JP2022137944A - Control system and moving body - Google Patents

Abstract

To provide a control system and a moving body that suppress blockage in a middle of a passage.SOLUTION: A control system 3 comprises a communication unit 9, a detection unit 10 and a command unit 12. The communication unit 9 acquires moving body information about each of moving bodies 2 moving in a facility. An approach of the moving body to a passage, which is a first intermediate area from room to room, is detected based on map information and moving body information about the moving body. At this time, when it is determined that a width of any one of the intermediate areas is smaller than a value obtained by adding an allowance α to a sum of widths of the moving bodies following a route passing through at least one of the plurality of intermediate areas, the command unit 12 causes the moving body to wait to enter the passage. The command unit 12 performs this determination based on the map information and the moving body information about the moving body.SELECTED DRAWING: Figure 1

Description

TECHNICAL FIELD The present disclosure relates to control systems and mobile objects.

Patent Literature 1 discloses an example of a moving body. The mobile includes a first sensor and a second sensor. The moving object determines whether or not it can pass through the passage based on the measurement results of the first sensor and the second sensor. The moving body moves to a standby position outside the passage when it is determined that the moving body cannot pass through.

WO2016/009585

However, the moving body of Patent Document 1 determines whether or not to pass based on the measurement results of the first sensor and the second sensor provided on the moving body itself. For this reason, there is a possibility that a passage or the like extending beyond the measurement range of the first sensor and the second sensor may be blocked, preventing the moving body from passing in the middle of the passage.

The present disclosure relates to solving such problems. The present disclosure provides a control system and a moving body that suppress blockages in the middle of passages.

A control system according to the present disclosure includes an acquisition unit that acquires moving body information including width, route, and position information for a plurality of moving bodies that each move along a route that passes through at least one of a plurality of areas in a facility; Location of the plurality of areas in the facility, map information including information on the width of each of the plurality of areas when the plurality of moving bodies pass, and a first moving body among the plurality of moving bodies Based on the moving object information acquired by the acquiring unit, a first intermediate area narrower than a first area including the current position of the first moving object among the plurality of areas and adjacent to the first area. a detection unit that detects the approach of the first moving body; and the plurality of areas between the first area and the second area, which is wider than the first intermediate area, along a path followed by the first moving object. and passing through a plurality of intermediate regions including the first intermediate region and a second intermediate region adjacent to the second region, the detection unit detects the first intermediate region to the first intermediate region When detecting an approach of a mobile object, the acquisition unit acquires the map information and a second mobile object that follows a route passing through at least one of the plurality of intermediate areas among the first mobile object and the plurality of intermediate areas. If the width of any one of the plurality of intermediate regions is smaller than the sum of the widths of the first moving body and the second moving body plus a preset margin based on the moving body information and a command unit that causes the first moving body to wait for entry into the first intermediate area when making the determination.
A control system according to the present disclosure includes a plurality of moving bodies, each of which moves along a route passing through at least one of a plurality of areas in the facility, including an elevator car provided in the facility. Based on an acquisition unit that acquires body information, map information including information on the arrangement of the plurality of areas in the facility, and mobile body information acquired by the acquisition unit for a first mobile body among the plurality of mobile bodies. a detection unit for detecting an approach of the first moving body to a first intermediate area adjacent to a first area including a current position of the first moving body among the plurality of areas; is part of the plurality of regions from the first region to a second region of the plurality of regions and is adjacent to the first intermediate region and the second region When the detection unit detects the approach of the first moving body to the first intermediate area under the condition that the plurality of intermediate areas include the area and the plurality of intermediate areas include the car. and, based on the map information and the moving body information acquired by the acquiring unit about the first moving body and a second moving body among the plurality of moving bodies following a route passing through the car, the first moving body and the and a command unit that causes the first moving body to wait to enter the first intermediate area when it is determined that the second moving body cannot ride in the car.
A control system according to the present disclosure includes a plurality of moving bodies, each of which moves along a route passing through at least one of a plurality of areas in the facility, including an elevator car provided in the facility. Based on an acquisition unit that acquires body information, map information including information on the arrangement of the plurality of areas in the facility, and mobile body information acquired by the acquisition unit for a first mobile body among the plurality of mobile bodies. a detection unit for detecting an approach of the first moving body to a first intermediate area adjacent to a first area including a current position of the first moving body among the plurality of areas; is part of the plurality of regions from the first region to a second region of the plurality of regions and is adjacent to the first intermediate region and the second region When the detection unit detects the approach of the first moving body to the first intermediate area under the condition that the plurality of intermediate areas include the area and the plurality of intermediate areas include the car. and, based on the map information and the moving body information acquired by the acquiring unit about the first moving body and a second moving body among the plurality of moving bodies following a route passing through the car, the first moving body and the and a command unit that causes the first moving body to wait for registration of the elevator call when it is determined that the second moving body cannot ride in the car.

A mobile object according to the present disclosure is any one of a plurality of mobile objects each moving along a route passing through at least one of a plurality of areas in a facility, and an arrangement of the plurality of areas in the facility and the arrangement of the plurality of areas. Obtaining map information including width information for each of the plurality of moving bodies when they pass, and obtaining moving body information including width, route, and position information for other moving bodies among the plurality of moving bodies. an acquisition unit that acquires, based on the map information and the moving object information of the moving object itself, the plurality of areas having a narrower width than a first area containing the current position of the moving object itself and adjacent to the first area; a detection unit for detecting an approach of the moving body itself to a first intermediate area; and passing through a plurality of intermediate areas including the first intermediate area and a second intermediate area adjacent to the second area, the detection unit moves to the first intermediate area When detecting the approach of the body itself, the movement acquired by the acquiring unit of the map information and the moving body itself and another moving body following a route passing through at least one of the plurality of intermediate regions among the plurality of moving bodies. when it is determined that the width of any one of the plurality of intermediate regions is smaller than the sum of the widths of the moving body itself and the other moving body plus a preset margin, based on the body information; , and a determination unit that waits for entry into the first intermediate area.

With the control system or moving body according to the present disclosure, blocking in the middle of the passage can be suppressed.

1 is a configuration diagram of a mobile system according to Embodiment 1; FIG. FIG. 4 is a top view showing the arrangement of a plurality of moving bodies at a certain point in time according to Embodiment 1; FIG. 4 is a top view showing an example of a plurality of areas in which a moving object moves according to Embodiment 1; FIG. 4 is a top view showing the arrangement of a plurality of moving bodies at a certain point in time according to Embodiment 1; FIG. 4 is a top view showing an example of a plurality of areas in which a moving object moves according to Embodiment 1; FIG. 4 is a diagram showing an example of a plurality of areas in which a moving object moves according to Embodiment 1; FIG. 4 is a diagram showing an example of a plurality of areas in which a moving object moves according to Embodiment 1; FIG. 4 is a diagram showing an example of a plurality of areas in which a moving object moves according to Embodiment 1; FIG. 4 is a diagram showing an example of a plurality of areas in which a moving object moves according to Embodiment 1; 4 is a flow chart showing an example of the operation of the control system according to Embodiment 1; 4 is a flow chart showing an example of the operation of the control system according to Embodiment 1; 2 is a hardware configuration diagram of main parts of the control system according to Embodiment 1. FIG. 2 is a configuration diagram of a mobile system according to Embodiment 2; FIG. FIG. 11 is a configuration diagram of a mobile system according to Embodiment 3;

Modes for implementing the subject matter of the present disclosure will be described with reference to the accompanying drawings. In each figure, the same or corresponding parts are denoted by the same reference numerals, and overlapping descriptions are appropriately simplified or omitted. It should be noted that the subject of the present disclosure is not limited to the following embodiments, and modifications of any constituent elements of the embodiments, or modifications of any constituent elements of the embodiments, within the scope of the present disclosure. It can be omitted.

Embodiment 1.
FIG. 1 is a configuration diagram of a mobile system 1 according to Embodiment 1. As shown in FIG.

A mobile system 1 is applied to a facility. A facility consists of, for example, a building having a plurality of floors. A facility includes multiple areas. Each area is, for example, a room or passageway of an institution. A mobile system 1 includes a plurality of mobiles 2 and a control system 3 .

Each moving body 2 is an object that moves in the facility. Each mobile body 2 is a device such as an autonomous mobile body, for example. Autonomous mobiles include, for example, robots or mobility. Each moving body 2 may be, for example, an electric wheelchair. Each moving body 2 moves along a path. For example, the mobile body 2, which is an autonomous mobile body, moves along a preset route. The route is generated to connect, for example, the starting point of the mobile object 2 to the destination point. The path followed by mobile 2 passes through one or more areas of the facility.

The control system 3 is a system that controls equipment or devices that operate in the facility. The control system 3 controls the movement of the moving body 2, such as an autonomous moving body that moves in the facility, for example. Facilities operating in the facility include, for example, an elevator 4, an automatic door 5, a security gate 6, an air conditioner and a lighting system (not shown). The elevator 4 is a device for transporting a user or the like riding in a car between a plurality of floors by vertically running a car (not shown). The control system 3 is, for example, one or more server devices. Some or all of the functions of the control system 3 may be mounted on one or more devices placed in the facility, or on one or more devices placed outside the facility. implemented, or by storage or processing resources on a cloud service, or the like. The control system 3 includes a map storage unit 7 , a mobile unit storage unit 8 , a communication unit 9 , a detection unit 10 , a priority calculation unit 11 and a command unit 12 .

