Marker management system, marker management device, and marker management method

Abstract

To properly manage the installation of markers used for traveling control of a mobile body.SOLUTION: A marker management system (10) includes acquiring means for acquiring information about a positional displacement of an estimated position according to an estimated position of a mobile body and a detected position detected on the basis of markers installed in an area where the mobile body moves, determination means for determining whether the number of installed markers needs to be changed according to the positional displacement and a threshold value relating to the positional displacement, and calculation means for calculating the number of markers to change the number of installed markers according to the determination of whether a change is necessary.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to the technical field of a marker management system, a marker management device, and a marker management method that manage markers used for travel control of a mobile object. [Background technology]

[0002] Known systems of this type are used to control the movement of autonomously traveling mobile objects (e.g., AGVs (Automated Guided Vehicles)). For example, Patent Document 1 discloses optimizing a map used for the movement of a mobile object based on position and orientation information. Patent Document 2 discloses outputting an error to prompt the user to add a mark when the arrangement and magnetic force pattern of marks used for AVG travel control overlap. Patent Document 3 discloses increasing the number of wireless tags based on the maximum positional deviation that occurs in an autonomously traveling automated guided vehicle. Patent Document 4 discloses correcting three specified positions on the AVG travel route as needed. Patent Document 5 discloses dividing the travel route of an automated guided vehicle according to risk level. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-125354 [Patent Document 2] Japanese Patent Application Laid-Open No. 2009-271608 [Patent Document 3] Japanese Patent Application Laid-Open No. 2010-039664 [Patent Document 4] International Publication No. 2017 / 188292 [Patent Document 5] Japanese Patent Application Publication No. 09-026826 Summary of the Invention [Problem to be solved by the invention]

[0004] In autonomous driving control, it is preferable to install markers in appropriate positions depending on the situation in order to accurately correct positional deviations of a moving object. However, the above-mentioned patent documents do not sufficiently consider how to install the markers or when to review the installation positions of the markers, and there is room for improvement.

[0005] This disclosure has been made in consideration of the above-mentioned problems, and aims to provide a marker management system, a marker management device, and a marker management method that are capable of appropriately managing the installation of markers used to control the travel of moving bodies. [Means for solving the problem]

[0006] One aspect of the marker management system disclosed herein comprises an acquisition means for acquiring information regarding the positional deviation of the estimated position based on an estimated position of a moving body and a detected position detected based on markers installed in an area in which the moving body moves; a determination means for determining whether or not the number of installed markers needs to be changed based on the positional deviation and a threshold related to an allowable limit of the positional deviation; and a calculation means for calculating the number of installed markers so as to change the number of installed markers based on the determination of whether or not the change is necessary.

[0007] One aspect of the marker management device disclosed herein includes an acquisition means for acquiring information regarding the positional deviation of the estimated position based on an estimated position of a moving body and a detected position detected based on markers installed in an area in which the moving body moves, a determination means for determining whether or not the number of installed markers needs to be changed based on the positional deviation and a threshold value related to the allowable limit of the positional deviation, and a calculation means for calculating the number of installed markers so as to change the number of installed markers based on the determination of whether or not the change is necessary.

[0008] One aspect of the marker management method disclosed herein is to obtain information regarding the positional deviation of an estimated position of a moving body based on an estimated position of the moving body and a detected position detected based on markers installed in an area in which the moving body moves, determine whether or not the number of installed markers needs to be changed based on the positional deviation and a threshold value related to the allowable limit of the positional deviation, and calculate the number of markers so as to change the number of installed markers based on the determination of whether or not the change is necessary. [Effects of the Invention]

[0009] According to one aspect of each of the above-described marker management system, marker management device, and marker management method, it is possible to appropriately manage the installation of markers used for travel control of a moving object. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a block diagram showing a hardware configuration of a marker management system according to a first embodiment. [Figure 2] 1 is a block diagram showing the overall configuration of a marker management system according to a first embodiment. [Figure 3] 10 is a flowchart showing the flow of a review determination operation performed by the marker management system according to the first embodiment. [Figure 4] 10 is a flowchart showing the flow of a recalculation operation by the marker management system according to the first embodiment. [Figure 5] FIG. 10 is a block diagram showing the overall configuration of a marker management system according to a second embodiment. [Figure 6] 10 is a flowchart showing the flow of a performance search operation performed by the marker management system according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of a marker management system, a marker management method, and a computer program will be described with reference to the drawings.

