Mobile body management system, mobile body management method, and mobile body

Abstract

This mobile body management system (2) for controlling travel of mobile bodies (1A-1C) having a movement mechanism (11) comprises: a communication unit (21) that communicates with the mobile bodies (1A-1C); a storage unit (22) that stores map information indicating a region in which the mobile bodies (1A-1C) can travel; and a control unit (23) that gives an instruction relating to travel to the mobile bodies (1A-1C). The map information is information including a plurality of travel areas and a plurality of retreat positions. The control unit (23) determines whether to move the mobile bodies (1A-1C) to the retreat positions on the basis of: mobile body information transmitted from the mobile bodies (1A-1C) and received via the communication unit (21); travel area information indicating the situation of the travel areas in which the mobile bodies (1A-1C) will travel from now; and retreat position information indicating the situation of the retreat positions associated with the travel areas.

Description

MOBILE BODY MANAGEMENT SYSTEM, MOBILE BODY MANAGEMENT METHOD, AND MOBILE BODY

[0001] The present disclosure relates to a mobile object management system, a mobile object management method, and a mobile object, and in particular to a mobile object management system that controls the passing of multiple mobile objects.

[0002] Conventionally, various technologies have been proposed for operating autonomously moving objects (i.e., mobility) such as transport robots, cleaning robots, security robots, and facility guide robots in facilities where people are present (see, for example, Patent Document 1).

[0003] Patent Document 1 proposes an autonomous mobile device that enables other autonomous mobile devices to smoothly pass each other.

[0004] Patent No. 4093245

[0005] However, the technology of Patent Document 1 has the problem that the autonomous mobile devices cannot smoothly pass each other when passing each other in complex situations, such as when three or more autonomous mobile devices are involved, when passageways intersect, or when movement between floors is involved.

[0006] Therefore, an object of the present disclosure is to provide a mobile object management system, a mobile object management method, and a mobile object that allow mobile objects to pass each other more smoothly even when the mobile objects pass each other in complex situations.

[0007] In order to achieve the above-mentioned object, a mobile body management system according to one embodiment of the present disclosure is a mobile body management system that controls the movement of a mobile body having a movement mechanism, and is equipped with a communication unit that communicates with the mobile body, a memory unit that stores map information indicating an area in which the mobile body can move, and a control unit that gives instructions regarding movement to the mobile body, wherein the map information includes a plurality of driving areas within the area in which the mobile body can move that are used for the movement of the mobile body, and a plurality of evacuation positions to allow passing by other mobile bodies, and the control unit determines whether or not to move the mobile body to the evacuation position based on mobile body information transmitted from the mobile body and received via the communication unit, driving area information indicating the status of the driving area that the mobile body will occupy, and evacuation position information indicating the status of the evacuation position associated with the driving area.

[0008] In order to achieve the above-mentioned object, a mobile body management method according to one embodiment of the present disclosure is a mobile body management method for controlling the movement of a mobile body having a movement mechanism, and includes a communication step of communicating with the mobile body, and a control step of giving instructions regarding movement to the mobile body while referring to map information stored in a memory unit that indicates an area in which the mobile body can move, the map information being information that includes a plurality of moving areas and a plurality of evacuation positions, and in the control step, it is determined whether or not to move the mobile body to the evacuation position based on the mobile body information transmitted by the mobile body in the communication step, driving area information that indicates the status of the driving area that the mobile body will occupy, and evacuation position information that indicates the status of the evacuation position associated with the driving area.

[0009] In order to achieve the above object, a mobile body according to one embodiment of the present disclosure is a mobile body having a moving mechanism, and is equipped with a communication unit that communicates with a mobile body management system that controls the movement of the mobile body, a memory unit that stores map information in which multiple driving areas and multiple evacuation positions are set alternately, and a control unit that controls the moving mechanism based on instructions regarding the movement from the mobile body management system, and the control unit controls the moving mechanism to move the mobile body to the evacuation position based on evacuation instructions from the mobile body management system.

[0010] The present disclosure provides a mobile object management system, a mobile object management method, and a mobile object that allow mobile objects to pass each other more smoothly even when the mobile objects pass each other in a complex situation.

[0011] FIG. 1 is a block diagram showing the configuration of a system including a mobile object and a mobile object management system according to an embodiment. FIG. 2A is an example of travel area information. FIG. 2B is an example of evacuation location information. FIG. 3 is a diagram illustrating a method by which a mobile object management system generates route information when a mobile object travels to a destination on the same floor as the departure point. FIG. 4 is a diagram illustrating a method by which a mobile object management system generates route information when a mobile object travels to a destination on a different floor from the departure point. FIG. 5 is a schematic diagram illustrating the transition between a travel area and a next travel area. FIG. 6 is a schematic diagram illustrating basic rules when a mobile object moves to an evacuation location. FIG. 7 is a flowchart showing the operation performed by a mobile object management system according to an embodiment. FIG. 8 is a flowchart showing detailed steps S3 to S5 shown in FIG. 7. FIG. 9A is a schematic diagram showing the operation of a mobile object when another mobile object occupies the travel area. FIG. 9B is a schematic diagram showing the operation of a mobile object when another mobile object is present in an evacuation location due to another factor. Fig. 9C is a schematic diagram showing the behavior of a mobile body when another mobile body occupies the travel area and is present in an evacuation position due to its own cause. Fig. 9D is a schematic diagram showing the behavior of a mobile body when another mobile body is present in an evacuation position due to another cause and another mobile body is present in another evacuation position due to its own cause. Fig. 9E is a schematic diagram showing the behavior of a mobile body when the movement area and next movement area of ​​the mobile body are not occupied by other mobile bodies and there is no other mobile body in an evacuation position adjacent to the movement area and next movement area. Fig. 10 is a schematic diagram showing a specific example of correction performed by a control unit to address an inconsistency between the position of a mobile body managed by a mobile body management system and the actual position of the mobile body.

[0012] (Insights Obtained by the Inventors) In the autonomous mobile device disclosed in Patent Document 1, when the autonomous mobile device arrives at a destination node and travels from the destination node to a target node, which is the next destination for travel, the autonomous mobile device predicts the movement of another mobile body from the target node to the destination node, and controls the autonomous mobile device to wait at a waiting position. The inventors believed that the control mode that predicts the movement of an autonomous mobile device facing the autonomous mobile device is the cause of the autonomous mobile devices being unable to pass each other smoothly when, for example, in a complex situation involving three or more autonomous mobile devices, when passages intersect, or when travel between floors is involved, etc.

[0013] To this end, the inventors have intensively studied ways to allow moving objects to pass each other more smoothly even when they are passing each other in complex situations. As a result, they have devised a moving object management system that divides the area in which moving objects can travel into multiple travel areas and multiple evacuation positions, and has a function for determining whether to move the moving object to an evacuation position depending on the status of the travel area in which the moving object will travel and the status of the evacuation position. The inventors believe that this will allow moving objects to pass each other more smoothly even when they are passing each other in complex situations.

[0014] More specifically, the mobile body management system of the first aspect is a mobile body management system that controls the travel of a mobile body having a travel mechanism, and is equipped with a communication unit that communicates with the mobile body, a memory unit that stores map information indicating the area in which the mobile body can travel, and a control unit that gives instructions regarding travel to the mobile body, wherein the map information includes a plurality of travel areas used for the movement of the mobile body within the area in which the mobile body can travel, and a plurality of evacuation positions to allow the mobile body to pass other mobile bodies, and the control unit determines whether or not to move the mobile body to the evacuation position based on mobile body information transmitted from the mobile body and received via the communication unit, travel area information indicating the status of the travel area that the mobile body will occupy, and evacuation position information indicating the status of the evacuation position associated with the travel area.

[0015] Furthermore, a mobile body management method according to a ninth aspect is a mobile body management method for controlling the movement of a mobile body having a movement mechanism, and includes a communication step of communicating with the mobile body, and a control step of giving instructions regarding movement to the mobile body while referring to map information stored in a memory unit that indicates an area in which the mobile body can move, the map information being information that includes a plurality of moving areas and a plurality of evacuation positions, and in the control step, it is determined whether or not to move the mobile body to the evacuation position based on the mobile body information transmitted by the mobile body in the communication step, moving area information that indicates the status of the moving area that the mobile body will occupy, and evacuation position information that indicates the status of the evacuation position associated with the moving area.

[0016] With these aspects, the control unit of the mobile object management system determines whether to move the mobile object to the evacuation position based on the mobile object information, the travel area information, and the evacuation position information. Therefore, the control unit can provide driving instructions to the mobile object after taking into account the mobile object included in the information. As a result, a situation in which two or more mobile objects exist in the same travel area can be prevented, allowing the mobile objects to pass each other more smoothly even in complex situations.

