Operation management system, management device, method, and program

Abstract

An operation management system (100) includes a management device (10) that manages the operation of each of a plurality of mobile units (30), and the plurality of mobile units (30). The management device (10) formulates an operation plan for each of the plurality of mobile units, transmits the operation plan to each mobile unit (30), and acquires state information of the mobile unit (30) from each mobile unit (30). When it is determined that correction of the operation plan is necessary on the basis of a difference between an operation result indicated by the state information and the operation plan, the management device (10) creates correction information in which the time at which the mobile unit passes through each waypoint is corrected, and transmits the correction information to each mobile unit (30). The mobile unit (30) controls the operation of the mobile unit on the basis of the operation plan and the correction information transmitted from the management device (10), acquires the state information of the mobile unit, and transmits the state information to the management device (10).

Description

Traffic management system, management device, method, and program

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

[0002] A control device has been proposed that appropriately changes the operation mode of an article moving mechanism, such as a cargo handling robot or an AGV (Automatic Guided Vehicle), in response to an event without stopping the mechanism. This control device includes a motion plan correction means and a control means. The motion plan correction means formulates a motion plan by setting multiple waypoints, including a start point and an end point, along a path of the article moving mechanism when moving the article, and the passing times at which the article moving mechanism passes each waypoint. The control device also formulates a corrected motion plan by modifying the formulated motion plan by delaying or advancing the passing times without changing the waypoints. The control means operates the article moving mechanism based on the presence or absence of a factor that would impede its operation along the path. In this case, if the factor does not exist, the control means controls the operation of the article moving mechanism according to the motion plan. If the factor exists, the control means causes the motion plan correction means to formulate a corrected motion plan and controls the operation of the article moving mechanism according to the corrected motion plan (see Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2022-029755

[0004] In the above-mentioned conventional technology, the operation plan is revised after determining whether there are any factors that hinder operation along the flow line. Therefore, the conventional technology has a problem in that it is difficult to revise the operation plan in response to delays or advances of mobile devices relative to the operation plan caused by the accuracy of the inference model used to formulate the operation plan, or delays of mobile devices caused by factors that are difficult to detect using sensors.

[0005] The present disclosure has been made in consideration of the above points, and aims to efficiently correct an operation plan without directly detecting factors that hinder movement along a flow line.

[0006] The operation management system according to the present disclosure is an operation management system including a management device that manages the operation of each of a plurality of mobile devices, and the plurality of mobile devices, wherein the management device includes: a formulation unit that formulates, for each of the plurality of mobile devices, an operation plan including the time at which the mobile device will pass each way point, and transmits the formulated operation plan to each of the plurality of mobile devices; a determination unit that acquires, from each of the plurality of mobile devices, status information indicating the state of the mobile device including at least the position of the mobile device at each time, and determines whether or not the operation plan needs to be revised based on a difference between the operation performance of the mobile device indicated by the acquired status information and the operation plan; and a modification unit that, when it is determined that the operation plan needs to be revised, creates modification information that modifies the time at which the mobile device will pass each way point, and transmits the created modification information to each of the plurality of mobile devices, and the mobile devices include: an acquisition unit that acquires the operation plan and the modification information transmitted from the management device; a control unit that controls the operation of the mobile devices based on the operation plan and the modification information; and a transmission unit that acquires the status information indicating the state of the mobile device itself, and transmits the acquired status information to the management device.

[0007] The management device according to the present disclosure includes: a formulation unit that formulates, for each of a plurality of mobile devices, an operation plan including the time at which the mobile device will pass through each waypoint, and transmits the formulated operation plan to each of the plurality of mobile devices; a determination unit that acquires, from each of the plurality of mobile devices, status information indicating the state of the mobile device including at least the position of the mobile device at each time, and determines whether or not the operation plan needs to be revised based on a difference between the operation performance of the mobile device indicated by the acquired status information and the operation plan; and a modification unit that, when it is determined that the operation plan needs to be revised, creates modification information that modifies the time at which the mobile device will pass each waypoint, and transmits the created modification information to each of the plurality of mobile devices.

[0008] The management method according to the present disclosure is a method in which a computer executes a process of formulating, for each of a plurality of mobile devices, an operation plan including the time at which the mobile device will pass through each waypoint, transmitting the formulated operation plan to each of the plurality of mobile devices, acquiring status information from each of the plurality of mobile devices indicating the state of the mobile device including at least the position of the mobile device at each time, determining whether or not the operation plan needs to be revised based on a difference between the operation performance of the mobile device indicated by the acquired status information and the operation plan, and if it is determined that the operation plan needs to be revised, creating correction information that corrects the time at which the mobile device will pass each waypoint, and transmitting the created correction information to each of the plurality of mobile devices.

[0009] The management program according to the present disclosure is a program for causing a computer to function as: a formulation unit that formulates, for each of a plurality of mobile devices, an operation plan including the times at which the mobile device will pass through each waypoint and transmits the formulated operation plan to each of the plurality of mobile devices; a determination unit that acquires, from each of the plurality of mobile devices, status information indicating the state of the mobile device including at least the location of the mobile device at each time and determines whether or not the operation plan needs to be revised based on the difference between the operation performance of the mobile device indicated by the acquired status information and the operation plan; and a correction unit that, when it is determined that the operation plan needs to be revised, creates correction information that corrects the times at which the mobile device will pass through each waypoint and transmits the created correction information to each of the plurality of mobile devices.

[0010] According to the traffic management system, management device, method, and program disclosed herein, it is possible to efficiently modify the traffic plan without directly detecting factors that hinder movement along the traffic line.

[0011] 1 is a block diagram showing a schematic configuration of an operation management system. FIG. 2 is a block diagram showing a hardware configuration of a management device. FIG. 3 is a block diagram showing a hardware configuration of a mobile device. FIG. 4 is a functional block diagram of a management device and a mobile device according to the first, second, fourth, and fifth embodiments. FIG. 5 is a diagram for explaining an actual map and a graph map. FIG. 6 is a diagram showing an example of a data structure of an operation plan. FIG. 7 is a diagram for explaining an operation plan at the time of re-planning. FIG. 8 is a diagram for explaining correction of the operation plan. FIG. 9 is a diagram for explaining re-planning of the operation plan. FIG. 10 is a diagram for explaining correction of the operation plan. FIG. 11 is a diagram for explaining correction of the operation plan. FIG. 12 is a flowchart showing an example of processing on the management device side according to the first, second, fourth, and fifth embodiments. FIG. 13 is a flowchart showing an example of processing on the mobile device side according to the first, second, fourth, and fifth embodiments. FIG. 14 is a diagram for explaining correction of the operation plan. FIG. 15 is a functional block diagram of a management device and a mobile device according to the third embodiment. FIG. 16 is a flowchart showing an example of processing on the management device side according to the third embodiment. FIG. 17 is a flowchart showing an example of processing on the parent mobile device side according to the third embodiment. FIG. 18 is a flowchart showing an example of processing on the child mobile device side according to the third embodiment. FIG. 19 is a diagram for explaining correction of the operation plan. Fig. 1 is a diagram for explaining control for preventing a waypoint from being passed earlier than the passing time. Fig. 2 is a diagram for explaining control for preventing a waypoint from being passed earlier than the passing time. Fig. 3 is a diagram for explaining control for preventing a waypoint from being passed earlier than the passing time. Fig. 4 is a diagram for explaining control for preventing a waypoint from being passed earlier than the passing time. Fig. 5 is a flowchart showing an example of passing time control processing.

[0012] An example of an embodiment of the present disclosure will be described below with reference to the drawings. Note that the same or equivalent components and parts in each drawing are given the same reference numerals. Also, the dimensions and proportions of the drawings are exaggerated for the convenience of explanation and may differ from the actual proportions.

[0013] 1, a traffic management system 100 according to a first embodiment includes a management device 10 and a plurality of mobile devices 30. The management device 10 and each of the mobile devices 30 are connected to each other via a network so as to be able to communicate with each other.

[0014] The management device 10 is realized by an information processing device such as a server device or a personal computer.

[0015] Fig. 2 is a block diagram showing the hardware configuration of the management device 10. As shown in Fig. 2, the management device 10 has a CPU (Central Processing Unit) 12, a memory 14, a storage device 16, an input device 18, an output device 20, a storage medium reader 22, and a communication I / F (Interface) 24. Each component is connected to each other via a bus 26 so as to be able to communicate with each other.

