JP7207587B1 - Mobile body management device, management method, management program, and mobile body system - Google Patents

Abstract

A mobile body management apparatus, management method, management program, and mobile body system are provided that make movement of facility users less likely to be hindered. SOLUTION: In a mobile system 1, one or more mobiles 7 move in a facility 2 to carry out work. Observation devices (user detection device 4 , elevator 5 and entrance/exit management device 6 ) are provided in facility 2 . In the management device 9, the congestion estimation unit 14 estimates the congestion situation for each preset area and each preset time slot in the facility 2 based on information from the observation device. The restriction determination unit 15 determines restriction conditions related to at least one of business and movement of each mobile unit 7 based on the congestion state estimated by the congestion estimation unit 14 . The schedule creation unit 16 creates an action schedule to be followed by each moving body 7 based on the constraint determined by the constraint determination unit 15 . [Selection drawing] Fig. 1

Description

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

Patent Document 1 discloses an example of a mobile system. In the mobile system, the mobile provides a serving service that transports the cooked food from the delivery place to the customer's seats. The arrival time of the moving body at the delivery place is predicted and calculated based on the state information of the moving body. The mobile with the earliest predicted arrival time is selected as the mobile to perform the serving service.

JP 2011-245577 A

In the mobile system of Patent Literature 1, mobiles that carry out tasks such as transportation are selected based on energy saving properties such as travel distance and travel time. For this reason, in cases where there is congestion along the path of movement of mobile units in a facility to which the mobile system is applied, mobile units selected based on energy efficiency may hinder the movement of facility users. There is

The present disclosure relates to solving such problems. The present disclosure provides a mobile body management device, management method, management program, and mobile body system that make movement of facility users less likely to be hindered.

A mobile body management apparatus according to the present disclosure is a facility where one or more mobile bodies move to perform work. at least one of the work and movement of each of the one or more mobile units based on the congestion estimation unit that estimates based on information from an observation device provided in the congestion estimation unit, and the congestion situation estimated by the congestion estimation unit and a schedule creation unit that creates an action schedule to be followed by each of the one or more moving bodies based on the constraints determined by the constraint determination unit.

A mobile object management method according to the present disclosure is a facility in which one or more mobile objects move to perform work. and a congestion estimation step in which a computer estimates based on information from an observation device provided in the at least one or more mobile units based on the congestion situation estimated in the congestion estimation step. a constraint determination step in which a computer determines a constraint regarding any of them; and a schedule creation step in which a computer creates an action schedule to be followed by each of the one or more moving objects based on the constraint determined in the constraint determination step. And prepare.

A mobile object management program according to the present disclosure stores a congestion situation for each preset area and each preset time slot in a facility where one or more mobile objects move to perform work. , a congestion estimation step of estimating based on information from an observation device provided in the facility; a constraint determination step of determining constraints relating to at least one; and a schedule creation step of creating an action schedule to be followed by each of the one or more moving bodies based on the constraints determined in the constraint determination step. let it run.

A mobile system according to the present disclosure includes one or more mobile bodies that move between facilities to perform work, an observation device provided in the facility, and an area set in advance in the facility. a congestion estimating unit for estimating the congestion situation for each time zone based on information from the observation device; a constraint determination unit that determines constraints on at least one of work and movement; and schedule creation that creates an action schedule to be followed by each of the one or more moving objects based on the constraints determined by the constraint determination unit. and

According to the mobile management apparatus, management method, management program, or mobile system according to the present disclosure, movement of facility users is less likely to be hindered.

1 is a configuration diagram of a mobile system according to Embodiment 1; FIG. 1 is a plan view showing an example of a facility according to Embodiment 1; FIG. 4 is a diagram showing an example of mobile object information according to Embodiment 1; FIG. 4 is a diagram showing an example of business information according to Embodiment 1; FIG. 4 is a diagram showing an example of business information according to Embodiment 1; FIG. 4 is a diagram showing an example of business information according to Embodiment 1; FIG. 4 is a diagram showing an example of business information according to Embodiment 1; FIG. 4 is a diagram showing an example of an action schedule according to Embodiment 1; FIG. 4 is a diagram showing an example of an action schedule according to Embodiment 1; FIG. 5 is a flow chart showing an example of the operation of the management device according to Embodiment 1; 5 is a flow chart showing an example of the operation of the management device according to Embodiment 1; 5 is a flow chart showing an example of the operation of the management device according to Embodiment 1; 5 is a flow chart showing an example of the operation of the management device according to Embodiment 1; 2 is a hardware configuration diagram of main parts of the mobile system according to Embodiment 1. FIG. 2 is a configuration diagram of a mobile system according to Embodiment 2; FIG. 10 is a flow chart showing an example of the operation of a management device according to Embodiment 2;

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 2 . The facility 2 is, for example, an indoor facility, an outdoor facility, or a facility combining these facilities. The facility 2 consists of, for example, one or more buildings. Facility 2 may be, for example, a part of a building or the like.

A plurality of areas are set in advance in the facility 2 . The area of the facility 2 is set, for example, so as to divide the places where the users can move in the facility 2 . A user of the facility 2 is, for example, a person at the facility 2 . The users of the facility 2 include, for example, residents of the facility 2, customers, visitors, employees, administrators, and the like. A user of the facility 2 may use the information terminal 3 . The information terminal 3 is, for example, a general-purpose information processing device such as a personal computer. The information terminal 3 may be, for example, a portable mobile terminal such as a smart phone or a tablet computer owned by the user. The portable mobile terminal may be equipped with a wireless tag function such as an RFID tag (RFID: Radio Frequency Identification). Note that the information terminal 3 may be one used by an administrator of the facility 2 or the like. At this time, the information terminal 3 may be installed outside the facility 2 .

