Management system, control device, and control method

Abstract

The purpose of the present invention is to provide a management system which can prevent reduction in work efficiency in work using a mobile body. A management system according to the present disclosure comprises: an acquisition means (11) for acquiring information relating to work to be executed by a mobile body and the time when the work is to be executed; a specification means (12) for specifying a prohibition area where entry of people is to be prohibited in accordance with the work; and a control means (13) for executing control for restricting entry of people into the specified prohibition area in accordance with the time when the work is to be executed.

Description

[Technical Field]

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

[0002] At construction sites or warehouses such as logistics centers, people and mobile objects such as AGVs (Automatic Guided Vehicles) or forklifts may work at the same time. Therefore, there is a demand for improving safety at sites where people and mobile objects may work at the same time. Patent Documents 1 and 2 disclose technologies that prevent contact between mobile objects and people by setting a danger zone around the mobile object.

[0003] Patent Document 1 discloses an example of the configuration of an alert output system that outputs an alert when a worker who is not communicating with the construction machine operator or the work group manager is present in a cautionary area at a construction site. Patent Document 1 also discloses displaying a message indicating that communication with the worker is not being established on a terminal held by the operator operating the construction machine in the cautionary area. The cautionary area is set, for example, around construction machinery used for transporting work, or below a load when the construction machinery is unloading a load from a high place. Patent Document 2 discloses setting a no-entry zone around a work machine according to the work content of the worker. If a person enters the work area, the work machine is stopped or its operating speed is reduced. If the work machine is stopped, a warning buzzer or the like is used to notify nearby workers that the work machine has stopped. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Publication No. 2020-135531 [Patent Document 2] Japanese Patent Application Laid-Open No. 2003-105807 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in Patent Document 1, since it is possible for a worker to enter the caution area, the operator of the construction machine must work while avoiding contact with the worker. In this case, the operator of the construction machine must work while taking into consideration avoiding contact with the worker, which may result in a decrease in the efficiency of work using the construction machine.

[0006] One object of the present disclosure is to provide a management system, a control device, and a control method that make it possible to prevent a decrease in work efficiency in work using a mobile object. [Means for solving the problem]

[0007] A management system according to a first aspect of the present disclosure includes an acquisition means for acquiring information regarding work to be performed by a mobile body and the time at which the work is performed, an identification means for identifying a prohibited area where people are prohibited from entering depending on the work, and a control means for controlling the entry of people into the identified prohibited area depending on the time at which the work is performed.

[0008] A control device according to a second aspect of the present disclosure includes an acquisition means for acquiring information regarding the work to be performed by a mobile body and the time when the work is to be performed, an identification means for identifying a prohibited area where people are prohibited from entering depending on the work, and a control means for controlling the entry of people into the identified prohibited area depending on the time when the work is to be performed.

[0009] A control method according to a third aspect of the present disclosure acquires information regarding work to be performed by a mobile body and the time the work is to be performed, identifies a prohibited area where people are prohibited from entering based on the work, and performs control to restrict people from entering the identified prohibited area based on the time the work is to be performed. [Effects of the Invention]

[0010] The present disclosure makes it possible to provide a management system, a control device, and a control method that can reduce the possibility of contact between a moving object and a person. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a configuration diagram of a management system according to a first embodiment. [Figure 2] FIG. 10 is a diagram showing a flow of a process for executing a regulatory measure according to the first embodiment. [Figure 3] FIG. 10 is a configuration diagram of a management system according to a second embodiment. [Figure 4] FIG. 10 is a diagram illustrating information managed in a management unit according to the second embodiment. [Figure 5] FIG. 10 is a diagram illustrating information managed in a management unit according to the second embodiment. [Figure 6] FIG. 10 is a diagram showing a prohibited area according to the second embodiment. [Figure 7] FIG. 10 is a configuration diagram of a management system according to a third embodiment. [Figure 8] FIG. 11 is a diagram showing the flow of a process for executing a regulatory measure according to the third embodiment. [Figure 9] FIG. 2 is a configuration diagram of a control device according to each embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] (Embodiment 1) Hereinafter, embodiments of the present invention will be described with reference to the drawings. An example of the configuration of a management system according to the first embodiment will be described with reference to FIG. 1. The management system has an acquisition unit 11, an identification unit 12, and a control unit 13. The acquisition unit 11, the identification unit 12, and the control unit 13 may be software or modules that perform processing by a processor executing a program stored in a memory. Alternatively, the acquisition unit 11, the identification unit 12, and the control unit 13 may be hardware such as a circuit or a chip.