[0016] The storage device 16 stores a management program for executing management device-side processing, which will be described later. The CPU 12 is a central processing unit that executes various programs and controls each component. That is, the CPU 12 reads the program from the storage device 16 and executes the program using the memory 14 as a work area. The CPU 12 controls each component and performs various arithmetic operations in accordance with the program stored in the storage device 16.

[0017] The memory 14 is configured with a RAM (Random Access Memory) and serves as a working area to temporarily store programs and data. The storage device 16 is configured with a ROM (Read Only Memory), a HDD (Hard Disk Drive), an SSD (Solid State Drive), etc., and stores various programs including the operating system and various data.

[0018] The input device 18 is a device for performing various inputs, such as a keyboard or a mouse. The output device 20 is a device for outputting various information, such as a display or a printer. A touch panel display may be used as the output device 20 to function as the input device 18.

[0019] The storage medium reader 22 reads data stored in various storage media such as CD (Compact Disc)-ROM, DVD (Digital Versatile Disc)-ROM, Blu-ray Disc, USB (Universal Serial Bus) memory, etc., and writes data to the storage media. The communication I / F 24 is an interface for communicating with other devices, and uses standards such as Ethernet (registered trademark), FDDI, and Wi-Fi (registered trademark).

[0020] The mobile device 30 is, for example, an AMR (Autonomous Mobile Robot), an AGV, or the like.

[0021] 3 is a block diagram showing the hardware configuration of the mobile device 30. As shown in FIG. 3, the mobile device 30 includes the hardware components of the management device 10, namely, a CPU 12, a memory 14, a storage device 16, a storage medium reader 22, a CPU 32 similar to the communication I / F 24, a memory 34, a storage device 36, a storage medium reader 42, and a communication I / F 44. The storage device 36 stores a mobile device program for executing the mobile device-side processing described below. The mobile device 30 also includes a drive mechanism 38 and a sensor 40. Each component is connected to each other via a bus 46 so as to be able to communicate with each other.

[0022] The drive mechanism 38 is a mechanism such as a motor, a power source such as a battery, a transmission, tires, etc. for running and operating the mobile device 30. The sensor 40 detects the position, attitude, speed, acceleration, etc. of the mobile device, and includes, for example, a gyro sensor, a speed sensor, a camera, etc.

[0023] Next, a description will be given of the functional configuration of each of the management device 10 and the mobile device 30. FIG.

[0024] First, the functional configuration of the management device 10 will be described.

[0025] 4, the management device 10 includes, as functional components, a formulation unit 52, a determination unit 54, and a modification unit 56. Each functional component is realized by the CPU 12 reading out a management program stored in the storage device 16, expanding it in the memory 14, and executing it.

[0026] The planner 52 formulates an operation plan for each of the multiple mobile devices 30, including the time at which the mobile device 30 passes through each waypoint, and transmits the formulated operation plan to each of the multiple mobile devices 30. Specifically, the planner 52 formulates the operation plan using MAPF (Multi-Agent Path Finding; multiple-device route planning). The planner 52 may use any solver that handles MAPF problems, such as CCBS (Continuous Conflict-Based Search), as an algorithm for the operation plan.

[0027] More specifically, when a job to be executed by multiple mobile devices 30 is submitted from a higher-level system, the planner 52 uses map data stored in the storage device 16 to formulate an operation plan. The map data defines the range in which the job is to be executed, for example, as a real map as shown in the upper diagram of FIG. 5 . The real map includes multiple areas and multiple waypoints. The area includes a travel path including one or more lanes and an open space in which the mobile devices 30 can move freely. The open space and the travel path are connected via waypoints. The waypoints also include those in the open space that correspond to goals where the mobile devices 30 perform tasks. In the example of FIG. 5 , areas are represented by polygons and waypoints by circles, and identification information (IDs) of the area and waypoint are indicated within each. In the example of FIG. 5 , when an area is a travel path, the area ID is represented by a combination of "e" and a number, and when an area is an open space, the area ID is represented by a combination of "o" and a number, and the waypoint ID is represented by a number.

[0028] The planning unit 52 uses a graph map obtained by converting an actual map such as that shown in the upper diagram of Fig. 5 into that shown in the lower diagram of Fig. 5. The graph map is composed of nodes corresponding to waypoints on the actual map and edges connecting the nodes. Each edge is associated with the required time for the mobile device 30 to pass through that edge while traveling at a steady speed (for example, traveling at maximum speed). In other words, the graph map functions as a required time model used to plan the operation.

[0029] In this embodiment, the planner 52 formulates an operation plan with a data structure as shown in Fig. 6. In the example of Fig. 6, passing through one area is represented as one action, and the operation plan is expressed as a series of these actions. An action includes a waypoint ID of a waypoint that serves as the initial position for the action, an area ID of an area passed through in the action, and a start time of the action. In the example of Fig. 6, the waypoint ID is represented by a combination of "n" and a number. The middle section of Fig. 6 shows an example of an operation plan for each of mobile device a1 and mobile device a2. An action ID is assigned to each action.

[0030] Furthermore, to facilitate a search focusing on a specific location, the planner 52 converts the operation plan into a data structure called a passage history for each area, which indicates which mobile devices 30 are present along a time axis, as shown in the lower part of Fig. 6. Each area is associated with information on the number of mobile devices 30 that can overlap and be present in that area at the same time. For example, in the example of Fig. 6, area e1 represents a travel route including two lanes, and area o5 represents an open space with a capacity of 1.

[0031] Furthermore, the planner 52 re-plans the operation plan including a new route search when a re-planning trigger (details of which will be described later) is notified from the determination unit 54. At this time, the planner 52 re-plans the operation plan according to the latest situation based on status information (details of which will be described later) transmitted from each of the multiple mobile devices 30.

[0032] When an operation plan is re-formulated, the mobile device 30 moves even during the calculation time of the operation plan, and is no longer located at the location given as odometry at the start of the operation plan, resulting in a problem that the initial position of the mobile device 30 in the operation plan deviates between the planned and actual positions. This problem does not become a problem if the speed of the mobile device 30 is sufficiently slow, or the calculation time of the operation plan is sufficiently short, and the distance traveled by the mobile device 30 during the calculation time of the operation plan is not very long. However, this initial position deviation problem is likely to occur, particularly in a multi-agent operation planning problem that requires a long calculation time for the operation plan.

[0033] To address this issue, the planner 52 formulates an operation plan assuming that the mobile device 30 operates according to the pre-replanning operation plan for Tp seconds from the current time when the replanning trigger is notified. Here, Tp is a constant specified by a parameter, and is set by estimating the maximum calculation time of the operation plan. This ensures that no discrepancy occurs between the operation plan followed by the mobile device 30 and the operation plan transmitted from the planner 52, as long as the calculation of the operation plan is completed within Tp seconds.

[0034] A specific description will be given with reference to FIG. 7 . In the current operation plan as shown in FIG. 7 (1), the currently executed action is indicated by “current.” The currently executed action is managed based on status information acquired from the mobile device 30. As shown in FIG. 7 (2), the planner 52 specifies the action Tp seconds after “current” as the start position of the re-planning of the operation plan (“plan start” in FIG. 7 ). Note that, as shown in A in FIG. 7 (2), the action being executed Tp seconds after “current” is completed, and the next action is specified as the start position of the re-planning. The planner 52 deletes the executed action. Furthermore, as shown in FIG. 7 (3), the planner 52 creates job information for re-planning by updating the job information of the action from “current” to just before the start position to “completed.” Furthermore, the planner 52 formulates an operation plan for the period after the start position based on the job information for re-planning and the information on the start position of the re-planning. Then, as shown in FIG. 7(4), the planner 52 combines the actions from “current” to before the start position with the formulated operation plan from the start position onwards, to obtain a re-formulated operation plan.

[0035] The mobile device 30 does not necessarily follow the operation plan until the operation plan is re-formulated due to delays or advances caused by errors in the required time model or external disturbances. Therefore, the mobile device 30 sets, among the actions included in the operation plan, an action that includes the current location of the mobile device 30 as the action that starts to refer to the operation plan. By taking over the operation plan in this way, even if the calculation time of the operation plan is long, collisions between mobile devices 30 can be avoided without interrupting the operation plan correction process described below.

