection unit 13 selects, for the mediation area 5, a permitted route that is a passage route for which passage is permitted, based on the mediation requests received by the reception unit 12 and the area information managed by the area management unit 10. The instruction unit 14 outputs a passage instruction to the moving body 2 that passes through the permitted route selected by the selection unit 13.

[0049] With such a configuration, after a permitted route is selected, a passage instruction is output to the moving bodies 2 that do not compete with each other in movement and pass through the permitted route. As a result, the possibility of blockage in the negotiation area 5 is suppressed, and the reduction in the movement efficiency of the moving bodies 2 is suppressed. In addition, since passage instructions can be continuously output to a plurality of moving bodies 2 passing through the negotiation area 5 according to the permitted route, the traffic flow in the negotiation area 5 is less likely to be interrupted, and the movement of the moving bodies 2 is less likely to be hindered. Further, since the moving body 2 designates both the entry node and the exit node in the negotiation request, the intersection between the moving bodies 2 can be more reliably suppressed. In addition, since the traffic management device 9 negotiates the movement between the plurality of moving bodies 2 in response to the negotiation request, even when it is difficult to directly cooperate between the moving bodies 2 such as when the manufacturers of the moving bodies 2 are different, the intersection between the moving bodies 2 is less likely to occur. In this way, in the moving body system 1, the movement efficiency of the moving bodies 2 is further improved.

[0050] Further, when two moving bodies 2 attempt to pass through the same negotiation area 5 on a passable route at the same time, the selection unit 13 selects both the passage routes of the respective moving bodies 2 as permitted routes. The command unit 14 outputs a passage instruction to the next moving body 2 before the moving body 2 that has previously output the passage instruction completes the passage through the negotiation area 5.

[0051] With such a configuration, it becomes possible to output a passage instruction to the other moving body without waiting for the completion of one passage even for a plurality of moving bodies 2 passing through different passage routes. As a result, the useless waiting time of the moving body 2 is reduced, so that the movement efficiency of the moving body 2 is further improved.

[0052] In addition, any one of the negotiation areas 5 is set in a range including the inside of the elevator car and the hall on each floor. Any passage route of the negotiation area 5 is determined by a set of a node 6 adjacent to the hall on the departure floor and a node 6 adjacent to the hall on the arrival floor.

[0053] With such a configuration, the traffic management device 9 can handle the movement of the mobile body 2 within a floor and the movement of the mobile body 2 between floors in the same manner. Also, when the mobile body 2 is selected as a permitted route, it will board the elevator car, so situations such as confinement where the mobile body 2 cannot get off at the arrival floor are less likely to occur. As a result, a decrease in the utilization efficiency of the elevator can be suppressed.

[0054] Subsequently, an example of the hardware configuration of the mobile body system 1 will be described with reference to FIG. 5. FIG. 5 is a hardware configuration diagram of the main part of the mobile body system 1 according to Embodiment 1.

[0055] Each function of part or all of the mobile body system 1 can 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 together with the processor 100a and the memory 100b, or as an alternative to them.

[0056] When the processing circuit includes the processor 100a and the memory 100b, each function of the mobile body system 1 is realized by software, firmware, or a combination of software and firmware. At least one of the software and the firmware is described as a program. The program is stored in the memory 100b. The processor 100a reads and executes the program stored in the memory 100b to realize each function of the mobile body system 1. The program may be a program package including a plurality of sub-programs, modules, or libraries, etc. The program may also be called a program product.

[0057] Processor 100a is also referred to as a CPU (Central Processing Unit), a processing device, an arithmetic unit, a microprocessor, a microcomputer, or a DSP. Memory 100b is composed of, for example, non-volatile or volatile semiconductor memories such as RAM, ROM, flash memory, EPROM, and EEPROM.

[0058] When the processing circuit includes dedicated hardware, the processing circuit is realized by, for example, a single circuit, a composite circuit, a programmed processor, a parallel-programmed processor, an ASIC, an FPGA, or a combination thereof.

[0059] Each function of the mobile system 1 can be realized by a processing circuit respectively. Alternatively, each function of the mobile system 1 can also be realized collectively by a processing circuit. Regarding each function of the mobile system 1, a part may be realized by dedicated hardware and the other part may be realized by software or firmware. Thus, the processing circuit realizes each function of the mobile system 1 by dedicated hardware, software, firmware, or a combination thereof.

[0060] Embodiment 2. In Embodiment 2, differences from the examples disclosed in Embodiment 1 will be described in particular detail. Regarding features not described in Embodiment 2, any features of the examples disclosed in Embodiment 1 may be adopted.

[0061] FIG. 6 is a plan view for explaining an example of the arbitration area 5 in the mobile system 1 according to Embodiment 2.

[0062] The area information of the mediation area 5 includes, for example, information on the reception range that is the range for receiving mediation requests regarding passage through the mediation area 5. The reception range is specified, for example, by the straight-line distance or the distance on the route from the mediation area 5. The reception range may be, for example, a wider range including each node 6 adjacent to the mediation area 5. Each moving body 2 outputs, for example, a mediation request to pass through the mediation area 5 to the traffic management device 9 when entering the reception range of the mediation area 5. Each moving body 2 may determine whether it is within the reception range of the mediation area 5 based on information such as its own current position.

[0063] Figure 7 is a flowchart showing an example of the operation of the moving body system 1 according to Embodiment 2. In Figure 7, an example of the operation of the traffic management device 9 when the moving body 2 outputs a mediation request is shown.