[0013] The acquisition means 11, the identification means 12, and the control means 13 are provided in a computer device. The acquisition means 11, the identification means 12, and the control means 13 may be provided in different computer devices, or may be provided in the same computer device. Alternatively, two or more elements of the acquisition means 11, the identification means 12, and the control means 13 may be provided in a single computer device. A computer device is a device that operates when a processor executes a program stored in a memory.

[0014] The acquisition means 11 acquires information about the work performed by the mobile object and the time when the work is performed. The mobile object may be a device that moves by being directly operated by a driver or remotely operated, or may be a device that moves autonomously. The mobile object may be, for example, a forklift, an AGV (Automatic Guided Vehicle), a backhoe, etc. To realize remote operation, an actuator may be attached to the operating mechanism of a vehicle such as a forklift or a backhoe, and a remote operation terminal may transmit an operation instruction signal via a network to a computer device that controls the actuator. The mobile object may move, for example, in a warehouse, factory, plant, manufacturing facility, logistics center, etc.

[0015] The tasks may be, for example, receiving luggage, retrieving luggage, loading and unloading luggage, transporting luggage, replenishing luggage, inventorying luggage, etc. Transporting luggage may also be referred to as moving luggage. For example, one mobile object may perform multiple tasks, such as loading and unloading luggage and transporting luggage, or one mobile object may perform only one task. Within a warehouse, for example, multiple mobile objects may perform tasks. That is, a task may be a task performed by one mobile object, or may be a task performed by multiple mobile objects. Furthermore, the acquisition means 11 may acquire plan information including information regarding tasks performed by mobile objects and the time the tasks are performed. In the plan information, the task of receiving luggage may be associated with the location where the luggage is stored, and the task of retrieving luggage may be associated with the location where the luggage is to be picked up, i.e., the picking location. Furthermore, in the plan information, the task of transporting luggage may be associated with the luggage transport location, inspection area, temporary storage area, etc.

[0016] Here, "warehousing" refers to putting luggage or products onto shelves, or placing or stacking luggage in designated locations within a factory or the like. "Shipping" refers to taking luggage or products off shelves, or transporting luggage from designated locations. "Moving luggage" refers to transporting luggage or pallets carrying luggage from one point to another. "Replenishing luggage" refers to moving luggage from one shelf to another. "Inventory" refers to removing luggage from shelves and checking the number of items.

[0017] The time when the work is performed may be, for example, the time period when the mobile body loads and unloads luggage, or the time period when the luggage is transported. Alternatively, the time when the work is performed may be the time when the mobile body starts and finishes loading and unloading luggage, or the time when the luggage transport starts and finishes.

[0018] In addition to information indicating the work and the time the work is to be performed, the plan information may also include, for example, identification information of the mobile units, the number of mobile units operating, etc. Furthermore, the plan information may also include inventory information indicating information on products being brought into the warehouse and information on products being taken out of the warehouse. Product information may include product names and may also include the quantity of products being brought in and out of the warehouse. Furthermore, the plan information may also include location information indicating the location of the products within the warehouse and the amount of inventory present. Furthermore, the plan information may also include batch time information for starting inventory work for each unit of work performed collectively, such as a customer or destination to which the products are delivered.

[0019] The identification means 12 identifies a prohibited area where people are prohibited from entering, depending on the work. Here, the work area where the mobile object performs work may be identified as the prohibited area where people are prohibited from entering. The work area where the mobile object performs work may be identified based on the work of the mobile object.

[0020] The work area may be an area including an area through which the mobile object moves. The area through which the mobile object moves may be rephrased as an area including the path of movement of the mobile object. For example, when the space within a warehouse is divided into multiple sections, the work area may be one section, or an area formed by combining several sections. For example, the section may be one grid obtained by dividing map information within the warehouse into multiple grids, or an area formed by combining several grids.

[0021] The work to be performed by the mobile object and the work area may be associated in advance and managed as a database. Alternatively, the plan information acquired by the acquisition means 11 may include information indicating the work area as well as information indicating the work.