[0036] In addition, the planning unit 52 may also re-plan the operation plan when a job is added or canceled, when the travel time model is updated due to updates to information such as whether or not a job can be passed or congestion, or when the mobile device 30 breaks down and can no longer operate normally.

[0037] The determination unit 54 acquires, from each of the multiple mobile devices 30, status information indicating the status of the mobile device 30 at each time, including at least the location of the mobile device 30. The determination unit 54 determines whether the operation plan needs to be revised based on the difference between the operation performance of the mobile device 30 indicated in the acquired status information and the operation plan formulated by the formulation unit 52. The status information may include the position of the mobile device 30, as well as the attitude, speed, acceleration, odometry information, etc. of the mobile device 30. The status information may include, as time information corresponding to the status information, the time at which this information is measured by the mobile device 30 or the transmission time at which the status information is transmitted from the mobile device 30. Furthermore, the time information may not be included in the status information. In this case, the determination unit 54 may simply add time information to the status information when it acquires the status information. For example, the reception time at which the management device 10 receives the status information transmitted from the mobile device 30 may be used instead.

[0038] Specifically, when the difference between the operation performance and the operation plan is equal to or greater than a threshold value TH1, the determination unit 54 determines that the operation plan needs to be modified and notifies the modification unit 56 of a modification trigger. Furthermore, when the difference between the operation performance and the operation plan is equal to or greater than a threshold value TH2 that is greater than the threshold value TH1, the determination unit determines that the operation plan should be re-formulated and notifies the formulation unit 52 of a re-formulation trigger.

[0039] A more specific explanation will be given using an example of an operation plan for an area roughly represented on an actual map as shown in the upper diagram of Figure 8. In Figure 8, areas representing travel routes are represented by solid-line squares, areas representing open spaces by dashed-line squares, and waypoints by circles, with waypoint IDs written alongside the circles representing waypoints. This is also true for the following figures. In the following, a waypoint with waypoint ID = i will be referred to as "waypoint i," and an area with area ID = j will be referred to as "area j."

[0040] The determination unit 54 acquires status information at regular time intervals, and when the position of the mobile device 30 corresponds to one of the waypoints, identifies the time of the status information as the actual value of the passing time of that waypoint. The position of the mobile device 30 can be associated with the waypoints by referring to map data. Furthermore, as shown in the lower diagram of Figure 8, the determination unit 54 associates, for each waypoint, the identified actual value of the passing time with the planned value of the passing time of the corresponding waypoint in the operation plan.

[0041] If the threshold value TH1 is set to 6 seconds, in the example shown in the lower diagram of FIG. 8, the difference between the actual value and the planned value at way point 1 is 5 seconds, which is smaller than TH1, so no correction trigger is generated. At way point 2, the difference between the actual value and the planned value is 6 seconds, which is greater than TH1, so a correction trigger is generated. Also, if the threshold value TH2 is set to 10 seconds, in the example shown in the upper diagram of FIG. 9, the difference between the actual value and the planned value at way point 2 is 10 seconds, which is greater than TH2, so a re-planning trigger is generated. In this case, the planner 52 re-plans the operation plan, and the operation plan held on the mobile device 30 is updated, as shown in the lower diagram of FIG. 9.

[0042] When the operation plan needs to be modified, i.e., when the modification unit 56 is notified of a modification trigger by the determination unit 54, the modification unit 56 creates modification information that modifies the time at which the mobile device 30 passes through each way point and transmits the created modification information to each of the multiple mobile devices 30. Specifically, as shown in FIG. 10 , the modification unit 56 calculates the passing time at each way point using a required time model for non-steady traveling based on state information, such as the position, speed, and attitude of the mobile device 30, transmitted from the mobile device 30. The required time model for non-steady traveling may be a pre-trained machine learning model or a calculation formula that uses state information as a parameter. The modification unit 56 may calculate the passing times for all way points after a predetermined number of way points (e.g., the next way point, the next-next way point, etc.) following the way point for which the modification trigger occurred, or may calculate the passing times for some of the way points after the predetermined number of way points. As shown in the upper diagram of FIG. 11 , no modification may be performed for way points for which no passing times have been calculated.

[0043] The correction unit 56 associates the calculated passage time with the waypoint ID of the corresponding waypoint, prepares the correction information, and transmits it to the mobile device 30. The correction information may be the calculated passage time itself, or an offset value from the original operation plan. The correction information may be the passage times for all waypoints after the waypoint where the correction trigger occurred, or may be only the passage time for the waypoint that has been corrected. As a result, on the mobile device 30 side, the passage times of the waypoints that require correction in the operation plan are corrected (the shaded portions), as shown in the lower diagram of FIG. 11 .

[0044] In addition, when two or more mobile devices 30 enter the same area, the correction unit 56 calculates the passing time of the waypoint that serves as the entrance to the same area so as to satisfy the conditions for avoiding interference between two or more mobile devices 30 in the same area.

[0045] For example, as shown in the upper diagram of Fig. 12, we will explain how to generate interference avoidance conditions in the case of mobile units a1 and a2 traveling in a formation without overtaking in area e1, which is a one-lane travel path, and mobile unit a3 attempting to enter area e1 from the opposite side. First, as shown in the lower diagram of Fig. 12, the following required time relationships TTE (Travel Time Estimate) 1, TTE2, and TTE3 must hold for all mobile units 30.

[0046] TTE1: t1+tte (e1, a2)≦t3 TTE2: t2+tte (e1, a1)≦t4 TTE3: t5+tte (e1, a3)≦t3

[0047] In the above, "tte (area, mobile unit)" (e.g., tte (e1, a2)) is the minimum time required for a mobile unit 30 (e.g., mobile unit a2) to pass through an area (e.g., area e1). The reason why TTE is an inequality condition is because it is assumed that the mobile unit 30 is allowed to operate as slowly as possible.

[0048] Next, as conditions for interference avoidance, the following COA (Collision Avoidance) 1, COA2, and COA3 must be satisfied.

[0049] COA1: t1+tc≦t2 COA2: t3+tc≦t4 COA3: t4+tc≦t5

[0050] Since mobile unit a1 and mobile unit a2 travel in a convoy without overtaking, the order in which mobile unit a1 and mobile unit a2 enter area e1 must match the order in which they exit area e1. Conditions COA1 and COA2 express this. COA3 is a condition expressing that the time at which mobile unit a3 enters area e1 must be later than the exit time of mobile unit a1, which is the last to exit area e1. tc is the time that defines the minimum vehicle spacing for avoiding interference.

[0051] In an optimization problem that satisfies these conditions, when the total number of actions of all mobile devices 30 is N, the number of times that the time information of the actions is updated is at most N. Furthermore, since multithreading is possible as needed, the update work can be completed in an extremely short time after a request to modify the operation plan is made.

[0052] For example, as shown in Fig. 13, suppose that a delay occurs in mobile unit a1, and when mobile unit a1 passes way point 3, the difference between the planned value and the actual value becomes equal to or exceeds threshold value TH1, causing a correction trigger. Due to this delay by mobile unit a1, there is a possibility that mobile unit a1 traveling from way point 3 to way point 4 in this order and mobile unit a2 traveling from way point 9 to way point 10 in this order will enter the same area o1. Therefore, as shown in Fig. 14, the delay of mobile unit a1 also affects mobile unit a2, and therefore correction unit 56 corrects the time of passage of the way point for both mobile unit a1 and mobile unit a2 in accordance with the above conditions.

[0053] Next, the functional configuration of the mobile device 30 will be described.

[0054] 4, the mobile device 30 includes, as functional components, an acquisition unit 62, a control unit 64, and a transmission unit 66. An operation plan database (DB) 68 is also stored in a predetermined storage area of ​​the mobile device 30. Each functional component is realized by the CPU 32 reading out a mobile device-side program stored in the storage device 36, expanding it in the memory 34, and executing it.

[0055] The acquisition unit 62 acquires the operation plan transmitted from the management device 10 and stores it in the operation plan DB 68. Furthermore, when the acquisition unit 62 acquires correction information transmitted from the management device 10, the acquisition unit 62 corrects the operation plan stored in the operation plan DB 68 based on the acquired correction information. Specifically, the acquisition unit 62 corrects the action start time of an action that has the waypoint indicated in the correction information as the waypoint of the initial position, to the passing time indicated in the correction information.