[0012] First Embodiment A marker management system according to a first embodiment will be described with reference to FIGS.

[0013] (Hardware configuration) First, the hardware configuration of the marker management system according to the first embodiment will be described with reference to Fig. 1. Fig. 1 is a block diagram showing the hardware configuration of the marker management system according to the first embodiment.

[0014] 1, a marker management system 10 according to the first embodiment includes a CPU (Central Processing Unit) 11, a RAM (Random Access Memory) 12, a ROM (Read Only Memory) 13, and a storage device 14. The marker management system 10 may further include an input device 15 and an output device 16. The CPU 11, RAM 12, ROM 13, storage device 14, input device 15, and output device 16 are connected via a data bus 17.

[0015] The CPU 11 loads a computer program. For example, the CPU 11 is configured to load a computer program stored in at least one of the RAM 12, the ROM 13, and the storage device 14. Alternatively, the CPU 11 may load a computer program stored in a computer-readable storage medium using a storage medium reading device (not shown). The CPU 11 may acquire (i.e., load) the computer program from a device (not shown) located outside the marker management system 10 via a network interface. The CPU 11 controls the RAM 12, the storage device 14, the input device 15, and the output device 16 by executing the loaded computer program. In particular, in this embodiment, when the CPU 11 executes the loaded computer program, a functional block for managing markers used for travel control of a moving object is realized within the CPU 11.

[0016] The RAM 12 temporarily stores computer programs executed by the CPU 11. The RAM 12 temporarily stores data that is temporarily used by the CPU 11 while the CPU 11 is executing the computer programs. The RAM 12 may be, for example, a D-RAM (Dynamic RAM).

[0017] The ROM 13 stores computer programs executed by the CPU 11. The ROM 13 may also store fixed data. The ROM 13 may be, for example, a P-ROM (Programmable ROM).

[0018] The storage device 14 stores data that is to be saved long-term by the marker management system 10. The storage device 14 may operate as a temporary storage device for the CPU 11. The storage device 14 may include, for example, at least one of a hard disk device, a magneto-optical disk device, an SSD (Solid State Drive), and a disk array device.

[0019] The input device 15 is a device that receives input instructions from a user of the marker management system 10. The input device 15 may include, for example, at least one of a keyboard, a mouse, and a touch panel.

[0020] The output device 16 is a device that outputs information related to the marker management system 10 to the outside. For example, the output device 16 may be a display device (for example, a display) that can display information related to the marker management system 10.

[0021] (Specific configuration) Next, a more specific configuration of the marker management system 10 according to the first embodiment will be described with reference to Fig. 2. Fig. 2 is a block diagram showing the overall configuration of the marker management system according to the first embodiment.

[0022] 2, the marker management system 10 according to the first embodiment is configured as a system for managing markers used for driving control of an autonomous vehicle (hereinafter, sometimes simply referred to as a "vehicle" or "AVG"). The marker management system 10 includes, as components for realizing its functions, a position deviation correction unit 110, a slip estimation unit 120, a DB (database) writing unit 130, an AGV operation DB 140, a marker position review determination unit 150, a marker position recalculation unit 160, a map DB 170, and a marker installation position DB 180.

[0023] The positional deviation correction unit 110 is configured to calculate the positional deviation occurring in the vehicle based on the self-estimated position (i.e., the estimated position of the AGV estimated from the tire rotation angle, motor torque, etc.) input from the odometry unit 510 and the marker positioning position (the position where the marker is detected) input from the marker positioning unit 520, and to correct the deviation to reduce the deviation. In addition, the positional deviation correction unit 110 is configured to output information related to the calculated positional deviation to the DB writing unit 130 as first information.