The map storage unit 7 is a part that stores information. The map storage unit 7 may be divided into a plurality of parts according to information to be stored. In the map storage unit 7, map information of facilities is stored. The facility map information includes information on the layout of a plurality of areas in the facility and information on the width of each area when the moving body 2 passes. The width of the region is, for example, the width in the direction perpendicular to the direction along the passage in the region of the passage. The width of a region is, for example, the length of a short side of a rectangular region.

The mobile unit storage unit 8 is a part that stores information. The mobile unit storage unit 8 may be divided into a plurality of parts according to the information to be stored. In the mobile body storage unit 8, mobile body information about each mobile body 2 is stored. The mobile body information about the mobile body 2 includes the size of the mobile body 2, the route followed by the mobile body 2, the weight of the mobile body 2, the operating state of the mobile body 2, the position information of the mobile body 2, and the location information of the mobile body 2. It includes information such as speed information of the moving object 2 .

The size of the mobile object 2 includes information such as the width, depth, or height of the mobile object 2 .

The route followed by the mobile object 2 includes information such as the departure point and destination point of the mobile object 2, the departure time and estimated arrival time of the mobile object 2, and a plurality of areas on the route.

The operating state of the mobile body 2 includes information such as the presence or absence of a load on the mobile body 2 and its weight, size, or characteristics, or service information of the mobile body 2 . The load of the mobile body 2 includes an article carried by the mobile body 2, a person on board the mobile body 2, and the like. The characteristics of the load include, for example, the presence or absence of movement of the load, stability such as the possibility of the load falling, and the degree of caution required in handling such as transportation of the load. The size and weight of the mobile body 2 may be the size and weight including the load of the mobile body 2 .

The service information of the mobile object 2 includes service types such as transportation of goods, movement of people, ambulance transport, and response to emergency situations, and information of services provided by the mobile object 2, such as requested arrival time for the service. including. The required arrival time for a service is the time at which the mobile 2 is required to be at its destination for performance of that service. For a service that is completed upon arrival at a destination, such as delivery of goods, the requested arrival time is the time at which the service is requested to be completed. For services that start from the arrival at a destination, such as collection of goods and guidance at a destination, for example, the requested arrival time is the time at which the service is requested to start.

The position information of the mobile object 2 is measured by a sensor or the like mounted on the mobile object 2, for example. The location information of the moving body 2 includes, for example, an identifier for identifying the moving body 2, a variable representing the location of the moving body 2, and the time when the moving body 2 was at the location. The location information may not include the identifier when the mobile unit 2 is not identified. A variable representing a position is, for example, a Cartesian coordinate system in which the x-coordinate and y-coordinate represent the horizontal position and the z-coordinate or the floor represents the height. Alternatively, the variables representing location may be variables representing latitude, longitude, and elevation. Variables representing position may be coordinate variables such as radius and argument in a curvilinear coordinate system such as spherical or cylindrical coordinates. The time point information in the location information includes, for example, year, month, day, hour, minute, and second information. The time point information may include information for less than one second, for example, where the second information is a real number.

The speed information of the moving body 2 is measured by a sensor or the like mounted on the moving body 2, for example. Alternatively, the speed information of the mobile object 2 may be calculated based on the history of the position information of the mobile object 2 . The speed information of the moving body 2 includes, for example, an identifier for identifying the moving body 2, a variable representing the speed of the moving body 2, and the time when the moving body 2 was at the speed. The speed information may not include the identifier if the mobile unit 2 is not identified. A variable representing velocity is, for example, a vector value representing a velocity vector, or a numerical value representing a magnitude of velocity and a numerical or vector value representing direction.

The communication unit 9 is a part that communicates with external devices of the control system 3 . The communication unit 9 communicates with each mobile unit 2, for example. The communication unit 9 is connected to a communication network such as the Internet or a telephone network. The communication unit 9 communicates with each mobile unit 2 through the communication network, for example. The communication unit 9 is an example of an acquisition unit. The communication unit 9 acquires the mobile information of each mobile 2 from each mobile 2 . The communication unit 9 continuously acquires mobile information. In this example, the communication unit 9 periodically acquires mobile information. As the communication unit 9 continuously acquires the mobile object information, the mobile object information stored in the mobile object storage unit 8 is updated or added as needed. The communication unit 9 may omit acquisition of information that is not updated or added in the mobile information.

In addition, the communication unit 9 may collect information from facilities or equipment operating in the facility. The information collected by the communication unit 9 includes, for example, information such as the state of facilities or equipment, operating conditions, and energy consumption. The communication unit 9 may output information to facilities or equipment operating in the facility. The information output by the communication unit 9 includes, for example, control signals to facilities or equipment. The control signal includes a signal requesting start or stop, a signal designating target values such as temperature, humidity, wind speed, or illuminance, and a signal calling equipment such as the moving body 2 .

The detection unit 10 is a part that detects the approach of the moving body 2 to the area in the facility. The detection unit 10 detects the approach of the mobile object 2 based on the map information stored in the map storage unit 7 and the mobile object information of the mobile object 2 stored in the mobile object storage unit 8 .

The priority calculation unit 11 is a part that calculates the traffic priority for each moving object 2 . The traffic priority of the mobile body 2 is a value representing the degree to which the mobile body 2 should be prioritized for movement in the facility.

The command unit 12 is a part that outputs a command to equipment or the like that operates in the facility. The command unit 12 outputs a command for movement of the mobile body 2 such as an autonomous mobile body moving in a facility to the mobile body 2 . The command unit 12 outputs commands to the moving body 2 through the communication unit 9, for example.

FIG. 2 is a top view showing the arrangement of a plurality of moving bodies 2 according to Embodiment 1 at a certain time.

In FIG. 2, room R1, room R2, and corridor r are shown as facility areas. Aisle r adjoins each of room R1 and room R2. That is, the room R1 and the room R2 are connected by the passage r. The width Wr of the passage _r is narrower than the width of each of the rooms R1 and R2. The width of the room R1 is, for example, the length of the short side of the rectangular room R1. Similarly, the width of the room R2 is, for example, the length of the short side of the rectangular room R2. The length of path r is the length L _r in the direction along path r.

A detection area is preset in each region. The detection area of a region is the area surrounding and adjacent to the region. In this example the detection area Ar of the passage r is shown. The detection area Ar is set around both the room R1 side and the room R2 side of the passage r. Information on the detection area is stored in the map information storage unit as part of the map information, for example.

FIG. 2 shows the arrangement of the moving bodies 2a and 2b based on the information stored in the moving body storage section 8 as the moving body information at a certain point in time. In this example, the moving body 2a is an autonomous moving body of width W _a . Also, the mobile body 2b is an autonomous mobile body having a width _Wb . The moving body 2a and the moving body 2b move according to their preset routes. Here, the mobile body 2a and the mobile body 2b may be simply referred to as the mobile body 2 when the mobile body 2a and the mobile body 2b are not particularly distinguished. 2 is the time when the position information is measured by the mobile body 2, the time when the position information is transmitted as the mobile body information from the mobile body 2, or the time when the position information is transmitted as the mobile body information from the mobile body 2 to the communication unit 9. may be any time such as when the

The route followed by the moving body 2a passes through the room R1, the passage r, and the room R2 in this order. At this point, the current position of the mobile object 2a is in the room R1. The route followed by the moving body 2b passes through the room R2, the passage r, and the room R1 in this order. At this point, the current position of the moving body 2b is in the room R2. The movement directions of the moving bodies 2a and 2b in the path r are opposite to each other.

The detection unit 10 detects the approach of the moving body 2 to the area, for example, when the position of the moving body 2 enters the detection area of the area. In this example, the detection unit 10 determines whether the moving body 2a has entered the detection area Ar on the room R1 side of the passage r based on the map information and the position information of the moving body 2a. When determining that the moving body 2a has entered the detection area Ar, the detection unit 10 detects the approach of the moving body 2a to the passage r.

The moving body 2a at this time is an example of the first moving body. Further, regarding the moving object 2a, the room R1 is an example of the first area. The first area is the area where the moving object 2 is currently located when the detection unit 10 detects that the moving object 2 is approaching any area. Also, the passage r is an example of a first intermediate area with respect to the moving object 2a. The first intermediate area is a narrower area than the first area, which is adjacent to the destination side of the first area on the route followed by the moving body 2 and where the detection unit 10 detects the approach of the moving body 2 . Also, the room R2 is an example of the second area with respect to the moving object 2a. The second area is located closer to the destination than the first area in the route followed by the moving body 2 and is wider than the first intermediate area. One or more regions between the first region and the second region are called intermediate regions. The passage r, which is the first intermediate area with respect to the mobile body 2a, is also an example of an intermediate area with respect to the mobile body 2a.

When the detection unit 10 detects that the moving object 2a is approaching the passage r, the command unit 12 determines whether the moving object 2a is allowed to enter the passage r.

First, the command unit 12 determines whether or not there is a moving object 2 that follows a route passing through a path r that is an intermediate area of the moving object 2a. In this example, the route followed by the moving body 2b passes through the path r, so the command unit 12 determines that there is a moving body 2 passing through the path r. The moving body 2b at this time is an example of the second moving body.

If there is a moving body 2b that follows a route passing through the intermediate region of the moving body 2a, the command unit 12 determines whether the moving bodies 2a and 2b can both pass through the passage r. The command unit 12 determines whether the condition represented by the following formula (1) is satisfied, for example, based on the moving body information of the moving body 2a and the moving body 2b and the map information. Here, the length α represents a preset tolerance.

When the condition of Expression (1) is satisfied, the command unit 12 determines that the moving bodies 2a and 2b can both pass through the passage r. At this time, the command unit 12 causes the moving body 2a to enter the passage r. Here, the command unit 12 may cause the moving body 2a to enter the path r by outputting a command to enter the path r to the moving body 2a, or permit the moving body 2a to enter the path r. Thus, the moving body 2a may enter the passage r.