In the facility 2, a user detection device 4, an elevator 5, and an entrance/exit management device 6 are provided. The user detection device 4 is a device that detects users of the facility 2 . The user detection device 4 is, for example, a people counting sensor that counts the number of users passing through the facility 2 . Alternatively, the user detection device 4 may be, for example, a sensor that detects the information terminal 3 possessed by the user as a wireless tag. Alternatively, the user detection device 4 may be, for example, a camera that takes pictures of users acting in the facility 2 . The elevator 5 is a device that transports users between multiple floors of the facility 2 . The elevator 5 has a scale for measuring the load in a car or the like on which the user rides. The elevator 5 may acquire information such as the number of users to be transported from the measured value of the scale. The entrance/exit management device 6 is a device that manages the entrance/exit of users to/from a place to be managed in the facility 2 . The place to be managed may be any area set in the facility 2, for example. The entrance/exit management device 6 may include a reading device that reads user identification information. The user's identification information may be read from the information terminal 3 carried by the user or from other identification objects such as an identification card. The user's identification information may be user's biometric information or the like. The entrance/exit management device 6 may acquire information such as the number of users who enter/exit the place to be managed. The user detection device 4, the elevator 5, and the entrance/exit management device 6 are examples of observation devices. The observation device is a device that observes information that is used by users of the facility 2 to estimate congestion conditions. Some or all of the observation devices may be devices included in the mobile system 1 or may be devices external to the mobile system 1 .

The mobile system 1 includes one or more mobiles 7 . A mobile system 1 in this example includes a plurality of mobiles 7 . Each moving body 7 is a device that moves in the facility 2 . The moving object 7 is an autonomous moving object such as a robot or mobility. The mobile unit 7 carries out work by moving in the facility 2 . The work performed by the mobile unit 7 includes, for example, transportation of goods, cleaning, guidance, and security within the facility 2 . Each mobile body 7 moves within the facility 2 based on remote control by a mobile body control device 8, for example. The mobile body system 1 may include a mobile body 7 that moves within the facility 2 without being remotely controlled by the mobile body control device 8 . Here, the mobile control device 8 is, for example, one or more server computers. Some or all of the functions of the mobile body control device 8 may be installed in one or more devices located inside or outside the facility 2 . Alternatively, some or all of the functions of the mobile control device 8 may be implemented by storage or processing resources on a cloud service.

Mobile system 1 includes management device 9 . The management device 9 is, for example, one or more server computers. Some or all of the functions of the management device 9 may be installed in one or more devices arranged inside or outside the facility 2 . Alternatively, some or all of the functions of the management device 9 may be implemented by storage or processing resources on a cloud service. The management device 9, for example, reads a program recorded on a recording medium and operates according to the program. The recording medium for recording the program may be, for example, built in the management device 9, connected to the management device 9, or stored in an external device communicating with the management device 9. It may be connected. Each function of the management device 9 is executed, for example, based on the program.

The management device 9 communicates with the mobile body control device 8, the user detection device 4, the elevator 5, the entrance/exit management device 6, and the information terminal 3 at a timing as required. Further, the mobile body control device 8 communicates with the mobile body 7 to be remotely controlled at a timing as required. Note that the management device 9 may communicate with the mobile body 7 without going through the mobile body control device 8 .

The management device 9 includes a map information storage unit 10, a user information storage unit 11, a mobile information storage unit 12, a business information storage unit 13, a congestion estimation unit 14, a constraint determination unit 15, and a schedule creation unit. 16 , a calculation condition determination unit 17 , a determination unit 18 , and a control command generation unit 19 .

Each storage unit of the map information storage unit 10, the user information storage unit 11, the mobile unit information storage unit 12, and the business information storage unit 13 is a part having a function of storing information. Each storage unit may be implemented, for example, by different hardware, or may be implemented by different storage areas on the same hardware.

Map information of the facility 2 is stored in the map information storage unit 10 . The map information includes, for example, information on the arrangement of structures such as walls of the facility 2 and information on the usage status of each location within the facility 2 . The usage information includes, for example, information such as the room number of each room in the facility 2, or information on tenants who live in the facility. The map information may include information on areas set in the facility 2 . Area information includes, for example, area position information, area range or shape information, or information representing the positional relationship between areas.

In the user information storage unit 11, user information acquired based on observation results of observation devices such as the user detection device 4, the elevator 5, and the entrance/exit management device 6 is stored. The user information includes, for example, the location of the user and the number of users in each area within the facility 2 . The user information is acquired based on, for example, the number of users whose passage is detected by the user detection device 4 . The user information may be obtained based on an image captured by a camera, which is the user detection device 4, for example. The user information may be obtained based on the number of people getting on and off on each floor, which is measured by the elevator 5 using the measurement value of a scale, for example. The user information may be acquired based on the information of the entrance/exit area of the user managed by the entrance/exit management device 6, for example.

In the mobile body information storage unit 12, mobile body information about each mobile body 7 is stored. The mobile body information includes information such as attributes, positions, and states of the mobile body 7, for example. The attributes of the mobile unit 7 include, for example, the type of business performed by the mobile unit 7, specifications of the mobile unit 7, management information of the mobile unit 7, and the like. The specifications of the moving body 7 include, for example, the standard moving speed of the moving body 7, the maximum moving speed of the moving body 7, the weight of the moving body 7, the size of the moving body 7, and the size of articles that the moving body 7 can carry. contains information about The state of the mobile object 7 includes information such as whether or not the mobile object 7 is carrying out work, the work the mobile object 7 is carrying out, and the amount of charge of the storage battery mounted on the mobile object 7 .

In the work information storage unit 13, work information about work performed by each mobile unit 7 is stored. The work information includes, for example, the type of work, the place where the work is performed, and the time when the work is performed. Business information is registered through the information terminal 3 possessed by the user, for example.

The congestion estimation unit 14 is a part that has a function of estimating the congestion status in the facility 2 . Based on the user information stored in the user information storage unit 11 and the map information stored in the map information storage unit 10, the congestion estimation unit 14 calculates congestion for each area of the facility 2 and for each preset time zone. Estimate the congestion situation. The congestion situation in the time zone in the future from the current time is estimated using, for example, the user information in the future from the current time. User information in the future from the current time is estimated based on, for example, the history of user information already acquired by the observation device. The time zone in which the congestion state is estimated may be, for example, a time zone in which the day is preliminarily divided into equal or irregular intervals, or a time zone dynamically set based on user information or the like. may The congestion estimating unit 14, for example, obtains the number of users such as the number of people in each area and the number of users for each time, and calculates the average value or mode value for the obtained number of people. By doing so, the congestion situation is estimated. The congestion estimating unit 14 uses the congestion status of an area near the estimation target area, such as an adjacent area, or the congestion status of the time zone before and after the estimation target time zone to determine the estimation target area and the estimation target time. You may estimate the congestion situation of a strip|belt. Here, the nearby area is identified using map information stored in the map information storage unit 10, for example. The congestion status is represented, for example, by the number of users of the facility 2 for each area and each hour, or the degree of the number of people such as density or occupied area. The congestion situation may be represented by graduated levels.

