WO2021117123A1 - Passage management device and passage management system - Google Patents

Passage management device and passage management system Download PDF

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Publication number
WO2021117123A1
WO2021117123A1 PCT/JP2019/048234 JP2019048234W WO2021117123A1 WO 2021117123 A1 WO2021117123 A1 WO 2021117123A1 JP 2019048234 W JP2019048234 W JP 2019048234W WO 2021117123 A1 WO2021117123 A1 WO 2021117123A1
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WO
WIPO (PCT)
Prior art keywords
priority
traffic management
management device
information
building
Prior art date
Application number
PCT/JP2019/048234
Other languages
French (fr)
Japanese (ja)
Inventor
若林　正男
努 朝比奈
知明 武輪
敬秀 平井
允裕 山隅
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2021563483A priority Critical patent/JPWO2021117123A1/ja
Priority to PCT/JP2019/048234 priority patent/WO2021117123A1/en
Priority to CN201980100323.9A priority patent/CN114746355A/en
Publication of WO2021117123A1 publication Critical patent/WO2021117123A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B17/00—Hoistway equipment
    • B66B17/14—Applications of loading and unloading equipment
    • B66B17/16—Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages
    • B66B17/20—Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages by moving vehicles into, or out of, the cars or cages
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit

Definitions

  • the present invention relates to a traffic management device and a traffic management system.
  • Patent Document 1 discloses an elevator group management device. According to the group management device, a moving body can be used to guide the user to the position of a specific elevator.
  • An object of the present invention is to provide a traffic management device and a traffic management system capable of realizing smooth passage of a plurality of moving objects inside a building.
  • the traffic management device includes a priority determination information acquisition unit that acquires position information or intrusion request information of a plurality of moving objects inside a building as priority determination information, and the priority determination information acquisition unit.
  • a priority determination unit that determines the priority of the plurality of moving objects based on the priority determination information when the priority determination information of a plurality of moving objects is acquired, and a priority determined by the priority determination unit.
  • a facility control unit that controls the operation of the facility inside the building is provided.
  • the traffic management system acquires a plurality of robots that autonomously move inside a building, equipment provided in the building, and position information or intrusion request information of the plurality of robots as priority determination information. Then, the priority of the plurality of robots is determined based on the priority determination information, the passage method is instructed to the plurality of robots based on the priority, and the plurality of robots are instructed based on the priority. It is provided with a traffic management device for controlling the operation of equipment inside the building in accordance with the traffic method for the above.
  • the traffic management system includes a plurality of information and communication terminals possessed by a plurality of people inside the building, equipment provided in the building, and location information or intrusion request information of the plurality of people. Is acquired as priority judgment information, the priority of the plurality of persons is determined based on the priority judgment information, and information for guiding the passage method to the plurality of information communication terminals based on the priority is provided. A traffic management device for notifying and controlling the operation of equipment inside the building according to the traffic method for the plurality of people based on the priority is provided.
  • the traffic management system includes a robot that autonomously moves inside a building, an information and communication terminal possessed by a person inside the building, equipment provided in the building, the robot, and the above.
  • the location information or intrusion request information with the information communication terminal is acquired as priority judgment information, the priority between the robot and the person is determined based on the priority judgment information, and the robot and the robot are based on the priority.
  • It is provided with a traffic management device that instructs the person to pass through and controls the operation of the equipment inside the building according to the passage method to the robot and the person based on the priority. It was.
  • FIG. It is a block diagram of the traffic management system in Embodiment 1.
  • FIG. It is a block diagram for demonstrating the first example of the priority determination method by the traffic management apparatus of the traffic management system in Embodiment 1.
  • FIG. It is a block diagram for demonstrating the 2nd example of the priority determination method by the traffic management apparatus of the traffic management system in Embodiment 1.
  • FIG. It is a block diagram for demonstrating the 3rd example of the priority determination method by the traffic management apparatus of the traffic management system in Embodiment 1.
  • FIG. It is a block diagram for demonstrating the 4th example of the priority determination method by the traffic management apparatus of the traffic management system in Embodiment 1.
  • FIG. 1 It is a block diagram for demonstrating the 5th example of the priority determination method by the traffic management apparatus of the traffic management system in Embodiment 1.
  • FIG. It is a block diagram for demonstrating the sixth example of the priority determination method by the traffic management apparatus of the traffic management system in Embodiment 1.
