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

Abstract

The present invention provides a traffic management device, traffic management method, traffic management program, mobile system, and mobile control system that can achieve both reduced setup effort for building managers of buildings where mobile objects are located and efficient movement of the mobile objects. [Solution] In the mobile system 1, the group determination unit 11 determines whether there is an enveloping group in the mediation area 5 of building 3 to which both the entry node and exit node of the mediation request of mobile 2 belong. The passage determination unit 12 determines whether other mobile 2s are passing through the target area. The passage determination unit 12 considers the entire mediation area 5 as the target area when there is no enveloping group, and the enveloping group as the target area when there is an enveloping group. The command unit 13 outputs a wait command to the mobile 2 that issued the mediation request when other mobile 2s are passing through the target area, and outputs a pass permission command when no mobile 2s are passing through the target area.

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 mobile body system. In the mobile body system, a plurality of mobile bodies travel in a range including a passage including a merging point. For the merging point, a first region and a second region are provided outside the first region. When a plurality of mobile bodies travel in the first region, the mobile body system causes the mobile bodies with lower priorities to wait and causes the mobile bodies to travel in the order of higher priorities.

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, when the merging point has a large number of entrances and exits, for example, a mobile body entering from an entrance and exit other than the entrance and exit through which the mobile body passing through the merging point enters and exits is made to wait until the mobile body passing through has completed passing. For this reason, the movement efficiency of the mobile body may decrease. On the other hand, if it is individually set for each combination of routes passing through the merging point whether the passage of the mobile body may interfere so as to increase the movement efficiency of the mobile body, the number of setting items rapidly increases as the number of entrances and exits of the merging point increases. For this reason, the labor of setting by the administrator of the building where the mobile body moves becomes enormous.

[0005] This disclosure relates to solving these problems. This disclosure provides a traffic management device, a traffic management method, a traffic management program, a mobile system, and a mobile control system that can achieve both reduced setup effort by building managers of mobile systems and efficient movement of mobile systems. [Means for solving the problem]

[0006] The traffic management device relating to this disclosure includes an area management unit that stores and manages area information for a predetermined arbitration area in a building where multiple mobile bodies move between multiple nodes, each corresponding to one of multiple locations, including information on multiple entrance / exit nodes corresponding to places entering and exiting the arbitration area, and information on one or more groups to which a portion of the multiple entrance / exit nodes belong; a reception unit that receives arbitration requests issued when a first mobile body among the multiple mobile bodies intends to pass through the arbitration area, including information on the entrance node into which the first mobile body enters the arbitration area and the exit node from which the first mobile body exits the arbitration area among the multiple entrance / exit nodes of the arbitration area; and the reception unit that receives the information on one or more groups of the area information managed by the area management unit for the arbitration area. The system includes: a group determination unit that determines whether there is an envelope group to which both the entry node and the exit node included in the mediation request belong; a passage determination unit that determines whether the entire mediation area is the target area when the group determination unit determines that there is no envelope group in one or more groups of the area information, and whether the envelope group is the target area when the group determination unit determines that there is an envelope group in one or more groups of the area information, and whether the second mobile body other than the first mobile body among the plurality of mobile bodies is passing through the target area; a command unit that outputs a wait command to the first mobile body when the passage determination unit determines that the second mobile body is passing through the target area, and outputs a passage permission command to the first mobile body when the passage determination unit determines that none of the plurality of mobile bodies are passing through the target area.

[0007] The traffic management method relating to this disclosure involves a computer storing and managing area information for a predetermined arbitration area in a building where multiple mobile bodies move between multiple nodes, each corresponding to one of multiple locations, including information on multiple entrance / exit nodes corresponding to locations entering and exiting the arbitration area, and information on one or more groups to which a portion of the multiple entrance / exit nodes belong; receiving an arbitration request issued when a first mobile body among the multiple mobile bodies attempts to pass through the arbitration area, which includes information on the entrance node into which the first mobile body enters the arbitration area and the exit node from which the first mobile body exits the arbitration area; and storing the information on one or more groups of the area information for the arbitration area. The method involves determining whether there is an envelope group in the area to which both the entry node and the exit node included in the arbitration request of the first mobile body belong; determining whether the entire arbitration area is the target area when it is determined that there is no envelope group in one or more groups of the area information, and determining whether the envelope group is the target area when it is determined that there is an envelope group in one or more groups of the area information, and whether the other second mobile bodies of the first mobile body among the plurality of mobile bodies are passing through the target area; outputting a wait command to the first mobile body when it is determined that the second mobile body is passing through the target area, and outputting a pass permission command to the first mobile body when it is determined that none of the plurality of mobile bodies are passing through the target area.

[0008] The traffic management program relating to this disclosure stores and manages area information on a computer for a predetermined arbitration area in a building where multiple mobile bodies move between multiple nodes, each corresponding to one of multiple locations, including information on multiple entrance / exit nodes corresponding to locations entering and exiting the arbitration area, and information on one or more groups to which some of the multiple entrance / exit nodes belong; receives an arbitration request issued when a first mobile body among the multiple mobile bodies attempts to pass through the arbitration area, including information on the entrance node into which the first mobile body enters the arbitration area and the exit node from which the first mobile body exits the arbitration area; and one or more of the area information for the arbitration area. The system is made to perform the following: determine whether there is an envelope group in the group to which both the entry node and the exit node included in the arbitration request of the first mobile body belong; if it is determined that there is no envelope group in one or more groups of the area information, the entire arbitration area is designated as the target area; if it is determined that there is an envelope group in one or more groups of the area information, the envelope group is designated as the target area, and determine whether any of the other second mobile bodies among the multiple mobile bodies of the first mobile body are passing through the target area; if it is determined that a second mobile body is passing through the target area, a command to wait is output to the first mobile body; and if it is determined that none of the multiple mobile bodies are passing through the target area, a command to allow passage is output to the first mobile body.

[0009] The mobile system relating to this disclosure includes: a plurality of mobile bodies that move between a plurality of nodes, each corresponding to one of a plurality of locations in a building; an area management unit that stores and manages area information for a predetermined arbitration area in the building, including information on a plurality of entrance / exit nodes corresponding to locations for entering and exiting the arbitration area, and information on one or more groups to which a portion of the plurality of entrance / exit nodes belong; a reception unit that receives arbitration requests issued when a first mobile body among the plurality of mobile bodies attempts to pass through the arbitration area, including information on the entrance node into which the first mobile body enters the arbitration area and the exit node from which the first mobile body exits the arbitration area; and the reception unit receiving one or more groups of the area information managed by the area management unit for the arbitration area. The system includes: a group determination unit that determines whether there is an envelope group to which both the entry node and the exit node included in the submitted arbitration request belong; a passage determination unit that determines whether the entire arbitration area is the target area when the group determination unit determines that there is no envelope group in one or more of the groups in the area information, and whether the envelope group is the target area when the group determination unit determines that there is an envelope group in one or more of the groups in the area information, and whether any of the second mobile bodies other than the first mobile body are passing through the target area; a command unit that outputs a wait command to the first mobile body when the passage determination unit determines that a second mobile body is passing through the target area, and outputs a passage permission command to the first mobile body when the passage determination unit determines that none of the multiple mobile bodies are passing through the target area.

[0010] The mobile control system according to this disclosure includes: a mobile control unit that controls multiple mobile bodies moving between multiple nodes, each corresponding to one of multiple locations in a building; an area management unit that stores and manages area information for a predetermined mediation area in the building, which includes information on multiple entrance / exit nodes corresponding to locations for entering and exiting the mediation area, and information on one or more groups to which a portion of the multiple entrance / exit nodes belong; a reception unit that receives a mediation request issued when a first mobile body among the multiple mobile bodies attempts to pass through the mediation area, which includes information on the entrance node into which the first mobile body enters the mediation area and the exit node from which the first mobile body exits the mediation area; and the one or more groups of the area information managed by the area management unit for the mediation area. The system includes: a group determination unit that determines whether there is an envelope group to which both the entry node and the exit node included in the mediation request received by the reception unit belong; a passage determination unit that determines whether the entire mediation area is the target area when the group determination unit determines that there is no envelope group in one or more groups of the area information, and whether the envelope group is the target area when the group determination unit determines that there is an envelope group in one or more groups of the area information, and whether the second mobile body other than the first mobile body among the plurality of mobile bodies is passing through the target area; a command unit that outputs a wait command to the first mobile body when the passage determination unit determines that the second mobile body is passing through the target area, and outputs a passage permission command to the first mobile body when the passage determination unit determines that none of the plurality of mobile bodies are passing through the target area. [Effects of the Invention]

[0011] The traffic management device, traffic management method, traffic management program, mobile system, or mobile control system related to this disclosure will enable both a reduction in the effort required for building managers to configure settings and improved mobility of the mobile system. [Brief explanation of the drawing]