[0017] In addition, a mobile object management system according to a second aspect is a mobile object management system according to the first aspect, in which the map information is information indicating a route in which the driving area and the evacuation position are arranged alternately and connected.

[0018] The control unit of the mobile object management system then refers to map information, which is information showing a route in which travel areas and evacuation positions are alternately arranged and connected, to determine whether or not to move the mobile object to the evacuation position. As the evacuation position is adjacent to the travel area, smooth and quick evacuation of the mobile object is achieved.

[0019] Furthermore, a mobile object management system according to a third aspect is a mobile object management system according to the first or second aspect, in which the mobile object information includes information regarding the travel area in which the mobile object is currently located and the destination of the mobile object.

[0020] As a result, the control unit of the mobile object management system determines whether or not to move the mobile object to an evacuation position based on mobile object information including information about the travel area in which the mobile object is currently located and the destination of the mobile object. Therefore, the mobile object management system determines whether or not to move the mobile object to an evacuation position after identifying the travel area through which the mobile object will travel, thereby preventing a situation in which two or more mobile objects are present in the same travel area.

[0021] Furthermore, a mobile object management system according to a fourth aspect is a mobile object management system according to the first or second aspect, in which the mobile object information includes information relating to the current position of the mobile object and the destination of the mobile object, and the control unit generates route information for the mobile object to travel from the current position to the destination based on the mobile object information, identifies a travel area in which the mobile object is currently located based on the generated route information and the current position of the mobile object, and generates or updates the travel area information.

[0022] As a result, the mobile object management system identifies the travel area in which the mobile object is currently located from mobile object information including information on the current location of the mobile object and the destination of the mobile object, and generates or updates the travel area information. This allows the mobile object management system to identify the travel area through which the mobile object will travel and determine whether to move the mobile object to an evacuation position. Therefore, the mobile object management system can prevent a situation in which two or more mobile objects are present in the same travel area.

[0023] In addition, a mobile object management system according to a fifth aspect is a mobile object management system according to any one of the first to fourth aspects, in which the travel area information is information indicating travel areas up to two travel areas ahead of the travel area in which the mobile object is currently located.

[0024] As a result, the control unit of the mobile object management system determines whether to move the mobile object to a shelter position based on the travel area information, which is information indicating up to two travel areas ahead from the travel area the mobile object is currently located in. Therefore, the mobile object management system issues travel-related instructions to the mobile object after taking into account up to two travel areas ahead, and can prevent a situation in which two or more mobile objects are present in the same travel area.

[0025] In addition, a mobile object management system according to a sixth aspect is the mobile object management system according to the fifth aspect, in which the control unit determines whether to move the mobile object to the evacuation position based on whether other mobile objects are occupying the two next driving areas.

[0026] As a result, the control unit of the mobile object management system determines whether to move the mobile object to a shelter position based on whether other mobile objects are occupying the next two travel areas. Therefore, the mobile object management system issues travel instructions to the mobile object after taking into account the mobile objects included in the next two travel areas, thereby preventing a situation in which two or more mobile objects are present in the same travel area.

[0027] Furthermore, a mobile object management system according to a seventh aspect is a mobile object management system according to any of the first to sixth aspects, in which the control unit determines to move the mobile object to another evacuation position when another mobile object is located at the evacuation position without being caused by the presence of the mobile object.

[0028] As a result, when another moving object is located at the evacuation position without being occupied by the moving object, the control unit of the moving object management system determines to move the moving object to another evacuation position. Therefore, by taking into account the occupancy state of the traveling area used in determining whether to evacuate the other moving object located at the evacuation position, the mobile object management system gives driving instructions to the moving object taking into account the traveling of multiple moving objects, thereby preventing a situation in which two or more moving objects are present in the same traveling area.

[0029] Furthermore, the mobile object management system according to the eighth aspect is a mobile object management system according to any one of the first to seventh aspects, wherein when an inconsistency situation occurs in which a traveling area is occupied by two or more mobile objects, the control unit corrects the inconsistency situation by evacuating the mobile objects occupying the traveling area to the evacuation position.

[0030] As a result, when the control unit of the mobile object management system detects a situation in which two or more mobile objects are present in the same travel area, it stops all of the relevant mobile objects. Then, it issues an evacuation command to each of the mobile objects to an evacuation position, repeating this process until no more than two mobile objects occupy the same travel area. This allows the mobile object management system to correct the inconsistent situation.

[0031] In addition, a mobile body according to a tenth aspect is a mobile body having a moving mechanism, and is equipped with a communication unit that communicates with a mobile body management system that controls the travel of the mobile body, a memory unit that stores map information in which multiple travel areas and multiple evacuation positions are set alternately, and a control unit that controls the moving mechanism based on instructions regarding the travel from the mobile body management system, and the control unit controls the moving mechanism to move the mobile body to the evacuation position based on evacuation instructions from the mobile body management system.

[0032] As a result, the control unit of the moving object controls the movement mechanism to move the moving object to the evacuation position based on the evacuation command from the moving object management system, so that even when moving objects pass each other in a complicated situation, they can pass each other more smoothly.

[0033] Furthermore, a mobile body according to an eleventh aspect is a mobile body according to a tenth aspect, in which the control unit transmits information regarding the current position of the mobile body, the traveling area occupied by the mobile body, and the destination of the mobile body as mobile body information to the mobile body management system via the communication unit.

[0034] As a result, the mobile body transmits information about the travel area in which the mobile body is currently located and the destination of the mobile body to the mobile body management system as mobile body information, and the mobile body management system can provide the mobile body with instructions regarding travel based on the travel area in which the mobile body is currently located and the destination of the mobile body. Therefore, the control unit of the mobile body can control the movement mechanism to move the mobile body to the evacuation position based on more accurate instructions.

[0035] In addition, a mobile body according to the twelfth aspect is a mobile body having a movement mechanism, and is equipped with a communication unit that communicates with a mobile body management system that controls the movement of the mobile body, and a display unit that displays instructions regarding the movement from the mobile body management system.

[0036] As a result, even if the moving object is a bed or piece of equipment that can be moved by a person, the person operating the moving object can move the moving object based on the driving instructions displayed on the display unit, thereby allowing the moving object to pass other moving objects more smoothly.

[0037] (Embodiments) Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that each of the embodiments described below represents a specific example of the present disclosure. Numerical values, components, the arrangement and connection of components, steps, the order of steps, display examples, etc. shown in the following embodiments are examples and are not intended to limit the present disclosure. Furthermore, each figure is not necessarily an exact illustration. In each figure, substantially identical configurations are assigned the same reference numerals, and duplicate explanations are omitted or simplified.

[0038] Fig. 1 is a block diagram showing the configuration of a system including mobile objects 1A to 1C and a mobile object management system 2 according to an embodiment. As shown in Fig. 1, the present disclosure is composed of mobile objects 1A to 1C, a mobile object management system 2, a network 3, a wireless AP (access point) 4, an elevator system 5, and an automatic door system 6. Note that, of the mobile objects 1A to 1C, the diagram shows mobile object 1A as a representative. Since the mobile objects 1A to 1C have similar configurations and functions, the following description will focus on mobile object 1A.

[0039] The mobile object 1A is a mobility that travels from a certain departure point to a certain destination. The mobile object 1A includes a movement mechanism 11, an input unit 12, a display unit 13, a sensor 14, a communication unit 15, a memory unit 16, and a control unit 17. In this embodiment, the mobile object 1A has a structure that can store an object (e.g., food, drink, or medicine) and is a mobility that transports the object to a destination.

[0040] The moving mechanism 11 is composed of wheels, a motor for driving the wheels, a drive circuit including a battery for supplying power to the motor, a steering control device for steering the wheels, etc. The moving mechanism 11 moves the moving body 1A forward and backward and changes the steering angle of the wheels.

[0041] The input unit 12 receives input from a user and is realized by, for example, a touch panel, or a keyboard and a mouse, etc. The input unit 12 receives input such as the destination of the moving object 1A, for example.

[0042] The display unit 13 displays various types of information and is realized by, for example, a liquid crystal display.

[0043] The sensor 14 is a sensor that detects obstacles around the moving body 1A, and is, for example, a LIDAR that acquires the distance to surrounding objects in a 360-degree direction, or a ranging camera that acquires distance and images.