On the other hand, if the condition of the expression (1) is not satisfied, the command unit 12, assuming that each moving body 2 continues to move along the route, keeps moving until the moving body 2a passes through the path r, which is the intermediate area. During this period, it is determined whether or not the moving body 2a and the moving body 2b interfere on the path r. Here, for example, when the moving bodies 2a and 2b approach and face each other in the path r, the moving bodies 2a and 2b interfere in the path r. The command unit 12 determines whether the moving body 2b enters the passage r before the moving body 2a passes through the passage r, or whether the moving body 2b has already entered the passage r. The command unit 12 determines, for example, whether the condition represented by the following formula (2) is satisfied. Here, the length _Ld represents the distance from the current position of the moving body 2b to the path r along the path of the moving body 2b. Also, the velocity _Va represents the magnitude of the velocity of the moving body 2a. The velocity _Vb represents the magnitude of the velocity of the moving body 2b.

The left side of Equation (2) represents the time until the moving body 2a passes through the passage r. The right side of Equation (2) represents the time until the moving body 2b enters the passage r. If the moving body 2b has already entered the path r, the distance Lr from the moving body 2b to the path _r is 0, so the condition of equation (2) is not satisfied. When the condition of expression (2) is satisfied, the command unit 12 determines that the moving bodies 2a and 2b do not interfere on the path r. At this time, the command unit 12 causes the moving body 2a to enter the passage r.

On the other hand, when the condition of Expression (2) is not satisfied, the command unit 12 causes the priority calculation unit 11 to calculate the traffic priority of the moving body 2a and the moving body 2b. The command unit 12 determines whether the calculated traffic priority of the mobile object 2a is higher than the traffic priority of the mobile object 2b. The command unit 12 determines, for example, whether the condition represented by the following formula (3) is satisfied. Here, the value P _a is the traffic priority of the moving object 2a. The value _Pb is the traffic priority of the moving object 2b.

When the condition of Expression (3) is satisfied, the command unit 12 determines that the travel priority of the mobile object 2a is higher than the travel priority of the mobile object 2b. At this time, the command unit 12 causes the moving body 2a to enter the passage r. On the other hand, when the condition of expression (3) is not satisfied, the command unit 12 waits for the moving body 2a to enter the passage r. Thus, the command unit 12 determines whether or not the moving body 2a can enter the passage r. Here, the command unit 12 may cause the moving body 2a to wait by moving to the standby position and outputting a standby command to the moving body 2a, or may refuse the entry of the moving body 2a into the passage r. , the moving body 2a may be made to wait. The standby position of the area such as the passage r is a position preset for the area. The information of the standby position is stored in the map information storage unit as part of the map information, for example. For example, after the moving body 2b has passed through the path r, the command unit 12 causes the waiting moving body 2a to enter the path r.

The priority calculation unit 11 calculates the traffic priority of the moving object 2a, for example, as in the following equation (4). Note that the priority calculation unit 11 calculates the traffic priority of the moving body 2b in the same manner as the traffic priority of the moving body 2a. Here, the value _Pa0 is the initial value of the traffic priority of the moving body 2a. The value _Pa1 is the first non-negative component of the traffic priority of the moving body 2a. The value P _a2 is the non-negative second component of the traffic priority of the moving object 2a. The value _Pa3 is the non-negative third component of the traffic priority of the moving object 2a.

The initial value _Pa0 is a value preset for the moving object 2a. The initial value _Pa0 is stored in the moving body storage unit 8 as part of the moving body information of the moving body 2a, for example. The priority calculation unit 11 calculates the traffic priority of the moving body 2a by sequentially adding three components, the first component P _a1 , the second component P _a2 , and the third component P _a3 to the initial value P _a0 . . Note that the priority calculation unit 11 may calculate the traffic priority by adding two or less or four or more components to the initial value. The initial value _Pa0 or a value obtained by adding one or more components to the initial value _Pa0 is an example of a provisional value of the traffic priority of the moving object 2a. In addition to increasing the traffic priority by adding a positive addition value to the provisional value, the priority calculation unit 11 may multiply the provisional value by a coefficient larger than 1 to increase the traffic priority, or The traffic priority may be increased by exponentiation of the provisional value or other calculations.

The first component P _a1 is a component relating to whether or not a person is on board the mobile object 2a among the traffic priority of the mobile object 2a. The priority calculator 11 calculates the first component _Pa1 based on, for example, the following equation (5). Here, the value U is a preset positive value.

Since the first component P _a1 calculated as in Equation (5) is added to the provisional value, the traffic priority of the moving object 2 on which a person is boarding increases from the provisional value. Therefore, priority is given to the movement of the moving object 2 on which a person is boarding.

The second component P _a2 is a component of the travel priority of the mobile object 2a, which relates to the delay until the requested arrival time for the service provided by the mobile object 2a. The priority calculator 11 calculates the second component _Pa2 based on, for example, the following equation (6). Here, the value E is a preset numerical value. The coefficient a is a preset positive value. Also, the time T1 is _a preset time value. The time _tD is the requested arrival time for the service provided by the mobile unit 2a. The time t _E is the estimated time of arrival at the destination point of the moving object 2a.

Since the second component P _a2 calculated as in Equation (6) is added to the provisional value, the difference between the requested arrival time _tD and the estimated arrival time _tE is small, that is, there is a grace period until the requested arrival time _tD . The traffic priority of the short moving body 2 is increased from the provisional value. For this reason, priority is given to the movement of the moving body 2 which has a short delay until the requested arrival time _tD and has a reason to move quickly. If the difference between the requested arrival time _tD and the estimated arrival time _tE for the moving object 2a is longer _than the time T1, the delay until the requested arrival time _tD for the moving object 2a is sufficiently long. No addition is made to the priority for the delay up to the requested arrival time _tD .

The third component P _a3 is a component related to movement performance of the traffic priority of the moving object 2a. The priority calculation unit 11 calculates the third component _Pa3 based on, for example, the following equation (7). Here, the coefficient b is a preset positive value. Time T2 is a preset _time value. The variance σ _a ² is the variance of the movement time when the moving object 2a moves a certain distance. The variance σ _b ² is the variance of the movement time when the moving object 2b moves a certain distance.

Here, for each moving body 2, depending on the movement performance of the moving body 2 or congestion on the route, the travel time may be longer than predicted from the distance along the route and the speed of the moving body 2. be. For example, depending on the movement performance of the moving body 2, the influence of the state of the floor surface of the passing area may vary. The state of the floor surface includes the material of the floor surface, the cleanliness of the floor surface such as the presence or absence of dust or dirt, or the slope or step of the floor surface. When the moving performance of the moving body 2 is high, the moving time of the moving body 2 is less affected by the condition of the floor surface. On the other hand, the lower the movement performance of the moving body 2, the greater the impact of the state of the floor surface, and the greater the variation in the movement time of the moving body 2. For this reason, even if the condition of expression (2) is not satisfied, when there is a difference in movement performance between the moving bodies 2a and 2b, giving priority to the passage of the moving body 2a can improve the overall movement efficiency. there is a possibility.

The value of the third component P _a3 calculated as in Equation (7) is the difference between the time taken for the moving object 2a to pass through the passage r and the time taken for the moving object 2b to enter the passage r, which is the _time T2 If it is shorter, the smaller the variation in the movement time of the moving body 2a with respect to the moving body 2b, that is, the higher the moving performance of the moving body 2a with respect to the moving body 2b, the larger the difference. Since the third component P _a3 calculated in this manner is added to the provisional value, the traffic priority of the moving body 2a is calculated when there is a possibility that the moving efficiency of the moving body 2a can be improved overall. is increased from the provisional value. For this reason, the movement of the moving body 2, which has high movement performance and whose overall movement efficiency can be improved by prioritizing movement, is given higher priority. If the difference between the time taken for the moving body 2a to pass through the passage r and the time taken for the moving body 2b to enter the passage r is longer _than time T2, even if the passage of the moving body 2a is prioritized, Since it is unlikely that the movement efficiency will increase, the traffic priority of the moving object 2a is not added according to the movement performance.

Note that the variance σ _a ² and the variance σ _b ² are calculated, for example, based on the history of the position information stored in the mobile body storage unit 8 as the mobile body information of the mobile body 2a and the mobile body 2b. The variance σ _a ² and the variance σ _b ² are calculated by the priority calculator 11, for example. Alternatively, the variance σ _a ² and the variance σ _b ² may be acquired by the communication unit 9 as mobile information, which are values calculated by the mobile 2a and the mobile 2b.

Further, when there is a reason for the moving body 2 to move quickly, the priority calculating unit 11 may increase the traffic priority of the moving body 2 from the provisional value according to the reason. A mobile object 2 that has a reason to move quickly is, for example, a mobile object 2 that is transported by ambulance, or a mobile object 2 that moves to respond to an emergency. A mobile body 2 that responds to an emergency is, for example, a mobile body 2 that rushes to the scene of an accident and quickly takes pictures of the situation at the scene, or rushes to a key indoor traffic point in the event of a disaster and quickly guides and guides evacuees. , such as a moving body 2 that starts The priority calculation unit 11 increases the traffic priority by, for example, adding a positive component calculated in the same manner as in Equation (5).

FIG. 3 is a top view showing examples of a plurality of regions in which the moving body 2 according to Embodiment 1 moves.

