WO2020161851A1 - Moving body management device and moving body system - Google Patents

Moving body management device and moving body system Download PDF

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Publication number
WO2020161851A1
WO2020161851A1 PCT/JP2019/004392 JP2019004392W WO2020161851A1 WO 2020161851 A1 WO2020161851 A1 WO 2020161851A1 JP 2019004392 W JP2019004392 W JP 2019004392W WO 2020161851 A1 WO2020161851 A1 WO 2020161851A1
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WO
WIPO (PCT)
Prior art keywords
moving body
mobile
position information
unique information
information
Prior art date
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PCT/JP2019/004392
Other languages
French (fr)
Japanese (ja)
Inventor
友哉 竹中
努 朝比奈
知明 武輪
亘 辻田
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三菱電機株式会社
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Priority to PCT/JP2019/004392 priority Critical patent/WO2020161851A1/en
Publication of WO2020161851A1 publication Critical patent/WO2020161851A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
    • H04B10/114—Indoor or close-range type systems
    • H04B10/116—Visible light communication
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present invention relates to a mobile management device and a mobile system.
  • Patent Document 1 discloses a mobile management device. According to the mobile management device, the position of the mobile can be detected.
  • Patent Document 1 does not detect the moving direction of the moving body. Therefore, the moving direction of the moving body cannot be notified to the surroundings.
  • An object of the present invention is to provide a mobile body management device and a mobile body system that can inform the surroundings of the moving direction of the mobile body.
  • the mobile management device is received by the unique information receiving unit that receives the unique information when the moving body transmits the unique information received from the lighting device by visible light communication, and the unique information receiving unit.
  • a moving body position information calculating unit that calculates position information of the moving body based on unique information, and the moving body based on the position information calculated by the moving body position information calculating unit and the moving schedule information of the moving body.
  • an irradiation shape selection unit that causes the illumination device to select an irradiation shape indicating the moving direction of.
  • a mobile body system is a lighting device having a function of performing visible light communication and a function of emitting light in an irradiation shape selected from a plurality of irradiation shapes;
  • the unique information received from the device is transmitted, the unique information is received, the position information of the moving body is calculated based on the unique information, and the position information of the moving body is calculated based on the position information and the moving schedule information of the moving body.
  • a moving body management device for causing the illumination device to select an irradiation shape indicating a moving direction of the moving body.
  • the moving body management apparatus uses the irradiation shape indicating the moving direction of the moving body based on the position information of the moving body based on the unique information received from the lighting device and the moving schedule information of the moving body. To the lighting device. Therefore, it is possible to inform the surroundings of the moving direction of the moving body.
  • FIG. 3 is a configuration diagram of a mobile body system in the first embodiment.
  • FIG. 3 is a configuration diagram of an illumination device of the moving body system in the first embodiment.
  • 3 is a flowchart for explaining an outline of an operation of a mobile body of the mobile body system in the first embodiment.
  • 3 is a flowchart for explaining an outline of the operation of the mobile management device of the mobile system according to the first embodiment.
  • 3 is a flowchart for explaining an outline of the operation of the illumination device of the mobile body system in the first embodiment.
  • FIG. 3 is a hardware configuration diagram of a mobile management device of the mobile system according to the first embodiment.
  • FIG. 1 is a configuration diagram of a mobile system according to the first embodiment.
  • the mobile unit 1 system in FIG. 1 includes a mobile unit 1, a lighting device 2, and a mobile unit management apparatus 3.
  • the mobile unit 1 is provided so that it can autonomously travel inside the building.
  • the mobile unit 1 is provided so as to be able to receive information by visible light communication.
  • the mobile unit 1 is provided so as to be able to transmit information received by visible light communication.
  • the lighting device 2 is provided on the ceiling of the passage of a building.
  • the lighting device 2 is provided near the ceiling of a building.
  • the lighting device 2 is provided so as to be able to transmit its own unique information by visible light communication.
  • the mobile unit management device 3 includes a unique information receiving unit 3a, a mobile unit position information calculating unit 3b, and an irradiation shape selecting unit 3c.
  • the unique information receiving unit 3a is provided so that the unique information can be received when the mobile body 1 transmits the unique information received from the lighting device 2 by visible light communication.
  • the moving body position information calculation unit 3b can calculate the position information of the moving body 1 based on the self position information transmitted from the moving body 1 as needed and the unique information received by the unique information receiving unit 3a. It is provided. Further, the moving body position information calculation unit 3b is preset with a difference between the self position information transmitted from the moving body 1 as needed and the position information calculated based on the unique information received by the unique information receiving unit 3a.
  • the irradiation shape selection unit 3c causes the illumination device 2 to output an irradiation shape indicating the moving direction of the moving body 1 based on the position information calculated by the moving body position information calculating unit 3b and the moving schedule information of the moving body 1. It is provided so that it can be selected.
  • FIG. 2 is a configuration diagram of the illumination device of the mobile system according to the first embodiment.
  • the lighting device 2 includes a light source 2a, a light intensity equalizing element 2b, a pattern forming body 2c, a projection lens 2d, a light source control device 2e, and a motor 2f.
  • the light source 2a is provided so as to emit light.
  • the light intensity equalizing element 2b is provided below the light source 2a.
  • the light intensity equalizing element 2b is provided so as to equalize the intensity of light from the light source 2a.
  • the pattern forming body 2c is provided below the light intensity uniformizing element 2b.
  • the pattern forming body 2c is formed of a glass plate or the like having a plurality of irradiation shape patterns.
  • the projection lens 2d is provided below the pattern forming body 2c. When the light from the light source 2a passes through the light intensity equalizing element 2b and passes through an irradiation shape selected from a plurality of irradiation shapes of the pattern forming body 2c, the projection lens 2d corresponds to the irradiation shape. Is provided so that the floor surface of the building can be illuminated.
  • the light source control device 2e is provided so as to be able to blink the light source 2a so as to transmit unique information by visible light communication.
