CN116736838A

CN116736838A - Mobile object management device, management method, management program, and mobile object system

Info

Publication number: CN116736838A
Application number: CN202210651457.3A
Authority: CN
Inventors: 五明清司; 田口浩; 小岛拓朗
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 2022-03-03
Filing date: 2022-06-10
Publication date: 2023-09-12
Also published as: JP7207587B1; JP2023128202A

Abstract

Provided are a mobile body management device, a management method, a management program, and a mobile body system, which are less likely to interfere with the movement of users of facilities. In a mobile system (1), at least 1 mobile unit (7) moves in a facility (2) to perform a service. The observation device is arranged at the facility (2). The management device (9) is provided with a congestion estimation unit (14), a constraint determination unit (15), and a schedule generation unit (16). A congestion estimating unit (14) estimates congestion conditions for each area preset in the facility (2) and each time zone preset based on information from the observation device. A constraint determining unit (15) determines constraint conditions relating to at least one of traffic and movement of each mobile unit (7) based on the congestion status estimated by the congestion estimating unit (14). A schedule generation unit (16) generates an action schedule to be followed by each mobile body (7) based on the constraint conditions determined by the constraint determination unit (15).

Description

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

Technical Field

The present disclosure relates to a mobile management device, a mobile management method, a mobile management program, and a mobile system.

Background

Patent document 1 discloses an example of a mobile body system. In the mobile system, the mobile provides a service for a service person who carries the cooking product from the delivery location to the customer. The arrival time of the mobile body at the delivery location is calculated based on the state information of the mobile body. The moving body whose arrival time calculated by prediction is earliest is selected as the moving body that performs the attendant service.

Prior art literature

Patent literature

Patent document 1: japanese patent laid-open publication No. 2011-245577

Disclosure of Invention

Problems to be solved by the invention

In the mobile system of patent document 1, a mobile body that performs a service such as transportation is selected based on energy saving properties such as a movement distance and a movement time. Therefore, in a facility to which the moving body system is applied, in a case where a crowded place or the like exists on a moving path of the moving body, the moving body selected based on the energy saving performance may interfere with the movement of a user of the facility.

The present disclosure is directed to solving such problems. The present disclosure provides a management device, a management method, a management program, and a mobile body system for a mobile body that are less likely to interfere with movement of a user of a facility.

Means for solving the problems

The mobile body management device of the present disclosure includes: a congestion estimating unit that estimates congestion conditions for each area and each time zone preset in a facility in which 1 or more mobile units move to perform a service, based on information from an observation device provided in the facility; a constraint determining unit that determines constraint conditions related to at least one of traffic and movement of each of the 1 or more mobile units based on the congestion status estimated by the congestion estimating unit; and a schedule generation unit that generates an action schedule to be followed by each of the 1 or more mobile units based on the constraint conditions determined by the constraint determination unit.

The disclosed method for managing a mobile body is provided with: a congestion estimating step of estimating congestion conditions for each area and each time zone preset in a facility in which 1 or more mobile units move to perform a service, based on information from an observation device provided in the facility; a constraint determining step of determining constraint conditions related to at least one of traffic and movement of each of the 1 or more mobile units based on the congestion status estimated in the congestion estimating step; and a schedule generation step of generating an action schedule to be followed by each of the 1 or more mobile units based on the constraint conditions determined in the constraint determination step.

The management program of the mobile body of the present disclosure causes a computer to execute the steps of: a congestion estimating step of estimating congestion conditions for each area and each time zone preset in a facility in which 1 or more mobile units move to perform a service, based on information from an observation device provided in the facility; a constraint determining step of determining constraint conditions related to at least one of traffic and movement of each of the 1 or more mobile units based on the congestion status estimated in the congestion estimating step; and a schedule generation step of generating an action schedule to be followed by each of the 1 or more mobile units based on the constraint conditions determined in the constraint determination step.

The disclosed mobile system is provided with: more than 1 mobile body, it moves in the facility and implements the business; an observation device provided in the facility; a congestion estimating unit that estimates congestion conditions for each area and each time zone preset in the facility, based on information from the observing device; a constraint determining unit that determines constraint conditions related to at least one of traffic and movement of each of the 1 or more mobile units based on the congestion status estimated by the congestion estimating unit; and a schedule generation unit that generates an action schedule to be followed by each of the 1 or more mobile units based on the constraint conditions determined by the constraint determination unit.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the mobile body management device, management method, management program, or mobile body system of the present disclosure, movement of a user of a facility is less likely to be hindered.

Drawings

Fig. 1 is a block diagram of a mobile system according to embodiment 1.

Fig. 2 is a plan view showing an example of the facility of embodiment 1.

Fig. 3 is a diagram showing an example of moving object information according to embodiment 1.

Fig. 4A is a diagram showing an example of service information in embodiment 1.

Fig. 4B is a diagram showing an example of service information in embodiment 1.

Fig. 4C is a diagram showing an example of service information in embodiment 1.

Fig. 4D is a diagram showing an example of service information in embodiment 1.

Fig. 5A is a diagram showing an example of an action schedule table according to embodiment 1.

Fig. 5B is a diagram showing an example of an action schedule table according to embodiment 1.

Fig. 6 is a flowchart showing an example of the operation of the management apparatus according to embodiment 1.

Fig. 7 is a flowchart showing an example of the operation of the management apparatus according to embodiment 1.

Fig. 8A is a flowchart showing an example of the operation of the management apparatus according to embodiment 1.

Fig. 8B is a flowchart showing an example of the operation of the management apparatus according to embodiment 1.

Fig. 9 is a hardware configuration diagram of a main part of the mobile system according to embodiment 1.

Fig. 10 is a block diagram of a mobile system according to embodiment 2.

Fig. 11 is a flowchart showing an example of the operation of the management apparatus according to embodiment 2.

Detailed Description

The manner in which the objects of the present disclosure are implemented will be described with reference to the accompanying drawings. In the drawings, the same or corresponding portions are denoted by the same reference numerals, and repetitive description thereof will be appropriately simplified or omitted. The object of the present disclosure is not limited to the following embodiments, and modifications of any constituent elements of the embodiments or omission of any constituent elements of the embodiments may be made without departing from the scope of the present disclosure.

Embodiment 1.

Fig. 1 is a configuration diagram of a mobile system 1 according to embodiment 1.

The mobile body system 1 is applied to a facility 2. The facility 2 is, for example, an indoor facility, an outdoor facility, or a facility formed by combining them. The facility 2 is constituted by, for example, 1 or more buildings and the like. The facility 2 may be a part of a building or the like, for example.