In FIG. 3, a room R1, a room R2, and a door area rd are shown as facility areas. The door area rd is an area through which the automatic door 5 is passed. The automatic door 5 is provided at the boundary between the room R1 and the room R2. That is, room R1 and room R2 are connected by door region rd. The width Wrd of the door region _rd is the opening width of the automatic door 5, for example. The width Wrd of the door region _rd is narrower than the width of each of the room R1 and the room R2. Door region rd is another example of an intermediate region between room R1 and room R2. The detection area Ard of the door region rd is set around the room R1 side of the door region rd.

The route followed by the moving body 2a passes through the room R1, the door area rd, and the room R2 in this order. At this point, the current position of the mobile object 2a is in the room R1. The route followed by the moving body 2b passes through the room R2, the door area rd, and the room R1 in this order. At this point, the current position of the moving body 2b is in the room R2. The movement directions of the moving body 2a and the moving body 2b in the door region rd are opposite to each other.

The control system 3 also determines whether or not the moving body 2a can enter the door area rd in the same manner as the path r in FIG. At this time, the command unit 12 may cause the moving body 2a to enter the door region rd by outputting to the automatic door 5 a command to open or a command to maintain the open state. The command unit 12 may wait for the moving body 2a to enter the door region rd by outputting to the automatic door 5 a command to close or a command to maintain the closed state.

FIG. 4 is a top view showing the arrangement of a plurality of moving bodies 2 at a certain time according to Embodiment 1. FIG.

In FIG. 4, room R1, room R2, passage r1, and passage r2 are shown as facility areas. Passage r1 adjoins room R1. Passage r2 adjoins room R2. Passage r1 and passage r2 are adjacent to each other. That is, room R1 and room R2 are connected by passage r1 and passage r2. Width W _r1 of passage r1 is narrower than the width of each of room R1 and room R2. The width W _r2 of passage r2 is narrower than the width of each of room R1 and room R2. The width W _r2 of the passage r2 is narrower than the width W _r1 of the passage r1. The length of the passage r1 is the length Lr1 in the direction along the passage _r1 . The length of the path r2 is the length Lr2 in the direction along the path _r2 .

In this example, detection area Ar1 of path r1 and detection area Ar2 of path r2 are shown. The detection area Ar1 of the passage r1 is set around the room R1 side of the passage r1. The detection area Ar2 of the passage r2 is set around the passage r1 side of the passage r2.

FIG. 4 shows the arrangement of the moving bodies 2a and 2b based on the information stored in the moving body storage section 8 as the moving body information at a certain point in time. In this example, the moving body 2a is an autonomous moving body of width W _a . Also, the mobile body 2b is an autonomous mobile body having a width _Wb . The moving body 2a and the moving body 2b move according to their preset routes.

The route followed by the moving body 2a passes through the room R1, the passage r1, the passage r2, and the room R2 in this order. At this point, the current position of the mobile object 2a is in the room R1. The route followed by the moving body 2b passes through the room R2, the passage r2, the passage r1, and the room R1 in this order. At this point, the current position of the moving body 2b is in the room R2. The movement directions of the moving bodies 2a and 2b in the paths r1 and r2 are opposite to each other.

As in the case of FIG. 2, the detection unit 10 determines whether the moving body 2a has entered the detection area Ar1 on the room R1 side of the passage r1 based on the map information and the position information of the moving body 2a. When determining that the moving body 2a has entered the detection area Ar1, the detection unit 10 detects the approach of the moving body 2a to the passage r1.

The moving body 2a at this time is an example of the first moving body. Further, regarding the moving object 2a, the room R1 is an example of the first area. The passage r1 is an example of a first intermediate area with respect to the moving object 2a. Room R2 is an example of a second area for mobile object 2a. The passage r2 is an example of a second intermediate area with respect to the moving object 2a. The second intermediate area is an area that is adjacent to the starting point side of the second area in the route followed by the moving body 2 and that is narrower than the first area. Each of the passage r1 that is the first intermediate area and the passage r2 that is the second intermediate area with respect to the moving body 2a is also an example of an intermediate area with respect to the moving body 2a. Here, the first intermediate area is the first intermediate area with respect to the moving body 2a. Also, the second intermediate area is the last intermediate area with respect to the moving body 2a.

When the detection unit 10 detects that the moving body 2a is approaching the path r1, which is the first intermediate area, the commanding unit 12 determines whether the moving body 2a is allowed to enter the path r1, as in FIG. judge.

First, the command unit 12 determines whether or not there is a moving body 2 following a route passing through at least one of the intermediate areas of the moving body 2a including the path r1 and the path r2. In this example, the route followed by the moving body 2b passes through the path r1 and the path r2, so the command unit 12 determines that there is a moving body 2 passing through the intermediate area of the moving body 2a. The moving body 2b at this time is an example of the second moving body.

When there is a moving object 2b following a route passing through the intermediate area of the moving object 2a, the command unit 12 determines whether the moving objects 2a and 2b can both pass through each intermediate area. The command unit 12 determines whether or not the condition represented by the formula (1) is satisfied for each intermediate area based on the moving body information of the moving body 2a and the moving body 2b and the map information, for example. When the condition of Expression (1) is satisfied for all the intermediate areas, the command unit 12 determines that the moving bodies 2a and 2b can both pass through the intermediate areas. At this time, the command unit 12 causes the moving body 2a to enter the path r1, which is the first intermediate area.

On the other hand, if the condition of expression (1) is not satisfied for any of the intermediate regions, the command unit 12 determines that if each moving body 2 continues to move along the route, the moving body 2a is the last intermediate region. It is determined whether the moving body 2a and the moving body 2b interfere in any of the intermediate regions until they pass through the path r2. The command unit 12 determines whether the moving body 2b will enter any of the intermediate areas or whether the moving body 2b has already entered any of the intermediate areas before the moving body 2a passes through the path r2. judge. For example, the command unit 12, as a condition similar to expression (2), sets the moving object 2b to enter the nearest intermediate area, path r2, during the time until the moving object 2a passes through the intermediate area, path r2. It is determined whether the condition that the time is shorter than the time to is satisfied. When the condition is satisfied, the command unit 12 determines that the moving body 2a and the moving body 2b do not interfere in any intermediate area. At this time, the command unit 12 causes the moving body 2a to enter the passage r1.

On the other hand, when the condition similar to the expression (2) is not satisfied, the command unit 12 causes the priority calculation unit 11 to calculate the traffic priority of the moving body 2a and the moving body 2b. The priority calculation unit 11 calculates the traffic priority of each moving object 2 in the same manner as in the case of FIG. For example, in calculating the third component P _a3 similar to Equation (7), the priority calculation unit 11 calculates the time until the moving object 2a passes through the passage r2, which is the last intermediate region, and If the difference in time required to enter passage r2, which is an intermediate region, is shorter _than time T2, the traffic priority of moving object 2a is added according to its mobility performance. The command unit 12 determines whether the calculated traffic priority of the mobile object 2a is higher than the traffic priority of the mobile object 2b. The command unit 12 determines whether the condition represented by, for example, formula (3) is satisfied.

When the condition of Expression (3) is satisfied, the command unit 12 determines that the travel priority of the mobile object 2a is higher than the travel priority of the mobile object 2b. At this time, the command unit 12 causes the moving body 2a to enter the passage r1. On the other hand, when the condition of expression (3) is not satisfied, the command unit 12 waits for the moving body 2a to enter the passage r1. In this way, the command unit 12 determines whether or not the moving body 2a is allowed to enter the path r1, which is the first intermediate area.

Similarly, when the detection unit 10 detects that the moving object 2a is approaching the passage r2 from the room R1 side, the command unit 12 sets the passage r1 as a new first area and the passage r2 as a new first intermediate area. It is determined whether or not the moving object 2a can enter the path r2.

FIG. 5 is a top view showing an example of a plurality of areas in which the moving body 2 moves according to the first embodiment.

In FIG. 5, a room R1, a room R2, a passage r1, a passage r2, a gate region rg1 and a gate region rg2 are shown as facility regions. Gate region rg1 and gate region rg2 are regions through which security gate 6 passes. The security gate 6 is provided between the passage r1 and the passage r2. The width Wrg1 of the gate region _rg1 and the width Wrg2 of the gate region _rg2 are the gate widths of the security gate 6, for example. Each of width W _rg1 of gate region rg1 and width W _rg2 of gate region rg2 is narrower than the width of each of room R1 and room R2. Passage r1, gate region rg1, and passage r2 are other examples of intermediate regions between room R1 and room R2. Also, passage r1, gate region rg2, and passage r2 are other examples of an intermediate region between room R1 and room R2. The detection area Arg1 of the gate region rg1 is set around the passage r1 side of the gate region rg1. The detection area Arg2 of the gate region rg2 is set around the passage r1 side of the gate region rg2.

The route followed by the moving body 2a passes through the room R1, the passage r1, the gate area rg1, the passage r2, and the room R2 in this order. At this point, the current position of the mobile object 2a is in the room R1. The route followed by the moving body 2b passes through the room R2, the passage r2, the gate area rg1, the passage r1, and the room R1 in this order. At this point, the current position of the moving body 2b is in the room R2. The movement directions of the moving bodies 2a and 2b in the passage r1, the gate region rg1, and the passage r2 are opposite to each other.

The control system 3 also determines whether or not the moving object 2a can enter the intermediate area consisting of the passage r1, the gate area rg1, and the passage r2, in the same manner as the intermediate area in FIG. . At this time, the command unit 12 may output an unlocking command to the security gate 6 to cause the moving body 2a to enter the gate area rg1 or the like. The command unit 12 may output a lock command to the security gate 6 to wait for the moving body 2a to enter the gate area rg1 or the like.