[0012] [Figure 1] This is a diagram showing the configuration of the mobile system according to Embodiment 1. [Figure 2] This figure shows an example of mediation of movement in a mobile system according to Embodiment 1. [Figure 3] This figure shows an example of mediation of movement in a mobile system according to Embodiment 1. [Figure 4] This figure shows an example of mediation of movement in a mobile system according to Embodiment 1. [Figure 5] This figure shows another example of the group configuration in the mobile system according to Embodiment 1. [Figure 6] This figure shows another example of the group configuration in the mobile system according to Embodiment 1. [Figure 7] This figure shows another example of the group configuration in the mobile system according to Embodiment 1. [Figure 8] This is a flowchart showing an example of processing in the mobile system according to Embodiment 1. [Figure 9] This is a flowchart showing an example of processing in the mobile system according to Embodiment 1. [Figure 10] This is a flowchart showing an example of processing in the mobile system according to Embodiment 1. [Figure 11] This is a hardware configuration diagram of the main parts of the mobile system according to Embodiment 1. [Figure 12] This flowchart shows an example of processing in the mobile system according to Embodiment 2. [Modes for carrying out the invention]

[0013] Embodiments for implementing 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 redundant descriptions will be 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 spirit of the present disclosure, deformation of any component of the embodiments or omission of any component of the embodiments are possible.

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

[0015] [[ID=]]The mobile body system 1 is a system that provides services or the like by a mobile body 2 which is a movable device. In this example, the mobile body system 1 is applied to a part or all of one or more buildings 3. Here, the building 3 may include external parts such as the outer periphery, atrium, rooftop, and connecting passage in addition to the interior parts such as rooms and corridors. The mobile body system 1 includes a plurality of mobile bodies 2.

[0016] Each mobile body 2 is a device that moves in the building 3 to provide services or the like. 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, or other modes. The services provided by the mobile body 2 include, for example, services such as transportation, guidance, security, or cleaning. Some or all of the mobile bodies 2 operating in the mobile body system 1 may be devices within the system of the mobile body system 1 or devices outside the system that cooperate with the mobile body system 1. Each mobile body 2 is identified by an identifier.

[0017] Each mobile unit 2 is equipped with wireless communication capabilities to communicate information with external devices. Each mobile unit 2 communicates with external devices directly or indirectly via a communication network 4. The communication network 4 includes, for example, the Internet, a telephone network, or an optical communication network. The communication network 4 may include a local network such as a LAN (Local Area Network) within a building 3, or it may include industrial communications such as short-range wireless communication. The communication network 4 may also include a wired or wireless intranet.

[0018] In building 3, multiple nodes are pre-configured. Each node corresponds to one of the locations in building 3. Each node is identified by an identifier. In building 3, a graph is set up that includes multiple nodes and multiple edges connecting the nodes. Each mobile object 2 moves through building 3 using the nodes connected by edges on the graph as its movement path. In building 3, a mediation area 5 is set up. The mediation area 5 is an area where mobile objects 2 may intersect, such as a narrow passage or intersection. In this example, the narrow passage leading from room P to the entrance / exit of room V is set up as mediation area 5. Multiple entrance / exit nodes are set up for mediation area 5. The entrance / exit nodes are nodes that correspond to places for entering and exiting mediation area 5. In Figure 1, nodes are represented by circular symbols within building 3. In particular, entrance / exit nodes are represented by filled-in circular symbols. In this example, node NP, which corresponds to the entrance / exit of room P, is set up as the entrance / exit node for mediation area 5. Similarly, nodes NQ to NV, which correspond to the entrances and exits from room Q to room V, are also set as entrance and exit nodes of mediation area 5. In addition, a waiting area for mobile body 2 is set at the entrance to the narrow passage. Node NW, which corresponds to the waiting area, is also set as an entrance and exit node of mediation area 5. One or more groups are set up in mediation area 5. Some or all of the entrance and exit nodes of mediation area 5 belong to one of these groups. There may be entrance and exit nodes in mediation area 5 that do not belong to any group. Each group is identified by an identifier. Multiple mediation areas 5 may be set up in building 3. In this case, each mediation area 5 is identified by an identifier.

[0019] The mobile system 1 includes a mobile control system 6. The mobile control system 6 is a system that controls the movement and execution of service tasks of the mobile units 2, as well as mediating between the mobile units 2. The mobile control system 6 comprises a mobile control device 7 and a traffic management device 8.

[0020] The mobile control unit 7 is the part that controls the movement of the mobile unit 2 and the execution of tasks and other operations. The mobile control unit 7 is an example of a mobile control unit. The mobile control unit 7 communicates with external devices via a communication network 4 or the like. The mobile control unit 7 may control the operations of multiple mobile units 2. Multiple mobile control unit 7 may be provided in the mobile control system 6. Each mobile control unit 7 may be managed by, for example, different administrators. The administrator of the mobile control unit 7 may be, for example, the manufacturer, manager, or operator of the corresponding mobile unit 2. Note that the same administrator may manage multiple mobile control unit 7. Part or all of the mobile control unit 7 may be a device within the mobile system 1, or it may be an external device that cooperates with the mobile system 1. Each mobile control unit 7 is, for example, a computer system consisting of one or more server devices. Here, a computer system consisting of one or more devices may simply be called a computer. The multiple server devices that make up the mobile control unit 7 may be located in different locations. In this case, the multiple server devices communicate information with each other, for example, through a communication network 4. Some or all of the functions of the mobile device control device 7 may be implemented, for example, by processing, storage, or other resources on a cloud service. Some or all of the mobile devices 2 operating in the mobile device system 1 may operate autonomously without being controlled by the mobile device control device 7. In this case, a processing device mounted on the mobile device 2 that controls the autonomous operation of the mobile device 2 is an example of a mobile device control unit.

[0021] The traffic management device 8 is the part that performs processing such as mediating the movement between mobile bodies 2. The traffic management device 8 communicates with external devices via a communication network 4 or the like. The traffic management device 8 is a computer system consisting of, for example, one or more server devices. The multiple server devices that make up the traffic management device 8 may be located in different locations. In this case, the multiple server devices communicate information with each other, for example, via a communication network 4. Some or all of the functions of the traffic management device 8 may be implemented by, for example, processing, storage, or other resources on a cloud service. The traffic management device 8 may also include some or all of the functions of the mobile body control device 7. The traffic management device 8 comprises an area management unit 9, a reception unit 10, a group determination unit 11, a traffic determination unit 12, a command unit 13, and a history management unit 14.

[0022] The area management unit 9 is a part equipped with the function of storing and managing area information for the mediation area 5. The area information for mediation area 5 includes, for example, the identifier of the mediation area 5, information on the entrance / exit nodes set in the mediation area 5, and information on the groups set in the mediation area 5. The information on entrance / exit nodes includes, for example, the identifier of the entrance / exit node. The information on groups includes, for example, the identifier of the group and the identifiers of the entrance / exit nodes belonging to the group. The area management unit 9 manages the area information by storing it in, for example, a database. The management of information by the area management unit 9 includes adding, retaining, updating, modifying, or deleting information. The area information for mediation area 5 does not necessarily have to include information on internal nodes that are not entrance / exit nodes within the mediation area 5, and edge information.

[0023] The reception unit 10 is a part equipped with the function of receiving mediation requests from each mobile body 2. A mediation request from a mobile body 2 is issued via the communication network 4 or the like when the mobile body 2 intends to pass through the mediation area 5. For example, a mediation request from a mobile body 2 is issued when the mobile body 2 arrives at one of the entrance / exit nodes of the mediation area 5 from outside the mediation area 5. A mediation request from a mobile body 2 may also be issued from the mobile body control device 7 corresponding to the mobile body 2. A mediation request is a signal to the traffic management device 8 requesting permission to pass through the mediation area 5, etc. A mediation request from a mobile body 2 includes information such as the identifier of the mobile body 2, the identifier of the mediation area 5, the identifier of the entry node which is an entrance / exit node for entering the mediation area 5, and the identifier of the exit node which is an entrance / exit node for entering or exiting the mediation area 5.

[0024] Furthermore, the reception unit 10 receives completion notifications from each mobile body 2. Completion notifications from mobile bodies 2 are issued via the communication network 4, etc., when the mobile body 2 has completed passing through the mediation area 5. For example, a completion notification from a mobile body 2 is issued when the mobile body 2 has passed through one of the entrance / exit nodes of the mediation area 5 from inside the mediation area 5. A completion notification from a mobile body 2 may also be issued from the mobile body control device 7 corresponding to the mobile body 2. The completion notification is a signal to the traffic management device 8 requesting the release of passage through the mediation area 5, etc. The completion notification from a mobile body 2 includes, for example, information on the identifier of the mobile body 2 and the identifier of the mediation area 5. The completion notification from a mobile body 2 may also include information that identifies the mediation request of the mobile body 2. In addition, the completion notification from a mobile body 2 may include information such as the identifier of the entry node and the identifier of the exit node, similar to the mediation request of the mobile body 2.

