Information management device, traffic control system, traffic control method, and traffic control program

Abstract

Provided are: an information management device that manages the movement of a moving body operating in a facility so as to further enhance the movement efficiency of the moving body; a traffic control system; a traffic control method; and a traffic control program. In a traffic control system (1), a facility information management unit (15) of an information management device manages information on an operation graph that includes: a first vertex which represents a first region consisting of a set of a plurality of nodes representing a plurality of points within a first spatial range of a facility; a second vertex which represents a second region consisting of a set of a plurality of nodes representing a plurality of points within a second spatial range partially overlapping the first spatial range; and a side which connects the first vertex and the second vertex and which represents a common region consisting of a set of one or more common nodes representing one or more points within the partially overlapping range, the common nodes being included in both the first region and the second region. A traffic management unit (16) generates a command for a moving body (2) that moves within the facility on the basis of the information on the operation graph.

Description

Information management device, traffic control system, traffic control method, and traffic control program

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

[0002] In recent years, autonomously moving vehicles have been used in facilities where people are present. Autonomous moving vehicles have been confirmed to perform various tasks, such as cleaning, security, transportation, and more, with each vehicle performing a different task. Autonomous moving vehicles automatically set routes to their destinations and move while avoiding obstacles. Routes are set by specifying multiple destinations in succession and planning the movement along a single route. When multiple moving vehicles use a facility, there is a concern that they may interfere with each other's movements. Therefore, traffic rules based on laws, regulations, or customs are established for public roads and facilities, and movement efficiency is improved when moving vehicles comply with these rules. Facilities are equipped with equipment for managing passage to support the passage of multiple people. The equipment for managing passage is designed in accordance with laws and regulations enacted with the assumption that people will use the facility safely, and autonomously determines the usage status based on the surrounding conditions. Alternatively, in the case of autonomously moving vehicles, as in Patent Document 1, a one-dimensional curved taxiway is established in the facility, and branching routes are established to avoid congestion on the taxiway. The moving body also includes a device for instructing how to guide the moving body to the branched moving path.

[0003] Patent Literature 1 discloses an example of a control system for mobile objects operating in a facility. In the control system, a taxiway formed by magnetic tape or the like is provided. In the control system, a temporary stop area is provided before a junction of branching taxiways. When a mobile object traveling on one of the branching taxiways passes the junction, the control system causes a mobile object traveling on the other branching taxiway to wait in the temporary stop area.

[0004] Japanese Patent Application Publication No. 11-242519

[0005] However, in the control system of Patent Document 1, mobile objects move on a predetermined one-dimensional curved taxiway. Only one mobile object can pass through a junction on the taxiway at a time, which can cause congestion of mobile objects on the taxiway and reduce the movement efficiency of the mobile objects.

[0006] The prior art described in Patent Document 1 and elsewhere employs a method for managing the passage of multiple taxiways at a single junction, using a priority time zone management system when multiple vehicles simultaneously arrive at the junction. While this system works well for one-way taxiways, it is unable to manage time zones when vehicles converge from multiple directions, resulting in congestion. Furthermore, the prior art requires a device for instructing the guidance method to be installed for each management group of mobile vehicles. Management groups vary, for example, depending on the manufacturer. Furthermore, taxiways for mobile vehicles vary significantly depending on their operations. For these reasons, it is not practical to install a one-dimensional curved taxiway for managing multiple mobile vehicles within a facility. Note that a one-dimensional curve is synonymous with movement following a route drawn in a single stroke, and this is a common issue with methods for instructing routes all at once.

[0007] The present disclosure relates to solving such problems, and provides an information management device, a traffic control system, a traffic control method, and a traffic control program for managing the movement of mobile objects operating in a facility so as to further improve the movement efficiency of the mobile objects.

[0008] The information management device of the present disclosure includes a facility information management unit that manages information on an operation graph including a first vertex representing a first area consisting of a set of multiple nodes representing multiple points within a first spatial range of a facility, a second vertex representing a second area consisting of a set of multiple nodes representing multiple points within a second spatial range that partially overlaps with the first spatial range, and an edge connecting the first vertex and the second vertex and representing a common area consisting of a set of common nodes that represent one or more points within the partially overlapping range and are included in common in the first area and the second area, and a traffic management unit that generates commands for mobile objects moving within the facility based on the information on the operation graph.

[0009] The traffic control system according to the present disclosure includes a facility information management unit that manages information on an operation graph including a first vertex representing a first area consisting of a set of multiple nodes representing multiple points within a first spatial range of a facility, a second vertex representing a second area consisting of a set of multiple nodes representing multiple points within a second spatial range that partially overlaps with the first spatial range, and an edge connecting the first vertex and the second vertex and representing a common area consisting of a set of common nodes that represent one or more points within the partially overlapping range and are included in common in the first area and the second area; a traffic management unit that generates commands for mobile objects moving within the facility based on the information on the operation graph; and a mobile object control unit that controls the movement of the mobile objects within the facility based on the commands for the mobile objects generated by the traffic management unit.

[0010] The traffic control method according to the present disclosure is a traffic control method in which a computer manages information about an operation graph including: a first vertex representing a first area consisting of a set of multiple nodes representing multiple points within a first spatial range of a facility; a second vertex representing a second area consisting of a set of multiple nodes representing multiple points within a second spatial range that partially overlaps with the first spatial range; and an edge connecting the first vertex and the second vertex and representing a common area consisting of a set of common nodes that represent one or more points within the partially overlapping range and are included in common in the first area and the second area; and generating commands for mobile objects moving within the facility based on the information about the operation graph.

[0011] A traffic control program according to the present disclosure causes a computer to manage information about an operation graph including a first vertex representing a first area consisting of a set of multiple nodes representing multiple points within a first spatial range of a facility, a second vertex representing a second area consisting of a set of multiple nodes representing multiple points within a second spatial range that partially overlaps with the first spatial range, and an edge connecting the first vertex and the second vertex and representing a common area consisting of a set of common nodes that represent one or more points within the partially overlapping range and are included in common in the first area and the second area, and to generate commands for mobile objects moving within the facility based on the information about the operation graph.

[0012] According to the information management device, traffic control system, traffic control method, or traffic control program disclosed herein, the movement of mobile objects operating in a facility is managed so as to further increase the movement efficiency of the mobile objects.

[0013] 1 is a configuration diagram of a traffic control system according to a first embodiment. FIG. 1 is a diagram illustrating an example of information used by the traffic control system according to the first embodiment to manage traffic of mobile bodies. FIG. 2 is a diagram illustrating an example of information used by the traffic control system according to the first embodiment to manage traffic of mobile bodies. FIG. 3 is a diagram illustrating an example of functional division in the traffic control system according to the first embodiment. FIG. 4 is a diagram illustrating an example of a time hierarchy for classifying information in the traffic control system according to the first embodiment. FIG. 5 is a sequence diagram illustrating an example of cooperation between mobile bodies and facility equipment via the traffic control system according to the first embodiment. FIG. 6 is a sequence diagram illustrating an example of cooperation between mobile bodies and facility equipment via the traffic control system according to the first embodiment. FIG. 7 is a perspective view illustrating an example of facility equipment that cooperates with mobile bodies in the traffic control system according to the first embodiment. FIG. 8 is a diagram illustrating an example of state transitions of facility equipment in a facility according to the first embodiment. FIG. 9 is a diagram illustrating an example of state transitions of a mobile body according to the first embodiment. FIG. 10 is a sequence diagram illustrating an example of cooperation between mobile bodies and facility equipment via the traffic control system according to the first embodiment. 1 is a sequence diagram showing an example of cooperation between a mobile body and facility equipment via a traffic control system according to embodiment 1. FIG. 2 is a plan view showing an example of facility equipment that cooperates with a mobile body in the traffic control system according to embodiment 1. FIG. 3 is a sequence diagram showing an example of cooperation between a mobile body and facility equipment via the traffic control system according to embodiment 1. FIG. 4 is a plan view showing an example of facility equipment that cooperates with a mobile body in the traffic control system according to embodiment 1. FIG. 5 is a sequence diagram showing an example of cooperation between a mobile body and facility equipment via the traffic control system according to embodiment 1. FIG. 6 is a configuration diagram of a traffic control system according to embodiment 2. FIG. 7 is a diagram explaining an example of support for information input to an information management device by a support server according to embodiment 2. FIG. 8 is a diagram explaining another example of support for information input to an information management device by a support server according to embodiment 2. FIG. 9 is a diagram explaining another example of support for information input to an information management device by a support server according to embodiment 2. FIG. 10 is a diagram explaining an example of data generated in the support server according to embodiment 2.

[0014] The following describes embodiments of the subject matter of the present disclosure with reference to the accompanying drawings. In each drawing, identical or corresponding parts are designated by the same reference numerals, and redundant explanations are appropriately simplified or omitted. Note that the subject matter of the present disclosure is not limited to the following embodiments, and any component of the embodiments may be modified or omitted within the scope of the gist of the present disclosure.

[0015] First Embodiment Fig. 1 is a configuration diagram of a traffic control system 1 according to a first embodiment.

[0016] The traffic control system 1 is a system that manages the traffic of mobile objects 2 operating in a facility.

[0017] A facility may include, for example, one or more buildings. A facility may be part or all of a building. A facility may include one or both of an outdoor portion and an indoor portion of a building. A facility may be, for example, a commercial facility, an office building, a lodging facility, a residential facility, a public facility, or other facility, or a combination thereof.

[0018] A facility is divided into multiple sections. That is, a facility is composed of multiple sections. A section may be, for example, a corridor between rooms. In a facility, human users of the facility are allowed to move freely within the sections. In a facility, physical barriers such as walls, steps, or partitions are installed between sections to restrict the movement of users and the like. In a facility, the movement of users and the like is restricted by logical constraints such as white lines or signs indicating traffic rules between sections, or warnings such as audio or visual warnings. In a facility, passage equipment such as doors connecting sections temporarily allows the movement of users and the like. The doors of the facility may be equipped with a function to autonomously determine usage status, such as automatic doors or security gates. In a facility, when two sections are physically separated, a means for connecting them via passage equipment may be installed. For example, in a facility, stairs, ladders, or elevators are installed between corridors at different heights to enable movement between the corridors. The elevators may be, for example, elevators or escalators. The elevators may be equipped with a function to autonomously determine the vertical usage status of the entire facility, and multiple devices may be linked together using group management control or the like.

[0019] The mobile object 2 is a mobile device that operates to provide services in the facility. In this example facility, multiple mobile objects 2 operate. The mobile object 2 is, for example, an autonomous mobile object that moves autonomously. The mobile object 2 may be, for example, a robot, a drone, mobility, or other mobile device. The mobile object 2 may be a device within the traffic control system 1, or may be a device outside the system that cooperates with the traffic control system 1. Each mobile object 2 includes a calculation unit 3a, a memory unit 4a, a communication unit 5a, a measurement unit 6, and a drive unit 7.

[0020] The calculation unit 3a is, for example, a device such as a CPU (Central Processing Unit), an arithmetic device, a microprocessor, or a microcomputer. The storage unit 4a is, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read-Only Memory), a flash memory, an EPROM (Erasable Programmable Read-Only Memory), or an EEPROM (Electrically Erasable Programmable Read-Only Memory), or a device such as a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, or a DVD (Digital Versatile Disc). Part or all of the calculation unit 3a and the storage unit 4a may be configured with dedicated processing circuits. The storage unit 4a stores, for example, programs as software or firmware. In the mobile object 2, the calculation unit 3a executes the programs stored in the storage unit 4a to perform pre-set processing, and each function is realized as a result of collaboration between hardware and software. Each function of the mobile object 2 may be realized by a separate processing circuit. Alternatively, part or all of the functions of the mobile object 2 may be realized collectively by a processing circuit. Furthermore, the processing circuit may be realized by, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination of these.

[0021] The communication unit 5a is a part equipped with a function for communicating information with devices external to the mobile object 2. The communication unit 5a communicates with the external devices, for example, by wireless communication. The communication unit 5a communicates with the external devices, for example, through a communication network 8, such as the Internet, a telephone network, or an optical communication network. The communication network 8 may include a local network such as a LAN (Local Area Network) within a facility, or may include industrial communication such as short-range wireless communication. The communication network 8 may include a wired or wireless intranet, for example.

[0022] The measurement unit 6 is a part that includes a device that measures information necessary for the operation of the mobile object 2, such as the environment around the mobile object 2. The measurement unit 6 may be, for example, a LiDAR (Light Detection and Ranging), an IMU (Inertial Measurement Unit), an ultrasonic sensor, an RGBD camera (RGBD: Red-Green-Blue-Depth), a stereo camera, a satellite positioning system such as a GPS (Global Positioning System), an indoor positioning system, other sensors, or modules of other measurement systems. The information measured by the measurement unit 6 is processed in the calculation unit 3a or the like.

[0023] The drive unit 7 is a part that includes a device that generates a drive force to move the mobile object 2. The drive unit 7 may include a drive source such as a motor, wheels, crawlers, a quadrupedal drive device, a bipedal drive device, or an inverted pendulum drive device. The drive unit 7 acquires a route from the calculation unit 3a and controls the drive source to follow the route. The drive unit 7 acquires the state of the mobile object 2 from the measurement unit 6 and controls or suspends the drive source to maintain safety. The drive unit 7 acquires the location of surrounding obstacles from the measurement unit 6 and controls or suspends the drive source to avoid the obstacles. The drive unit 7 also includes a function to manage the drive source to execute the services provided by the mobile object 2.

[0024] The calculation unit 3a includes a behavior control unit 9. The behavior control unit 9 controls the behavior of the mobile object 2 in a facility. The behavior of the mobile object 2 in a facility includes the movement of the mobile object 2 in the facility and the execution of tasks for services provided by the mobile object 2 in the facility. The behavior control unit 9 controls the behavior of the mobile object 2, for example, by outputting a control signal to the driving unit 7 based on information measured by the measurement unit 6. The behavior control unit 9 operates according to a program that registers and manages the behavior or state of the mobile object 2. When the mobile object 2 can execute behaviors based on multiple states, it switches the control commands set in the driving unit 7 based on information obtained from the communication unit 5a and the measurement unit 6. The mobile object 2 has a function to autonomously switch states depending on the status of the driving unit 7. The behavior control unit 9 manages the timing of state transitions and the synchronization of states with other devices. The behavior control unit 9 operates according to a program based on a finite state machine, for example. The behavior control unit 9 operates according to a program based on a state transition diagram, for example. The behavior control unit 9 operates according to a program based on sequence control, for example.

[0025] The traffic control system 1 includes a mobile server 10. The mobile server 10 is a component that controls the operation of the mobile object 2. The operation of the mobile object 2 includes information processing in the mobile object 2 and the behavior of the mobile object 2 in facilities. The mobile server 10 may control the operation of multiple mobile objects 2. The performance of the computing unit 3a installed in each mobile object 2 may be limited by the power supply capacity of the mobile object 2's battery, etc. In such cases, the mobile server 10 can handle part or all of the processing related to the control of the operation of the mobile object 2. On the other hand, for example, when the computing unit 3a installed in each mobile object 2 has fewer performance limitations, the mobile object 2 may handle part or all of the processing of the mobile server 10. The traffic control system 1 may include multiple mobile servers 10. Each mobile server 10 may be managed by a different administrator, for example. The administrator of the mobile server 10 may be, for example, the manufacturer or management company of the mobile object 2. The same administrator may manage multiple mobile servers 10. Some or all of the mobile servers 10 may be devices within the traffic control system 1, or may be devices outside the system that cooperate with the traffic control system 1. Each mobile server 10 is, for example, a server device consisting of one or more server computers. The multiple server devices that make up the mobile server 10 may be located in different locations. In this case, the multiple server devices communicate information with each other, for example, via a communication network 8. Each mobile server 10 includes a calculation unit 3b, a storage unit 4b, and a communication unit 5b.