[0024] The slip estimation unit 120 is configured to be able to estimate that a slip is occurring in the vehicle based on the torque and rotation speed input from the AGV motor 530 and the road surface gradient input from the level 540. The slip estimation unit 120 is also configured to be able to output information related to the estimated slip to the DB writing unit 130 as second information.

[0025] The DB writing unit 130 is configured to be able to write the first information input from the position deviation correction unit 110 and the second information input from the slip estimation unit 120 into the AGV operation DB.

[0026] The AGV operation DB 140 is configured as a database that can store the first information and the second information written by the DB writing unit 130. The AGV operation DB 140 stores, for example, the date and time, the vehicle number, the marker position, the amount of positional deviation, the number of slips (the number of times a slip has occurred since the previous measurement), and the slip position. The information stored in the AGV operation DB 140 can be read out as needed by the marker position review determination unit 150.

[0027] The marker position review determination unit 150 is configured to be able to determine whether or not the current marker position needs to be changed, based on the first information (i.e., information related to position deviation) and second information (i.e., information related to slippage) read from the AGV operation DB 140. The specific contents of the determination process executed by the marker position review determination unit 150 will be explained in detail later. The marker position review determination unit 150 may also directly acquire the first information and the second information from the position deviation correction unit 110 and the slip estimation unit 120. In this case, the DB writing unit 130 and the AGV operation DB 140 do not need to be provided in the marker management system 10. The determination result of the marker position review determination unit 150 is configured to be output to the marker position recalculation unit 160.

[0028] The marker position recalculator 160 is configured to recalculate at least one of the number and positions of markers according to the determination result of the marker position review determination unit 150. Specifically, when the marker position review determination unit 150 determines that the marker positions need to be changed, the marker position recalculator 160 recalculates at least one of the number and positions of markers. On the other hand, when the marker position review determination unit 150 determines that the marker positions do not need to be changed, the marker position recalculator 160 does not recalculate at least one of the number and positions of markers. The marker position recalculator 160 recalculates at least one of the number and positions of markers using map information stored in the map DB 170 (i.e., map information of the area in which the AGV moves). More specific details of the processing executed by the marker position recalculator 160 will be described in detail later. The calculation result of the marker position recalculator 160 is configured to be output to the marker installation position DB.

[0029] The map DB 170 is configured as a database that can store map information of an area in which a vehicle moves. The map information stored in the map DB 170 can be read out as needed by the marker position recalculator 160. The map DB 170 may be configured as a database external to the marker management system 10.

[0030] The marker installation position DB 180 is configured as a database that can accumulate the calculation results (in other words, new marker installation positions) of the marker position recalculator 160. The marker installation position DB 180 stores, for example, the date and time when the marker installation position was changed and the marker installation position (for example, coordinates on a map). Note that the marker installation position DB 180 may be configured as a database external to the marker management system 10.

[0031] (Review judgment operation) Next, the flow of the review determination operation (i.e., the operation of determining whether or not a marker position needs to be changed by the marker position review determination unit 150) executed by the marker management system 10 according to the first embodiment will be described with reference to Fig. 3. Fig. 3 is a flowchart showing the flow of the review determination operation by the marker management system according to the first embodiment.

[0032] 3, when the review determination operation is started, the marker position review determination unit 150 first acquires the first information and the second information from the AGV operation DB 140 (step S11). That is, the marker position review determination unit 150 acquires information regarding positional deviation of the AGV and information regarding slippage of the AGV.

[0033] Next, the marker position review determination unit 150 determines whether the positional deviation indicated by the first information is less than a predetermined lower threshold (step S12). The "lower threshold" here is a threshold for determining whether the positional deviation is small enough that the number of markers can be reduced, and is determined in advance by simulation or the like.

[0034] If the positional deviation is not less than a predetermined lower threshold (step S12: NO), the marker position review determination unit 150 determines whether the positional deviation indicated by the first information is equal to or greater than a predetermined upper threshold (step S13). The "upper threshold" here is a threshold for determining whether the positional deviation is large enough to require the addition of more markers, and is determined by a prior simulation or the like. The upper threshold is a value greater than the lower threshold.