[0025] The group determination unit 11 is a part equipped with the function of determining the group to which the entrance and exit nodes included in the mediation request from the mobile body 2 belong. The group determination unit 11 determines whether there is an enveloping group for the mediation request in the group set for the mediation area 5 that is the target of the mediation request. The enveloping group for the mediation request is a group to which both the entrance and exit nodes included in the mediation request belong. When the enveloping group for the mediation request is included in the group of the mediation area 5, the mobile body 2 that issued the mediation request enters the mediation area 5 through the entrance node belonging to the enveloping group and exits the mediation area 5 through the exit node belonging to the enveloping group. In this sense, the enveloping group envelops the movement path of the mobile body 2 in the mediation area 5.

[0026] The passage determination unit 12 is a part equipped with the function of determining whether a mobile body 2 is allowed to pass through the target area, which is at least a part of the mediation area 5. The passage determination unit 12 makes a determination according to the determination result of the group determination unit 11. When the group determination unit 11 determines that the group of mediation area 5 does not include the enveloping group of the mediation request, the passage determination unit 12 considers the entire mediation area 5 as the target area. On the other hand, when the group determination unit 11 determines that the group of mediation area 5 does include the enveloping group of the mediation request, the passage determination unit 12 considers the said enveloping group as the target area. The passage determination unit 12 determines whether any other mobile bodies 2 of the mobile body 2 that issued the mediation request are passing through the target area. The mobile body 2 that issued the mediation request is an example of a first mobile body. The other mobile bodies 2 are examples of a second mobile body. The passage determination unit 12 determines that a moving object 2 is passing through the target area if, for example, there is a moving object 2 that has entered the mediation area 5 through an entrance / exit node belonging to the target area but has not yet exited the mediation area 5. The passage determination unit 12 processes the passage determination in order, for example, starting from the mediation request at the head of the mediation queue of the reception unit 10.

[0027] The passage determination unit 12 determines passage based on, for example, a status table for the target area. The status table for the mediation area 5 includes, for example, the identifier of the mediation area 5 and the passage status of the mediation area 5. The passage status of the mediation area 5 is, for example, information indicating the presence or absence of a moving object 2 passing through the mediation area 5. If there is a moving object 2 passing through the mediation area 5, the status table for the mediation area 5 includes, for example, information regarding the identifier of the moving object 2, the identifier of the entry node of the moving object 2, and the identifier of the exit node of the moving object 2. The status table for a group that is part of the mediation area 5 includes, for example, the identifier of the mediation area 5, the identifier of the group, and the passage status of the group. The passage status of the group is, for example, information indicating the presence or absence of a moving object 2 passing through the group. When there is a moving object 2 passing through a group, the status table for that group includes information such as the identifier of the moving object 2, the identifier of the entry node of the moving object 2, and the identifier of the exit node of the moving object 2. The passage determination unit 12 updates the status table for the target area, for example, when a mediation request is issued by a moving object 2 intending to pass through the target area, or when a completion notification is issued by a moving object 2 passing through the target area.

[0028] The command unit 13 is the part equipped with the function of outputting commands to the mobile body 2. Commands to the mobile body 2 include commands to wait before entering the mediation area 5, and commands to permit passage through the mediation area 5. The command unit 13 transmits commands to the mobile body 2 via the communication network 4 or the like. The command unit 13 may also transmit commands to the mobile body control device 7 corresponding to the mobile body 2. When the passage determination unit 12 determines that other mobile bodies 2 are passing through the target area of ​​the mobile body 2 to which the command is output, the command unit 13 outputs a wait command to the target mobile body 2. On the other hand, when the passage determination unit 12 determines that none of the mobile bodies 2 are passing through the target area, the command unit 13 outputs a passage permit command to the target mobile body 2.

[0029] The history management unit 14 is a part of the traffic management device 8 that has the function of accumulating and storing the history of processes such as mediation of movement between moving objects 2. For example, the history management unit 14 accumulates and stores the results of the passage determination unit 12. The history management unit 14 does not have to store all of the passage determination results from the passage determination unit 12. For example, when a moving object 2 attempts to pass between different groups in the mediation area 5, the history management unit 14 stores the determination result of the passage determination unit 12. For example, when there is a group to which only either the entry node or exit node of the mediation request of the moving object 2 belongs, the moving object 2 passes through the mediation area 5 between that group and other groups. At this time, the history management unit 14 stores the determination result of the passage determination unit 12. Furthermore, the history management unit 14 stores the determination result of the passage determination unit 12 when, for example, the group of mediation area 5 to which the mediation request was issued does not include either the group to which the entry node of the mediation request belongs or the group to which the exit node of the mediation request belongs. When the passage determination unit 12 determines that the target area is in transit, the history management unit 14 stores information that identifies whether the envelope group of the mediation request of the transiting moving object 2 is in the group of mediation area 5, and if so, identifies the envelope group, along with the determination result of the passage determination unit 12.

[0030] Next, we will explain an example of mediation of movement between moving objects 2 in the traffic management device 8. Figures 2 to 4 show examples of mediation of movement in the mobile system 1 according to Embodiment 1.

[0031] In this example, nodes NP and NV belong to group Gα. Nodes NQ and NU belong to group Gβ. Nodes NR, NS, and NT belong to group Gγ. Node NW does not belong to any group. This group configuration is set up, for example, when there is more traffic between rooms P and V than traffic to the waiting area at the entrance of mediation area 5.

[0032] As shown in Figure 2, assume that mobile body 2 is traveling from node NR to node NS. Group Gγ is an enveloping group to which both node NR and node NS belong. At this time, the passage determination unit 12 sets the passage status in the state table of group Gγ to "passing". When another mobile body 2 intending to pass from node NT to node NR issues a mediation request, the passage determination unit 12 determines that group Gγ, to which both node NT and node NR belong, is "passing". Based on this determination, the command unit 13 outputs a "wait" command to the mobile body 2 that issued the mediation request. On the other hand, when another mobile body 2 intending to pass from node NV to node NP issues a mediation request, the passage determination unit 12 determines that there are no mobile bodies 2 traveling through group Gα, to which both node NT and node NR belong. Based on this determination, the command unit 13 outputs a "permission to pass" command to the mobile body 2 that issued the mediation request. Thus, the passage of mobile object 2 within one group does not affect the passage of mobile object 2 within other groups.

[0033] As shown in Figure 3, assume that mobile object 2 is traveling from node NW to node NR. No group is set in arbitration area 5 to which both node NW and node NR belong. Therefore, the passage determination unit 12 sets the passage status in the status table of arbitration area 5 to "passing". At this point, when another mobile object 2 intending to travel from node NQ to node NU issues an arbitration request, the passage determination unit 12 determines that arbitration area 5 is "passing". Based on this determination result, the command unit 13 outputs a standby command to the mobile object 2 that issued the arbitration request.

[0034] As shown in Figure 4, assume that mobile object 2 is traveling from node NP to node NT. No group is set in arbitration area 5 to which both node NP and node NT belong. Therefore, the passage determination unit 12 sets the passage status in the status table of arbitration area 5 to "passing". At this point, when another mobile object 2 intending to travel from node NQ to node NR issues an arbitration request, the passage determination unit 12 determines that arbitration area 5 is "passing". Based on this determination result, the command unit 13 outputs a wait command to the mobile object 2 that issued the arbitration request.

[0035] Furthermore, the history management unit 14 stores the passage determination result from the passage determination unit 12, which indicates that the mediation area 5 is currently in transit. The history management unit 14 also stores, along with the determination result from the passage determination unit 12, that the envelope group of the mediation request of the transiting mobile body 2 is not in the group of mediation area 5, and that the entire mediation area 5 is the target area. If the envelope group of the mediation request of the transiting mobile body 2 is in the group of mediation area 5, the history management unit 14 stores information such as an identifier that identifies the said envelope group, along with the determination result from the passage determination unit 12. The information that identifies the envelope group may also serve as information indicating that the said envelope group exists.

[0036] Figure 5 shows another example of the group configuration in the mobile system 1 according to Embodiment 1.

[0037] In this example, nodes NP, NV, and NW belong to group Gα'. Nodes NQ and NU belong to group Gβ. Nodes NR, NS, and NT belong to group Gγ. Thus, all entrance and exit nodes may belong to one of the groups. This group configuration is used, for example, when the passage between the waiting area at the entrance of arbitration area 5, room P, and room V, the passage between room Q and room U, and the passage between room R, room S, and room T are relatively more frequent than the passage along other routes. In this example as well, the passage of a mobile 2 that closes within one group does not affect the passage of a mobile 2 that closes within another group.