[0044] The communication unit 15 is a communication interface for communicating with the mobile object management system 2 via the network 3 and the wireless AP 4, and is, for example, an interface for a wireless LAN. The communication unit 15 receives, from the mobile object management system 2, driving instructions that the mobile object management system 2 gives to the mobile object 1A. The communication unit 15 also transmits, to the mobile object management system 2, mobile object information including information about the driving area in which the mobile object 1A is currently located and a destination indicating the destination of the mobile object 1A. Note that the mobile object information may also include information indicating the state of the mobile object (for example, driving, stopped, or evacuation, etc.).

[0045] The storage unit 16 stores map information and programs indicating the area in which the mobile object 1A can travel, and is realized by, for example, a memory. The map information includes multiple travel areas within the travel area in which the mobile object 1A can travel, and multiple evacuation positions for allowing the mobile object to pass other mobile objects. The multiple travel areas are areas in which multiple mobile objects exist (i.e., travel, stop, or occupy), and the evacuation positions are areas in which multiple mobile objects exist (i.e., temporarily evacuation) in order to pass each other. The map information may also be information indicating a route in which the travel areas and evacuation positions are alternately arranged and connected, or information indicating a route in which the evacuation positions are consecutively arranged and connected. Note that one travel area is occupied by only one mobile object. Furthermore, one evacuation position can only be occupied by one mobile object, and two or more mobile objects cannot simultaneously exist in one evacuation position.

[0046] The control unit 17 controls the entire moving body 1A. The control unit 17 is realized by, for example, a processor or the like. That is, the functions of the control unit 17 are realized by the processor or the like executing a program stored in a memory.

[0047] The control unit 17 controls the moving mechanism 11 based on instructions regarding travel given to the moving body 1A by the moving body management system 2. For example, when an instruction to move is given to the moving body 1A from the moving body management system 2, the control unit 17 controls the moving mechanism 11 so that the moving body 1A moves, and when an instruction to stop is given to the moving body 1A from the moving body management system 2, the control unit 17 controls the moving mechanism 11 so that the moving body 1A stops.

[0048] The control unit 17 identifies the travel area in which the mobile unit 1A is currently located based on the information about the surroundings of the mobile unit 1A acquired by the sensor 14 and the nodes set for each travel area. Note that the nodes contain information such as the coordinates of the node and the number of the travel area in which the node is located. Note that route generation using the nodes is performed using the nodes and their connection relationships. The control unit 17 may also identify the travel area in which the mobile unit 1A is currently located using absolute coordinates. For example, if the region of each travel area is identified by absolute coordinates, the control unit 17 identifies the travel area from the coordinates of the mobile unit 1A's current location.

[0049] The mobile object management system 2 is a system provided in common for multiple mobile objects (mobile objects 1A to 1C in FIG. 1 ) and controls the travel of the multiple mobile objects. The mobile object management system 2 is, for example, a cloud or a computer device. The mobile object management system 2 includes a communication unit 21, a storage unit 22, and a control unit 23.

[0050] The communication unit 21 is a communication interface for communicating with a plurality of mobile objects via the network 3 and the wireless AP 4. The communication between the communication unit 21 and the network 3 may be wired communication or wireless communication.

[0051] The communication unit 21 receives mobile object information transmitted from a plurality of mobile objects. The communication unit 21 also transmits to each mobile object instructions regarding travel that are given to each mobile object by the control unit 23. The communication unit 21 also transmits instructions generated by the control unit 23 to the elevator system 5 and the automatic door system 6. For example, when the mobile object 1A is waiting near an elevator to use the elevator, the communication unit 21 transmits an instruction to the elevator system 5 to call the elevator. This allows the mobile object 1A to travel to its destination using the elevator. Furthermore, when the mobile object 1A approaches an automatic door to pass through it, the communication unit 21 transmits an instruction to the automatic door system 6 to open the automatic door. This allows the mobile object 1A to pass through the automatic door and travel to its destination.

[0052] The storage unit 22 stores map information and programs indicating areas in which multiple mobile objects can travel, and is realized by, for example, a memory, etc. The map information stored in the storage unit 22 may be the same as the map information stored in the storage unit 16 of the mobile object 1A, or may be map information that does not reflect obstacles, etc., that exist in the travel area.

[0053] The control unit 23 controls the entire mobile object management system 2. The control unit 23 is realized by, for example, a processor or the like. That is, the functions of the control unit 23 are realized by the processor or the like executing a program stored in a memory.

[0054] The control unit 23 generates or updates traveling area information indicating the status of a traveling area based on the mobile object information transmitted from a plurality of mobile objects. The traveling area information generated or updated by the control unit 23 will now be described with reference to Fig. 2A. Fig. 2A shows an example of traveling area information.

[0055] 2A, the travel area information is composed of a travel area ID associated with each travel area and an occupancy status indicating whether or not a moving object occupies each travel area (e.g., uses the travel area for travel or stopping). For example, as shown in the travel area ID "mi" column, an occupancy status of "yes" indicates that a moving object occupies the travel area mi. Also, as shown in the travel area ID "mj" column, an occupancy status of "no" indicates that no moving object occupies the travel area mj.

[0056] When the occupancy status of a travel area is "occupied," the control unit 23 may generate or update the travel area information by linking it to the mobile body ID of a mobile body that exists in the travel area.

[0057] Returning to the explanation in Fig. 1, the control unit 23 generates or updates evacuation location information indicating the status of the evacuation location based on mobile object information transmitted from a plurality of mobile objects. Here, the evacuation location information generated or updated by the control unit 23 will be explained using Fig. 2B. Fig. 2B is a diagram showing an example of the evacuation location information.

[0058] 2B , the evacuation location information is composed of an evacuation location ID associated with each evacuation location and an occupancy status indicating whether or not a moving object is present at each evacuation location (i.e., whether or not the moving object is located at the evacuation location in order to pass another moving object). For example, as shown in the "Tmi" column for the evacuation location ID, an occupancy status of "present" indicates that a moving object is present at the evacuation location Tmi or that a moving object is moving toward the evacuation location Tmi. Furthermore, as shown in the "Tmk" column for the evacuation location ID, an occupancy status of "absent" indicates that no moving object is present at the evacuation location Tmk and no moving object is moving toward the evacuation location Tmk.

[0059] When the occupancy status of the evacuation location is "Yes", the control unit 23 may associate the mobile body ID of the mobile body present at the evacuation location with the evacuation location information, and may also associate the mobile body ID of the mobile body that caused the evacuation.

[0060] Returning to the explanation in Figure 1, the control unit 23 determines whether or not to move a certain moving body (e.g., moving body 1A) to an evacuation position based on moving body information, traveling area information, and evacuation position information transmitted from the moving body (e.g., moving body 1A).

[0061] The network 3 may be, for example, a wide area communication network such as the Internet, or a local area communication network.

[0062] The wireless AP 4 is a device that relays wireless communication between the mobile object 1A and the network 3.

[0063] The elevator system 5 is a system that controls the operation of the elevator, and is, for example, a cloud or a computer device. The elevator system 5 controls the up and down movement of the elevator based on instructions from the mobile object management system 2.

[0064] The automatic door system 6 is a system that controls the operation of automatic doors, and is, for example, a cloud or a computer device. The automatic door system 6 controls the opening and closing of automatic doors based on instructions from the mobile object management system 2.

[0065] [Generation of Route Information] Next, a method for generating route information for the mobile object 1A to travel from a departure point (i.e., current location) to a destination will be described using the above-described method as an example, using the nodes. First, a method for the mobile object management system 2 to generate route information when the mobile object 1A travels to a destination on the same floor as the departure point will be described using FIG. 3. FIG. 3 is a diagram for explaining a method for the mobile object management system 2 to generate route information when the mobile object 1A travels to a destination on the same floor as the departure point. Note that in the examples shown in FIG. 3 and subsequent figures, rectangular travel areas are arranged in a straight line, but the shape of the travel areas is not limited to a rectangle, and the travel areas may intersect.

[0066] 3A is a schematic diagram of a moving object 1A starting to travel from a departure point to a destination point. In FIG. 3A, the departure point of moving object 1A is a travel area mi, and the destination of moving object 1A is a point in travel area ml. Note that in FIG. 3A, a case will be described in which no other moving object exists in travel areas mi-ml and in evacuation positions Tmi-Tmm.

[0067] A node is set in each of the travel areas mi to ml. Two or more nodes are set in each of the travel areas mi to ml, and for example, it is desirable that the nodes are set at both ends of the travel area mj so that one node is set near the travel area mi and another node is set near the travel area mk.