  • the motor 2f is provided so that an irradiation shape selected from a plurality of irradiation shapes possessed by the pattern forming body 2c based on a command from the moving body management device 3 can be aligned with the optical axis of the light source 2a.
  • FIG. 3 is a flowchart for explaining the outline of the operation of the mobile object of the mobile object system according to the first embodiment.
  • step S1 the mobile unit 1 starts operation. Then, the mobile body 1 performs the operation of step S2. In step S2, the mobile unit 1 determines whether T seconds have elapsed.
  • step S2 If T seconds have not elapsed in step S2, the mobile unit 1 performs the operation of step S2. When T seconds have elapsed in step S2, the mobile body 1 performs the operation of step S3.
  • step S3 the mobile unit 1 transmits its own location information. Then, the moving body 1 performs the operation of step S4. In step S4, the moving body 1 determines whether or not the unique information of the lighting device 2 has been acquired.
  • step S4 If the unique information of the lighting device 2 has not been acquired in step S4, the moving body 1 performs the operation of step S2. When the unique information of the lighting device 2 is acquired in step S4, the mobile body 1 performs the operation of step S5.
  • step S5 the mobile unit 1 transmits the unique information to the mobile unit management device 3. After that, the mobile unit 1 performs the operation of step S6.
  • step S6 the mobile unit 1 determines whether or not there is a plan correction instruction from the mobile unit management apparatus 3.
  • step S6 If there is no plan correction instruction in step S6, the mobile unit 1 performs the operation of step S2. When there is a plan correction instruction in step S6, the mobile unit 1 performs the operation of step S7.
  • step S7 the mobile unit 1 corrects the plan. Then, the mobile body 1 performs the operation of step S2.
  • FIG. 4 is a flowchart for explaining the outline of the operation of the mobile unit management device of the mobile unit system according to the first embodiment.
  • step S11 the mobile management device 3 starts operation. After that, the mobile management device 3 performs the operation of step S11a.
  • the moving body management device 3 manages the position information of the moving body 1 inside the building based on the self-position information transmitted from the moving body 1 as needed. After that, the mobile management device 3 performs the operation of step S12.
  • step S12 the mobile management device 3 determines whether or not the unique information has been received from the mobile 1.
  • step S12 If the unique information is not received in step S12, the mobile management device 3 performs the operation of step S11a. When the unique information is received in step S12, the mobile management device 3 performs the operation of step S13.
  • step S13 the mobile management device 3 estimates the absolute position of the mobile 1 based on the unique information. After that, the mobile management device 3 performs the operation of step S14. In step S14, it is determined whether or not the estimation result of the absolute position of the mobile unit 1 is as planned. For example, the moving body management device 3 compares the self-position information transmitted from the moving body 1 with the absolute position of the moving body 1 estimated based on the unique information, and if the difference is less than or equal to a preset value. Judge as planned.
  • step S15 the mobile management device 3 instructs the mobile 1 to correct the plan.
  • the mobile unit management apparatus 3 compares the absolute position of the mobile unit 1 estimated based on the self-position information transmitted from the mobile unit 1 and the unique information, and if the difference is larger than a preset value, the plan is set. It is determined that the vehicle is not passing, the planned correction of the moving body 1 is calculated from the position correction amount based on the difference value at this time, and then the moving body 1 is instructed to perform the planned correction.
  • step S16 the mobile unit management device 3 performs the operation of step S16.
  • step S ⁇ b>16 the moving body management device 3 transmits information about the intrusion of the moving body 1 and the irradiation shape corresponding to the moving direction of the moving body 1 to the lighting device 2. After that, the mobile management device 3 performs the operation of step S11a.
  • FIG. 5 is a flowchart for explaining the outline of the operation of the lighting device of the mobile body system according to the first embodiment.
  • step S21 the lighting device 2 starts operation. Then, the illuminating device 2 performs operation
  • step S23 If the information about the intrusion of the mobile unit 1 is not received in step S23, the lighting device 2 performs the operation of step S22.
  • step S24 the lighting device 2 changes the irradiation shape. Then, the illuminating device 2 performs operation
  • the moving body management device 3 operates based on the position information of the moving body 1 based on the unique information received from the lighting device 2 and the moving schedule information of the moving body 1.
  • the illumination device 2 is caused to select the irradiation shape indicating the moving direction of the moving body 1. Therefore, it is possible to inform the surroundings of the moving direction of the moving body 1.
  • the mobile management device 3 receives, as the unique information, the installation position information of the lighting device 2 inside the building, and as the information of the positioning value at the communication time with the lighting device 2 based on the installation position information.
  • the position information of the moving body 1 may be calculated. In this case, the position information of the moving body 1 can be easily grasped.
  • the mobile management device 3 receives the identification information of the lighting device 2 as the unique information, and as the information of the positioning value at the communication time with the lighting device 2 based on the installation position information associated with the identification information.
  • the position information of the moving body 1 may be calculated. In this case, the information on the installation position of the lighting device 2 can be easily managed on the side of the mobile management device 3.
  • the lighting device 2 also matches the irradiation shape selected from the plurality of irradiation shapes with the optical axis of the light source 2a based on a command from the moving body management device 3. Therefore, the moving direction of the moving body 1 can be easily notified to the surroundings.
  • each of the plurality of lighting devices 2 may be provided adjacent to each of the plurality of emergency lights.
  • the moving direction of the moving body 1 can be appropriately notified to the surroundings at an appropriate position.
  • the mobile management device 3 receives the information of the intrusion of the mobile 1 and then the time when the unique information of the lighting device 2 cannot be acquired from the mobile 1, or the self-position information transmitted from the mobile 1.
  • the illumination device 2 may be caused to select the irradiation shape to be used in the normal state after the time when the vehicle moves to a position outside the detection range of the illumination device 2 or after the preset time has elapsed. In this case, the lighting device 2 can irradiate the moving direction of the moving body 1 only when the moving body 1 passes through the irradiation range of the lighting device 2. Therefore, efficient irradiation is possible.