The congestion estimation unit 14 updates the estimated congestion situation at the facility 2, for example, at a preset timing. The preset timing may be, for example, preset timing at regular intervals, or may be timing based on a change in the situation at the facility 2 such as user information.

The restriction determination unit 15 is a part that has a function of determining restrictions on the work or movement of the mobile unit 7 based on the congestion status of the facility 2 estimated by the congestion estimation unit 14 . The constraint is set, for example, so that the mobile object 7 does not hinder the movement of the user of the facility 2 . The restriction determination unit 15 may determine restriction conditions regarding both work and movement of the mobile unit 7 . The restriction determination unit 15 determines restriction conditions based on the updated congestion status when updating the congestion status estimated by the congestion estimation unit 14 .

As a constraint on the work of the mobile unit 7, for example, for the area, time period, and work type set in the facility 2, the required number of mobile units 7 performing the work of the work type in the area in the time period is It is determined. The required number is the lower limit of the number of moving bodies 7 . The required number of machines is set for a business type whose necessity increases as the number of users increases due to congestion, for example. The work type includes, for example, a work type that calls attention to avoiding crowds to prevent the spread of infectious diseases, or a work type that cleans or disinfects. Incidentally, when the required number of machines is determined, the jobs of the business type corresponding to the shortage of the required number of machines may be automatically registered as the business information.

In addition, as a constraint on the work of the mobile unit 7, for example, regarding the area, time period, and work type set in the facility 2, the mobile unit 7 that performs the work of the work type in the area in the time period is permitted. A number is determined. The allowable number is the upper limit of the number of moving bodies 7 . The allowable number is determined so that the mobile unit 7 can efficiently carry out work without interfering with the movement of the user. The allowable number may be determined regardless of the business type.

Since the appropriate required number and allowable number of machines corresponding to the congestion situation differ depending on the business type, the required number and allowable number are set for each business type. Note that the restriction determination unit 15 may set the required number of machines to 0 for at least one of the business types according to the congestion situation. Further, the constraint determination unit 15 may set the allowable number of machines to unlimited for at least one of the business types according to the congestion situation.

As a constraint on movement of the mobile bodies 7, for example, for an area and a time period set in the facility 2, the allowable number of mobile bodies 7 that move within the area during the time period is determined. The allowable number is the upper limit of the number of moving bodies 7 . The allowable number is determined so that the moving body 7 can move efficiently without interfering with the movement of the user.

As a constraint on the work or movement of the mobile body 7, the upper limit of the movement speed of the mobile body 7 during work or movement may be determined. Whether or not a load can be loaded onto the mobile body 7 or the upper limit of the size of the load to be loaded onto the mobile body 7 may be determined as a constraint on the work or movement of the mobile body 7 .

Constraints are determined, for example, based on a preset relational expression of congestion conditions and constraints. Alternatively, the constraint may be determined based on, for example, a preset correspondence table of congestion status and constraint. Also, the constraint may be determined for each attribute such as the size category of the moving body 7 or the maximum moving speed. In addition, a constraint condition may be determined for a task of a task type in which movement such as delivery can be regarded as a part of the task, assuming that movement is included in the task.

The calculation condition determination unit 17 is a part that has a function of determining calculation conditions for the required time for the work or movement of the mobile body 7 based on the congestion state estimated by the congestion estimation unit 14 . When updating the congestion state estimated by the congestion estimation unit 14, the calculation condition determining unit 17 determines the calculation condition based on the updated congestion state. The calculation conditions are represented by, for example, a coefficient by which the standard required time is multiplied, or a coefficient by which the moving speed or maximum moving speed is multiplied when calculating the required time.

The calculation conditions are determined based on, for example, preset congestion conditions and relational expressions such as coefficients of the calculation conditions. Alternatively, the calculation conditions may be determined based on, for example, a preset correspondence table between congestion status and calculation conditions. Further, the calculation condition may be determined for each moving object 7 or for each attribute such as size division or maximum moving speed of the moving object 7 .

The schedule creating unit 16 is a part that has a function of creating an action schedule to be followed by each moving body 7 based on the constraints determined by the constraint determining unit 15 . The schedule creation unit 16 may use the calculation conditions for the required time for the work or movement of the mobile body 7 determined by the calculation condition determination unit 17 in creating the action schedule. The schedule creation unit 16 uses the business information stored in the business information storage unit 13, the mobile information stored in the mobile information storage unit 12, and the map information stored in the map information storage unit 10 in creating the action schedule. good too.

The determination unit 18 is a portion that has a function of determining whether or not the action schedule created by the schedule creation unit 16 satisfies the updated constraint conditions when the constraint conditions determined by the constraint determination unit 15 are updated. be. The action schedule to be determined may be an action schedule scheduled to be implemented in the future or an action schedule currently being implemented.

The control command creating unit 19 is a part that has a function of creating a control command for the moving body 7 based on the action schedule created by the schedule creating unit 16 . The control commands created by the control command creating unit 19 are sent to the respective mobile bodies 7, for example, through the mobile body control device 8 or directly. Each mobile unit 7 moves around the facility 2 to carry out work based on the received control command.

FIG. 2 is a plan view showing an example of facility 2 according to the first embodiment.

The floor shown in FIG. 2 includes zone a, zone b, and zone c. Zone a and zone c each include an elevator bank, stairs, and two rooms. The zone a and zone c elevator banks contain three cars. Zone c contains toilets. Zone b contains 5 compartments. Zone b is located between zone a and zone c. Automatic doors are arranged at the entrances and exits of the boundaries between Zone b and Zones a and c. Each room in zone a and zone c, and the entry/exit area of zone b are managed by an entry/exit management device 6 . In this example, each block, each room, and each elevator bank are each set as one area. For the elevator bank in this example, the landings of each floor and the space within the car are collectively set as one area. Note that the floors of the facility 2 may include areas that are not targeted for congestion estimation. Also, the divisions on the floor of the facility 2 may be divided and set as a plurality of smaller areas. Also, for each floor of the facility 2, the entire floor may be set as one area.

3 is a diagram showing an example of mobile object information according to Embodiment 1. FIG.