  • FIG. It is a flowchart for demonstrating the operation when the traffic management apparatus of the traffic management system in Embodiment 1 instructs a robot a traffic method. It is a flowchart for demonstrating the operation when the traffic management apparatus of the traffic management system in Embodiment 1 instructs a person a traffic method. It is a flowchart for demonstrating the operation when the traffic management apparatus of the traffic management system in Embodiment 1 transmits a signal to the entrance / exit management apparatus.
  • FIG. 5 is a hardware configuration diagram of a traffic management device of the traffic management system according to the first embodiment. It is a block diagram of the traffic management system in Embodiment 2. It is a block diagram for demonstrating an example of the priority determination method by the traffic management apparatus of the traffic management system in Embodiment 2. FIG. It is a flowchart for demonstrating the operation when the traffic management apparatus of the traffic management system in Embodiment 2 instructs a traffic method to a robot.
  • FIG. 1 is a configuration diagram of a traffic management system according to the first embodiment.
  • the traffic management system shown in Fig. 1 is applied to buildings.
  • a traffic management system multiple moving objects exist inside a building.
  • each of the plurality of mobile bodies A is a robot.
  • Each of the plurality of robots can move autonomously.
  • each of the plurality of mobile bodies B is a person.
  • Each of the plurality of persons possesses each of the plurality of information and communication terminals 9.
  • the information communication terminal 9 is a smartphone.
  • the information communication terminal 9 is a tablet terminal. In FIG. 1, only one mobile body A, mobile body B, and information terminal are shown.
  • Building equipment 1 is installed inside the building.
  • the building facility 1 is an elevator.
  • the building equipment 1 is an escalator.
  • the building facility 1 is a moving walkway.
  • the building equipment 1 is an entry / exit management device.
  • the guidance device 2 is provided inside the building.
  • the guide device 2 is provided around the building equipment 1.
  • the guidance device 2 is a display device.
  • the guidance device 2 is a voice output device.
  • the traffic management device 3 is provided in the management room of the building.
  • the traffic management device 3 includes a priority determination information acquisition unit 4, an attribute information acquisition unit 5, a priority determination unit 6, a traffic method instruction unit 7, and an equipment control unit 8.
  • the priority determination information acquisition unit 4 acquires the position information of the moving body A from the moving body A.
  • the priority determination information acquisition unit 4 directly acquires the position information of the mobile body A from the mobile body A by wireless communication.
  • the priority determination information acquisition unit 4 indirectly acquires the position information of the mobile body A from the mobile body A via a wireless communication device (not shown).
  • the priority determination information acquisition unit 4 acquires the position information of the mobile body B from the information communication terminal 9 possessed by the mobile body B. For example, the priority determination information acquisition unit 4 directly acquires the position information of the mobile body B from the information communication terminal 9 by wireless communication. For example, the priority determination information acquisition unit 4 indirectly acquires the position information of the mobile body B from the information communication terminal 9 via the wireless communication device.
  • the attribute information acquisition unit 5 acquires information indicating that the robot is a robot as the attribute information of the moving body A from the moving body A.
  • the priority determination information acquisition unit 4 directly acquires the attribute information of the mobile body A from the mobile body A by wireless communication.
  • the attribute information acquisition unit 5 indirectly acquires the attribute information of the mobile body A from the mobile body A via the wireless communication device.
  • the attribute information acquisition unit 5 acquires information indicating that the person is a person as the attribute information of the mobile body B from the information communication terminal 9 possessed by the mobile body B.
  • the priority determination information acquisition unit 4 directly acquires the attribute information of the mobile body B from the information communication terminal 9 by wireless communication.
  • the attribute information acquisition unit 5 indirectly acquires the attribute information of the mobile body A from the information communication terminal 9 via the wireless communication device.
  • the priority right determination unit 6 determines the priority of a plurality of moving objects based on the priority right determination information acquired by the priority right determination information acquisition unit 4 and the attribute information acquired by the attribute information acquisition unit 5.
  • the passage method instruction unit 7 instructs a plurality of moving bodies on the passage method based on the priority determined by the priority determination unit 6. For example, the passage method instruction unit 7 instructs a plurality of moving bodies to perform specific passage methods such as forward movement, backward movement, stop, and evacuation. For example, the passage method instruction unit 7 instructs the moving body to which the priority is given to move forward, and instructs the moving body to which the priority is not given to move backward, stop, or evacuate.
  • the equipment control unit 8 controls the operation of the building equipment 1 inside the building in accordance with the passage method instructed by the passage method instruction unit 7 based on the priority determined by the priority determination unit 6.