In the facility 2, a plurality of areas are set in advance. The area of the facility 2 is set so that, for example, a place where a user can move in the facility 2 is divided. The user of the facility 2 is, for example, a person located at the facility 2. The user of the facility 2 includes, for example, an occupant, a user, a visitor, an employee, or a manager of the facility 2, or the like. The user of the facility 2 can use the information terminal 3. The information terminal 3 is a general-purpose information processing device such as a personal computer. The information terminal 3 may be a mobile portable terminal held by a user such as a smart phone or a tablet computer. The portable terminal may be equipped with a function of a wireless tag such as an RFID tag (RFID: radio Frequency IDentification), for example. The information terminal 3 may be an object used by an administrator or the like of the facility 2. In this case, the information terminal 3 may be provided outside the facility 2.

The facility 2 is provided with a user detection device 4, an elevator 5, and an entry/exit management device 6. The user detection device 4 is a device that detects a user of the facility 2. The user detection device 4 is, for example, a person count sensor or the like that counts the number of persons passing through the facility 2. Alternatively, the user detection device 4 may be a sensor or the like that detects the information terminal 3 or the like held by the user as a wireless tag, for example. Alternatively, the user detection device 4 may be, for example, a camera or the like for capturing a user moving in the facility 2. The elevator 5 is a device for transporting users between a plurality of floors of the facility 2. The elevator 5 has a scale for measuring a load in a car or the like on which a user boards. The elevator 5 may acquire information such as the number of users to be transported based on the measurement value of the scale. The access management device 6 is a device that manages an access area in which a user accesses a location to be managed in the facility 2. The location to be managed may be, for example, an arbitrary area set in the facility 2. The entry and exit management device 6 may include a reading device that reads identification information of the user. The identification information of the user may be read from another identification body such as the information terminal 3 or the identification card held by the user. The identification information of the user may be biometric information of the user or the like. The entrance/exit management apparatus 6 may acquire information such as the number of persons entering and exiting the location of the management target. The user detection device 4, the elevator 5, and the entry/exit management device 6 are examples of observation devices. The observation device is a device for observing information for estimating a congestion state caused by a user of the facility 2. Part or all of the observation device may be a device included in the mobile system 1, or may be an external device of the mobile system 1.

The moving body system 1 includes 1 or more moving bodies 7. The mobile body system 1 of this example includes a plurality of mobile bodies 7. Each mobile body 7 is a device that moves in the facility 2. The moving body 7 is an autonomous moving body such as a robot or a mobile device (Mobility). The mobile unit 7 performs a service by moving in the facility 2. The service performed by the mobile unit 7 includes, for example, transportation of articles, cleaning, guidance, and security in the facility 2. Each mobile unit 7 moves in the facility 2, for example, based on remote control by the mobile unit control device 8. The mobile system 1 may include a mobile unit 7 that moves in the facility 2 without being remotely controlled by the mobile unit control device 8. Here, the mobile body control device 8 is, for example, 1 or a plurality of server computers or the like. Some or all of the functions of the mobile body control device 8 may be mounted in 1 or more devices disposed inside or outside the facility 2. Alternatively, part or all of the functions of the mobile body control device 8 may be installed by a resource or the like stored or processed on the cloud service.

The mobile system 1 includes a management device 9. The management device 9 is, for example, 1 or more server computers or the like. Some or all of the functions of the management device 9 may be mounted in 1 or more devices disposed inside or outside the facility 2. Alternatively, part or all of the functions of the management apparatus 9 may be installed by a resource or the like stored or processed on the cloud service. The management device 9 reads, for example, a program recorded in a recording medium, and operates in accordance with the program. The recording medium on which the program is recorded may be incorporated in the management device 9, may be connected to the management device 9, or may be connected to an external device that communicates with the management device 9, for example. The functions of the management device 9 are executed based on the program, for example.

The management device 9 communicates with the mobile control device 8, the user detection device 4, the elevator 5, the entrance/exit management device 6, and the information terminal 3 at desired timings. The mobile body control device 8 communicates with the mobile body 7 that is remotely controlled at a desired timing. The management device 9 may communicate with the mobile unit 7 without going through the mobile unit control device 8.

The management device 9 includes a map information storage unit 10, a user information storage unit 11, a mobile object information storage unit 12, a traffic information storage unit 13, a congestion estimating unit 14, a constraint determining unit 15, a schedule generating unit 16, a calculation condition determining unit 17, a determining unit 18, and a control command generating unit 19.

The map information storage unit 10, the user information storage unit 11, the mobile body information storage unit 12, and the service information storage unit 13 are each part having a function of storing information. The storage units may be realized by different hardware, or may be realized by different storage areas on the same hardware.

The map information storage unit 10 stores map information of the facility 2. The map information includes, for example, information on the arrangement of structures such as walls of the facility 2, information on the use condition of each location in the facility 2, and the like. The information on the use status includes, for example, information such as a room number of each room of the facility 2 or information on the resident tenant. The map information may include information of an area set in the facility 2. The information of the regions includes, for example, positional information of the regions, information of the ranges or shapes of the regions, information indicating the positional relationship between the regions, and the like.

The user information storage unit 11 stores user information acquired based on the observation results of the observation devices such as the user detection device 4, the elevator 5, and the entrance/exit management device 6. The user information includes, for example, the location of the user, the number of users located in each area within the facility 2, and the like. The user information is acquired, for example, based on the number of users detected to pass by the user detection device 4. The user information may be acquired based on an image captured by a camera serving as the user detection device 4, for example. The user information may be obtained based on the number of persons on and off each floor measured by the elevator 5 based on the measured value of the scale or the like. For example, the user information may be acquired based on the information of the user's entrance/exit area managed by the entrance/exit management device 6.

The moving object information storage unit 12 stores moving object information about each moving object 7. The moving body information includes, for example, information such as an attribute, a position, and a state of the moving body 7. The attributes of the mobile unit 7 include, for example, a service type of a service to be performed by the mobile unit 7, a specification of the mobile unit 7, management information of the mobile unit 7, and the like. The specifications of the movable body 7 include, for example, information such as a standard moving speed of the movable body 7, a maximum moving speed of the movable body 7, a weight of the movable body 7, a size of the movable body 7, and a size of an article that can be transported by the movable body 7. The state of the mobile body 7 includes, for example, information such as whether the mobile body 7 is performing a service, the service being performed by the mobile body 7, and the charge amount of the battery mounted on the mobile body 7.

The service information storage unit 13 stores service information on the services performed by the mobile units 7. The service information includes, for example, information on a service type, a place where the service is implemented, a time when the service is executed, and the like. For example, the user registers the service information via the information terminal 3.