[0056] The control unit 64 controls the operation of the mobile device 30 based on the operation plan stored in the operation plan DB 68. Specifically, it is assumed that map data for the mobile device's travel area and a list of waypoints are stored in the storage device 36 of the mobile device 30. The control unit 64 estimates the mobile device's position at each time using information detected by the sensor 40, and controls the drive mechanism 38 by referring to the map data and the list of waypoints so that the mobile device 30 travels according to the operation plan.

[0057] The transmitting unit 66 acquires status information such as the speed, acceleration, etc. detected by the sensor 40, the position of the aircraft estimated by the control unit 64, and odometry obtained from the position of the aircraft at each time, and transmits the acquired status information to the management device 10.

[0058] Next, the operation of the traffic management system 100 according to the first embodiment will be described.

[0059] Fig. 15 is a flowchart showing the flow of management device-side processing executed by the CPU 12 of the management device 10. When a job is submitted to the management device 10 from a higher-level system, the CPU 12 reads a management program from the storage device 16, loads it into the memory 14, and executes it, causing the CPU 12 to function as each functional component of the management device 10 and executing the management device-side processing shown in Fig. 15. Note that the management device-side processing is an example of the management method disclosed herein.

[0060] In step S10, the formulation unit 52 formulates an operation plan for each mobile device 30. Next, in step S12, the formulation unit 52 transmits the formulated operation plan to each mobile device 30. Next, in step S14, the determination unit 54 acquires status information of each mobile device 30 transmitted from each mobile device 30. Next, in step S16, the determination unit 54 calculates the difference between the actual value of the passing time of the waypoint indicated by the status information and the planned value of the passing time of the corresponding waypoint in the operation plan.

[0061] Next, in step S18, the determination unit 54 determines whether the calculated difference is equal to or greater than a threshold value TH2. If the difference is equal to or greater than the threshold value TH2, the determination unit 54 notifies the formulation unit 52 of a re-formulation trigger and proceeds to step S26. If the difference is less than the threshold value TH2, the process proceeds to step S20. In step S20, the determination unit 54 determines whether the calculated difference is equal to or greater than a threshold value TH1. Note that TH1<TH2. If the difference is equal to or greater than the threshold value TH1, the determination unit 54 notifies the modification unit 56 of a correction trigger and proceeds to step S22. If the difference is less than the threshold value TH1, the process proceeds to step S30.

[0062] In step S22, the correction unit 56 calculates the passage time of each way point using the required time model for non-steady running based on the state information acquired in step S14, and creates correction information by correlating it with the way point ID of the corresponding way point. Next, in step S24, the correction unit 56 transmits the created correction information to each mobile device 30, and the process proceeds to step S30.

[0063] On the other hand, in step S26, the planner 52 re-plans an operation plan based on the latest information using the status information acquired in step S14. Next, in step S28, the planner 52 transmits the re-planned operation plan to each mobile device 30, and the process proceeds to step S30.

[0064] In step S30, the determination unit 54 determines whether to terminate the operation of the mobile devices 30 based on the operation plan, for example, by determining whether signals indicating operation completion have been received from all of the mobile devices 30. If the operation is not to be terminated, the process returns to step S14, and if the operation is to be terminated, the management device-side processing ends.

[0065] Fig. 16 is a flowchart showing the flow of mobile-device-side processing executed by CPU 32 of mobile device 30. When mobile device 30 is powered on, CPU 32 reads the mobile-device-side program from storage device 36, loads it into memory 34, and executes it, causing CPU 32 to function as each functional component of mobile device 30, and the mobile-device-side processing shown in Fig. 16 is executed.

[0066] In step S40, the acquisition unit 62 determines whether or not it has acquired an operation plan transmitted from the management device 10. If it has acquired an operation plan, the acquisition unit 62 stores the acquired operation plan in the operation plan DB 68 and proceeds to step S42. If it has not acquired an operation plan, the determination in this step is repeated.

[0067] In step S42, the control unit 64 causes the mobile device 30 to travel toward the next waypoint based on the operation plan stored in the operation plan DB 68. Next, in step S44, the control unit 64 determines whether the mobile device 30 has arrived at the final destination indicated by the operation plan. If the mobile device 30 has not arrived at the final destination, the process proceeds to step S46.

[0068] In step S46, the transmitting unit 66 acquires status information such as the speed, acceleration, etc. detected by the sensor 40, the position of the aircraft estimated by the control unit 64, and odometry obtained from the position of the aircraft at each time, and transmits the acquired status information to the management device 10.

[0069] Next, in step S48, the acquisition unit 62 determines whether or not it has acquired the revision information or the re-formulated operation plan transmitted from the management device 10. If the revision information or the operation plan has been acquired, the process proceeds to step S50, and if neither has been acquired, the process returns to step S42.

[0070] In step S50, when the acquisition unit 62 acquires the modification information transmitted from the management device 10, the acquisition unit 62 modifies the operation plan stored in the operation plan DB 68 based on the acquired modification information. When the acquisition unit 62 acquires the operation plan transmitted from the management device 10, the acquisition unit 62 updates the operation plan stored in the operation plan DB 68 with the acquired operation plan, and then returns to step S42.

[0071] On the other hand, returning to step S42, if it is determined in the next step S44 that the mobile device has arrived at the final destination, the process proceeds to step S52. In step S52, the transmitter 66 transmits a notification of completion of the operation to the management device 10, and the mobile device-side process ends.

[0072] As described above, the operation management system according to the first embodiment includes a management device that manages the operation of each of a plurality of mobile devices, and a plurality of mobile devices. The management device formulates an operation plan for each of the plurality of mobile devices, including the time at which the mobile device passes through each waypoint, and transmits the formulated operation plan to each of the plurality of mobile devices. The mobile device acquires the operation plan transmitted from the management device and controls the operation of the mobile device based on the operation plan. The mobile device also acquires status information including at least its own position at each time and transmits it to the management device. The management device acquires the status information from each of the plurality of mobile devices, and determines whether or not the operation plan needs to be revised based on the difference between the operation performance of the mobile device indicated by the acquired status information and the operation plan. If the management device determines that revision is necessary, it creates revision information that corrects the time at which the mobile device passes through each waypoint, and transmits the created revision information to each of the plurality of mobile devices.

[0073] In this way, the management device according to this embodiment corrects only the passing times of each waypoint in the operation plan when a discrepancy occurs between the operation record and the operation plan. Therefore, the operation plan can be efficiently corrected to avoid deadlocks and collisions without directly detecting factors that hinder movement along the flow line, and even when a deviation occurs between the operation of a mobile device and the operation plan due to factors other than those detectable by sensors. In other words, this embodiment does not require a means for detecting factors that hinder movement along the flow line. Furthermore, because the operation plan is corrected only partially, calculation processing is fast. Furthermore, because the operation plan can be corrected to account for delays or advances caused by various factors during the operation of a mobile device, the efficiency of work performed by multiple mobile devices can be improved.

[0074] Second Embodiment Next, a second embodiment will be described. In the traffic management system according to the second embodiment, the same components as those in the traffic management system 100 according to the first embodiment will be denoted by the same reference numerals, and detailed description thereof will be omitted.

[0075] 1, the traffic management system 200 according to the second embodiment includes a management device 210 and a plurality of mobile devices 30. The management device 210 and each of the mobile devices 30 are connected to each other via a network so as to be able to communicate with each other.

[0076] As shown in FIG. 4, the management device 210 includes, as functional components, a formulation unit 252, a determination unit 254, and a modification unit 256.

[0077] The formulation unit 252 formulates operation management that includes work to be performed by the mobile device 30 at a predetermined waypoint that is the goal. The work is, for example, loading and unloading luggage. The formulation unit 252 formulates an operation plan using the average work time of past similar work as the reference work time. For example, the formulation unit 252 formulates an operation plan that includes an action that associates a work start time with the waypoint ID of the waypoint that is the goal, and an action that associates a work completion time obtained by adding the reference work time to the waypoint ID.

[0078] The determination unit 254 predicts the completion time of the work from the progress rate of the work based on the acquired status information, and if the predicted completion time exceeds the completion time of the work formulated in the operation plan, it determines that the operation plan needs to be revised.

[0079] For example, the determination unit 254 calculates the progress rate based on which step out of the total number of operation steps defined for performing the task is currently being performed. Information on which step is currently being performed may be acquired as status information from the mobile device 30. Alternatively, the progress rate may be predicted using, for example, a machine learning model that is pre-trained to input status information and output a progress rate. The determination unit 254 then predicts the task completion time by dividing the elapsed time from the start of the task to the current time by the progress rate.