[0022] The identification means 12 may identify or set a certain work area as a prohibited area based on the time when work is performed by a mobile object. For example, a certain work area may be set as a prohibited area in the morning because work is performed by a mobile object, and may not be set as a prohibited area in the afternoon because work is not performed by a mobile object. A work area that is not set as a prohibited area may be referred to as, for example, a normal area. In a normal area, work may be performed by humans rather than by a mobile object. In other words, the identification means 12 may determine whether or not to set a certain work area as a prohibited area depending on the time. In other words, the identification means 12 may dynamically switch a certain work area between a prohibited area and a normal area.

[0023] The control means 13 controls to restrict people from entering the identified prohibited area depending on the time when the work is to be performed. The control to restrict people from entering the prohibited area may be to block people from entering the prohibited area. As the control to restrict people from entering the prohibited area, the control means 13 transmits a control signal to restrict people from entering to devices installed near the prohibited area. The devices that receive the control signal begin operating in response to the control signal. The device installed near the prohibited area may be a device installed inside the prohibited area, or may be a device closest to the prohibited area among multiple devices installed outside the prohibited area. The control to restrict people from entering the prohibited area may be, for example, to lock a door installed at the boundary between the prohibited area and the normal area. Alternatively, the control to restrict people from entering the prohibited area may be to lower a bar installed at the boundary between the prohibited area and the normal area. Alternatively, the control to restrict people from entering the prohibited area may be to turn on a lighting device installed within the prohibited area or on a door leading to the prohibited area. The lighting device may be referred to as, for example, a warning light, a rotating light, a patrol lamp, a Patrol Light (registered trademark), or the like. The lighting device may be installed in a position where it can be seen by a person entering the prohibited area. Alternatively, the control for restricting people from entering the prohibited area may be to display a message indicating that entry into the prohibited area is prohibited on a display device installed in the prohibited area or on a wall or the like on the boundary between the prohibited area and the normal area. Alternatively, the control for restricting people from entering the prohibited area may be to send a message indicating that entry into the prohibited area is prohibited to a terminal device held by a worker.

[0024] Next, the flow of the execution process of the restriction control according to the second embodiment will be described with reference to Fig. 2. First, the acquisition means 11 acquires information about the work to be performed by the mobile object and the time when the work will be performed (S11). Next, the identification means 12 identifies a prohibited area where people are prohibited from entering according to the information indicating the work (S12). Next, the control means 13 performs control to restrict people from entering the prohibited area (S13).

[0025] As described above, the management system according to the first embodiment can identify a prohibited area according to the work of a moving object. Furthermore, the management system performs control to restrict people from entering the prohibited area. This reduces the possibility of people entering the prohibited area. As a result, it reduces the possibility of contact between people and a moving object within the prohibited area. Furthermore, if the management system according to the first embodiment is not used, if a worker inadvertently enters the area around the moving object, the movement of the moving object may be restricted to ensure safety, which may cause a delay in the work. In contrast, if the management system according to the first embodiment is used, it is possible to prevent workers from entering the area around the moving object, thereby preventing work delays.

[0026] (Embodiment 2) Next, a configuration example of a management system according to the second embodiment will be described with reference to Fig. 3. The management system in Fig. 3 includes a control device 20, a wireless device 30, and a control device 40. The control device 20 is a computer device including the functions executed by the acquisition means 11, the identification means 12, and the control means 13 described in Fig. 1.

[0027] The control device 20 is connected to the wireless device 30 via a network 50. The network 50 may be, for example, an IP network, such as the Internet. Alternatively, the network 50 may be an in-house network managed by a company or the like.

[0028] The wireless device 30 is a device that performs wireless communication such as wireless LAN (Local Area Network) communication. The wireless device 30 may be referred to as, for example, a master device that performs wireless LAN communication. Alternatively, the wireless device 30 may perform wireless communication in accordance with a communication standard different from that of the wireless LAN.

[0029] Control device 40 is a device having a communication function for wireless communication, and may be called, for example, a slave device that performs wireless LAN communication. Control device 40 may be, for example, a warning light having a communication function, or a door that can be remotely controlled and locked via network 50. Alternatively, control device 40 may be a display device that displays a message according to a signal received via network 50.

[0030] Although FIG. 3 shows that control device 40 is connected to network 50 via a wireless communication line, control device 40 may be connected to network 50 without going through wireless device 30 .