The congestion estimating unit 14 is a part that carries a function of estimating the congestion state in the facility 2. The congestion estimating unit 14 estimates congestion conditions for each area of the facility 2 and each time zone set in advance, based on the user information stored in the user information storage unit 11 and the map information stored in the map information storage unit 10. For example, the congestion status of a future time zone later than the current time point is estimated using future user information later than the current time point. For example, future user information later than the current time point is estimated based on the history of user information that has been acquired by the observation device, and the like. The time zone in which the congestion state is estimated may be a time zone obtained by dividing a day in advance at equal intervals or at unequal intervals, or may be a time zone dynamically set based on user information or the like. The congestion estimating unit 14 estimates the congestion state by, for example, obtaining the number of users such as the number of users in each area and hour, and performing statistical processing such as obtaining an average value and a frequency-peak value for the obtained number of users. The congestion estimating unit 14 may estimate the congestion status of the estimation object area and the congestion status of the estimation object time zone using, for example, the congestion status of the area in the vicinity of the adjacent area or the like of the estimation object area or the congestion status of the estimation object time zone before and after the estimation object time zone. Here, for example, the map information stored in the map information storage unit 10 is used to determine the vicinity. The congestion state is represented by, for example, the number of users per area and per hour of the facility 2, the density, the degree of occupied area, and the like. Congestion conditions may also be represented by stepwise levels.

The congestion estimating unit 14 updates the estimated congestion state in the facility 2 at a preset timing or the like, for example. The predetermined timing may be, for example, a timing at a predetermined fixed interval or a timing based on a change in the status of the facility 2, such as user information.

The constraint determining unit 15 is a unit that carries a function of determining constraint conditions related to traffic or movement of the mobile unit 7 based on the congestion state of the facility 2 estimated by the congestion estimating unit 14. The restriction condition is set so that the moving body 7 does not interfere with the movement of the user of the facility 2, for example. The constraint determining unit 15 may determine constraint conditions related to both the service of the mobile unit 7 and the movement. When updating the congestion status estimated by the congestion estimating unit 14, the constraint determining unit 15 determines constraint conditions based on the updated congestion status.

As constraint conditions concerning the traffic of the mobile unit 7, for example, the number of mobile units 7 required to perform the traffic of the traffic class in the area, the time zone, and the traffic class provided in the facility 2 is determined for the area. The required number is a lower limit value of the number of moving bodies 7. For example, the required number of services is set for a service class in which the more users are crowded and the higher the necessity is. The traffic class includes, for example, a traffic class that draws attention to prevent spread of an infectious disease or the like to avoid dense traffic, a traffic class of a cleaning or disinfecting traffic, or the like. In addition, when the number of required services is determined, services of a service class corresponding to the number of required services which is not enough may be automatically registered as service information.

As a constraint condition concerning the traffic of the mobile unit 7, for example, the allowable number of mobile units 7 that perform the traffic of the traffic class in the area, the time zone, and the traffic class set in the facility 2 is determined. The allowable number is an upper limit value of the number of moving bodies 7. The allowable number is determined so as not to hinder the movement of the user, and the mobile unit 7 can efficiently perform the service. The allowable number may also be determined to be independent of traffic class.

Since the required number and the allowable number, which are appropriate for the congestion state, are different depending on the traffic class, the required number and the allowable number are set for each traffic class. The constraint determining unit 15 may set the required number to 0 for at least one traffic class according to the congestion status. The constraint determining unit 15 may set the allowable number of traffic classes to be unlimited for at least one of the traffic classes according to the congestion condition.

As a constraint condition concerning the movement of the moving body 7, for example, the allowable number of moving bodies 7 moving in the area and the time zone set in the facility 2 is determined for the area and the time zone. The allowable number is an upper limit value of the number of moving bodies 7. The allowable number is determined so that the movement of the user is not hindered and the moving body 7 can be efficiently moved.

As a constraint condition related to the service or movement of the mobile body 7, an upper limit value of the movement speed during the service or movement of the mobile body 7 may be determined. As a constraint condition related to the business or movement of the mobile body 7, whether or not the load can be loaded on the mobile body 7, an upper limit of the size of the load loaded on the mobile body 7, or the like may be determined.

For example, the constraint condition is determined based on a preset relation between the congestion state and the constraint condition. Alternatively, the constraint condition may be determined based on a predetermined correspondence table between congestion conditions and constraint conditions, for example. The constraint condition may be determined for each attribute such as the size of the moving body 7 and the maximum moving speed. The constraint condition may be determined by considering the movement such as distribution as a service of a service class which is an important part of the service, and considering the movement as a service.

The calculation condition determining unit 17 is a unit that incorporates a function of determining the calculation condition of the traffic of the mobile unit 7 or the time required for the movement based on the congestion state estimated by the congestion estimating unit 14. When updating the congestion status estimated by the congestion estimating unit 14, the calculation condition determining unit 17 determines a calculation condition based on the updated congestion status. The calculation condition is represented by, for example, a coefficient multiplied by a standard required time, or a coefficient multiplied by a moving speed or a maximum moving speed at the time of calculating the required time.

The calculation condition is determined based on a preset relational expression such as a coefficient of the congestion state and the calculation condition. Alternatively, the calculation condition may be determined based on a predetermined correspondence table between congestion conditions and calculation conditions, for example. The calculation conditions are determined for each moving body 7 or each attribute such as the size of the moving body 7, the maximum moving speed, and the like.

The schedule generating unit 16 is a unit that carries out a function of generating a schedule of actions to be followed by each mobile unit 7 based on the constraint conditions determined by the constraint determining unit 15. The schedule generation unit 16 may use the calculation conditions of the traffic or the required time for movement of the mobile unit 7 determined by the calculation condition determination unit 17 when generating the operation schedule. When the schedule generating unit 16 generates the action schedule, the service information stored in the service information storing unit 13, the moving object information stored in the moving object information storing unit 12, and the map information stored in the map information storing unit 10 may be used.

The determination unit 18 is a unit that carries a function of determining whether or not the action schedule generated by the schedule generation unit 16 satisfies the updated constraint condition when updating the constraint condition determined by the constraint determination unit 15. The action schedule to be determined may be an action schedule to be executed thereafter or an action schedule to be executed currently.

The control command generating unit 19 is a unit that carries a function of generating a control command for the mobile unit 7 based on the action schedule generated by the schedule generating unit 16. The control command generated by the control command generating unit 19 is transmitted to each moving body 7, for example, through the moving body control device 8 or directly. Each mobile unit 7 moves through the facility 2 based on the received control command to perform a service.

Fig. 2 is a plan view showing an example of the facility 2 of embodiment 1.

The floors shown in fig. 2 comprise zones a, b and c. Zone a and zone c each contain an elevator group, stairs, and 2 rooms. The elevator group of zone a and zone c contains 3 cars. Zone c contains a toilet. Zone b contains 5 partitions. Zone b is disposed between zone a and zone c. An automatic door is disposed at the entrance and exit of the boundary between the zone b and the zones a and c. The entry and exit areas of each room of the areas a and c and the area b are managed by the entry and exit management device 6. In this example, each partition, each room, and each elevator group are set to 1 zone. In the elevator group of this example, the space in the elevator car and the landing of each floor is set to 1 area. The floor of the facility 2 may include an area that is not an estimation target of the congestion state. The partition in the floor of the facility 2 may be set by dividing the floor into a plurality of smaller areas. In addition, regarding each floor of the facility 2, the floor may be set to 1 area as a whole.