[0068] 3B is a diagram showing an example of route information generated by the control unit 23 of the mobile object management system 2 for the mobile object 1A to start traveling as described in FIG. 3A. The square shape labeled "starting point" indicates the coordinates of the traveling area mi, and the circle shape labeled "destination" indicates the coordinates of the traveling area ml.

[0069] When a movement instruction is given to the mobile object 1A via the input unit 12 or the communication unit 15, the control unit 17 transmits information on the current position and destination to the mobile object management system 2, and the control unit 23, which receives the information, determines whether there is a waypoint. For example, if there is movement between floors as shown in Figure 4 (described later), the waypoints are the elevator waiting position on the current floor, in front of the elevator door, inside the elevator car, and inside the elevator car at the destination, but if there is no movement between floors as shown in Figure 3, it is determined that there is no waypoint.

[0070] In the example shown in Figure 3, since the destination is on the same floor, when the mobile object management system 2 instructs the mobile object 1A to go to the destination without passing through a stopover point, the control unit 17 generates a node string as route information by connecting the nodes set in the travel areas mi to ml from the current location of the mobile object 1A to the destination of the mobile object 1A (for example, Figure 3(b)). The mobile object management system 2 also generates a route in a similar manner, extracts travel area information from the travel area ID linked to each node in the node string, and obtains the travel area string to the destination. Note that the calculation of the node string from the current location to the destination and the acquisition of the travel area string may be performed by either the control unit 17 or the control unit 23 and shared via communication.

[0071] By heading to the nodes in the order of the node sequence in the generated route information, the mobile object 1A can travel from the travel area mi to the travel area ml. Note that the mobile object 1A transmits the travel area ID associated with the node it is heading to the mobile object management system 2, which allows the mobile object management system 2 to grasp the travel area of ​​the mobile object 1A.

[0072] Next, a case where the mobile object 1A travels to a destination on a different floor from the departure point will be described. As described above, the intermediate points are set to the elevator waiting position on the current floor, the waiting position in front of the elevator door, the position inside the elevator car on the boarding floor, and the position inside the elevator car on the destination floor. The mobile object management system 2 outputs a travel instruction to the mobile object 1A to the intermediate point. Depending on the elevator operation status, the travel instruction to the next intermediate point is updated. After moving to another floor in the elevator, a travel instruction to the destination is output. Note that the method of using the elevator and the setting of the intermediate points are not limited to this description. Figure 4 is a diagram for explaining a method by which the mobile object management system 2 generates route information when the mobile object 1A travels to a destination on a different floor from the departure point.

[0073] FIG. 4A is a schematic diagram illustrating a state when a moving object 1A starts moving from a departure point to a destination point. In FIG. 4A, the departure point of the moving object 1A is travel area mi, and the destination of the moving object 1A is travel area nl. As described above, the control unit 23 first instructs the moving object 1A to move to the elevator waiting position on the current floor. When the elevator becomes available, the control unit 23 instructs the moving object 1A to move to the waiting position in front of the elevator doors. When the moving object 1A arrives at the waiting position in front of the elevator doors, the control unit 23 instructs the elevator system 5 to open the elevator doors. When the doors open, the control unit 23 instructs the moving object 1A to move to the elevator car position at the boarding floor. When the moving object 1A arrives at the elevator car position at the boarding floor, the control unit 23 instructs the elevator system 5 to move to the destination floor, and instructs the moving object 1A to change the map information to the destination floor and move to the car position at the destination floor, if necessary. When the elevator arrives at the destination floor and the doors open, the control unit 23 instructs the moving object 1A to move to the destination. That is, the moving object 1A departs from traveling area mi, travels to traveling area mj, uses the elevator to move from floor m (i.e., traveling area mj) to floor n (i.e., traveling area nj), and travels from traveling area nj to traveling area nl. Next, a case will be described in FIG. 4A where no other moving objects are present in traveling areas mi-ml and traveling areas ni-nl and in the evacuation positions Tmi-Tmm and Tni-Tnm.

[0074] Nodes are set in each of the travel areas mi to ml and ni to nl. The node settings in each travel area are the same as those explained in FIG. 3A, so the explanation will be omitted.

[0075] 4(b) is a diagram showing an example of route information generated by the control unit 23 of the mobile object management system 2 when the mobile object 1A starts the movement described in FIG. 4(a). The square marked "Departure Point" indicates certain coordinates set in the travel area mi, the square marks marked "Waypoints 1 to 3" indicate certain coordinates set in the travel area mj, the square mark marked "Waypoint 4" indicates certain coordinates set in the travel area nj, and the circle marked "Destination" indicates certain coordinates set in the travel area nl.

[0076] As shown in FIG. 4B, when a movement instruction is given to the mobile unit 1A via the input unit 12 or the communication unit 15, the control unit 17 transmits information about the current location and destination to the mobile unit management system 2. The control unit 23, upon receiving the information, identifies waypoints 1-4 and generates routes from the current location to waypoints 1, 1-2, 2-3, and 4 to the destination. The control unit 23 extracts travel area information from the travel area IDs associated with each node in the node sequence of the entire route to obtain the travel area sequence to the destination. The mobile unit 1A generates a route and moves in response to each movement instruction from the mobile unit management system 2. The above route generation generates route information for the mobile unit 1A by connecting the necessary nodes, including the node set in the travel area mi where the mobile unit 1A is currently located, the node set in the travel area mj that is the waypoint, the node set in the travel area nj that is the waypoint, the travel area nk that the mobile unit 1A will pass through to its destination, and the node set in the travel area nl. The control unit 23 generates route information for the moving object 1A using the algorithm described in Fig. 3(b). As in the case of movement within the same floor, the calculation of the node sequence and the acquisition of the travel area sequence may be performed by either the control unit 17 or the control unit 23, and the information may be shared via communication.

[0077] [Occupancy of Travel Area] When a mobile object 1A travels from a departure point to a destination, the mobile object management system 2 sets a travel area, which is the first travel area that the mobile object 1A travels through, and a next travel area, which is the next travel area that the mobile object plans to travel through, and identifies whether or not the above-mentioned occupancy state exists. The rules by which the mobile object management system 2 sets a travel area and a next travel area are described using FIG. 5 . FIG. 5 is a schematic diagram illustrating the transition between a travel area and a next travel area. Note that in FIG. 5 , the departure point of the mobile object 1A is travel area mi, and the destination of the mobile object 1A is travel area ml. Also, in FIG. 5 , a case where no other mobile object exists in travel areas mi-ml and evacuation positions Tmi-Tmm is described. FIG. 5(a) is a schematic diagram illustrating the mobile object 1A traveling in travel area mi. FIG. 5(b) is a schematic diagram illustrating the mobile object 1A moving from travel area mi to travel area mj.

[0078] 5A, the mobile object 1A is traveling in a traveling area mi. The control unit 23 of the mobile object management system 2 identifies the traveling area as traveling area mi and the next traveling area as traveling area mj based on the mobile object information including the traveling area in which the mobile object 1A is currently located and the destination of the mobile object 1A.

[0079] If the traveling areas mi and mj are not occupied by other moving bodies, the control unit 23 determines that the moving body 1A occupies the traveling areas mi and mj, and updates the traveling area information. Specifically, the control unit 23 updates the occupancy status corresponding to the traveling area IDs "mi" and "mj" shown in FIG. 2A to "occupied."

[0080] 5B shows a scene in which moving object 1A moves from traveling area mi to traveling area mj. When the distance from the current position of moving object 1A to the boundary of the next traveling area approaches a predetermined range, or when the traveling area ID associated with the node toward which moving object 1A is heading changes to the ID of the next traveling area, control unit 23 updates the traveling area and the next traveling area using the stored area sequence information. In other words, the moving area is updated to traveling area mj, and the next traveling area is updated to traveling area mk.

[0081] If the traveling areas mj and mk are not occupied by other moving bodies, the control unit 23 updates the traveling area information by determining that the moving body 1A occupies the traveling areas mj and mk and does not occupy the traveling area mi. Specifically, the control unit 23 updates the occupation status corresponding to the columns of the traveling area IDs "mj" and "mk" shown in FIG. 2A to "yes," and updates the occupation status corresponding to the column of the traveling area ID "mi" to "no."

[0082] In this way, the control unit 23 updates the travel area information so that the mobile unit 1A occupies the two travel areas from the travel area in which the mobile unit 1A is currently located, thereby preventing other mobile units from traveling in those two travel areas. This allows the control unit 23 to prevent a situation in which two or more mobile units are present in the same travel area.

[0083] Also, in FIG. 5(c), a case where the moving object 1A travels to a destination on a different floor will be described.

