Mobile object management device, mobile object management system, mobile object management method, and mobile object management program

Abstract

To provide a mobile body management apparatus, a mobile body management system, a mobile body management method, and a mobile body management program for managing the movement of an autonomous mobile body so as to efficiently operate in a facility.SOLUTION: A mobile body management apparatus 7 includes a command unit 16. The command unit 16 determines whether two autonomous mobile bodies 2 may interfere with each other in a passage on which the autonomous mobile bodies move in the same direction before or after using equipment 6 provided in a facility. When the possibility of interference is determined, the command unit 16 outputs a command to allow one autonomous mobile body 2 having higher priority, set in advance for using the equipment 6, to pass through the passage in priority to the other autonomous mobile body 2.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses an example of a movement support system. The movement support system receives registration of the destination floor of an elevator by an autonomous mobile body such as a robot. The movement support system assigns one of the elevator cars to the call corresponding to the registered destination floor.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the movement support system of Patent Document 1, priority for using an elevator, which is equipment in the facility, is set for a plurality of autonomous mobile bodies moving in the facility. On the other hand, no priority is set for the passageways from the facility to the equipment. For this reason, there is a possibility that a plurality of autonomous mobile bodies moving in the facility may get stuck in a state where they cannot move because there is no priority set on the passageways. At this time, there is a possibility that the autonomous mobile bodies cannot operate efficiently in the facility.

[0005] The present disclosure relates to solving such problems. The present disclosure provides a mobile body management device, a mobile body management system, a mobile body management method, and a mobile body management program for managing the movement of autonomous mobile bodies so that they can operate more efficiently in a facility.

Means for Solving the Problems

[0006] The mobile vehicle management device relating to this disclosure determines whether a first autonomous mobile vehicle and a second autonomous mobile vehicle moving within a facility may interfere with each other in a passageway traveling in the same direction before using common equipment provided in the facility, and if it determines that interference is possible, the first autonomous mobile vehicle and the second autonomous mobile vehicle Before Common equipment Pre-configured for The system includes a command unit that outputs a command to allow the first autonomous mobile unit, which has a higher priority for use than the second autonomous mobile unit, to pass through the passage with priority over the second autonomous mobile unit. The mobile object management device according to this disclosure determines whether a first autonomous mobile object and a second autonomous mobile object moving within a facility may interfere with each other in a passageway that they travel in the same direction after using common equipment provided in the facility, and if it determines that interference may occur, the first autonomous mobile object and the second autonomous mobile object Before Common equipment Pre-configured for The system includes a command unit that outputs a command to allow the first autonomous mobile unit, which has a higher priority for use than the second autonomous mobile unit, to pass through the passage with priority over the second autonomous mobile unit.

[0007] The mobile vehicle management system relating to this disclosure determines whether the first autonomous vehicle and the second autonomous vehicle may interfere with a common facility installed in the facility where they are moving, and whether the first autonomous vehicle and the second autonomous vehicle may interfere with a passage in which they are traveling in the same direction before using the common facility, and if it is determined that interference is possible, the first autonomous vehicle and the second autonomous vehicle Before Common equipment Pre-configured for The system includes a command unit that outputs a command to allow the first autonomous mobile unit, which has a higher priority for use than the second autonomous mobile unit, to pass through the passage with priority over the second autonomous mobile unit. The mobile vehicle management system relating to this disclosure determines whether the first autonomous vehicle and the second autonomous vehicle may interfere with a common facility installed in the facility where each of them moves, and whether the first autonomous vehicle and the second autonomous vehicle may interfere with a passage in which they travel in the same direction after using the common facility, and if it is determined that interference is possible, the first autonomous vehicle and the second autonomous vehicle Before Common equipment Pre-configured forThe system includes a command unit that outputs a command to allow the first autonomous mobile unit, which has a higher priority for use than the second autonomous mobile unit, to pass through the passage with priority over the second autonomous mobile unit.

[0008] The mobile body management method relating to this disclosure involves a computer determining whether a first autonomous mobile body and a second autonomous mobile body moving within a facility may interfere with each other in a passageway traveling in the same direction before using common equipment provided in the facility, and if it determines that interference is possible, the computer then... Before Common equipment Pre-configured for The method involves outputting a command to allow the first autonomous mobile unit, which has a higher priority for use than the second autonomous mobile unit, to pass through the passage with priority over the second autonomous mobile unit. The mobile object management method relating to this disclosure involves a computer determining whether a first autonomous mobile object and a second autonomous mobile object moving within a facility may interfere with each other in a passageway that they travel in the same direction after using common equipment provided in the facility, and if it is determined that interference may occur, the computer then determines whether the first autonomous mobile object and the second autonomous mobile object may interfere with each other. Before Common equipment Pre-configured for The method involves outputting a command to allow the first autonomous mobile unit, which has a higher priority for use than the second autonomous mobile unit, to pass through the passage with priority over the second autonomous mobile unit.

[0009] The mobile object management program relating to this disclosure involves a computer determining whether a first autonomous mobile object and a second autonomous mobile object moving within a facility may interfere with each other in a passageway traveling in the same direction before using common equipment provided in the facility, and if interference is determined to occur, the computer then determines whether the first autonomous mobile object and the second autonomous mobile object may interfere with each other. Before Common equipment Pre-configured for The system outputs a command to allow the first autonomous mobile unit, which has a higher priority for use than the second autonomous mobile unit, to pass through the passage with priority over the second autonomous mobile unit, and executes the following: The mobile object management program relating to this disclosure involves a computer determining whether a first autonomous mobile object and a second autonomous mobile object moving within a facility may interfere with each other in a passageway that they travel in the same direction after using common equipment provided in the facility, and if interference is determined to occur, the computer then determines whether the first autonomous mobile object and the second autonomous mobile object may interfere with each other. Before Common equipment Pre-configured for The system outputs a command to allow the first autonomous mobile unit, which has a higher priority for use than the second autonomous mobile unit, to pass through the passage with priority over the second autonomous mobile unit, and executes the following: [Effects of the Invention]