The mobile information is managed using, for example, a mobile ID (IDentifier) for identifying the mobile 7 as a key. In this example, the mobile body information includes the type of work that the mobile body 7 can perform, the size classification indicating the size of the mobile body 7, the maximum moving speed of the mobile body 7, the current charge amount of the mobile body 7, and the current charge amount of the mobile body 7. 7 and the like are stored.

FIG. 4 is a diagram showing an example of business information according to the first embodiment.

The work performed by the mobile body 7 is classified into four types, for example, time-specified work, period-designated work, regular work, and other work. The business information includes different information depending on the type of business.

FIG. 4A shows an example of work information for time-designated work. A time-specified task is, for example, a task whose start time or end time is specified. The task information of the time-specified task includes at least the task type, place of execution, and start time or end time. The work information of the time-specified work may include work execution conditions, importance, or other information used for work execution.

FIG. 4B shows an example of work information of period-designated work. A period-designated task is, for example, a task in which a period during which the task can be performed is specified. The end time of the designated period is, for example, the deadline for completing the task. The task information of the period-specified task includes at least the task type, the execution location, and the start time and end time of the specified period. The work information of the period-specified work may include the work execution time. At this time, for example, the work by the mobile unit 7 is executed for the length of the execution time during the specified period. The task information of the period-designated task may include task execution conditions, importance, or other information used in performing the task.

FIG. 4C shows an example of work information for regular work. Regular work is, for example, work that is performed periodically. The work information of the regular work includes at least the work type, place of execution, and minimum or maximum interval from the previous execution to the next execution. The work information of the regular work may include work execution conditions, importance, or other information used in work execution.

In FIG. 4D, an example of business information for other business is shown. Other tasks are tasks for which, for example, the timing of implementation is not specified. The work information of other work includes at least the work type and the place of execution. The work information of the other work may include the execution time of the work. The business information of the other business may include business execution conditions, importance, or other information used in business execution.

5 is a diagram showing an example of an action schedule according to Embodiment 1. FIG.
FIG. 5A shows an example of an action schedule when no constraint condition is imposed according to the congestion situation.
On the other hand, FIG. 5B shows an example of an action schedule when a constraint condition is imposed according to congestion conditions.

As shown in FIG. 5A, four mobile bodies 7 with mobile body IDs R01, R02, R03, and R04 perform movement, charging, and an action schedule including waiting etc. is created.

Work A001 and work A002 are work of work type A performed in area α. Work B001 and work B002 are work of work type B performed in area β. Work C001 is work of work type C performed in area γ. Work D001 and work D002 are work of work type D performed in area δ.

Here, as shown in FIG. 5B, as a constraint condition according to the congestion situation, the allowable number of units for work of work type A performed in area α during the time period from time t1 to time t2 is It is determined. Further, as a constraint condition according to the congestion state, the required number of two machines is determined for the work of work type D to be performed in area δ during the time period from time t3 to time t4.

At this time, the schedule creation unit 16 creates an action schedule for each moving body 7 so that the constraint conditions are satisfied.

Next, an example of the operation of the management device 9 will be described with reference to FIGS. 6 to 8. FIG.
FIGS. 6 to 8 are flowcharts showing examples of operations of the management device 9 according to the first embodiment.

FIG. 6 shows an example of processing related to congestion state estimation. The processing in FIG. 6 is started at regular timing, such as every hour.

In step S<b>601 , the congestion estimation unit 14 calculates congestion for each area of the facility 2 and for each time period based on information acquired by observation devices such as the user detection device 4 , the elevator 5 , and the entrance/exit management device 6 . Estimate the situation. After that, the processing of the management device 9 proceeds to step S602.

In step S<b>602 , the restriction determination unit 15 determines restriction conditions regarding the work or movement of the mobile unit 7 based on the congestion state estimated by the congestion estimation unit 14 . After that, the processing of the management device 9 proceeds to step S603.

In step S<b>603 , the calculation condition determination unit 17 determines calculation conditions for the required time for work or movement of the mobile unit 7 based on the congestion state estimated by the congestion estimation unit 14 . After that, the processing of the management device 9 proceeds to step S604.

In step S604, the management device 9 determines whether the constraint has been updated from the previously determined constraint. If the determination result is YES, the processing of the management device 9 proceeds to step S605. On the other hand, if the determination result is NO, the processing of the management device 9 ends.

In step S605, the determination unit 18 determines whether the action schedule already created by the schedule creation unit 16 satisfies the updated constraint conditions. If the determination result is NO, the processing of the management device 9 proceeds to step S606. On the other hand, if the determination result is YES, the processing of the management device 9 ends.

In step S606, the schedule creating unit 16 recreates the action schedule. The schedule creating unit 16 recreates the action schedule by the same process as when creating the action schedule. After that, the processing of the management device 9 ends. The activity schedule is recreated not only when the determination unit 18 determines that the activity schedule does not satisfy the updated constraint conditions, but also when a new task is additionally registered during the implementation of the activity schedule. may be done. The target period for recreating the action schedule may be the remaining period of the target period of the action schedule being implemented, or a new target period of the action schedule may be set from the current time.

FIG. 7 shows an example of processing related to creation of an action schedule. The processing in FIG. 7 is started at regular timing, such as every hour.

In step S701, the schedule creation unit 16 creates an action schedule for the moving body 7 in a predetermined target period based on the constraint conditions determined by the constraint determination unit 15 and the calculation conditions determined by the calculation condition determination unit 17. do. The target period is, for example, a period such as one day. After that, the processing of the management device 9 proceeds to step S702.

In step S702, the management device 9 determines whether or not there is an unexecuted task as a result of creating the action schedule in step S701. If the determination result is NO, the processing of the management device 9 proceeds to step S703. On the other hand, if the determination result is YES, the processing of the management device 9 proceeds to step S704.

In step S<b>703 , the control command creation unit 19 creates control commands for each moving body 7 based on the action schedule created by the schedule creation unit 16 . After that, the processing of the management device 9 ends. In addition, the management device 9 transmits the control command to the moving body 7 created by the control command creating unit 19 to the moving body 7 or the moving body control device 8 that remotely controls the moving body 7 at a timing according to need. do.

In step S704, the management device 9 notifies the information terminal 3 of information indicating that there is an unexecuted task. After that, the processing of the management device 9 ends. The management device 9 informs the administrator of the facility 2 or the registrant of the business information via the information terminal 3 that all the registered business cannot be executed, or prompts the correction of the business information. can do.