FIGS. 6 to 9 are diagrams showing other examples of a plurality of regions in which the moving body 2 moves according to Embodiment 1. FIG.

6 to 9 show a passage r6, a passage r4, a passage r1, a hall h6, a hall h4, a hall h1, and a car region rc as facility areas. The car area rc is the area inside the car of the elevator 4 . That is, when the moving body 2 passes through the car area rc, the moving body 2 gets on the car of the elevator 4 . The width of the cage region rc is, for example, the width of the doorway of the cage or the width of the interior of the cage. Aisle r6 and landing h6 are areas on the 6th floor of the facility. Passage r6 is adjacent to landing h6. The moving body 2 entering the car area rc on the sixth floor gets on the car from the landing h6. That is, the landing h6 is adjacent to the car area rc. Aisle r4 and landing h4 are areas on the fourth floor of the facility. Landing h4 is adjacent to aisle r4 and car area rc in the same way that landing h6 is adjacent to aisle r6 and car area rc. Aisle r1 and landing h1 are areas on the first floor of the facility. Landing h1 is adjacent to aisle r1 and car area rc, just as landing h6 is adjacent to aisle r6 and car area rc.

In FIG. 6, the route followed by the moving body 2a passes through the passage r6, the landing h6, the car area rc, the landing h1, and the passage r1 in this order. That is, the moving body 2a moves from the 6th floor to the 1st floor using the elevator 4. FIG. At this point, the current position of the moving body 2a is in the area adjacent to the passage r6. The route followed by the moving body 2b passes through the passage r1, the landing h1, the car area rc, the landing h6, and the passage r6 in this order. That is, the moving body 2b moves from the 1st floor to the 6th floor using the elevator 4. FIG. At this point, the current position of the moving body 2b is in the area adjacent to the passage r1. The movement directions of the moving bodies 2a and 2b in the passage r6, the landing h6, the car area rc, the landing h1, and the passage r1 are opposite to each other.

The control system 3 also determines the intermediate area of the moving body 2a consisting of the passage r6, the landing h6, the car area rc, the landing h1, and the passage r1 in the same manner as the intermediate area of the moving body 2a in FIG. It is determined whether or not the moving body 2a can enter. That is, the command unit 12 determines whether or not the moving bodies 2a and 2b can pass through both the areas of the sixth floor and the first floor. Here, the command unit 12 may cause the mobile body 2a to register the call for the elevator 4 when the mobile body 2a is caused to enter the intermediate area. That is, the command unit 12 determines whether or not the moving body 2a is allowed to enter the intermediate area including the car area rc before causing the moving body 2a to register a call. At this time, the command unit 12 may cause the mobile body 2a to register the call by outputting a call registration command to the mobile body 2a, or may allow the mobile body 2a to register the call by allowing the mobile body 2a to register the call. 2a may register the call. Moreover, the command part 12 may make the mobile body 2a wait for the call of the elevator 4, when making the mobile body 2a wait. At this time, the command unit 12 may cause the mobile body 2a to wait for the call by outputting a standby command to the mobile body 2a, or may cause the mobile body 2a to wait for the call by rejecting the registration of the call from the mobile body 2a. You can wait for a call.

As shown in FIG. 7, when the moving body 2a registers a call for the elevator 4 immediately before the car area rc, the moving body 2a waits in the car area rc after the car to board reaches the first floor. Then, the passenger enters the boarding hall h1. At this time, if interference with another moving body 2b occurs in the hall h1 or the passage r1, etc., the passage may be blocked. It is determined whether or not it is possible to enter the intermediate area including the area on the first floor.

As shown in FIG. 8, when the mobile body 2a registers the call for the elevator 4 before entering the hall h6, the mobile body 2a moves to the hall h6 in order to board the assigned car. Become. At this time, if another mobile body 2b moving on the sixth floor is interfered with in the hall h6 or the passage r6, etc., the aisle may be blocked. Before moving the moving body 2a, it is determined whether or not it is possible to enter an intermediate area including the area on the first floor, which is the floor where the moving body 2a gets off.

When the moving bodies 2a and 2b can pass through the car region rc without interference due to the dispatch of the elevator 4, the command unit 12 moves about the intermediate region on the first floor on the destination side of the car region rc. It is sufficient to determine whether or not the body 2a can enter.

In FIG. 9, the route followed by the moving body 2a passes through the passage r6, the landing h6, the car area rc, the landing h1, and the passage r1 in this order. That is, the moving body 2a moves from the 6th floor to the 1st floor using the elevator 4. FIG. At this point, the current position of the moving body 2a is in the area adjacent to the passage r6. The route followed by the moving body 2b passes through the passage r4, the landing h4, the car area rc, the landing h1, and the passage r1 in this order. That is, the moving body 2a moves from the fourth floor to the first floor using the elevator 4. FIG. At this point, the current position of the moving body 2a is in the area adjacent to the passage r4.

The control system 3 also determines the intermediate area of the moving body 2a consisting of the passage r6, the landing h6, the car area rc, the landing h1, and the passage r1 in the same manner as the intermediate area of the moving body 2a in FIG. It is determined whether or not the moving body 2a can enter.

Here, the mobile bodies 2a and 2b may not be able to ride together in the car due to the load weight and volume of the car, the number of autonomous mobile bodies that can be boarded at the same time, or other restrictions. In this case, the command unit 12 determines whether or not the moving body 2a can enter the car region rc, assuming that the moving body 2a and the moving body 2b cannot both pass through the car region rc. For example, when determining whether the moving bodies 2a and 2b can travel together based on whether or not they can ride together in the car region rc, the command unit 12 does not determine whether the moving bodies 2a and 2b can travel together based on the width of the car region rc. may At this time, the map information does not have to include width information for the cage region rc. Further, the command unit 12 may determine whether or not to ride together with the moving body 2a and the moving body 2b based on moving body information such as weight.

Further, which of the moving bodies 2a and 2b uses the elevator 4 first depends on the operation status of the elevator 4 such as dispatch. For this reason, it may be difficult to predict the time until the moving object 2a passes through the passage r1, which is the last intermediate area. At this time, the command unit 12 determines that the time required for the moving body 2a to pass through the path r1, which is the last intermediate area, is the same as in Equation (2) when the moving body 2b enters the path r1, which is the closest intermediate area. The presence or absence of interference between the moving body 2a and the moving body 2b is determined assuming that the condition that the time is shorter than the time until the moving body 2b is reached is not satisfied.

Next, an example of the operation of the control system 3 will be described with reference to FIGS. 10 and 11. FIG.
10 and 11 are flowcharts showing an example of the operation of the control system 3 according to Embodiment 1. FIG.

FIG. 10 shows an example of the operation of the control system 3 related to acquisition of mobile object information.

In step S<b>11 , the communication unit 9 receives specification information from the mobile unit 2 . The specification information is information specific to the moving body 2 that does not change during operation of the moving body 2, such as the size and weight of the moving body 2, among the moving body information. After that, the control system 3 proceeds to the process of step S12.

In step S<b>12 , the communication unit 9 determines whether operation information has been received from the mobile unit 2 . Here, the operation information is information that varies during the operation of the mobile unit 2, such as route, operating state, position information, and speed information among the mobile unit information. When the determination result is No, the control system 3 proceeds to the process of step S12 again. When the determination result is Yes, the control system 3 proceeds to the process of step S13.

In step S<b>13 , the mobile unit storage unit 8 stores the operation information received by the communication unit 9 from the mobile unit 2 . After that, the control system 3 proceeds to the process of step S14.

In step S14, the communication unit 9 determines whether reception of the operation information from the moving body 2 has ended. When the determination result is No, the control system 3 proceeds to the process of step S12. If the determination result is Yes, the control system 3 terminates the operation related to acquisition of mobile body information.

FIG. 11 shows an example of the operation of the control system 3 regarding determination of whether or not the moving body 2a can enter the area on the route. The control system 3 performs the process of FIG. 11 for each moving body 2, for example.

In step S21, the detection unit 10 determines whether the moving object 2a has approached an area that is narrower than the current area and that is adjacent to the destination side of the area. When the determination result is No, the control system 3 proceeds to the process of step S21. During this time, the control system 3 acquires mobile object information through the processes from step S11 to step S14 in FIG. On the other hand, when the determination result is Yes, the control system 3 proceeds to the process of step S22.

In step S22, command unit 12 determines, for each of the intermediate areas of moving body 2a, whether or not there is another moving body 2b that follows a route passing through at least one of the intermediate areas. When the determination result is Yes, the control system 3 proceeds to the process of step S23. When the determination result is No, the control system 3 proceeds to the process of step S27.

In step S23, the command unit 12 determines whether the moving bodies 2a and 2b can both pass through each intermediate area. When the determination result is No, the control system 3 proceeds to the process of step S24. When the determination result is Yes, the control system 3 proceeds to the process of step S27.

In step S24, the command unit 12 determines whether the moving body 2a and the moving body 2b interfere in any of the intermediate areas before the moving body 2a passes through the last intermediate area. When the determination result is Yes, the control system 3 proceeds to the process of step S25. When the determination result is No, the control system 3 proceeds to the process of step S27.

In step S<b>25 , the priority calculation unit 11 calculates the traffic priority for each moving object 2 . After that, the control system 3 proceeds to the process of step S26.

In step S26, the command unit 12 determines whether the traffic priority of the mobile body 2a is higher than the traffic priority of the mobile body 2b. When the determination result is Yes, the control system 3 proceeds to the process of step S27. When the determination result is No, the control system 3 proceeds to the process of step S28.

In step S27, the command unit 12 causes the moving body 2a to enter the intermediate area. After that, the control system 3 proceeds to the process of step S29.