[0064] In step S21, the reception unit 12 receives a mediation request regarding passage through the mediation area 5 from the moving body 2. Based on the received mediation request, the reception unit 12 identifies the moving body 2 that output the mediation request and the mediation area 5 through which the moving body 2 intends to pass. The reception unit 12 refers to the area information managed by the area management unit 10 and the information of the moving body 2 managed by the moving body management unit 11 based on information such as the identified mediation area 5 and the identifier of the moving body 2. The information of the moving body 2 referred to by the reception unit 12 includes the information on the current position of the moving body 2 that the moving body management unit 11 manages while updating. Thereafter, the processing of the traffic management device 9 proceeds to step S22.

[0065] In step S22, the reception unit 12 determines whether the current position of the identified moving body 2 is within the reception range of the identified mediation area 5. If the moving body 2 is within the reception range, the processing of the traffic management device 9 proceeds to step S23. On the other hand, if the moving body 2 is outside the reception range, the processing of the traffic management device 9 proceeds to step S24.

[0066] In step S23, the reception unit 12 receives the mediation request received from the moving body 2. The traffic management device 9 performs processes such as determination of output of a traffic instruction on the received mediation request. Thereafter, the process of the traffic management device 9 ends.

[0067] In step S24, the reception unit 12 rejects the mediation request received from the moving body 2 without receiving it. The traffic management device 9 does not perform processes such as determination of output of a traffic instruction on the rejected mediation request. Note that the notification unit 15 may notify the moving body 2 that the mediation request has been rejected. Thereafter, the process of the traffic management device 9 ends.

[0068] As described above, in the traffic management device 9 of the moving body system 1 according to the second embodiment, when the moving body 2 that issues a mediation request is outside the reception range of the mediation area 5 through which the moving body 2 attempts to pass by the mediation request, the reception unit 12 rejects the mediation request. The reception unit 12 determines whether the moving body 2 is inside or outside the reception range by using the information on the current position of the moving body 2 that the moving body management unit 11 manages while updating.

[0069] With such a configuration, the mediation request output when the moving body 2 is still far from the mediation area 5 is rejected, so that useless waiting time and the like are less likely to occur. As a result, the moving efficiency of the moving body 2 is further improved.

[0070] 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 features of the examples disclosed in the first or second embodiment may be adopted.

[0071] FIG. 8 is a plan view for explaining an example of the mediation area 5 in the moving body system 1 according to the third embodiment.

[0072] In FIG. 8, examples of two different mediation areas 5 are shown. In this example, the two mediation areas 5 are adjacent to each other in the east-west direction. One mediation area 5 is an example of the first mediation area. The other mediation area 5 is an example of the second mediation area. Each mediation area 5 is set, for example, in the range of an intersection where roads cross. In each mediation area 5, four adjacent nodes 6 are set. Each node 6 corresponds to each road leading to an adjacent mediation area 5.

[0073] The moving body 2 successively passes through a plurality of mediation areas 5. At this time, the moving body 2 may output a single mediation request for passing through a plurality of mediation areas 5. In this example, the moving body 2 goes straight through the west mediation area 5 and passes from west to east, and turns left in the east mediation area 5 and passes from west to north. At this time, the moving body 2 outputs a mediation request to the traffic management device 9 with the node 6 adjacent to the west side of the west mediation area 5 as the entry node and the node 6 adjacent to the north side of the east mediation area 5 as the exit node.

[0074] Note that the moving body 2 may output a mediation request for successively passing through three or more mediation areas 5 to the traffic management device 9. The mediation request uses the node 6 adjacent to the mediation area 5 that is passed through first as the entry node and the node 6 adjacent to the mediation area 5 that is passed through last as the exit node. At this time, among the three or more mediation areas 5, the mediation area 5 passed through in the middle is specified by the selection unit 13 of the traffic management device 9 or the like based on information such as the relationship information between the mediation areas 5 managed by the area management unit 10. Alternatively, the mediation request may include information such as an identifier for specifying the mediation area 5 in the middle. Note that in the moving body system 1, an upper limit may be provided for the number of mediation areas 5 passed through by a single mediation request, or the distance between the mediation areas 5.

[0075] FIG. 9 is a sequence diagram showing an example of the operation of the moving body system 1 according to Embodiment 3.

[0076] When the mobile body 2 attempts to pass through a plurality of mediation areas 5, it outputs a single mediation request to the traffic management device 9 through the movement control device 8. Note that the mobile body 2 may output a mediation request to the traffic management device 9 without going through the movement control device 8. Further, the movement control device 8 may spontaneously output a mediation request for the mobile body 2 to the traffic management device 9 regardless of a request from the mobile body 2. In this example, the mobile body 2 passes through the second mediation area following the first mediation area. The first mediation area corresponds to, for example, the western mediation area 5 in the example of FIG. 8. At this time, the second mediation area corresponds to the eastern mediation area 5 in the example of FIG. 8. The mediation request of the mobile body 2 includes identifiers of the first mediation area and the second mediation area, with the node 6 adjacent to the first mediation area as the entry node and the node 6 adjacent to the second mediation area as the exit node.