[0038] Figure 6 shows another example of the group configuration in the mobile system 1 according to Embodiment 1.

[0039] In arbitration area 5, groups may be set up hierarchically. In this example, nodes NP, NV, and NW belong to group Gα'. Nodes NQ and NU belong to groups Gβ and Gδ. Nodes NR, NS, and NT belong to groups Gγ and Gδ. In this case, group Gδ includes all entry / exit nodes belonging to group Gβ. Also, group Gδ includes all entry / exit nodes belonging to group Gγ. Group Gδ is an example of a higher-level group. Groups Gβ and Gγ are examples of lower-level groups.

[0040] Figure 7 shows another example of the group configuration in the mobile system 1 according to Embodiment 1.

[0041] In mediation area 5, groups may be configured hierarchically to include multiple levels. In this example, nodes N0 to N13 are configured as entry / exit nodes in mediation area 5. Node N0 does not belong to any group. Nodes N1 to N13 belong to one or more of the groups G1 to G9. Group G7 is a higher-level group than groups G2 and G3. Group G7 includes nodes N2 and N12, which are all entry / exit nodes belonging to group G2, and nodes N3 and N11, which are all entry / exit nodes belonging to group G3. On the other hand, group G7 is a lower-level group than group G9. Nodes N2, N3, N11, and N12, which are all entry / exit nodes belonging to group G7, belong to group G9. Other nodes also belong to group G9. Such a group configuration can be represented as a directed tree structure with mediation area 5 as the root and the entry / exit nodes as leaves.

[0042] In mediation area 5, when groups are set up hierarchically, there may be multiple groups to which both the entry and exit nodes of a mediation request belong. In this case, the group determination unit 11 determines that there is an envelope group by designating the group with the fewest entry and exit nodes among the multiple groups, i.e., the lowest-level group, as the envelope group. For example, suppose there is a mediation request with node N12 as the entry node and node N11 as the exit node. In this case, although node N12 belongs to group G2, node N11 does not belong to group G2, so the group determination unit 11 does not designate group G2 as the envelope group for this mediation request. Similarly, the group determination unit 11 does not designate group G3 as the envelope group for this mediation request. Both node N11 and node N12 belong to groups G7 and G9. In this case, the group determination unit 11 designates group G7, which is the lower-level group, as the envelope group for this mediation request. At this time, the mobile body 2 that issued the mediation request passes through between groups G2 and G3, but its passage is confined to the higher-level group G7. The passage determination unit 12 sets the passage status in the status table of group G7 to "passing," but does not set the passage status in the overall status table of mediation area 5 to "passing." Therefore, the passage of the mobile body 2 does not affect the passage of other mobile bodies 2 that are confined to other groups, such as group G4 or group G8.

[0043] Next, we will explain an example of the processing of the mobile system 1. Figures 8 to 10 are flowcharts showing examples of processing in the mobile system 1 according to Embodiment 1.

[0044] Figure 8 shows an example of the processing performed by the traffic management device 8, which mediates the movement between the two moving objects.

[0045] In step S01, the traffic management device 8 determines whether the reception unit 10 has received a signal from the mobile body 2. If the reception unit 10 has not received a signal from the mobile body 2, the traffic management device 8 proceeds to step S02. If the reception unit 10 accepts the mediation request from the mobile body 2, the traffic management device 8 proceeds to step S03. If the reception unit 10 accepts the completion notification from the mobile body 2, the traffic management device 8 proceeds to step S10.

[0046] In step S02, the traffic management device 8 waits for a signal from the mobile body 2. The traffic management device 8 proceeds to step S01, for example, after a predetermined time has elapsed.

[0047] In step S03, the traffic management device 8 performs a pass-or-pass determination process for the mediation request of the mobile body 2 received by the reception unit 10. The pass-or-pass determination process includes processes such as determination by the group determination unit 11, determination by the pass-or-pass determination unit 12, and updating of the status table by the pass-or-pass determination unit 12. After that, the traffic management device 8 proceeds to step S04.

[0048] In step S04, the traffic management device 8 determines whether the traffic determination unit 12's determination result in the traffic determination process indicates that the target area is currently under traffic. If the target area is not under traffic, the traffic management device 8 proceeds to step S05. On the other hand, if the target area is under traffic, the traffic management device 8 proceeds to step S07.

[0049] In step S05, the command unit 13 outputs a pass permission command to the mobile body 2 that issued the mediation request, which is subject to the pass determination process. After that, the traffic management device 8 proceeds to step S06. The mobile body 2, having received the pass permission command, passes through the entry node and enters the mediation area 5.

[0050] In step S06, the history management unit 14 stores the determination result that the mediation area 5 is not currently in transit as the transit determination result of the transit determination unit 12. After that, the traffic management device 8 proceeds to step S01. Alternatively, the history management unit 14 may determine, for example, whether conditions such as whether the moving object 2 is attempting to pass between different groups in the mediation area 5 are met, and if the conditions are met, it may store the determination result of the transit determination unit 12.

[0051] In step S07, the command unit 13 outputs a wait command to the mobile body 2 that issued the mediation request, which is subject to the passage determination process. After that, the traffic management device 8 proceeds to step S08. The mobile body 2, having received the wait command, waits at the entry node before passing through the mediation area 5.

[0052] In step S08, the traffic determination unit 12 adds the arbitration request that has been determined to be subject to traffic determination processing to the end of the arbitration queue. The arbitration queue is a FIFO (First In First Out) queue that stores arbitration requests. The arbitration queue is initialized to an empty state, for example, when the traffic determination unit 12 starts operation. If there are multiple arbitration areas 5, an arbitration queue is set up for each arbitration area 5. After the arbitration request has been added to the arbitration queue, the traffic management device 8 proceeds to step S09.

[0053] In step S09, the history management unit 14 stores the determination result that the mediation area 5 is in transit as the transit determination result of the transit determination unit 12. After that, the traffic management device 8 proceeds to step S01. Alternatively, the history management unit 14 may determine whether conditions such as whether the moving object 2 is attempting to pass between different groups in the mediation area 5 are met, and if the conditions are met, it may store the determination result of the transit determination unit 12.

[0054] In step S10, the traffic management device 8 performs a passage completion process for the completion notification of the mobile body 2 received by the reception unit 10. The passage completion process includes processes such as determination by the group determination unit 11 and updating of the status table by the passage determination unit 12. After that, the traffic management device 8 proceeds to step S11.

[0055] In step S11, the traffic determination unit 12 determines whether the arbitration queue is empty. If the arbitration queue is not empty, the traffic management device 8 proceeds to step S12. On the other hand, if the arbitration queue is empty, the traffic management device 8 proceeds to step S18.

[0056] In step S12, the traffic determination unit 12 retrieves a mediation request from the head of the mediation queue. The head of the mediation queue is updated by this retrieval operation. After that, the traffic management device 8 proceeds to step S13.

[0057] In step S13, the traffic management device 8 performs a pass-or-fail judgment process for the mediation request taken from the mediation queue. After that, the traffic management device 8 proceeds to step S14.

[0058] In step S14, the traffic management device 8 determines whether the traffic determination unit 12's determination result in the traffic determination process indicates that the target area is currently under traffic. If the target area is not under traffic, the traffic management device 8 proceeds to step S15. On the other hand, if the target area is under traffic, the traffic management device 8 proceeds to step S16.

[0059] In step S15, the command unit 13 outputs a pass permission command to the mobile body 2 that issued the mediation request, which is the subject of the pass determination process. After that, the traffic management device 8 proceeds to step S11. The mobile body 2, having received the pass permission command, passes through the entry node and enters the mediation area 5. At this time, the history management unit 14 may store the pass determination result by the pass determination unit 12, etc., as in step S06.

[0060] In step S16, the command unit 13 outputs a wait command to the mobile body 2 that issued the mediation request and is subject to the passage determination process. After that, the traffic management device 8 proceeds to step S17. The mobile body 2, having received the wait command, continues to wait for passage through the mediation area 5 at the entry node. At this time, the history management unit 14 may store the passage determination result by the passage determination unit 12, etc., as in step S09. The command unit 13 may omit outputting a wait command to the mobile body 2 that is already waiting.

[0061] In step S17, the traffic determination unit 12 adds the arbitration request that has been determined to be subject to traffic determination processing to the end of the temporary queue. The temporary queue is a FIFO-type queue that temporarily stores arbitration requests. The temporary queue is initialized to an empty state, for example, when the traffic determination unit 12 starts operating. After the arbitration request has been added to the temporary queue, the traffic management device 8 proceeds to step S11.