  • FIG. 2 is a block diagram for explaining a first example of a method of determining priority by a traffic management device of a traffic management system according to the first embodiment.
  • the preset area is a narrow passage. A plurality of moving objects cannot pass each other in the passage.
  • the traffic management device 3 grasps that the robot R1 is located on one side of the passage based on the position information and the attribute information from the robot R1.
  • the traffic management device 3 grasps that the person H1 is located in the passage of the passage based on the position information and the attribute information from the information communication terminal 9 possessed by the person H1.
  • the traffic management device 3 is set to prioritize the passage of people over robots. In this case, the traffic management device 3 gives priority to the passage of the person H1.
  • FIG. 3 is a block diagram for explaining a second example of the priority determination method by the traffic management device of the traffic management system according to the first embodiment.
  • the preset area is a narrow passage. A plurality of moving objects cannot pass each other in the passage.
  • the traffic management device 3 grasps that the robot R2 is located on one side of the passage based on the position information and the attribute information from the robot R2.
  • the traffic management device 3 grasps that the robot R3 is located on the other side of the passage based on the position information and the attribute information from the robot R3.
  • the traffic management device 3 grasps that the traffic direction of the robot R2 is from the left side to the right side of FIG. 3 based on the position information from the robot R2.
  • the traffic management device 3 grasps that the traffic direction of the robot R3 is from the right side to the left side of FIG. 3 based on the position information from the robot R3.
  • the traffic management device 3 is set to give priority to a moving body whose traffic direction is from the left side to the right side in FIG. In this case, the traffic management device 3 gives priority to the traffic of the robot R2.
  • FIG. 4 is a block diagram for explaining a third example of the priority determination method by the traffic management device of the traffic management system according to the first embodiment.
  • the preset area is a narrow passage. A plurality of moving objects cannot pass each other in the passage.
  • the traffic management device 3 grasps that the robot R2 is located on one side of the passage based on the position information and the attribute information from the robot R2.
  • the traffic management device 3 grasps that the robot R3 is located on the other side of the passage based on the position information and the attribute information from the robot R3.
  • the traffic management device 3 determines that the robot R2 has invaded a preset area before the robot R3 at the acquisition timing of the position information and the attribute information.
  • the traffic management device 3 is set to give priority to the moving body that has invaded the preset area first. In this case, the traffic management device 3 gives priority to the traffic of the robot R2.
  • FIG. 5 is a block diagram for explaining a fourth example of the priority determination method by the traffic management device of the traffic management system according to the first embodiment.
  • the preset area is a narrow passage. A plurality of moving objects cannot pass each other in the passage.
  • the traffic management device 3 grasps that the robot R2 is located on one side of the passage based on the position information and the attribute information from the robot R2.
  • the traffic management device 3 grasps that the robot R3 is located on the other side of the passage based on the position information and the attribute information from the robot R3.
  • the traffic management device 3 grasps that the urgency information included in the attribute information of the robot R2 is "high”. The traffic management device 3 grasps that the urgency information included in the attribute information of the robot R2 is "low”.
  • the traffic management device 3 is set to give priority to moving objects with a high degree of urgency. In this case, the traffic management device 3 gives priority to the traffic of the robot R2.
  • FIG. 6 is a block diagram for explaining a fifth example of the priority determination method by the traffic management device of the traffic management system according to the first embodiment.
  • the preset area is a narrow passage. A plurality of moving objects cannot pass each other in the passage.
  • the traffic management device 3 grasps that the robot R2 is located on one side of the passage based on the position information and the attribute information from the robot R2.
  • the traffic management device 3 grasps that the robot R3 is located on the other side of the passage based on the position information and the attribute information from the robot R3.
  • the traffic management device 3 grasps that the number of standby units, which is the number of times that the robot R2 cannot pass through the aisle and is waiting with priority given to other moving objects, is "N" based on its own judgment result in the past. To do.
  • the communication management device grasps that the number of standby units, which is the number of times that the robot R2 cannot pass through the aisle and is waiting with priority given to other moving objects, is "0" based on its own judgment result in the past. ..
  • the traffic management device 3 is set to give priority to moving objects whose standby number is "N" or more. In this case, the traffic management device 3 gives priority to the traffic of the robot R2.
  • the traffic management device 3 may be set to give priority to a moving body having a standby time of "M" or more.
  • FIG. 7 is a block diagram for explaining a sixth example of a method of determining priority by the traffic management device of the traffic management system according to the first embodiment.