[0084] When the mobile object 1A moves and the travel area of ​​the travel area ID linked to the route point 1 becomes the travel area, the mobile object management system 2 sets the travel area mj as the travel area and the travel area nj as the next travel area, and if the occupied status of both areas and the evacuation locations adjacent to them is not "yes", continues the movement to the route point 1, and if the occupied status of either area is "yes", moves the mobile object 1A to the nearest unoccupied evacuation location. The nearest evacuation location is calculated and determined using the current position coordinates of the mobile object 1A and the coordinates of the evacuation locations stored in the mobile object management system 2.

[0085] If none of the above areas are occupied, the occupancy status is updated. That is, the occupancy status of traveling area mi is changed to "unoccupied" and the occupancy status of traveling areas mj and nj is changed to "occupied." This occupancy status is maintained until the mobile object 1A moves to waypoint 4, at which point the traveling area mj becomes "unoccupied" and movement within the same floor is performed as in FIG. 3.

[0086] [Evacuation of Mobile Object] Next, the basic rules when the mobile object management system 2 issues an instruction (evacuation instruction) to the mobile object 1A to move to an evacuation position will be described. FIG. 6 is a schematic diagram for explaining the basic rules when the mobile object 1A moves to an evacuation position. In FIG. 6, the departure point of the mobile object 1A is traveling area mi, and the destination of the mobile object 1A is traveling area ml. Also, in FIG. 6, the mobile object 1B is traveling in traveling area ml. Also, in FIG. 6, a case will be described where no other mobile objects are present in the evacuation positions Tmi to Tmm.

[0087] 6A is a schematic diagram showing the state when the mobile object 1A starts traveling from the traveling area mi. As shown in FIG. 6A, the control unit 23 of the mobile object management system 2 identifies the traveling area as the traveling area mi and the next traveling area as the traveling area mj based on the traveling area in which the mobile object 1A is currently located and the sequence of areas leading to the destination of the mobile object 1A. Since the traveling areas mi and mj are not occupied by other mobile objects, the control unit 23 issues an instruction (travel instruction) to travel from the traveling area mi toward the destination ml.

[0088] FIG. 6B is a schematic diagram illustrating the moving object 1A moving from the traveling area mi to the traveling area mj. As shown in FIG. 6B, the control unit 23 identifies the moving area as traveling area mj and the next moving area as traveling area mk based on the traveling area in which the moving object 1A is currently located and the area string including the destination of the moving object 1A. The control unit 23 identifies that the traveling area mk is occupied by the moving object 1B based on the traveling area information. In such a case, the control unit 23 cannot update the traveling area information to indicate that the moving object 1A occupies the traveling areas mj and mk, and therefore issues an evacuation instruction to the moving object 1A to move to the evacuation position Tmj. Then, when the moving object 1A arrives at the evacuation position, the control unit 23 updates the occupancy status corresponding to the columns of the traveling area IDs "mi" and "mj" shown in FIG. 2A to "not occupied," and updates the occupancy status corresponding to the column of the evacuation position ID "Tmj" shown in FIG. 2B to "occupied."

[0089] FIG. 6C is a schematic diagram illustrating the state when the mobile object 1A moves to the evacuation position Tmj based on an evacuation instruction from the mobile object management system 2. As shown in FIG. 6C, while the mobile object 1B occupies the travel area mk, the mobile object 1A continues to evacuate at the evacuation position Tmj. For example, when the mobile object 1B travels and the control unit 23 updates the occupancy status corresponding to the "mj" and "mk" columns of the travel area ID shown in FIG. 2A to "no," the control unit 23 instructs the mobile object 1A (travel instruction) to travel from the travel area mj toward the destination ml. The control unit 23 updates the occupancy status corresponding to the "mj" and "mk" columns of the travel area ID to "yes." Furthermore, upon receiving the travel instruction from the mobile object management system 2, the mobile object 1A starts traveling in the travel area mj.

[0090] In the case of FIG. 6C, the control unit 23 determines that the evacuation of the moving body 1A as seen from the moving body 1B is a self-caused factor. The self-caused factor means that another moving body (moving body 1A in FIG. 6C) is located at the evacuation position due to the presence of the moving body itself (moving body 1B in FIG. 6C). The control unit 23 also determines that the evacuation of the moving body 1A as seen from another moving body (e.g., moving body 1C) is located at the evacuation position without being due to the presence of the moving body itself (e.g., moving body 1C). The control unit 23 may determine whether the evacuation is a self-caused factor or an other-caused factor as seen from a specific moving body by including the ID of the moving body that caused the evacuation in the evacuation position information shown in FIG. 2B.

[0091] In this way, if there is another moving body within two traveling areas of the traveling area in which the moving body 1A is currently located, the control unit 23 gives an evacuation instruction to the moving body 1A, thereby preventing a situation in which two or more moving bodies are present in the same traveling area.

[0092] [Control of Passing of Multiple Moving Objects Performed by a Mobile Object Management System] Fig. 7 is a flowchart showing the operation performed by a mobile object management system 2 according to an embodiment. Fig. 7 is a flowchart showing the control of passing of multiple moving objects performed by the mobile object management system 2. Note that, for ease of explanation, Fig. 7 focuses on the moving object 1A, but another moving object may also be the target.

[0093] The control unit 23 acquires the mobile object information from the mobile object 1A via the communication unit 21 (step S1). That is, in step S1, the mobile object 1A transmits the mobile object information to the mobile object management system 2.

[0094] The control unit 23 determines whether the traveling area included in the mobile object information acquired in step S1 has changed from the traveling area included in the mobile object information acquired last time, or determines whether the mobile object 1A is currently evacuating (step S2). For example, the control unit 23 makes this determination by comparing the traveling area included in the mobile object information acquired in step S1 with the traveling area information shown in FIG. 2A.

[0095] If it is determined that the vehicle is not being evacuated and the travel area has not changed (No in step S2), the control unit 23 does not update the travel area information. In this case, the control unit 23 performs step S1 again.

[0096] If it is determined that the driving area has changed or that the vehicle is in the process of evacuation (Yes in step S2), the control unit 23 determines whether to move the vehicle 1A to a evacuation position or to continue the evacuation (step S3).

[0097] When it is determined that the moving object 1A should be moved to the evacuation position (Yes in step S3), the control unit 23 issues an evacuation instruction to the moving moving object 1A via the communication unit 21 (step S4). In step S4, the mobile object management system 2 transmits an evacuation instruction to the moving object 1A, and upon receiving the evacuation instruction, the moving object 1A moves to the evacuation position. When the moving object 1A is evacuation, the control unit 23 determines the moving area as the moving area, and performs the same determination as when the moving object 1A is moving, and when it determines that the evacuation should be continued (Yes in step S3), the control unit 23 continues the evacuation by not issuing a movement instruction to the moving object 1A (step S4).

[0098] When it is determined that the moving body 1A in the travel area should not be moved to the evacuation position (No in step S3), the control unit 23 causes the moving body 1A to continue traveling without issuing an evacuation instruction (step S5). When it is determined that the evacuation moving body 1A should resume movement (No in step S3), the control unit 23 issues a travel instruction to the evacuation moving body 1A via the communication unit 21 (step S5). In step S5, the moving body 1A that has received the travel instruction starts traveling in a travel area that is the first area that the moving body 1A enters on the route when moving from the evacuation position to the destination it was heading for before evacuation.

[0099] After step S4 or step S5, the control unit 23 updates the traveling area information and the evacuation position information (step S6).

[0100] The control unit 23 may execute step S4 or step S5 after step S6.

[0101] Fig. 8 is a flowchart showing detailed steps of steps S3 to S5 shown in Fig. 7. Note that steps S11 to S12 and step S15 shown in Fig. 8 correspond to step S3 shown in Fig. 7. Also, steps S13 to S14 shown in Fig. 8 correspond to step S4 shown in Fig. 7. Also, step S16 shown in Fig. 8 corresponds to step S5 shown in Fig. 7. Also in Fig. 8, for ease of explanation, moving body 1A is the subject, but another moving body may be the subject.

[0102] The control unit 23 determines whether or not a moving object due to another factor is present in the retreat position adjacent to the movement area of ​​the moving object 1A and the next movement area (step S11). Note that in step S11, the moving object due to another factor refers to a moving object that is located in the retreat position without being caused by the presence of the moving object 1A.

[0103] When it is determined that a moving object due to another factor is present at the evacuation position (Yes in step S11), the control unit 23 determines whether a moving object due to the self factor is present at the evacuation position adjacent to the movement area of ​​the moving object 1A and the next movement area (step S12). Note that in step S12, the moving object due to the self factor refers to a moving object that is located at the evacuation position due to the presence of the moving object 1A.