FIG. 8 shows an example of detailed processing for creating an action schedule. The processing in FIG. 8 is executed, for example, in step S606 of FIG. 6 or step S701 of FIG.

In step S801 of FIG. 8A, the schedule creation unit 16 extracts tasks to be performed during the target period from among tasks registered in the task information storage unit 13, and selects one task from among the tasks. The schedule creation unit 16 selects, for example, the task with the closest start date and time. Alternatively, the schedule creation unit 16 may select the task with the closest end date and time, or may select the task with the highest degree of importance. After selecting the task, the processing of the schedule creation unit 16 proceeds to step S802.

In step S802, the schedule creation unit 16 determines whether there is a mobile object 7 capable of performing the selected work. For example, the schedule creation unit 16 selects the mobile unit 7 whose work type is included in the executable work type in the mobile unit information stored in the mobile unit information storage unit 12 as a mobile unit that can perform the work. Assume that the moving object is 7 . In addition, when conditions related to attributes such as size classification or movement speed of the mobile body 7 are defined in the execution conditions of the work information, the schedule creation unit 16 selects the mobile body 7 that satisfies the conditions to be able to perform the work. and a moving body 7. If there is a mobile object 7 capable of performing the selected task, the processing of the schedule creation unit 16 proceeds to step S803. On the other hand, if there is no mobile object 7 capable of executing the selected work, the process of the schedule creation unit 16 proceeds to step S817 in FIG. 8B.

In step S803, the schedule creation unit 16 selects one mobile object 7 from the mobile objects 7 capable of executing the selected work. After that, the processing of the schedule creation unit 16 proceeds to step S804.

In step S804, the schedule creation unit 16 determines whether or not the selected mobile body 7 needs to be charged so that the selected mobile body 7 moves to the location where the selected work is performed and executes the selected work. The amount of charge required to move to the location where the work is performed and the amount of charge required to perform the work may be calculated based on preset calculation formulas, or may be learned from past history. may be calculated by If charging is required, the process of the schedule creation unit 16 proceeds to step S805. On the other hand, if charging is not required, the processing of the schedule creating unit 16 proceeds to step S806.

In step S805, the schedule creation unit 16 causes the selected mobile body 7 to move to the location where the selected work is to be performed, and then charge the mobile body 7 to obtain the amount of charge required to perform the selected work. To plan. In other words, the schedule creation unit 16 creates a schedule including the movement of the mobile body 7 to the charging location in the plan. After that, the processing of the schedule creation unit 16 proceeds to step S806.

In step S806, the schedule creation unit 16 determines the time at which the selected mobile unit 7 will start moving from the current location to the selected job execution location. For example, the schedule creation unit 16 sets the time when the mobile body 7 starts to move as the completion time of the previous task of the mobile body 7 . When planning charging of the mobile object 7, for example, the schedule creation unit 16 may set the time when the mobile object 7 starts moving to the time when the charging of the mobile object 7 at the charging location is completed. In addition, in order to provide a margin, the schedule creation unit 16 sets the time at which the movement of the mobile body 7 is started to the time when a preset time has elapsed from the completion time of the previous work or the completion time of charging. may be After determining the time to start moving, the process of the schedule creation unit 16 proceeds to step S807.

In step S807, the schedule creation unit 16 determines a route for the selected moving object 7 to move from the current location to the selected job execution location. Based on the constraints on movement determined by the constraint determination unit 15, the schedule creation unit 16 allows the mobile unit 7 to travel in a time zone and an area in which the allowable number of vehicles 7 is already planned to pass. Choose a route that does not allow Here, the time at which the selected moving body 7 passes through each area is calculated based on the calculation conditions for the required travel time determined by the calculation condition determining unit 17 . After determining the movement route, the process of the schedule creation unit 16 proceeds to step S808 in FIG. 8B.

In step S808 of FIG. 8B, the schedule creation unit 16 determines whether the selected moving object 7 will be in time for the start time of the selected task when it moves from the current location to the selected task execution place on the determined moving route. . If the job is a time-specified job, the schedule creation unit 16 makes a determination by comparing the arrival time of the mobile body 7 at the place where the job is performed and the start time, for example. Also, if the work is a period-designated work, the schedule creation unit 16 makes a determination by, for example, comparing the arrival time of the mobile body 7 at the work execution location and the end time of the designated period. In addition, when the work is a regular work, the schedule creation unit 16 compares the interval from the previous execution completion time to the arrival time of the mobile body 7 at the work execution location with the maximum execution interval. make a judgment. If the start time of the selected task can be met, the process of the schedule creation unit 16 proceeds to step S809. On the other hand, if it is not possible to meet the start time of the selected task, the process of the schedule creation unit 16 proceeds to step S813.

In step S809, the schedule creation unit 16 predicts by calculation the time when the selected mobile unit 7 completes the selected task. Here, the predicted completion time of the task is calculated based on the calculation conditions for the required time of the task determined by the calculation condition determining unit 17 . Note that the schedule creation unit 16 may appropriately refer to the execution time of the work information stored in the work information storage unit 13 in calculating the completion time. After calculating the completion time, the processing of the scheduler 16 proceeds to step S810.

In step S<b>810 , the schedule creation unit 16 determines whether or not the constraint regarding the work and movement determined by the constraint determination unit 15 is satisfied based on the prediction of the completion time of the selected work by the selected mobile unit 7 . The schedule creation unit 16 determines, for example, whether the allowable number of machines for each type of work at the place where the work is performed is not exceeded, and whether the allowable number of machines for movement at the completion place and completion time of the work is not exceeded. If the constraint is satisfied, the processing of the schedule creation unit 16 proceeds to step S811. On the other hand, if the constraint is not satisfied, the processing of the schedule creation unit 16 proceeds to step S813.

In step S<b>811 , the schedule creation unit 16 determines whether the charging amount of the selected mobile body 7 is sufficient at the time when the selected task is completed. The schedule creation unit 16 determines, for example, whether or not there is enough charge remaining to move from the job completion location to the charging location. Here, the charging amount required for moving from the work completion place to the charging place may be calculated based on a preset calculation formula, or may be calculated by learning from the past history. If the charging amount is sufficient, the process of the schedule creation unit 16 proceeds to step S812. On the other hand, if the charging amount is not sufficient, the process of the schedule creation unit 16 proceeds to step S813.