For example, the mobile object ID (IDentifier) identifying the mobile object 7 is used as a key (key) to manage mobile object information. In this example, as the mobile body information, a service type of service that the mobile body 7 can perform, a size division indicating the size of the mobile body 7, a maximum moving speed of the mobile body 7, a current charge amount of the mobile body 7, a current position of the mobile body 7, and the like are stored.

Fig. 4A and 4B are diagrams showing examples of service information according to embodiment 1.

The services implemented by the mobile unit 7 are classified into 4 categories, for example, a time-of-day specification service, a period specification service, a periodic service, and other services. The service information includes information different according to the kind of service.

Fig. 4A shows an example of service information of a time-point specification service. The time-specifying service is, for example, a service that specifies a start time or an end time. The service information of the time-designated service includes at least a service type, an implementation location, and a start time or an end time. The service information of the time-point-designated service may include the service execution condition, importance, or other information used for executing the service.

In fig. 4B, an example of service information during which a service is specified is shown. The period specification service is, for example, a service specifying a period during which the service can be implemented. The end time of the designated period is, for example, a completion period of the service. The service information of the period-designated service includes at least a service type, an implementation location, and a start time and an end time of the designated period. The service information during which the service is specified may also contain the time of implementation of the service. At this time, for example, the service of the mobile unit 7 is executed for a predetermined period of time. The service information of the period-designated service may include the service implementation condition, importance, or other information used for implementing the service.

In fig. 4C, an example of service information of the regular service is shown. The periodic service is, for example, a service that is implemented periodically. The service information of the periodic service includes at least a service type, an implementation location, and a minimum interval or a maximum interval from the last implementation to the next implementation. The service information of the periodic service may include the service execution condition, importance, or other information used for executing the service.

In fig. 4D, an example of service information of other services is shown. The other traffic is, for example, traffic in which the timing of implementation is not specifically designated. The service information of other services at least includes a service class and an implementation site. The service information of other services may also include the time of implementation of the service. The service information of the other service may include the service execution condition, importance, or other information used for executing the service.

Fig. 5A and 5B are diagrams showing examples of the action schedule of embodiment 1.

Fig. 5A shows an example of an action schedule table in the case where a constraint condition according to a congestion condition is not set.

On the other hand, fig. 5B shows an example of an action schedule in the case where a constraint condition according to a congestion condition is provided.

As shown in fig. 5A, an action schedule including movement, charging, standby, and the like for each service registered in the service information storage unit 13 by the 4 mobile units 7 having mobile unit IDs R01, R02, R03, and R04 is generated.

Traffic a001 and traffic a002 are traffic of traffic class a implemented in area α. The traffic B001 and the traffic B002 are traffic of the traffic class B implemented in the area β. Service C001 is a service of service class C implemented in area γ. Traffic D001 and traffic D002 are traffic of traffic class D implemented in region δ.

Here, as shown in fig. 5B, as a constraint condition according to the congestion condition, 1 allowable number is determined for the traffic of the traffic class a implemented in the area α in the time zone from time t1 to time t 2. As a constraint condition according to the congestion condition, the number of 2 required traffic classes D to be performed in the area δ is determined in the time zone from time t3 to time t 4.

At this time, the schedule generating unit 16 generates an action schedule for each mobile unit 7 so as to satisfy the constraint condition.

Next, an example of the operation of the management apparatus 9 will be described with reference to fig. 6, 7, 8A, and 8B.

Fig. 6, 7, 8A, and 8B are flowcharts showing an example of the operation of the management device 9 according to embodiment 1.

Fig. 6 shows an example of processing related to estimation of congestion status. The process in fig. 6 starts at regular timings, for example, every 1 hour.

In step S601, the congestion estimating unit 14 estimates the congestion status for each area and each time zone of the facility 2 based on the information acquired by the user detecting device 4, the elevator 5, the entrance/exit managing device 6, and other observation devices. After that, the process of the management apparatus 9 advances to step S602.

In step S602, the constraint determining unit 15 determines constraint conditions related to traffic or movement of the mobile unit 7 based on the congestion status estimated by the congestion estimating unit 14. After that, the process of the management apparatus 9 advances to step S603.

In step S603, the calculation condition determining unit 17 determines the calculation condition of the traffic of the mobile unit 7 or the time required for the movement based on the congestion status estimated by the congestion estimating unit 14. After that, the process of the management apparatus 9 advances to step S604.

In step S604, the management device 9 determines whether or not the constraint condition is updated from the constraint condition determined last time. If the determination result is yes, the process of the management device 9 advances to step S605. On the other hand, if the determination result is no, the processing of the management device 9 ends.

In step S605, the determination unit 18 determines whether or not the action schedule generated by the schedule generation unit 16 satisfies the updated constraint condition. If the determination result is no, the process of the management device 9 advances to step S606. On the other hand, when the determination result is yes, the management device 9 ends the process.

In step S606, the schedule generation unit 16 regenerates the action schedule. The schedule generating unit 16 regenerates the action schedule by the same processing as when generating the action schedule. Thereafter, the processing by the management device 9 ends. In addition to the determination unit 18 determining that the action plan table does not satisfy the updated constraint condition, the action plan table may be regenerated when a new service or the like is additionally registered in the execution of the action plan table. The object period for regenerating the action plan may be the remaining period of the object period of the action plan in practice, or the object period of the action plan may be reset from the current point in time.

Fig. 7 shows an example of processing related to generation of an action schedule. The process in fig. 7 is started at regular timings, for example, every 1 hour.

In step S701, the schedule generation unit 16 generates the action schedule of the mobile unit 7 in the predetermined target period based on the constraint condition determined by the constraint determination unit 15 and the calculation condition determined by the calculation condition determination unit 17. The target period is, for example, a period of 1 day or the like. After that, the process of the management apparatus 9 advances to step S702.

In step S702, the management device 9 determines whether or not there is an unreliated service as a result of the generation of the action plan table in step S701. If the determination result is no, the process of the management apparatus 9 advances to step S703. On the other hand, when the determination result is yes, the process of the management device 9 advances to step S704.

In step S703, the control instruction generating unit 19 generates control instructions for the respective mobile units 7 based on the action schedule generated by the schedule generating unit 16. Thereafter, the processing by the management device 9 ends. The management device 9 transmits the control command for the mobile body 7 generated by the control command generation unit 19 to the mobile body 7 or the mobile body control device 8 that remotely controls the mobile body 7 at a desired timing.

In step S704, the management device 9 notifies the information terminal 3 of the fact that the service is not being implemented. Thereafter, the processing by the management device 9 ends. The management device 9 can notify the manager of the facility 2 or the registrant of the service information via the information terminal 3 that all registered services cannot be executed, and can prompt correction of the service information.