[0104] If it is determined that the mobile body of the own cause is present at the evacuation position (Yes in step S12), the control unit 23 causes the mobile body 1A to enter and stops the mobile body 1A when it moves a predetermined distance away from the evacuation position, and moves the mobile body of the own cause into the traveling area and gives an evacuation instruction to the mobile body 1A to move to the evacuation position when it moves a predetermined distance away from the evacuation position (step S13).

[0105] When it is determined that the moving object causing the own cause is not present at the evacuation position (No in step S12), the control unit 23 gives an evacuation instruction to the moving object 1A to move to the evacuation position (step S14).

[0106] On the other hand, if it is determined that there is no other moving body at the evacuation position (No in step S11), the control unit 23 determines whether another moving body is occupying the movement area and next movement area of ​​the moving body 1A (step S15).

[0107] If the movement area and the next movement area are occupied by another moving object (Yes in step S15), the control unit 23 performs the determination in step S12.

[0108] If the moving area and the next moving area are not occupied by other moving bodies (No in step S15), the control unit 23 issues a travel instruction to the moving body 1A to travel in the moving area (step S16). Alternatively, if there is no evacuation instruction, the control unit 23 may cause the moving body 1A to continue traveling as is.

[0109] Specific examples of the operation of the mobile object management system 2 described in Figures 7 and 8 will be described using the schematic diagrams shown in Figures 9A to 9E. In the explanations of Figures 9A to 9E, the departure point of the mobile object 1A is the travel area mi, and the destination of the mobile object 1A is the travel area ml.

[0110] FIG. 9A is a schematic diagram showing the operation of mobile object 1A when another mobile object (mobile object 1B in FIG. 9A) occupies traveling area mk. FIG. 9A illustrates a case where mobile object 1B is traveling through traveling area ml in the direction of traveling area mi. (a) of FIG. 9A is a schematic diagram when mobile object 1A moves from traveling area mi to traveling area mj. (b) of FIG. 9A is a schematic diagram when mobile object 1A moves to evacuation position Tmj based on an evacuation instruction from the mobile object management system 2. The specific example illustrated in FIG. 9A is a specific example when the control unit 23 determines No in S11, Yes in S15, and No in S12 of FIG. 8.

[0111] As shown in (a) of FIG. 9A , the control unit 23 identifies the travel area as travel area mj and the next travel area as travel area mk based on the travel area in which the mobile object 1A is currently located and the stored sequence of areas leading to the destination of the mobile object 1A. Based on the evacuation position information, the control unit 23 determines that no other mobile object is present in the evacuation positions Tmj, Tmk, and Tml adjacent to the travel area and the next travel area. Furthermore, based on the travel area information, the control unit 23 determines that another mobile object is occupying travel area mk. Based on the evacuation position information, the control unit 23 determines that no other mobile object is present in the evacuation positions Tmj, Tmk, and Tml adjacent to the travel area and the next travel area. As a result, the control unit 23 issues an evacuation instruction to the mobile object 1A to move to the evacuation position Tmj.

[0112] As shown in (b) of FIG. 9A, the moving object 1A moves to the evacuation position Tmj based on an evacuation instruction from the moving object management system 2.

[0113] As described above, the mobile object management system 2 issues an evacuation instruction to the mobile object 1A when another mobile object occupies any of the travel areas up to two travel areas away from the travel area in which the mobile object 1A is currently located, thereby preventing a situation in which two or more mobile objects are present in the same travel area.

[0114] FIG. 9B is a schematic diagram showing the operation of mobile body 1A when another mobile body (mobile body 1B in FIG. 9B) is present at evacuation position Tmk due to another factor. Note that in FIG. 9B, the circle attached to mobile body 1B is a mark indicating that another factor exists, and this also applies to subsequent figures. (a) of FIG. 9B is a schematic diagram showing when mobile body 1A moves from traveling area mi to traveling area mj. (b) of FIG. 9B is a schematic diagram showing when mobile body 1A moves to evacuation position Tmj based on an evacuation instruction from mobile body management system 2. The specific example described in FIG. 9B is a specific example when control unit 23 determines Yes in S11 and No in S12 of FIG. 8.

[0115] As shown in (a) of FIG. 9B , the control unit 23 identifies the travel area as travel area mj and the next travel area as travel area mk based on the travel area in which the mobile object 1A is currently located and the stored sequence of areas leading to the destination of the mobile object 1A. Based on the evacuation position information, the control unit 23 identifies that a mobile object of another cause is present at evacuation position Tmk adjacent to the travel area and the next travel area. Furthermore, based on the evacuation position information, the control unit 23 identifies that a mobile object of its own cause is not present at evacuation positions Tmj, Tmk, and Tm1 adjacent to the travel area and the next travel area. As a result, the control unit 23 issues an evacuation instruction to the mobile object 1A to move to evacuation position Tmj.

[0116] 9B (b), the mobile object 1A moves to the evacuation position Tmj based on an evacuation instruction from the mobile object management system 2. Note that the mobile object management system 2 issues a travel instruction to the mobile object 1A when the traveling area mj and the traveling area mk are not occupied and there are no other mobile objects at the evacuation positions Tmk and Tml.

[0117] As described above, the mobile body management system 2 can take into consideration the occupancy status of the driving area used to determine whether to evacuate other mobile bodies present at the evacuation position, and can therefore give driving instructions to the mobile body 1A taking into account the driving of multiple mobile bodies, thereby preventing a situation in which two or more mobile bodies are present in the same driving area.

[0118] FIG. 9C is a schematic diagram showing the operation of mobile body 1A when another mobile body (mobile body 1B in FIG. 9C) occupies travel area mk and another mobile body (mobile body 1C in FIG. 9C) is at evacuation position Tmj due to its own cause. (a) of FIG. 9C is a schematic diagram showing the movement of mobile body 1A from travel area mi to travel area mj. Note that the cross mark on mobile body 1C in (a) of FIG. 9C is a mark indicating that the movement is at evacuation position 1C due to its own cause, and this also applies to the following figures. (b) of FIG. 9C is a schematic diagram showing the movement of mobile body 1A to evacuation position Tmj based on an evacuation instruction from mobile body management system 2. The specific example described in FIG. 9C is a specific example when control unit 23 determines No in S11, Yes in S15, and Yes in S12 of FIG. 8.

[0119] As shown in (a) of FIG. 9C , the control unit 23 identifies the travel area as travel area mj and the next travel area as travel area mk based on the travel area in which the mobile object 1A is currently located and the stored sequence of areas leading to the destination of the mobile object 1A. Furthermore, the control unit 23 determines, based on the evacuation position information, that no other mobile object is present in the evacuation positions Tmj, Tmk, and Tml adjacent to the travel area and the next travel area. Furthermore, the control unit 23 determines, based on the travel area information, that another mobile object is present in travel area mk. Furthermore, based on the evacuation position information, the control unit 23 determines that the mobile object of its own cause is present in the evacuation position Tmj adjacent to the travel area and the next travel area. As a result, the control unit 23 moves the mobile object of its own cause 1C from the evacuation position Tmj to the travel area mi, and then issues an evacuation instruction to the mobile object 1A to move to the evacuation position Tmj.

[0120] 9C (b), the mobile object 1A moves to the evacuation position Tmj based on an evacuation instruction from the mobile object management system 2. Specifically, the mobile object management system 2 causes the mobile object 1A to proceed to the travel area mj and stop the mobile object 1A when it is a predetermined distance away from the evacuation position Tmj, thereby clearing the travel area mi. Thereafter, the mobile object management system 2 outputs an instruction to the mobile object 1C to move back to the original destination, and once the mobile object 1A moves from the evacuation position Tmj to the travel area mi, the mobile object 1A is moved to the evacuation position Tmj.

[0121] As described above, the mobile object management system 2 takes into consideration the status of other mobile objects present at the evacuation location, and if there are other mobile objects within two travel areas of the travel area in which the mobile object 1A is currently located, it issues an evacuation instruction to the mobile object 1A, thereby preventing a situation in which two or more mobile objects are present in the same travel area.

[0122] 9D is a schematic diagram showing the operation of a moving body when another moving body (moving body 1B in FIG. 9D) is present at the evacuation position Tmk due to another factor, and another moving body (moving body 1C in FIG. 9D) is present at another evacuation position (evacuation position Tmj in FIG. 9D) due to its own factor. FIG. 9D (a) is a schematic diagram when moving body 1A moves from traveling area mi to traveling area mj. FIG. 9D (b) is a schematic diagram when moving body 1A moves to evacuation position Tmj based on an evacuation instruction from the moving body management system 2. The specific example described in FIG. 9D is a specific example when the control unit 23 determines Yes in S11 and Yes in S12 of FIG. 8.