[0080] The correction unit 256 creates correction information using the task completion time predicted by the determination unit 254.

[0081] A more specific explanation will be given using the example of Fig. 17. In the example of Fig. 17, a mobile unit a1 performs loading / unloading work at waypoint (goal) 7 included in area o2, and then a mobile unit a2 performs unloading work at the same waypoint 7. If the standard work time for this loading / unloading work is 10 seconds, as shown by the bold frame in the lower diagram of Fig. 17, the operation plan is formulated so that the difference in passing times associated with the two waypoints ID=7 is 10 seconds.

[0082] In this example, as shown in the upper diagram of Fig. 18, work on mobile unit a2 begins after work on mobile unit a1 is completed. Therefore, if there is a delay in the work on mobile unit a1, the delay will also affect mobile unit a2. As shown in the lower diagram of Fig. 18, the correction unit 256 creates correction information for mobile unit a1 based on the work completion time predicted based on the progress rate, and also creates correction information for mobile unit a2 so that work will start after work on mobile unit a1 is completed.

[0083] The hardware configuration of the management device 210 is the same as the hardware configuration of the management device 10 according to the first embodiment shown in Fig. 2, and therefore a description thereof will be omitted. Also, the mobile device 30 is the same as that according to the first embodiment, and therefore a description thereof will be omitted.

[0084] Next, the operation of the traffic management system 200 according to the second embodiment will be described.

[0085] In the second embodiment, the management device 210 also executes the management device-side process shown in FIG. 15, and the mobile device 30 executes the mobile device-side process shown in FIG.

[0086] However, in steps S10 and S26 of the management device-side processing, an operation plan is formulated that includes work at a predetermined waypoint that serves as the goal. Furthermore, step S16 also includes calculating the difference between the work completion time predicted from the progress rate and the work completion time in the operation plan. Furthermore, step S22 also includes creating correction information using the predicted work completion time.

[0087] As described above, in the traffic management system according to the second embodiment, the traffic plan is also revised based on the difference between the planned value and the actual value for the work of a mobile device at a predetermined waypoint, such as loading and unloading of cargo by the mobile device. This makes it possible to efficiently revise traffic management so as to avoid conflicts with other mobile devices, even if there is a delay or advance in the work of loading and unloading.

[0088] Third Embodiment Next, a description will be given of a third embodiment. In the traffic control system according to the third embodiment, the same components as those in the traffic control system 100 according to the first embodiment will be denoted by the same reference numerals, and detailed description thereof will be omitted.

[0089] As shown in Fig. 1, the traffic management system 300 according to the third embodiment includes a management device 310, a mobile device that serves as a parent device (hereinafter referred to as "parent mobile device") 330A, and multiple mobile devices that serve as child devices (hereinafter referred to as "child mobile devices") 330B. When the parent mobile device 330A and the child mobile devices 330B are not distinguished from each other, they are simply referred to as "mobile device 330." The management device 310 and each of the mobile devices 330 are connected to each other via a network so as to be able to communicate with each other.

[0090] Next, a description will be given of the functional configuration of each of the management device 310, the parent mobile device 330A, and the child mobile device 330B. Fig. 19 is a block diagram showing an example of the functional configuration of each of the management device 310, the parent mobile device 330A, and the child mobile device 330B.

[0091] The management device 310 includes a formulation unit 352 as a functional configuration.

[0092] Similar to the formulation unit 52 of the first embodiment, the formulation unit 352 formulates an operation plan for each mobile device 330. In addition, the formulation unit 352 determines a parent mobile device 330A from among the plurality of mobile devices 330, and transmits the formulated operation plan to the parent mobile device 330A.

[0093] The parent mobile device 330A includes, as functional components, an acquisition unit 362A, a determination unit 354, and a modification unit 356.

[0094] Similar to the acquisition unit 62 of the first embodiment, the acquisition unit 362A acquires an operation plan from the management device 310. The acquisition unit 362A transmits the acquired operation plan to each of the multiple child mobile devices 330B.

[0095] Similar to the determination unit 54 in the first embodiment, the determination unit 354 determines whether to modify the operation plan based on the difference between the operation plan and the operation performance, and generates a modification trigger or a re-planning trigger as necessary. The determination unit 354 notifies the modification trigger to the modification unit 356 included in the parent mobile device 330A, and notifies the re-planning trigger to the planning unit 352 of the management device 310.

[0096] Similar to the modifying unit 56 of the first embodiment, when notified of a modification trigger by the determining unit 354, the modifying unit 356 creates modification information and transmits it to the child mobile device 330B.

[0097] The functional configuration of the child mobile device 330B includes an acquisition unit 362B, a control unit 64, and a transmission unit 366. An operation plan DB 68 is also stored in a predetermined storage area of ​​the child mobile device 330B.

[0098] The acquisition unit 362B acquires the operation plan and the revision information in the same manner as the acquisition unit 62 of the first embodiment. However, the source of acquisition of these information is not the management device 310 but the parent mobile device 330A.

[0099] The transmitter 366 acquires and transmits its own status information in the same manner as the transmitter 66 of the first embodiment, except that the destination of the status information is not the management device 310 but the parent mobile device 330A.

[0100] The hardware configuration of the management device 310 is similar to the hardware configuration of the management device 10 according to the first embodiment shown in Fig. 2, and therefore a description thereof will be omitted. Also, the hardware configurations of the parent mobile device 330A and the child mobile device 330B are similar to the hardware configuration of the mobile device 30 according to the first embodiment shown in Fig. 3, and therefore a description thereof will be omitted.

[0101] Next, the operation of the traffic control system 300 according to the third embodiment will be described. In the flowcharts shown in Figures 20 to 22 below, the same processes as those in the management device side process (Figure 15) and the mobile device side process (Figure 16) in the first embodiment will be assigned the same step numbers and detailed descriptions will be omitted.

[0102] First, the management device side process shown in FIG. 20 will be described.

[0103] In step S10, the planner 352 formulates an operation plan. Next, in step S311, the planner 352 determines a parent mobile device 330A from among the multiple mobile devices 330. Next, in step S312, the planner 352 transmits the formulated operation plan to the parent mobile device 330A.

[0104] Next, in step S319, the planner 352 determines whether or not a re-planning trigger has been received from the parent mobile device 330A. If a re-planning trigger has been received, the process proceeds to step S326; if not, the process proceeds to step S330. In step S326, the planner 352 re-plans the operation plan. Next, in step S328, the planner 352 transmits the formulated operation plan to the parent mobile device 330A.

[0105] Next, in step S330, the planner 352 determines whether or not a signal indicating completion of operation has been received from the parent mobile device 330A. If not, the process returns to step S319; if received, the management device-side process ends.

[0106] Next, the parent mobile station side process shown in FIG. 21 will be described.

[0107] In step S40, the acquisition unit 362A acquires the operation plan transmitted from the management device 310. In the next step S312, the acquisition unit 362A transmits the acquired operation plan to each child mobile device 330B. Next, in step S314, the determination unit 354 acquires status information transmitted from each child mobile device 330B. Next, after step S16, if the determination unit 354 determines in step S18 that the difference between the actual value and the planned value is equal to or greater than the threshold value TH2, the process proceeds to step S327. If the determination unit 354 determines that the difference is less than the threshold value TH2, the process proceeds to step S20.

[0108] After steps S20 to S22, in the next step S324, the modifying unit 356 transmits the created modification information to each child mobile device 330 B. On the other hand, in step S327, the modifying unit 356 transmits a re-planning trigger to the management device 310.

[0109] Next, in step S331, the determination unit 354 determines whether or not a signal indicating operation completion has been received from, for example, all of the child mobile devices 330 B. If not, the process returns to step S314;

[0110] Next, the processing on the child mobile station side shown in FIG. 22 will be described.

[0111] In step S440, the acquisition unit 362B acquires the operation plan transmitted from the parent mobile device 330A. After steps S42 and S44, in the next step S346, the transmission unit 366 acquires status information of the mobile device itself and transmits the acquired status information to the parent mobile device 330A. Next, after steps S48 and S50, the process returns to step S42. If it is determined in the next step S44 that the final destination has been reached, the process proceeds to step S352. In step S352, the transmission unit 366 transmits an operation completion to the parent mobile device 330A, and the child mobile device-side processing ends.