In step S812, the schedule creation unit 16 determines the selected mobile unit 7 as a mobile unit 7 to which the selected work can be assigned. After that, the processing of the schedule creation unit 16 proceeds to step S813.

In step S813, the schedule creation unit 16 determines whether or not all mobile bodies 7 capable of performing the selected task have been selected in step S803 of FIG. 8A. If the determination result is YES, the process of the schedule creation unit 16 proceeds to step S814. On the other hand, if the determination result is NO, the process of the schedule creation unit 16 proceeds to step S803 to select one moving body 7 that has not yet been selected.

In step S814, the schedule creation unit 16 determines whether there is a mobile unit 7 to which the selected task can be assigned. If the determination result is YES, the process of the schedule creation unit 16 proceeds to step S815. On the other hand, if the determination result is NO, the process of the schedule creation unit 16 proceeds to step S817.

In step S815, the schedule creation unit 16 determines the mobile unit 7 to which the selected job is actually assigned from among the mobile units 7 to which the selected job can be assigned. The schedule creation unit 16 determines, for example, the mobile body 7 with the shortest travel distance required to execute the work as the mobile body 7 to which the work is to be assigned. Alternatively, the schedule creation unit 16 may assign the work to the mobile body 7 that consumes the smallest amount of charge for carrying out the work, or pass through an area where the allowable number of vehicles for movement is set. The work may be assigned to the mobile unit 7 with the shortest distance. After determining the mobile unit 7 to which the selected task is to be assigned, the process of the schedule creation unit 16 proceeds to step S816.

In step S816, the schedule creation unit 16 determines whether all the tasks extracted as tasks to be performed during the target period have been selected in step S801 of FIG. 8A. If the determination result is YES, the processing of the schedule creation unit 16 ends. On the other hand, if the determination result is NO, the process of the schedule creation unit 16 proceeds to step S801 to select one task that has not yet been selected.

In step S817, the schedule creation unit 16 sets the selected work as an unexecuted work. After that, the processing of the schedule creating unit 16 proceeds to step S816.

As described above, the mobile system 1 according to Embodiment 1 includes one or more mobiles 7 , an observation device, and a management device 9 . Each mobile body 7 moves within the facility 2 to carry out the work. The observation device is installed in facility 2 . The management device 9 includes a congestion estimation unit 14 , a constraint determination unit 15 and a schedule creation unit 16 . The congestion estimation unit 14 estimates the congestion status for each preset area and each preset time slot in the facility 2 based on information from the observation device. The restriction determination unit 15 determines restriction conditions related to at least one of business and movement of each mobile unit 7 based on the congestion state estimated by the congestion estimation unit 14 . The schedule creation unit 16 creates an action schedule to be followed by each moving body 7 based on the constraint determined by the constraint determination unit 15 .
Moreover, the management method of the mobile body 7 according to Embodiment 1 includes a congestion estimation step, a constraint determination step, and a schedule creation step. The congestion estimation step is a step of estimating the congestion status for each preset area and each preset time period in the facility 2 based on information from the observation device. The restriction determination step is a step of determining restriction conditions relating to at least one of business and movement of each mobile unit 7 based on the congestion state estimated in the congestion estimation step. The schedule creation step is a step of creating an action schedule to be followed by each moving body 7 based on the constraints determined in the constraint determination step.
Moreover, the management program for the moving body 7 according to Embodiment 1 causes the computer to execute a congestion estimation step, a constraint determination step, and a schedule creation step.

With such a configuration, in the space where the users of the facility 2 may exist, the user congestion status is estimated for each area and for each hour. In addition, a constraint on the work or movement of the mobile body 7 is set according to the estimated congestion status. Since the action schedule of the mobile body 7 is created based on the constraint conditions, the movement of the user of the facility 2 is less likely to be hindered by the mobile body 7 . Since the action schedule of the moving body 7 is determined based on the constraint conditions, it is possible to prevent the moving body 7 from being thrown into an area crowded with users based on energy saving. In this way, an action schedule is created that allows the mobile unit 7 to efficiently carry out work without interfering with the movement of the user.

In addition, the constraint determination unit 15 determines the required number of mobile units 7 that perform the business of the business type in the area, the time period, and the business type as business constraint conditions.
In addition, the constraint determination unit 15 determines the allowable number of mobile units 7 that perform the business of the business type in the area, the time period, and the business type as the business-related constraint conditions.
In addition, the restriction determination unit 15 determines the allowable number of mobile bodies 7 that move within the area during the time period, as the restriction conditions regarding movement, for the area and the time period.

With such a configuration, a constraint condition regarding the required number or the allowable number of mobile bodies 7 performing each task in each area is set for each hour according to the estimated congestion status. As a result, it is possible to have an appropriate number of machines, depending on the state of congestion, for jobs that become more necessary as the number of users increases. In addition, an action schedule is created that allows the mobile unit 7 to efficiently carry out work without interfering with the movement of the user. In addition, according to the estimated congestion status, a constraint condition regarding the allowable number of moving bodies 7 passing through each area is set for each hour. As a result, an action schedule is created that allows the mobile body 7 to efficiently carry out work without interfering with the movement of the user.

The management device 9 also includes a calculation condition determination unit 17 . The calculation condition determination unit 17 determines calculation conditions for the time required for the work or movement of the mobile body 7 based on the congestion situation. The schedule creation unit 16 calculates the time required for the work or movement of each mobile body 7 based on the calculation conditions determined by the calculation condition determination unit 17 . The schedule creation unit 16 creates an action schedule based on the calculated required time and constraint conditions.

With such a configuration, the time required for the work or movement of the mobile body 7 estimated according to the estimated congestion status, and the constraint conditions regarding the work or movement of the mobile body 7 set according to the estimated congestion status. An action schedule is created based on As a result, it is avoided that the mobile body 7 cannot perform the work according to the action schedule due to the influence of congestion.

The management device 9 also includes a determination unit 18 . The determination unit 18 determines whether or not the action schedule satisfies the updated constraint when the constraint is updated. The schedule creation unit 16 recreates the activity schedule when the determination unit 18 determines that the activity schedule does not satisfy the updated constraint.

With such a configuration, it is determined whether or not the already created action schedule satisfies the updated constraint condition based on the latest estimated congestion situation. Here, if the updated constraints are not met, the action schedule is recreated. As a result, it is possible to prevent the mobile body 7 from being unable to carry out the work according to the action schedule due to changes in congestion.