  • the preset area is a narrow passage. A plurality of moving objects cannot pass each other in the passage.
  • the traffic management device 3 grasps that the robot R2 is located on one side of the passage based on the position information and the attribute information from the robot R2.
  • the traffic management device 3 grasps that the robot R3 is located on the other side of the passage based on the position information and the attribute information from the robot R3.
  • the traffic management device 3 grasps the destination of the robot R2 based on the attribute information of the robot R2 and the like. The traffic management device 3 grasps that the congestion degree of the destination of the robot R2 is "high” based on the position information of other moving objects and the like. The traffic management device 3 grasps the destination of the robot R3 based on the attribute information of the robot R3 and the like. The traffic management device 3 grasps that the congestion degree of the destination of the robot R3 is "low” based on the position information of other moving objects and the like.
  • the traffic management device 3 is set to give priority to moving objects with a high degree of congestion at the destination. In this case, the traffic management device 3 gives priority to the traffic of the robot R2.
  • FIG. 8 is a flowchart for explaining an operation when the traffic management device of the traffic management system according to the first embodiment instructs the robot to perform a traffic method.
  • step S1 the traffic management device 3 acquires the position information of the moving body. After that, the traffic management device 3 performs the operation of step S2. In step S2, the traffic management device 3 acquires the attribute information of the moving body.
  • step S3 the traffic management device 3 determines whether or not the position information and attribute information of the plurality of moving objects have been acquired within the preset area in the preset time zone.
  • step S3 When the position information and the attribute information of the plurality of moving objects are not acquired in the preset area in the preset time zone in step S3, the traffic management device 3 performs the operation of step S1. When the position information and the attribute information of the plurality of moving objects are acquired in the preset area in the preset time zone in step S3, the traffic management device 3 performs the operation of step S4.
  • step S4 the traffic management device 3 determines the priority for each of the plurality of moving objects. After that, the traffic management device 3 performs the operation of step S5. In step S5, the traffic management device 3 transmits a signal instructing each of the plurality of moving bodies to perform an operation corresponding to the traffic method according to the priority. After that, the traffic management device 3 ends the operation.
  • FIG. 9 is a flowchart for explaining an operation when the traffic management device of the traffic management system according to the first embodiment instructs a person on a passage method.
  • step S11 the traffic management device 3 acquires the position information of the moving body. After that, the traffic management device 3 performs the operation of step S12. In step S12, the traffic management device 3 acquires the attribute information of the moving body.
  • step S13 the traffic management device 3 determines whether or not the position information and the attribute information of the plurality of moving objects have been acquired inside the preset area in the preset time zone.
  • the traffic management device 3 When the position information and the attribute information of the plurality of moving objects are not acquired in the preset area in the preset time zone in step S13, the traffic management device 3 performs the operation of step S11. When the position information and the attribute information of the plurality of moving objects are acquired in the preset area in the preset time zone in step S13, the traffic management device 3 performs the operation of step S14.
  • step S14 the traffic management device 3 determines the priority for each of the plurality of moving objects. After that, the traffic management device 3 performs the operation of step S15.
  • step S15 the traffic management device 3 transmits a signal for notifying each of the plurality of information communication terminals 9 possessed by the plurality of mobile bodies of information for guiding the traffic method according to the priority. After that, the traffic management device 3 ends the operation.
  • FIG. 10 is a flowchart for explaining an operation when the traffic management device of the traffic management system according to the first embodiment transmits a signal to the entry / exit management device.
  • step S21 the traffic management device 3 acquires the position information of the moving body. After that, the traffic management device 3 performs the operation of step S22. In step S22, the traffic management device 3 acquires the attribute information of the moving body.
  • step S23 the traffic management device 3 determines whether or not the position information and attribute information of the plurality of moving objects have been acquired within the preset area in the preset time zone.
  • the traffic management device 3 When the position information and the attribute information of the plurality of moving objects are not acquired in the preset area in the preset time zone in step S23, the traffic management device 3 performs the operation of step S21. When the position information and the attribute information of the plurality of moving objects are acquired in the preset area in the preset time zone in step S23, the traffic management device 3 performs the operation of step S24.
  • step S24 the traffic management device 3 determines the priority for each of the plurality of moving objects. After that, the traffic management device 3 performs the operation of step S25.
  • step S25 the traffic management device 3 transmits a signal for operating the door or the gate so that the moving body corresponding to the higher priority passes preferentially to the entry / exit management device. After that, the traffic management device 3 ends the operation.