In step S28, the command unit 12 causes the moving body 2a to wait without entering the intermediate area. After that, the control system 3 proceeds to the process of step S21.

In step S29, the command unit 12 determines whether the service provided by the moving body 2a has been completed. When the determination result is No, the control system 3 proceeds to the process of step S21. When the determination result is Yes, the control system 3 terminates the operation related to the determination of whether or not the mobile body 2a can enter.

Note that the position information of the mobile object 2 may be measured by an external device of the mobile object 2 . The external device includes, for example, a camera or a wireless beacon device provided in the facility. At this time, the communication unit 9 acquires the position information of the moving body 2 from the external device.

Also, the mobile object 2 may be an autonomous mobile object that moves based on remote control by an external device such as a mobile server. At this time, the control system 3 may communicate with the mobile unit 2 via the mobile server.

In addition, the mobile body 2b that affects the determination of the mobile body 2a, which is an autonomous mobile body for which it is determined whether or not to enter the intermediate area by the control system 3, is a person, a portable device carried by a person, or A trolley or the like that is operated by a person may be used. Further, for example, when the moving object 2b is a person, a portable device carried by a person, or a cart operated by a person, the route of the moving object 2b is a predicted route predicted from the history of position information. may

As described above, the control system 3 according to Embodiment 1 includes the communication section 9 , the detection section 10 and the command section 12 . The communication unit 9 acquires mobile body information including width, route, and position information for a plurality of mobile bodies 2 . Each moving body 2 moves along a route passing through at least one of a plurality of areas in the facility. The detection unit 10 detects the approach of the moving object 2a to the passage r1 based on the map information and the moving object information acquired by the communication unit 9 regarding the moving object 2a. The map information includes information on the layout of multiple areas in the facility and the width of each area when the moving body 2 passes. The passage r1 is a first intermediate area adjacent to the room R1 and narrower than the room R1 among the plurality of areas of the facility. The room R1 is the first area containing the current position of the mobile object 2a. Here, the route followed by the moving body 2a may pass through a plurality of intermediate areas from the room R1 to the room R2. The room R2 is a second area wider than the passage r1. Intermediate regions are part of multiple regions of the facility and include aisle r1 and aisle r2. Passage r2 is a second intermediate area adjacent to room R2. Under this circumstance, when the detection unit 10 detects the approach of the moving object 2a to the passage r1, the command unit 12 determines that the width of any intermediate region is the sum of the widths of the moving objects 2a and 2b. is smaller than the value obtained by adding the latitude α to the moving body 2a, the entry into the passage r1 is waited. The command unit 12 makes this determination based on the map information and the moving object information acquired by the communication unit 9 regarding the moving objects 2a and 2b. The moving body 2b follows a route passing through at least one of the intermediate areas. Here, the tolerance α is a preset value.

With such a configuration, the control system 3, before entering a narrower area from an area including the current position of the moving body 2, can provide information about each intermediate area up to an area wider than the current area. is used to determine whether or not to enter. Since the control system 3 determines whether or not to enter based on the map information, even when the moving body 2 passes through an area that cannot be observed from the entrance of the intermediate area due to a turn, etc., it is possible to determine whether or not to enter each intermediate area. Therefore, blocking in the middle of the passage by the moving body 2 is suppressed.

In addition, when the detection unit 10 detects the approach of the moving body 2a to the path r1, the commanding part 12 determines which intermediate area the position of the moving body 2b is in until the moving body 2a passes through the path r2. is not included, the moving body 2a is caused to enter the passage r1.

With such a configuration, the control system 3 causes the moving body 2a to enter the intermediate area when another moving body 2b does not interfere with the moving body 2a in the intermediate area. Thereby, the moving efficiency of the moving body 2a can be improved.

The control system 3 also includes a priority calculator 11 . The priority calculation unit 11 calculates a traffic priority for each moving object 2 . When the detection unit 10 detects that the moving object 2a is approaching the passage r1, the command unit 12 directs the moving object 2a to the passage r1 if the passage priority of the moving object 2a is higher than the passage priority of the moving object 2b. enter the
Also, the priority calculation unit 11 calculates a provisional value of the traffic priority for each moving object 2 . The priority calculation unit 11 increases the passage priority of the moving object 2 on which a person is boarding among the plurality of moving objects 2 from the provisional value.
Also, the priority calculation unit 11 calculates a provisional value of the traffic priority for each moving object 2 . The priority calculation unit 11 calculates the traffic priority of the mobile object 2 for which the required arrival time to the destination point of the route is set among the plurality of mobile objects 2, according to the arrival request to the destination point of the route of the mobile object 2. It is increased from the provisional value based on the difference between the time and the requested arrival time set for the mobile unit 2 .
In addition, the priority calculation unit 11 calculates provisional values of passage priority for the moving body 2a and the moving body 2b. The priority calculation unit 11 corrects the provisional value of at least one of the mobile object 2a and the mobile object 2b based on the movement performance of the mobile object 2a and the mobile object 2b.

With such a configuration, the control system 3 gives priority to the mobile body 2 that should be prioritized according to the situation such as presence or absence of boarding of people, the level of urgency, and the level of the overall movement efficiency. will be able to Therefore, the control system 3 can improve the quality of service provided by the mobile unit 2 .

In addition, the plurality of areas includes an area through which a gate such as the security gate 6 provided in the facility or a door such as the automatic door 5 is passed.
The plurality of areas also includes the car of the elevator 4 provided in the facility.

With such a configuration, the control system 3 can control the movement of the moving bodies 2 moving over a wide range in facilities including various areas. In particular, it is possible to control the movement of the mobile body 2 that moves inside and outside the security area whose entry and exit is controlled by the security gate 6, etc.

Also, a plurality of intermediate regions may include the elevator 4 car and the path followed by the moving object 2b may pass through the elevator 4 car. Under this situation, when the detection unit 10 detects the approach of the moving object 2a to the passage r1, the commanding unit 12 determines that the moving objects 2a and 2b cannot ride together in the car of the elevator 4. , the moving body 2a waits to enter the passage r1. Also, in this case, the command unit 12 causes the moving body 2a to wait for the registration of the call for the elevator 4 .

With such a configuration, the control system 3 allows the moving body 2a to move from the area on the current floor to the area on another floor before entering the area of the car of the elevator 4. It is determined whether or not it is possible to ride with 2b, that is, whether or not it is possible to enter the area of the car. Since the control system 3 determines whether or not the car can enter based on the map information, it can determine whether or not the car can enter the area of the car even before it approaches the hall of the elevator 4 . Therefore, blocking in the middle of the passage by the moving body 2 is suppressed. In addition, since call registration by the moving body 2 is not performed when the passenger cannot ride with the passenger, blocking in the middle of the aisle and unnecessary call registration are suppressed.

In addition, when the detection unit 10 detects the approach of the moving object 2a to the passage r1, the commanding unit 12 detects that the moving directions of the paths followed by the moving objects 2a and 2b are the same in a plurality of intermediate areas. Alternatively, the moving body 2a may enter the passage r1. When the movement direction of the mobile body 2a and the mobile body 2b is the same direction, even if they enter the intermediate area at the same time, they may be able to pass through without interfering with each other. In such a case, since the moving body 2a and the like are not kept on standby unnecessarily, the deterioration of the movement efficiency of the moving body 2a can be suppressed.

Next, an example of the hardware configuration of the control system 3 will be described with reference to FIG. 12 .
FIG. 12 is a hardware configuration diagram of main parts of the control system 3 according to the first embodiment.

Each function of the control system 3 can be implemented by a processing circuit. The processing circuitry comprises at least one processor 100a and at least one memory 100b. The processing circuitry may include at least one piece of dedicated hardware 200 in conjunction with, or as an alternative to, processor 100a and memory 100b.

When the processing circuit includes the processor 100a and the memory 100b, each function of the control system 3 is realized by software, firmware, or a combination of software and firmware. At least one of software and firmware is written as a program. The program is stored in memory 100b. The processor 100a realizes each function of the control system 3 by reading and executing the programs stored in the memory 100b.

The processor 100a is also called a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. The memory 100b is composed of, for example, nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, and EEPROM.

Where the processing circuitry comprises dedicated hardware 200, the processing circuitry may be implemented, for example, in single circuits, multiple circuits, programmed processors, parallel programmed processors, ASICs, FPGAs, or combinations thereof.

Each function of the control system 3 can be implemented by a processing circuit. Alternatively, each function of the control system 3 can be collectively realized by a processing circuit. A part of each function of the control system 3 may be realized by the dedicated hardware 200 and the other part may be realized by software or firmware. Thus, the processing circuit implements each function of the control system 3 with dedicated hardware 200, software, firmware, or a combination thereof.

Embodiment 2.
In the second embodiment, the differences from the example disclosed in the first embodiment will be described in detail. Any feature of the example disclosed in the first embodiment may be employed for features not described in the second embodiment.

FIG. 13 is a configuration diagram of mobile system 1 according to the second embodiment.

A mobile system 1 includes a plurality of mobiles 2 , a control system 3 , and a map management system 13 .

The map management system 13 is, for example, one or more server devices. Some or all of the functions of the map management system 13 may be installed in one or more devices placed in the facility, or may be installed in one or more devices placed outside the facility. Alternatively, it may be implemented by storage or processing resources on a cloud service. A map management system 13 is an external system of the control system 3 . The map management system 13 is connected to a communication network such as the Internet or a telephone network. A map storage unit 7 is installed in the map management system 13 .

The communication unit 9 of the control system 3 acquires map information from the map storage unit 7 installed in the map management system 13 . Based on the map information acquired from the map management system 13, the control system 3 determines whether or not the moving object 2 can enter an intermediate area on the route.