Fig. 8A and 8B show an example of detailed processing of the movement schedule generation. The processing in fig. 8A and 8B is performed in, for example, step S606 in fig. 6 or step S701 in fig. 7.

In step S801 in fig. 8A, the schedule table generation unit 16 extracts services to be executed during the target period, among the services registered in the service information storage unit 13, and selects 1 service from the extracted services. The schedule generating unit 16 selects, for example, a service whose start date and time are the nearest. Alternatively, the schedule generating unit 16 may select a service having the latest end date and time, or may select a service having the highest importance. After selecting the service, the process of the schedule generation section 16 advances to step S802.

In step S802, the schedule table generation unit 16 determines whether or not the mobile unit 7 capable of executing the selected service exists. The schedule generating unit 16 sets, for example, the mobile unit 7 that includes the service type of the service among the executable service types in the mobile unit information stored in the mobile unit information storage unit 12 as the mobile unit 7 that can execute the service. When a condition related to an attribute such as a size division or a movement speed of the mobile unit 7 is determined as an implementation condition of the service information, the schedule generation unit 16 sets the mobile unit 7 that also satisfies the condition as a mobile unit 7 that can implement the service. If there is a mobile object 7 capable of executing the selected service, the process of the schedule generation unit 16 proceeds to step S803. On the other hand, when there is no mobile unit 7 capable of executing the selected service, the process of the schedule generation unit 16 proceeds to step S817 in fig. 8B.

In step S803, the schedule generation unit 16 selects 1 moving body 7 from the moving bodies 7 capable of executing the selected service. Thereafter, the process of the schedule generating section 16 advances to step S804.

In step S804, the schedule generation unit 16 determines whether or not it is necessary to charge the selected mobile unit 7 so that the mobile unit 7 executes the selected service after moving to the place where the service is executed. The amount of charge required for moving to the place where the business is performed may be calculated based on a calculation formula set in advance, or may be calculated by learning from past history. When charging is necessary, the process of the schedule generating section 16 advances to step S805. On the other hand, when no charging is necessary, the process of the schedule generating section 16 advances to step S806.

In step S805, the schedule generation unit 16 schedules charging for the selected mobile unit 7 to obtain a charge amount required for the mobile unit 7 to execute the service after moving to the execution location of the selected service. That is, the schedule generating unit 16 generates a schedule by including the movement of the mobile body 7 to the charging place in the schedule. Thereafter, the process of the schedule generating section 16 advances to step S806.

In step S806, the schedule generating unit 16 determines the timing at which the selected mobile unit 7 starts to move from the current position to the place where the selected service is to be implemented. The schedule generating unit 16 sets, for example, the time at which the mobile unit 7 starts moving as the completion time of the first 1 services of the mobile unit 7. When the mobile unit 7 is scheduled to be charged, for example, the schedule generation unit 16 may set the time at which the mobile unit 7 starts to move as the time at which the charging of the mobile unit 7 at the charging location is completed. In order to have a margin, the schedule generation unit 16 may set the time at which the moving object 7 starts to move to a time when a predetermined time has elapsed, such as the time when the previous 1 service is completed or the time when the charging is completed. After determining the timing to start moving, the process of the schedule generation unit 16 advances to step S807.

In step S807, the schedule generation unit 16 determines a path along which the selected mobile unit 7 moves from the current position to the place where the selected service is to be performed. The schedule generating unit 16 selects a route so as to avoid passing the mobile unit 7 through a time zone and a region in which the number of other mobile units 7 allowed to pass has been planned, based on the constraint conditions concerning movement determined by the constraint determining unit 15. Here, the time at which the selected moving body 7 passes through each area is calculated based on the calculation condition of the required time for movement determined by the calculation condition determining unit 17. After determining the movement path, the process of the schedule generation section 16 advances to step S808 in fig. 8B.

In step S808 in fig. 8B, the schedule generating unit 16 determines whether or not the selected mobile unit 7 has caught up with the start time of the service when it has moved from the current position to the place where the selected service is to be performed on the determined movement path. When the service is a time-designated service, the schedule generation unit 16 makes a determination by comparing the arrival time at which the mobile unit 7 arrives at the place where the service is to be implemented with the start time, for example. When the service is a period-designated service, the schedule generation unit 16 determines by comparing the arrival time of the mobile unit 7 at the place where the service is to be performed with the end time of the designated period, for example. When the service is a regular service, the schedule generation unit 16 makes a determination by comparing the interval from the last execution completion time to the arrival time at which the mobile unit 7 arrives at the execution place of the service with the maximum execution interval, for example. When the start time of the selected service is caught, the process of the schedule generating unit 16 advances to step S809. On the other hand, when the start time of the selected service is not caught up, the process of the schedule generating unit 16 advances to step S813.

In step S809, the schedule generating section 16 predicts the timing at which the selected mobile unit 7 completes the selected service by calculation. Here, the predicted completion time of the service is calculated based on the calculation condition of the required time of the service determined by the calculation condition determining unit 17. In addition, the schedule generating unit 16 may refer to the execution time of the service information stored in the service information storage unit 13 as appropriate in the calculation of the completion time. After the completion time is calculated, the process of the schedule generating section 16 advances to step S810.

In step S810, the schedule generating unit 16 determines whether or not the constraint conditions concerning the traffic and the movement determined by the constraint determining unit 15 are satisfied based on the prediction of the completion time at which the selected mobile unit 7 completes the selected traffic. The schedule generating unit 16 determines, for example, whether or not the allowable number of service types in the place where the service is to be implemented is not exceeded, whether or not the allowable number of movements at the place where the service is to be completed and the time when the service is to be completed is not exceeded, and the like. When the constraint condition is satisfied, the process of the schedule generation unit 16 advances to step S811. On the other hand, when the constraint condition is not satisfied, the process of the schedule generation unit 16 advances to step S813.

In step S811, the schedule generation section 16 determines whether or not the charge amount of the selected mobile body 7 at the completion time point at which the selected service is completed is sufficient. The schedule generating unit 16 determines whether or not a charge amount required for moving from a place where the business is completed to a place where the business is charged remains, for example. Here, the amount of charge required to move from the place of completion of the business to the place of charging may be calculated based on a calculation formula set in advance, or may be calculated by learning from past history. If the charge amount is sufficient, the process of the schedule generating section 16 advances to step S812. On the other hand, when the amount of charge is insufficient, the process of the schedule table generation unit 16 advances to step S813.

In step S812, the schedule generation unit 16 determines that the selected mobile unit 7 is a mobile unit 7 capable of distributing the selected service. After that, the process of the schedule generating section 16 advances to step S813.