[0031] Next, a configuration example of the control device 20 will be described. The control device 20 has an acquisition unit 21, an identification unit 22, a control unit 23, and a management unit 24. The acquisition unit 21 corresponds to the acquisition means 11, the identification unit 22 corresponds to the identification means 12, and the control unit 23 corresponds to the control means 13. The acquisition unit 21, the identification unit 22, and the control unit 23 may be software or modules that execute processes when a processor executes a program stored in a memory. Alternatively, the acquisition unit 21, the identification unit 22, and the control unit 23 may be hardware such as a circuit or a chip. The management unit 24 may be a memory that records data. The management unit 24 may be a memory built into the control device 20 or a memory external to the control device 20. In the following, detailed descriptions of the acquisition unit 21, the identification unit 22, and the control unit 23 that are similar in operation or function to the acquisition means 11, the identification means 12, and the control unit 13 will be omitted.

[0032] The acquisition unit 21 acquires map information indicating locations where the moving object will move along with plan information for the moving object, which is input by the administrator via an input interface. Alternatively, the acquisition unit 21 may acquire the plan information and map information via the network 50 from a computer device operated by the administrator.

[0033] When a mobile object moves within a warehouse, the map information may include information indicating the location, shape, and structure of the warehouse. The information indicating the structure of the warehouse may be, for example, information indicating the layout of walls, shelves, machinery, aisles, etc. The map information may also indicate the current location of a mobile object such as a forklift.

[0034] The management unit 24 manages work content and work areas in association with each other. The information managed by the management unit 24 will be described with reference to FIG. 4. FIG. 4 shows that work content and work areas are managed in association with each other. The work content and work areas may be managed as a database. The plan information includes at least one work listed in the work content in FIG. 4.

[0035] Each area listed in the work area is associated with a task. For example, if the task is unloading, the work area is limited to the area around the receiving berth or unloading track. The receiving berth is the area required for unloading cargo from a truck, and the unloading track is the location where the truck is parked during unloading. The area around the unloading track may be, for example, the unloading berth and the areas adjacent to the unloading berth.

[0036] When the work is storage work, the work area is a transport passageway from the temporary storage area to the storage location. The temporary storage area may be, for example, a receiving berth or a location in the vicinity of the receiving berth.

[0037] If the work is picking, the work area is Section A where picking takes place and the transport path to the inspection and temporary storage area. If the work is loading, the work area is only around the shipping berth or loading line. The shipping berth is the area required when loading goods onto a truck, and the loading line is the location where the truck is parked during loading. The area around the loading line may be, for example, the parking berth and the areas adjacent to the parking berth.

[0038] If the work involves the forklift departing from and returning to the charging area, the work area will be the path from the charging area to the work area. If the work involves a break, the forklift will be stopped, so no work area will be provided.

[0039] The identification unit 22 extracts information indicating a work area that is associated with information indicating a work included in the plan information.

[0040] The identification unit 22 may update information related to the extracted work area using map information. For example, when the identification unit 22 extracts a work area associated with unloading work, the identification unit 22 may identify the area around the receiving berth and unloading line shown in the map information as the work area. The identification unit 22 may identify the identified work area using grid identification information, or may identify it using latitude and longitude.

[0041] Furthermore, the management unit 24 may manage the work content, the current location of the forklift, and the start time of the forklift's operation in association with each other. FIG. 5 shows information managed by the management unit 24. For example, FIG. 5 shows that when the current location of the forklift is Section A and the work area for unloading is Section B, the forklift will move from Section A to Section B. Furthermore, when the forklift moves from Section A to Section B to perform unloading, the start time of the forklift's operation is shown to be 10 minutes before the time at which the unloading operation is to be performed, which is included in the plan information. Here, assume that the time at which the unloading operation is to be performed, which is included in the plan information, is indicated to be from 10:00 to 11:00. In this case, the identification means 12 may identify the time at which the forklift will start moving from Section B to Section A as 9:50, which is 10 minutes before the time at which the unloading operation is to be performed.