[0010] According to the mobile vehicle management device, mobile vehicle management system, mobile vehicle management method, or mobile vehicle management program relating to this disclosure, the movement of autonomous mobile vehicles will be managed in a way that allows them to operate more efficiently within a facility. [Brief explanation of the drawing]

[0011] [Figure 1] This is a configuration diagram of the mobile device management system according to Embodiment 1. [Figure 2] This table shows an example of priority setting by the command unit according to Embodiment 1. [Figure 3] This figure shows an example of managing the passage of autonomous mobile objects in a mobile object management system according to Embodiment 1. [Figure 4] This figure shows an example of managing the passage of autonomous mobile objects in a mobile object management system according to Embodiment 1. [Figure 5] This figure shows an example of managing the passage of autonomous mobile objects in a mobile object management system according to Embodiment 1. [Figure 6] This flowchart shows an example of the operation of the mobile device management system according to Embodiment 1. [Figure 7] This flowchart shows an example of the operation of the mobile device management system according to Embodiment 1. [Figure 8] This is a hardware configuration diagram of the main components of the mobile device management system according to Embodiment 1.

Best Mode for Carrying Out the Invention

[0012] A mode for carrying out the subject matter of the present disclosure will be described with reference to the accompanying drawings. In each figure, the same or corresponding parts are denoted by the same reference numerals, and 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 gist of the present disclosure, deformation of any component of the embodiments or omission of any component of the embodiments are possible.

[0013] Embodiment 1. FIG. 1 is a configuration diagram of a mobile body management system 1 according to Embodiment 1.

[0014] The mobile body management system 1 is applied to a facility. The facility is, for example, an indoor facility, an outdoor facility, or a facility combining these, etc. The facility consists of, for example, one or more buildings, etc. The facility may be, for example, a part of a building or the like. The mobile body management system 1 is a system for managing the movement of the autonomous mobile body 2 operating in the facility.

[0015] In this example facility, multiple autonomous mobile units 2 are in operation. Each autonomous mobile unit 2 is a robot, drone, or other mobile device that moves autonomously within the facility. The autonomous mobile units 2 move within the facility based on movement instructions from, for example, a mobile unit control server 3, and provide services such as security, transportation, cleaning, and guidance. Each autonomous mobile unit 2 moves from a starting point to a destination within the facility so that it can provide services. The route from the starting point to the destination is generated by, for example, a route generation server 4. Depending on the services provided by the autonomous mobile units 2, the starting point and destination may be fixed. In such cases, the route from the starting point to the destination may be a fixed route. Alternatively, the route from the starting point to the destination may be dynamically generated by, for example, a route generation server 4. The route generation server 4 includes a route generation unit 5 that generates the route of the autonomous mobile unit 2 from its starting point to its destination based on, for example, map data of the facility. The mobile unit control server 3 and the route generation server 4 are each composed of, for example, one or more server computers. Some or all of the functions of the mobile control server 3 and the route generation server 4 may be implemented on the same hardware. Some or all of the functions of the mobile control server 3 and the route generation server 4 may be located within or outside the facility. Some or all of the functions of the mobile control server 3 and the route generation server 4 may be implemented using processing or storage resources on a cloud service, etc.

[0016] Multiple pieces of equipment 6 are provided within the facility. These pieces of equipment 6 include, for example, elevators, security gates, and automatic doors. The elevators are pieces of equipment 6 that transport users, who are people using the facility, and autonomous mobile units 2 that operate within the facility, between multiple floors of the facility. The security gates and automatic doors are pieces of equipment 6 that restrict the passage of people or autonomous mobile units 2 according to their access rights. The security gates and automatic doors are examples of access control equipment that manages whether or not people or autonomous mobile units 2 are allowed to pass. Each autonomous mobile unit 2 operating within the facility moves around the facility using the equipment 6. Each piece of equipment 6 may be an internal device included in the mobile unit management system 1, or an external device outside the mobile unit management system 1.

[0017] The mobile object management system 1 includes a mobile object management device 7. The mobile object management device 7 is composed of, for example, one or more server computers. Part or all of the mobile object management device 7 may be located within or outside the facility. Some or all of the functions of the mobile object management device 7 may be implemented by processing or storage resources on a cloud service. The mobile object management device 7 may also incorporate some or all of the functions of the mobile object control server 3 and the route generation server 4. Furthermore, some or all of the functions of the mobile object management device 7 may be installed in the mobile object control server 3, the route generation server 4, or the autonomous mobile object 2. The functions of the mobile object management system 1 are realized, for example, by one or more server computers constituting the mobile object management system 1 operating according to their respective programs. The one or more server computers constituting the mobile object management system 1 are connected to each other so as to be able to communicate with each other, for example, through a local network such as a LAN (Local Area Network) within a facility, or a wide-area network such as a telephone network or the Internet. The program that realizes the functions of the mobile object management system 1 may be a software package containing multiple software programs that are applied to multiple computers, etc. In this example, the mobile device management system 7 includes an equipment linkage server 8 and a traffic management server 9.