[0026] The calculation unit 3b is a device such as a CPU, an arithmetic unit, a microprocessor, or a microcomputer. The storage unit 4b is a device such as a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, or a device such as a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, or a DVD. Part or all of the calculation unit 3b and the storage unit 4b may be configured with a dedicated processing circuit. The storage unit 4b stores, for example, programs such as software or firmware. In the mobile server 10, the calculation unit 3b executes programs stored in the storage unit 4b to perform pre-set processing, and each function is realized as a result of collaboration between hardware and software. Each function of the mobile server 10 may be realized by a separate processing circuit. Alternatively, some or all of the functions of the mobile server 10 may be realized collectively by a processing circuit. The processing circuitry may be implemented, for example, as a single circuit, multiple circuits, a programmed processor, a parallel programmed processor, an ASIC, or an FPGA, or a combination thereof. Some or all of the functions of the mobile server 10 may be implemented, for example, by processing or storage resources on a cloud service.

[0027] The communication unit 5b is a part equipped with a function for communicating information with devices external to the mobile server 10. The communication unit 5b communicates with external devices via the communication network 8, for example, by wired communication or wireless communication. The communication unit 5b communicates information with one or more mobile bodies 2, the operation of which is to be controlled, as external devices.

[0028] The calculation unit 3b includes a behavior planning unit 11. The behavior planning unit 11 is a part that plans the behavior of the mobile object 2 in a facility and manages necessary information. Here, information management includes, for example, operations such as retaining, adding, changing, and deleting the information. The information managed by the behavior planning unit 11 includes information about the facility related to the movement of the mobile object 2. The information necessary for the behavior of the mobile object 2 in a facility is, for example, an environmental map. The information necessary for the behavior of the mobile object 2 in a facility is, for example, information representing the layout of sections in the facility. The information necessary for the behavior of the mobile object 2 in a facility is, for example, information representing the connection relationships between multiple sections in the facility. The behavior planning unit 11 sets the order of behavior based on the environmental map and the layout and connection relationships of the sections. The behavior planning unit 11 of the mobile object server 10 and part or all of the behavior control unit 9 of the mobile object 2 are examples of a mobile object control unit that controls the movement of the mobile object 2.

[0029] The traffic control system 1 includes a facility server 12. The facility server 12 is a part that manages facility information, etc. The facility information is, for example, information representing the layout of sections in a facility. The facility information is, for example, information representing the connection relationships between multiple sections in a facility. The facility information is, for example, information related to the layout, status, and control of traffic equipment that manages the connection relationships between multiple sections. The facility server 12 is an example of a facility management device. The facility server 12 is, for example, a server device including one or more server computers. The multiple server devices that make up the facility server 12 may be located in different locations. In this case, the multiple server devices communicate information with each other, for example, via a communication network 8. The facility server 12 includes a calculation unit 3c, a memory unit 4c, a communication unit 5c, an input unit 13, and an output unit 14.

[0030] The calculation unit 3c is a device such as a CPU, arithmetic device, microprocessor, or microcomputer. The storage unit 4c is a device such as a non-volatile or volatile semiconductor memory such as a RAM, ROM, flash memory, EPROM, or EEPROM, or a device such as a magnetic disk, flexible disk, optical disk, compact disk, minidisk, or DVD. The calculation unit 3c and part or all of the storage unit 4c may be configured with a dedicated processing circuit. The storage unit 4c stores, for example, programs as software or firmware. In the facility server 12, the calculation unit 3c executes the programs stored in the storage unit 4c to perform pre-set processing, and each function is realized as a result of collaboration between hardware and software. Each function of the facility server 12 may be realized by a separate processing circuit. Alternatively, some or all of the functions of the facility server 12 may be realized collectively by a processing circuit. The processing circuit may also be realized by, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination of these. Some or all of the functions of the facility server 12 may be implemented, for example, by processing or storage resources on a cloud service.

[0031] The communication unit 5c is a part equipped with a function for communicating information with devices external to the facility server 12. The communication unit 5c communicates with the external devices via the communication network 8, for example, by wired communication or wireless communication. The communication unit 5c communicates information with external devices, such as the mobile server 10 or the mobile 2. The communication unit 5c communicates information with the external devices using, for example, the MQTT (Message Queuing Telemetry Transport) protocol or other communication standards.

[0032] The input unit 13 is a part equipped with a function for accepting input of information to the facility server 12. The input unit 13 includes, for example, input devices such as a keyboard or a mouse, or an information processing terminal device connected to the facility server 12. A part or all of the input unit 13 may be configured by the calculation unit 3c and the communication unit 5c, for example. The input unit 13 may accept communication commands via an API (Application Programming Interface) from an external device such as the mobile server 10.

[0033] The output unit 14 is a part equipped with a function for outputting information from the facility server 12. The output unit 14 includes, for example, an output device such as a display panel, or an information processing terminal device connected to the facility server 12. A part or all of the output unit 14 may be configured by the calculation unit 3c and the communication unit 5c. The output unit 14 may output a communication command via an API as, for example, an instruction to an external device such as the mobile server 10.

[0034] The calculation unit 3c includes a facility information management unit 15 and a traffic management unit 16. The facility information management unit 15 is a unit that manages information related to the movement of the mobile object 2 within a facility. The information managed by the facility information management unit 15 may include information on the status of facility equipment used by the mobile object 2 when moving within the facility. The management of information by the facility information management unit 15 includes retaining, adding, changing, deleting, and other operations of the information. The traffic management unit 16 is a unit that manages the movement of the mobile object 2 within the facility. The traffic management unit 16, for example, arbitrates the movement between multiple mobile objects 2 and manages cooperation with facility equipment used by the mobile object 2 when moving within the facility.

[0035] Next, examples of information used to manage traffic of the mobile object 2 will be described with reference to Figures 2 to 4. Figures 2 to 4 are diagrams illustrating examples of information used by the traffic control system 1 according to the first embodiment to manage traffic of the mobile object 2.

[0036] As shown in Figure 2, mobile units 2p and 2q are operating in the facility of this example. Here, when there is no particular need to distinguish between mobile units 2p and 2q, they may be simply referred to as mobile units 2. Mobile unit 2p is controlled by mobile server 10p. Mobile unit 2q is controlled by mobile server 10q. Here, when there is no particular need to distinguish between mobile servers 10p and 10q, they may be simply referred to as mobile server 10.

[0037] Traffic management in a facility requires mediation between the party that manages the convenience and safety of the shared facility and the multiple parties with conflicting interests, such as service providers and service users who use the facility's space. In a facility, a reasonable agreement is formed between the facility manager, who manages the convenience of facility users, and the mobile unit manager, who manages the convenience of services provided by mobile units 2. The facility manager has the authority to obtain and disclose necessary information about the facility. The mobile unit manager has the authority to obtain and disclose necessary information about mobile units 2.

[0038] The facility manager inputs the facility's structural data into the facility server 12. The facility's structural data includes, for example, information on the layout and adjacency of rooms and corridors in the facility, as well as the layout and type of equipment installed in the facility. The facility's structural data is, for example, architectural drawings. The architectural drawings may be, for example, CAD data (CAD: Computer-Aided Design). The facility's structural data is, for example, feature information. The feature information may be a public database such as hierarchical geospatial information data.

[0039] The facility manager inputs traffic rules for the mobile object 2 at the facility into the facility server 12. The traffic rules are, for example, rules that the mobile object 2 must follow when moving around the facility.

[0040] Traffic rules, for example, define the behavior of a mobile unit 2 in a specific location to prevent multiple mobile units 2 using a facility from interfering with each other's movements. Here, the behavior of a mobile unit 2 may include state transitions of the mobile unit 2, for example. The state transitions of the mobile unit 2 may include state transitions such as turning on and off a safety light. Traffic rules are set in a facility, and may be called, for example, internal traffic rules for the facility, facility use rules, or driving rules for the mobile unit 2. Traffic rules may include multiple rules.

[0041] For example, traffic rules are set so that, within a specified range, a moving body 2 must travel on the right side of the center line. For example, traffic rules are set as a restriction that, within a specific range, a moving body 2 exceeding a certain height cannot pass through. For example, traffic rules are set so that, within a specific range, safety lights must be installed at a certain height so that they can be seen. In this case, the traffic rules may require a moving body 2 to turn on a safety light when passing through the range, or may prohibit a moving body 2 that does not have a safety light that meets the conditions from passing through the range.

[0042] The traffic rules also include the requirement that the mobile body 2 comply with arbitration by a third party within a specified range. For example, the traffic rules are set so that the mobile body 2 stops temporarily within a specific range and waits until it receives a signal permitting passage. For example, the traffic rules are set so that the mobile body 2 is notified in advance that it will pass through a specific range, and then passes only after receiving notification that a third party has confirmed that the range is clear for a certain period of time. For example, the traffic rules are set so that the mobile body 2 notifies a third party that it has confirmed that the specific range is clear.

[0043] Here, "setting traffic rules" refers to, for example, specifying both a range and an action for the mobile object 2 so that the mobile object 2 can perform the set action within a specific range.

[0044] Setting traffic rules means, for example, "defining a one-dimensional curved taxiway," "mobile bodies periodically notifying their positions on the taxiway," and "stopping or resuming movement within a specific range or under specific conditions." The traffic rules set here are applied to mobile bodies 2 moving along the "one-dimensional curved taxiway." When there are multiple mobile bodies 2, the "one-dimensional curved taxiway" is shared. Note that setting traffic rules also includes installing a new device to monitor a specific range on the one-dimensional curved taxiway, and "stopping or resuming movement" based on the measurement results of that device.

[0045] Furthermore, setting traffic rules refers to, for example, "establishing a reference coordinate system," "a moving body periodically notifying its coordinates," and "stopping or resuming movement within a specific range or under specific conditions." The traffic rules set here are applied to moving bodies 2 that can move autonomously relative to the "reference coordinate system." When there are multiple moving bodies 2, the "reference coordinate system" is shared.

[0046] Furthermore, setting traffic rules refers to, for example, "determining signs of a reference geometric shape (e.g., a line or a rectangle)," "installing signs at a facility," and "allowing a mobile unit to obtain instructions on how to act from the geometric shape obtained by measuring the signs." The traffic rules set here are applied to a mobile unit 2 that "can obtain geometric shapes by measuring signs installed at a facility." When there are multiple mobile units 2, the "measurement method" is standardized and shared. Traffic rules based on geometric shapes are, for example, indicated by colored lines, and when colored lines are painted on the road surface, the mobile unit 2 behaves by traveling on the left side of the lines. The geometric shapes may contain embedded position information relative to the above-mentioned "reference coordinate system." The geometric shapes may function as the above-mentioned "one-dimensional curved taxiway."

[0047] The behavior of the moving object 2 that follows traffic rules is related to progress. Traffic rules require the moving object 2 to comply with the same rules for people as those stipulated in laws, regulations, or customs related to traffic within a facility, such as maximum speed, distance from walls, avoiding specific areas, stopping, not allowing other vehicles to pass, and giving way to other vehicles.

[0048] The manager of mobile unit 2p inputs the operation definition of mobile unit 2p into facility server 12. The operation definition of mobile unit 2p includes information such as the type of service that mobile unit 2p provides at the facility and the location where the service is provided. Similarly, the manager of mobile unit 2q inputs the operation definition of mobile unit 2q into facility server 12.

[0049] Based on the input information, the facility server 12 generates data for managing the movement of the mobile object 2 and stores the data in a database. The database is stored in the storage unit 4c, for example.

[0050] The manager of the mobile unit 2p inputs an operation plan for the mobile unit 2p into the mobile unit server 10p. The operation plan for the mobile unit 2p includes information on how the mobile unit 2p will be operated in the facility, such as a schedule for providing services to the mobile unit 2p. Similarly, the manager of the mobile unit 2q inputs an operation plan for the mobile unit 2q into the mobile unit server 10q.

[0051] The mobile server 10p controls the mobile unit 2p while exchanging information with the facility server 12, for example, through communication commands via an API. The mobile server 10p controls the mobile unit 2p, for example, by instructing the mobile unit 2 about an action plan. The action plan of the mobile unit 2p includes, for example, information such as the route the mobile unit 2p will take when moving within the facility. The action plan of the mobile unit 2p includes, for example, information such as a desired task for the mobile unit 2p to perform at a certain point or between certain points within the facility. Similarly, the mobile server 10q controls the mobile unit 2q while exchanging information with the facility server 12, for example, through communication commands via an API. The mobile server 10p and the facility server 12 communicate with each other, for example, information on the current location of the mobile unit 2 within the facility and information on the operating status of equipment within the facility.

[0052] As shown in FIG. 3 , multiple nodes are set in a facility. Each node represents a location in the facility. The facility location represents a location in the facility where the mobile object 2 operates, or a location where the mobile object 2 passes through or stops during its movement. Here, when the mobile object 2 moves between two corresponding nodes, it may be expressed as the mobile object 2 moving between the nodes. The facility location may include information about a range including the location. The node may include information about the corresponding location. The node may include information about a range including the corresponding location. When the mobile object 2 is within a range set for a node, the traffic control system 1 determines that the mobile object 2 is located at the node. The mobile object 2 moves between facility locations. In other words, the movement of the mobile object 2 can be determined by the node representing the location. Note that multiple different nodes may represent the same location. In this case, when the mobile object 2 switches the node where it is located from one node to another node representing the same location as the node, it may be expressed as the mobile object 2 moving between these nodes. The node information is managed, for example, by the facility information management unit 15 and stored in the storage unit 4c, etc. The node information is also managed, for example, by the mobile server 10 and stored in the storage unit 4b, etc. The node information is managed with uniqueness in the facility information management unit 15 and the mobile server 10 so that the same symbol represents the same point.

[0053] Multiple areas are defined within a facility. Each area is a set containing one or more nodes as elements. Each area is associated with a spatial range previously defined for the facility. This range may be, for example, part or all of the ranges of the facility's rooms, corridors, and facility equipment, or the boundaries thereof. The previously defined spatial range may be, for example, a section of the facility. Because nodes contain information about a range that includes a point, a set containing multiple nodes as elements can be associated with a section of the facility. When a mobile object 2 is present within a spatial range associated with a certain area, the mobile object 2 may be said to be in that area. Furthermore, when a mobile object 2 can travel between the ranges corresponding to two different areas, the two areas share at least one node as a common element. This may also be expressed as two adjacent areas. Two adjacent areas may share multiple nodes as common elements. Sections are information related to facility management, and are managed by, for example, the facility information management unit 15. On the other hand, areas are information related to mobile object management, and are managed by, for example, the mobile object server 10. Here, since the sections and areas correspond to each other via the nodes, the facility information management unit 15 can manage information about the areas.