[0042] The identification unit 22 identifies a control start time for starting control using the identified work area and the operation start time of the mobile object. For example, the identification unit 22 may set the operation start time of the mobile object as the control start time for the identified work area and continue control until the time when the work execution time expires. The identification unit 22 may set the control end time for the identified work area as the control start time. Alternatively, the identification unit 22 may set the control start time for the identified work area several minutes before the operation start time of the mobile object and continue control until the time when the work execution time expires. "Several minutes before" may be a time set by an administrator, such as 5 minutes or 10 minutes before, or may be any predetermined time. The work area from the control start time to the control end time when the control ends is a prohibited area. In this way, by starting control several minutes before the operation start time of the mobile object and designating the work area as a prohibited area, the possibility of a person entering the work area at the operation start time of the mobile object can be reduced.

[0043] Here, the prohibited areas and normal areas will be explained using Figure 6. Figure 6 shows that from 10:00 to 11:00, section A is a work area for forklifts, and section B is a work area for people. In this case, section A from 10:00 to 11:00 is set as a prohibited area, and section B from 10:00 to 11:00 is set as a normal area. Furthermore, from 11:00 to 12:00, section A is a work area for people, and section B is a work area for forklifts. In this case, section B from 11:00 to 12:00 is set as a prohibited area, and section A from 11:00 to 12:00 is set as a normal area. Whether each section is set as a prohibited area or a normal area is determined depending on the time of day.

[0044] Furthermore, the prohibited area identified by the identification unit 22 may be changed in response to a correction instruction from the administrator. For example, the administrator may check the information about the prohibited area displayed on a display integrated with the control device 20 or on a display of a terminal device held by the administrator, and then input instruction information to widen or narrow the prohibited area via an input interface. The identification unit 22 receives the input instruction information and corrects or updates the prohibited area based on the instruction information. The administrator may input instruction information to correct the time during which the work area is designated as a prohibited area. The administrator may input instruction information indicating corrections to the prohibited area, for example, by referring to information included in the plan information.

[0045] The control unit 23 transmits an instruction signal to the control device 40 to instruct the control device 40 to perform control to restrict entry of people into the prohibited area. The control device 40 that performs control to restrict entry of people into the prohibited area may be managed by the management unit 24 in association with the work area. For example, the control unit 23 may transmit an instruction signal to a warning light installed in the work area that has become a prohibited area or to a warning light installed in a passageway through which people pass when moving to the work area that has become a prohibited area, and turn on the warning light. The warning light may be installed on a shelf, a ceiling, or the like. The control unit 23 may determine the warning light to turn on for each shelf. Alternatively, the control unit 23 may transmit an instruction signal to a system that manages a door installed in the work area that has become a prohibited area, and lock the door. Alternatively, the control unit 23 may transmit an instruction signal to a system that manages the warning light and the door.

[0046] The control unit 23 may transmit an instruction signal to the system managing the warning lights to instruct it to turn on all warning lights installed in the work area that has become a prohibited area. Alternatively, the control unit 23 may transmit an instruction signal to the system managing the warning lights to instruct it to turn on some of the warning lights. For example, the control unit 23 may transmit an instruction signal to the system managing the warning lights to instruct it to turn on warning lights installed near the entrance to the work area and not turn on warning lights installed far from the entrance to the work area. The installation locations of the warning lights may be managed, for example, by the management unit 24.

[0047] As described above, the control device 20 according to the second embodiment can change a section from a normal area to a prohibited area and further change the prohibited area back to a normal area by setting a control start time according to the operation start time of the mobile object. This allows the control device 20 to set prohibited areas according to the work plan of a mobile object in a logistics site where the work area of ​​a mobile object such as a forklift frequently changes. Furthermore, the control device 20 controls to restrict people from entering the prohibited areas. Therefore, even if the work area of ​​the mobile object frequently changes, it is possible to prevent people from entering the work area of ​​the mobile object, thereby reducing the possibility of contact between the mobile object and people.

[0048] (Embodiment 3) Next, an example of the configuration of a management system according to the third embodiment will be described with reference to Fig. 7. The management system in Fig. 7 has a configuration in which a sensor 60 and a camera 70 are added to the management system in Fig. 3, and a control device 80 is used instead of the control device 20. The control device 80 has a configuration in which a determination unit 81 is added to the control device 20. In the following, the configuration in Fig. 7 that is different from Fig. 3 will be mainly described, and a detailed description of the configuration that is the same as Fig. 3 will be omitted.