[0018] The equipment coordination server 8 comprises an equipment communication unit 10, a first communication unit 11, and a coordination management unit 12. The equipment communication unit 10 is the part that handles communication with each piece of equipment 6 installed in the facility. The first communication unit 11 is the part that handles communication with the traffic management server 9, which is another server that constitutes the mobile body management device 7. The equipment communication unit 10 and the first communication unit 11 communicate via wired or wireless means, for example, through a network such as a LAN or the internet within the facility. The coordination management unit 12 is the part that manages the coordination between the autonomous mobile bodies 2 operating in the facility and the equipment 6. The coordination management unit 12 manages the usage priority set for each piece of equipment 6 for each autonomous mobile body 2. The usage priority of the equipment 6 is set according to, for example, the function or role of the autonomous mobile body 2, the scope of services provided, etc. More specifically, for example, an autonomous mobile body 2 that performs high-priority security is set higher than other autonomous mobile bodies 2 so that it can arrive at its destination earlier. On the other hand, regarding the passages between the equipment 6 in the facility, even if they are the same passage, the priority may differ depending on the purpose of movement of the autonomous mobile unit 2, the movement route, and whether or not the equipment 6 is being used. Also, since there are many passages, the priority of the autonomous mobile units 2 is not set in advance. If priority is not set in the passages, the autonomous mobile units 2 will try to avoid interference with other autonomous mobile units 2, similar to avoiding obstacles. However, in this case, there is a possibility that they may get stuck in a stalemate where they cannot move due to mutual yielding. For this reason, the passage of autonomous mobile units 2 in the facility is managed by the passage management server 9.

[0019] The traffic management server 9 comprises a second communication unit 13, a mobile communication unit 14, a task management unit 15, and a command unit 16. The second communication unit 13 is the part that communicates with the facility linkage server 8, which is another server that constitutes the mobile management device 7. The mobile communication unit 14 is the part that communicates with each autonomous mobile unit 2 operating in the facility. The mobile communication unit 14 may also communicate with the autonomous mobile units 2 through a mobile control server 3 or the like that controls the movement of the autonomous mobile units 2. The second communication unit 13 and the mobile communication unit 14 communicate by wire or wireless, for example, through a network such as a LAN or the Internet within the facility. The task management unit 15 is the part that manages tasks such as the movement and service provision of the autonomous mobile units 2 operating in the facility. The task management unit 15 manages, for example, the schedule of tasks for each autonomous mobile unit 2. The command unit 16 is the part that outputs commands to the autonomous mobile units 2 operating in the facility regarding movement, etc. The command unit 16 outputs commands to the autonomous mobile units 2, for example, through the mobile communication unit 14. The command unit 16 sets priority for passage through pathways, for example, so that it can control the passage of the autonomous mobile units 2 as they move within a facility. The command unit 16 obtains information such as the route of the autonomous mobile units 2 from their starting point to their destination, generated by the route generation server 4, and the current location of the autonomous mobile units 2, managed by the mobile control server 3, through the mobile communication unit 14. The command unit 16 outputs commands set using the information obtained in this way to each autonomous mobile unit 2.

[0020] Next, using Figure 2, we will explain an example of setting priority for passage through a passage in the command unit 16. Figure 2 is a table showing an example of priority setting by the command unit 16 according to Embodiment 1.

[0021] In this example, autonomous mobile unit 2, mobile unit A, travels from the starting point to the destination by sequentially using facilities X, Y, and Z. When mobile unit A moves from the starting point to facility X, it travels along passage P. When mobile unit A moves from facility X to facility Y, it travels along passage Q. When mobile unit A moves from facility Y to facility Z, it travels along passages R and S. When mobile unit A moves from facility Z to the destination, it travels along passages T and U, etc. The command unit 16 obtains the travel path of mobile unit A thus generated by the path generation unit 5. Autonomous mobile unit 2, mobile unit B, also travels along the same path as mobile unit A.

[0022] Here, for mobile body A, the priority for using equipment X is predetermined to be 1st. On the other hand, for mobile body B, the priority for using equipment X is predetermined to be 2nd. Also, for mobile body A, the priority for using equipment Y is predetermined to be 2nd. On the other hand, for mobile body B, the priority for using equipment Y is predetermined to be 1st. Also, for mobile body A, the priority for using equipment Z is predetermined to be 1st. On the other hand, for mobile body B, the priority for using equipment Z is predetermined to be 2nd.

[0023] The priority of passage for each autonomous mobile unit 2 through the passages between facilities such as facility X, facility Y, and facility Z is not predetermined. Therefore, the command unit 16 sets the priority of passage through the passages based on the priority of facility use, for example, when acquiring information on the current position and movement path from the autonomous mobile unit 2. For example, for autonomous mobile units 2 traveling in the same direction, the command unit 16 sets the priority of the passage using the priority of the facility that will be passed after the passage being traveled. In this example, since the priority of facility X after passage P is higher for mobile unit A than for mobile unit B, the command unit 16 sets the priority of passage through passage P so that mobile unit A is higher than mobile unit B. That is, the command unit 16 sets the priority of passage through passage P to 1st for mobile unit A and to 2nd for mobile unit B. Similarly, based on the priority of using equipment Y, the command unit 16 sets the priority of passage through passage Q to 1st for mobile body B and the priority of passage through passage Q to 2nd for mobile body A. Also, based on the priority of using equipment Z, the command unit 16 sets the priority of passage through passages R and S to 1st for mobile body A and the priority of passage through passages R and S to 2nd for mobile body B. On the other hand, since mobile bodies A and B do not use equipment after passages T and U, the command unit 16 sets the priority of passages T and U using the priority of equipment that is passed before passages T and U. That is, based on the priority of using equipment Z, the command unit 16 sets the priority of passage through passages T and U to 1st for mobile body A and the priority of passage through passages T and U to 2nd for mobile body B.

[0024] Next, using Figures 3 to 5, we will explain an example of managing the passage of autonomous mobile objects 2 in the mobile object management system 1. Figures 3 to 5 show examples of managing the passage of autonomous mobile bodies 2 in the mobile body management system 1 according to Embodiment 1.