[0077] The reception unit 12 of the traffic management device 9 receives a mediation request from the mobile body 2. The selection unit 13 identifies the mobile body 2 that output the mediation request and the mediation area 5 through which the mobile body 2 attempts to pass based on the mediation request received by the reception unit 12. In this example, the selection unit 13 identifies both the first mediation area and the second mediation area as the mediation area 5 through which the mobile body 2 attempts to pass. The selection unit 13 refers to the area information of the first mediation area and the second mediation area managed by the area management unit 10 and the information of the mobile body 2 managed by the mobile body management unit 11.

[0078] Based on the information referred to, the selection unit 13 collectively selects permission routes for both the first mediation area and the second mediation area so that the mobile body 2 can pass through the identified first mediation area and second mediation area in order. The selection unit 13 selects a permission route, for example, based on the traffic rules of the first mediation area and the second mediation area. The selection unit 13 selects, for example, the passing route through which the mobile body 2 that output the mediation request attempts to pass as the permission route when there is no other mobile body 2 attempting to pass through the first mediation area and the second mediation area in addition to the mobile body 2 that output the mediation request.

[0079] The selection unit 13 selects, for example, in the order of arrival of the mediation requests, the traffic route that the mobile body 2 that has output the mediation request intends to pass through as the permitted route. The selection unit 13 determines the order of arrival of the mediation requests based on, for example, the issuance time from the mobile body 2 of the mediation request. Here, there may be a case where the traffic route of a subsequent mobile body 2 that subsequently passes through one or both of the first mediation area and the second mediation area can pass through simultaneously with the already selected permitted route. In this case, the selection unit 13 may select the traffic route of the subsequent mobile body 2 as the permitted route without waiting for the completion of the passage of the preceding mobile body 2 passing through one or both of the first mediation area and the second mediation area.

[0080] The command unit 14 outputs a traffic instruction to the mobile body 2 passing through the permitted route selected by the selection unit 13 through the movement control device 8. Note that the command unit 14 may output a traffic instruction to the mobile body 2 without passing through the movement control device 8. In this example, the command unit 14 outputs a traffic instruction to the mobile body 2 passing through the first mediation area and the second mediation area in order, for example.

[0081] The mobile body 2 that has received the traffic instruction from the command unit 14 moves according to the traffic route for which it has requested passage. In this example, the mobile body 2 that has received the traffic instruction enters the first mediation area from the entry node. Thereafter, the mobile body 2 exits the first mediation area. At this time, the mobile body 2 notifies the traffic management device 9 of the exit from the first mediation area through, for example, the movement control device 8.

[0082] Based on the notification from the mobile body 2 or the like, the traffic management device 9 determines that the mobile body 2 has completed passing through the first mediation area. The traffic management device 9 may also determine the completion of the passage of the mobile body 2 based on information such as the current position of the mobile body 2 managed by the mobile body management unit 11. In the traffic management device 9, the selection unit 13 may select the permitted route of the first mediation area in response to a mediation request or the like output by another mobile body 2 when the mobile body 2 has completed passing through the first mediation area.

[0083] Thereafter, the mobile body 2 enters the second mediation area. Thereafter, the mobile body 2 exits the second mediation area. At this time, the mobile body 2 notifies the traffic management device 9 of the exit from the second mediation area, for example, through the movement control device 8.

[0084] Based on the notification from the mobile body 2 or information such as the current position of the mobile body 2, the traffic management device 9 determines that the mobile body 2 has completed passing through the second mediation area. In the traffic management device 9, when the mobile body 2 has completed passing through the second mediation area, the selection unit 13 may select a permitted route for the second mediation area according to a mediation request output by another mobile body 2 or the like.

[0085] As described above, in the mobile body system 1 according to Embodiment 3, the mobile body 2 outputs a mediation request with the node 6 adjacent to the first mediation area as the entry node and the node 6 adjacent to a second mediation area different from the first mediation area as the exit node. The selection unit 13 selects permitted routes for both the first mediation area and the second mediation area so that the mobile body 2 can pass through the first mediation area and the second mediation area in sequence. The command unit 14 outputs a passage instruction to the mobile body 2 that passes through the permitted routes selected by the selection unit 13 for the first mediation area and the second mediation area.

[0086] With such a configuration, mediation for movement across a plurality of mediation areas 5 is collectively performed, so that the movement efficiency of the mobile body 2 is further improved. For example, when the mobile body 2 has completed passing through the first mediation area and is passing through the second mediation area, it becomes possible to reselect the permitted route for the first mediation area without waiting for the mobile body 2 to complete passing through the second mediation area. In this way, since it becomes possible to sequentially reselect the permitted route for the range where the passage of the mobile body 2 has been completed, the useless waiting time of the mobile body 2 is reduced. As a result, the movement efficiency of the mobile body 2 is further improved.

[0087] Embodiment 4. In Embodiment 4, differences from the examples disclosed in Embodiments 1 to 3 will be described in particular detail. For features not described in Embodiment 4, any features of the examples disclosed in Embodiments 1 to 3 may be adopted.

[0088] FIG. 10 is a sequence diagram showing an example of the operation of the mobile body system 1 according to Embodiment 4.

[0089] When the mobile body 2 attempts to move along a route including the negotiation area 5, it inquires of the traffic management device 9 about the negotiation status of the negotiation area 5. Note that the mobile body 2 may inquire about the negotiation status through the movement control device 8. The negotiation status is, for example, information such as the presence or absence of the mobile body 2 waiting for a traffic instruction from the traffic management device 9 in the negotiation area 5, and its number and attributes. The inquiry about the negotiation status includes information such as the identifier of the target negotiation area 5.