[0049] At least one sensor 60 may be installed within the work area. Alternatively, the sensor 60 may be installed on a mobile object. The sensor 60 is used to detect people within the work area. The sensor 60 may be, for example, a human presence sensor, a temperature sensor, or a sound sensor. The sound sensor detects people within the work area by detecting, for example, human voices. Alternatively, the sensor 60 may be an infrared sensor. For example, the infrared sensor may be installed at the boundary between the prohibited area and the normal area, and detect the presence of a person when a person entering the prohibited area passes over the infrared light. The sensor 60 transmits sensed or detected information to the control device 80 via the wireless device 30 and the network 50. The sensor 60 may transmit information indicating the installation location of the sensor 60 along with the sensed or detected information. Alternatively, if the control device 80 manages the installation locations of the sensors 60, it may transmit identification information of the sensor 60 along with the sensed or detected information.

[0050] Like the sensor 60, at least one camera 70 may be installed within the work area. Alternatively, the camera 70 may be installed on a mobile body. Alternatively, multiple cameras 70 may be installed within the work area so as to capture images of all spaces within the work area. The camera 70 transmits captured image information to the control device 80 via the wireless device 30 and the network 50. The images captured by the camera 70 may be moving images or still images. For example, the camera 70 may perform capture when the sensor 60 detects the presence of a person. The camera 70 may transmit information indicating the installation location of the camera 70 along with the image information. Alternatively, if the control device 80 manages the installation location of the camera 70, it may transmit identification information of the camera 70 along with the image information.

[0051] The acquisition unit 21 acquires information from at least one of the sensor 60 and the camera 70. When the determination unit 81 acquires information from the sensor 60 located within the prohibited area identified by the identification unit 22, it determines that a person is present within the prohibited area. Furthermore, when the determination unit 81 acquires image information from the camera 70 located within the prohibited area, it detects a person by performing image analysis on the image information and determines that a person is present within the prohibited area. The determination unit 81 may determine that a person is present within the prohibited area based solely on the information acquired from the sensor 60, or may determine that a person is present within the prohibited area based solely on image information acquired from the camera 70.

[0052] When the determination unit 81 identifies that a person is present in the prohibited area, the control unit 23 may unlock the door when the person exits the prohibited area in order to move the person out of the prohibited area. The door does not have to be unlocked when the person enters the prohibited area. Alternatively, the control unit 23 may change the color of the warning light to a color used to notify that a person is present in the prohibited area. Furthermore, the control unit 23 may notify a system that manages the mobile object that a person is present in the prohibited area in order to stop the operation of the mobile object.

[0053] When the determination unit 81 determines that a person is present in the prohibited area, it may change the operation start time of the mobile object and the work time included in the plan information. The determination unit 81 may also change the control start time by changing the operation start time of the mobile object. For example, when it determines that a person is present in the prohibited area, stopping the work of the mobile object will delay the work of the mobile object. Therefore, when it determines that a person is present in the prohibited area, the determination unit 81 may change the end time of the work indicated in the plan information to be delayed. Furthermore, the determination unit 81 may delay the control start time or the operation start time of the mobile object in the work area where the mobile object will next work.

[0054] In other words, the determination unit 81 may delay the timing of changing the current prohibited area to a normal area, and further delay the timing of designating the next work area where the moving object will work as a prohibited area. The present time refers to the timing at which it is determined that a person is present in the prohibited area. In this way, when it is determined that a person is present in the prohibited area, the determination unit 81 may change the time of the entire work plan indicated by the plan information. When it is determined that a person is present in the prohibited area, the determination unit 81 may set a predetermined time as the delay time, or may set a time input by the administrator as the delay time.

[0055] Next, a flow of the execution process of the restriction control according to the third embodiment will be described with reference to Fig. 8. First, the determination unit 81 determines that a person is present in a prohibited area (S21). For example, the determination unit 81 determines that a person is present in the prohibited area based on information acquired by the acquisition unit 21 from the sensor 60 or the camera 70.

[0056] Next, the determination unit 81 changes or updates the operation start time and the working time of the moving object (S22). The determination unit 81 may set a predetermined time as the delay time, or may set a time input by the administrator as the delay time.