In step S813, the schedule generation unit 16 determines whether or not all the mobile units 7 capable of performing the selected service are selected in step S803 in fig. 8A. If the determination result is yes, the process of the schedule generation unit 16 advances to step S814. On the other hand, if the determination result is "no", the process of the schedule table generation unit 16 proceeds to step S803, and 1 moving body 7 that has not been selected is selected.

In step S814, the schedule table generation unit 16 determines whether or not the mobile unit 7 capable of distributing the selected service exists. If the determination result is yes, the process of the schedule generation unit 16 proceeds to step S815. On the other hand, when the determination result is no, the process of the schedule generating section 16 advances to step S817.

In step S815, the schedule generating unit 16 determines the mobile unit 7 that actually allocates the selected service from among the mobile units 7 that can allocate the service. The schedule generating unit 16 determines, for example, the moving object 7 having the shortest moving distance required to execute the service as the moving object 7 to which the service is allocated. Alternatively, the schedule generating unit 16 may assign the service to the mobile unit 7 having the smallest charge amount consumed for executing the service, or assign the service to the mobile unit 7 having the shortest distance to travel in the area where the allowable number of mobile units is set. After determining the mobile unit 7 to which the selected service is allocated, the process of the schedule generating unit 16 proceeds to step S816.

In step S816, the schedule table generation unit 16 determines whether or not all the services extracted as the services to be executed in the target period are selected in step S801 in fig. 8A. If the determination result is yes, the schedule generation unit 16 ends the process. On the other hand, if the determination result is "no", the process of the schedule generation unit 16 proceeds to step S801, and 1 service that has not yet been selected is selected.

In step S817, the schedule table generation unit 16 sets the selected service as the non-implemented service. Thereafter, the process of the schedule generating unit 16 advances to step S816.

As described above, the mobile object system 1 according to embodiment 1 includes 1 or more mobile objects 7, an observation device, and a management device 9. Each mobile unit 7 moves through the facility 2 to perform a service. The observation device is provided in the facility 2. The management apparatus 9 includes a congestion estimating unit 14, a constraint determining unit 15, and a schedule generating unit 16. Based on the information from the observation device, the congestion estimating unit 14 estimates the congestion status for each area preset in the facility 2 and each time zone preset in the facility. The constraint determining unit 15 determines constraint conditions related to at least one of traffic and movement of each mobile unit 7 based on the congestion status estimated by the congestion estimating unit 14. The schedule generating unit 16 generates an action schedule to be followed by each mobile unit 7 based on the constraint conditions determined by the constraint determining unit 15.

The management method of the mobile unit 7 according to embodiment 1 includes a congestion estimating step, a constraint determining step, and a schedule generating step. The congestion estimating step estimates the congestion state of each area preset in the facility 2 and each time zone preset based on the information from the observation device. The constraint determining step is a step of determining constraint conditions concerning at least one of traffic and movement of each mobile unit 7 based on the congestion status estimated in the congestion estimating step. The schedule generation step is a step of generating an action schedule to be followed by each mobile body 7 based on the constraint conditions determined in the constraint determination step.

The management program of the mobile unit 7 according to embodiment 1 causes a computer to execute a congestion estimating step, a constraint determining step, and a schedule generating step.

With this configuration, the congestion state caused by the users in each area and each hour is estimated in the space in which the users of the facility 2 can exist. In addition, a constraint condition related to traffic or movement of the mobile body 7 is set according to the estimated congestion condition. Since the action schedule of the mobile body 7 is generated based on the constraint condition, the movement of the user of the facility 2 is not easily obstructed by the mobile body 7. Since the action schedule of the mobile body 7 is determined based on the constraint conditions, the mobile body 7 is prevented from being placed into a crowded area of the user without limitation due to energy saving and the like. In this way, an action schedule is generated that does not obstruct the movement of the user and that enables the mobile unit 7 to efficiently perform the business.

The constraint determining unit 15 determines, as constraint conditions concerning traffic, the number of mobile units 7 required to perform traffic of the traffic class in the area and in the time zone, for the area, the time zone, and the traffic class.

The constraint determining unit 15 determines, as constraint conditions concerning traffic, the allowable number of mobile units 7 that perform traffic of the traffic class in the area and in the time zone, for the area, the time zone, and the traffic class.

The constraint determining unit 15 determines, as constraint conditions concerning movement, the allowable number of the moving bodies 7 moving in the area and the time zone.

With this configuration, a constraint condition concerning the required number or the allowable number of mobile units 7 that perform each service in each area per hour is set based on the estimated congestion state. This makes it possible to implement a proper number of services according to the congestion status, particularly for services requiring a higher necessity as more users are. Further, an action schedule is generated which does not obstruct the movement of the user and allows the mobile unit 7 to efficiently perform the business. Further, a constraint condition concerning the allowable number of moving bodies 7 passing through each area at each time is set based on the estimated congestion state. This creates an action schedule table that does not obstruct the movement of the user and enables the mobile unit 7 to efficiently perform the business.

The management device 9 further includes a calculation condition determining unit 17. The calculation condition determining unit 17 determines the calculation condition of the traffic of the mobile unit 7 or the time required for the movement based on the congestion condition. The schedule generating unit 16 calculates the traffic or the time required for the movement of each mobile unit 7 based on the calculation conditions determined by the calculation condition determining unit 17. The schedule generating unit 16 generates an action schedule based on the calculated required time and constraint conditions.

With this configuration, the action schedule is generated based on the time required for the traffic or movement of the mobile body 7 estimated from the estimated congestion condition and the constraint condition related to the traffic or movement of the mobile body 7 set from the estimated congestion condition. This prevents the mobile unit 7 from being unable to perform the service according to the action schedule due to the influence of congestion.

The management device 9 further includes a determination unit 18. When the constraint condition is updated, the determination unit 18 determines whether or not the action plan table satisfies the updated constraint condition. When the determination unit 18 determines that the action schedule does not satisfy the updated constraint condition, the schedule generation unit 16 regenerates the action schedule.

With this configuration, it is determined whether or not the generated action schedule satisfies the constraint condition updated based on the estimated latest congestion status. Here, when the updated constraint condition is not satisfied, the action schedule is regenerated. This prevents the mobile unit 7 from being unable to perform the service according to the action schedule due to the change in the congestion status.

In the case where a mobile object outside the management of the mobile object system 1, such as a mobile object managed by another system, exists in the facility 2, the mobile object system 1 may process the mobile object outside the management in the same manner as the user of the facility 2. The congestion estimating unit 14 may estimate a congestion state caused by a person located at the facility 2 or a moving body outside management as a congestion state caused by a user.

Next, an example of a hardware configuration of the mobile system 1 will be described with reference to fig. 9.

Fig. 9 is a hardware configuration diagram of a main part of the mobile system 1 according to embodiment 1.