[0062] In step S18, the traffic determination unit 12 copies the contents of the temporary queue to the arbitration queue. The traffic determination unit 12 sequentially adds arbitration requests taken from the beginning of the temporary queue to the end of the arbitration queue, for example, until the temporary queue is empty. After that, the traffic management device 8 proceeds to step S01.

[0063] Figure 9 shows an example of the traffic control device 8's traffic determination process. The passage determination process is performed for the mediation request of moving object 2.

[0064] In step S21, the traffic determination unit 12 determines whether the traffic status in the status table of the mediation area 5 is in transit. If the mediation area 5 is not in transit, the traffic management device 8 proceeds to step S22. On the other hand, if the mediation area 5 is in transit, the traffic management device 8 proceeds to step S30. In this case, the group determination unit 11 may consider the entire mediation area 5 as the target area.

[0065] In step S22, the group determination unit 11 determines whether the group set in the mediation area 5 contains a group to which the entry node of the mediation request belongs and a group to which the exit node belongs. Here, the group to which the entry node belongs and the group to which the exit node belongs may be the same group or may be different groups. If there is a group to which the entry node belongs and a group to which the exit node belongs, the traffic management device 8 proceeds to step S23. On the other hand, if there is no group to which the entry node belongs or no group to which the exit node belongs in the group set in the mediation area 5, the group determination unit 11 considers the entire mediation area 5 as the target area. After that, the traffic management device 8 proceeds to step S28.

[0066] In step S23, the group determination unit 11 creates an entry group list and an exit group list based on area information of the mediation area 5. The entry group list is a list of groups to which entry nodes belong among the groups set in the mediation area 5. The exit group list is a list of groups to which exit nodes belong among the groups set in the mediation area 5. In this example, the entry group list and the exit group list are sorted from lower-level groups to higher-level groups, that is, in descending order of the number of entrance / exit nodes to which they belong. The entry group list and the exit group list may also be, for example, lists of identifiers of entrance / exit nodes. After the entry group list and the exit group list are created, the traffic management device 8 proceeds to step S24.

[0067] In step S24, the group determination unit 11 determines whether there are any groups that are included in both the entry group list and the exit group list. Such groups are those to which both entry nodes and exit nodes belong. The group determination unit 11 determines that an envelope group exists, and designates the lowest-level group among those to which both entry and exit nodes belong, i.e., the group with the fewest entry and exit nodes to which it belongs. If there is only one group to which both entry and exit nodes belong, the group determination unit 11 designates that group as the envelope group for the mediation request and determines that an envelope group exists. If there is no group to which both entry and exit nodes belong, the group determination unit 11 determines that there is no envelope group for the mediation request. If there is an envelope group for the mediation request, the group determination unit 11 designates that envelope group as the target area. After that, the processing of the traffic management device 8 proceeds to step S25. On the other hand, if there is no encompassing group for the mediation request, the group determination unit 11 designates the entire mediation area 5 as the target area. Subsequently, the traffic management device 8 proceeds to step S28.

[0068] In step S25, the traffic determination unit 12 determines whether there are any groups in the entry group list and exit group list whose traffic status in the status table is "in transit". If there are no groups in transit, the traffic management device 8 proceeds to step S26. On the other hand, if there are groups in transit, the traffic management device 8 proceeds to step S30.

[0069] In step S26, the traffic determination unit 12 sets the traffic status in the status table to "in transit" for the enveloping group of the mediation request and all lower-level groups. After that, the traffic management device 8 proceeds to step S27.

[0070] In step S27, the traffic determination unit 12 determines that the target area is not currently under traffic. Subsequently, the processing of the traffic management device 8 related to the traffic determination process is completed.

[0071] In step S28, the traffic determination unit 12 determines whether there is a group in the mediation area 5 whose traffic status in the status table is "in transit". If there is no group in transit, the traffic management device 8 proceeds to step S29. On the other hand, if there is a group in transit, the traffic management device 8 proceeds to step S30.

[0072] In step S29, the traffic determination unit 12 changes the traffic status in the status table of mediation area 5 to "in transit". After that, the traffic management device 8 proceeds to step S27.

[0073] In step S30, the traffic determination unit 12 determines that the target area is currently under traffic. Subsequently, the processing of the traffic management device 8 related to the traffic determination process is completed.

[0074] Figure 10 shows an example of the traffic completion process in the traffic management device 8. The completion processing is performed upon the completion notification of mobile body 2. The completion notification of mobile body 2 includes information on the mediation request issued by mobile body 2 before it entered mediation area 5.

[0075] In step S41, the group determination unit 11 determines, similar to step S22 in Figure 9, whether the group set in the mediation area 5 contains a group to which the entry node of the mediation request belongs and a group to which the exit node belongs. If there is a group to which the entry node belongs and a group to which the exit node belongs, the traffic management device 8 proceeds to step S42. On the other hand, if there is no group to which the entry node belongs or no group to which the exit node belongs in the group set in the mediation area 5, the traffic management device 8 proceeds to step S45.

[0076] In step S42, the group determination unit 11 creates an entry group list and an exit group list, similar to step S23 in Figure 9. After that, the traffic management device 8 proceeds to step S43.

[0077] In step S43, the group determination unit 11 determines, similar to step S24 in Figure 9, whether there is an enveloping group of mediation requests that is included in both the entry group list and the exit group list. If there is an enveloping group of mediation requests, the traffic management device 8 proceeds to step S44. On the other hand, if there is no enveloping group of mediation requests, the traffic management device 8 proceeds to step S45.

[0078] In step S44, the traffic determination unit 12 sets the traffic status in the status table to "not passing" for the enveloping group of the mediation request and all lower-level groups. After that, the processing of the traffic management device 8 related to the traffic completion process is completed. Alternatively, the traffic determination unit 12 may confirm that the mobile body 2 that issued the completion notice was passing based on its identifier, etc., and then set the traffic status in the status table for the enveloping group of the mediation request and all lower-level groups to "not passing".

[0079] In step S45, the traffic determination unit 12 sets the traffic status in the status table of mediation area 5 to "no traffic". After that, the processing of the traffic management device 8 related to the traffic completion process is completed. Alternatively, the traffic determination unit 12 may confirm that the mobile body 2 that issued the completion notice was in transit based on the identifier of the mobile body 2, and then set the traffic status in the status table of mediation area 5 to "no traffic".

[0080] As described above, the mobile system 1 according to Embodiment 1 comprises a plurality of mobile bodies 2 and a traffic management device 8. Each mobile body 2 moves between a plurality of nodes in a building 3, each corresponding to one of a plurality of locations in the building 3. A mediation area 5 is pre-set in the building 3. The traffic management device 8 comprises an area management unit 9, a reception unit 10, a group determination unit 11, a passage determination unit 12, and a command unit 13. The area management unit 9 stores and manages area information for the mediation area 5. The area information for the mediation area 5 includes information on a plurality of entrance / exit nodes corresponding to places where multiple nodes enter and exit the mediation area 5, and information on one or more groups to which a portion of the plurality of entrance / exit nodes belong. The reception unit 10 receives mediation requests issued when a mobile body 2 intends to pass through the mediation area 5. The mediation request includes information on the entry node into which the mobile body 2 enters mediation area 5 and the exit node from which the mobile body 2 exits mediation area 5, among the multiple entrance and exit nodes of mediation area 5. The group determination unit 11 determines whether there is an envelope group of the mediation request received by the reception unit 10 in the area information group of mediation area 5. The envelope group of the mediation request is the group to which both the entry node and exit node included in the mediation request belong. The passage determination unit 12 determines whether other mobile bodies 2 of the mobile body 2 that issued the mediation request are passing through the target area. Here, the passage determination unit 12 considers the entire mediation area 5 as the target area when there is no envelope group of the mediation request in the area information group, and considers the envelope group as the target area when there is an envelope group of the mediation request in the area information group. The command unit 13 outputs a standby command to the mobile body 2 that issued the mediation request when another mobile body 2 is passing through the target area, and outputs a passage permission command when no mobile body 2 is passing through the target area.

[0081] This configuration allows for partial mediation of the mediation area 5 with a simple setting of grouping entrance and exit nodes. This reduces the likelihood of a decrease in the movement efficiency of the mobile units 2. Here, since each of the N mobile units 2 subject to mediation has an entry node and an exit node, the number of route combinations is on the order of 2N, where2 is the number of entrance and exit nodes. Therefore, if it were necessary to individually set whether or not there is interference for each route combination, the number of setting items could increase on the order of 2N, where2 is the number of entrance and exit nodes. In contrast, with the traffic management device 8, it is not necessary to individually set whether or not there is interference for each route combination, so the number of setting items for the building manager, etc., does not become enormous. Also, by focusing on the entrances and exits of the mediation area 5, intuitive grouping becomes possible from the floor plan of building 3, etc. In this way, both the reduction in setting effort and the movement efficiency of the mobile units 2 are achieved.