[0090] The reception unit 12 of the traffic management device 9 receives an inquiry about the negotiation status from the mobile body 2. The notification unit 15 identifies the negotiation area 5 that is the target of the inquiry based on the inquiry about the negotiation status received by the reception unit 12. The notification unit 15 refers to the area information managed by the area management unit 10 and the information of each mobile body 2 managed by the mobile body management unit 11 based on the information of the identified negotiation area 5 and the like.

[0091] The notification unit 15 generates information on the negotiation status for the identified negotiation area 5 based on the referred information. The notification unit 15 notifies the mobile body 2 that made the inquiry of the generated information on the negotiation status. The notification unit 15 may notify the information on the negotiation status through the movement control device 8.

[0092] The mobile body 2 receives information on the mediation situation. For example, when there is a mobile body 2 waiting for a passing instruction in the mediation area 5, the mobile body 2 re-searches the movement route so as not to pass through the mediation area 5. On the other hand, when there is no mobile body 2 waiting for a passing instruction in the mediation area 5, the mobile body 2 starts moving without changing the movement route. Then, the mobile body 2 outputs a mediation request regarding passing through the mediation area 5 to the traffic management device 9. Note that the mobile body 2 may determine whether re-searching of the movement route is necessary based on other criteria. For example, the mobile body 2 may determine whether re-searching of the movement route is necessary based on whether the number of mobile bodies 2 waiting for a passing instruction in the mediation area 5 is greater than a preset number. Also, the processing such as determining whether re-searching of the movement route of the mobile body 2 is necessary and re-searching of the movement route may be performed by the movement control device 8 corresponding to the mobile body 2.

[0093] FIG. 11 is a flowchart showing an example of the operation of the mobile body system 1 according to Embodiment 4. In FIG. 11, an example of the operation of the traffic management device 9 when the mobile body 2 inquires about the mediation situation is shown.

[0094] In step S31, the reception unit 12 receives an inquiry about the mediation situation of the mediation area 5 from the mobile body 2. The notification unit 15 specifies the mediation area 5 that is the target of the inquiry based on the inquiry about the mediation situation received by the reception unit 12. The notification unit 15 refers to the area information managed by the area management unit 10 and the information of each mobile body 2 managed by the mobile body management unit 11 based on information such as the identifier of the specified mediation area 5. Then, the processing of the traffic management device 9 proceeds to step S32.

[0095] In step S32, the notification unit 15 generates information on the mediation situation for the specified mediation area 5. For example, the notification unit 15 generates information on the mediation situation by aggregating the number of mobile bodies 2 waiting for a passing instruction in the mediation area 5. The number of waiting mobile bodies 2 is calculated based on, for example, the number of mediation requests received by the reception unit 12 or the information of each mobile body 2 managed by the mobile body management unit 11. Then, the processing of the traffic management device 9 proceeds to step S33.

[0096] In step S33, the notification unit 15 notifies the moving body 2 of the generated mediation status information. Thereafter, the processing of the traffic management device 9 ends.

[0097] As described above, in the traffic management device 9 of the mobile body system 1 according to the fourth embodiment, when there is an inquiry about the mediation status of the mediation area 5 from the mobile body 2, the notification unit 15 notifies the mobile body 2 of the mediation status of the mediation area 5.

[0098] With such a configuration, the moving body 2 can grasp the mediation status before passing through the mediation area 5, so that unnecessary waiting time can be reduced by re-searching the moving route or the like. As a result, the moving efficiency of the moving body 2 is further improved.

[0099] Note that the moving body 2 may output a reservation of a mediation request to the traffic management device 9 that requests a passing instruction at a future reservation time for the mediation area 5. The reservation of the mediation request includes information such as a time specifying the reservation time in addition to the information of a normal mediation request. The selection unit 13 selects a permitted route at the reservation time based on the reservation of the mediation request. At this time, when there is an inquiry about the reservation status at the reservation time, the notification unit 15 may generate mediation status information including the number of moving bodies 2 waiting for a passing instruction by the reservation of the mediation request.