[0057] Next, the determination unit 81 changes the timing at which the working area of ​​the moving object is changed from a normal area to a prohibited area or from a prohibited area to a normal area (S23). That is, the determination unit 81 changes the control start time and the control end time. If the operation start time of the moving object in a certain working area is delayed, the determination unit 81 also delays the timing at which the working area is designated as a prohibited area.

[0058] Next, the control unit 23 controls the changed prohibited area to restrict people from entering the prohibited area (S24).

[0059] As described above, when the management system according to the third embodiment determines that a person is present in a prohibited area, it changes the work start time of the mobile object and the work duration of the mobile object. This changes the timing at which the work area is designated as a prohibited area, and it is possible to control the prohibited area to restrict people from entering the prohibited area according to the changed schedule.

[0060] FIG. 9 is a block diagram showing a configuration example of the control device 20 and the control device 80 (hereinafter referred to as the control device 20, etc.) described in the above-mentioned embodiment. Referring to FIG. 9, the control device 20, etc. includes a network interface 1201, a processor 1202, and a memory 1203. The network interface 1201 may be used to communicate with a network node. The network interface 1201 may include, for example, a network interface card (NIC) conforming to the IEEE 802.3 series. IEEE stands for Institute of Electrical and Electronics Engineers.

[0061] The processor 1202 reads and executes software (computer programs) from the memory 1203 to perform the processing of the control device 20 and the like described using flowcharts in the above-described embodiments. The processor 1202 may be, for example, a microprocessor, an MPU (Micro Processing Unit), or a CPU (Central Processing Unit). The processor 1202 may include multiple processors.

[0062] The memory 1203 is configured by a combination of volatile memory and non-volatile memory. The memory 1203 may include storage located remotely from the processor 1202. In this case, the processor 1202 may access the memory 1203 via an I / O (Input / Output) interface (not shown).

[0063] 9, the memory 1203 is used to store software modules. The processor 1202 reads and executes these software modules from the memory 1203, thereby performing the processing of the control device 20 and the like described in the above-described embodiment.

[0064] As explained using FIG. 9, each of the processors possessed by the control device 20 etc. in the above-described embodiment executes one or more programs including a group of instructions for causing a computer to perform the algorithm explained using the drawings.

[0065] In the above examples, the program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The program may be stored on a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray® disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0066] The present disclosure is not limited to the above-described embodiment, and can be modified as appropriate within the scope of the present disclosure.

[0067] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes. (Appendix 1) an acquisition means for acquiring information regarding a task to be performed by a mobile body and a time when the task is to be performed; a specifying means for specifying a prohibited area where people are prohibited from entering in accordance with the work; and a control means for controlling the restriction of people from entering the identified prohibited area depending on the time when the work is to be performed. (Appendix 2) The identification means specifying a control start time for starting the control according to a time when the work is to be performed; 2. The management system according to claim 1, wherein the control means starts the control from the specified control start time. (Appendix 3) The control start time is The management system of claim 2, wherein the time is set a predetermined time before the time the work is to be performed based on the time the work is to be performed. (Appendix 4) The identification means 4. The management system according to any one of claims 1 to 3, wherein the prohibited area associated with the work is identified based on the work. (Appendix 5) The acquisition means acquiring information indicating the presence of a person in the prohibited area; The identification means 5. The management system according to any one of appendices 1 to 4, wherein the time at which the work is performed is changed in accordance with information indicating the presence of a person in the prohibited area. (Appendix 6) 6. The management system according to any one of claims 1 to 5, wherein the control means transmits a control signal to equipment installed near the prohibited area to restrict human entry. (Appendix 7) the control means turns on a lighting device installed near the prohibited area. 7. The management system of any one of appendices 1 to 6. (Appendix 8) The control means 8. The management system according to any one of claims 1 to 7, wherein the management system blocks an entry route into the prohibited area. (Appendix 9) an acquisition means for acquiring information regarding a task to be performed by a mobile body and a time when the task is to be performed; a specifying means for specifying a prohibited area where people are prohibited from entering in accordance with the work; and a control means for controlling the restriction of people from entering the identified prohibited area depending on the time when the work is to be performed. (Appendix 10) The identification means specifying a control start time for starting the control according to a time when the work is to be performed; 10. The control device according to claim 9, wherein the control means starts the control from the specified control start time. (Appendix 11) The identification means 11. The control device according to claim 9, wherein the prohibited area associated with the task is identified based on the task. (Appendix 12) The acquisition means acquiring information indicating the presence of a person in the prohibited area; The identification means 12. The control device according to any one of appendices 9 to 11, wherein the control device changes the time at which the work is performed in accordance with information indicating that a person is present in the prohibited area. (Appendix 13) 13. The control device according to any one of claims 9 to 12, wherein the control means transmits a control signal to equipment installed near the prohibited area to restrict entry of people. (Appendix 14) the control means turns on a lighting device installed near the prohibited area. 14. The control device according to any one of appendices 9 to 13. (Appendix 15) Acquire information about the work to be performed by the mobile body and the time when the work will be performed; Identifying a restricted area where people are prohibited from entering according to the work; A control method for restricting people from entering the identified prohibited area depending on the time when the work is performed. (Appendix 16) further specifying a control start time for starting the control according to a time when the work is performed; 16. The control method according to claim 15, wherein the control is started from the specified control start time. (Appendix 17) When identifying the prohibited area, 17. The control method according to claim 15, further comprising identifying the prohibited area associated with the task based on the task. (Appendix 18) further acquiring information indicating the presence of a person in the prohibited area; 18. The control method according to any one of appendices 15 to 17, further comprising changing the time at which the work is performed in accordance with information indicating that a person is present in the prohibited area. (Appendix 19) A control method according to any one of appendices 15 to 18, wherein when controlling to restrict people from entering the identified prohibited area, a control signal for restricting people from entering is transmitted to equipment installed near the prohibited area. (Appendix 20) When performing control to restrict people from entering the specified prohibited area, a lighting device installed near the prohibited area is turned on. 20. The control method according to any one of appendices 15 to 19. (Appendix 21) Acquire information about the work to be performed by the mobile body and the time when the work will be performed; Identifying a restricted area where people are prohibited from entering according to the work; A program that causes a computer to execute control to restrict people from entering the identified prohibited area depending on the time when the work is performed. [Explanation of symbols]