[0025] In this example, the facility has floors from the 1st to the 5th floor. Point K is located on the 1st floor of the facility. A security gate 6a, which is a piece of equipment, is located on the 1st floor of the facility. Elevators 6b and 6c, which can be used to travel from the 1st to the 5th floor, are provided as equipment in the facility. Note that when elevators 6b and 6c are not specifically distinguished, they may simply be referred to as elevators. Elevator landings are provided on each floor of the facility. An automatic door 6d, which is a piece of equipment, is located on the 5th floor of the facility. Point L is located on the 5th floor of the facility. On the 1st floor of the facility, point K and security gate 6a are connected by a passage α. On the 1st floor of the facility, security gate 6a and the elevator landing are connected by a passage β. On the 5th floor of the facility, the elevator landing and the automatic door 6d are connected by a passage γ. On the 5th floor of the facility, the automatic door 6d and point L are connected by a passage δ.

[0026] For each of the autonomous mobile units 2, mobile unit A, mobile unit B, and mobile unit C, the priority order for using each piece of equipment is set in advance. The priority order for using security gate 6a is set to be 1st for mobile unit B, 2nd for mobile unit A, and 3rd for mobile unit C. The priority order for using elevator 6b is set to be 1st for mobile unit A, 2nd for mobile unit B, and 3rd for mobile unit C. The priority order for using elevator 6c is set to be 1st for mobile unit B, 2nd for mobile unit A, and 3rd for mobile unit C. The priority order for using automatic door 6d is set to be 1st for mobile unit A, 2nd for mobile unit B, and 3rd for mobile unit C.

[0027] Figure 3 shows an example of a mobile object A traveling from point K to its destination point L. In this example, mobile objects B and C do not move within the facility. In this case, the travel path of mobile object A is set in the following order: point K, passage α, security gate 6a, passage β, elevator 6b or elevator 6c, passage γ, automatic door 6d, passage δ, and point L.

[0028] Since mobile bodies B and C are not moving within the facility, the command unit 16 sets the priority for passage through the passages for mobile body A, which is moving within the facility. The command unit 16 sets the priority of mobile body A to 1st place for passages α through δ. The command unit 16 outputs a command to mobile body A to pass through the facility.

[0029] Mobile object A moves through the first floor of the facility in the following order based on the input command: point K, corridor α, security gate 6a, corridor β, and elevator landing. Mobile object A requests registration of an elevator call, for example, through a coordinating management server. Mobile object A uses whichever of elevators 6b and 6c is assigned a call to move from the first floor to the fifth floor. Mobile object A moves through the fifth floor of the facility in the following order: corridor γ, automatic door 6d, corridor δ, and point L.

[0030] Figure 4 shows an example where mobile objects A and B move simultaneously from point K to destination point L. In this example, mobile object C does not move within the facility. In this case, the movement path of mobile object A is set in the following order: point K, passage α, security gate 6a, passage β, elevator 6b or elevator 6c, passage γ, automatic door d, passage δ, and point L. Similarly, the movement path of mobile object B is set in the following order: point K, passage α, security gate 6a, passage β, elevator 6b or elevator 6c, passage γ, automatic door 6d, passage δ, and point L.

[0031] Since mobile object C is not moving within the facility, the command unit 16 sets the priority for passage through the passages for mobile objects A and B, which are moving within the facility. The command unit 16 sets the priority of mobile object A to 1st place for passages α through δ. The command unit 16 outputs a command to mobile object A to pass through the facility.

[0032] The command unit 16 determines whether mobile bodies A and B may interfere with each other in passage α. In this example, since mobile bodies A and B depart from point K at the same time, the command unit 16 determines that mobile bodies A and B, moving in the same direction in passage α from point K to security gate 6a, may interfere with each other. At this time, the command unit 16 determines the priority of passage for mobile bodies A and B in passage α based on the priority of security gate 6a, which is the facility 6 after passage α. In this example, with respect to passage α, the command unit 16 sets the priority of mobile body B to 1st and the priority of mobile body A to 2nd. The command unit 16 outputs commands to mobile bodies A and B to give priority to mobile body B over mobile body A.

[0033] For example, if passage α is a wide passage that allows mobile bodies A and B to pass each other, the command unit 16 outputs a stop command to mobile body A, which has lower priority. The command unit 16 may also output a command to mobile body A to reduce its speed. Whether the autonomous mobile bodies 2 can pass each other is determined by the command unit 16, for example, based on the width of each autonomous mobile body 2 and the passage. If passage α is a narrow passage that does not allow mobile bodies A and B to pass each other, the command unit 16 outputs a command to mobile body A, which has lower priority, to move to a pre-set evacuation location relative to passage α. The evacuation location may be specified by coordinates in the facility, or by a node on a graph representing the route in the facility. Depending on the positional relationship with the evacuation location, the command unit 16 may output a command to mobile body A, which has lower priority, to move backward behind mobile body B, which has higher priority. The command unit 16 outputs a command to mobile body B to pass through passage α. After mobile body B has completed its passage through passage α, the command unit 16 outputs a command to mobile body A to allow it to pass through passage α.

[0034] Subsequently, mobile object B passes through security gate 6a. Then, mobile object A passes through security gate 6a.

[0035] Subsequently, the command unit 16 determines whether mobile bodies A and B may interfere with each other in passage β. In this example, mobile bodies B and A pass through security gate 6a in this order. Since mobile bodies B and A are moving in the same direction, it is determined that mobile bodies A and B will not interfere with each other in passage β. At this point, the command unit 16 outputs a command to mobile bodies A and B to continue through passage β.

[0036] Mobile units A and B request registration of an elevator call, for example, through a coordinating management server. Mobile units A and B travel from the 1st floor to the 5th floor using whichever of elevators 6b or 6c is assigned a call. The assignment of elevator calls is done based on a pre-set priority order.