Note that if there is a mobile object outside the management of the mobile system 1, such as a mobile object managed by another system, in the facility 2, the mobile system 1 treats the mobile object outside the management as a user of the facility 2. can be treated similarly. The congestion estimating unit 14 may estimate, as the user congestion status, the congestion status due to people in the facility 2 and unmanaged moving bodies.

Next, an example of the hardware configuration of the mobile system 1 will be described with reference to FIG. 9 .
FIG. 9 is a hardware configuration diagram of main parts of the mobile system 1 according to the first embodiment.

Each function of the mobile system 1 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 circuitry includes a processor 100a and a memory 100b, each function of the mobile system 1 is realized by software, firmware, or a combination of software and firmware. At least one of software and firmware is written as a program. The program is stored in memory 100b. The processor 100a realizes each function of the mobile system 1 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 mobile system 1 can be implemented by a processing circuit. Alternatively, each function of the mobile system 1 can be collectively realized by a processing circuit. A part of each function of the mobile system 1 may be realized by dedicated hardware 200 and the other part may be realized by software or firmware. Thus, the processing circuitry implements each function of the mobile system 1 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. 10 is a configuration diagram of mobile system 1 according to the second embodiment.

In the second embodiment, when it is not possible to create an action schedule that satisfies the constraint conditions according to the estimated congestion situation and performs all the tasks that should be performed, the action schedule is created under weaker constraint conditions. An example of the mobile system 1 to be created will be described.

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

The management device 9 further includes a notification command creation unit 21 . The notification command creation unit 21 is a part that has a function of creating a notification command to the notification device 20 based on the action schedule created by the schedule creation unit 16 . The notification command created by the notification command creation unit 21 is transmitted to the notification device 20 arranged in the facility 2 . The notification device 20 notifies the users of the facility 2 based on the received notification command.

FIG. 11 is a flow chart showing an example of the operation of the management device 9 according to the second embodiment.
FIG. 11 shows an example of processing related to creation of an action schedule. The processing in FIG. 11 is started at regular timing, such as every hour.

In step S1101, the management device 9 performs the same processing as in step S701 of FIG. After that, the processing of the management device 9 proceeds to step S1102.

In step S1102, the management device 9 determines whether or not there is an unexecuted task as a result of creating the action schedule in step S1101. If the determination result is NO, the processing of the management device 9 proceeds to step S1103. On the other hand, if the determination result is YES, the processing of the management device 9 proceeds to step S1105.

In step S1103, the control command creating unit 19 creates a control command to the moving body 7 based on the action schedule created by the schedule creating unit 16 in step S1101. The control command in this case is a control command when the action schedule satisfies the constraint determined by the constraint determination unit 15 based on the congestion situation. After creating the control command, the processing of the management device 9 proceeds to step S1104. In addition, the management device 9 transmits the control command to the mobile body 7 created by the control command creation unit 19 to each mobile body 7 at a timing as needed, through the mobile body control device 8 or directly. .

In step S1104, the notification command creation unit 21 creates a notification command to the notification device 20 based on the action schedule created by the schedule creation unit 16 in step S1101. The notification command in this case is a notification command when the action schedule satisfies the constraint determined by the constraint determination unit 15 based on the congestion situation. The notification command creation unit 21 creates, for example, a notification command for alerting the user to the execution of the work of the mobile body 7 . After creating the notification command, the processing of the management device 9 ends. In addition, the management device 9 transmits the notification command to the notification device 20 created by the notification command creation unit 21 to the notification device 20 at a timing according to necessity.

In step S1105, the management device 9 determines whether it is permitted to create an action schedule by relaxing the constraint conditions determined by the constraint determination unit 15 based on the congestion situation. Here, permission or disapproval of relaxation of the constraint may be set in advance, or may be set after confirming with the administrator of the facility 2 via the information terminal 3 or the like. If the determination result is YES, the processing of the management device 9 proceeds to step S1106. On the other hand, if the determination result is NO, the processing of the management device 9 proceeds to step S1110.

In step S<b>1106 , the schedule creation unit 16 relaxes the constraint determined by the constraint determination unit 15 and creates an action schedule for the moving object 7 . The schedule creation unit 16 may relax all the constraints, or may relax only some of the constraints. For example, the scheduler 16 may relax one or both of the constraints on work or travel. The schedule creation unit 16 may relax all of the constraints related to work or movement, such as the number of machines required or the number of machines allowed, or may relax only a part of the conditions. As a specific example of how to relax the constraints, the required number of machines may be set to 0, the allowable number of machines may be set to unlimited, or the number of machines set in advance may be increased or decreased. Note that, in this example, the constraint determining unit 15 does not change the constraint itself based on the congestion situation. The schedule creating unit 16 creates an action schedule after relaxing the constraints determined by the constraint determining unit 15 . The process of creating an action schedule based on relaxed constraints is performed in the same manner as the process shown in FIG. After creating an action schedule based on the relaxed constraint, the processing of the management device 9 proceeds to step S1107.

In step S1107, the management device 9 determines whether or not there is an unexecuted task as a result of creating the action schedule in step S1106. If the determination result is NO, the processing of the management device 9 proceeds to step S1108. On the other hand, if the determination result is YES, the processing of the management device 9 proceeds to step S1110.

In step S1108, the control command creation unit 19 creates a control command to the moving body 7 based on the action schedule created by the schedule creation unit 16 in step S1106. The control command in this case is a control command when the action schedule does not satisfy the original constraint condition determined by the constraint determination unit 15 based on the congestion situation. At this time, the control command generating unit 19 generates a control command to move the moving body 7 at a lower speed than when the original constraint condition is satisfied, or to move the moving body 7 while alerting the surroundings by display or voice. may be created. In this case, in step S1107, the schedule creation unit 16 may create the action schedule assuming that the moving body 7 moves at a lower speed than when the original constraint is satisfied. By creating such a control command, it becomes possible to carry out the work in consideration of the users of the facility 2 even more. After creating the control command, the processing of the management device 9 proceeds to step S1109.

In step S1109, the notification command creation unit 21 creates a notification command to the notification device 20 based on the action schedule created by the schedule creation unit 16 in step S1106. The notification command in this case is a notification command when the action schedule does not satisfy the original constraint condition determined by the constraint determination unit 15 based on the congestion situation. At this time, the notification command creation unit 21 may create a notification command with a notification content that calls attention more strongly than when the original constraint condition is satisfied, for example. For example, the notification command creation unit 21 creates a notification command for display-only notification when the original constraint condition is satisfied, and creates a notification command for both display and sound notification when the original constraint condition is not satisfied. You may make it By creating such a notification command, it becomes possible to carry out the work in consideration of the users of the facility 2 even more. After creating the notification command, the processing of the management device 9 ends.