[0035] If the positional deviation is not equal to or greater than a predetermined upper threshold (step S13: NO), the marker position review determination unit 150 determines whether the slip frequency indicated by the second information is equal to or greater than a predetermined first threshold (step S14). The "first threshold" here is a threshold for determining whether the frequency of slips is high enough that future positional deviations due to slips are predicted to increase, and is determined in advance by simulation or the like.

[0036] If the slip frequency is not equal to or greater than the predetermined first threshold (step S14: NO), the marker position review determination unit 150 determines that review of the marker position is "unnecessary" (step S15). On the other hand, if the positional deviation is less than the predetermined lower threshold (step S12: YES), if the positional deviation is equal to or greater than the predetermined upper threshold (step S13: YES), or if the slip frequency is equal to or greater than the predetermined first threshold (step S14: YES), the marker position review determination unit 150 determines whether the proportion of other vehicles (i.e., other AGVs) in a similar situation is equal to or greater than a predetermined proportion threshold (step S16). The "proportion threshold" here is a threshold for determining whether a similar tendency is observed in vehicles other than the vehicle being determined this time, and is determined by a prior simulation or the like.

[0037] If the proportion of other vehicles in a similar situation is not equal to or greater than the proportion threshold (step S16: NO), the marker position review determination unit 150 determines that review of the marker position is "unnecessary" (step S15). On the other hand, if the proportion of other vehicles in a similar situation is equal to or greater than the proportion threshold (step S16: YES), the marker position review determination unit 150 determines that review of the marker position is "necessary" (step S15). If the marker position review determination unit 150 determines that review of the marker position is "necessary," the marker position recalculation unit 160 executes the following recalculation operation.

[0038] (Recalculation operation) Next, the flow of the recalculation operation (i.e., the operation of recalculating the positions and number of markers by the marker position recalculator 160) executed by the marker management system 10 according to the first embodiment will be described with reference to Fig. 4. Fig. 4 is a flowchart showing the flow of the recalculation operation by the marker management system according to the first embodiment.

[0039] As shown in Fig. 4, when the recalculation operation is started, the marker position recalculator 160 first changes the number of markers (step S21). Specifically, if the positional deviation is less than a predetermined lower threshold (i.e., if step S12 in Fig. 3: YES), the marker position recalculator 160 decreases the number of markers (e.g., decreases the number by one). Furthermore, if the positional deviation is equal to or greater than a predetermined upper threshold (i.e., if step S13 in Fig. 3: YES) or if the slip frequency is equal to or greater than a predetermined first threshold (i.e., if step S14 in Fig. 3: YES), the marker position recalculator 160 increases the number of markers (e.g., adds one).

[0040] Next, the marker position recalculator 160 determines whether there is a priority location where a marker should be preferentially placed (step S22). The priority location can be determined by whether the slip frequency is equal to or greater than a second threshold. The "second threshold" here is a threshold for determining whether the slip frequency is high enough to have a large effect on position deviation, and is determined by prior simulation or the like.

[0041] If there is no priority location (step S22: NO), the marker position recalculator 160 sets the marker positions evenly (step S23). Specifically, the marker position recalculator 160 calculates the positions so that the distances between the markers whose numbers have been changed are equal. On the other hand, if there is a priority location (step S22: YES), the marker position recalculator 160 sets the marker positions with priority (step S24). Specifically, the positions are calculated so that markers are preferentially placed in priority locations (i.e., locations with a high slip frequency).

[0042] In the above example, both the number and positions of the markers are changed, but it is also possible to change only the number of markers, or only the positions of the markers.

[0043] (Technical Effects) Next, the technical effects obtained in the marker management system 10 according to the first embodiment will be described.

[0044] As described with reference to FIGS. 1 to 4, the marker management system 10 according to the first embodiment determines whether or not the marker positions need to be reviewed based on the first information related to positional deviations and the second information related to slips. Therefore, the need to review the marker positions can be appropriately determined, and the marker positions can be changed at the appropriate timing. Furthermore, the marker management system 10 according to the first embodiment recalculates the number and positions of markers based on the above-described determination results. Therefore, it becomes possible to appropriately install markers according to the current situation. Furthermore, since markers are preferentially installed in locations where slips occur frequently (i.e., priority locations), the occurrence of positional deviations can be effectively suppressed.