[0054] The multiple areas in the facility include independent areas and bridge areas. An independent area is an area that does not include nodes that overlap with other independent areas. In this example, the range associated with an independent area does not overlap with the range associated with other independent areas. An independent area corresponds, for example, to a room in the facility. In an independent area, a mobile unit 2 mainly performs activities such as providing services. A bridge area is an area that includes nodes that overlap with other areas. A bridge area, for example, shares nodes with an independent area. A bridge area may also share nodes with other bridge areas. The range associated with a bridge area is set, for example, to span the ranges associated with multiple independent areas. This indicates that a mobile unit 2 can travel between these areas. A bridge area corresponds, for example, to a corridor, room entrance / exit, gate, or door in a facility. In a bridge area, a mobile unit 2 mainly performs activities such as moving between independent areas. A bridge area may include nodes that do not overlap with other areas.

[0055] The facility information management unit 15 manages information such as facility nodes and areas as a hypergraph. A hypergraph is an extended concept of a graph. A graph defines a set of nodes (vertices) and a set of edges (lines), and has the mathematical effect of specifying one edge to specify a pair of two nodes from the set of nodes. On the other hand, a hypergraph defines a set of nodes (vertices) and a set of hyperedges (lines), and has the mathematical effect of specifying one hyperedge to specify a subset of two or more nodes from the set of nodes. That is, while a graph defines a pair of nodes as an edge, a hypergraph defines a set of nodes as a hyperedge. Hypergraphs and operation subgraphs (described later) define "hyperedges" or "edges" representing connections between nodes for "nodes" representing locations, while operation graphs (described later) define "hyperedges," which represent areas, as vertices and "edges" representing connections between hyperedges. Figure 3 shows an example of a hypergraph managed by the facility information management unit 15. A hypergraph includes multiple nodes and multiple hyperedges, each of which is a set of nodes. Each hyperedge corresponds to an area in the facility. In this example, nodes included in only one area are indicated by black circles. Nodes shared by multiple areas are indicated by white circles. Hyperedges corresponding to independent areas are indicated by dashed ellipses. Hyperedges corresponding to bridge areas are indicated by solid ellipses. That is, areas B, D, G, I, and K are hyperedges corresponding to independent areas, while areas A, C, E, F, H, J, L, M, and N are hyperedges corresponding to bridge areas. Here, for example, area D is adjacent to areas C and E so that mobile units 2 can travel between these areas. Area D shares nodes with areas C and E, respectively. Here, for example, area A is adjacent to area B so that two mobile units 2 can travel between area A and area B at the same time. Here, for example, area D is adjacent to area F so that up to one mobile object 2 can travel between two points at the same time.

[0056] As shown in FIG. 4 , a travel subgraph is set for each facility. The travel subgraph is managed by the facility information management unit 15 of the facility server 12, for example. The travel subgraph represents the passability or passability weight between nodes within each area. The passability weight between nodes represents, for example, the cost value for passing between the nodes in route search, etc. The passability weight between nodes may correspond to, for example, the physical distance between the corresponding points of the nodes, or may be a value set as a constraint on the movement of the mobile object 2. Different passability weights between nodes may be set for, for example, the outbound and inbound routes. Furthermore, the travel subgraph may represent the passability based on the connection between the nodes, or may represent the impossibility of passing between the nodes by setting the passability weight between the nodes sufficiently large. The facility information management unit 15 may manage multiple travel subgraphs according to the characteristics of the area, for example. The travel subgraph is, for example, a directed graph whose elements are edges, which are an ordered pair of two nodes, the start and end points. In this example, the traffic subgraph includes a main line graph as a subgraph that passes through multiple nodes in a single stroke. Nodes at both ends of the main line graph are, for example, nodes shared by multiple areas. The traffic subgraph is an example of a traffic rule that is preset in a facility.

[0057] The traffic management unit 16 may generate and output an evacuation command for the mobile unit 2 when, for example, the mobile unit 2 may interfere with another mobile unit 2 or a user who is a person in the facility. In this case, part or all of the operation subgraph may be an arbitration graph to accommodate non-stationary behavior such as an evacuation command. The arbitration graph includes a subordinate graph as a subgraph, which represents a branch from the main line graph when, for example, an evacuation command is given. The subordinate graph is a directed graph having edges that are ordered pairs, for example, between the start or end node of an edge in the main line behavior graph and a node that moves when, for example, an evacuation command is given. The subordinate graph may include edges between nodes that move when an evacuation command is given. The arbitration graph may include multiple subordinate graphs. In this example, the edges of the main line graph included in the arbitration graph are represented by solid arrows. Furthermore, the edges of the subordinate graph included in the arbitration graph are represented by dashed arrows.

[0058] The facility information management unit 15 generates an operation graph from the facility's hypergraph. The operation graph is, for example, an undirected graph representing the adjacency relationships between areas in the facility. The operation graph has a graph structure in which each area is a vertex, and when two different areas share a node, the two different areas are connected by an edge. In this example operation graph, the vertex corresponding to area D is connected by an edge to each of the vertices corresponding to areas C, E, and F. The facility information management unit 15 manages information by treating the node shared by the two different areas as a common node. Furthermore, the facility information management unit 15 manages information by treating a set including one or more common nodes included in the two different areas as a common area of ​​the two different areas. The common area is, for example, a set including one common node. The common area is, for example, a set of common nodes representing exclusive points in two areas where multiple mobile units 2 cannot travel simultaneously, or a power set of the above sets. When two different regions share multiple nodes in an operation graph, the two different regions may be connected by edges corresponding to the number of common regions. In this example operation graph, the number of common regions between region A and region B is one or two, and the vertex corresponding to region A and the vertex corresponding to region B are connected by one or two edges.

[0059] The traffic management unit 16 generates a traffic graph based on the operation graph and the traffic subgraph. For example, the traffic management unit 16 generates the traffic graph by applying a traffic subgraph to each of the areas that are vertices of the traffic graph, depending on the properties of the area. The traffic graph makes it possible to express a graph that connects any nodes in a facility, including nodes that are included in different areas.

[0060] For example, the behavior planning unit 11 of the mobile server 10 plans the behavior of the mobile object 2 in a facility. The behavior planning unit 11 generates, for example, a travel plan, which is a plan for the mobile object 2 to move from one location to another in the facility. The behavior planning unit 11 generates the travel plan based on information such as an operation graph acquired from the facility information management unit 15 of the facility server 12. The travel plan may be generated for each movement, or may be set in advance in an operation plan, for example. The travel plan is, for example, a sequence containing, in order as components, areas that the mobile object 2 passes through when moving from a departure point area to a destination area in the facility. In this case, the travel plan becomes a route on the operation graph from the departure point area to the destination area. The mobile server 10 transmits the travel plan generated by the behavior planning unit 11 to the facility server 12 and requests a command for movement between nodes in the facility.

[0061] The traffic management unit 16 of the facility server 12 generates a command for the mobile unit 2 regarding movement between nodes in the facility based on the travel plan of the mobile unit 2 received from the mobile unit server 10. The traffic management unit 16 generates the operation graph, for example, by applying an operation subgraph to each vertex of a route on the operation graph. Alternatively, the traffic management unit 16 may generate the operation graph by applying an operation subgraph to vertices in a predetermined range before and after a vertex corresponding to the area where the mobile unit 2 is currently located on the route on the operation graph. Alternatively, the traffic management unit 16 may generate the operation graph by applying an operation subgraph to all vertices on the operation graph. The traffic management unit 16 may generate the operation graph by other methods. Alternatively, the traffic management unit 16 may apply an arbitration graph to the vertices of the operation graph. The traffic management unit 16 transmits the generated operation graph to the mobile unit server 10 as a movement command.

[0062] The behavior planning unit 11 of the mobile server 10 generates a behavior plan for the mobile object 2 based on the operation graph received from the facility server 12. The behavior plan for the mobile object 2 includes, for example, multiple edges that the mobile object 2 traverses when traveling from a departure point to a destination point in a facility. In this case, the behavior plan is a subgraph of the operation graph from the departure point to the destination point. Alternatively, the behavior plan may be a subgraph of the operation graph that corresponds to a predetermined range of areas before and after a vertex corresponding to the area where the mobile object 2 is currently located on the route on the operation graph. The behavior plan may include, for example, a steady-state behavior graph that passes through multiple nodes in a single stroke, based on a main line graph of the operation subgraph fitted to the operation graph. Nodes at both ends of the steady-state behavior graph may correspond, for example, to the departure point and the destination point. The node at one end of the steady-state behavior graph may correspond, for example, to the current location of the mobile object 2. The node at one end of the steady-state behavior graph may correspond, for example, to a node corresponding to a location through which the mobile object 2 passes on its way to the destination point. The behavior plan may include, as a subgraph, a non-stationary behavior graph that represents a branch from the stationary behavior graph based on a follower graph of the arbitration graph fitted onto the operation graph. The behavior planning unit 11 may generate a behavior plan, for example, every time the mobile object 2 enters a new area.

[0063] The mobile object 2 moves between points corresponding to nodes in the facility based on an action plan received from the mobile object server 10. The action control unit 9 of the mobile object 2 moves from the start node on the edge of the action plan to the end node by the driving unit 7 while dynamically avoiding obstacles detected during movement between nodes, for example, based on the measurement results of the measurement unit 6.

[0064] Next, an example of the division of functions in the traffic control system 1 will be described with reference to Fig. 5. Fig. 5 is a diagram illustrating an example of the division of functions in the traffic control system 1 according to the first embodiment.

[0065] The traffic control system 1 has a node management function, an area management function, a traffic rule management function, and an arbitration function for facilities. The node management function is a function for registering, deleting, updating, maintaining, and otherwise managing information about nodes in a facility. The information managed by the node management function includes, for example, information about identifiers that identify nodes, information about locations corresponding to the nodes, and information about node attributes possessed by the nodes. The area management function is a function for registering, deleting, updating, maintaining, and otherwise managing information about areas in a facility. The information managed by the area management function includes, for example, information about which nodes each area includes as elements, information about the extent of the facility that each area corresponds to, and information about the extent of each area overlapping with other areas. The area management function includes an independent area management function that manages information about independent areas and a bridge area management function that manages information about bridge areas. The traffic rule management function is a function for registering, deleting, updating, maintaining, and otherwise managing information about traffic rules set in a facility. The arbitration function is a function that generates and outputs commands such as arbitration of movement between multiple mobile objects 2 in a facility, and generates and outputs commands to facility devices that work in conjunction with the mobile objects 2.

[0066] In the traffic control system 1, a device that realizes the node management function, area management function, traffic rule management function, and arbitration function is called a facility management device. The facility management device may be a device consisting of a single or multiple server computers, or some or all of the facility management device may be realized by other devices. Some or all of the functions of the facility management device are realized, for example, by the facility server 12. The node management function, area management function, and traffic rule management function are realized, for example, by the facility information management unit 15. The arbitration function is realized, for example, by the traffic management unit 16.

[0067] The traffic control system 1 has, with respect to the mobile object 2, an action planning function, an equipment coordination function, a movement processing function, and a service execution function. The action planning function is a function that causes the mobile object 2 to move sequentially through nodes within a facility and execute a specific operation at each node. The function that the mobile object 2 executes at a node is performed, for example, based on information about the nodes at the start and end of the edge along which the mobile object 2 moves. The equipment coordination function is, for example, a function that executes coordination between the mobile object 2 and equipment in the facility. The movement processing function is, for example, a function that moves the mobile object 2 using its drive unit 7 or the like in accordance with movement instructions given by the action planning function. The service execution function is a function that causes the mobile object 2 to provide a service.

[0068] In the traffic control system 1, a device that realizes the behavior planning function, facility cooperation function, movement processing function, service execution function, etc. for a mobile object 2 is referred to as a mobile object management terminal device. The mobile object management terminal device may be a device consisting of a single or multiple server computers, or some or all of the functions of the mobile object management terminal device may be realized by other devices, etc. Some or all of the functions of the mobile object management terminal device are realized, for example, by the mobile object server 10 and the mobile object 2. The behavior planning function and facility cooperation function are realized, for example, by the behavior planning unit 11 and the behavior control unit 9, etc. The movement processing function and service execution function are realized, for example, by the behavior control unit 9, etc.

[0069] The traffic control system 1 has an operation graph management function, a traffic graph management function, and an arbitration graph management function. The operation graph management function is a function that registers, deletes, updates, maintains, and otherwise manages information about operation graphs. The operation graph management function includes, for example, a function for generating an operation graph based on a hypergraph. The traffic graph management function is a function that registers, deletes, updates, maintains, and otherwise manages information about operation graphs. The traffic graph management function includes, for example, a function for generating a traffic graph by applying a traffic subgraph to an operation graph. The arbitration graph management function is a function that registers, deletes, updates, maintains, and otherwise manages information about arbitration graphs. The traffic control system 1 may have a traffic subgraph management function that registers, deletes, updates, maintains, and otherwise manages information about traffic subgraphs. The traffic subgraph management function may include an arbitration graph management function. Part or all of the traffic subgraph management function may be included in the traffic rule management function.

[0070] The traffic control system 1 has a route generation function and a traffic rule application function. The route generation function is a function that interprets the flow lines within a facility in a graph structure and generates a route for the mobile unit 2 to travel. The route generation function includes, for example, generating a route on an operation graph and generating a route on a travel graph. The traffic rule application function is a function that determines the passage of the mobile unit 2 between areas and the possibility or weight of passage of the mobile unit 2 between nodes in accordance with preset traffic rules. The traffic control system 1 is also equipped with a time-hierarchical information management database. The time-hierarchical information management database is a database that classifies and stores data managed in the traffic control system 1 according to a time hierarchy that represents the frequency of information updates.

[0071] In the traffic control system 1, a device that realizes the operation graph management function, the operation graph management function, the arbitration graph management function, the route generation function, the traffic rule application function, and the time-hierarchical information management database is referred to as a traffic management device. The traffic management device may be a device consisting of a single or multiple server computers, or some or all of the traffic management device may be realized by other devices. Some or all of the functions of the traffic management device are realized, for example, by the facility server 12 and the mobile server 10. The operation graph management function, the operation graph management function, and the arbitration graph management function are realized, for example, by the facility information management unit 15. The route generation function and the traffic rule application function are realized, for example, by the facility information management unit 15 and the action planning unit 11. Data in the time-hierarchical information management database is stored, for example, in the memory unit 4b and the memory unit 4c. Management of the classification, reading, writing, and other operations of the data in the time-hierarchical information management database is realized, for example, by the calculation unit 3b and the calculation unit 3c including the facility information management unit 15.

[0072] It should be noted that the division of functions in the traffic control system 1 is not limited to those exemplified here. For example, depending on the entity that manages the related information, some or all of the functions for managing the information may be realized by a server computer or the like managed or used by the entity that manages the information.

[0073] Next, an example of a time hierarchy for classifying information in the traffic control system 1 will be described with reference to Fig. 6. Fig. 6 is a diagram for explaining an example of a time hierarchy for classifying information in the traffic control system 1 according to the first embodiment.

[0074] In the traffic control system 1, data to be managed is classified and managed according to a time hierarchy. The time hierarchy is a classification based on, for example, the update frequency of information and the update frequency of judgments. In the time hierarchy, a hierarchy with a longer update frequency may be represented as a higher hierarchy.