In step S1110, the management device 9 notifies the information terminal 3 of information indicating that there is an unexecuted task. At this time, the management device 9 may also notify that relaxation of the constraint is not permitted, or that there is still an unexecuted task even after the constraint is relaxed. After that, the processing of the management device 9 ends. The management device 9 informs the administrator of the facility 2 or the registrant of the business information via the information terminal 3 that all the registered business cannot be executed, or prompts the correction of the business information. can do.

As described above, in the mobile system 1 according to Embodiment 2, the management device 9 includes the control command generation unit 19 . The control command creation unit 19 creates control commands for each moving body 7 based on the action schedule. The control command creation unit 19 creates different control commands depending on whether the action schedule satisfies the original constraint condition determined by the constraint determination unit 15 according to the congestion situation.

With such a configuration, when the action schedule does not satisfy the constraint according to the estimated congestion situation, a different control command to the moving body 7 is created than when the constraint is met. As a result, compared to when the activity schedule satisfies the original constraints, the work is carried out with greater consideration for the users of the facility 2 .

The management device 9 also includes a notification command creation unit 21 . The notification command creation unit 21 creates a notification command to the notification device 20 provided in the facility 2 based on the action schedule. The notification command creation unit 21 creates different notification commands depending on whether the action schedule satisfies the original constraint condition determined by the constraint determination unit 15 according to the congestion situation.

With such a configuration, when the action schedule does not satisfy the constraint condition according to the estimated congestion situation, a notification command to the notification device 20 that is different from when the constraint condition is satisfied is created. As a result, compared to when the activity schedule satisfies the original constraints, the work is carried out with greater consideration for the users of the facility 2 .

1 Mobile System 2 Facility 3 Information Terminal 4 User Detection Device 5 Elevator 6 Entrance/Exit Control Device 7 Mobile 8 Mobile Control Device 9 Management Device 10 Map Information Storage Unit 11 User Information storage unit 12 Mobile object information storage unit 13 Business information storage unit 14 Congestion estimation unit 15 Constraint determination unit 16 Schedule creation unit 17 Calculation condition determination unit 18 Judgment unit 19 Control command creation unit 20 Notification Apparatus 21 Notification Command Creation Unit 100a Processor 100b Memory 200 Dedicated Hardware

Claims (11)

Congestion status for each preset area and each preset time period in a facility where one or more moving bodies move to perform work, based on information from an observation device installed in the facility a congestion estimation unit that estimates by
a constraint determination unit that determines constraints on at least one of business and movement of each of the one or more mobile units based on the congestion state estimated by the congestion estimation unit;
a schedule creation unit that creates an action schedule to be followed by each of the one or more mobile objects based on the constraint determined by the constraint determination unit;
A mobile body management device comprising: The constraint determination unit determines, as the constraint conditions relating to work, the area, the time period, and the type of work, among the one or more moving bodies, in the area, during the time period, the work of the type of work is performed. determine the required number of bodies,
The mobile body management device according to claim 1 . The constraint determination unit determines, as the constraint conditions relating to work, the area, the time period, and the type of work, among the one or more moving bodies, in the area, during the time period, the work of the type of work is performed. determine the allowable number of bodies,
The mobile body management device according to claim 1 . The constraint determination unit determines the allowable number of mobile bodies that move in the area during the time period, out of the one or more mobile bodies, with respect to the area and the time period as the constraint conditions related to movement.
The mobile body management device according to claim 1 . Based on the congestion situation, a calculation condition determination unit that determines calculation conditions for the time required for the work or movement of the mobile body,
The schedule creation unit calculates the required time for each task or movement of the one or more mobile objects based on the calculation conditions determined by the calculation condition determination unit, and based on the calculated required time and the constraint conditions creating the action schedule;
The mobile body management apparatus according to any one of claims 1 to 4. a determination unit that determines whether or not the action schedule satisfies the updated constraint when the constraint is updated;
The schedule creation unit recreates the action schedule when the determination unit determines that the action schedule does not satisfy the updated constraint condition.
The mobile body management apparatus according to any one of claims 1 to 4. a control command creation unit that creates a control command for each of the one or more moving bodies based on the action schedule;
The control command creation unit creates different control commands depending on whether the action schedule satisfies the constraint condition or the action schedule does not satisfy the constraint condition.
The mobile body management apparatus according to any one of claims 1 to 4. a notification command creation unit that creates a notification command to a notification device provided in the facility based on the action schedule;
The notification command creating unit creates different notification commands depending on whether the action schedule satisfies the constraint or when the action schedule does not satisfy the constraint.
The mobile body management apparatus according to any one of claims 1 to 4. Congestion status for each preset area and each preset time period in a facility where one or more moving bodies move to perform work, based on information from an observation device installed in the facility a congestion estimation step in which the computer estimates by
a constraint determination step in which a computer determines constraints on at least one of business and movement of each of the one or more mobile units based on the congestion state estimated in the congestion estimation step;
a schedule creation step in which a computer creates an action schedule to be followed by each of the one or more mobile objects based on the constraint conditions determined in the constraint determination step;
A mobile object management method comprising: to the computer,
Congestion status for each preset area and each preset time period in a facility where one or more moving bodies move to perform work, based on information from an observation device installed in the facility a congestion estimation step for estimating with
a constraint determination step of determining constraints on at least one of business and movement of each of the one or more mobile units based on the congestion state estimated in the congestion estimation step;
a schedule creation step of creating an action schedule to be followed by each of the one or more moving bodies based on the constraint conditions determined in the constraint determination step;
A mobile object management program that executes one or more moving bodies that move between facilities to perform work;
an observation device provided at the facility;
a congestion estimating unit for estimating a congestion situation for each preset area and each preset time period in the facility based on information from the observation device;
a constraint determination unit that determines constraints on at least one of business and movement of each of the one or more mobile units based on the congestion state estimated by the congestion estimation unit;
a schedule creation unit that creates an action schedule to be followed by each of the one or more mobile objects based on the constraint determined by the constraint determination unit;
A mobile system comprising:

Images