[0037] Subsequently, the command unit 16 determines whether mobile bodies A and B may interfere with each other in passage γ. When mobile body B disembarks from the elevator while mobile body A is still inside the elevator, mobile bodies B and A move in the same direction, so the command unit 16 determines that mobile bodies A and B will not interfere with each other in passage γ. In this case, the command unit 16 outputs a command to mobile bodies A and B to continue through passage γ. Also, when mobile body A disembarks from the elevator while mobile body B is still inside the elevator, mobile bodies A and B move in the same direction, so the command unit 16 determines that mobile bodies A and B will not interfere with each other in passage γ. In this case, the command unit 16 outputs a command to mobile bodies A and B to continue through passage γ.

[0038] In this example, it is assumed that moving bodies A and B disembark from the elevator simultaneously. At this time, the command unit 16 determines that moving bodies A and B, moving in the same direction in the passage γ from the elevator landing on the 5th floor to the automatic door 6d, may interfere with each other. The command unit 16 may set a time range for determining simultaneous disembarkation from the elevator depending on the speed of movement of moving bodies A and B. At this time, the command unit 16 determines the priority of passage for moving bodies A and B in passage γ based on the priority of the automatic door 6d, which is the equipment after passage γ. In this example, the command unit 16 sets the priority of moving body A to 1st and the priority of moving body B to 2nd with respect to passage γ. The command unit 16 outputs commands to moving body A and moving body B to give priority to moving body A over moving body B.

[0039] Subsequently, moving object A passes through automatic door 6d. Then, moving object B passes through automatic door 6d.

[0040] Subsequently, the command unit 16 determines whether moving objects A and B may interfere with each other in passage δ. In this example, moving objects A and B pass through the automatic door 6d in this order. Since moving objects A and B are moving in the same direction, it is determined that moving objects A and B will not interfere with each other in passage δ. At this point, the command unit 16 outputs a command to moving objects A and B to continue through passage δ. Subsequently, moving objects A and B arrive at point L.

[0041] Figure 5 shows an example where mobile bodies A and B simultaneously travel from point K to their destination point L, and then mobile body C travels from point L to its destination point K. In this case, the travel path of mobile body A is set in the following order: point K, passage α, security gate 6a, passage β, elevator 6b or elevator 6c, passage γ, automatic door 6d, passage δ, and point L. Similarly, the travel path of mobile body B is set in the following order: point K, passage α, security gate 6a, passage β, elevator 6b or elevator 6c, passage γ, automatic door 6d, passage δ, and point L. On the other hand, the travel path of mobile body C is set in the following order: point L, passage δ, automatic door 6d, passage γ, elevator 6b or elevator 6c, passage β, security gate 6a, passage α, and point K.

[0042] For example, mobile object C departs from point L while mobile objects A and B are traveling along passage δ.

[0043] At this time, the command unit 16 determines whether mobile body C may interfere with mobile body A or mobile body B in the passage δ. In this example, since mobile body A and mobile body B have already traveled through passage δ, it is determined that mobile body C may interfere with mobile body A and mobile body B, which are moving in the opposite direction along passage δ. At this time, the command unit 16 outputs commands to mobile body A, mobile body B, and mobile body C to give priority to mobile body A and mobile body B, which entered passage δ first, over mobile body C, which has not yet entered passage δ.

[0044] For example, if passage δ is a wide passage that allows moving bodies A and B to pass each other and moving body C to pass each other, the command unit 16 outputs a stop command to moving body C, which has a lower priority. The command unit 16 may also output a command to move moving body C, which has a lower priority, to reduce its speed. If passage δ is a narrow passage that does not allow moving bodies A and B to pass each other and moving body C to pass each other, the command unit 16 outputs a command to moving body C, which has a lower priority, to move to a pre-set evacuation location relative to passage δ. The evacuation location may be specified by coordinates in the facility, or by a node on a graph representing a route in the facility. Depending on the positional relationship with the evacuation location, the command unit 16 may output a command to moving body C, which has a lower priority, to move backward. The command unit 16 outputs a command to moving bodies A and B to pass through passage δ. After mobile bodies A and B have completed passage through passage δ, the command unit 16 outputs a command to mobile body C to allow it to pass through passage δ.

[0045] Alternatively, for example, let's assume that mobile bodies A, B, and C arrive at automatic door 6d simultaneously.

[0046] At this time, the command unit 16 obtains the priority order of the automatic door 6d managed by the coordination management unit 12 for mobile bodies A, B, and C. In this example, the priority order for using the automatic door 6d is set so that mobile body A is 1st, mobile body B is 2nd, and mobile body C is 3rd. The command unit 16 outputs commands to mobile bodies A, B, and C so that mobile bodies A and B are given priority over mobile body C.

[0047] For example, the command unit 16 outputs a command to the lower-priority mobile body C to move to a pre-set evacuation location relative to the automatic door 6d. The evacuation location may be specified by coordinates within the facility, or by a node on a graph representing a route within the facility. Depending on the positional relationship with the evacuation location, the command unit 16 may output a command to the lower-priority mobile body C to move backward. The command unit 16 outputs commands to mobile bodies A and B to pass through the automatic door 6d. After mobile bodies A and B have completed passing through the automatic door 6d, the command unit 16 outputs a command to mobile body C to allow it to pass through the automatic door 6d.

[0048] Furthermore, the command unit 16 may, for example, when dispatching any of the autonomous mobile units 2 in an emergency, output a command setting the priority of passage for all facilities and passages of the said autonomous mobile unit 2 as number 1. The command unit 16 may also grant privileged mode to the autonomous mobile unit 2 that has been dispatched in an emergency. For example, while the autonomous mobile unit 2 granted privileged mode is moving through the facility, the command unit 16 outputs a command to the other autonomous mobile units 2 to stop or move to an evacuation location. After the autonomous mobile unit 2 granted privileged mode has finished moving, the command unit 16 cancels the command to stop or move to an evacuation location for the other autonomous mobile units 2.