[0075] The information update frequency in the traffic control system 1 includes, for example, the operation update frequency, the operation update frequency, and the measurement update frequency. The operation update frequency corresponds to, for example, the update frequency of the service provision form, such as the service provision location and schedule, provided by the mobile object 2. The operation update frequency corresponds to, for example, the provision time of each service provided by the mobile object 2. The provision time of each service provision corresponds to, for example, the time required from the start to the completion of service provision by the mobile object 2, or the travel time from the departure point to the arrival point of the mobile object 2. The measurement update frequency corresponds to, for example, the frequency of measurements by the measurement unit 6 in the mobile object 2. The judgment update frequency in the traffic control system 1 includes, for example, the operation judgment update frequency, the operation judgment update frequency, and the behavior control update frequency. The operation judgment update frequency corresponds to, for example, the frequency of management of facility nodes and areas and management of traffic rules. The operation judgment update frequency corresponds to, for example, the frequency of management of facility operation graphs and generation of operation routes for the mobile object 2. The update frequency of the behavioral determination corresponds to, for example, the frequency of management of arbitration between multiple moving bodies 2 and management of autonomous movement of the moving bodies 2. The update frequency of the behavioral control corresponds to, for example, the frequency of movement processing of the moving bodies 2.

[0076] The data classified by time hierarchies in the traffic control system 1 includes, for example, static data, semi-static data, semi-dynamic data, and dynamic data. The traffic control system 1 sequentially updates the data acquired according to each time hierarchies. The update frequency of the information corresponds to the time hierarchies of the classified data. The traffic control system 1 sequentially makes judgments from the data provided according to each time hierarchies. The update frequency of the judgments corresponds to the time hierarchies of the classified data.

[0077] Static data is, for example, data that changes at a frequency similar to or less than the frequency of operational updates. Static data is, for example, data that changes during the maintenance period of a facility or facility equipment, or a mobile object 2, or at a longer cycle. Static data is, for example, data that changes monthly or at a longer cycle. Static data is referenced when updating operational decisions. Changes in static data affect, for example, the vertices of an operational graph.

[0078] Semi-static data is, for example, data that changes more frequently than the operation update frequency but less frequently than the operation update frequency. Semi-static data is, for example, data that changes at a cycle similar to the startup time of equipment in a mobile body 2 or a facility. Semi-static data is, for example, data that changes at a cycle of about one day to one week. Semi-static data is referenced when updating operation decisions. Changes in quasi-static data affect, for example, the edges of an operation graph or the vertices of a operation graph. Semi-static data is, for example, data about processing that does not require judgment by the traffic management unit 16 when the mobile body 2 moves from the start node to the end node on the edge of the action plan.

[0079] Semi-dynamic data is, for example, data that changes more frequently than the update frequency of operation but less frequently than the update frequency of measurement. Semi-dynamic data is, for example, data that changes at a period approximately equal to the time it takes for each service to be provided by the mobile body 2. Semi-dynamic data is, for example, data that changes at a period of several seconds to one hour. Semi-dynamic data is referenced when updating behavioral decisions. Changes in semi-dynamic data affect, for example, the edges of the operation graph. Semi-dynamic data is, for example, data regarding processing that requires a decision by the traffic management unit 16 when the mobile body 2 moves from the start node to the end node on the edge of the behavior plan.

[0080] Dynamic data is, for example, data that changes at a measurement update frequency or more frequently. Dynamic data is, for example, data that changes at a cycle similar to the control cycle of the mobile body 2. Dynamic data is, for example, data that changes at a cycle of less than one second. Dynamic data is referenced when updating behavioral control. Changes in dynamic data affect, for example, the real-time operation of the mobile body 2. Dynamic data is, for example, data regarding processing that requires judgment by the behavior control unit 9 of the mobile body 2 when the mobile body 2 moves from the start node to the end node on the edge of the behavior plan.

[0081] As static data, for example, facility structure data is input to the facility server 12 by a facility manager or the like. The facility information management unit 15 of the facility server 12 sets the area of ​​the facility using an area management function based on the input data. In addition, an operation definition of the mobile object 2 is input to the facility server 12 by a mobile object 2 manager or the like. In addition, the facility information management unit 15 of the facility server 12 performs settings such as node allocation in the facility using a node management function based on the input data. In addition, traffic rules for the facility are input to the facility server 12 by a facility manager or the like. In addition, the facility information management unit 15 of the facility server 12 performs settings such as operation subgraphs using a traffic rule management function based on the input data.

[0082] As quasi-static data, for example, an operation plan is input to the mobile server 10 by an administrator of the mobile unit 2. The behavior planning unit 11 of the mobile server 10 generates a behavior plan for the mobile unit 2 based on the input data using a travel graph management function, a route generation function, and the like. The mobile server 10 also provides the behavior plan to the mobile unit 2. The mobile unit 2 executes a movement processing function and a service execution function.

[0083] As semi-dynamic data, for example, the usage status of equipment installed in a facility is input to facility server 12 by the equipment. In addition, information such as the current location of mobile units 2 is input to facility server 12 by mobile server 10 or the like. Based on the input data, traffic management unit 16 of facility server 12 mediates the movements of multiple mobile units 2 using an arbitration function or the like. Based on the input data, behavior planning unit 11 of mobile server 10 coordinates the mobile units 2 and the equipment using an equipment coordination function or the like.

[0084] As dynamic data, for example, gaps in an area and the usage status of facility equipment are input to the behavior control unit 9 by the measurement unit 6 of the mobile object 2. Based on the input data, the behavior control unit 9 autonomously changes the reference from an edge of the main line graph to an edge of the subordinate line graph using a non-stationary behavior graph or the like.

[0085] Next, an example of cooperation between facility equipment and the mobile object 2 in a facility will be described with reference to FIGS. 7 and 8. FIG.

[0086] FIG. 7 is a sequence diagram showing an example of cooperation between the mobile object 2 and facility equipment via the traffic control system 1 according to the first embodiment.

[0087] This example illustrates an example of cooperation with a passage facility device having a door through which the mobile object 2 can pass. The passage facility device includes, for example, an automatic door or gate installed in the facility. The passage facility device may also be, for example, an elevator system device including a car with a door. The passage facility device communicates with the traffic control system 1, for example, via a communication network 8. The passage facility device may be an internal device included in the traffic control system 1 or an external device linked to the traffic control system 1. The passage facility device affects the movement range of the mobile object 2 within the facility. The passage facility device, for example, manages the open and closed states of doors and acts on the range or boundary of the facility. The passage facility device may also be, for example, traffic management software that is virtually installed within a specific area of ​​the facility.

[0088] The range of the facility including the traffic facility equipment is set to correspond to the bridge area. This range includes, for example, the space in front of and behind a door or the like. For example, if the traffic facility equipment has an internal space, such as an elevator car, this range includes the internal space. The state of the facility equipment, such as the opening and closing of a door, is linked to an arbitration function such as the traffic management unit 16 of the traffic control system 1. The traffic rules managed by the facility information management unit 15 of the traffic control system 1 include, for example, information such as the correspondence between the operations of the mobile unit 2 and the traffic facility equipment on an operation graph. The correspondence between the operations of the mobile unit 2 and the traffic facility equipment is described, for example, by a state transition diagram or finite state machine that includes both the states of the mobile unit 2 and the traffic facility. The traffic control system 1 simultaneously manages the state transitions of the mobile unit 2 and the traffic facility equipment.

[0089] The facility equipment is in normal operation before linking with the mobile object 2 (step S701). Normal operation is, for example, the operating state of the facility equipment during normal times when it is available for use by facility users.

[0090] The mobile unit 2 requests the traffic control system 1 to pass through a door (step S702). Upon receiving the passage request from the mobile unit 2, the traffic control system 1 checks the operation status of the facility equipment (step S703). Upon receiving the operation status confirmation from the traffic control system 1, the facility equipment begins cooperation with the mobile unit 2. The facility equipment responds with its operation status to the traffic control system 1 (step S704). The operation status includes, for example, information such as whether cooperation with the mobile unit 2 is possible, whether the mobile unit 2 is allowed to pass through, and whether the facility equipment is occupied by other mobile units or users. In this example, the facility equipment responds with its operation status indicating that cooperation and passage by the mobile unit 2 are possible. After receiving the response from the facility equipment, the traffic control system 1 specifies the door of the facility equipment to be used by the mobile unit 2 (step S705). For example, if only one door is available for the facility equipment, the traffic control system 1 may omit specifying the door. The door is specified, for example, by specifying a node corresponding to a point in front of the door.

[0091] The mobile object 2 moves along an edge whose end point is the node corresponding to the point in front of the specified door so that it can pass through the specified door (step S706). The mobile object 2 waits at the end node. During this time, the facility equipment performs a door-opening process (step S707). The door-opening process may include, for example, unlocking the lock if the door is equipped with a lock. When the facility equipment completes the door-opening process, it notifies the traffic control system 1. After the facility equipment completes the door-opening process, the traffic control system 1 notifies the mobile object 2 of permission to pass (step S708). The traffic control system 1 may omit step S708 within the scope defined by the traffic rules.

[0092] After receiving the notification of permission to pass, the mobile object 2 checks whether the door is actually open, for example, based on the measurement results of the measurement unit 6 (step S709). After checking that the door is open, the mobile object 2 moves to pass through the door, for example, following an edge starting from a node corresponding to a point in front of the door (step S710). After passing through the door, the mobile object 2 notifies the traffic control system 1 of the completion of passage (step S711). The mobile object 2 may omit step S709 within the scope defined by traffic rules.

[0093] After receiving the notification that the moving object 2 has completed its passage, the traffic control system 1 determines whether the moving object 2 has completed its passage normally (step S712). When the traffic control system 1 confirms that the passage has been completed normally, the traffic control system 1 notifies the facility equipment of the completion of the passage. After receiving the notification of the passage completion from the traffic control system 1, the facility equipment returns to normal operation (step S713). If the traffic control system 1 can determine whether the passage has been completed normally through a means in which the traffic control system 1, the facility equipment, or a third facility equipment detects the completion of the moving object 2's passage, the traffic control system 1 may omit step S711 and execute step S712 within the scope defined by the traffic rules. The facility equipment may execute step S713 after a certain time has elapsed within the scope defined by the traffic rules. Alternatively, the facility equipment may execute step S713 in accordance with rules for maintaining the safety of the facility. For example, if the traffic control system 1 checks the state of the equipment to see if step S713 is performed before step S712 is executed, it notifies the mobile object 2 that normal passage is not occurring and that a transition to non-regular processing is to be made.

[0094] Fig. 8 is a sequence diagram showing an example of cooperation between a mobile object 2 and facility equipment via the traffic control system 1 according to embodiment 1. Fig. 8 shows an example of a case where an unsteady action is performed, such as a response to an evacuation command.

[0095] For example, after a passage request, the mobile object 2 waits for a command from the traffic control system 1 on a facility node (step S801). The traffic control system 1 updates graph information such as an operation graph and a navigation graph (step S851). The graph information is updated, for example, by the facility information management unit 15, the traffic management unit 16, and the behavior planning unit 11. The traffic control system 1 manages the state transitions of the mobile object 2 and the facility equipment based on the acquired graph information, information on the state of the mobile object 2, and information on the state of the facility equipment (step S852).

[0096] The traffic control system 1 performs pre-movement coordination processing for the mobile object 2 (step S853). The pre-movement coordination processing includes, for example, processing for moving the mobile object 2 according to the steady-state behavior graph. For example, the traffic control system 1 outputs a command to the mobile object 2 specifying an edge on the steady-state behavior graph, so that the mobile object 2 moves along the edge starting from the node where the mobile object 2 is currently located. The mobile object 2 sets a movement target based on the command specifying the edge from the traffic control system 1 (step S802). The movement target is set, for example, by the behavior control unit 9. The mobile object 2 sets, for example, the node at the end of the specified edge as the movement target. The mobile object 2 starts moving to the set movement target by the drive unit 7 or the like (step S803).

[0097] The traffic control system 1 performs processing for coordination during movement of the mobile object 2 (step S854). The processing for coordination during movement includes, for example, issuing a command to the mobile object 2 to perform unsteady behavior when a situation arises in which the mobile object 2 may perform unsteady behavior, such as when the mobile object 2 may interfere with other mobile objects or users. Unsteady behavior includes, for example, evacuation to an evacuation location. When an unsteady behavior situation arises, the traffic control system 1 outputs a command to the mobile object 2 specifying an edge of the unsteady graph so that the mobile object 2 can evacuate by branching off from the steady behavior graph. When the mobile object 2 receives the command specifying the edge, it resets its movement target and begins moving to the reset movement target. On the other hand, when the mobile object 2 arrives at the end point of the edge without encountering an unsteady behavior situation, the traffic control system 1 performs processing for post-movement coordination of the mobile object 2 (step S855). The processing for post-movement coordination includes, for example, determining whether the mobile object 2 has completed its movement on the steady behavior graph. When the moving object 2 has not completed its movement on the steady-state behavior graph, the traffic control system 1 sets a new node starting from the node where the moving object 2 is currently located, and performs the pre-movement coordination process again.

[0098] For example, when the mobile object 2 receives a stop command from the traffic control system 1, it stops moving along the specified edge (step S804). Thereafter, the mobile object 2 waits at its current position or at a nearby node. On the other hand, when the mobile object 2 completes its movement without receiving a stop command, it performs an arrival process at the end point of the edge (step S805). The arrival process includes, for example, notifying the traffic control system 1 of an arrival report. Thereafter, the mobile object 2 may wait again for a command from the traffic control system 1.

[0099] The cooperation between the mobile object 2 and the facility equipment may include the facility equipment detecting the approach of the mobile object 2 using a sensor or the like and automatically performing an operation such as opening a door. The cooperation between the mobile object 2 and the facility equipment may also include the operation of the mobile object 2 when passing through together with a human user. For example, when the facility equipment performs an unsteady operation, the mobile object 2 needs to behave in accordance with the operation. The traffic control system 1 may be responsible for processing the cooperation regarding the behavior of the mobile object 2 in this case. The mobile object 2 holds information such as an unsteady behavior graph instructed in advance via the mobile object server 10, for example. When the mobile object 2 detects unsteady operation of the facility equipment based on the measurement results of the measurement unit 6, the mobile object 2 may spontaneously transition to movement on the unsteady behavior graph. When the mobile object 2 detects interference with a user or unsteady operation of the user based on the measurement results of the measurement unit 6, the mobile object 2 may spontaneously transition to movement on the unsteady behavior graph. For example, when the mobile object 2 spontaneously transitions to movement on the unsteady behavior graph, the mobile object 2 notifies the traffic control system 1 of this fact via, for example, the mobile object server 10 or the like.

[0100] The traffic control system 1 may also determine the state of a door being open or closed based on the detection results of a sensor or the like provided on the facility equipment. The traffic control system 1 may also determine a situation in which the mobile object 2 should perform an unsteady behavior based on a user's operation or the like. The user's operation includes, for example, operating an emergency stop switch provided on the mobile object 2 or the facility equipment.

[0101] Next, other examples of cooperation between facility equipment and the mobile object 2 in a facility will be described with reference to FIGS. 9 to 13. FIG.

[0102] FIG. 9 is a perspective view showing an example of facility equipment that cooperates with the mobile object 2 in the traffic control system 1 according to the first embodiment.

[0103] In the traffic control system 1, the mobile object 2p is linked to an elevator system as equipment installed in the facility. An elevator shaft for the elevator system is installed in the facility. The shaft is a space spanning multiple floors of the facility. The shaft is adjacent to landings installed on each floor of the facility. The elevator system includes one or more cars, each with a door. The elevator system transports passengers boarding the car from the landings or the mobile object 2 between multiple floors of the facility by moving the car up and down in the shaft. The shaft and landings are separated by landing doors. The landing doors open and close in conjunction with the car doors when the car arrives at the landing floor. The elevator system may include a control device that manages the allocation of passenger calls to be answered by the car. The control device may be composed of one or more computers connected to a communication network 8 via a communication device, for example. Some or all of the functions of the control device may be included in the facility server 12. In this example, the control device of the elevator system communicates with the facility server 12 and processes cooperation with the mobile unit 2p.