[0123] 9D (a), the control unit 23 identifies the moving area as moving area mj and the next moving area as moving area mk based on moving object information including the moving area in which the moving object 1A is currently located and the destination of the moving object 1A. Furthermore, the control unit 23 determines, based on the evacuation position information, that a moving object of another cause is present at evacuation position Tmk adjacent to the moving area and the next moving area. Furthermore, based on the evacuation position information, the control unit 23 determines that a moving object of its own cause is present at evacuation position Tmj adjacent to the moving area and the next moving area. As a result, the control unit 23 moves the moving object 1C of its own cause from evacuation position Tmj to moving area mi, and then issues an evacuation instruction to the moving object 1A to move to evacuation position Tmj.

[0124] As shown in (b) of Figure 9D, the mobile object 1A moves to the evacuation position Tmj based on an evacuation instruction from the mobile object management system 2. Specifically, the mobile object management system 2 causes the mobile object 1A to proceed to the travel area mj and stop it when it is a predetermined distance away from the evacuation position Tmj, thereby clearing the travel area mi. Thereafter, the mobile object management system 2 outputs an instruction to the mobile object 1C to move back to its original destination, and once the mobile object 1C moves from the evacuation position Tmj to the travel area mi, the mobile object management system 2 moves the mobile object 1A to the evacuation position Tmj. Note that the mobile object management system 2 issues a travel instruction to the mobile object 1A when there are no other mobile objects in the travel areas mj and mk, or the evacuation positions Tmk and Tml.

[0125] As described above, the mobile body management system 2 can take into consideration the occupancy status of the driving area used to determine whether to evacuate other mobile bodies present at the evacuation position, and can therefore give driving instructions to the mobile body 1A taking into account the driving of multiple mobile bodies, thereby preventing a situation in which two or more mobile bodies are present in the same driving area.

[0126] 9E is a schematic diagram showing the operation of the mobile object 1A when the movement area and the next movement area of ​​the mobile object 1A are not occupied by other mobile objects, and there is no other mobile object at a retreat position adjacent to the movement area and the next movement area. (a) of FIG. 9E is a schematic diagram showing the movement of the mobile object 1A from the travel area mi to the travel area mj. (b) of FIG. 9E is a schematic diagram showing the movement of the mobile object 1A through the travel area mj based on a travel instruction from the mobile object management system 2. The specific example described in FIG. 9E is a specific example when the control unit 23 determines No in S11 and No in S15 of FIG. 8.

[0127] As shown in (a) of FIG. 9E, the control unit 23 identifies the travel area as travel area mj and the next travel area as travel area mk based on the travel area in which the mobile unit 1A is currently located and the mobile unit information including the destination of the mobile unit 1A. Furthermore, the control unit 23 determines, based on the evacuation position information, that no other mobile units are present in the evacuation positions Tmj, Tmk, and Tml adjacent to the travel area and the next travel area. Furthermore, based on the travel area information, the control unit 23 determines that no other mobile units are present in the travel areas mj and mk. As a result, the control unit 23 issues a travel instruction to the mobile unit 1A to move to the travel area mj. Alternatively, if no travel instruction is received, the mobile unit 1A may continue traveling to the destination or a stopover point.

[0128] As shown in (b) of FIG. 9E, the moving object 1A travels in a travel area mj based on a travel instruction from the moving object management system 2.

[0129] As described above, the mobile object management system 2 takes into consideration the situation of the evacuation position and issues a driving instruction to the mobile object 1A if no other mobile objects occupy the driving area up to two driving areas away from the driving area in which the mobile object 1A is currently located, thereby preventing a situation in which two or more mobile objects are present in the same driving area.

[0130] As explained above, the mobile object management method executed by the mobile object management system 2 according to this embodiment can prevent situations in which two or more mobile objects are present in the same travel area. However, there may be cases where the location of a mobile object managed by the mobile object management system 2 does not match the actual location of the mobile object due to a malfunction in the communication environment or the like. Correction for such a mismatch is shown in FIG. 10.

[0131] FIG. 10 is a schematic diagram showing a specific example of a correction performed by the control unit 23 to address a mismatch between the position of a moving object managed by the moving object management system 2 and the actual position of the moving object. Note that moving object 1D is a moving object managed by the moving object management system 2 and has the same configuration and functions as moving objects 1A to 1C. Also, in FIG. 10, moving object 1D is retracted to a retraction position Tmj. (a) of FIG. 10 is a schematic diagram showing an inconsistent situation in which two or more moving objects exist in the same traveling area. (b) of FIG. 10 is a schematic diagram showing the state of the traveling area after the control unit 23 retracts moving object 1B to a retraction position Tmk based on the situation shown in (a) of FIG. 10. (c) of FIG. 10 is a schematic diagram showing the state of the traveling area after the control unit 23 retracts moving object 1C to a retraction position Tml based on the situation shown in (b) of FIG. 10.

[0132] 10A, when the control unit 23 detects that two or more moving objects are present in the same travel area, it stops all of the moving objects (moving objects 1A, 1B, and 1C). Then, the control unit 23 calculates the route distance from each moving object to an unoccupied evacuation position.

[0133] 10(b), the control unit 23 causes the mobile unit 1B, which has the shortest route distance to the evacuation position, to evacuate to the evacuation position Tmk and updates the traveling area information and the evacuation position information. Then, when the control unit 23 confirms that the inconsistency has not been corrected after the update, it calculates the route distance from the mobile unit (mobile units 1A, 1C) to the unoccupied evacuation position.

[0134] 10(c), the control unit 23 causes the moving object 1C, which has the shortest route distance to the evacuation position, to evacuate to the evacuation position Tml, and updates the traveling area information and the evacuation position information. Then, when the control unit 23 determines that there are no more than two moving objects in the same traveling area, it issues an instruction to the moving object 1A to move to the destination.

[0135] As described above, when the mobile object management system 2 detects a situation in which two or more mobile objects are present in the same travel area, it stops all of the relevant mobile objects. Then, it issues an evacuation command to each of the mobile objects to an evacuation position, repeating this process until no more than two mobile objects occupy the same travel area. This allows the mobile object management system 2 to correct the inconsistent situation.

[0136] [Modifications of Mobile Objects and Mobile Object Management System] The following describes modifications of the mobile objects 1A to 1D and the mobile object management system 2 according to this embodiment. As with the above description, the description will focus on the mobile object 1A.

[0137] In the above embodiment, the mobile object 1A is a mobility that identifies its own current location and travel area and travels from a certain departure point to a certain destination, but this is not limiting. For example, the mobile object 1A may be a mobility that does not recognize its own current location and travel area, or may be a bed or equipment that can be moved by human operation.

[0138] If the mobile object 1A is a mobility that does not recognize its own current location or travel area, or if it is a bed or equipment that can be moved by human operation, it is necessary to transmit at least the destination of the mobile object 1A to the mobile object management system 2 before the mobile object 1A starts moving. Examples of communication means with the mobile object management system 2 include a transmitting / receiving device provided in the mobile object 1A and a smartphone or tablet terminal owned by the person. A predetermined application program is pre-installed in the above communication means. When a person operates the above communication means, the destination of the mobile object 1A is transmitted to the mobile object management system 2. Note that the smartphone or tablet terminal included in the above communication means may be provided in the mobile object 1A. Furthermore, the above communication means corresponds to the communication unit 15 provided in the mobile object 1A.

[0139] Furthermore, evacuation instructions are also given from the mobile object management system 2 to the mobile object 1A via the above-mentioned communication means. As a result, even if the mobile object 1A is a mobility that does not specify its own current location and travel area, the mobile object 1A can move based on travel-related instructions obtained, for example, via a transmitter / receiver. Furthermore, even if the mobile object 1A is a bed or equipment that can be moved by human operation, the person operating the mobile object 1A can move the mobile object 1A based on travel-related instructions displayed on, for example, a smartphone or tablet terminal (specifically, a display unit such as a display). Therefore, the mobile object 1A can pass other mobile objects more smoothly.

[0140] Furthermore, when the mobile object management system 2 controls the movement of mobile objects 1A to 1D, including mobility that does not specify the current location and movement area of ​​the mobile object 1A itself, or beds and equipment that can be moved by human operation (hereinafter referred to as mobile object 1A), it is necessary to specify the movement area of ​​the mobile object 1A and then generate or update movement area information.