[0049] Furthermore, the command unit 16 may output a command to prioritize one of the autonomous mobile units 2 based on a pre-set rule if two autonomous mobile units 2 that do not use common equipment in a passage such as an intersection may interfere with each other. For example, if there is another autonomous mobile unit 2 entering the intersection from the left side of a given autonomous mobile unit 2, the command unit 16 may output a command to prioritize that other autonomous mobile unit 2. For example, the command unit 16 may output a command to the autonomous mobile unit 2 with lower priority to wait before entering the intersection. The command unit 16 then outputs a command to the autonomous mobile unit 2 with higher priority to proceed through the intersection, and after the autonomous mobile unit 2 has completed its passage through the intersection, it permits the waiting autonomous mobile unit 2 to enter the intersection.

[0050] Next, we will explain an example of the operation of the mobile management system 1 using Figures 6 and 7. Figures 6 and 7 are flowcharts illustrating an example of the operation of the mobile device management system 1 according to Embodiment 1.

[0051] Figure 6 shows an example of the process for setting priority levels for passage through pathways in a facility. The process in Figure 6 is performed, for example, at predetermined regular or irregular intervals.

[0052] In step S11, the command unit 16 acquires information for each autonomous mobile unit 2 operating within the facility, such as the route from the departure point to the destination and the current location. The command unit 16 writes the acquired information into a table for each autonomous mobile unit 2 and stores it. After that, the mobile unit management system 1 proceeds to step S12.

[0053] In step S12, the command unit 16 reads the priority order of the equipment 6 managed by the coordination management unit 12. The command unit 16 writes the read information to a table for each autonomous mobile unit 2 and stores it. After that, the mobile unit management system 1 proceeds to step S13.

[0054] In step S13, the command unit 16 sets the priority order for passage through the passage based on the position and movement path of each autonomous mobile unit 2 and the priority order of the equipment 6. The command unit 16 writes the set information to a table for each autonomous mobile unit 2 for management. After that, the processing of the mobile unit management system 1 is completed.

[0055] Figure 7 shows an example of the processing that occurs when any of the autonomous mobile units 2 travel through a passage within the facility, given that priority has been set for passage. The processing in Figure 7 is performed on each autonomous mobile unit 2 whenever it is determined that any of the autonomous mobile units 2 will travel through a particular passage, based on, for example, the current position and travel path of each autonomous mobile unit 2. The mobile unit management system 1 may also perform similar processing when any of the autonomous mobile units 2 use equipment 6 within the facility.

[0056] In step S21, the command unit 16 determines whether the target autonomous mobile unit 2 interferes with other autonomous mobile units 2 in the target passage. The command unit 16 may repeat this determination for all other autonomous mobile units 2 besides the target autonomous mobile unit 2. If there is no interference, the mobile unit management system 1 proceeds to step S22. On the other hand, if there is interference, the mobile unit management system 1 proceeds to step S23.

[0057] In step S22, the command unit 16 outputs a command to the target autonomous mobile body 2 to pass through the target passage. After that, the processing of the mobile body management system 1 ends.

[0058] In step S23, the command unit 16 determines whether the priority of the target autonomous mobile unit 2 in the target passage is higher than that of the interfering autonomous mobile unit 2. If the target autonomous mobile unit 2 has a higher priority, the mobile unit management system 1 proceeds to step S24. On the other hand, if the interfering autonomous mobile unit 2 has a higher priority, the mobile unit management system 1 proceeds to step S25.

[0059] In step S24, the command unit 16 outputs a command to the target autonomous mobile unit 2 to pass through the target passage, and outputs a command to the interfering autonomous mobile unit 2 to wait before passing through the passage. After that, the mobile unit management system 1 proceeds to step S26.

[0060] In step S25, the command unit 16 outputs a command to the interfering autonomous mobile body 2 to pass through the target passage, and also outputs a command to the target autonomous mobile body 2 to wait before passing through the passage. After that, the processing of the mobile body management system 1 proceeds to step S26.

[0061] In step S26, the command unit 16 releases the standby state of the autonomous mobile unit 2 and outputs a command to the autonomous mobile unit 2 to proceed through the target passage. After that, the processing of the mobile unit management system 1 is completed.

[0062] As described above, the mobile device management device 7 of the mobile device management system 1 according to Embodiment 1 comprises a cooperation management unit 12 and a command unit 16. The cooperation management unit 12 manages the priority of use of each piece of equipment 6 installed in the facility for each autonomous mobile device 2 moving through the facility. Two autonomous mobile devices 2 may interfere with each other in a passage they travel through from their current location to their destination. In this case, the command unit 16 instructs both autonomous mobile devices 2 to prioritize the passage of one of the autonomous mobile devices 2, based on the priority managed by the cooperation management unit 12 regarding the equipment 6 used before and after the passage. With this configuration, even in passages where passage priority is not directly set, the priority of passage is determined based on the priority set for the equipment 6 before and after, making it less likely for the autonomous mobile devices 2 to get stuck in a stalemate where they cannot move. As a result, the autonomous mobile devices 2 can operate more efficiently in the facility. In this way, the movement of the autonomous mobile devices 2 is managed so that they can operate more efficiently.

[0063] Furthermore, when two autonomous mobile units 2 can pass each other in a passageway, the command unit 16 issues a stop command to the autonomous mobile unit 2 that does not have priority. By stopping the autonomous mobile unit 2 that does not have priority, the distance traveled when passage in the passageway is resumed can be reduced. This makes it possible to further improve the operational efficiency of the autonomous mobile units 2.