[0100] Summarizing the above description, the possible configurations of the technology according to the present disclosure include the following configurations shown as appendices. (Appendix 1) For each of one or more preset mediation areas, information on nodes adjacent to the mediation area, and for the passing route of the mediation area determined by a set of a node at which passage through the mediation area starts and a node at which passage through the mediation area ends among the nodes adjacent to the mediation area, an area management unit that manages area information including information on combinations of the passing routes that can pass through the mediation area simultaneously; A reception unit that receives a mediation request including information on an entry node representing a node at which passage starts and an exit node representing a node at which passage ends, from one or more moving bodies each attempting to pass through at least one of the one or more mediation areas, where the entry node and the exit node are among the nodes adjacent to at least one of the one or more mediation areas; A selection unit that selects a permission route, which is a passage route for permitting passage, for at least one of the one or more mediation areas based on the mediation request received by the reception unit and the area information managed by the area management unit; For at least one of the moving bodies that pass through the permission route selected by the selection unit among the one or more moving bodies, Permit passage through the permitted route A command unit that outputs a passage instruction; A traffic management device comprising the above. (Appendix 2) When the one or more mediation areas include a first mediation area and a second mediation area that are different from each other, When the mediation request designates a node adjacent to the first mediation area as the entry node and a node adjacent to the second mediation area as the exit node, The selection unit selects the permission route for both the first mediation area and the second mediation area so that the first mediation area and the second mediation area can be passed through in order, The command unit outputs a passage instruction for at least one of the moving bodies that pass through the permission route selected by the selection unit for the first mediation area and the second mediation area among the one or more moving bodies, Permit passage through the permitted route The traffic management device according to Appendix 1. The traffic management device according to Appendix 1. (Appendix 3) A moving body management unit that manages while updating information on the current position of each of the one or more moving bodies Comprising the above, The reception unit rejects the mediation request when the moving body that issues the mediation request is outside a preset reception range with respect to the mediation area through which the moving body attempts to pass according to the mediation request. The traffic management device according to Appendix 1 or Appendix 2. (Appendix 4) When the one or more moving bodies include different first and second moving bodies, when the first moving body and the second moving body attempt to pass through the same mediation area on the passable route at the same time, the selection unit selects both the passable route that the first moving body attempts to pass through and the passable route that the second moving body attempts to pass through as the permitted route, the command unit outputs a passing instruction to the second moving body before the first moving body that has previously output a passing instruction completes passing through the mediation area. The traffic management device according to any one of Appendices 1 to 3. (Appendix 5) A notification unit that, when there is an inquiry about the mediation status for any one of the one or more mediation areas from any one of the one or more moving bodies, notifies the moving body of the mediation status of the mediation area. The traffic management device according to any one of Appendices 1 to 4, comprising: (Appendix 6) At least one of the one or more mediation areas is set in a range including the inside of the elevator car and the halls on each of the plurality of floors, and at least one of the passable routes of the mediation area is determined by a set of nodes adjacent to the hall on the departure floor and nodes adjacent to the hall on the arrival floor. The traffic management device according to any one of Appendices 1 to 5. (Appendix 7) A computer For each of the one or more preset mediation areas, manages area information including information on nodes adjacent to the mediation area, and information on combinations of passable routes for the mediation area determined by a set of a node that starts passing through the mediation area and a node that completes passing through the mediation area among the nodes adjacent to the mediation area. Receiving a mediation request including information on an entry node representing a node at which passage starts and an exit node representing a node at which passage ends among the nodes adjacent to at least any one of the one or more mediation areas, from one or more moving bodies each attempting to pass through at least any one of the one or more mediation areas; Based on the received mediation request and the area information to be managed, selecting, for at least any one of the one or more mediation areas, a permitted route which is the passage route for permitting passage; For at least any one of the moving bodies among the one or more moving bodies that pass through the selected permitted route, Permit passage through the permitted route Outputting a passage instruction; A traffic management method for executing the above. (Appendix 8) For a computer, For each of the one or more preset mediation areas, information on nodes adjacent to the mediation area, and information on combinations of passage routes of the mediation area that can be passed through simultaneously, regarding the passage route of the mediation area determined by a set of a node at which passage of the mediation area starts and a node at which passage of the mediation area ends among the nodes adjacent to the mediation area, managing area information including the above; Receiving a mediation request including information on an entry node representing a node at which passage starts and an exit node representing a node at which passage ends among the nodes adjacent to at least any one of the one or more mediation areas, from one or more moving bodies each attempting to pass through at least any one of the one or more mediation areas; Based on the received mediation request and the area information to be managed, selecting, for at least any one of the one or more mediation areas, a permitted route which is the passage route for permitting passage; For at least any one of the moving bodies among the one or more moving bodies that pass through the selected permitted route, Permit passage through the permitted route Outputting a passage instruction; A traffic management program for causing the above to be executed. (Appendix 9) One or more moving bodies each attempting to pass through at least one of a preset one or more negotiation areas, For each of the one or more negotiation areas, area information including information on nodes adjacent to the negotiation area, and information on combinations of passing routes of the negotiation area that can be passed through simultaneously for the passing route of the negotiation area determined by a set of a node at which passage through the negotiation area starts and a node at which passage through the negotiation area ends among the nodes adjacent to the negotiation area is managed by an area management unit; A reception unit that receives a negotiation request including information on an entry node representing a node at which passage starts and an exit node representing a node at which passage ends among nodes adjacent to at least one of the one or more negotiation areas from the one or more moving bodies; Based on the negotiation request received by the reception unit and the area information managed by the area management unit, a selection unit that selects a permitted route, which is a passing route that permits passage, for at least one of the one or more negotiation areas; For at least one of the moving bodies among the one or more moving bodies that pass through the permitted route selected by the selection unit, Permit passage through the permitted route A command unit that outputs a passage instruction; A mobile body system comprising the same. (Appendix 10) A movement control unit that controls the movement of one or more moving bodies each attempting to pass through at least one of a preset one or more negotiation areas; For each of the one or more negotiation areas, area information including information on nodes adjacent to the negotiation area, and information on combinations of passing routes of the negotiation area that can be passed through simultaneously for the passing route of the negotiation area determined by a set of a node at which passage through the negotiation area starts and a node at which passage through the negotiation area ends among the nodes adjacent to the negotiation area is managed by an area management unit; A reception unit that receives a negotiation request including information on an entry node representing a node at which passage starts and an exit node representing a node at which passage ends among nodes adjacent to at least one of the one or more negotiation areas from the one or more moving bodies; A selection unit that selects a permitted route, which is the traffic route for permitting passage, for at least any one of the one or more mediation areas based on the mediation request received by the reception unit and the area information managed by the area management unit; For at least any one of the moving bodies that pass through the permitted route selected by the selection unit among the one or more moving bodies, Permit passage through the permitted route A command unit that outputs a traffic instruction; A mobile body control system comprising:

Explanation of Signs

[0101] 1 Mobile body system, 2 Mobile body, 3 Facility, 4 Communication network, 5 Mediation 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 for each of one or more preset arbitration areas, including information on nodes adjacent to the arbitration area, and information on a combination of travel routes that can simultaneously pass through the arbitration area, the travel route being determined by a pair of a node that starts passing through the arbitration area among the nodes adjacent to the arbitration area and a node that completes passing through the arbitration area; a reception unit that receives an arbitration request from one or more moving objects each intending to pass through at least one of the one or more arbitration areas, the arbitration request including information on an entry node representing a node at which the moving object starts passing among nodes adjacent to at least one of the one or more arbitration areas, and an exit node representing a node at which the moving object completes passing; a selection unit that selects an allowed route, which is the travel route for which travel is permitted, for at least one of the one or more arbitration areas based on the arbitration request received by the reception unit and the area information managed by the area management unit; a command unit that outputs a travel instruction to at least one of the one or more moving bodies that travels along the permitted route selected by the selection unit, to permit travel along the permitted route; A notification unit; Equipped with the reception unit has a function of receiving an inquiry about an arbitration status for any one of the one or more arbitration areas from any one of the one or more mobile objects, when the reception unit receives the inquiry about the arbitration status, the notification unit identifies an arbitration area that is the subject of the inquiry based on the received inquiry about the arbitration status, generates arbitration status information about the arbitration area, and notifies the mobile unit of the arbitration status of the arbitration area. Traffic management device.

2. An area management unit that manages area information including, for each of one or more pre-defined arbitration areas, information on nodes adjacent to the arbitration area, and information on combinations of travel routes that can simultaneously pass through the arbitration area, regarding travel routes through the arbitration area that are determined by a pair of nodes adjacent to the arbitration area that start passing through the arbitration area and a pair of nodes that complete passing through the arbitration area; a reception unit that receives an arbitration request from one or more moving objects each intending to pass through at least one of the one or more arbitration areas, the arbitration request including information on an entry node representing a node at which the moving object starts passing among nodes adjacent to at least one of the one or more arbitration areas, and an exit node representing a node at which the moving object completes passing; a selection unit that selects an allowed route, which is the travel route for which travel is permitted, for at least one of the one or more arbitration areas based on the arbitration request received by the reception unit and the area information managed by the area management unit; a command unit that outputs a travel instruction to at least one of the one or more moving bodies that travels along the permitted route selected by the selection unit, to permit travel along the permitted route; a mobile object management unit that manages, while updating, information on a current position of each of the one or more mobile objects; Equipped with the reception unit rejects the arbitration request when the mobile object issuing the arbitration request is outside a preset reception range for an arbitration area through which the mobile object is to pass according to the arbitration request. Traffic management device.

3. Notification section Equipped with the reception unit has a function of receiving an inquiry about an arbitration status for any one of the one or more arbitration areas from any one of the one or more mobile objects, the notification unit notifies the mobile object of the arbitration status of the arbitration area when the reception unit receives the inquiry about the arbitration status.

3. A traffic management device according to claim 2.

4. the reception unit, before receiving the arbitration request from any one of the one or more moving objects each intending to pass through at least one of the one or more arbitration areas, receives an inquiry about the arbitration status for an arbitration area through which the moving object is to pass, from the moving object; A traffic management device according to claim 1 or 3.

5. the arbitration status notified to the moving object by the notification unit includes at least one piece of information regarding the presence or absence, number, and attributes of moving objects waiting for the passage instruction in the arbitration area that is the subject of the inquiry regarding the arbitration status received by the reception unit; A traffic management device according to claim 1 or 3.

6. When the one or more arbitration areas include a first arbitration area and a second arbitration area that are different from each other, In the case where the arbitration request specifies a node adjacent to the first arbitration area as the ingress node and a node adjacent to the second arbitration area as the egress node, the selection unit selects the permitted route for both the first arbitration area and the second arbitration area such that the first arbitration area and the second arbitration area can be passed through in sequence; the command unit outputs a travel instruction to at least one of the one or more moving bodies that travels along the permitted route selected by the selection unit for the first arbitration area and the second arbitration area, to permit travel along the permitted route. A traffic management device according to any one of claims 1 to 3.

7. When the one or more moving bodies include a first moving body and a second moving body that are different from each other, When the first moving body and the second moving body are to pass through the same arbitration area at the same time via the travel route, the selection unit selects, as the permitted route, both the travel route that the first moving body is intending to travel and the travel route that the second moving body is intending to travel; the command unit outputs a passage instruction to the second moving body before the first moving body, to which the passage instruction was output earlier, completes passage through the arbitration area. A traffic management device according to any one of claims 1 to 3.

8. At least one of the one or more arbitration areas is set to a range including an interior of an elevator car and each hall of a plurality of floors, and at least one of the traffic routes in the arbitration area is determined by a pair of a node adjacent to a hall of a departure floor and a node adjacent to a hall of an arrival floor; A traffic management device according to any one of claims 1 to 3.