[0045] Second Embodiment A marker management system 10 according to a second embodiment will be described with reference to Figures 5 and 6. The second embodiment differs from the first embodiment already described only in some configurations and operations, and other parts are generally similar. Therefore, the following will describe in detail the parts that differ from the first embodiment, and will omit explanations of other overlapping parts as appropriate.

[0046] (Specific configuration) First, a specific configuration of the marker management system 10 according to the second embodiment will be described with reference to Fig. 5. Fig. 5 is a block diagram showing the overall configuration of the marker management system according to the second embodiment. Note that in Fig. 5, the same components as those shown in Fig. 2 are denoted by the same reference numerals.

[0047] 5, the marker management system 10 according to the second embodiment includes a loading information acquisition unit 210, a similar performance search unit 220, a luggage transport DB 230, a marker position recalculation unit 160, and a marker installation position DB 180. Note that the marker management system 10 according to the second embodiment may include components of the first embodiment (see FIG. 2) that are not shown here.

[0048] The loading information acquisition unit 210 is configured to be able to acquire information about luggage to be loaded onto a vehicle. The loading information acquisition unit 210 may acquire information about the luggage itself, such as the shape, weight, and center of gravity of the luggage, as well as information about the transportation of the luggage, such as the transportation route. The information about the luggage acquired by the loading information acquisition unit 210 is configured to be output to the similar performance search unit 220.

[0049] The similar record search unit 220 is configured to be able to determine whether there is a record of transporting luggage under similar circumstances in the past, based on the information about the luggage acquired by the loading information acquisition unit 210. The similar record search unit 220 searches for a record similar to the newly acquired information about the luggage from the past transport records accumulated in the luggage transport DB 230. Note that the past records to be searched may include not only records of the same vehicle, but also records of other vehicles. The specific operation of the similar record search unit 220 will be explained in detail later. The search results of the similar record search unit 220 are configured to be output to the marker position recalculation unit 160.

[0050] The luggage transport DB 230 is configured as a database capable of storing information related to luggage acquired by the loading information acquisition unit 210. The luggage transport DB 230 stores information related to luggage, such as vehicle number, transportation start date and time, transportation end date and time, transportation route, loaded luggage (shape, weight, center of gravity), etc. The information related to luggage stored in the luggage transport DB 230 can be read out as appropriate by the similar performance search unit 220. The luggage transport DB 230 may be configured as a database external to the marker management system 10.

[0051] (Achievement search operation) Next, the flow of the performance search operation (i.e., the operation of searching for similar past transport performance by the similar performance search unit 220) executed by the marker management system 10 according to the second embodiment will be described with reference to Fig. 6. Fig. 6 is a flowchart showing the flow of the performance search operation by the marker management system according to the second embodiment.

[0052] 6, when the track record search operation is started, the similar track record search unit 220 first acquires information about the cargo to be loaded onto the vehicle from the loading information acquisition unit 210 (step S31). Next, the similar track record search unit 220 searches for past transport track records similar to the acquired information about the cargo from among the information accumulated in the cargo transport DB (step S32).

[0053] Next, the similar record search unit 220 determines whether a similar transport record has been found as a result of the search (step S33). If a similar transport record has been found (step S33: YES), the similar record search unit 220 instructs the marker position recalculation unit 160 to acquire marker installation position information for the similar record (step S34). In this case, the marker position recalculation unit 160 recalculates at least one of the number and positions of markers based on the marker installation position information for the similar record acquired from the marker installation position DB 180. The recalculated result may be the same as the placement configuration for the past similar record. On the other hand, if a similar transport record has not been found (step S33: NO), the processing of the above-mentioned step S34 is omitted. In other words, recalculation of marker positions based on past records is not executed.