[0141] The communication unit 21 of the mobile object management system 2 acquires mobile object information including information about the current location of the mobile object 1A and the destination of the mobile object 1A. Then, the control unit 23 generates route information for the mobile object 1A to travel from the current location to the destination based on the acquired mobile object information. Thereafter, the control unit 23 identifies the travel area in which the mobile object 1A is currently located based on the generated route information and the current location of the mobile object 1A, and generates or updates the travel area information.

[0142] Here, the information about the current location of the moving object 1A included in the moving object information is generated, for example, by a device installed in the environment in which the moving object 1A travels (specifically, the travel area and the evacuation position). The device installed in the environment may be, for example, a camera. Furthermore, the device installed in the environment may be a device having a receiver that receives a signal transmitted from the moving object 1A, or may be a transmitter that transmits a travel area ID.

[0143] If the device installed in the environment is a camera, the camera may transmit the captured image to the mobile object management system 2 as information regarding the current location of the mobile object 1A. In such a case, the control unit 23 performs image processing on the acquired image to determine whether the mobile object 1A is included in the image. The control unit 23 generates route information for the mobile object 1A based on the results obtained from the image processing, and identifies the traveling area in which the mobile object 1A is currently located. The camera may also perform image processing on the captured image and transmit the obtained image processing results to the mobile object management system 2 as information regarding the current location of the mobile object 1A. In such a case, the control unit 23 generates route information for the mobile object 1A based on the obtained image processing results, and identifies the traveling area in which the mobile object 1A is currently located.

[0144] Furthermore, if the device installed in the environment is a device having a receiver, the device receives a signal (e.g., information regarding the management ID of the mobile object 1A) transmitted by a transmitter provided in the mobile object 1A. The device associates information regarding the device's own management ID with the received signal to generate information regarding the current location of the mobile object 1A. The communication unit 21 then acquires the information regarding the current location of the mobile object 1A generated by the device. The control unit 23 then generates route information for the mobile object 1A based on the information regarding the current location of the mobile object 1A, and identifies the traveling area in which the mobile object 1A is currently located.

[0145] Furthermore, if the device installed in the environment is a transmitter, the transceiver provided in the mobile object 1A receives a signal related to the travel area ID transmitted by the transmitter. The transceiver associates information related to the management ID of the mobile object 1A with the received signal to generate information related to the current location of the mobile object 1A. The communication unit 21 acquires the information related to the current location of the mobile object 1A generated by the transceiver. The control unit 23 then generates route information for the mobile object 1A based on the information related to the current location of the mobile object 1A, and identifies the travel area in which the mobile object 1A is currently located.

[0146] The mobile object management system 2 identifies the travel area in which the mobile object 1A is currently located from the mobile object information including information on the current location of the mobile object 1A and the destination of the mobile object 1A, and generates or updates the travel area information. This allows the mobile object management system 2 to identify the travel area through which the mobile object 1A will travel and to determine whether to move the mobile object 1A to an evacuation position. Therefore, the mobile object management system 2 can prevent a situation in which two or more mobile objects are present in the same travel area.

[0147] Furthermore, the mobile object management system 2 may prioritize the movement of beds, equipment, etc. (mobile objects 1A) that can be moved by human operation, and move other mobile objects to evacuation positions. This allows the mobile object management system 2 to prioritize the movement of mobile objects 1A that are transporting patients with high urgency, such as those requiring treatment for injuries.

[0148] While the mobile object management system, mobile object management method, and mobile object according to the present disclosure have been described above based on the embodiments, the present disclosure is not limited to these embodiments. As long as they do not deviate from the gist of the present disclosure, various modifications conceivable by those skilled in the art to the present embodiments and modifications, and other forms constructed by combining some of the components of the embodiments, are also included within the scope of the present disclosure.

[0149] For example, in the above embodiment, the moving bodies 1A to 1D have a structure capable of storing objects, but this is not limited to such a form, and the moving bodies 1A to 1D may also have a chair structure on which a person can sit.

[0150] Furthermore, in the above embodiment, the mobile object management system 2 manages one, two, three or four mobile objects 1A to 1D, but it may also manage five or more mobile objects.

[0151] In the above embodiment, the mobile units 1A to 1D do not have the functionality of the mobile unit management system 2. However, for example, the mobile unit 1A may have the functionality of the mobile unit management system 2 and may be the master. Also, each of the mobile units 1A to 1D may have the functionality of the mobile unit management system 2.

[0152] In addition, the present disclosure may be realized not only as a mobile object management system, a mobile object management method, and a mobile object, but also as a program that causes a computer to execute the steps included in the mobile object management method of the present disclosure, and a computer-readable recording medium such as a DVD on which the program is recorded.

[0153] A mobile object management system and a mobile object according to the present disclosure can be used as a mobile object management system and a mobile object that controls the passing of multiple mobile objects.

[0154] DESCRIPTION OF REFERENCE NUMERALS 1A, 1B, 1C, 1D Mobile object 11 Mobile mechanism 12 Input unit 13 Display unit 14 Sensor 15 Communication unit 16 Memory unit 17 Control unit 2 Mobile object management system 21 Communication unit 22 Memory unit 23 Control unit 3 Network 4 Wireless AP 5 Elevator system 6 Automatic door system

Claims

1. A mobile object management system that controls the travel of a mobile object having a movement mechanism, comprising: a communication unit that communicates with the mobile object; a memory unit that stores map information indicating an area in which the mobile object can travel; and a control unit that gives the mobile object instructions regarding travel, wherein the map information includes a plurality of travel areas used for the movement of the mobile object within the area in which the mobile object can travel, and a plurality of evacuation positions to allow the mobile object to pass other mobile objects, and the control unit determines whether or not to move the mobile object to the evacuation position based on mobile object information transmitted from the mobile object and received via the communication unit, travel area information indicating the status of the travel area that the mobile object will occupy, and evacuation position information indicating the status of the evacuation position associated with the travel area.

2. The mobile management system according to claim 1, wherein the map information is information showing a route in which the driving areas and the evacuation positions are alternately arranged and connected.

3. The mobile object management system according to claim 1, wherein the mobile object information includes information relating to a travel area in which the mobile object is currently located and a destination of the mobile object.

4. A mobile object management system as described in claim 1, wherein the mobile object information includes information regarding the current position of the mobile object and the destination of the mobile object, and the control unit generates route information for the mobile object to travel from the current position to the destination based on the mobile object information, and identifies the travel area in which the mobile object is currently located based on the generated route information and the current position of the mobile object, and generates or updates the travel area information.

5. The mobile object management system according to claim 1, wherein the travel area information is information indicating travel areas up to two areas ahead of the travel area in which the mobile object is currently located.

6. A mobile object management system according to claim 5, wherein the control unit determines whether or not to move the mobile object to the evacuation position based on whether or not other mobile objects are occupying the two next travel areas.

7. A mobile object management system according to any one of claims 1 to 6, wherein the control unit determines to move the mobile object to another evacuation position when another mobile object is located at the evacuation position without being caused by the presence of the mobile object.

8. A mobile object management system according to any one of claims 1 to 7, wherein, when an inconsistency occurs in which a travel area is occupied by two or more mobile objects, the control unit corrects the inconsistency by evacuating the mobile objects occupying the travel area to the evacuation position.

9. A mobile body management method for controlling the travel of a mobile body having a travel mechanism, comprising: a communication step of communicating with the mobile body; and a control step of giving the mobile body instructions regarding travel while referring to map information stored in a memory unit and indicating an area in which the mobile body can travel, the map information including a plurality of travel areas and a plurality of evacuation positions, and in the control step, determining whether or not to move the mobile body to the evacuation position based on the mobile body information transmitted by the mobile body in the communication step, travel area information indicating the status of the travel area that the mobile body will occupy, and evacuation position information indicating the status of the evacuation position associated with the travel area.

10. A mobile body having a moving mechanism, comprising: a communication unit that communicates with a mobile body management system that controls the travel of the mobile body; a memory unit that stores map information in which multiple travel areas and multiple evacuation positions are set alternately; and a control unit that controls the moving mechanism based on instructions regarding the travel from the mobile body management system, wherein the control unit controls the moving mechanism to move the mobile body to the evacuation position based on evacuation instructions from the mobile body management system.

11. The mobile body according to claim 10, wherein the control unit transmits information regarding the current location of the mobile body, the travel area occupied by the mobile body, and the destination of the mobile body as mobile body information to the mobile body management system via the communication unit.

12. A mobile body having a movement mechanism, comprising: a communication unit that communicates with a mobile body management system that controls the movement of the mobile body; and a display unit that displays instructions regarding the movement from the mobile body management system.

Images