9. The computer managing area information including, for each of one or more preset arbitration areas, information on nodes adjacent to the arbitration area, and information on a combination of travel routes that can simultaneously pass through the arbitration area, the travel route being determined by a pair of a node that starts passing through the arbitration area among the nodes adjacent to the arbitration area and a node that completes passing through the arbitration area; receiving an arbitration request from one or more moving objects each intending to pass through at least one of the one or more arbitration areas, the arbitration request including information on an entry node representing a node at which the moving object starts passing among nodes adjacent to at least one of the one or more arbitration areas, and an exit node representing a node at which the moving object completes passing; selecting an allowed route, which is the travel route for which travel is permitted, for at least one of the one or more arbitration areas based on the received arbitration request and the area information managed by the management; outputting a travel instruction to at least one of the one or more moving bodies that is traveling along the selected permitted route, the travel instruction permitting travel along the permitted route; A traffic management method that implements the following: The computer, receiving an inquiry about a reconciliation status for any one of the one or more reconciliation areas from any one of the one or more mobile objects; when the inquiry about the mediation status is received, the mediation area that is the subject of the inquiry is identified based on the received inquiry about the mediation status, mediation status information about the mediation area is generated, and the mobile unit is notified of the mediation status of the mediation area. Traffic management methods.

10. A computer comprising: managing area information including, for each of one or more preset arbitration areas, information on nodes adjacent to the arbitration area, and information on a combination of travel routes that can simultaneously pass through the arbitration area, the travel route being determined by a pair of a node that starts passing through the arbitration area among the nodes adjacent to the arbitration area and a node that completes passing through the arbitration area; Managing, while updating, information on the current location of each of the one or more moving objects; receiving an arbitration request from one or more moving objects each intending to pass through at least one of the one or more arbitration areas, the arbitration request including information on an entry node representing a node at which the moving object starts passing among nodes adjacent to at least one of the one or more arbitration areas, and an exit node representing a node at which the moving object completes passing; selecting an allowed route, which is the travel route for which travel is permitted, for at least one of the one or more arbitration areas based on the received arbitration request and the area information managed by the management; outputting a travel instruction to at least one of the one or more moving bodies that is traveling along the selected permitted route, the travel instruction permitting travel along the permitted route; A traffic management method that implements the following: The computer, rejecting the arbitration request when the mobile body issuing the arbitration request is outside a preset acceptance range for the arbitration area through which the mobile body is to pass according to the arbitration request; Traffic management methods.

11. On the computer, managing area information including, for each of one or more preset arbitration areas, information on nodes adjacent to the arbitration area, and information on a combination of travel routes that can simultaneously pass through the arbitration area, the travel route being determined by a pair of a node that starts passing through the arbitration area among the nodes adjacent to the arbitration area and a node that completes passing through the arbitration area; receiving an arbitration request from one or more moving objects each intending to pass through at least one of the one or more arbitration areas, the arbitration request including information on an entry node representing a node at which the moving object starts passing among nodes adjacent to at least one of the one or more arbitration areas, and an exit node representing a node at which the moving object completes passing; selecting an allowed route, which is the travel route for which travel is permitted, for at least one of the one or more arbitration areas based on the received arbitration request and the area information managed by the management; outputting a travel instruction to at least one of the one or more moving bodies that is traveling along the selected permitted route, the travel instruction permitting travel along the permitted route; It is a traffic management program that The computer includes: Accepting an inquiry regarding an arbitration status for any one of the one or more arbitration areas from any one of the one or more mobile objects; when the inquiry about the mediation status is received, the mediation area to be inquired is specified based on the received inquiry about the mediation status, mediation status information about the mediation area is generated, and the mobile unit is notified of the mediation status of the mediation area. Traffic management programs.

12. A computer comprising: managing area information including, for each of one or more preset arbitration areas, information on nodes adjacent to the arbitration area, and information on a combination of travel routes that can simultaneously pass through the arbitration area, the travel route being determined by a pair of a node that starts passing through the arbitration area among the nodes adjacent to the arbitration area and a node that completes passing through the arbitration area; Managing, while updating, information on the current location of each of the one or more moving objects; receiving an arbitration request from one or more moving objects each intending to pass through at least one of the one or more arbitration areas, the arbitration request including information on an entry node representing a node at which the moving object starts passing among nodes adjacent to at least one of the one or more arbitration areas, and an exit node representing a node at which the moving object completes passing; selecting an allowed route, which is the travel route for which travel is permitted, for at least one of the one or more arbitration areas based on the received arbitration request and the area information managed by the management; outputting a travel instruction to at least one of the one or more moving bodies that is traveling along the selected permitted route, the travel instruction permitting travel along the permitted route; It is a traffic management program that The computer includes: rejecting the arbitration request when the mobile unit issuing the arbitration request is outside a preset acceptance range for the arbitration area through which the mobile unit is to pass according to the arbitration request; Traffic management programs.