[0104] A moving object 2p passes through the landing door from a hall and boards a car of an elevator system. In this example, a moving object 2q is already in the car. In this example, the moving objects 2p and 2q can board the same car of the elevator system. In this example, the moving object 2q is already in the car. When the moving objects 2p and 2q can board the same car of the elevator system, the traffic control system 1 commands the moving objects 2p and 2q to cooperate and performs boarding procedures or disembarking procedures. Note that the moving object 2q does not have to be already in the car. When the moving objects 2p and 2q cannot board the same car of the elevator system, the traffic control system 1 performs a typical elevator boarding procedure, for example, giving priority to the disembarking of the moving object 2q and having the boarding of the moving object 2p wait.

[0105] FIG. 10 is a diagram illustrating an example of state transitions of facility equipment in a facility according to the first embodiment.

[0106] The states of the equipment include an open-door state and a closed-door state. The open-door state and the closed-door state transition between them by opening and closing the doors of the equipment. The traffic control system 1 or the equipment may correspond the attributes of the open-door state and the closed-door state of the equipment when transitioning. In this example, the open-door state of the equipment includes the attributes of the hall floor, and the closed-door state of the equipment includes the attributes of the car floor. When transitioning from the closed-door state to the open-door state, the traffic control system 1 or the equipment corresponds the attributes of the car floor in the closed-door state with the attributes of the hall floor. When the transition from the closed-door state to the open-door state can be predicted in advance, the traffic control system 1 or the equipment may correspond the attributes of the car floor in the open-door state with the closed-door state of the floor to which the transition is scheduled to occur before the transition from the closed-door state to the open-door state. In this example, the open-door state and the closed-door state of the equipment may include the attributes of the door position. When transitioning from a closed-door state to an open-door state, the traffic control system 1 or the facility equipment corresponds the attribute of the door position in the open-door state to the attribute of the door position in the closed-door state.

[0107] Fig. 11 is a diagram showing an example of state transition of the moving object 2p according to embodiment 1. Fig. 11 shows an example of state transition of the moving object 2p involved in passing through the door shown as step S710.

[0108] The states of the moving body 2p include a state in which it is in area A, a state in which it is in area B, and a state in which it is in area C. Area A is an area corresponding to the range in which the moving body 2p is located before moving. Area A is, for example, the area of ​​the departure floor when the moving body 2p uses the elevator system. Area B is an area corresponding to the range of destinations that the moving body 2p intends to move to. Area B is, for example, the area of ​​the destination floor when the moving body 2p uses the elevator system. Area C is an area corresponding to the range of destinations that the moving body 2p does not intend to move to. Area C is, for example, the area of ​​an intermediate floor between the departure floor and the destination floor when the moving body 2p uses the elevator system.

[0109] The state of the moving body 2p includes a state in which the moving body 2p is in a bridge area corresponding to a range including the elevator car, which is an equipment. The moving body 2p has waiting and moving states in the bridge area. The waiting and moving states of the moving body 2p in the bridge area transition based on, for example, the measurement results of the measurement unit 6 of the moving body 2p and commands from the traffic control system 1. The state of the moving body 2p includes states of entering and exiting through doors between the bridge area and areas A, B, and C and the area. In this example, the traffic control system 1 notifies the moving body 2 of the attributes of the floor of the landing where the door of the equipment is open in step S853, and the moving body 2 may set one of areas A, B, or C as a target based on the attributes of the floor of the landing where the door is open when exiting the door. In this example, the traffic control system 1 may notify the moving body 2 of the attributes of the door position of the equipment where the door is open when the moving body 2p enters the door from area A to the bridge area. Furthermore, the traffic control system 1 may notify the mobile unit 2 of the attributes of the door position of the facility equipment in a closed state when the mobile unit 2p exits the door from the bridge area to area B or area C. The mobile unit 2 may enter a moving state in the bridge area and rotate based on the attributes of the door position when entering the door and the attributes of the door position when exiting the door. Alternatively, if the mobile unit 2 commands the drive unit 7 to move in the forward direction when entering the door, it may command the drive unit 7 to move in the backward direction when exiting the door. Generally, the measurement unit 6 is positioned differently for the forward direction and the backward direction, and the drive unit 7 is configured to suppress movement in the backward direction. Therefore, when the mobile unit 2p commands the drive unit 7 to move in the backward direction, unsafe control may be instructed to the drive unit 7, which may hinder safe operation and efficient driving. In this example, the traffic control system 1 manages the behavior planning unit 11 of the mobile unit 2 based on the state of the facility equipment, and appropriately sets commands to the drive unit 7 when entering the door, moving to the bridge area, and exiting the door, thereby achieving safe operation and efficient driving. Here, in the movement of the bridge area, processing is determined based on traffic rules determined from the characteristics of the moving object 2 p. In a facility, the attribute of the position of the door of an equipment in an open state may differ depending on the attribute of the floor.In this example, the traffic control system 1 determines whether or not to omit the above-mentioned processing within the scope defined by the traffic rules, and manages the behavior planning unit 11 of the mobile object 2 .

[0110] The state transition of the moving body 2p includes a non-steady state transition, for example, assigning the state of area C to the state of area A or the state of area B.

[0111] 12 is a diagram illustrating an example of state transition of a moving object 2q according to the first embodiment. The moving object 2q has a function of autonomously determining and suspending a car boarding procedure or a disembarking procedure. The traffic control system 1 may control cooperation with facility devices based on the result of the determination of the moving object 2q within the scope defined by traffic rules.

[0112] The state of the moving body 2q includes a state in which it is in area A' and a state in which it is in area B'. Area A' is an area corresponding to the range in which the moving body 2q is located before moving. Area A' is, for example, the area of ​​the departure floor when the moving body 2q uses the elevator system. Area B' is an area corresponding to the range of the destination to which the moving body 2q is intended. Area B' is, for example, the area of ​​the destination floor when the moving body 2q uses the elevator system.

[0113] The state of the moving object 2q includes a state in which it is in a bridge area corresponding to a range including the car of an elevator system, which is a facility equipment. The moving object 2q has a waiting and moving state in the bridge area. The waiting and moving states of the moving object 2p in the bridge area transition based on, for example, the measurement results of the measurement unit 6 of the moving object 2p and commands from the traffic control system 1. The state of the moving object 2q includes a state of entering and exiting through doors between the bridge area and areas A' and B'.

[0114] The state of the moving body 2q includes an entry judgment state that determines whether or not it is possible to enter the bridge area through the door. If it is determined that entry is not possible, the moving body 2q remains in area A'. If it is determined that entry is possible, the moving body 2q enters the bridge area through the door. The state of the moving body 2q includes an exit judgment state that determines whether or not it is possible to exit from the bridge area through the door. If it is determined that exit is not possible, the moving body 2q remains in the bridge area. If it is determined that exit is possible, the moving body 2q exits the bridge area through the door.

[0115] FIG. 13 is a sequence diagram showing an example of cooperation between a mobile object 2p and facility equipment via the traffic control system 1 according to the first embodiment.

[0116] The mobile object 2p transmits a passage request to the traffic control system 1. The passage request includes, for example, a request for a command to enter through a door into a bridge area corresponding to the range of the elevator system car.

[0117] The traffic control system 1 determines that the moving object 2p is permitted to enter based on the state of the elevator system, etc. The traffic control system 1 notifies the moving object 2p of permission to pass. The traffic control system 1 also outputs a door-open command for the car doors. In response to the door-open command, the car doors open together with the hall doors at the departure floor of the moving object 2p.

[0118] The moving object 2p transitions to a door-entering state upon receiving permission to pass from the traffic control system 1. The moving object 2p detects the opening of the car and hall doors, for example, based on the measurement results of the measurement unit 6. The moving object 2p passes through the open door and enters the car from the hall at the departure floor. The moving object 2p then notifies the traffic control system 1 that it has completed its passage. The moving object 2p then transitions to a state in the bridge area.

[0119] After receiving a passage completion notification from the moving body 2p, the traffic control system 1 outputs a door close command for the car doors. In response to the door close command, the car doors close together with the hall doors at the departure floor of the moving body 2p. The car then departs from the departure floor of the moving body 2p, starts traveling, and arrives at the destination floor of the moving body 2q on which it is already riding. Here, the destination floor of the moving body 2q is an intermediate floor between the departure floor and destination floor of the moving body 2p. The traffic control system 1 then outputs a door open command for the car doors. In response to the door open command, the car doors open together with the hall doors at the destination floor of the moving body 2q.

[0120] The moving unit 2q detects arrival at the destination floor and the opening of the doors. The moving unit 2q detects the moving unit 2p, which is in the car and in front of the door, as an obstacle on the moving path when getting off. The moving unit 2q notifies the moving unit 2p of its intention to get off. The notification of the intention to get off may be made, for example, by an action of the moving unit 2q, such as approaching the moving unit 2p, by direct communication from the moving unit 2q to the moving unit 2p, or by communication via the traffic control system 1 or the like.

[0121] When the car arrives at the destination floor of moving unit 2q, moving unit 2p detects the door opening. Moving unit 2p detects moving unit 2q that is also riding in the car. Upon receiving notification from moving unit 2q of its intention to disembark, moving unit 2p performs evacuation as non-steady behavior. The decision to evacuate by moving unit 2p may be made based on, for example, a command from the traffic control system 1. Moving unit 2p notifies the traffic control system 1 of evacuation. Thereafter, moving unit 2p transitions to a door exit state. Since moving unit 2p has already detected the door opening, it passes through the open door and exits from inside the car to a landing at an intermediate floor.

[0122] The moving object 2q detects that the moving object 2p, which had been an obstacle on the moving path when disembarking, has moved away and the door has been opened. The moving object 2q passes through the open door and exits the car to the landing at the destination floor.

[0123] The moving object 2p, which has retreated to a landing at an intermediate floor, no longer detects the moving object 2q when the moving object 2q disembarks. At this time, the moving object 2p returns from unsteady behavior to steady behavior. The decision to return the moving object 2p may be made based on a command from the traffic control system 1, for example. The moving object 2p transitions to a door-entering state. Since the moving object 2p has already detected the door opening, it passes through the open door and enters the car from a landing at an intermediate floor. The moving object 2p then notifies the traffic control system 1 of the completion of the retreat release.

[0124] After receiving the notification of completion of the evacuation cancellation from the moving object 2p, the traffic control system 1 outputs a door-closing command for the car doors. In response to the door-closing command, the car doors close together with the hall doors.

[0125] Thereafter, the car travels to the destination floor of the moving body 2p. The moving body 2p performs the process of disembarking from the car at the destination floor in the same manner as the process of boarding the car at the departure floor.

[0126] Next, another example of cooperation between facility equipment and the mobile object 2 in a facility will be described with reference to FIGS. 14 and 15. FIG.

[0127] FIG. 14 is a plan view showing an example of facility equipment that cooperates with the mobile object 2 in the traffic control system 1 according to the first embodiment.

[0128] In the traffic control system 1, the mobile object 2 cooperates with an automatic door, which is a piece of equipment installed in the facility. The automatic door is installed at the boundary between adjacent spaces in the facility. One or both of the spaces partitioned by the automatic door may be, for example, a room or a corridor in the facility. The control device that opens and closes the automatic door may be composed of one or more computers connected to a communication network 8 via a communication device, for example. Some or all of the functions of the control device may be included in the facility server 12. In this example, the control device of the automatic door communicates with the facility server 12 and processes cooperation with the mobile object 2.

[0129] The mobile object 2 passes through the automatic door and moves from one space to another. In this example, a human user is trying to pass through the automatic door in the opposite direction to the mobile object 2. Note that the mobile object 2 may behave in the same way when another mobile object passes through the automatic door and moves from one space to another. The other mobile object may be a mobile object not under the control of the traffic control system 1.

[0130] In this example, the automatic door and the moving object 2 have transitional states similar to those shown in FIGS. 10 and 11 . Regarding the state of the moving object 2, area A is, for example, the area of ​​the room or corridor before the moving object 2 passes through the automatic door. Area B is, for example, the area of ​​the room or corridor after the moving object 2 passes through the automatic door. Area C is an area corresponding to a range of destinations that the moving object 2 does not intend. Area C is, for example, the area of ​​the room or corridor before the moving object 2 passes through the automatic door. The state of area C corresponds to a state in which the moving object 2 fails to pass through the automatic door. Areas A and C may correspond to the same area within a facility. The bridge area is, for example, an area including the entrance of the door. The bridge area corresponds to the space required for the moving object to move through the automatic door. The bridge area may include the detection range of the automatic door sensor. The bridge area includes, for example, a node corresponding to a point in front of the door on the area A side and a node corresponding to a point in front of the door on the area B side. Furthermore, when a process such as unlocking a lock is included, the bridge area includes, for example, a node corresponding to a point within the detection range where unlocking is permitted. Area C is, for example, an area that does not include the bridge area.

[0131] FIG. 15 is a sequence diagram showing an example of cooperation between a mobile object 2 and facility equipment via the traffic control system 1 according to the first embodiment.

[0132] The moving object 2 makes a decision to pass through the automatic door in area A. The decision to pass is made by the behavior control unit 9 or the like based on, for example, the measurement results of the measurement unit 6 of the moving object 2. The moving object 2 transmits a passage application to the traffic control system 1. The moving object 2 may transmit the passage application to the traffic control system 1 before arriving at the point in front of the automatic door.

[0133] The traffic control system 1 determines that the mobile object 2 is permitted to pass based on the state of the automatic door, etc. The traffic control system 1 notifies the mobile object 2 of the permission to pass. The traffic control system 1 also outputs a door open command to the automatic door. The automatic door opens upon receiving the door open command.

[0134] The moving object 2 transitions to a door-entering state upon receiving permission to pass from the traffic control system 1. The moving object 2 moves to a point in front of the automatic door. The moving object 2 transitions to a bridge area state.

[0135] During this time, the user makes an exit decision to exit area B of the moving object 2. The user moves to a point in front of the automatic door so as to pass through the open automatic door.

[0136] The moving object 2 detects a user based on, for example, the measurement results of the measurement unit 6. The moving object 2 determines that the detected user is present and therefore cannot pass through the automatic door. At this time, the moving object 2 moves and waits within the bridge area so that it can evacuate. If evacuation is not necessary, the moving object 2 may wait in place without moving. The moving object 2 may also determine that it cannot pass through the automatic door if it has received permission to pass but the automatic door does not open, or if the automatic door opens due to a time limit or the like but closes before the user can pass through. When it determines that it cannot pass through the automatic door, the moving object 2 may transition from the bridge area state to the area C state as non-steady behavior. At this time, the moving object 2 may process the door exit state between the bridge area and area C by communication processing and internal processing performed while remaining in place without moving.

[0137] A user passes through the automatic door and moves from a space on one side of the automatic door to a space on the other side.

[0138] The moving object 2 detects that the user has left the area, for example, based on the measurement results of the measurement unit 6. At this time, the moving object 2 determines that the automatic door is now open for passage. The moving object 2 moves to a point in front of the automatic door within the bridge area. When the moving object 2 is in the state of area C and determines that the automatic door is now open for passage, it may transition from the state of area C to the state of the bridge area as a return from non-steady behavior. At this time, the moving object 2 may process the door entry state between the bridge area and area C by communication processing and internal processing performed while remaining in place without moving. For example, the moving object 2 may re-perform processing such as sending a passage request when processing the door entry state.