  • FIG. 6 is a hardware configuration diagram of the mobile unit management apparatus of the mobile unit system according to the first embodiment.
  • Each function of the mobile management device 3 can be realized by a processing circuit.
  • the processing circuit comprises at least one processor 100a and at least one memory 100b.
  • the processing circuit comprises at least one dedicated hardware 200.
  • each function of the mobile management device 3 is realized by software, firmware, or a combination of software and firmware. At least one of software and firmware is described as a program. At least one of software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the mobile management device 3 by reading and executing a program stored in at least one memory 100b.
  • the at least one processor 100a is also called a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP.
  • the at least one memory 100b is a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.
  • a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.
  • the processing circuit comprises at least one dedicated hardware 200
  • the processing circuit may be implemented, for example, in a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.
  • each function of the mobile management device 3 is realized by a processing circuit.
  • the respective functions of the mobile management device 3 are collectively realized by a processing circuit.
  • a part may be realized by the dedicated hardware 200 and the other part may be realized by software or firmware.
  • the function of the irradiation shape selection unit 3c is realized by a processing circuit as the dedicated hardware 200, and the functions other than the function of the irradiation shape selection unit 3c are stored in at least one processor 100a in at least one memory 100b. It may be realized by reading and executing the program.
  • the processing circuit implements each function of the mobile management device 3 with the hardware 200, software, firmware, or a combination thereof.
  • the mobile management device and mobile system according to the present invention can be used as a system for managing mobiles.

Abstract

Provided is a moving body management device capable of notifying the surrounding area of the movement direction of a moving body. The moving body management device comprises: a unique information receiving unit that, when a moving body transmits unique information received from a lighting device by visible light communication, receives the unique information; a moving body position information calculation unit that calculates position information of the moving body on the basis of the unique information received by the unique information receiving unit; and a projection shape selection unit that, on the basis of the position information calculated by the moving body position information calculation unit and movement schedule information of the moving body, causes the lighting device to select a projection shape indicating the movement direction of the movement body.

Description

移動体管理装置および移動体システムMobile management device and mobile system
　この発明は、移動体管理装置および移動体システムに関する。 The present invention relates to a mobile management device and a mobile system.
　特許文献１は、移動体管理装置を開示する。当該移動体管理装置によれば、移動体の位置を検出し得る。 Patent Document 1 discloses a mobile management device. According to the mobile management device, the position of the mobile can be detected.
日本特開２００９－１０３４７６号公報Japanese Unexamined Patent Publication No. 2009-103476
　しかしながら、特許文献１に記載の移動体管理装置においては、移動体の移動方向を検出しない。このため、移動体の移動方向を周囲に知らせることができない。 However, the moving body management apparatus described in Patent Document 1 does not detect the moving direction of the moving body. Therefore, the moving direction of the moving body cannot be notified to the surroundings.
　この発明は、上述の課題を解決するためになされた。この発明の目的は、移動体の移動方向を周囲に知らせることができる移動体管理装置および移動体システムを提供することである。 The present invention was made to solve the above-mentioned problems. An object of the present invention is to provide a mobile body management device and a mobile body system that can inform the surroundings of the moving direction of the mobile body.
　この発明に係る移動体管理装置は、移動体が可視光通信により照明装置から受信した固有情報を送信した際に当該固有情報を受信する固有情報受信部と、前記固有情報受信部により受信された固有情報に基づいて当該移動体の位置情報を算出する移動体位置情報算出部と、前記移動体位置情報算出部により算出された位置情報と当該移動体の移動予定情報とに基づいて当該移動体の移動方向を示す照射形状を前記照明装置に選択させる照射形状選択部と、を備えた。 The mobile management device according to the present invention is received by the unique information receiving unit that receives the unique information when the moving body transmits the unique information received from the lighting device by visible light communication, and the unique information receiving unit. A moving body position information calculating unit that calculates position information of the moving body based on unique information, and the moving body based on the position information calculated by the moving body position information calculating unit and the moving schedule information of the moving body. And an irradiation shape selection unit that causes the illumination device to select an irradiation shape indicating the moving direction of.
　この発明に係る移動体システムは、可視光通信を行う機能と複数の照射形状の中から選択された照射形状で光を発する機能とを有した照明装置と、移動体が可視光通信により前記照明装置から受信した固有情報を送信した際に当該固有情報を受信し、当該固有情報に基づいて当該移動体の位置情報を算出し、当該位置情報と当該移動体の移動予定情報とに基づいて当該移動体の移動方向を示す照射形状を前記照明装置に選択させる移動体管理装置と、を備えた。 A mobile body system according to the present invention is a lighting device having a function of performing visible light communication and a function of emitting light in an irradiation shape selected from a plurality of irradiation shapes; When the unique information received from the device is transmitted, the unique information is received, the position information of the moving body is calculated based on the unique information, and the position information of the moving body is calculated based on the position information and the moving schedule information of the moving body. And a moving body management device for causing the illumination device to select an irradiation shape indicating a moving direction of the moving body.
　これらの発明によれば、移動体管理装置は、照明装置から受信した固有情報に基づいた移動体の位置情報と当該移動体の移動予定情報とに基づいて当該移動体の移動方向を示す照射形状を照明装置に選択させる。このため、移動体の移動方向を周囲に知らせることができる。 According to these aspects of the invention, the moving body management apparatus uses the irradiation shape indicating the moving direction of the moving body based on the position information of the moving body based on the unique information received from the lighting device and the moving schedule information of the moving body. To the lighting device. Therefore, it is possible to inform the surroundings of the moving direction of the moving body.