[0064] Furthermore, if the two autonomous mobile units 2 cannot pass each other in a passageway, the command unit 16 instructs the autonomous mobile unit 2 that is not given priority to move to a safe location. This allows the autonomous mobile unit 2 that is not a priority to move out of the way, making it easier for the priority autonomous mobile unit 2 to pass through the passageway. As a result, the operational efficiency of the autonomous mobile unit 2 can be increased.

[0065] Furthermore, if traffic control equipment 6 is provided at the front and rear of a passage to manage whether or not passage is permitted, the command unit 16 instructs the non-priority autonomous mobile 2 to wait before passing through the equipment 6 until the priority autonomous mobile 2 has completed passing through the equipment 6. The command unit 16 also permits the non-priority autonomous mobile 2 to pass through the passage after the priority autonomous mobile 2 has completed passing through the passage. As a result, the non-priority autonomous mobile 2 waits without passing through while the priority autonomous mobile 2 is passing through the passage or equipment 6, making it less likely for other autonomous mobile 2s to interfere with the priority autonomous mobile 2's passage. Therefore, the operational efficiency of the autonomous mobile 2s can be increased.

[0066] Next, we will explain an example of the hardware configuration of the mobile device management system 1 using Figure 8. Figure 8 is a hardware configuration diagram of the main parts of the mobile device management system 1 according to Embodiment 1.

[0067] Each function of the mobile device management 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 200 together with the processor 100a and memory 100b, or as a substitute for them.

[0068] When the processing circuit includes a processor 100a and a memory 100b, each function of the mobile device management 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 device management system 1 by reading and executing the program stored in the memory 100b.

[0069] 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.

[0070] If the processing circuit includes dedicated hardware 200, the processing circuit may 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.

[0071] Each function of the mobile device management system 1 can be implemented by a separate processing circuit. Alternatively, each function of the mobile device management system 1 can be implemented collectively by a processing circuit. For each function of the mobile device management system 1, some may be implemented by dedicated hardware 200, and others by software or firmware. In this way, the processing circuit implements each function of the mobile device management system 1 using dedicated hardware 200, software, firmware, or a combination thereof.

[0072] To summarize the above explanation, the possible configurations of the technology relating to this disclosure include the configurations listed below as appendices. (Note 1) Regarding the first autonomous mobile unit and the second autonomous mobile unit, which move around the facility, a coordination management unit manages the priority of use for each of the multiple pieces of equipment installed in the facility, When the first autonomous mobile unit and the second autonomous mobile unit interfere with each other in the passage they travel through from their current position to their destination, a command unit issues an instruction to both the first autonomous mobile unit and the second autonomous mobile unit to prioritize the passage for either the first or second autonomous mobile unit, based on the usage priority managed by the cooperation management unit with respect to the equipment used before or after the passage among the plurality of equipment, A mobile device management system equipped with the following features. (Note 2) When the command unit prioritizes the first autonomous mobile unit, if the second autonomous mobile unit can pass the first autonomous mobile unit in the passage, it issues a stop command to the second autonomous mobile unit. Mobile object management device as described in Appendix 1. (Note 3) When the command unit prioritizes the first autonomous mobile unit, if the second autonomous mobile unit cannot pass the first autonomous mobile unit in the passage, it instructs the second autonomous mobile unit to move to a safe place. Mobile object management device as described in Appendix 1 or Appendix 2. (Note 4) When the command unit prioritizes the first autonomous mobile unit, if a passage management device that manages whether passage is permitted or not is provided as equipment before or after the passage, it instructs the second autonomous mobile unit to wait to pass the passage management device until the first autonomous mobile unit has completed passing the passage management device. A mobile object management device as described in any one of the items from Appendix 1 to Appendix 3. (Note 5) When the command unit prioritizes the first autonomous mobile unit, it grants the second autonomous mobile unit permission to pass through the passage only after the first autonomous mobile unit has completed its passage through the passage. A mobile object management device as described in any one of the items from Appendix 1 to Appendix 3. (Note 6) Multiple pieces of equipment installed in the facility to which each of the first autonomous mobile unit and the second autonomous mobile unit moves, Regarding the first autonomous mobile unit and the second autonomous mobile unit, a coordination management unit manages the usage priority of each of the multiple pieces of equipment, When the first autonomous mobile unit and the second autonomous mobile unit interfere with each other in the passage they travel through from their current position to their destination, a command unit issues an instruction to both the first autonomous mobile unit and the second autonomous mobile unit to prioritize the passage for either the first or second autonomous mobile unit, based on the usage priority managed by the cooperation management unit with respect to the equipment used before or after the passage among the plurality of equipment, A mobile management system equipped with the following features. (Note 7) Computers For the first and second autonomous mobile units, each moving around the facility, the priority order for use of each of the multiple pieces of equipment installed in the facility is managed. When the first autonomous mobile unit and the second autonomous mobile unit interfere with each other in the passage they travel through from their current position to their destination, instructions are given to both the first and second autonomous mobile units to prioritize the passage of either the first or second autonomous mobile unit, based on the priority order of use of the equipment used before or after the passage among the plurality of equipment. A mobile object management method that performs this task. (Note 8) On the computer, For the first and second autonomous mobile units, each moving around the facility, the priority order for use of each of the multiple pieces of equipment installed in the facility is managed. When the first autonomous mobile unit and the second autonomous mobile unit interfere with each other in the passage they travel through from their current position to their destination, instructions are given to both the first and second autonomous mobile units to prioritize the passage of either the first or second autonomous mobile unit, based on the priority order of use of the equipment used before or after the passage among the plurality of equipment. A mobile device management program that executes the necessary actions. [Explanation of symbols]

[0073] 1 Mobile object management system, 2 Autonomous mobile object, 3 Mobile object control server, 4 Route generation server, 5 Route generation unit, 6 Equipment, 6a Security gate, 6b, 6c Elevator, 6d Automatic door, 7 Mobile object management device, 8 Equipment linkage server, 9 Traffic management server, 10 Equipment communication unit, 11 First communication unit, 12 Linkage management unit, 13 Second communication unit, 14 Mobile object communication unit, 15 Task management unit, 16 Command unit, 100a Processor, 100b Memory, 200 Dedicated hardware

Claims

1. The command unit determines whether a first autonomous mobile unit and a second autonomous mobile unit moving within the facility may interfere with each other in a passageway traveling in the same direction before using common equipment provided in the facility. If interference is determined to occur, the command unit outputs a command to allow the first autonomous mobile unit, which has a higher pre-set usage priority for the common equipment than the second autonomous mobile unit, to pass through the passageway with priority over the second autonomous mobile unit. A mobile device management system equipped with the following features.