Each function of the mobile body system 1 can be realized by a processing circuit. The processing circuit is provided with at least 1 processor 100a and at least 1 memory 100b. The processing circuit may also be provided with at least 1 dedicated hardware 200 together with or in place of the processor 100a and the memory 100b.

In the case where the processing circuit includes the processor 100a and the memory 100b, each function of the mobile system 1 is realized by software, firmware, or a combination of software and firmware. At least one of the software and the firmware is described in the form of a program. The program is stored in the memory 100b. The processor 100a reads out and executes a program stored in the memory 100b to realize each function of the mobile system 1.

The processor 100a is also called a CPU (Central Processing Unit: central processing unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. The memory 100b is constituted by a nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, or the like, for example.

In the case of a processing circuit provided with dedicated hardware 200, the processing circuit is implemented, for example, by a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.

Each function of the mobile system 1 can be realized by a processing circuit. Alternatively, the functions of the mobile system 1 may be realized by a processing circuit. The functions of the mobile system 1 may be partially implemented by the dedicated hardware 200, and the other may be implemented by software or firmware. Thus, the processing circuit implements the functions of the mobile body system 1 by dedicated hardware 200, software, firmware, or a combination thereof.

Embodiment 2.

In embodiment 2, differences from the example disclosed in embodiment 1 will be described in particular detail. As for the features not described in embodiment 2, any features of the examples disclosed in embodiment 1 may be employed.

Fig. 10 is a configuration diagram of a mobile system 1 according to embodiment 2.

In embodiment 2, an example of the mobile system 1 is described as follows: if an action schedule cannot be generated that satisfies constraint conditions corresponding to the estimated congestion state and that performs all services to be performed, the action schedule is generated based on the weaker constraint conditions.

The facility 2 is provided with a notification device 20. The notification device 20 is, for example, a device that notifies a user of the facility 2 of information such as a display, a projector, or a speaker. The notification device 20 notifies the user of information by, for example, one or both of visual information and audible information. In the mobile system 1, a display, a speaker, or the like provided in the elevator 5, the entrance/exit management device 6, or the like may be used as the notification device 20. The management device 9 communicates with the notification device 20 at a desired timing. The notification device 20 may be a device included in the mobile system 1 or may be an external device of the mobile system 1.

The management device 9 further includes a notification instruction generation unit 21. The notification instruction generation unit 21 is a unit that carries a function of generating a notification instruction to the notification device 20 based on the action schedule generated by the schedule generation unit 16. The notification instruction generated by the notification instruction generating unit 21 is transmitted to the notification device 20 disposed in the facility 2. The notification device 20 notifies the user of the facility 2 based on the received notification instruction.

Fig. 11 is a flowchart showing an example of the operation of the management device 9 according to embodiment 2.

Fig. 11 shows an example of processing related to generation of an action schedule. The process in fig. 11 starts at regular timings, for example, every one hour.

In step S1101, the management device 9 performs the same processing as in step S701 of fig. 7. After that, the process of the management apparatus 9 advances to step S1102.

In step S1102, the management device 9 determines whether or not there is an unreliated service as a result of the generation of the action plan table in step S1101. If the determination result is no, the process of the management apparatus 9 advances to step S1103. On the other hand, when the determination result is yes, the processing of the management apparatus 9 advances to step S1105.

In step S1103, the control instruction generator 19 generates a control instruction for the mobile unit 7 based on the action schedule generated by the schedule generator 16 in step S1101. The control command in this case is a control command in the case where the action schedule satisfies the constraint condition determined by the constraint determining unit 15 based on the congestion condition. After the control instruction is generated, the process of the management apparatus 9 advances to step S1104. The management device 9 transmits the control command for the mobile unit 7 generated by the control command generation unit 19 to the mobile unit control device 8 at a desired timing or directly to each mobile unit 7.

In step S1104, the notification instruction generation unit 21 generates a notification instruction for the notification device 20 based on the action schedule generated by the schedule generation unit 16 in step S1101. The notification instruction in this case is a notification instruction in the case where the action schedule satisfies the constraint condition determined by the constraint determining unit 15 based on the congestion condition. The notification instruction generation unit 21 generates, for example, a notification instruction for notifying the user of attention related to the execution of the service of the mobile unit 7. After the generation of the notification instruction, the processing by the management device 9 ends. The management device 9 also transmits the notification instruction for the notification device 20 generated by the notification instruction generation portion 21 to the notification device 20 at a timing required.

In step S1105, the management apparatus 9 determines whether or not to allow the restriction determination unit 15 to relax the restriction conditions determined based on the congestion status, and generates an action schedule. The relaxation of the permission or non-permission constraint condition may be set in advance, or may be set after confirmation from a manager or the like of the facility 2 via the information terminal 3 or the like. If the determination result is yes, the processing of the management device 9 advances to step S1106. On the other hand, when the determination result is no, the process of the management device 9 advances to step S1110.

In step S1106, the schedule generation unit 16 releases the constraint conditions determined by the constraint determination unit 15 to generate the action schedule of the mobile unit 7. The schedule generating unit 16 may relax all or only a part of the constraint conditions. For example, the schedule generating unit 16 may relax one or both of the restrictions on the business or the movement. The schedule generating unit 16 may relax all of the conditions such as the number of necessary or allowable conditions among the constraint conditions concerning the business or the movement, or may relax only a part of the conditions. As a specific method example of relaxing the constraint condition, the required number of steps may be set to 0, the allowable number of steps may be set to unlimited, or the number of steps set in advance may be increased or decreased. In this example, the constraint determining unit 15 does not change the constraint conditions themselves based on the congestion state. The schedule generating unit 16 generates an action schedule after relaxing the constraint conditions determined by the constraint determining unit 15. The process of generating the action schedule based on the released constraint condition is performed in the same manner as the process shown in fig. 8A and 8B. After generating the action schedule based on the released constraint condition, the process of the management apparatus 9 advances to step S1107.

In step S1107, the management device 9 determines whether or not there is an unreliated service as a result of the generation of the action schedule in step S1106. If the determination result is no, the process of the management device 9 advances to step S1108. On the other hand, when the determination result is yes, the processing of the management device 9 advances to step S1110.

In step S1108, the control instruction generator 19 generates a control instruction for the mobile unit 7 based on the action schedule generated by the schedule generator 16 in step S1106. The control command in this case is a control command in a case where the action schedule table does not satisfy the original constraint condition determined by the constraint determining unit 15 based on the congestion state. At this time, the control command generating unit 19 may generate the following control commands: the moving body 7 is moved at a lower speed than when the original constraint condition is satisfied, or is moved while drawing attention to the surroundings by display or sound. In this case, the schedule generation unit 16 may generate the action schedule by moving the moving body 7 at a lower speed than when the original constraint condition is satisfied in step S1107. By generating such a control command, the user of the facility 2 is further considered to perform the service. After the control instruction is generated, the process of the management apparatus 9 advances to step S1109.