実施の形態１における移動体システムの構成図である。FIG. 3 is a configuration diagram of a mobile body system in the first embodiment. 実施の形態１における移動体システムの照明装置の構成図である。FIG. 3 is a configuration diagram of an illumination device of the moving body system in the first embodiment. 実施の形態１における移動体システムの移動体の動作の概要を説明するためのフローチャートである。3 is a flowchart for explaining an outline of an operation of a mobile body of the mobile body system in the first embodiment. 実施の形態１における移動体システムの移動体管理装置の動作の概要を説明するためのフローチャートである。3 is a flowchart for explaining an outline of the operation of the mobile management device of the mobile system according to the first embodiment. 実施の形態１における移動体システムの照明装置の動作の概要を説明するためのフローチャートである。3 is a flowchart for explaining an outline of the operation of the illumination device of the mobile body system in the first embodiment. 実施の形態１における移動体システムの移動体管理装置のハードウェア構成図である。FIG. 3 is a hardware configuration diagram of a mobile management device of the mobile system according to the first embodiment.
　この発明を実施するための形態について添付の図面に従って説明する。なお、各図中、同一または相当する部分には同一の符号が付される。当該部分の重複説明は適宜に簡略化ないし省略する。 A mode for carrying out the present invention will be described with reference to the accompanying drawings. In each figure, the same or corresponding parts are designated by the same reference numerals. Overlapping description of the relevant parts will be appropriately simplified or omitted.
実施の形態１．
　図１は実施の形態１における移動体システムの構成図である。 Embodiment 1.
FIG. 1 is a configuration diagram of a mobile system according to the first embodiment.
　図１の移動体１システムは、移動体１と照明装置２と移動体管理装置３とを備える。 The mobile unit 1 system in FIG. 1 includes a mobile unit 1, a lighting device 2, and a mobile unit management apparatus 3.
　移動体１は、建築物の内部を自律走行し得るように設けられる。移動体１は、可視光通信により情報を受信し得るように設けられる。移動体１は、可視光通信により受信した情報を送信し得るように設けられる。 The mobile unit 1 is provided so that it can autonomously travel inside the building. The mobile unit 1 is provided so as to be able to receive information by visible light communication. The mobile unit 1 is provided so as to be able to transmit information received by visible light communication.
　例えば、照明装置２は、建築物の通路の天井に設けられる。例えば、照明装置２は、建築物の天井付近に設けられる。照明装置２は、可視光通信により自らの固有情報を送信し得るように設けられる。 For example, the lighting device 2 is provided on the ceiling of the passage of a building. For example, the lighting device 2 is provided near the ceiling of a building. The lighting device 2 is provided so as to be able to transmit its own unique information by visible light communication.
　移動体管理装置３は、固有情報受信部３ａと移動体位置情報算出部３ｂと照射形状選択部３ｃとを備える。 The mobile unit management device 3 includes a unique information receiving unit 3a, a mobile unit position information calculating unit 3b, and an irradiation shape selecting unit 3c.
　固有情報受信部３ａは、移動体１が可視光通信により照明装置２から受信した固有情報を送信した際に当該固有情報を受信し得るように設けられる。移動体位置情報算出部３ｂは、移動体１から随時送信される自己位置情報、ならびに、固有情報受信部３ａにより受信された固有情報に基づいて当該移動体１の位置情報を算出し得るように設けられる。また、移動体位置情報算出部３ｂは、移動体１から随時送信される自己位置情報と固有情報受信部３ａにより受信された固有情報に基づいて算出された位置情報との差が予め設定された値よりも大きい場合に、固有情報受信部３ａにより受信された固有情報に基づいて算出された位置情報を基準とする移動経路の計画補正を、当該移動体１に対して指示し得るように設けられる。照射形状選択部３ｃは、移動体位置情報算出部３ｂにより算出された位置情報と当該移動体１の移動予定情報とに基づいて当該移動体１の移動方向を示す照射形状を前記照明装置２に選択させ得るように設けられる。 The unique information receiving unit 3a is provided so that the unique information can be received when the mobile body 1 transmits the unique information received from the lighting device 2 by visible light communication. The moving body position information calculation unit 3b can calculate the position information of the moving body 1 based on the self position information transmitted from the moving body 1 as needed and the unique information received by the unique information receiving unit 3a. It is provided. Further, the moving body position information calculation unit 3b is preset with a difference between the self position information transmitted from the moving body 1 as needed and the position information calculated based on the unique information received by the unique information receiving unit 3a. If the value is larger than the value, a plan correction of the movement route based on the position information calculated based on the unique information received by the unique information receiving unit 3a is provided so that the moving body 1 can be instructed. To be The irradiation shape selection unit 3c causes the illumination device 2 to output an irradiation shape indicating the moving direction of the moving body 1 based on the position information calculated by the moving body position information calculating unit 3b and the moving schedule information of the moving body 1. It is provided so that it can be selected.
　次に、図２を用いて、照明装置２を説明する。
　図２は実施の形態１における移動体システムの照明装置の構成図である。 Next, the illumination device 2 will be described with reference to FIG.
FIG. 2 is a configuration diagram of the illumination device of the mobile system according to the first embodiment.
　図２に示されるように、照明装置２は、光源２ａと光強度均一化素子２ｂとパターン形成体２ｃと投影レンズ２ｄと光源制御装置２ｅとモーター２ｆとを備える。 As shown in FIG. 2, the lighting device 2 includes a light source 2a, a light intensity equalizing element 2b, a pattern forming body 2c, a projection lens 2d, a light source control device 2e, and a motor 2f.
　光源２ａは、光を発し得るように設けられる。光強度均一化素子２ｂは、光源２ａの下方に設けられる。光強度均一化素子２ｂは、光源２ａからの光の強度を均一化し得るように設けられる。パターン形成体２ｃは、光強度均一化素子２ｂの下方に設けられる。パターン形成体２ｃは、複数の照射形状のパターンを所持したガラス板等で形成される。投影レンズ２ｄは、パターン形成体２ｃの下方に設けられる。投影レンズ２ｄは、光源２ａからの光が光強度均一化素子２ｂを通過してパターン形成体２ｃの複数の照射形状のうちで選択された照射形状を通過した場合に当該照射形状に対応した光を建築物の床面に照射し得るように設けられる。 The light source 2a is provided so as to emit light. The light intensity equalizing element 2b is provided below the light source 2a. The light intensity equalizing element 2b is provided so as to equalize the intensity of light from the light source 2a. The pattern forming body 2c is provided below the light intensity uniformizing element 2b. The pattern forming body 2c is formed of a glass plate or the like having a plurality of irradiation shape patterns. The projection lens 2d is provided below the pattern forming body 2c. When the light from the light source 2a passes through the light intensity equalizing element 2b and passes through an irradiation shape selected from a plurality of irradiation shapes of the pattern forming body 2c, the projection lens 2d corresponds to the irradiation shape. Is provided so that the floor surface of the building can be illuminated.