[0139] The moving object 2 detects the opening of the automatic door based on, for example, the measurement results of the measurement unit 6. The moving object 2 transitions to a door exit state. The moving object 2 passes through the open door and moves into the range of area B. Thereafter, the moving object 2 notifies the traffic control system 1 that it has passed through.

[0140] Next, another example of cooperation between facility equipment and a mobile object 2p in a facility will be described with reference to FIGS. 16 and 17. FIG.

[0141] FIG. 16 is a plan view showing an example of facility equipment that cooperates with the mobile object 2 p in the traffic control system 1 according to the first embodiment.

[0142] In the traffic control system 1, the mobile object 2p interacts with a security gate, which is a facility device installed in the facility. The security gate is installed at the boundary between adjacent spaces in the facility. The security gate is, for example, a flapper gate that determines a forward travel direction and prevents travel in a reverse direction opposite the forward travel direction. In this example, the forward travel direction and reverse travel direction of the security gate are set each time the security gate is opened. One or both of the spaces partitioned by the security gate may be, for example, a room or a corridor in the facility. A control device that opens and closes the security gate may be, for example, one or more computers connected to a communication network 8 via a communication device. Some or all of the functions of the control device may be included in the facility server 12. In this example, the security gate control device communicates with the facility server 12 to process interaction with the mobile object 2p and the like.

[0143] A mobile object 2p passes through a security gate and moves from one space to another. In this example, another mobile object 2q is about to pass through the security gate in the opposite direction to the mobile object 2p.

[0144] In this example, the security gate, mobile object 2p, and mobile object 2q have transition states similar to those shown in FIGS. 10 to 12 . Regarding the state of the security gate, the open door state and the closed door state correspond to, for example, the open state and the closed state of a flapper or the like. Regarding the state of the mobile object 2p, area A is, for example, the area of ​​a room or a passageway before the mobile object 2p passes through the security gate. Area B is, for example, the area of ​​a room or a passageway after the mobile object 2p passes through the security gate. Area C is an area corresponding to a range of destinations that are not the intended destination of the mobile object 2p. Area C is, for example, the area of ​​a room or a passageway before the mobile object 2p passes through the security gate. The state of area C corresponds to a state in which the mobile object 2p fails to pass through the security gate. Regarding the state of the mobile object 2q, area A′ is, for example, the area of ​​a room or a passageway before the mobile object 2q passes through the security gate. Area B′ is, for example, the area of ​​a room or a passageway after the mobile object 2q passes through the security gate. The area A of the mobile unit 2p and the area B' of the mobile unit 2q may correspond to the same range within the facility. Also, the area B of the mobile unit 2p and the area A' of the mobile unit 2q may correspond to the same range within the facility.

[0145] FIG. 17 is a sequence diagram showing an example of cooperation between a mobile object 2p and facility equipment via the traffic control system 1 according to the first embodiment.

[0146] The moving object 2p makes a decision to pass through the security gate in area A. The decision to pass is made by the behavior control unit 9 or the like based on, for example, the measurement results of the measurement unit 6 of the moving object 2p. The moving object 2p transitions to a state of entering the gate. The moving object 2p transmits a passage application to the traffic control system 1.

[0147] The traffic control system 1 determines that the mobile object 2p is permitted to move up to the front of the security gate based on the state of the security gate, etc. The traffic control system 1 notifies the mobile object 2p of permission to move up to the front of the security gate.

[0148] The mobile object 2 moves to a point in front of the security gate with permission to move from the traffic control system 1. The mobile object 2p transitions to a state in the bridge area.

[0149] The traffic control system 1 requests the security gate to allow the mobile unit 2p to pass through. At this time, the traffic control system 1 may also transmit authentication information such as the ID (IDentifier) ​​of the mobile unit 2p. When the security gate determines to allow the mobile unit 2p to pass based on the authentication information or the like, it opens the door by, for example, opening a flapper. At this time, the security gate sets the direction in which the mobile unit 2p passes from its current side to the other side as the forward direction. The security gate notifies the traffic control system 1 of permission for the mobile unit 2p to pass through. When permission is received from the security gate, the traffic control system 1 notifies the mobile unit 2p of permission to pass through in the forward direction of the security gate.

[0150] The moving object 2p detects the opening of the security gate based on, for example, the measurement results of the measurement unit 6. The moving object 2p receives permission to proceed forward from the traffic control system 1 and attempts to pass through the security gate.

[0151] During this time, the mobile object 2q moves to a point in front of the security gate and makes an entry judgment to enter area B'. Generally, it is sometimes difficult for the mobile object to judge for itself whether it is going forward or backward through the security gate, depending on the installation position of the measurement unit including the camera. In this case, since the forward direction has already been set at the security gate, the direction in which the mobile object 2q attempts to pass through the security gate corresponds to the backward direction.

[0152] The mobile object 2p detects the mobile object 2q traveling the wrong way through the security gate, for example, based on the measurement results of the measurement unit 6. The mobile object 2p determines that it cannot pass through the security gate because of the presence of the mobile object 2q. At this time, the mobile object 2p notifies the traffic control system 1 that the mobile object 2q is traveling the wrong way.

[0153] The traffic control system 1 issues a warning to the moving object 2q about wrong-way driving. Upon receiving the warning from the traffic control system 1, the moving object 2q retreats to the area A'.

[0154] The moving object 2p detects, for example, based on the measurement results of the measurement unit 6, that the moving object 2q, which had been an obstacle on its movement path, has retreated and the area in front of the security gate has opened. At this time, the moving object 2p determines that it is now able to pass through the security gate. The moving object 2p transitions to a door exit state. The moving object 2p passes through the open security gate and moves into the range of area B. The moving object 2p then notifies the traffic control system 1 that it has passed through.

[0155] Next, another example of cooperation between facility equipment and a mobile object 2p in a facility will be described with reference to FIGS. 18 and 19. FIG.

[0156] FIG. 18 is a plan view showing an example of facility equipment that cooperates with the mobile object 2 p in the traffic control system 1 according to the first embodiment.

[0157] In the traffic control system 1, the mobile object 2p is linked to a security gate in the same manner as in the case shown in FIG.

[0158] A moving object 2p passes through a security gate and moves from one space to another. In this example, another moving object 2q is trying to pass through the security gate in the opposite direction to the moving object 2p. At this time, the security gate sets the direction of travel of the moving object 2q as the forward direction.

[0159] FIG. 19 is a sequence diagram showing an example of cooperation between a mobile object 2p and facility equipment via the traffic control system 1 according to the first embodiment.

[0160] The mobile object 2q moves to a point in front of the security gate and makes an exit decision to exit area A'. The security gate allows the mobile object 2q to pass based on authentication information of the mobile object 2q, etc. At this time, the security gate sets the direction in which the mobile object 2q passes from its current side to the other side as the forward direction.

[0161] The moving object 2p makes a decision to pass through the security gate in area A. The decision to pass is made by the behavior control unit 9 or the like based on, for example, the measurement results of the measurement unit 6 of the moving object 2p. The moving object 2p transitions to a state of entering the door. The moving object 2p transmits a passage application to the traffic control system 1. The moving object 2p transitions to a state of being in the bridge area.

[0162] The traffic control system 1 requests the security gate to allow the mobile unit 2p to pass. The security gate does not allow the mobile unit 2p to pass at this time because it has already permitted the mobile unit 2q to pass. The security gate notifies the traffic control system 1 that the mobile unit 2p is not permitted to pass. The security gate opens the door, for example, by opening a flapper, to allow the mobile unit 2q to pass. When the traffic control system 1 receives the notification of denial from the security gate, it issues an evacuation command to the mobile unit 2p.

[0163] The moving object 2p detects the opening of the security gate based on, for example, the measurement results of the measurement unit 6. The moving object 2p receives an evacuation command from the traffic control system 1 and performs evacuation as non-steady behavior. The moving object 2p transitions to a door exit state. The moving object 2p confirms the direction of the evacuation destination and evacuates within the range of area C.

[0164] The moving object 2q detects that the moving object 2p, which was an obstacle on the moving path when disembarking, has moved away and the security gate in front of the moving object 2q is now open. The moving object 2q passes through the open security gate and moves into the range of area B'.

[0165] Thereafter, the mobile object 2p detects that the user has left, for example, based on the measurement results of the measurement unit 6. Here, if the application for passage of the mobile object 2p, which was denied at the security gate, is discarded, the mobile object 2p, for example, assigns an area including the current location to a new area A and performs processing such as sending the application for passage again. On the other hand, if the application for passage of the mobile object 2p, which was denied at the security gate, is retained, the mobile object 2p may transition from the state of area C to the state of the bridge area as a return from non-steady behavior. Alternatively, the mobile object 2p may transition from the state of area C to the state of area A as a return from non-steady behavior, for example, based on a command from the traffic control system 1, and then transition to the state of the bridge area.

[0166] As described above, the information management device of the traffic control system 1 according to the first embodiment includes a facility information management unit 15 and a traffic management unit 16. The facility information management unit 15 manages information on an operation graph. The operation graph includes a first vertex, a second vertex, and an edge. The first vertex of the operation graph represents a first region consisting of a set of nodes representing multiple points within a first spatial range of the facility. The second vertex of the operation graph represents a second region consisting of a set of nodes representing multiple points within a second spatial range that partially overlaps with the first spatial range. The edges of the operation graph connect the first vertex and the second vertex and represent a common region consisting of a set of common nodes that are one or more nodes representing one or more points within the overlapping range and are included in both the first and second regions. The traffic management unit 16 generates commands for the mobile units 2 moving within the facility based on the information on the operation graph. The facility information management unit 15 manages information on the facilities in which the mobile units 2 operate. The traffic management unit 16 manages the movement of the mobile unit 2 within the facility based on information managed by the facility information management unit 15. Multiple nodes set within the facility represent points within the facility through which the mobile unit 2 moves. Multiple areas set within the facility are sets that contain nodes as elements. The facility information management unit 15 manages information about each node. The facility information management unit 15 manages information about which nodes are included as elements for each area. When movement of the mobile unit 2 between ranges corresponding to two different areas is possible, the two areas include at least one node as a common element. The facility information management unit 15 manages information about an operation graph. An operation graph is a graph structure in which two different areas are connected by an edge when the two areas include at least one node as a common element.

[0167] With this configuration, the movement of the mobile units 2 within the facility is managed using an operation graph that reflects the structure, such as the adjacency relationships between each location in the facility. The operation graph is generated based on a hypergraph with hyperedges that can include multiple nodes. This increases the degree of freedom in issuing commands to the mobile units 2 compared to when commands to the mobile units 2 are issued based only on information that reflects the relationship between single nodes, such as information such as a one-dimensional curve connecting single nodes. This allows for more flexible command issuing to the mobile units 2, enabling the traffic control system 1 and its facility server 12 to further improve the movement efficiency of the mobile units 2 operating within the facility.

[0168] The facility information management unit 15 also manages information about a movement subgraph. The movement subgraph includes a first node representing a node included in a first area, a second node representing a different node included in the area, and an edge connecting the first node and the second node. The information about the movement subgraph represents the node occupancy state that determines whether the mobile unit 2 is assigned to a point in the area, and the passability or pass weight of the mobile unit 2 between nodes in the area. The facility information management unit 15 manages information about the passability of the mobile unit 2 to a point represented by the first node or the second node. The traffic management unit 16 generates a movement graph by applying the movement subgraph to each vertex of the operation graph. The traffic management unit 16 generates commands for the mobile unit 2 based on the movement graph. The facility also includes equipment that manages the movement of the mobile unit 2 within a first spatial range and a second spatial range. The facility information management unit 15 manages information on facility equipment, information on traffic signals that manage the facility equipment, and information on mobile objects 2 moving within the first spatial range or the second spatial range. Part or all of the operation subgraph is an arbitration graph. The arbitration graph includes a main line graph and a follower graph as subgraphs. The main line graph is a graph that passes through multiple nodes included in the second spatial range in a single stroke. The follower graph is a graph that branches off from nodes on the main line graph. The traffic management unit 16 also generates subgraphs on the operation graph, including steady behavior graphs and non-steady behavior graphs, as routes. The steady behavior graph is a graph that passes through multiple nodes on the operation graph in a single stroke by applying the main line graph included in the arbitration graph to each vertex of the operation graph. The non-steady behavior graph is a graph that branches off from nodes on the steady behavior graph by applying the follower graph included in the arbitration graph to each vertex of the operation graph. The traffic management unit 16 selects a steady behavior graph and a non-steady behavior graph from the subgraph based on the information on the mobile unit 2 and the information on the equipment managed by the facility information management unit 15, and generates commands for the mobile unit 2 and signals to manage the equipment in the facility.

[0169] One of the features of the traffic control system 1 is that a database for managing the behavior of mobile units 2 is defined as a hypergraph. Because a hypergraph is a collection of nodes representing hyperedges, it is suited to representing spatial representations and is suitable for representing facility operations. Particularly when managing multiple mobile units 2 simultaneously, the hypergraph can accurately describe the overall situation of a facility because it can describe the behavior or flow of the mobile units 2 as a collection. Searching for routes and other information on a hypergraph can be difficult, making it unsuitable for managing the operation of mobile units 2. For this reason, one of the features of the traffic control system 1 is that it generates an operations management graph and an operations management graph from the hypergraph. Another feature of the traffic control system 1 is that it provides a graph structure generated from the hypergraph that can include temporal branching. The realization of temporal branching is referred to as a temporal hierarchy. The graphs for operations management and operations management have different types of vertices and edges. The operations management graph defines the sum of the entire travel range to be operated as a graph by defining adjacency relationships using a collection of nodes (hyperedges) as vertices. This allows for the management of traffic routes while ignoring the minute changes in the movements of multiple mobile units 2. Meanwhile, the traffic management graph focuses on the movements of two adjacent regions (hyperedges), defining minute changes occurring in one area in the form of prioritized branches. This allows for the management of changes in the dynamics of mobile units 2. By defining the state of the time hierarchy for the edges related to the nodes and branches, it is possible to uniquely determine the primary priority when generating a subgraph of the traffic graph from the hypergraph. For example, the traffic control system 1 can search for representative traffic routes. For example, by generating a quasi-static traffic graph in the time hierarchy, the traffic control system 1 can manage the traffic route of a single mobile unit 2 using existing graph search algorithms such as Dijkstra's algorithm. As an example of a configuration that achieves the above, we present a traffic control system 1 that includes an information management device composed of a facility management device that defines a hypergraph and a traffic management device that generates a graph from the hypergraph, and an autonomous mobility management terminal device that can read the graph provided by the hypergraph and that can be divided into time hierarchies.

[0170] The facility information management unit 15 also classifies the data it manages according to a time hierarchy that represents the frequency of information updates. The facility information management unit 15 classifies data for processing that does not require a decision from the traffic management unit 16 when the mobile unit 2 moves between nodes as quasi-static data. The facility information management unit 15 classifies data for processing that requires a decision from the traffic management unit 16 when the mobile unit 2 moves between nodes as quasi-dynamic data. The facility information management unit 15 classifies data for processing that requires a decision from the mobile unit 2 when the mobile unit 2 moves between nodes as dynamic data.