2. The command unit determines whether a first autonomous mobile unit and a second autonomous mobile unit moving within the facility may interfere with each other in a passageway they travel in the same direction after using common equipment provided within the facility. If it determines that interference is possible, the command unit outputs a command to allow the first autonomous mobile unit, which has a higher pre-set usage priority for the common equipment than the second autonomous mobile unit, to pass through the passageway with priority over the second autonomous mobile unit. A mobile device management system equipped with the following features.

3. The linked management unit manages the usage priority set for each common piece of equipment for the first autonomous mobile unit and the second autonomous mobile unit. Equipped with, The command unit outputs the command based on the usage priority managed by the coordination management unit. A mobile body management device according to claim 1 or claim 2.

4. The command unit outputs a command to the first autonomous mobile unit and the second autonomous mobile unit to allow the first autonomous mobile unit to pass through the passage with priority over the second autonomous mobile unit. A mobile body management device according to claim 1 or claim 2.

5. The command unit determines that the first autonomous mobile unit and the second autonomous mobile unit may interfere with each other in the passage, and outputs a command to stop the second autonomous mobile unit if the second autonomous mobile unit can pass the first autonomous mobile unit in the passage. A mobile body management device according to claim 1 or claim 2.

6. The command unit determines that the first autonomous mobile unit and the second autonomous mobile unit may interfere with each other in the passage, and if the second autonomous mobile unit cannot pass the first autonomous mobile unit in the passage, it outputs a command to move the second autonomous mobile unit to a safe place. A mobile body management device according to claim 1 or claim 2.

7. The command unit determines that the first autonomous mobile unit and the second autonomous mobile unit may interfere with each other in the passage, and if a passage management device is provided as a common facility to manage whether passage is permitted or not, it outputs a command to cause the second autonomous mobile unit to wait to pass through the passage management device until the first autonomous mobile unit has completed passing through the passage management device. A mobile body management device according to claim 1 or claim 2.

8. If the command unit determines that the first autonomous mobile unit and the second autonomous mobile unit may interfere with each other in the passage, it will permit the second autonomous mobile unit to pass through the passage after the first autonomous mobile unit has completed its passage through the passage. A mobile body management device according to claim 1 or claim 2.

9. Common equipment installed in the facility to which each of the first autonomous mobile unit and the second autonomous mobile unit moves, A command unit determines whether the first autonomous mobile unit and the second autonomous mobile unit can interfere with each other in a passage traveling in the same direction before using the common equipment, and if it determines that they can interfere, it outputs a command to allow the first autonomous mobile unit, which has a higher pre-set usage priority for the common equipment than the second autonomous mobile unit, to pass through the passage with priority over the second autonomous mobile unit. A mobile management system equipped with the following features.

10. Common equipment installed in the facility to which each of the first autonomous mobile unit and the second autonomous mobile unit moves, A command unit determines whether the first autonomous mobile unit and the second autonomous mobile unit can interfere with each other in a passage that they travel in the same direction after using the common equipment, and if it determines that they can interfere, it outputs a command to allow the first autonomous mobile unit, which has a higher pre-set usage priority for the common equipment than the second autonomous mobile unit, to pass through the passage with priority over the second autonomous mobile unit. A mobile management system equipped with the following features.

11. Computers The first autonomous mobile unit and the second autonomous mobile unit moving within the facility may interfere with each other in a passageway traveling in the same direction before using common equipment installed in the facility. If interference is determined to be possible, a command is output to allow the first autonomous mobile unit, whose pre-set usage priority for the common equipment is higher than that of the second autonomous mobile unit, to pass through the passage with priority over the second autonomous mobile unit. A mobile object management method that performs this task.

12. Computers To determine whether a first autonomous mobile unit and a second autonomous mobile unit moving within the facility may interfere with each other in a passageway they travel in the same direction after using common equipment provided within the facility, If interference is determined to be possible, a command is output to allow the first autonomous mobile unit, whose pre-set usage priority for the common equipment is higher than that of the second autonomous mobile unit, to pass through the passage with priority over the second autonomous mobile unit. A mobile object management method that performs this task.

13. On the computer, The first autonomous mobile unit and the second autonomous mobile unit moving within the facility may interfere with each other in a passageway traveling in the same direction before using common equipment installed in the facility. If interference is determined to be possible, a command is output to allow the first autonomous mobile unit, whose pre-set usage priority for the common equipment is higher than that of the second autonomous mobile unit, to pass through the passage with priority over the second autonomous mobile unit. A mobile device management program that executes the necessary actions.

14. On the computer, To determine whether a first autonomous mobile unit and a second autonomous mobile unit moving within the facility may interfere with each other in a passageway they travel in the same direction after using common equipment provided within the facility, If interference is determined to be possible, a command is output to allow the first autonomous mobile unit, whose pre-set usage priority for the common equipment is higher than that of the second autonomous mobile unit, to pass through the passage with priority over the second autonomous mobile unit. A mobile device management program that executes the necessary actions.

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