　光源制御装置２ｅは、可視光通信により固有情報を送信させるように光源２ａを点滅させ得るように設けられる。モーター２ｆは、移動体管理装置３からの指令に基づいてパターン形成体２ｃが所持する複数の照射形状のうちで選択された照射形状を光源２ａの光軸に合わせ得るように設けられる。 The light source control device 2e is provided so as to be able to blink the light source 2a so as to transmit unique information by visible light communication. The motor 2f is provided so that an irradiation shape selected from a plurality of irradiation shapes possessed by the pattern forming body 2c based on a command from the moving body management device 3 can be aligned with the optical axis of the light source 2a.
　次に、図３を用いて、移動体１の動作の概要を説明する。
　図３は実施の形態１における移動体システムの移動体の動作の概要を説明するためのフローチャートである。 Next, the outline of the operation of the moving body 1 will be described with reference to FIG.
FIG. 3 is a flowchart for explaining the outline of the operation of the mobile object of the mobile object system according to the first embodiment.
　ステップＳ１では、移動体１は、動作を開始する。その後、移動体１は、ステップＳ２の動作を行う。ステップＳ２では、移動体１は、Ｔ秒が経過したか否かを判定する。 In step S1, the mobile unit 1 starts operation. Then, the mobile body 1 performs the operation of step S2. In step S2, the mobile unit 1 determines whether T seconds have elapsed.
　ステップＳ２でＴ秒が経過していない場合、移動体１は、ステップＳ２の動作を行う。ステップＳ２でＴ秒が経過した場合、移動体１は、ステップＳ３の動作を行う。 If T seconds have not elapsed in step S2, the mobile unit 1 performs the operation of step S2. When T seconds have elapsed in step S2, the mobile body 1 performs the operation of step S3.
　ステップＳ３では、移動体１は、自己位置情報を送信する。その後、移動体１は、ステップＳ４の動作を行う。ステップＳ４では、移動体１は、照明装置２の固有情報を取得したか否かを判定する。 In step S3, the mobile unit 1 transmits its own location information. Then, the moving body 1 performs the operation of step S4. In step S4, the moving body 1 determines whether or not the unique information of the lighting device 2 has been acquired.
　ステップＳ４で照明装置２の固有情報が取得されていない場合、移動体１は、ステップＳ２の動作を行う。ステップＳ４で照明装置２の固有情報が取得された場合、移動体１は、ステップＳ５の動作を行う。 If the unique information of the lighting device 2 has not been acquired in step S4, the moving body 1 performs the operation of step S2. When the unique information of the lighting device 2 is acquired in step S4, the mobile body 1 performs the operation of step S5.
　ステップＳ５では、移動体１は、当該固有情報を移動体管理装置３に送信する。その後、移動体１は、ステップＳ６の動作を行う。ステップＳ６では、移動体１は、移動体管理装置３からの計画補正の指示があるか否かを判定する。 In step S5, the mobile unit 1 transmits the unique information to the mobile unit management device 3. After that, the mobile unit 1 performs the operation of step S6. In step S6, the mobile unit 1 determines whether or not there is a plan correction instruction from the mobile unit management apparatus 3.
　ステップＳ６で計画補正の指示がない場合、移動体１は、ステップＳ２の動作を行う。ステップＳ６で計画補正の指示がある場合、移動体１は、ステップＳ７の動作を行う。 If there is no plan correction instruction in step S6, the mobile unit 1 performs the operation of step S2. When there is a plan correction instruction in step S6, the mobile unit 1 performs the operation of step S7.
　ステップＳ７では、移動体１は、計画を補正する。その後、移動体１は、ステップＳ２の動作を行う。 In step S7, the mobile unit 1 corrects the plan. Then, the mobile body 1 performs the operation of step S2.
　次に、図４を用いて、移動体管理装置３の動作の概要を説明する。
　図４は実施の形態１における移動体システムの移動体管理装置の動作の概要を説明するためのフローチャートである。 Next, an outline of the operation of the mobile management device 3 will be described with reference to FIG.
FIG. 4 is a flowchart for explaining the outline of the operation of the mobile unit management device of the mobile unit system according to the first embodiment.
　ステップＳ１１では、移動体管理装置３は、動作を開始する。その後、移動体管理装置３は、ステップＳ１１ａの動作を行う。ステップＳ１１ａでは、移動体管理装置３は、移動体１から随時送信される自己位置情報に基づいて建築物の内部での当該移動体１の位置情報を管理する。その後、移動体管理装置３は、ステップＳ１２の動作を行う。ステップＳ１２では、移動体管理装置３は、移動体１から固有情報を受信したか否かを判定する。 In step S11, the mobile management device 3 starts operation. After that, the mobile management device 3 performs the operation of step S11a. In step S11a, the moving body management device 3 manages the position information of the moving body 1 inside the building based on the self-position information transmitted from the moving body 1 as needed. After that, the mobile management device 3 performs the operation of step S12. In step S12, the mobile management device 3 determines whether or not the unique information has been received from the mobile 1.
　ステップＳ１２で固有情報が受信されない場合、移動体管理装置３は、ステップＳ１１ａの動作を行う。ステップＳ１２で固有情報が受信された場合、移動体管理装置３は、ステップＳ１３の動作を行う。 If the unique information is not received in step S12, the mobile management device 3 performs the operation of step S11a. When the unique information is received in step S12, the mobile management device 3 performs the operation of step S13.