[0112] As described above, according to the traffic management system of the third embodiment, the master mobile device executes the modification of the traffic plan instead of the management device. This simplifies the configuration of the management device and also prevents the modification of the traffic plan from being executed due to poor communication even in an environment where the communication state between the management device and the mobile device is poor or where communication delays are large.

[0113] In the third embodiment, the parent mobile device only modifies the operation plan and is not responsible for executing jobs. However, the parent mobile device may execute jobs together with the child mobile device while modifying the operation plan.

[0114] Also, in the third embodiment, similarly to the second embodiment, the operation plan may be modified in consideration of delays and progress of loading and unloading operations.

[0115] Fourth Embodiment Next, a fourth embodiment will be described. In the traffic control system according to the fourth embodiment, the same components as those in the traffic control system 100 according to the first embodiment will be denoted by the same reference numerals, and detailed description thereof will be omitted.

[0116] 1, the traffic management system 400 according to the fourth embodiment includes a management device 410 and a plurality of mobile devices 430. The management device 410 and each of the mobile devices 430 are connected to each other via a network so as to be able to communicate with each other.

[0117] 4, the management device 410 includes, as its functional components, a formulation unit 52, a determination unit 454, and a modification unit 56. The mobile device 430 also includes, as its functional components, an acquisition unit 62, a control unit 64, and a transmission unit 466.

[0118] The transmission unit 466 predicts the time at which the vehicle will pass the next waypoint, which is the entrance to the next area from the area in which the vehicle is currently traveling, based on the time required for the vehicle to pass through the area in which the vehicle is currently traveling, acquires status information including the predicted time, and transmits the acquired status information to the management device 410. Specifically, as shown in Fig. 23 , the transmission unit 466 calculates the predicted time of passage at the next waypoint using a time required model for unsteady traveling, and transmits the calculated predicted time of passage at the next waypoint to the management device 410 as status information.

[0119] The determination unit 454 determines whether the operation plan needs to be modified based on the difference between the operation plan and the predicted time as the operation result.

[0120] The determination unit 54 in the first embodiment determines whether or not the operation plan needs to be modified by using the time in the status information transmitted from the mobile device 30, i.e., the actual value of the passing time, as the operation record. In contrast, the determination unit 454 in the fourth embodiment determines whether or not the operation plan needs to be modified by using the predicted passing time of the next waypoint calculated on the mobile device 430 side as the operation record, as shown in FIG.

[0121] The hardware configuration of the management device 410 is similar to that of the management device 10 according to the first embodiment shown in Fig. 2, and therefore a description thereof will be omitted. Also, the hardware configuration of the mobile device 430 is similar to that of the mobile device 30 according to the first embodiment shown in Fig. 3, and therefore a description thereof will be omitted.

[0122] Next, the operation of the traffic control system 400 according to the fourth embodiment will be described. In the fourth embodiment, the management device 410 also executes the management device-side process shown in Fig. 15, and the mobile device 430 executes the mobile device-side process shown in Fig. 16.

[0123] However, the status information acquired by the management device 410 in step S14 of the management device-side processing and the status information transmitted from the mobile device 430 to the management device 410 in step S46 of the mobile device-side processing are the predicted passage time of the next waypoint.

[0124] As described above, in the traffic management system according to the fourth embodiment, the mobile device transmits the predicted time of passage at the next waypoint as status information to the management device. This reduces the processing load on the management device. Furthermore, compared to when detailed status information such as the mobile device's position, speed, and attitude is transmitted to the management device, the data size of the status information is smaller, reducing the amount of communication between the mobile device and the management device.

[0125] In the fourth embodiment, the case where the predicted passage time of the next way point is calculated on the mobile device side has been described. However, the predicted passage time may also be calculated on the management device side. In this case, the determination unit calculates the predicted passage time of the next way point based on status information, such as position, speed, and attitude, acquired from the mobile device, and the time required for the mobile device to pass through the area in which it is currently traveling (a required time model for non-steady traveling). Then, the determination unit determines whether or not the operation plan needs to be modified based on the difference between the calculated predicted passage time of the next way point and the passage time of the next way point in the operation plan.

[0126] Fifth Embodiment Next, a fifth embodiment will be described. In the traffic control system according to the fifth embodiment, the same components as those in the traffic control system 100 according to the first embodiment will be denoted by the same reference numerals, and detailed description thereof will be omitted.

[0127] 1, an operation control system 500 according to the fifth embodiment includes a management device 10 and a plurality of mobile devices 530. The management device 10 and each of the mobile devices 530 are connected to each other via a network so as to be able to communicate with each other.

[0128] As shown in FIG. 4, the mobile device 530 includes, as functional components, an acquisition unit 62, a control unit 564, and a transmission unit 466.

[0129] There are cases where the mobile device 530 is unable to pass through a waypoint at the planned passing time. In this case, there is a possibility of collision between mobile devices 530 entering the same area. However, there are also cases where it is not a problem even if it is unable to pass through at the planned passing time. For example, if it is predicted that a certain waypoint will be passed at a time later than the planned passing time, the passing time is corrected to a later time by revising the operation plan, so there is no problem. Also, if it is likely that the mobile device will arrive at a time earlier than the planned passing time, and if the plan can be advanced, the passing time is corrected to an earlier time by revising the operation plan, so there is no problem.

[0130] However, it is not always possible to advance the schedule. In cases where it is not possible to advance the schedule, if it is predicted that the mobile device will arrive at a time earlier than the planned passing time, collisions between mobile devices can be guaranteed as long as the mobile device 530 does not pass through the waypoint at a time earlier than the planned passing time. Therefore, in the fifth embodiment, the mobile device 530 is controlled to pass through the waypoint at the planned time to the extent possible, under the condition that the mobile device 530 does not pass through the waypoint at a time earlier than the planned passing time.

[0131] Specifically, the control unit 564 predicts the time at which the mobile device will pass through the next waypoint, which serves as an entrance to the next area from the area in which the mobile device is currently traveling, based on the time required for the mobile device to pass through the area in which the mobile device is currently traveling. If the predicted time is earlier than the time at which the mobile device will pass through the next waypoint indicated in the operation plan, the control unit 564 controls the mobile device to either wait before the next waypoint or reduce its speed. On the other hand, if the predicted time is later than the time at which the mobile device will pass through the next waypoint indicated in the operation plan, the control unit 564 controls the mobile device to either pass through as is or increase its speed. The control unit 564 may predict the time required to pass through an area using the state information and a time required model for unsteady traveling.

[0132] For example, as shown in the top diagram of Fig. 24, suppose that the control unit 564 of the mobile device 530 traveling through area e1 predicts that the predicted passing time of waypoint 4 is 35 seconds. If the planned passing time for waypoint 4 is 40 seconds, the control unit 564 stops the mobile device 530 just before waypoint 4 for 35 to 40 seconds, as shown in the middle diagram of Fig. 24. Then, as shown in the bottom diagram of Fig. 24, the control unit 564 restarts the mobile device 530 at a timing when the mobile device 530 can pass waypoint 4 in 40 seconds.

[0133] Also, for example, as shown in the top diagram of Fig. 25, in a situation similar to the example of the top diagram of Fig. 24, the control unit 564 reduces the speed of the mobile device 530 as shown in the middle diagram of Fig. 25. Then, as shown in the bottom diagram of Fig. 25, the control unit 564 controls the mobile device 530 so that it passes through waypoint 4 in 40 seconds.

[0134] 26, for example, suppose that the control unit 564 of the mobile device 530 traveling through area e1 predicts that the predicted passing time of waypoint 4 is 42 seconds. If the planned passing time for waypoint 4 is 40 seconds, the control unit 564 allows the mobile device 530 to pass through as is, as shown in the lower diagram of FIG.

[0135] Also, for example, as shown in the upper diagram of Fig. 27, in a situation similar to the example in the upper diagram of Fig. 26, the control unit 564 increases the speed of the mobile device 530 as shown in the middle diagram of Fig. 27. Then, as shown in the lower diagram of Fig. 27, the control unit 564 controls the mobile device 530 so that it passes through waypoint 4 in 40 seconds.

[0136] The hardware configuration of the mobile device 530 is the same as the hardware configuration of the mobile device 30 according to the first embodiment shown in Fig. 3, and therefore a description thereof will be omitted. Also, the management device 10 is the same as that according to the first embodiment, and therefore a description thereof will be omitted.