[0082] Furthermore, area information includes information on higher and lower groups. The higher group includes all entrance / exit nodes belonging to the lower group, as well as any entrance / exit nodes that do not belong to the lower group. This allows for a hierarchical structure in the group configuration, enabling more flexible settings.

[0083] Furthermore, when there are multiple groups in the area information that include both the entry and exit nodes of the mediation request, the group with the fewest entry and exit nodes among those multiple groups is designated as the enveloping group. As a result, the mediation of the mediation area 5 is performed with the lowest-level group as the enveloping group, so the target area, which is the scope of the mediation, is kept to the minimum necessary. Therefore, the movement efficiency of the mobile unit 2 is less likely to decrease.

[0084] Furthermore, the traffic management device 8 includes a history management unit 14. The history management unit 14 stores and saves the pass-through determination results made by the pass-through determination unit 12 when there is a group in the area information of the mediation area 5 to which only one of the entry node or exit node of the mediation request of the mobile body 2 belongs. The history management unit 14 also stores and saves the pass-through determination results made by the pass-through determination unit 12 when there is no group in the area information of the mediation area 5 to which the entry node of the mediation request of the mobile body 2 belongs or to which the exit node belongs. As a result, when the mobile body 2 moves between multiple groups that are not included in a single higher-level group, the pass-through determination results are stored. Such movement patterns are, for example, movement patterns that are not considered as major movement patterns in the current group configuration. Since the pass-through determination results for such movement patterns are stored and recorded, the administrator can use this information to review the group configuration, etc.

[0085] Furthermore, when another mobile body 2 that issued the mediation request is passing through the target area, the history management unit 14 stores whether or not there is a group to which both the entry node and exit node of the other mobile body 2 belong, along with the passage determination result by the passage determination unit 12. In addition, if such a group exists, the history management unit 14 also stores information that identifies that group. Here, if there is no group to which the entry node and exit node of the other mobile body 2 that is passing through belong, the entire mediation area 5 is determined to be in transit. On the other hand, if there is a group to which the entry node and exit node of the other mobile body 2 that is passing through belong, the group that is part of the mediation area 5 is determined to be in transit. Thus, the presence or absence of a group to which the entry node and exit node of the other mobile body 2 that is passing through belong corresponds to information on whether the target area determined to be in transit is the entirety or a part of the mediation area 5. The information accumulated by the history management unit 14 allows administrators to understand the factors that led to the mobile unit 2 receiving a standby command, specifically, which target area the mobile unit 2 was passing through when the standby command was issued. This enables administrators to utilize this information for purposes such as considering more efficient group configurations.

[0086] Next, we will explain an example of the hardware configuration of the mobile system 1 using Figure 11. Figure 11 is a hardware configuration diagram of the main parts of the mobile system 1 according to Embodiment 1.

[0087] Some or all of the functions of the mobile system 1 can be realized by a processing circuit. The processing circuit comprises at least one processor 100a and at least one memory 100b. The processing circuit may also include at least one dedicated hardware component along with the processor 100a and memory 100b, or as a substitute for them.

[0088] When the processing circuit includes a processor 100a and a memory 100b, each function of the mobile system 1 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. This program is stored in the memory 100b. The processor 100a realizes each function of the mobile system 1 by reading and executing the program stored in the memory 100b. The program may be a program package that includes multiple subprograms, modules, or libraries. The program is sometimes called a program product.

[0089] The processor 100a is also called a CPU (Central Processing Unit), processing unit, arithmetic unit, microprocessor, microcomputer, or DSP. The memory 100b is composed of non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, or EEPROM.

[0090] When a processing circuit has dedicated hardware, it can be implemented as, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

[0091] Each function of the mobile system 1 can be implemented by a separate processing circuit. Alternatively, each function of the mobile system 1 can be implemented collectively by a processing circuit. For each function of the mobile system 1, some may be implemented by dedicated hardware, while others are implemented by software or firmware. In this way, the processing circuit implements each function of the mobile system 1 using dedicated hardware, software, firmware, or a combination thereof.

[0092] Embodiment 2. In Embodiment 2, the differences from the example disclosed in Embodiment 1 will be explained in particular detail. For features not described in Embodiment 2, any of the features from the example disclosed in Embodiment 1 may be adopted.

[0093] The Area Management Unit 9 switches the group information in the area information for mediation area 5, i.e., the group configuration of mediation area 5, according to a pre-set time period. The Area Management Unit 9 switches the group configuration based on the group setting table set for mediation area 5. The group setting table is, for example, information stored by the Area Management Unit 9. The group setting table for mediation area 5 includes, for example, the identifier of mediation area 5 and one or more schedules. The schedule in the group setting table includes, for example, the corresponding time period, group configuration information, and information on whether or not a switch has been performed. The time period information includes, for example, the start time and end time. The time period information may also include the implementation date, the day of the week, or other conditions regarding the time period. The group configuration information includes, for example, the identifier of each entrance / exit node of mediation area 5, the identifier of each entrance / exit node belonging to each group of mediation area 5, and information such as the hierarchical structure of each group.

[0094] Figure 12 is a flowchart showing an example of processing in the mobile system 1 according to Embodiment 2.

[0095] Figure 12 shows an example of the process performed by the traffic management device 8 to switch group configurations. The traffic management device 8 starts the process shown in Figure 12 at a pre-set schedule check timing. The schedule check timing is, for example, a regular or irregular timing set for each mediation area 5. The schedule check timing may also be a timing specified by, for example, the building manager of Building 3. When multiple mediation areas 5 are set up in Building 3, the process shown in Figure 12 to switch group configurations is performed, for example, for each mediation area 5. The process shown in Figure 12 to switch group configurations may be performed in parallel for some or all of the multiple mediation areas 5.

[0096] In step S61, the area management unit 9 refers to the group setting table. After that, the traffic management device 8 proceeds to step S62.

[0097] In step S62, the area management unit 9 determines whether there is a next schedule. The next schedule is, for example, a schedule for which a switchover has not yet been performed and whose end time has not yet passed, and which has the earliest start time for the corresponding time period. If the next schedule is in the group setting table of mediation area 5, the traffic management device 8 processes that next schedule as the target schedule. After that, the traffic management device 8 proceeds to step S63. On the other hand, if the next schedule is not in the group setting table of mediation area 5, the processing of the traffic management device 8 related to the switching of the group configuration ends.

[0098] In step S63, the area management unit 9 determines whether the current time falls within the time period of the target schedule. For example, the area management unit 9 determines that the current time falls within the time period of the schedule if the current time is after the start time of the schedule. If the schedule includes date conditions such as the implementation date or day of the week, the area management unit 9 determines that the current time falls within the time period of the schedule if, for example, the current time is after the start time of the schedule and the current date satisfies the date conditions. If the current time does not fall within the time period of the target schedule, the traffic management device 8 proceeds to step S64. On the other hand, if the current time falls within the time period of the target schedule, the traffic management device 8 proceeds to step S65.

[0099] In step S64, the area management unit 9 temporarily suspends the processing related to switching the group configuration and waits. The traffic management device 8 proceeds to step S62, for example, after a predetermined time has elapsed.

[0100] In step S65, the traffic determination unit 12 determines whether the moving object 2 is passing through the mediation area 5. The area management unit 9 determines that the moving object 2 is passing through the mediation area 5 if, for example, the traffic status in either the overall status table for mediation area 5 or the status table for each group of mediation area 5 is "passing." The area management unit 9 also determines that the moving object 2 is not passing through the mediation area 5 if, for example, the traffic status in either the overall status table for mediation area 5 or the status table for each group of mediation area 5 is "not passing." When the mediation area 5 is "passing," the traffic management device 8 proceeds to step S64. On the other hand, when the mediation area 5 is not "passing," the traffic management device 8 proceeds to step S66.

[0101] In step S66, the area management unit 9 switches the group configuration of mediation area 5. For example, the area management unit 9 rewrites the area information for mediation area 5 based on the group configuration information included in the target schedule. After that, the traffic management device 8 proceeds to step S67.

[0102] In step S67, the area management unit 9 marks the target schedule as having been switched over. The area management unit 9 may also record the time and date of the switchover for the target schedule. After that, the traffic management device 8 proceeds to step S62.

[0103] As described above, in the mobile system 1 according to Embodiment 2, the area management unit 9 switches the group information in the area information for the mediation area 5 according to a preset time period. With this configuration, even if the pattern of movement of the mobile 2 in the building 3 changes from time to time, the decrease in the movement efficiency of the mobile 2 can be suppressed in accordance with the pattern of movement.