　ステップＳ１３では、移動体管理装置３は、固有情報に基づいて移動体１の絶対位置を推定する。その後、移動体管理装置３は、ステップＳ１４の動作を行う。ステップＳ１４では、移動体１の絶対位置の推定結果が計画通りであるか否かを判定する。例えば、移動体管理装置３は、移動体１から送信される自己位置情報と固有情報に基づいて推定した移動体１の絶対位置とを比較し、その差が予め設定された値以下であれば計画通りと判定する。 In step S13, the mobile management device 3 estimates the absolute position of the mobile 1 based on the unique information. After that, the mobile management device 3 performs the operation of step S14. In step S14, it is determined whether or not the estimation result of the absolute position of the mobile unit 1 is as planned. For example, the moving body management device 3 compares the self-position information transmitted from the moving body 1 with the absolute position of the moving body 1 estimated based on the unique information, and if the difference is less than or equal to a preset value. Judge as planned.
　ステップＳ１４で移動体１の絶対位置の推定結果が計画通りでない場合、移動体管理装置３は、ステップＳ１５の動作を行う。ステップＳ１５では、移動体管理装置３は、移動体１に計画補正を指示する。例えば、移動体管理装置３は、移動体１から送信される自己位置情報と固有情報に基づいて推定した移動体１の絶対位置を比較し、その差が予め設定された値よりも大きければ計画通りでないと判定し、この際の差分値に基づいた位置補正量から移動体１の計画補正を算出したうえで、移動体１に計画補正を指示する。 If the estimation result of the absolute position of the mobile unit 1 is not as planned in step S14, the mobile unit management device 3 performs the operation of step S15. In step S15, the mobile management device 3 instructs the mobile 1 to correct the plan. For example, the mobile unit management apparatus 3 compares the absolute position of the mobile unit 1 estimated based on the self-position information transmitted from the mobile unit 1 and the unique information, and if the difference is larger than a preset value, the plan is set. It is determined that the vehicle is not passing, the planned correction of the moving body 1 is calculated from the position correction amount based on the difference value at this time, and then the moving body 1 is instructed to perform the planned correction.
　ステップＳ１４で移動体１の絶対位置の推定結果が計画通りである場合またはステップＳ１５の後、移動体管理装置３は、ステップＳ１６の動作を行う。ステップＳ１６では、移動体管理装置３は、照明装置２に移動体１の侵入と当該移動体１の移動方向に対応した照射形状との情報を送信する。その後、移動体管理装置３は、ステップＳ１１ａの動作を行う。 If the result of estimating the absolute position of the mobile unit 1 is as planned in step S14 or after step S15, the mobile unit management device 3 performs the operation of step S16. In step S<b>16, the moving body management device 3 transmits information about the intrusion of the moving body 1 and the irradiation shape corresponding to the moving direction of the moving body 1 to the lighting device 2. After that, the mobile management device 3 performs the operation of step S11a.
　次に、図５を用いて、照明装置の動作の概要を説明する。
　図５は実施の形態１における移動体システムの照明装置の動作の概要を説明するためのフローチャートである。 Next, an outline of the operation of the lighting device will be described with reference to FIG.
FIG. 5 is a flowchart for explaining the outline of the operation of the lighting device of the mobile body system according to the first embodiment.
　ステップＳ２１では、照明装置２は、動作を開始する。その後、照明装置２は、ステップＳ２２の動作を行う。ステップＳ２２では、照明装置２は、固有情報を送信する。その後、照明装置２は、ステップＳ２３の動作を行う。ステップＳ２３では、照明装置２は、移動体１の侵入の情報を受信したか否かを判定する。 In step S21, the lighting device 2 starts operation. Then, the illuminating device 2 performs operation|movement of step S22. In step S22, the lighting device 2 transmits unique information. Then, the illuminating device 2 performs operation|movement of step S23. In step S23, the lighting device 2 determines whether or not the information about the intrusion of the moving body 1 is received.
　ステップＳ２３で移動体１の侵入の情報が受信されない場合、照明装置２は、ステップＳ２２の動作を行う。ステップＳ２３で移動体１の侵入の情報が受信された場合、照明装置２は、ステップＳ２４の動作を行う。ステップＳ２４では、照明装置２は、照射形状を変更する。その後、照明装置２は、ステップＳ２２の動作を行う。 If the information about the intrusion of the mobile unit 1 is not received in step S23, the lighting device 2 performs the operation of step S22. When the information about the intrusion of the mobile unit 1 is received in step S23, the lighting device 2 performs the operation of step S24. In step S24, the lighting device 2 changes the irradiation shape. Then, the illuminating device 2 performs operation|movement of step S22.
　以上で説明した実施の形態１によれば、移動体管理装置３は、照明装置２から受信した固有情報に基づいた移動体１の位置情報と当該移動体１の移動予定情報とに基づいて当該移動体１の移動方向を示す照射形状を照明装置２に選択させる。このため、移動体１の移動方向を周囲に知らせることができる。 According to the first embodiment described above, the moving body management device 3 operates based on the position information of the moving body 1 based on the unique information received from the lighting device 2 and the moving schedule information of the moving body 1. The illumination device 2 is caused to select the irradiation shape indicating the moving direction of the moving body 1. Therefore, it is possible to inform the surroundings of the moving direction of the moving body 1.
　なお、移動体管理装置３は、固有情報として、建築物の内部における当該照明装置２の設置位置情報を受信し、当該設置位置情報に基づいて照明装置２との通信時刻における測位値の情報として移動体１の位置情報を算出してもよい。この場合、移動体１の位置情報を容易に把握することができる。 The mobile management device 3 receives, as the unique information, the installation position information of the lighting device 2 inside the building, and as the information of the positioning value at the communication time with the lighting device 2 based on the installation position information. The position information of the moving body 1 may be calculated. In this case, the position information of the moving body 1 can be easily grasped.