[0137] Next, the operation of the traffic control system 500 according to the fifth embodiment will be described. In the fifth embodiment, the management device 10 also executes the management device-side process shown in Fig. 15, and the mobile device 530 executes the mobile device-side process shown in Fig. 16.

[0138] However, between steps S42 and S44 of the mobile station side processing, the passage time control processing shown in FIG. 28 is executed.

[0139] In step S60, the control unit 564 acquires the planned passing time for the next waypoint from the operation plan stored in the operation plan DB 68. Next, in step S62, the control unit 564 calculates the predicted passing time for the next waypoint using the state information and the required time model for unsteady traveling.

[0140] Next, in step S64, the control unit 564 calculates J = planned passage time - predicted passage time, and if J > 0, proceeds to step S66, if J < 0, proceeds to step S68, and if J = 0, proceeds to step S70.

[0141] In step S66, the control unit 564 controls the mobile device 530 to either pass through as is or accelerate so that it passes through the next waypoint at the planned passing time. In step S68, the control unit 564 controls the mobile device 530 to either wait before the next waypoint until the planned passing time or decelerate so that it passes through the next waypoint at the planned passing time. In step S70, the control unit 564 controls the mobile device 530 to pass through as is.

[0142] As described above, the traffic control system according to the fifth embodiment controls mobile devices so that they do not pass through a waypoint at a time earlier than the passing time specified in the traffic plan. This ensures that mobile devices entering the same area do not collide with each other even when it is predicted that the mobile devices will not pass through the waypoint at the planned passing time.

[0143] When the above control is realized by having the mobile device wait, it is possible to easily control a mobile device that arrives at a waypoint earlier than the scheduled passing time to pass through exactly as scheduled. Furthermore, when the above control is realized by adjusting the speed (acceleration or deceleration) of the mobile device, the cost of stopping and restarting the mobile device is reduced compared to when the mobile device is waited. Furthermore, while stopping the mobile device within the area may cause anxiety to the user, adjusting the speed of the mobile device can avoid such a situation.

[0144] In the above embodiments, a case has been described in which it is determined whether to revise an operation plan based on the difference between the actual value and the planned value of the passage time at each way point. However, this is not limiting. For example, it is also possible to use the current position based on the operation plan as the planned value and the current position obtained from odometry information as the actual value, and make a determination based on the difference between the two.

[0145] Furthermore, the management processing executed by the CPU after reading the software (program) in each of the above embodiments may be executed by various processors other than the CPU. Examples of processors in this case include programmable logic devices (PLDs) whose circuit configuration can be changed after manufacture, such as field-programmable gate arrays (FPGAs), and dedicated electrical circuits, such as application-specific integrated circuits (ASICs), which are processors having a circuit configuration specifically designed to execute specific processing. Furthermore, the management processing may be executed by one of these various processors, or by a combination of two or more processors of the same or different types (e.g., multiple FPGAs, or a combination of a CPU and an FPGA). Furthermore, the hardware structure of these various processors is, more specifically, an electrical circuit that combines circuit elements such as semiconductor elements.

[0146] In addition, in the above embodiments, the management program is described as being pre-stored (installed) in a storage device, but this is not limiting. The program may be provided in a form stored on a storage medium such as a CD-ROM, DVD-ROM, Blu-ray Disc, or USB memory. The program may also be downloaded from an external device via a network.

[0147] The following are additional notes regarding this disclosure.

[0148] (Supplementary Item 1) A traffic management system including a management device that manages the operation of each of a plurality of mobile devices and the plurality of mobile devices, wherein the management device includes: a formulation unit that formulates, for each of the plurality of mobile devices, an operation plan including a time at which the mobile device will pass through each way point, and transmits the formulated operation plan to each of the plurality of mobile devices; a determination unit that acquires, from each of the plurality of mobile devices, status information indicating a state of the mobile device including at least a position of the mobile device at each time, and determines whether or not the operation plan needs to be revised based on a difference between the operation performance of the mobile device indicated by the acquired status information and the operation plan; and a modification unit that, when it is determined that the operation plan needs to be revised, creates modification information that modifies the time at which the mobile device will pass through each way point, and transmits the created modification information to each of the plurality of mobile devices; and the mobile devices include: an acquisition unit that acquires the operation plan and the modification information transmitted from the management device; a control unit that controls an operation of the mobile device based on the operation plan and the modification information; and a transmission unit that acquires the status information indicating a state of the mobile device itself and transmits the acquired status information to the management device.

[0149] (Supplementary Item 2) The traffic management system described in Supplementary Item 1 creates the correction information by calculating the time at which each of two or more mobile devices entering the same area will pass through a waypoint that serves as the entrance to the same area, based on the direction of travel of each of the two or more mobile devices and the time required for each of the two or more mobile devices to pass through the same area, so as to satisfy the conditions for avoiding interference between the two or more mobile devices in the same area.

[0150] (Supplementary Item 3) The operation management system according to Supplementary Item 1 or 2, wherein the determination unit determines that the operation plan needs to be modified when a difference between the operation record and the operation plan is equal to or greater than a first threshold value.

[0151] (Supplementary Item 4) The operation management system described in Supplementary Item 3, wherein the determination unit determines that the operation plan should be re-formulated when a difference between the operation record and the operation plan is equal to or greater than a second threshold value that is greater than the first threshold value, and the formulation unit re-formulates the operation plan based on the status information acquired by the determination unit when the determination unit determines that the operation plan should be re-formulated.

[0152] (Supplementary Item 5) In the operation management system according to Supplementary Item 4, when the planning unit re-plans the operation plan, the planning unit re-plans the operation plan so that the mobile device operates in accordance with the current operation plan from the current time until a predetermined time later.

[0153] (Supplementary Item 6) The operation management system according to any one of Supplementary Items 1 to 5, wherein the operation plan includes work by the mobile device at a predetermined waypoint, and the determination unit predicts a completion time of the work from a progress rate of the work based on the acquired status information, and determines that the operation plan needs to be revised if the predicted completion time exceeds the completion time of the work established in the operation plan.

[0154] (Supplementary Item 7) The traffic management system according to any one of Supplementary Items 1 to 6, wherein one of the plurality of mobile devices is a master mobile device, and the master mobile device includes the determination unit and the correction unit.

[0155] (Supplementary Item 8) An operation management system as described in any one of Supplementary Items 1 to 7, wherein the determination unit predicts the time at which the mobile device will pass through the next waypoint, which is the entrance to the next area from the area in which the mobile device is currently traveling, based on the acquired status information and the time required for the mobile device to pass through the area in which the mobile device is currently traveling, and determines whether or not the operation plan needs to be modified based on the difference between the predicted time and the time at which the mobile device will pass through the next waypoint in the operation plan.

[0156] (Supplementary Item 9) The operation management system described in any one of Supplementary Items 1 to 7, wherein the transmission unit predicts the time when the vehicle will pass through the next waypoint, which is an entrance to the next area from the area in which the vehicle is currently traveling, based on the time required for the vehicle to pass through the area in which the vehicle is currently traveling, obtains the status information including the predicted time, and transmits the obtained status information to the management device; and the determination unit sets the predicted time as the operation record, and determines whether or not the operation plan needs to be revised based on a difference between the operation record and the operation plan.

[0157] (Supplementary Item 10) The operation management system according to any one of Supplementary Items 1 to 9, wherein the control unit predicts the time when the mobile device will pass through the next waypoint, which is an entrance to the next area from the area in which the mobile device is currently traveling, based on the time required for the mobile device to pass through the area in which the mobile device is currently traveling, and if the predicted time is earlier than the time when the mobile device will pass through the next waypoint indicated in the operation plan, the control unit makes the mobile device wait before the next waypoint or controls the mobile device to slow down, and if the predicted time is later than the time when the mobile device will pass through the next waypoint indicated in the operation plan, the control unit makes the mobile device pass through as is or controls the mobile device to increase its speed.

[0158] (Supplementary Item 11) A management device including: a formulation unit that formulates, for each of a plurality of mobile devices, an operation plan including the time at which the mobile device will pass through each waypoint, and transmits the formulated operation plan to each of the plurality of mobile devices; a determination unit that acquires, from each of the plurality of mobile devices, status information indicating the state of the mobile device including at least the position of the mobile device at each time, and determines whether or not the operation plan needs to be modified based on a difference between the operation performance of the mobile device indicated by the acquired status information and the operation plan; and a modification unit that, when it is determined that the operation plan needs to be modified, creates modification information that modifies the time at which the mobile device will pass through each waypoint, and transmits the created modification information to each of the plurality of mobile devices.