[0171] With this configuration, in a mobile object 2 that is controlled based on multiple time axes, such as a subsumption model, data used for control can be appropriately managed according to the time axes. Traffic rules imposed on the mobile object 2 can be a mixture of rules corresponding to different time axes, such as semi-dynamic rules that deal with intersections between mobile objects 2 and prevent blockages, and semi-static rules that define the area within which the mobile object 2 is permitted to pass. In this case, by classifying and managing traffic rules according to the time hierarchy, appropriate traffic rules according to each time axis can be applied to the control of the mobile object 2 on each time axis.

[0172] Furthermore, managing information such as traffic rules by time layer facilitates the management of information necessary for the movement of the mobile unit 2, such as traffic rules. For example, facility managers are generally not experts on the mobile unit 2. Even in such cases, when discussing safety measures for the mobile unit 2 with the manager of the mobile unit 2 during risk assessments, the facility manager can easily select how to implement necessary measures. For example, for events due to the structure of the facility, the facility manager can implement measures based on static traffic rules. For example, for daily events that require adjustments such as congestion or density, the facility manager can implement measures based on quasi-static traffic rules. For example, for events in which the situation changes due to expected user behavior, such as events that disrupt flow, such as deadlocks, the facility manager can implement measures based on quasi-dynamic traffic rules. For example, for events in which the situation changes due to unexpected user or mobile unit 2 behavior, such as a collision of the mobile unit 2, the facility manager can implement measures based on dynamic traffic rules. Furthermore, in risk assessments, risks are generally quantified according to the frequency of occurrence of events at specific locations within the facility. On the other hand, since the movement of the mobile unit 2 does not specify a specific location within the facility, evaluating the occurrence frequency of an event throughout the entire facility in units of operation periods often results in a relatively high risk assessment, which may require high costs to address. In contrast, by classifying the operation and operation of the mobile unit 2 by time hierarchy, it becomes possible to manage the occurrence frequency of each event by location within the facility, thereby reducing the management costs associated with moving the mobile unit 2 within the facility. This will facilitate the application of the mobile unit 2 to facilities.

[0173] Traffic rules established in a facility may include information such as the priority of passage between moving objects 2. The priority of passage is used, for example, to arbitrate when moving objects 2 cross each other. The traffic rules may also include information such as the priority of passage between moving objects 2 and human users. Generally, since human users cannot communicate with moving objects 2, the priority of the users is set higher than the priority of the moving objects 2. On the other hand, when it is possible to notify users by displaying information on a screen or announcing information from a speaker installed in the facility, users may also be given priority of passage in accordance with the traffic rules. Furthermore, when a moving object 2 is traveling for emergency transport or the like, the priority of the moving object 2 may be set to the highest. In this case, the priority of the moving object 2 may be set higher than that of human users. Furthermore, the priority of passage may be set according to the size or weight of the moving object 2 or the goods or the like transported by the moving object 2. Generally, giving priority to moving objects 2 transporting large goods increases the efficiency of the entire facility, so the priority of moving objects 2 transporting large goods may be set higher. When transporting large items within a facility, the facility manager is often notified in advance, and therefore the facility manager may set the priority of the mobile unit 2 in advance. The traffic rules in the facility may be any rules that are followed by anything moving within the facility, including the mobile unit 2, and are not limited to those listed here.

[0174] Traffic control systems are large-scale systems. Generally, when information is managed centrally, such as for airport takeoffs and landings, central train control, and urban traffic control, a large-scale system is required, which entails a huge amount of expense.

[0175] In contrast, the traffic control system 1 of the present disclosure may be configured as a distributed system. For example, the facility server 12 may include multiple facility management devices. The multiple facility management devices function as a single information management device by, for example, linking their node management function, area management function, and traffic rule function via communication. Furthermore, the information management device may be configured to install the arbitration function of the facility management device, the arbitration graph management function of the traffic management device, and the traffic rule application function on an area-by-area basis. Because multiple mobile units 2 are managed by quasi-dynamic traffic control for the traffic subgraph, traffic disruptions due to blockages and the like are suppressed even by locally installed traffic control. Meanwhile, quasi-static optimization of the placement of mobile units 2 throughout the facility, such as schedule management, via the operation graph management function prevents traffic disruptions and realizes efficient operation throughout the facility. These are managed in an autonomous, distributed configuration because the time-hierarchical information management database is synchronized via communication and updated periodically. This facilitates ensuring safety even with equipment expansion. As described above, the traffic control system 1 can be appropriately scaled to accommodate expansion or contraction of the service scale.

[0176] Traffic control systems require a large margin of error because the number of moving objects varies depending on the operational range. Investments in fixed assets, such as traffic facilities and equipment, can be particularly burdensome. In response to this issue, the traffic control system 1 disclosed herein is equipped with an equipment linkage function, allowing for flexible configuration of traffic rules. This allows both facility managers and moving object managers to find a reasonable compromise between cost and safety. Reducing the economic burden of building an autonomous moving object system promotes the widespread adoption of the system throughout society. This is expected to contribute to society at large, for example, by maintaining public facilities where securing building maintenance workers is difficult due to the declining birthrate and aging population.

[0177] Embodiment 2 In Embodiment 2, differences from the example disclosed in Embodiment 1 will be described in particular detail. For features not described in Embodiment 2, any of the features of the example disclosed in Embodiment 1 may be adopted.

[0178] FIG. 20 is a configuration diagram of a traffic control system 1 according to the second embodiment.

[0179] The traffic control system 1 includes a support server 17. The support server 17 is a part that supports the input of information to the information management device. The support server 17 is, for example, a server device consisting of one or more server computers. Part or all of the support server 17 may be included in the facility server 12 or the mobile server 10 that function as the information management device in the traffic control system 1. The support server 17 may be an external device to the traffic control system 1. The multiple server devices that make up the support server 17 may be located in different locations. In this case, the multiple server devices communicate information with each other, for example, via a communication network 8. The support server 17 includes a calculation unit 3d, a storage unit 4d, and a communication unit 5d.

[0180] The calculation unit 3d is a device such as a CPU, an arithmetic device, a microprocessor, or a microcomputer. The storage unit 4d is a device such as a non-volatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, or a device such as a magnetic disk, a flexible disk, an optical disk, a compact disk, a minidisk, or a DVD. Part or all of the calculation unit 3d and the storage unit 4d may be configured with a dedicated processing circuit. The storage unit 4d stores, for example, programs as software or firmware. In the support server 17, the calculation unit 3d executes the programs stored in the storage unit 4d to perform pre-set processing, and each function is realized as a result of collaboration between hardware and software. Each function of the support server 17 may be realized by a separate processing circuit. Alternatively, some or all of the functions of the support server 17 may be realized collectively by a processing circuit. The processing circuit may also be realized by, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. Some or all of the functions of the support server 17 may be implemented, for example, by processing or storage resources on a cloud service.

[0181] The communication unit 5d is a part equipped with a function for communicating information with devices external to the support server 17. The communication unit 5d communicates with external devices via the communication network 8, for example, by wired communication or wireless communication. The communication unit 5d communicates information with external devices, for example, the facility server 12 or the mobile server 10.

[0182] The calculation unit 3d includes a learning unit 18. The learning unit 18 is equipped with a large-scale language model (LLM). The large-scale language model is an example of a language model. Data of the large-scale language model is stored, for example, in the memory unit 4d. The large-scale language model is trained in advance to be able to interpret natural language. The large-scale language model is also trained in advance to be able to interpret graph languages, which are formal languages ​​that describe graph structures. The large-scale language model is also trained in advance to be able to interpret finite state machines that describe the behavior of the mobile object 2, including movement within a facility. Here, the graph structure includes not only a graph structure in which pairs of nodes are edges, but also a hypergraph structure in which sets of nodes are hyperedges. The large-scale language model is trained in advance to be able to interpret modeling languages ​​that describe the behavior of the mobile object 2, including movement within a facility. The modeling language is a formal language such as PDDL (Planning Domain Definition Language). The large-scale language model may be trained in advance for multiple types of natural languages, graph languages, and modeling languages. The large-scale language model may be trained in advance to be able to interpret other formal languages. The large-scale language model may be trained in advance to be able to interpret drawings or other data. The training unit 18 is a part that uses the trained large-scale language model to output a facility management model that represents information related to management of movement of the mobile object 2 within a facility.

[0183] The facility management model includes graph-structured data such as a hypergraph, an operation graph, a traffic subgraph, an arbitration graph, and a traffic graph that describe the relationships between nodes and areas in a facility. The graph-structured data is described, for example, in a graph language. The facility management model includes data such as traffic rules. The traffic rule data is described, for example, in a modeling language. The facility management model may also include other data. The facility management model does not have to be described in only a single formal language. For example, the facility management model may be partially described in a graph language and partially described in a modeling language.

[0184] FIG. 21 is a diagram illustrating an example of support for information input to an information management device by the support server 17 according to the second embodiment.

[0185] The learning unit 18 receives input of a preliminary explanation using a natural language and a formal language, thereby learning a correspondence model in advance. The correspondence model is a model that associates a description of the facility management model in natural language with a description of the facility management model in a formal language including a graph language and a modeling language. Information about the correspondence model is stored in, for example, the storage unit 4d. The correspondence model is, for example, an intermediate representation used internally in the learning unit 18.

[0186] A part or all of the advance explanation is input by, for example, a developer or administrator of the traffic control system 1. The advance explanation is input, for example, from the facility information management unit 15 of the facility server 12. The advance explanation is input, for example, when the traffic control system 1 starts operation. The advance explanation includes common information such as terminology definitions in the traffic control system 1, regardless of the facility to which the traffic control system 1 is applied. The advance explanation is written, for example, in natural language.

[0187] In this example, the prior explanation to the learning unit 18 includes definitions of terms for the facility structure data. The prior explanation may include a description of a method for expressing nodes, areas, and the like in natural language. The prior explanation may include a description of naming rules for nodes, areas, and the like. Furthermore, the prior explanation to the learning unit 18 includes definitions of terms for each function of the traffic control system 1, including the facility linkage function and the arbitration function. Furthermore, the prior explanation to the learning unit 18 includes descriptions of correspondences between hypergraphs, operation graphs, operation graphs, operation subgraphs, arbitration graphs, and other graph structures in the traffic control system 1. The prior explanation may include information on graph generation rules, etc. A portion of the prior explanation may be written in a graph language, a modeling language, or other formal language or data that can be interpreted by a large-scale language model.

[0188] After learning the correspondence model, the learning unit 18 receives a management document written in natural language to generate a facility management model described in a formal language. The management document is a document written in natural language that describes information related to the management of the movement of mobile units 2 within a facility. The management document is input, for example, from the facility information management unit 15 of the facility server 12. The management document for a facility may be input, for example, when the traffic control system 1 begins to be applied to the facility, or may be input to a traffic control system 1 that is already operating and being applied to the facility. The management document may be a simple document such as a single sentence, or may be a large document including drawings and other data. Furthermore, the facility management model generated by the learning unit 18 may be part of a complete model that includes all data used in the traffic control system 1 to manage the behavior, such as the movement, of the mobile units 2. For example, the facility management model generated by the learning unit 18 may be any graph structure data described in a graph language. Information such as the facility management model generated by the learning unit 18 may be presented to the administrator who input the management document, for example, via the output unit 14 of the facility server 12.

[0189] For example, a facility builder inputs information such as facility drawings, the construction status of the facility, and traffic flow within the facility, as well as information such as the layout of equipment and facilities, into the learning unit 18 as management documents. The learning unit 18 interprets the management documents using a large-scale language model and generates at least a portion of a facility management model described in a formal language using the corresponding model. In this example, the learning unit 18 generates facility structure data described in a graph language or modeling language as static information of the facility management model based on the management documents input by the facility builder. The generated facility structure data is managed, for example, in the facility information management unit 15 of the facility server 12.

[0190] For example, a facility manager inputs information such as risk assessment information for each area and an image of the desired movement of the mobile object 2 into the learning unit 18 as a management document. The information described in the management document may include loose information such as an image. For example, when information necessary for generating a facility management model is insufficient, the learning unit 18 may interactively request the necessary information using natural language. The learning unit 18 interprets the management document using a large-scale language model and generates at least a portion of the facility management model described in a formal language using the corresponding model. In this example, the learning unit 18 generates traffic rules described in a graph language or a modeling language as static information for the facility management model based on the management document input by the facility manager. The generated traffic rules are managed, for example, in the facility information management unit 15 of the facility server 12.

[0191] For example, the manager of the mobile unit 2 inputs information such as the travel specifications of the mobile unit 2, service provision locations and schedules, and operation algorithms for the mobile unit 2 to operate in accordance with set traffic rules as management documents to the learning unit 18. The learning unit 18 interprets the management documents using a large-scale language model and generates at least a portion of a facility management model described in a formal language using the corresponding model. In this example, the learning unit 18 generates an operation definition described in a graph language or a modeling language as static information of the facility management model based on the management documents input by the manager of the mobile unit 2. The generated operation definition is managed, for example, in the facility information management unit 15 of the facility server 12.

[0192] The facility information management unit 15 generates data for managing the movement of the mobile object 2, such as a hypergraph, an operation graph, and a travel graph or a travel subgraph, based on the generated facility structure data, traffic rules, and operation definitions, and performs processing such as storing the data in a database. The facility information management unit 15 may also generate a travel subgraph or an arbitration graph.

[0193] The support server 17 may include multiple dedicated learning units 18, each dedicated to generating data such as facility structure data, traffic rules, and operation definitions, or may include a single general-purpose learning unit 18 that generates some or all of this data. In this example, the learning unit 18 individually generates data for each individually input management document, that is, data for a portion of the facility management model related to the content described in that management document. This clarifies the correspondence between each management document and the generated facility management model.

[0194] FIG. 22 is a diagram illustrating another example of support for information input to the information management device by the support server 17 according to the second embodiment.

[0195] In this example, the learning unit 18 receives, as management documents, information such as facility drawings, the construction status of the facility, and traffic flow within the facility, as well as information such as the layout of equipment and facilities, from the facility contractor. The learning unit 18 also receives, as management documents, information such as risk assessment information for each area and an image of the desired movement of the mobile unit 2 from the facility manager. The learning unit 18 also receives, as management documents, information such as the movement specifications of the mobile unit 2, service provision locations and schedules, and operation algorithms for operating the mobile unit 2 to comply with set traffic rules, from the manager of the mobile unit 2. The learning unit 18 interprets the management documents using a large-scale language model and generates at least a portion of a facility management model described in a formal language using the corresponding model. In this example, the learning unit 18 generates a facility management model described in a graph language or a modeling language based on the management documents input by the facility contractor, the management documents input by the facility manager, and the management documents input by the manager of the mobile unit 2. The learning unit 18 simultaneously generates a hypergraph, an operation graph, a traffic graph, etc. as a facility management model based on facility structure data, traffic rules, operation definitions, etc. The learning unit 18 may also generate a traffic subgraph or an arbitration graph, etc. In this example, the learning unit 18 accepts each of the management documents input individually, integrates the contents described in these management documents, and generates a facility management model in one go. This generates a facility management model with better overall consistency.

[0196] FIG. 23 is a diagram illustrating another example of support for information input to the information management device by the support server 17 according to the second embodiment.

[0197] The advance explanation to the learning unit 18 may include part or all of the facility management model. In this example, the advance explanation input to the learning unit 18 includes data such as static structural data of the facility, static traffic rules, and static operation definitions. Some of these facility management models may be generated separately by the learning unit 18.