13. one or more moving objects each intending to pass through at least one of one or more preset arbitration areas; an area management unit that manages area information for each of the one or more arbitration areas, including information on nodes adjacent to the arbitration area, and information on a combination of travel routes that can simultaneously pass through the arbitration area, the travel route being determined by a pair of a node that starts passing through the arbitration area among the nodes adjacent to the arbitration area and a node that completes passing through the arbitration area; a reception unit that receives, from the one or more moving bodies, an arbitration request including information on an entry node representing a node at which passage starts among nodes adjacent to at least any of the one or more arbitration areas, and an exit node representing a node at which passage ends; a selection unit that selects an allowed route, which is the travel route for which travel is permitted, for at least one of the one or more arbitration areas based on the arbitration request received by the reception unit and the area information managed by the area management unit; a command unit that outputs a travel instruction to at least one of the one or more moving bodies that travels along the permitted route selected by the selection unit, to permit travel along the permitted route; a mobile object management unit that manages, while updating, information on a current position of each of the one or more mobile objects; Equipped with the reception unit rejects the arbitration request when the mobile object issuing the arbitration request is outside a preset reception range for an arbitration area through which the mobile object is to pass according to the arbitration request. Mobile systems.

14. a mobile object control unit that controls the movement of one or more mobile objects each attempting to pass through at least one of one or more preset arbitration areas; an area management unit that manages area information for each of the one or more arbitration areas, including information on nodes adjacent to the arbitration area, and information on a combination of travel routes that can simultaneously pass through the arbitration area, the travel route being determined by a pair of a node that starts passing through the arbitration area among the nodes adjacent to the arbitration area and a node that completes passing through the arbitration area; a reception unit that receives, from the one or more moving bodies, an arbitration request including information on an entry node representing a node at which passage starts among nodes adjacent to at least any of the one or more arbitration areas, and an exit node representing a node at which passage ends; a selection unit that selects an allowed route, which is the travel route for which travel is permitted, for at least one of the one or more arbitration areas based on the arbitration request received by the reception unit and the area information managed by the area management unit; a command unit that outputs a travel instruction to at least one of the one or more moving bodies that travels along the permitted route selected by the selection unit, to permit travel along the permitted route; a mobile object management unit that manages, while updating, information on a current position of each of the one or more mobile objects; Equipped with the reception unit rejects the arbitration request when the mobile object issuing the arbitration request is outside a preset reception range for an arbitration area through which the mobile object is to pass according to the arbitration request. Mobile control system.

15. One or more moving objects each intending to pass through at least one of one or more predetermined arbitration areas; an area management unit that manages area information for each of the one or more arbitration areas, including information on nodes adjacent to the arbitration area, and information on a combination of travel routes that can simultaneously pass through the arbitration area, the travel route being determined by a pair of a node that starts passing through the arbitration area among the nodes adjacent to the arbitration area and a node that completes passing through the arbitration area; a reception unit that receives, from the one or more moving bodies, an arbitration request including information on an entry node representing a node at which passage starts among nodes adjacent to at least any of the one or more arbitration areas, and an exit node representing a node at which passage ends; a selection unit that selects an allowed route, which is the travel route for which travel is permitted, for at least one of the one or more arbitration areas based on the arbitration request received by the reception unit and the area information managed by the area management unit; a command unit that outputs a travel instruction to at least one of the one or more moving bodies that travels along the permitted route selected by the selection unit, to permit travel along the permitted route; A notification unit; Equipped with the reception unit has a function of receiving an inquiry about an arbitration status for any one of the one or more arbitration areas from any one of the one or more mobile objects, the notification unit, when the reception unit receives the inquiry about the arbitration status, notifies the mobile object of the arbitration status of the arbitration area; the arbitration status notified to the moving object by the notification unit includes information on the number of moving objects waiting for the passage instruction in the arbitration area that is the subject of the inquiry on the arbitration status received by the reception unit, each of the one or more moving bodies determines whether or not it is necessary to search for a travel route that does not pass through the arbitration area, depending on whether or not a number of moving bodies waiting for the passage instruction in the arbitration area in which the arbitration status has been inquired is greater than a preset number; Mobile systems.

16. A mobile object control unit that controls the movement of one or more mobile objects each attempting to pass through at least one of one or more preset arbitration areas; an area management unit that manages area information for each of the one or more arbitration areas, including information on nodes adjacent to the arbitration area, and information on a combination of travel routes that can simultaneously pass through the arbitration area, the travel route being determined by a pair of a node that starts passing through the arbitration area among the nodes adjacent to the arbitration area and a node that completes passing through the arbitration area; a reception unit that receives, from the one or more moving bodies, an arbitration request including information on an entry node representing a node at which passage starts among nodes adjacent to at least any of the one or more arbitration areas, and an exit node representing a node at which passage ends; a selection unit that selects an allowed route, which is the travel route for which travel is permitted, for at least one of the one or more arbitration areas based on the arbitration request received by the reception unit and the area information managed by the area management unit; a command unit that outputs a travel instruction to at least one of the one or more moving bodies that travels along the permitted route selected by the selection unit, to permit travel along the permitted route; A notification unit; Equipped with the reception unit has a function of receiving an inquiry about an arbitration status for any one of the one or more arbitration areas from any one of the one or more mobile objects, when the reception unit receives the inquiry about the arbitration status, the notification unit notifies the mobile body control unit that controls the movement of the mobile body of the arbitration status of the arbitration area; the arbitration status notified by the notification unit to the mobile object control unit includes information on the number of mobile objects waiting for the passage instruction in the arbitration area that is the subject of the inquiry on the arbitration status received by the reception unit, the mobile object control unit determines whether or not it is necessary to search for a travel route that does not pass through the arbitration area for each of the one or more mobile objects, depending on whether or not the number of mobile objects waiting for the passage instruction in the arbitration area for which the arbitration status has been inquired is greater than a preset number. Mobile control system.

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