　また、移動体管理装置３は、固有情報として、照明装置２の識別情報を受信し、当該識別情報に対応付けられた設置位置情報に基づいて照明装置２との通信時刻における測位値の情報として移動体１の位置情報を算出してもよい。この場合、移動体管理装置３の側において、照明装置２の設置位置の情報を容易に管理することができる。 The mobile management device 3 receives the identification information of the lighting device 2 as the unique information, and as the information of the positioning value at the communication time with the lighting device 2 based on the installation position information associated with the identification information. The position information of the moving body 1 may be calculated. In this case, the information on the installation position of the lighting device 2 can be easily managed on the side of the mobile management device 3.
　また、照明装置２は、移動体管理装置３からの指令に基づいて複数の照射形状のうちで選択された照射形状を光源２ａの光軸に合わせる。このため、移動体１の移動方向を周囲に容易に知らせることができる。 The lighting device 2 also matches the irradiation shape selected from the plurality of irradiation shapes with the optical axis of the light source 2a based on a command from the moving body management device 3. Therefore, the moving direction of the moving body 1 can be easily notified to the surroundings.
　なお、建築物の内部において、複数の非常灯の各々に隣接して複数の照明装置２の各々を設けてもよい。この場合、移動体１の移動方向を適切な位置で適切に周囲に知らせることができる。 Note that inside the building, each of the plurality of lighting devices 2 may be provided adjacent to each of the plurality of emergency lights. In this case, the moving direction of the moving body 1 can be appropriately notified to the surroundings at an appropriate position.
　また、移動体管理装置３は、移動体１の侵入の情報を受信した後、移動体１から照明装置２の固有情報が取得できなくなった時刻、または、移動体１から送信される自己位置情報が当該照明装置２の検知範囲外となる位置に移動した時刻、または、予め設定された時刻の経過後、通常時に使用する照射形状を照明装置２に選択させてもよい。この場合、照明装置２は、移動体１が当該照明装置２の照射範囲を通過時のみ移動体１の移動方向を照射できるようになる。このため、効率的な照射が可能となる。 In addition, the mobile management device 3 receives the information of the intrusion of the mobile 1 and then the time when the unique information of the lighting device 2 cannot be acquired from the mobile 1, or the self-position information transmitted from the mobile 1. The illumination device 2 may be caused to select the irradiation shape to be used in the normal state after the time when the vehicle moves to a position outside the detection range of the illumination device 2 or after the preset time has elapsed. In this case, the lighting device 2 can irradiate the moving direction of the moving body 1 only when the moving body 1 passes through the irradiation range of the lighting device 2. Therefore, efficient irradiation is possible.
　次に、図６を用いて、移動体管理装置３の例を説明する。
　図６は実施の形態１における移動体システムの移動体管理装置のハードウェア構成図である。 Next, an example of the mobile management device 3 will be described with reference to FIG.
FIG. 6 is a hardware configuration diagram of the mobile unit management apparatus of the mobile unit system according to the first embodiment.
　移動体管理装置３の各機能は、処理回路により実現し得る。例えば、処理回路は、少なくとも１つのプロセッサ１００ａと少なくとも１つのメモリ１００ｂとを備える。例えば、処理回路は、少なくとも１つの専用のハードウェア２００を備える。 Each function of the mobile management device 3 can be realized by a processing circuit. For example, the processing circuit comprises at least one processor 100a and at least one memory 100b. For example, the processing circuit comprises at least one dedicated hardware 200.
　処理回路が少なくとも１つのプロセッサ１００ａと少なくとも１つのメモリ１００ｂとを備える場合、移動体管理装置３の各機能は、ソフトウェア、ファームウェア、またはソフトウェアとファームウェアとの組み合わせで実現される。ソフトウェアおよびファームウェアの少なくとも一方は、プログラムとして記述される。ソフトウェアおよびファームウェアの少なくとも一方は、少なくとも１つのメモリ１００ｂに格納される。少なくとも１つのプロセッサ１００ａは、少なくとも１つのメモリ１００ｂに記憶されたプログラムを読み出して実行することにより、移動体管理装置３の各機能を実現する。少なくとも１つのプロセッサ１００ａは、中央処理装置、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、ＤＳＰともいう。例えば、少なくとも１つのメモリ１００ｂは、ＲＡＭ、ＲＯＭ、フラッシュメモリ、ＥＰＲＯＭ、ＥＥＰＲＯＭ等の、不揮発性または揮発性の半導体メモリ、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、ＤＶＤ等である。 When the processing circuit includes at least one processor 100a and at least one memory 100b, each function of the mobile management device 3 is realized by software, firmware, or a combination of software and firmware. At least one of software and firmware is described as a program. At least one of software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the mobile management device 3 by reading and executing a program stored in at least one memory 100b. The at least one processor 100a is also called a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. For example, the at least one memory 100b is a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.
　処理回路が少なくとも１つの専用のハードウェア２００を備える場合、処理回路は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ、ＦＰＧＡ、またはこれらの組み合わせで実現される。例えば、移動体管理装置３の各機能は、それぞれ処理回路で実現される。例えば、移動体管理装置３の各機能は、まとめて処理回路で実現される。 If the processing circuit comprises at least one dedicated hardware 200, the processing circuit may be implemented, for example, in a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. It For example, each function of the mobile management device 3 is realized by a processing circuit. For example, the respective functions of the mobile management device 3 are collectively realized by a processing circuit.
　移動体管理装置３の各機能について、一部を専用のハードウェア２００で実現し、他部をソフトウェアまたはファームウェアで実現してもよい。例えば、照射形状選択部３ｃの機能については専用のハードウェア２００としての処理回路で実現し、照射形状選択部３ｃの機能以外の機能については少なくとも１つのプロセッサ１００ａが少なくとも１つのメモリ１００ｂに格納されたプログラムを読み出して実行することにより実現してもよい。 Regarding each function of the mobile management device 3, a part may be realized by the dedicated hardware 200 and the other part may be realized by software or firmware. For example, the function of the irradiation shape selection unit 3c is realized by a processing circuit as the dedicated hardware 200, and the functions other than the function of the irradiation shape selection unit 3c are stored in at least one processor 100a in at least one memory 100b. It may be realized by reading and executing the program.