[0068] 11 Acquisition method 12 Specific means 13 Control measures 20 Control device 21 Acquisition Department 22 Specific section 23 Control Unit 24 Management Department 30 Radio equipment 40 Control Equipment 50 Network 60 sensors 70 Camera 80 Control device 81 Judgment section

Claims

1. an acquisition means for acquiring information regarding a task to be performed by a mobile body and a time when the task is to be performed; a specifying means for specifying a prohibited area where people are prohibited from entering in accordance with the work; a control means for transmitting an instruction signal to a system managing a door installed at the boundary between the prohibited area and a normal area that is not set as the prohibited area, to lock the door, as a control for restricting people from entering the specified prohibited area depending on the time when the work is performed.

2. The identification means specifying a control start time for starting the control according to a time when the work is to be performed; The control means The management system according to claim 1 , wherein the control is started from the specified control start time.

3. The control start time is The management system according to claim 2 , wherein the time is set based on the time when the work is to be performed, the time being set a predetermined time before the time when the work is to be performed.

4. The identification means The management system according to claim 1 , wherein the prohibited area associated with the work is identified based on the work.

5. The acquisition means acquiring information indicating the presence of a person in the prohibited area; The identification means The management system according to claim 1 , wherein the time at which the work is to be performed is changed in accordance with information indicating that a person is present in the prohibited area.

6. The management system according to claim 1 , wherein the control means transmits a control signal to a device installed near the prohibited area to restrict entry of people.

7. the control means turns on a lighting device installed near the prohibited area. The management system according to any one of claims 1 to 6.

8. an acquisition means for acquiring information regarding a task to be performed by a mobile body and a time when the task is to be performed; a specifying means for specifying a prohibited area where people are prohibited from entering in accordance with the work; A control device comprising: a control means for transmitting an instruction signal to a system managing a door installed at the boundary between the prohibited area and a normal area that is not set as the prohibited area, and locking the door, as a control for restricting people from entering the specified prohibited area depending on the time when the work is performed.

9. Acquire information about the work to be performed by the mobile body and the time when the work will be performed; Identifying a restricted area where people are prohibited from entering according to the work; A control method for restricting people from entering the identified prohibited area depending on the time the work is performed, by sending an instruction signal to a system that manages a door installed at the boundary between the prohibited area and a normal area that is not set as the prohibited area, and locking the door.

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