[0198] For example, a facility manager inputs information such as the current facility status, changes to traffic rules for each area, and relationships with other mobile objects not under the management of the traffic control system 1 as management documents to the learning unit 18. The learning unit 18 interprets the management documents using a large-scale language model and generates at least a portion of a facility management model described in a formal language using the corresponding model. In this example, based on the management documents input by the facility manager, the learning unit 18 generates quasi-static structural data of the facility, quasi-static traffic rules, and quasi-static operation definitions described in a graph language or modeling language as quasi-static information for the facility management model. These generated data are managed, for example, in the facility information management unit 15 of the facility server 12.

[0199] For example, the manager of the mobile object 2 inputs a management document that describes an operation plan for the mobile object 2 in natural language to the learning unit 18. The learning unit 18 interprets the management document using a large-scale language model and generates at least a part of a facility management model described in a formal language using the corresponding model. In this example, the learning unit 18 generates an operation plan described in a graph language or a modeling language as quasi-static information of the facility management model based on the management document input by the manager of the mobile object 2. The generated operation plan is managed, for example, in the facility information management unit 15 of the facility server 12.

[0200] The facility information management unit 15 generates data for managing the movement of the mobile object 2, such as a hypergraph, an operation graph, a navigation graph, and an action plan, based on information including the generated facility structure data, traffic rules, operation definitions, and operation plans, and performs processing such as storing the data in a database. The facility information management unit 15 may also generate a navigation subgraph or an arbitration graph. The facility information management unit 15 may also update a facility management model that is already being managed, based on the data generated by the learning unit 18.

[0201] In this example, the facility information management unit 15 manages master data, which is a preset facility management model. The master data is, for example, a facility management model not generated by the learning unit 18. When the learning unit 18 generates a facility management model from a management document, the facility information management unit 15 acquires the facility management model as update data. The facility information management unit 15 compares the master data and the update data in a formal language, such as a graph language or a modeling language. The facility information management unit 15 inputs a description of the compared differences in the formal language to the learning unit. The learning unit 18 interprets the differences input in the formal language using a large-scale language model and generates a description of the differences between the master data and the update data in a natural language similar to the natural language used to write the management document. The generated natural language description is presented to the administrator who input the management document, for example, via the output unit 14 of the facility server 12. The manager can use the natural language description to check whether the intention entered in the management document is consistent with the generated facility management model.

[0202] FIG. 24 is a diagram illustrating an example of data generated in the support server 17 according to the second embodiment.

[0203] 24 shows an example of a state machine of a robot, which is the mobile body 2. The manager of the mobile body 2 writes the definition of the robot's state machine as a management document and inputs it into the facility server 12, for example. For example, the management document includes the following sentence: "After the robot is turned on, it transitions to 'initializing', and after initialization is complete it transitions to 'standby'. Robots have the state 'operating' and either the state 'remotely controlled' or 'moving autonomously'. A robot that is 'standby' transitions to 'moving autonomously' when it is {commanded to move}. 'Moving autonomously' is in the state 'under autonomous control', but if it receives an external {pause} it will become 'paused'. Also, if it is commanded {resume} from paused it will return to automatic control. Also, if it is {switched mode} while paused it will transition to 'under manual control'. When the robot {arrives at destination} it will end autonomous control and autonomous movement and return to standby. If it receives an {abnormal stop} while in operation it will transition to 'abnormal stop', and if it receives {return} it will transition to standby. On the other hand, if it receives an {emergency stop} it will shut down. When the robot has completed its work and the power is shut down, if it receives an {end command} while 'standby' it will go through 'shutdown processing' and then shut down." The management document is input to the learning unit 18 by, for example, the facility information management unit 15. The learning unit 18 interprets the management document using a large-scale language model and grasps the state machine shown in Fig. 24 as a facility management model. The learning unit 18 outputs the grasped state machine to, for example, the facility server 12 using a modeling language or the like.

[0204] The manager of the mobile unit 2 checks whether the intent of the input management document is consistent with the generated facility management model. The manager, for example, describes the situation in which the mobile unit 2 operates in natural language and inputs the description into, for example, the facility server 12. The manager describes the situation in which the mobile unit 2 operates, for example, using the following sentence: "Mr. K, a user, turned on the robot in the warehouse at 8:00 a.m. His luggage was due to arrive at 10:00 a.m., so he set it to wait in front of the entrance at 9:30 a.m. The robot then carried the luggage to Mr. K's room. On the way, as he passed near an intersection, the camera detected a person, so he instructed the robot to stop until the person passed. After confirming the person had passed, the robot resumed its transport. After arriving, he was instructed to return to the entrance, but the person touched the robot on the way, detecting an abnormality. Mr. K checked the robot and found no problem, so he returned it. After a while, Mr. K went to the entrance." The sentence describing the situation is input into the learning unit 18, for example, by the facility information management unit 15. The learning unit 18 interprets the sentence using a large-scale language model and outputs the result to the facility server 12 in a formal language such as a modeling language.

[0205] The facility server 12 simulates the behavior of the mobile object 2 under the circumstances based on the facility management model described in a formal language and the circumstances in which the mobile object 2 operates. In simulating the behavior of the mobile object 2, the facility server 12 uses, for example, an algorithm similar to that used in actual control. The facility server 12 may also cooperate with the mobile object server 10, etc., in simulating the behavior of the mobile object 2. The behavior of the mobile object 2 includes, for example, state transitions according to a state machine. The simulated behavior of the mobile object 2 is described, for example, in a formal language. The facility information management unit 15 of the facility server 12 inputs the behavior of the mobile object 2 described in the formal language to the learning unit 18, thereby generating a natural language description of the behavior. In this example, the learning unit 18 generates a description of the behavior of the mobile object 2 in a natural language similar to the natural language used to describe the management document. The generated natural language description is presented to the administrator who input the management document, for example, via the output unit 14 of the facility server 12. The manager can use the natural language description to check whether the intention entered in the management document is consistent with the generated facility management model.

[0206] As described above, the information management device of the traffic control system 1 according to the second embodiment includes the learning unit 18. The learning unit 18 is equipped with a language model that interprets both natural language and a formal language capable of describing at least a portion of the facility management model. The facility management model represents information related to the management of the movement of mobile objects 2 within a facility. The learning unit 18 receives input of advance explanations using natural language and formal language to learn a correspondence model in advance. The correspondence model associates the description in natural language of the facility management model with the description in formal language. The facility information management unit 15 generates a facility management model described in formal language by inputting a management document to the learning unit 18 that has learned the correspondence model. The management document is a document in which information related to the management of the movement of mobile objects 2 within a facility is described in natural language. The traffic management unit 16 manages the movement of mobile objects 2 within a facility based on the generated facility management model described in formal language.

[0207] This configuration makes it easier to manage facility management models in facilities. Because hierarchical and complex facility management models can be set using natural language, even facility managers who are not technical experts on mobile units 2 can appropriately set up the facility management model. Furthermore, because the facility management model can be updated using descriptions in natural language, even facility managers who are not experts on mobile units 2 can flexibly and quickly edit the facility management model. This enables flexible operation and management of the operation of mobile units 2 in facilities.

[0208] In addition, the language model installed in the learning unit 18 interprets a number of different formal languages, including a graph language that describes a graph structure and a modeling language that describes the behavior of the mobile object 2, including its movement within a facility.

[0209] This configuration makes it possible to integrate and manage two different formal expressions, such as the graph structure of the facility management model and the description in a modeling language. This eliminates the need to develop interfaces for each language separately, thereby reducing the development costs of the traffic control system 1. Furthermore, because hierarchical and complex facility management models can be managed using an integrated expression, the operation and maintenance costs of the traffic control system 1 can be reduced.

[0210] The facility information management unit 15 also compares the master data with the update data. The master data is a preset facility management model. The update data is a facility management model written in a formal language that is generated by inputting a management document to the learning unit 18. The facility information management unit 15 generates a natural language description of the comparison result by inputting the formal language description of the comparison result to the learning unit 18. The facility information management unit 15 also acquires a formal language description of the situation by inputting a natural language description of the situation to the learning unit 18. The facility information management unit 15 inputs a formal language description of the behavior of the mobile object in the situation that is calculated using the facility management model based on the formal language description of the situation to the learning unit 18. The facility information management unit 15 thereby generates a natural language description of the behavior.

[0211] With this configuration, by using a formal language for intermediate processing such as comparison and operation simulation, the intermediate processing can be performed more accurately. Furthermore, because the results of the processing are described in natural language, even managers who are not technical experts on the mobile object 2 can easily understand the results of the processing. This makes it easier to determine the accuracy and validity of the set facility management model.

[0212] The information management device, traffic control system, traffic control method, and traffic control program can be applied to managing the movement of mobile objects operating in a facility and managing the information used therefor.

[0213] DESCRIPTION OF SYMBOLS 1 Traffic control system, 2, 2p, 2q Mobile body, 3a, 3b, 3c, 3d Calculation unit, 4a, 4b, 4c, 4d Memory unit, 5a, 5b, 5c, 5d Communication unit, 6 Measurement unit, 7 Driving unit, 8 Communication network, 9 Action control unit, 10, 10p, 10q Mobile body server, 11 Action planning unit, 12 Facility server, 13 Input unit, 14 Output unit, 15 Facility information management unit, 16 Traffic management unit, 17 Support server, 18 Learning unit

Claims

1. An information management device comprising: a facility information management unit that manages information of an operation graph including a first vertex representing a first region composed of a set of a plurality of nodes representing a plurality of points within a first spatial range of a facility, a second vertex representing a second region composed of a set of a plurality of nodes representing a plurality of points within a second spatial range that partially overlaps with the first spatial range, and an edge connecting the first vertex and the second vertex and representing a common region composed of a set of common nodes that are one or more nodes representing one or more points within the partially overlapping range and are commonly included in the first region and the second region; and a traffic management unit that generates a command for a moving body moving within the facility based on the information of the operation graph.

2. The facility information management unit includes a first node representing a node included in the first region, a second node representing a different node included in the region, and an edge connecting the first node and the second node, and manages information of a node occupancy state for determining whether the moving body is assigned to a point in the region and information of an operation partial graph representing whether the moving body can pass or the weight of passing between the nodes in the region, and information on whether the moving body can enter a point represented by the first node or the second node. The traffic management unit generates an operation graph by applying the operation partial graph to each vertex of the operation graph and generates a command for the moving body based on the operation graph. The information management device according to claim 1.

3. The facility includes equipment for managing the movement of the moving body with respect to the first spatial range and the second spatial range. The facility information management unit manages information of the facility's equipment, information of signals for managing the facility's equipment, and information of the moving body moving within the first spatial range or the second spatial range. A part or all of the operation partial graph is a mediation graph. The mediation graph includes, as partial graphs, a main line graph that passes through a plurality of the nodes included in the second spatial range so that they can be written in one stroke, and a branch line graph that branches from the nodes on the main line graph. The information management device according to claim 2.

4. The traffic management department generates a sub-graph on the operation graph as a route, including a steady behavior graph that can be drawn in one stroke through multiple nodes on the operation graph by applying the main line graph included in the mediation graph to each vertex of the operation graph, and an unsteady behavior graph that branches from the nodes on the steady behavior graph by applying the branch line graph included in the mediation graph to each vertex of the operation graph. Based on the information of the moving body and the information of the facility equipment managed by the facility information management department, the steady behavior graph and the unsteady behavior graph are selected from the sub-graph to generate a command for the moving body and a signal for managing the facility equipment of the facility. The information management device according to claim 3.

5. The facility information management department classifies the data to be managed according to the time hierarchy representing the update frequency of the information, classifies the data of the process that does not require the judgment of the traffic management department in the movement of the moving body between the nodes as quasi-static data, classifies the data of the process that requires the judgment of the traffic management department in the movement of the moving body between the nodes as quasi-dynamic data, and classifies the data of the process that requires the judgment of the moving body in the movement of the moving body between the nodes as dynamic data. The information management device according to any one of claims 1 to 4.

6. A learning unit equipped with a language model that interprets both natural language and a formal language capable of describing at least a part of a facility management model representing information related to the management of the movement of the moving body in the facility. The learning unit pre-learns a correspondence model that corresponds the description in natural language and the description in formal language of the facility management model by receiving an input of a pre-explanation using the natural language and the formal language. The facility information management department inputs a management document describing the information related to the management of the movement of the moving body in the facility in the natural language to the learning unit that has learned the correspondence model to generate the facility management model described in the formal language. The traffic management department manages the movement of the moving body in the facility based on the generated facility management model described in the formal language. The information management device according to any one of claims 1 to 5.

7. A language model is installed that interprets both natural language and a formal language capable of describing at least a part of a facility management model representing information related to the movement of the mobile object in the facility. By inputting a pre-explanation using the natural language and the formal language, a learning unit pre-learns a correspondence model that corresponds the description in the natural language and the description in the formal language of the facility management model. The facility information management unit inputs a management document describing information related to the movement of the mobile object in the facility in the natural language to the learning unit, thereby generating the facility management model described in the formal language. The traffic management unit manages the movement of the mobile object in the facility based on the generated facility management model described in the formal language. The information management device according to any one of claims 1 to 5.

8. The language model interprets a plurality of different formal languages including a graph language for describing a graph structure and a modeling language for describing actions including the movement of the mobile object in the facility. The information management device according to claim 6 or claim 7.

9. The facility information management unit compares master data that is the preset facility management model with update data that is the facility management model described in the formal language generated by inputting the management document to the learning unit, and inputs the description in the formal language of the comparison result to the learning unit, thereby generating the description in the natural language of the comparison result. The information management device according to any one of claims 6 to 8.

10. The facility information management unit inputs the situation described in the natural language to the learning unit to obtain the description in the formal language of the situation. The facility information management unit inputs the description in the formal language of the operation of the mobile object in the situation calculated using the facility management model based on the description in the formal language of the situation to the learning unit, thereby generating the description in the natural language of the operation. The information management device according to any one of claims 6 to 9.

11. A facility information management unit that manages information on an operation graph including: a first vertex representing a first region composed of a set of a plurality of nodes representing a plurality of points within a first spatial range of a facility; a second vertex representing a second region composed of a set of a plurality of nodes representing a plurality of points within a second spatial range that partially overlaps with the first spatial range; and an edge representing a common region composed of a set of common nodes that connect the first vertex and the second vertex and represent one or more points within the partially overlapping range and are commonly included in the first region and the second region; a traffic management unit that generates a command for a moving body moving within the facility based on the information on the operation graph; and a movement control unit that controls the movement of the moving body within the facility based on the command for the moving body generated by the traffic management unit. A traffic control system comprising the above components.

12. A traffic control method in which a computer: manages information on an operation graph including: a first vertex representing a first region composed of a set of a plurality of nodes representing a plurality of points within a first spatial range of a facility; a second vertex representing a second region composed of a set of a plurality of nodes representing a plurality of points within a second spatial range that partially overlaps with the first spatial range; and an edge representing a common region composed of a set of common nodes that connect the first vertex and the second vertex and represent one or more points within the partially overlapping range and are commonly included in the first region and the second region; and generates a command for a moving body moving within the facility based on the information on the operation graph.

13. Cause a computer to manage information on an operation graph including a first vertex representing a first area composed of a set of a plurality of nodes representing a plurality of points within a first spatial range of a facility, a second vertex representing a second area composed of a set of a plurality of nodes representing a plurality of points within a second spatial range that partially overlaps the first spatial range, and an edge connecting the first vertex and the second vertex and representing a common area composed of a set of common nodes that are one or more nodes representing one or more points within the partially overlapping range and are commonly included in the first area and the second area, and generate a command for a moving body moving within the facility based on the information on the operation graph. A traffic control program that executes the above.

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