[0159] (Supplementary Item 12) A management method in which a computer executes the following processes: for each of a plurality of mobile devices, formulating an operation plan including the time at which the mobile device will pass through each waypoint, and transmitting the formulated operation plan to each of the plurality of mobile devices; acquiring status information from each of the plurality of mobile devices indicating the state of the mobile device including at least the position of the mobile device at each time; determining whether or not the operation plan needs to be revised based on a difference between the operation performance of the mobile device indicated by the acquired status information and the operation plan; and if it is determined that the operation plan needs to be revised, creating correction information that corrects the time at which the mobile device will pass each waypoint, and transmitting the created correction information to each of the plurality of mobile devices.

[0160] (Supplementary Item 13) A management program that causes a computer to function as: a formulation unit that formulates, for each of a plurality of mobile devices, an operation plan including the times at which the mobile device will pass through each waypoint, and transmits the formulated operation plan to each of the plurality of mobile devices; a determination unit that acquires, from each of the plurality of mobile devices, status information indicating the state of the mobile device including at least the position of the mobile device at each time, and determines whether or not the operation plan needs to be revised based on a difference between the operation performance of the mobile device indicated by the acquired status information and the operation plan; and a modification unit that, when it is determined that the operation plan needs to be revised, creates modification information that modifies the times at which the mobile device will pass each waypoint, and transmits the created modification information to each of the plurality of mobile devices.

[0161] DESCRIPTION OF SYMBOLS 10, 210, 310, 410 Management device 12, 32 CPU 14, 34 Memory 16, 36 Storage device 18 Input device 20 Output device 22, 42 Storage medium reading device 24, 44 Communication I / F 26, 46 Bus 30, 330, 430, 530 Mobile device 330A Parent mobile device 330B Child mobile device 38 Drive mechanism 40 Sensor 52, 252, 352 Formulating unit 54, 254, 354, 454 Determination unit 56, 256, 356 Correction unit 62, 362A, 362B Acquisition unit 64, 564 Control unit 66, 466 Transmission unit 68 Operation plan DB 100, 200, 300, 400, 500 Operation management system

Claims

1. A traffic management system including a management device that manages the operation of each of a plurality of mobile devices and the plurality of mobile devices, wherein the management device includes: a formulation unit that formulates, for each of the plurality of mobile devices, an operation plan including a time at which the mobile device will pass each way point, and transmits the formulated operation plan to each of the plurality of mobile devices; a determination unit that acquires, from each of the plurality of mobile devices, status information indicating a state of the mobile device including at least a position of the mobile device at each time, and determines whether or not the operation plan needs to be revised based on a difference between the operation performance of the mobile device indicated by the acquired status information and the operation plan; and a modification unit that, when it is determined that the operation plan needs to be revised, creates modification information that modifies the time at which the mobile device will pass each way point, and transmits the created modification information to each of the plurality of mobile devices, wherein the mobile devices include: an acquisition unit that acquires the operation plan and the modification information transmitted from the management device; a control unit that controls the operation of the mobile device based on the operation plan and the modification information; and a transmission unit that acquires the status information indicating the state of the mobile device itself, and transmits the acquired status information to the management device.

2. The traffic management system of claim 1, wherein the correction unit creates the correction information by calculating the time at which each of two or more mobile devices entering the same area will pass through a waypoint that serves as an entrance to the same area, based on the direction of travel of each of the two or more mobile devices and the time required for each of the two or more mobile devices to pass through the same area, so as to satisfy conditions for avoiding interference between the two or more mobile devices in the same area.

3. An operation management system as described in claim 1 or claim 2, wherein the judgment unit judges that the operation plan needs to be revised when the difference between the operation record and the operation plan is equal to or greater than a first threshold value.

4. The operation management system of claim 3, wherein the judgment unit judges that the operation plan should be re-formulated when a difference between the operation results and the operation plan is equal to or greater than a second threshold value that is greater than the first threshold value, and the formulation unit, when the judgment unit judges that the operation plan should be re-formulated, re-formulates the operation plan based on the status information acquired by the judgment unit.

5. An operation management system as described in claim 4, wherein, when the planning unit re-plans the operation plan, the planning unit re-plans the operation plan so that the mobile device operates in accordance with the current operation plan from the current time until a predetermined time later.

6. An operation management system as described in claim 1 or claim 2, wherein the operation plan includes work to be performed by the mobile device at specified waypoints, and the determination unit predicts a completion time of the work from a progress rate of the work based on the acquired status information, and determines that the operation plan needs to be revised if the predicted completion time exceeds the completion time of the work formulated in the operation plan.

7. A traffic management system according to claim 1 or 2, wherein any one of the plurality of mobile devices is designated as a master mobile device, and the master mobile device includes the determination unit and the correction unit.

8. An operation management system as described in claim 1 or claim 2, wherein the judgment unit predicts the time when the mobile device will pass through the next waypoint, which is an entrance to the next area from the area in which the mobile device is currently traveling, based on the acquired status information and the time required for the mobile device to pass through the area in which the mobile device is currently traveling, and judges whether or not the operation plan needs to be revised based on the difference between the predicted time and the time when the mobile device will pass through the next waypoint in the operation plan.

9. An operation management system as described in claim 1 or claim 2, wherein the transmission unit predicts the time when the vehicle will pass through the next waypoint, which is an entrance to the next area from the area in which the vehicle is currently traveling, based on the time required for the vehicle to pass through the area in which the vehicle is currently traveling, obtains the status information including the predicted time, and transmits the obtained status information to the management device, and the determination unit regards the predicted time as the operation record and determines whether or not the operation plan needs to be revised based on the difference between the operation record and the operation plan.

10. The operation management system of claim 1 or 2, wherein the control unit predicts the time when the mobile device will pass the next waypoint, which is the entrance to the next area from the area in which the mobile device is currently traveling, based on the time required for the mobile device to pass through the area in which the mobile device is currently traveling, and if the predicted time is earlier than the time when the mobile device will pass the next waypoint indicated in the operation plan, either makes the mobile device wait before the next waypoint or controls the mobile device to slow down, and if the predicted time is later than the time when the mobile device will pass the next waypoint indicated in the operation plan, either allows the mobile device to pass through as is or controls the mobile device to increase its speed.

11. A management device including: a formulation unit that formulates, for each of a plurality of mobile devices, an operation plan including the time at which the mobile device will pass through each waypoint, and transmits the formulated operation plan to each of the plurality of mobile devices; a determination unit that acquires, from each of the plurality of mobile devices, status information indicating the state of the mobile device including at least the position of the mobile device at each time, and determines whether or not the operation plan needs to be revised based on a difference between the operation performance of the mobile device indicated by the acquired status information and the operation plan; and a modification unit that, when it is determined that the operation plan needs to be modified, creates modification information that modifies the time at which the mobile device will pass through each waypoint, and transmits the created modification information to each of the plurality of mobile devices.

12. A management method in which a computer executes the following processes: for each of a plurality of mobile devices, formulating an operation plan including the time at which the mobile device will pass through each waypoint, transmitting the formulated operation plan to each of the plurality of mobile devices; acquiring status information indicating the state of the mobile device including at least the position of the mobile device at each time from each of the plurality of mobile devices; determining whether or not the operation plan needs to be revised based on a difference between the operation performance of the mobile device indicated by the acquired status information and the operation plan; and if it is determined that the operation plan needs to be revised, creating correction information that corrects the time at which the mobile device will pass through each waypoint, and transmitting the created correction information to each of the plurality of mobile devices.

13. A management program for causing a computer to function as: a formulation unit that formulates, for each of a plurality of mobile devices, an operation plan including the time at which the mobile device will pass through each waypoint, and transmits the formulated operation plan to each of the plurality of mobile devices; a determination unit that acquires, from each of the plurality of mobile devices, status information indicating the state of the mobile device including at least the position of the mobile device at each time, and determines whether or not the operation plan needs to be revised based on the difference between the operation performance of the mobile device indicated by the acquired status information and the operation plan; and a modification unit that, when it is determined that the operation plan needs to be revised, creates modification information that modifies the time at which the mobile device will pass through each waypoint, and transmits the created modification information to each of the plurality of mobile devices.

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