In step S1109, the notification instruction generation unit 21 generates a notification instruction to the notification device 20 based on the action schedule generated by the schedule generation unit 16 in step S1106. The notification instruction in this case is a notification instruction in the case where the action schedule does not satisfy the original constraint condition determined by the constraint determining unit 15 based on the congestion state. In this case, the notification instruction generation unit 21 may generate a notification instruction that attracts attention to such notification content more strongly than when the original constraint condition is satisfied, for example. For example, the notification instruction generation unit 21 may generate a notification instruction to be notified only by display when the original constraint condition is satisfied, and generate a notification instruction to be notified by both display and sound when the original constraint condition is not satisfied. By generating such a notification instruction, the user of the facility 2 is further considered to perform the service. After the generation of the notification instruction, the processing by the management device 9 ends.

In step S1110, the management device 9 notifies the information terminal 3 of the fact that the service is not being implemented. In this case, the management device 9 may collectively notify that the restriction condition is not allowed to be released, that the service is not implemented even if the restriction condition is released, or the like. Thereafter, the processing by the management device 9 ends. The management device 9 can notify that all registered services cannot be executed or prompt correction of service information by notifying a manager of the facility 2 or a registrant of service information or the like via the information terminal 3.

As described above, in the mobile system 1 according to embodiment 2, the management device 9 includes the control instruction generation unit 19. The control instruction generation unit 19 generates control instructions for the respective mobile units 7 based on the action schedule. The control command generation unit 19 generates mutually different control commands when the action schedule satisfies the original constraint condition determined by the constraint determination unit 15 according to the congestion condition and when the action schedule does not satisfy the original constraint condition determined by the constraint determination unit 15 according to the congestion condition.

With this configuration, when the action schedule does not satisfy the constraint condition corresponding to the estimated congestion state, a control command for the mobile unit 7 is generated differently from when the constraint condition is satisfied. Thus, the user of the facility 2 is considered to perform the service more than the case where the action schedule satisfies the original constraint condition.

The management device 9 further includes a notification instruction generation unit 21. The notification instruction generation unit 21 generates a notification instruction for the notification device 20 provided in the facility 2 based on the action schedule. The notification instruction generation unit 21 generates notification instructions that are different from each other when the action schedule satisfies the original constraint condition determined by the constraint determination unit 15 according to the congestion condition and when the action schedule does not satisfy the original constraint condition determined by the constraint determination unit 15 according to the congestion condition.

With this configuration, when the action schedule does not satisfy the constraint condition corresponding to the estimated congestion state, a notification instruction to the notification device 20 is generated differently from when the constraint condition is satisfied. Thus, the user of the facility 2 is considered to perform the service more than the case where the action schedule satisfies the original constraint condition.

Description of the reference numerals

1 mobile system, 2 facilities, 3 information terminals, 4 user detection device, 5 elevator, 6 entrance and exit management device, 7 mobile body, 8 mobile body control device, 9 management device, 10 map information storage unit, 11 user information storage unit, 12 mobile body information storage unit, 13 business information storage unit, 14 congestion estimation unit, 15 constraint determination unit, 16 schedule generation unit, 17 calculation condition determination unit, 18 determination unit, 19 control instruction generation unit, 20 notification device, 21 notification instruction generation unit, 100a processor, 100b memory, 200 dedicated hardware

Claims

1. A management device for a mobile body, wherein,

the mobile body management device is provided with:

a congestion estimating unit that estimates congestion conditions for each area and each time zone preset in a facility in which 1 or more mobile units move to perform a service, based on information from an observation device provided in the facility;

A constraint determining unit that determines constraint conditions related to at least one of traffic and movement of each of the 1 or more mobile units based on the congestion status estimated by the congestion estimating unit; and

and a schedule generation unit that generates an action schedule to be followed by each of the 1 or more mobile units based on the constraint conditions determined by the constraint determination unit.

2. The mobile body management device according to claim 1, wherein,

the constraint determining unit determines, as the constraint condition on the traffic, the number of mobile units required to perform the traffic of the traffic class in the area and in the time zone among the 1 or more mobile units, for the area, the time zone, and the traffic class.

3. The mobile body management device according to claim 1, wherein,

the constraint determining unit determines, as the constraint condition on the traffic, the allowable number of mobile units that perform the traffic of the traffic class in the area and in the time zone among the 1 or more mobile units, for the area, the time zone, and the traffic class.

4. The mobile body management device according to claim 1, wherein,

The constraint determining unit determines, as the constraint condition concerning movement, the allowable number of moving bodies moving in the area and the time zone among the 1 or more moving bodies for the area and the time zone.

5. The mobile body management device according to any one of claims 1 to 4, wherein,

the mobile management device includes a calculation condition determining unit that determines a calculation condition of traffic or a time required for movement of a mobile based on the congestion status,

the schedule generation unit calculates the required time for each of the services and movements of the 1 or more mobile units based on the calculation conditions determined by the calculation condition determination unit, and generates the action schedule based on the calculated required time and the constraint conditions.

6. The mobile body management device according to any one of claims 1 to 4, wherein,

the mobile body management device includes a determination unit that determines whether the action schedule satisfies the updated constraint condition when the constraint condition is updated,

the schedule generating unit regenerates the action schedule when the determining unit determines that the action schedule does not satisfy the updated constraint condition.

7. The mobile body management device according to any one of claims 1 to 4, wherein,

the mobile body management device includes a control instruction generation unit that generates control instructions for each of the 1 or more mobile bodies based on the action schedule,

the control instruction generation unit generates the control instructions that are different from each other when the action schedule satisfies the constraint condition and when the action schedule does not satisfy the constraint condition.

8. The mobile body management device according to any one of claims 1 to 4, wherein,

the mobile body management device is provided with a notification instruction generation unit which generates a notification instruction for a notification device provided in the facility based on the action schedule,

the notification instruction generation unit generates the notification instructions that are different from each other when the action schedule satisfies the constraint condition and when the action schedule does not satisfy the constraint condition.

9. A method for managing a mobile body, wherein,

the mobile body management method includes:

A congestion estimating step of estimating congestion conditions for each area and each time zone preset in a facility in which 1 or more mobile units move to perform a service, based on information from an observation device provided in the facility;

a constraint determining step of determining constraint conditions related to at least one of traffic and movement of each of the 1 or more mobile units based on the congestion status estimated in the congestion estimating step; and

a schedule generation step of generating an action schedule to be followed by each of the 1 or more mobile units based on the constraint conditions determined in the constraint determination step.

10. A management program for a mobile body, wherein,

the management program of the mobile body causes a computer to execute the steps of:

11. A mobile body system, wherein,

the mobile system is provided with:

more than 1 mobile body, it moves in the facility and implements the business;

an observation device provided in the facility;

a congestion estimating unit that estimates congestion conditions for each area and each time zone preset in the facility, based on information from the observing device;