[0104] To summarize the above explanation, the possible configurations of the technology relating to this disclosure include the configurations listed below as appendices. (Note 1) In a building where multiple mobile bodies move between multiple nodes, each corresponding to one of multiple locations, an area management unit stores and manages area information, which includes information on multiple entrance / exit nodes corresponding to locations entering and exiting the arbitration area, and information on one or more groups to which some of the multiple entrance / exit nodes belong, for a pre-defined arbitration area. A reception unit that receives a mediation request issued when a first mobile body among the plurality of mobile bodies attempts to pass through the mediation area, the request includes information on the entry node from which the first mobile body enters the mediation area and the exit node from which the first mobile body exits the mediation area, among the plurality of entrance and exit nodes of the mediation area. A group determination unit determines whether, with respect to the mediation area, one or more groups of area information managed by the area management unit contain an envelope group to which both the entry node and the exit node included in the mediation request received by the reception unit belong, When the group determination unit determines that the envelope group is not present in one or more of the area information, the entire mediation area is designated as the target area, and when the group determination unit determines that the envelope group is present in one or more of the area information, the envelope group is designated as the target area, and a passage determination unit determines whether a second moving body other than the first moving body among the plurality of moving bodies is passing through the target area, A command unit that outputs a standby command to the first mobile body when the passage determination unit determines that the second mobile body is passing through the target area, and outputs a passage permission command to the first mobile body when the passage determination unit determines that none of the multiple mobile bodies are passing through the target area, A traffic management device equipped with the following features. (Note 2) The area information includes information on one or more groups, including information on higher-level groups and lower-level groups. The aforementioned upper group includes all of the entrance / exit nodes belonging to the lower group, and entrance / exit nodes that do not belong to the lower group, among the plurality of entrance / exit nodes. The traffic management device described in Appendix 1. (Note 3) The group determination unit determines that there is an envelope group when, among the one or more groups of the area information, there are multiple groups to which both the entry node and the exit node included in the arbitration request received by the reception unit belong, the group with the fewest entrance / exit nodes among the multiple groups to which it belongs is designated as the envelope group. The traffic management device described in Appendix 2. (Note 4) When, with respect to the aforementioned mediation area, there is a group in the area information managed by the area management unit to which only either the entry node or the exit node of the first mobile body belongs, the history management unit stores and stores the passage determination result made by the passage determination unit. A traffic management device comprising any one of the features described in Appendix 1 to Appendix 3. (Note 5) When, with respect to the aforementioned mediation area, neither the group to which the first mobile body's entry node belongs nor the group to which the exit node belongs is among the one or more groups of area information managed by the area management unit, the history management unit stores and stores the passage determination result made by the passage determination unit. A traffic management device comprising any one of the features described in Appendix 1 to Appendix 3. (Note 6) When the passage determination unit determines that the second mobile body is passing through the target area, the history management unit stores, together with the passage determination result from the passage determination unit, information regarding the existence of a group among the one or more groups to which both the entrance / exit node that the second mobile body enters the mediation area and the entrance / exit node that the second mobile body exits the mediation area belong, and if such a group exists, information identifying that group. Traffic management device as described in Appendix 4 or Appendix 5. (Note 7) The area management unit switches the information of one or more groups in the area information for the mediation area according to a predetermined time period. A traffic management device as described in any one of the items from Appendix 1 to Appendix 6. (Note 8) Computers In a building where multiple mobile bodies move between multiple nodes, each corresponding to one of multiple locations, the following is to store and manage area information including information on multiple entrance / exit nodes corresponding to locations entering and exiting the arbitration area, and information on one or more groups to which some of the multiple entrance / exit nodes belong, for a pre-defined arbitration area: The system receives an arbitration request issued when a first mobile body among the plurality of mobile bodies attempts to pass through the arbitration area, which includes information on the entry node from which the first mobile body enters the arbitration area and the exit node from which the first mobile body exits the arbitration area, among the plurality of entrance and exit nodes of the arbitration area. To determine whether one or more groups of area information for the arbitration area contain an envelope group to which both the entry node and the exit node included in the arbitration request of the first mobile entity belong, When it is determined that the envelope group is not present in one or more of the area information, the entire mediation area is designated as the target area, and when it is determined that the envelope group is present in one or more of the area information, the envelope group is designated as the target area, and it is determined whether the second moving body other than the first moving body among the multiple moving bodies is passing through the target area. When it is determined that the second mobile body is passing through the target area, a command to wait is output to the first mobile body, and when it is determined that none of the multiple mobile bodies are passing through the target area, a command to permit passage is output to the first mobile body, A traffic management method that implements this. (Note 9) On the computer, In a building where multiple mobile bodies move between multiple nodes, each corresponding to one of multiple locations, the following is to store and manage area information including information on multiple entrance / exit nodes corresponding to locations entering and exiting the arbitration area, and information on one or more groups to which some of the multiple entrance / exit nodes belong, for a pre-defined arbitration area: The system receives an arbitration request issued when a first mobile body among the plurality of mobile bodies attempts to pass through the arbitration area, which includes information on the entry node from which the first mobile body enters the arbitration area and the exit node from which the first mobile body exits the arbitration area, among the plurality of entrance and exit nodes of the arbitration area. To determine whether one or more groups of area information for the arbitration area contain an envelope group to which both the entry node and the exit node included in the arbitration request of the first mobile entity belong, When it is determined that the envelope group is not present in one or more of the area information, the entire mediation area is designated as the target area, and when it is determined that the envelope group is present in one or more of the area information, the envelope group is designated as the target area, and it is determined whether the second moving body other than the first moving body among the multiple moving bodies is passing through the target area. When it is determined that the second mobile body is passing through the target area, a command to wait is output to the first mobile body, and when it is determined that none of the multiple mobile bodies are passing through the target area, a command to permit passage is output to the first mobile body, A traffic management program that implements this functionality. (Note 10) In a building, multiple moving bodies move between multiple nodes, each corresponding to one of multiple locations, Regarding the arbitration area predetermined in the building, an area management unit stores and manages area information including information on multiple entrance / exit nodes corresponding to places entering and exiting the arbitration area from among the multiple nodes, and information on one or more groups to which a portion of the multiple entrance / exit nodes belong. A reception unit that receives a mediation request issued when a first mobile body among the plurality of mobile bodies attempts to pass through the mediation area, the request includes information on the entry node from which the first mobile body enters the mediation area and the exit node from which the first mobile body exits the mediation area, among the plurality of entrance and exit nodes of the mediation area. A group determination unit determines whether, with respect to the mediation area, one or more groups of area information managed by the area management unit contain an envelope group to which both the entry node and the exit node included in the mediation request received by the reception unit belong, When the group determination unit determines that the envelope group is not present in one or more of the area information, the entire mediation area is designated as the target area, and when the group determination unit determines that the envelope group is present in one or more of the area information, the envelope group is designated as the target area, and a passage determination unit determines whether a second moving body other than the first moving body among the plurality of moving bodies is passing through the target area, A command unit that outputs a standby command to the first mobile body when the passage determination unit determines that the second mobile body is passing through the target area, and outputs a passage permission command to the first mobile body when the passage determination unit determines that none of the multiple mobile bodies are passing through the target area, A mobile system equipped with the following features. (Note 11) A mobile unit control that controls multiple mobile bodies moving between multiple nodes, each corresponding to one of multiple locations in a building, Regarding the arbitration area predetermined in the building, an area management unit stores and manages area information which includes information on multiple entrance / exit nodes corresponding to places entering and exiting the arbitration area from among the multiple nodes, and information on one or more groups to which a portion of the multiple entrance / exit nodes belong. A reception unit that receives a mediation request issued when a first mobile body among the plurality of mobile bodies attempts to pass through the mediation area, the request includes information on the entry node from which the first mobile body enters the mediation area and the exit node from which the first mobile body exits the mediation area, among the plurality of entrance and exit nodes of the mediation area. A group determination unit determines whether, with respect to the mediation area, one or more groups of area information managed by the area management unit contain an envelope group to which both the entry node and the exit node included in the mediation request received by the reception unit belong, When the group determination unit determines that the envelope group is not present in one or more of the area information, the entire mediation area is designated as the target area, and when the group determination unit determines that the envelope group is present in one or more of the area information, the envelope group is designated as the target area, and a passage determination unit determines whether a second moving body other than the first moving body among the plurality of moving bodies is passing through the target area, A command unit that outputs a standby command to the first mobile body when the passage determination unit determines that the second mobile body is passing through the target area, and outputs a passage permission command to the first mobile body when the passage determination unit determines that none of the multiple mobile bodies are passing through the target area, A mobile control system equipped with the following features. [Explanation of symbols]