[0054] (Technical Effects) Next, the technical effects obtained in the marker management system 10 according to the second embodiment will be described.

[0055] As described in Figures 5 and 6, the marker management system 10 according to the second embodiment searches for past transport records using information about the cargo to be loaded onto a vehicle. If past transport records are found, the marker placement positions are recalculated based on the past transport records. This recalculated marker placement can effectively prevent positional deviations caused by the cargo being loaded.

[0056] <Additional Notes> The above-described embodiment may be further described as follows, but is not limited to the following.

[0057] (Appendix 1) The marker management system described in Appendix 1 is characterized by comprising: a first acquisition means for acquiring first information regarding a positional deviation occurring at a self-estimated position of a mobile body capable of autonomous driving, based on the relationship between the self-estimated position of the mobile body and the position at which a marker installed in an area in which the mobile body moves is detected; a second acquisition means for acquiring second information regarding a slip that has occurred in the mobile body; a determination means for determining whether or not the position of the marker needs to be changed based on the first information and the second information; and a recalculation means for recalculating at least one of the number and position of the markers when it is determined that the position of the marker needs to be changed.

[0058] (Appendix 2) The marker management system described in Appendix 2 is the marker management system described in Appendix 1, characterized in that when it is determined that the position of the marker needs to be changed in a situation where the positional deviation indicated by the first information is smaller than a predetermined lower threshold, the recalculation means recalculates so as to reduce the number of markers.

[0059] (Appendix 3) The marker management system described in Supplementary Note 3 is the marker management system described in Supplementary Note 1 or 2, characterized in that when it is determined that the position of the marker needs to be changed in a situation where the positional deviation indicated by the first information is greater than a predetermined upper threshold, the recalculation means recalculates so as to increase the number of markers.

[0060] (Appendix 4) The marker management system described in Appendix 4 is a marker management system described in any one of Appendixes 1 to 3, characterized in that when it is determined that the position of the marker needs to be changed in a situation where the slip frequency indicated by the second information is higher than a predetermined first threshold, the recalculation means recalculates so as to increase the number of markers.

[0061] (Appendix 5) The marker management system described in Appendix 5 is the marker management system described in any one of Appendixes 1 to 4, characterized in that the recalculation means identifies a slip-frequent section where the slip frequency indicated by the second information is higher than a predetermined second threshold, and recalculates so that the marker is preferentially placed in the slip-frequent section.

[0062] (Appendix 6) The marker management system described in Supplementary Note 6 is the marker management system described in any one of Supplementary Notes 1 to 5, further comprising a first storage means for storing the first information and the second information, and the determination means for determining whether or not the position of the marker needs to be changed based on the first information and the second information stored in the first storage means.

[0063] (Appendix 7) The marker management system described in Appendix 7 is a marker management system described in any one of Appendixes 1 to 6, further comprising a second storage means for storing installation information regarding at least one of the number and position of the markers recalculated by the recalculation means.

[0064] (Appendix 8) The marker management system described in Appendix 8 further includes a third acquisition means for acquiring third information regarding cargo to be loaded onto the mobile body, a third storage means for storing the third information, and a search means for searching the past third information stored in the third storage means for a loading record similar to the newly acquired third information, and the recalculation means is characterized in that, when the similar loading record exists, it recalculates at least one of the number and positions of the markers based on the installation information of the markers corresponding to the similar loading record.

[0065] (Appendix 9) The marker management method described in Supplementary Note 9 is a marker management method characterized by: obtaining first information regarding a positional deviation occurring at a self-estimated position of a mobile body capable of autonomous driving, based on a relationship between the self-estimated position of the mobile body and a position at which a marker installed in an area in which the mobile body moves is detected; obtaining second information regarding a slip occurring in the mobile body; determining whether or not the position of the marker needs to be changed based on the first information and the second information; and, if it is determined that the position of the marker needs to be changed, recalculating at least one of the number and position of the markers.