Thus, the control system 3 can control the movement of the mobile body 2 even when the map information is managed by an external system.

Embodiment 3.
In the third embodiment, points different from the examples disclosed in the first or second embodiment will be described in detail. For features not described in the third embodiment, features of any of the examples disclosed in the first embodiment or the second embodiment may be employed.

FIG. 14 is a configuration diagram of mobile system 1 according to the third embodiment.

The mobile system 1 may be an autonomous decentralized system in which each mobile 2 itself determines whether or not to enter the intermediate area. In this example, the mobile system 1 includes multiple mobiles 2 and a map management system 13 .

Each mobile body 2 is a device such as an autonomous mobile body, for example. Each mobile unit 2 includes a mobile storage unit 14 , a mobile communication unit 15 , a mobile detection unit 16 , a mobile calculation unit 17 and a determination unit 18 .

The mobile unit 2 has, as hardware, a processing circuit with, for example, a processor and a memory. A processor is, for example, a CPU, an arithmetic unit, a microprocessor, or a microcomputer. The memory corresponds to, for example, non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM and EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, or DVD. The memory stores programs such as software or firmware, for example. The part responsible for information processing of the moving body 2 performs preset processing by executing a program stored in the memory by the processor, and performs each function as a result of cooperation between hardware and software. come true. Each function of information processing of the moving body 2 may be implemented by a processing circuit. Alternatively, a part or all of each function of information processing of the moving body 2 may be collectively realized by a processing circuit. Also, the processing circuitry may be implemented in, for example, single circuits, multiple circuits, programmed processors, parallel programmed processors, ASICs, or FPGAs, or combinations thereof.

The mobile-side storage unit 14 is a part that stores information. In the mobile body storage unit 14, mobile body information of the mobile body 2 itself, mobile body information of other mobile bodies 2, and the like are stored.

The mobile unit side communication unit 15 is a part that communicates with external devices of the mobile unit 2 and the like. The mobile side communication unit 15 is connected to a communication network such as the Internet or a telephone network. Each mobile unit 2 is connected to each other directly or indirectly, for example, through the communication network. Each mobile unit 2 is connected to the map management system 13 through the communication network, for example. The mobile unit side communication unit 15 acquires the mobile unit information of the mobile unit 2 from another mobile unit 2 . The mobile unit side communication unit 15 continuously acquires other mobile unit information. The mobile information stored in the mobile-side storage unit 14 is updated or added as needed by the mobile-side communication unit 15 continuously acquiring mobile information. The mobile-side communication unit 15 may omit acquisition of information that is not updated or added in the mobile information. The mobile unit side communication unit 15 acquires map information from the map storage unit 7 installed in the map management system 13 . The mobile-side communication unit 15 is an example of an acquisition unit.

The mobile body side detection unit 16 is a part that detects the approach of the mobile body 2 itself to the area in the facility. The moving body side detection unit 16 detects approach based on the map information acquired by the moving body side communication unit 15 and the moving body information of the moving body 2 itself. The mobile-side detection unit 16 detects approach in the same manner as the detection unit 10 in the first or second embodiment.

The mobile body side calculation unit 17 is a part that calculates the traffic priority for the mobile body 2 itself. The traffic priority information of the mobile body 2 itself calculated by the mobile body side calculation unit 17 is output through the mobile body side communication unit 15 as part of the mobile body information, for example, so that other mobile bodies 2 can use the information. may be The moving body side calculation unit 17 calculates the traffic priority in the same manner as the priority calculation unit 11 in the first or second embodiment.

The determination unit 18 is a part that determines whether or not the moving body 2 itself can enter the intermediate area. The determining unit 18 determines whether or not the moving object 2 can enter the intermediate area when the moving object detecting unit 16 detects that the moving object 2 is approaching the first intermediate area adjacent to the current area. The determination unit 18 determines whether or not to enter the intermediate region in the same manner as the command unit 12 in the first or second embodiment.

Each moving body 2 starts entering the intermediate area when the determining unit 18 of the moving body 2 itself determines that it can enter the intermediate area. On the other hand, each moving body 2 waits to enter the intermediate area when the determining unit 18 of the moving body 2 itself determines that it cannot enter the intermediate area.

As described above, the moving body 2 according to Embodiment 3 is one of the plurality of moving bodies 2 . The mobile unit 2 includes a mobile unit side communication unit 15 , a mobile unit side detection unit 16 and a determination unit 18 . The mobile-side communication unit 15 acquires map information. The mobile body side communication unit 15 acquires mobile body information about other mobile bodies 2 among the plurality of mobile bodies 2 . The moving body side detection unit 16 detects the approach of the moving body 2 itself to the passage r1 based on the map information and the moving body information of the moving body 2 itself. The route followed by the moving body 2 itself may pass through a plurality of intermediate areas from room R1 to room R2. Under this situation, when the moving body side detection unit 16 detects the approach of the moving body 2 itself to the passage r1, the moving body side communication part 15 acquires the map information and the moving body 2 itself and the other moving bodies 2. If the width of any one of the plurality of intermediate regions is smaller than the sum of the widths of the moving body 2 itself and the other moving body 2 plus a preset tolerance α based on the moving body information When making a determination, the determination unit 18 waits for entry into the passage r1. Another moving body 2 follows a route passing through at least one of the plurality of intermediate areas among the plurality of moving bodies 2 .

Such a mobile body 2 constitutes an autonomous decentralized system in which the mobile body 2 itself determines whether or not to enter the intermediate area. As a result, the moving object 2 determines whether or not it can enter using the information on each of the intermediate areas from the area including the current position to the area with a wider width before entering an area with a narrower width than the area including the current position. judge. Since the moving object 2 determines whether or not to enter based on the map information, it can determine whether or not to enter each intermediate area even when passing through an area that cannot be observed from the entrance of the intermediate area due to a turn. Therefore, blocking in the middle of the passage by the moving body 2 is suppressed.

1 mobile system 2, 2a, 2b mobile 3 control system 4 elevator 5 automatic door 6 security gate 7 map storage unit 8 mobile storage unit 9 communication unit 10 detection unit 11 priority Calculation unit 12 command unit 13 map management system 14 mobile storage unit 15 mobile communication unit 16 mobile detection unit 17 mobile calculation unit 18 determination unit 100a processor 100b memory 200 dedicated hardware

A control system according to the present disclosure includes an acquisition unit that acquires moving body information including width, route, and position information for a plurality of moving bodies that each move along a route that passes through at least one of a plurality of areas in a facility; Map information of the facility including information on the layout of the plurality of areas in the facility and width of each of the plurality of areas when the plurality of moving bodies pass, and a first of the plurality of moving bodies Based on the moving object information acquired by the acquiring unit about the moving object, a first intermediate area narrower in width than a first area including the current position of the first moving object among the plurality of areas and adjacent to the first area a detection unit for detecting approach of the first moving body to an area; Under a condition that the detection unit passes through a plurality of intermediate regions that are part of the plurality of regions and include a second intermediate region adjacent to the first intermediate region and the second region, when detecting the approach of the first moving body, the acquisition of the map information and the second moving body following a route passing through at least one of the first moving body and the plurality of intermediate areas among the plurality of moving bodies; the width of any one of the plurality of intermediate regions is the sum of the widths of the first moving body and the second moving body plus a preset tolerance, based on the moving body information acquired by the unit and a command unit that causes the first moving body to wait to enter the first intermediate area when it is determined to be smaller.
A control system according to the present disclosure includes a plurality of moving bodies, each of which moves along a route passing through at least one of a plurality of areas in the facility, including an elevator car provided in the facility. an acquisition unit that acquires body information; map information of the facility including information on the arrangement of the plurality of areas in the facility; a detection unit for detecting an approach of the first moving body to a first intermediate area adjacent to a first area including the current position of the first moving body among the plurality of areas based on the information; A path followed by one moving object is part of the plurality of areas from the first area to a second area of the plurality of areas and is adjacent to the first intermediate area and the second area. The detection unit detects an approach of the first moving body to the first intermediate area while passing through a plurality of intermediate areas including a second intermediate area and under the condition that the plurality of intermediate areas include the car. When detecting, based on the map information and the moving body information acquired by the acquiring unit about the first moving body and a second moving body among the plurality of moving bodies following a route passing through the car, a command unit that causes the first moving body to wait to enter the first intermediate area when it is determined that the body and the second moving body cannot ride together in the car.
A control system according to the present disclosure includes a plurality of moving bodies, each of which moves along a route passing through at least one of a plurality of areas in the facility, including an elevator car provided in the facility. an acquisition unit that acquires body information; map information of the facility including information on the arrangement of the plurality of areas in the facility; a detection unit for detecting an approach of the first moving body to a first intermediate area adjacent to a first area including the current position of the first moving body among the plurality of areas based on the information; A path followed by one moving object is part of the plurality of areas from the first area to a second area of the plurality of areas and is adjacent to the first intermediate area and the second area. The detection unit detects an approach of the first moving body to the first intermediate area while passing through a plurality of intermediate areas including a second intermediate area and under the condition that the plurality of intermediate areas include the car. When detecting, based on the map information and the moving body information acquired by the acquiring unit about the first moving body and a second moving body among the plurality of moving bodies following a route passing through the car, and a command unit that causes the first moving body to wait for registration of the elevator call when it is determined that the body and the second moving body cannot ride together in the car.