[0105] 1 Mobile system, 2 Mobile unit, 3 Building, 4 Communication network, 5 Mediation area, 6 Mobile unit control system, 7 Mobile unit control device, 8 Traffic management device, 9 Area management unit, 10 Reception unit, 11 Group determination unit, 12 Passage determination unit, 13 Command unit, 14 History management unit, 100a Processor, 100b Memory, 200 Dedicated hardware

Claims

1. In a building where multiple mobile bodies move between multiple nodes, each corresponding to one of multiple locations, an area management unit stores and manages area information, which includes information on multiple entrance / exit nodes corresponding to locations entering and exiting the arbitration area, and information on one or more groups to which a portion of the multiple entrance / exit nodes belong, for a pre-defined arbitration area. A receiving unit that receives a mediation request issued when a first mobile body among the plurality of mobile bodies attempts to pass through the mediation area, the mediation request includes information on the entry node from which the first mobile body enters the mediation area and the exit node from which the first mobile body exits the mediation area, among the plurality of entrance and exit nodes of the mediation area. A group determination unit determines whether, with respect to the mediation area, one or more groups of area information managed by the area management unit contain an envelope group to which both the entry node and the exit node included in the mediation request received by the reception unit belong, When the group determination unit determines that the envelope group is not present in one or more of the area information, the entire mediation area is designated as the target area, and when the group determination unit determines that the envelope group is present in one or more of the area information, the envelope group is designated as the target area, and a passage determination unit determines whether a second moving body other than the first moving body among the plurality of moving bodies is passing through the target area, A command unit that outputs a standby command to the first mobile body when the passage determination unit determines that the second mobile body is passing through the target area, and outputs a passage permission command to the first mobile body when the passage determination unit determines that none of the multiple mobile bodies are passing through the target area, A traffic management device equipped with the following features.

2. The area information includes information for one or more groups, including information for higher-level groups and lower-level groups. The aforementioned upper group includes all of the entrance / exit nodes belonging to the lower group, and entrance / exit nodes that do not belong to the lower group, among the plurality of entrance / exit nodes. The traffic management device according to claim 1.

3. The group determination unit determines that there is an envelope group when, among the one or more groups of the area information, there are multiple groups to which both the entry node and the exit node included in the arbitration request received by the reception unit belong, the group with the fewest entrance / exit nodes among the multiple groups to which it belongs is designated as the envelope group. The traffic management device according to claim 2.

4. When, with respect to the aforementioned mediation area, there is a group in the area information managed by the area management unit to which only either the entry node or the exit node of the first mobile body belongs, the history management unit stores and stores the passage determination result made by the passage determination unit. A traffic management device according to any one of claims 1 to 3, comprising:

5. When, with respect to the aforementioned mediation area, neither the group to which the first mobile body's entry node belongs nor the group to which the exit node belongs is among the one or more groups of area information managed by the area management unit, the history management unit stores and stores the passage determination result made by the passage determination unit. A traffic management device according to any one of claims 1 to 3, comprising:

6. When the passage determination unit determines that the second mobile body is passing through the target area, the history management unit stores, together with the passage determination result from the passage determination unit, information regarding the existence of a group among the one or more groups to which both the entrance / exit node that the second mobile body enters the mediation area and the entrance / exit node that the second mobile body exits the mediation area belong, and if such a group exists, information to identify that group. The traffic management device according to claim 4.

7. The area management unit switches the information of one or more groups in the area information for the mediation area according to a predetermined time period. A traffic management device according to any one of claims 1 to 3.

8. Computers In a building where multiple mobile bodies move between multiple nodes, each corresponding to one of multiple locations, the following is to store and manage area information including information on multiple entrance / exit nodes corresponding to locations entering and exiting the arbitration area, and information on one or more groups to which some of the multiple entrance / exit nodes belong, for a pre-defined arbitration area: The system receives an arbitration request issued when a first mobile body among the plurality of mobile bodies attempts to pass through the arbitration area, which includes information on the entry node from which the first mobile body enters the arbitration area and the exit node from which the first mobile body exits the arbitration area, among the plurality of entrance and exit nodes of the arbitration area. To determine whether one or more groups of area information for the arbitration area contain an envelope group to which both the entry node and the exit node included in the arbitration request of the first mobile entity belong, When it is determined that the enveloping group is not present in one or more of the area information, the entire mediation area is designated as the target area, and when it is determined that the enveloping group is present in one or more of the area information, the enveloping group is designated as the target area, and it is determined whether the second moving body other than the first moving body among the multiple moving bodies is passing through the target area. When it is determined that the second mobile body is passing through the target area, a command to wait is output to the first mobile body, and when it is determined that none of the multiple mobile bodies are passing through the target area, a command to permit passage is output to the first mobile body. A traffic management method that implements this.

9. On the computer, In a building where multiple mobile bodies move between multiple nodes, each corresponding to one of multiple locations, the following is to store and manage area information including information on multiple entrance / exit nodes corresponding to locations entering and exiting the arbitration area, and information on one or more groups to which some of the multiple entrance / exit nodes belong, for a pre-defined arbitration area: The system receives an arbitration request issued when a first mobile body among the plurality of mobile bodies attempts to pass through the arbitration area, which includes information on the entry node from which the first mobile body enters the arbitration area and the exit node from which the first mobile body exits the arbitration area, among the plurality of entrance and exit nodes of the arbitration area. To determine whether one or more groups of area information for the arbitration area contain an envelope group to which both the entry node and the exit node included in the arbitration request of the first mobile entity belong, When it is determined that the enveloping group is not present in one or more of the area information, the entire mediation area is designated as the target area, and when it is determined that the enveloping group is present in one or more of the area information, the enveloping group is designated as the target area, and it is determined whether the second moving body other than the first moving body among the multiple moving bodies is passing through the target area. When it is determined that the second mobile body is passing through the target area, a command to wait is output to the first mobile body, and when it is determined that none of the multiple mobile bodies are passing through the target area, a command to permit passage is output to the first mobile body. A traffic management program that implements this functionality.

10. In a building, multiple moving bodies move between multiple nodes, each corresponding to one of multiple locations, An area management unit stores and manages area information for a predetermined mediation area in the aforementioned building, including information on multiple entrance / exit nodes corresponding to places entering and exiting the mediation area from among the multiple nodes, and information on one or more groups to which a portion of the multiple entrance / exit nodes belong. A receiving unit that receives a mediation request issued when a first mobile body among the plurality of mobile bodies attempts to pass through the mediation area, the mediation request includes information on the entry node from which the first mobile body enters the mediation area and the exit node from which the first mobile body exits the mediation area, among the plurality of entrance and exit nodes of the mediation area. A group determination unit determines whether, with respect to the mediation area, one or more groups of area information managed by the area management unit contain an envelope group to which both the entry node and the exit node included in the mediation request received by the reception unit belong, When the group determination unit determines that the envelope group is not present in one or more of the area information, the entire mediation area is designated as the target area, and when the group determination unit determines that the envelope group is present in one or more of the area information, the envelope group is designated as the target area, and a passage determination unit determines whether a second moving body other than the first moving body among the plurality of moving bodies is passing through the target area, A command unit that outputs a standby command to the first mobile body when the passage determination unit determines that the second mobile body is passing through the target area, and outputs a passage permission command to the first mobile body when the passage determination unit determines that none of the multiple mobile bodies are passing through the target area, A mobile system equipped with the following features.

11. A mobile unit control that controls multiple mobile bodies moving between multiple nodes, each corresponding to one of multiple locations in a building, An area management unit stores and manages area information for a predetermined mediation area in the aforementioned building, which includes information on multiple entrance / exit nodes corresponding to places entering and exiting the mediation area from among the multiple nodes, and information on one or more groups to which a portion of the multiple entrance / exit nodes belong. A receiving unit that receives a mediation request issued when a first mobile body among the plurality of mobile bodies attempts to pass through the mediation area, the mediation request includes information on the entry node from which the first mobile body enters the mediation area and the exit node from which the first mobile body exits the mediation area, among the plurality of entrance and exit nodes of the mediation area. A group determination unit determines whether, with respect to the mediation area, one or more groups of area information managed by the area management unit contain an envelope group to which both the entry node and the exit node included in the mediation request received by the reception unit belong, When the group determination unit determines that the envelope group is not present in one or more of the area information, the entire mediation area is designated as the target area, and when the group determination unit determines that the envelope group is present in one or more of the area information, the envelope group is designated as the target area, and a passage determination unit determines whether a second moving body other than the first moving body among the plurality of moving bodies is passing through the target area, A command unit that outputs a standby command to the first mobile body when the passage determination unit determines that the second mobile body is passing through the target area, and outputs a passage permission command to the first mobile body when the passage determination unit determines that none of the multiple mobile bodies are passing through the target area, A mobile control system equipped with the following features.

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