[0066] (Appendix 10) The computer program described in Appendix 10 is characterized in that it operates a computer to obtain first information regarding a positional deviation occurring at a self-estimated position of an autonomously traveling vehicle from the relationship between the self-estimated position of the autonomously traveling vehicle and the position of a marker installed in an area in which the vehicle is moving, obtain second information regarding a slip that has occurred in the vehicle, determine whether or not the position of the marker needs to be changed based on the first information and the second information, and if it is determined that the position of the marker needs to be changed, recalculate at least one of the number and position of the markers.

[0067] This disclosure may be modified as appropriate within the scope that does not contradict the gist or idea of ​​the invention that can be read from the claims and the entire specification, and marker management systems, marker management devices, and marker management methods that involve such modifications are also included in the technical idea of ​​this disclosure. [Explanation of symbols]

[0068] 10. Marker Management System 110 Position deviation correction unit 120 Slip Estimation Unit 130 DB writing section 140 AGV operation database 150 Marker position review judgment unit 160 Marker position recalculation unit 170 Map DB 180 Marker installation position DB 210 Loading Information Acquisition Unit 220 Similar Performance Search Unit 230 Baggage Transport DB 510 Odometry Department 520 Marker positioning unit 530 Motor 540 Level

Claims

1. an acquisition means for acquiring information about a positional deviation of the estimated position according to an estimated position of the moving object and a detected position detected based on a marker installed in an area where the moving object moves; a determination means for determining whether or not the number and positions of the installed markers need to be changed in accordance with the positional deviation, a threshold value relating to an allowable limit of the positional deviation, and information relating to slip of the moving object; a calculation means for calculating the number and positions of the installed markers so as to change the number and positions of the markers in accordance with the determination of whether or not the change is necessary; A marker management system comprising:

2. The marker management system according to claim 1 , wherein the calculation means calculates the number of the markers further depending on the frequency of slips that occur in the moving object.

3. The marker management system according to claim 2 , wherein the calculation means calculates the position of the marker so that the marker is placed in a section where the frequency of slip is higher than a threshold value related to slip.

4. the threshold value related to the tolerance of the positional misalignment includes a lower threshold value indicating a lower limit of the tolerance of the positional misalignment; The marker management system according to claim 1 , wherein the calculation means calculates the number of the markers so as to reduce the number of the markers when the positional deviation is smaller than the lower limit threshold.

5. the threshold value related to the tolerance of the positional misalignment includes an upper limit threshold value indicating an upper limit of the tolerance of the positional misalignment, The marker management system according to claim 1 , wherein the calculation means calculates the number of the markers so that the number of the markers is increased when the positional deviation is greater than the upper limit threshold.

6. a search means for searching for marker information relating to the position where the marker was installed when a cargo similar to the cargo to be loaded onto the mobile body was transported according to information relating to the history of the cargo loaded onto the mobile body; Further provided with The calculation means calculates the number of markers to be installed in an area where the moving body transports the cargo to be loaded, according to the marker information. The marker management system of any one of claims 1 to 5.

7. The information regarding the slip includes information regarding the slip position of the moving body. The marker management system of any one of claims 1 to 6.

8. an acquisition means for acquiring information about a positional deviation of the estimated position according to an estimated position of the moving object and a detected position detected based on a marker installed in an area where the moving object moves; a determination means for determining whether or not the number and positions of the installed markers need to be changed in accordance with the positional deviation, a threshold value relating to an allowable limit of the positional deviation, and information relating to slip of the moving object; a calculation means for calculating the number and positions of the installed markers so as to change the number and positions of the markers in accordance with the determination of whether or not the change is necessary; A marker management device comprising:

9. 9. The marker management device according to claim 8, wherein the calculation means calculates the number of the markers further depending on the frequency of slips that occur in the moving object.

10. acquiring information about a positional deviation of the estimated position according to an estimated position of the moving object and a detected position detected based on a marker installed in an area in which the moving object moves; determining whether or not the number and positions of the installed markers need to be changed according to the positional deviation, a threshold value relating to an allowable limit of the positional deviation, and information relating to slip of the moving body; Calculating the number and positions of the markers so as to change the number and positions of the installed markers in accordance with the determination of whether the change is necessary. Marker management methods.

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