A mobile object according to the present disclosure is any one of a plurality of mobile objects each moving along a route passing through at least one of a plurality of areas in a facility, and an arrangement of the plurality of areas in the facility and the arrangement of the plurality of areas. Acquiring map information of the facility including information on the width of each of the plurality of moving bodies when the plurality of moving bodies pass, and moving including width, route, and position information of other moving bodies among the plurality of moving bodies. an acquisition unit that acquires body information; and a first region narrower in width than a first region including a current position of the moving body among the plurality of regions based on the map information and the moving body information of the moving body itself. a detection unit for detecting the approach of the moving body itself to the first intermediate area adjacent to the moving body itself, and the path followed by the moving body itself from the first area to the second area wider than the first intermediate area and a plurality of intermediate regions including the first intermediate region and a second intermediate region adjacent to the second region, the detection unit detects the first intermediate region when detecting the approach of the moving body itself to the map information and the moving body itself and another moving body following a route passing through at least one of the plurality of intermediate areas among the plurality of moving bodies, the acquiring unit Determining that the width of any one of the plurality of intermediate regions is smaller than the sum of the widths of the moving body itself and the other moving body plus a preset tolerance, based on the acquired moving body information. a determination unit that determines that entry into the first intermediate area is not permitted when the determination unit determines that entry into the first intermediate area is not permitted, the waiting for the entry of

The control system 3 also includes a priority calculator 11 . The priority calculation unit 11 calculates a traffic priority for each moving object 2 . When the detection unit 10 detects that the moving object 2a is approaching the passage r1, the command unit 12 directs the moving object 2a to the passage r1 if the passage priority of the moving object 2a is higher than the passage priority of the moving object 2b. enter the
Also, the priority calculation unit 11 calculates a provisional value of the traffic priority for each moving object 2 . The priority calculation unit 11 increases the passage priority of the moving object 2 on which a person is boarding among the plurality of moving objects 2 from the provisional value.
Also, the priority calculation unit 11 calculates a provisional value of the traffic priority for each moving object 2 . The priority calculation unit 11 calculates the traffic priority of the mobile object 2 for which the required arrival time to the destination point on the route is set among the plurality of mobile objects 2, based on the scheduled arrival time to the destination point on the route of the mobile object 2. It is increased from the provisional value based on the difference between the time and the requested arrival time set for the mobile unit 2 .
In addition, the priority calculation unit 11 calculates provisional values of passage priority for the moving body 2a and the moving body 2b. The priority calculation unit 11 corrects the provisional value of at least one of the mobile object 2a and the mobile object 2b based on the movement performance of the mobile object 2a and the mobile object 2b.

Claims (14)

an acquisition unit that acquires mobile body information including width, route, and position information for a plurality of mobile bodies that each move along a route that passes through at least one of a plurality of areas in the facility;
Location of the plurality of areas in the facility, map information including information on the width of each of the plurality of areas when the plurality of moving bodies pass, and a first moving body among the plurality of moving bodies Based on the moving object information acquired by the acquiring unit, a first intermediate area narrower than a first area including the current position of the first moving object among the plurality of areas and adjacent to the first area. a detection unit that detects the approach of the first moving body;
The path followed by the first moving body is a part of the plurality of areas from the first area to the second area wider than the first intermediate area, and the first intermediate area and the second intermediate area. When the detection unit detects the approach of the first moving object to the first intermediate area under a situation where the detection unit passes through a plurality of intermediate areas including a second intermediate area adjacent to the area, the map information and of the plurality of intermediate areas based on the moving body information acquired by the acquiring unit about a second moving body following a route passing through at least one of the plurality of intermediate areas among the first moving body and the plurality of moving bodies; When it is determined that the width of any one of the moving bodies is smaller than the sum of the widths of the first moving body and the second moving body plus a preset tolerance, the first moving body and the first moving body a command unit that waits for entry into the intermediate area;
A control system with The command unit controls the second moving object until the first moving object passes through the second intermediate area when the detecting unit detects the approach of the first moving object to the first intermediate area. The control system according to claim 1, wherein the first moving body is caused to enter the first intermediate zone when it is determined that the position of the moving body is not included in any of the plurality of intermediate zones. The command unit, when the detection unit detects the approach of the first moving body to the first intermediate area, sets the moving directions of the paths followed by the first moving body and the second moving body to the plurality of moving directions. 3. The control system according to claim 1 or 2, wherein the first moving body enters the first intermediate area when moving in the same direction in the intermediate area. a priority calculation unit that calculates a traffic priority for each of the plurality of moving objects;
The command unit sets the traffic priority of the first moving object higher than the traffic priority of the second moving object when the detection unit detects the approach of the first moving object to the first intermediate area. 4. The control system according to any one of claims 1 to 3, wherein the first moving body is allowed to enter the first intermediate area when the first mobile body enters the first intermediate area. The priority calculation unit calculates a provisional value of a traffic priority for each of the plurality of moving objects, and increases the traffic priority of a moving object on which a person is boarding among the plurality of moving objects from the provisional value. The control system according to claim 4. The priority calculation unit calculates a provisional value of a traffic priority for each of the plurality of mobile objects, and calculates a traffic priority value for each of the plurality of mobile objects for which a requested arrival time to a destination point on a route is set. 6. The control system according to claim 4 or 5, wherein the priority is increased from the provisional value based on the difference between the required arrival time at the destination point of the route of the mobile object and the required arrival time set for the mobile object. . The priority calculation unit calculates a provisional value of passage priority for the first moving body and the second moving body, and calculates the first movement priority based on the movement performance of the first moving body and the second moving body. The control system according to any one of claims 4 to 6, wherein the provisional value of at least one of the object and the second moving object is corrected. The control system according to any one of claims 1 to 7, wherein the plurality of areas include areas passing through gates or doors provided in the facility. The control system according to any one of claims 1 to 8, wherein the plurality of areas include elevator cars provided in the facility. The command unit causes the detection unit to direct the first intermediate area to the first intermediate area under a condition in which the plurality of intermediate areas include the car and the path followed by the second moving body passes through the car. If it is determined that the first moving body and the second moving body cannot ride together in the car when detecting the approach of one moving body, waiting for the first moving body to enter the first intermediate area. The control system according to claim 9 . The command unit causes the detection unit to direct the first intermediate area to the first intermediate area under a condition in which the plurality of intermediate areas include the car and the path followed by the second moving body passes through the car. If it is determined that the first moving body and the second moving body cannot ride together in the car when detecting the approach of one moving body, the first moving body is made to wait for the registration of the call for the elevator. The control system according to claim 9 or 10. an acquisition unit that acquires moving body information including route and position information for a plurality of moving bodies each moving along a route passing through at least one of a plurality of areas in the facility including an elevator car provided in the facility; ,
of the plurality of areas based on map information including information on the arrangement of the plurality of areas in the facility and mobile body information acquired by the acquisition unit about a first mobile body of the plurality of mobile bodies; a detection unit that detects approach of the first moving body to a first intermediate area adjacent to the first area containing the current position of the first moving body;
the route followed by the first moving body is a part of the plurality of regions from the first region to a second region of the plurality of regions, and the first intermediate region and the second region; Passing through a plurality of intermediate areas including an adjacent second intermediate area, and under a condition in which the plurality of intermediate areas include the car, the detection unit moves the first moving object to the first intermediate area. When detecting the approach, based on the map information and the moving body information acquired by the acquiring unit about the first moving body and a second moving body among the plurality of moving bodies following a route passing through the car, a command unit that causes the first moving body to wait to enter the first intermediate area when it is determined that the first moving body and the second moving body cannot ride together in the car;
A control system with an acquisition unit that acquires moving body information including route and position information for a plurality of moving bodies each moving along a route passing through at least one of a plurality of areas in the facility including an elevator car provided in the facility; ,
of the plurality of areas based on map information including information on the arrangement of the plurality of areas in the facility and mobile body information acquired by the acquisition unit about a first mobile body of the plurality of mobile bodies; a detection unit that detects approach of the first moving body to a first intermediate area adjacent to the first area containing the current position of the first moving body;
the route followed by the first moving body is a part of the plurality of regions from the first region to a second region of the plurality of regions, and the first intermediate region and the second region; Passing through a plurality of intermediate areas including an adjacent second intermediate area, and under a condition in which the plurality of intermediate areas include the car, the detection unit moves the first moving object to the first intermediate area. When detecting the approach, based on the map information and the moving body information acquired by the acquiring unit about the first moving body and a second moving body among the plurality of moving bodies following a route passing through the car, a command unit that causes the first moving body to wait for registration of a call for the elevator when determining that the first moving body and the second moving body cannot ride together in the car;
A control system with Any of a plurality of moving bodies each moving along a route passing through at least one of a plurality of areas in the facility,
obtaining map information including information on the layout of the plurality of areas in the facility and information on the width of each of the plurality of areas when the plurality of moving bodies pass; an acquisition unit that acquires mobile information including width, route, and position information for
Based on the map information and the moving object information of the moving object itself, a first intermediate area adjacent to the first area having a narrower width than a first area including the current position of the moving object itself among the plurality of areas. a detection unit that detects the approach of the moving body itself;
A path followed by the moving object itself is part of the plurality of areas from the first area to a second area wider than the first intermediate area, and is part of the first intermediate area and the second area. When the detecting unit detects the approach of the moving object itself to the first intermediate area under the condition of passing through a plurality of intermediate areas including the adjacent second intermediate area, the map information and the moving object itself and Width of one of the plurality of intermediate regions based on moving body information acquired by the acquisition unit for another moving body following a route passing through at least one of the plurality of intermediate regions among the plurality of moving bodies a determination unit that waits for entry into the first intermediate area when determining that is smaller than the sum of the widths of the moving body itself and the other moving body plus a preset tolerance;
A mobile body with

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