　このように、処理回路は、ハードウェア２００、ソフトウェア、ファームウェア、またはこれらの組み合わせで移動体管理装置３の各機能を実現する。 In this way, the processing circuit implements each function of the mobile management device 3 with the hardware 200, software, firmware, or a combination thereof.
　以上のように、この発明に係る移動体管理装置および移動体システムは、移動体を管理するシステムに利用できる。 As described above, the mobile management device and mobile system according to the present invention can be used as a system for managing mobiles.
　１　移動体、　２　照明装置、　２ａ　光源、　２ｂ　光強度均一化素子、　２ｃ　パターン形成体、　２ｄ　投影レンズ、　２ｅ、光源制御装置、　２ｆ　モーター、　３　移動体管理装置、　３ａ　固有情報受信部、　３ｂ　移動体位置情報算出部、　３ｃ　照射形状選択部、　１００ａ　プロセッサ、　１００ｂ　メモリ、　２００ハードウェア 1 moving body, 2 lighting device, 2a light source, 2b light intensity equalizing element, 2c pattern forming body, 2d projection lens, 2e, light source control device, 2f motor, 3 moving body management device, 3a unique information receiving unit, 3b moving unit Body position information calculation unit, 3c irradiation shape selection unit, 100a processor, 100b memory, 200 hardware

Claims (5)

  1. 　移動体が可視光通信により照明装置から受信した固有情報を送信した際に当該固有情報を受信する固有情報受信部と、
    　前記固有情報受信部により受信された固有情報に基づいて当該移動体の位置情報を算出する移動体位置情報算出部と、
    　前記移動体位置情報算出部により算出された位置情報と当該移動体の移動予定情報とに基づいて当該移動体の移動方向を示す照射形状を前記照明装置に選択させる照射形状選択部と、
    を備えた移動体管理装置。     A unique information receiving unit that receives the unique information when the moving object transmits the unique information received from the lighting device by visible light communication,
    A moving body position information calculating unit that calculates position information of the moving body based on the unique information received by the unique information receiving unit;
    An irradiation shape selection unit that causes the illumination device to select an irradiation shape indicating the moving direction of the moving body based on the position information calculated by the moving body position information calculation unit and the moving schedule information of the moving body,
    Mobile management device equipped with.
  2. 　前記固有情報受信部は、固有情報として、建築物の内部における当該照明装置の設置位置情報を受信し、
    　前記移動体位置情報算出部は、前記固有情報受信部により受信された設置位置情報に基づいて前記照明装置との通信時刻における測位値の情報として当該移動体の位置情報を算出する請求項１に記載の移動体管理装置。     The unique information receiving unit receives, as the unique information, installation position information of the lighting device inside the building,
    The mobile body position information calculation unit calculates the position information of the mobile body as information of a positioning value at a communication time with the lighting device based on the installation position information received by the unique information reception unit. The mobile management device described.
  3. 　前記固有情報受信部は、固有情報として、当該照明装置の識別情報を受信し、
    　前記移動体位置情報算出部は、前記固有情報受信部により受信された識別情報に対応付けられた設置位置情報に基づいて前記照明装置との通信時刻における測位値の情報として当該移動体の位置情報を算出する請求項１に記載の移動体管理装置。     The unique information receiving unit receives, as the unique information, identification information of the lighting device,
    The mobile body position information calculation unit is the position information of the mobile body as information of the positioning value at the communication time with the lighting device based on the installation position information associated with the identification information received by the unique information reception unit. The mobile object management device according to claim 1, wherein
  4. 　可視光通信を行う機能と複数の照射形状の中から選択された照射形状で光を発する機能とを有した照明装置と、
    　移動体が可視光通信により前記照明装置から受信した固有情報を送信した際に当該固有情報を受信し、当該固有情報に基づいて当該移動体の位置情報を算出し、当該位置情報と当該移動体の移動予定情報とに基づいて当該移動体の移動方向を示す照射形状を前記照明装置に選択させる移動体管理装置と、
    を備えた移動体システム。     A lighting device having a function of performing visible light communication and a function of emitting light in an irradiation shape selected from a plurality of irradiation shapes,
    When the moving body transmits the unique information received from the lighting device by visible light communication, the unique information is received, position information of the moving body is calculated based on the unique information, and the position information and the moving body A moving body management device that causes the lighting device to select an irradiation shape indicating a moving direction of the moving body based on the moving schedule information of
    Mobile system with.
  5. 　前記照明装置は、
    　光を発する光源と、
    　複数の照射形状のパターンを所持するパターン形成体と、
    　前記移動体管理装置からの指令に基づいて前記パターン形成体が所持する複数の照射形状のうちで選択された照射形状を前記光源の光軸に合わせるモーターと、
    を備えた請求項４に記載の移動体システム。     The lighting device is
    A light source that emits light,
    A pattern forming body having a pattern of a plurality of irradiation shapes,
    A motor for adjusting an irradiation shape selected from a plurality of irradiation shapes possessed by the pattern forming body on the basis of a command from the moving body management device, to the optical axis of the light source,
    The mobile system according to claim 4, further comprising:
PCT/JP2019/004392 2019-02-07 2019-02-07 Moving body management device and moving body system WO2020161851A1 (en)

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JP2017010793A (en) * 2015-06-23 2017-01-12 凸版印刷株式会社 Illuminating device
JP2018055505A (en) * 2016-09-29 2018-04-05 富士通株式会社 Guidance system, guidance method, guidance program and lighting device
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JP2005277828A (en) * 2004-03-25 2005-10-06 Kddi Corp Illumination light communication system
JP2009206620A (en) * 2008-02-26 2009-09-10 Panasonic Electric Works Co Ltd Optical transmission system
JP2016169080A (en) * 2015-03-12 2016-09-23 パナソニックＩｐマネジメント株式会社 Retrieval system having illumination function
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