  • FIG. 11 is a flowchart for explaining an operation when the traffic management device of the traffic management system according to the first embodiment transmits a signal to the guidance device.
  • step S31 the traffic management device 3 acquires the position information of the moving body. After that, the traffic management device 3 performs the operation of step S32. In step S32, the traffic management device 3 acquires the attribute information of the moving body.
  • step S33 the traffic management device 3 determines whether or not the position information and attribute information of the plurality of moving objects have been acquired within the preset area in the preset time zone.
  • the traffic management device 3 When the position information and the attribute information of the plurality of moving objects are not acquired in the preset area in the preset time zone in step S33, the traffic management device 3 performs the operation of step S31. When the position information and the attribute information of the plurality of moving objects are acquired in the preset area in the preset time zone in step S33, the traffic management device 3 performs the operation of step S34.
  • step S34 the traffic management device 3 determines the priority for each of the plurality of moving objects. After that, the traffic management device 3 performs the operation of step S35. In step S35, the traffic management device 3 transmits a signal for guiding the guidance device 2 with information prompting the moving body corresponding to the higher priority to pass preferentially. After that, the traffic management device 3 ends the operation.
  • the traffic management device 3 acquires the position information of a plurality of moving objects inside the building as priority determination information.
  • the traffic management device 3 acquires attribute information of a plurality of moving objects.
  • the traffic management device 3 determines the priority of the plurality of mobiles based on the priority determination information and the attribute information of the plurality of mobiles.
  • the traffic management device 3 instructs a plurality of moving bodies on a passing method based on the priority of the plurality of moving bodies.
  • the traffic management device 3 controls the operation of the building equipment 1 inside the building in accordance with the traffic methods of the plurality of moving bodies. Therefore, it is possible to realize smooth passage of a plurality of moving objects inside the building.
  • the traffic management device 3 may determine the priority of a plurality of mobile objects based only on the priority determination information of the plurality of mobile objects. In this case as well, smooth passage of a plurality of moving objects can be realized inside the building.
  • the traffic management device 3 determines the priority of a plurality of moving objects in the order in which the priority determination information is acquired in the preset area. Therefore, it is possible to allow each of the plurality of moving bodies to pass through the area in an appropriate order.
  • the traffic management device 3 determines the priority of the plurality of mobiles based on the urgency information included in the attribute information of the plurality of mobiles. Therefore, it is possible to allow each of the plurality of moving objects to pass in an appropriate order depending on the situation.
  • the traffic management device 3 determines the priority of the plurality of moving bodies based on the traffic directions of the plurality of moving bodies. Therefore, it is possible to prioritize the passage in a specific direction for each of the plurality of moving objects.
  • the traffic management device 3 transmits a signal instructing the robot to perform an operation corresponding to the traffic method. Therefore, the operation of the robot can be appropriately controlled.
  • the traffic management device 3 transmits a signal for notifying the information and communication terminal 9 possessed by a person of information that guides the traffic method. Therefore, it is possible to encourage a person to perform an appropriate action.
  • the notification at this time may be performed by voice or display.
  • the traffic management device 3 transmits a signal to the entry / exit management device so that the moving body corresponding to the higher priority will preferentially pass through. Therefore, it is possible to more reliably realize smooth passage of a plurality of moving objects inside the building.
  • the traffic management device 3 transmits a signal for guiding the guidance device 2 with information prompting the moving body corresponding to the higher priority to pass preferentially. Therefore, it is possible to more reliably encourage a person to perform an appropriate action.
  • the traffic management device 3 may determine the priority of the equipment around the position corresponding to the position information for the moving body corresponding to the position information based on the position information of the plurality of moving bodies. At this time, based on the priority, the moving body is instructed on the passage method of the surrounding building equipment 1 corresponding to the location information, and the location information is supported according to the passage method based on the priority. You may control the operation of the building equipment 1 in the surrounding area. In this case, smooth passage of a plurality of moving objects can be more reliably realized inside the building.
  • FIG. 12 is a hardware configuration diagram of the traffic management device of the traffic management system according to the first embodiment.
  • Each function of the traffic management device 3 can be realized by a processing circuit.
  • the processing circuit includes 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 traffic management device 3 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. At least one of the software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the traffic management device 3 by reading and executing a program stored in at least one memory 100b. At least one processor 100a is also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP.
  • at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD or the like.
  • the processing circuit comprises at least one dedicated hardware 200
  • the processing circuit may be implemented, for example, as 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 traffic management device 3 is realized by a processing circuit.
  • each function of the traffic management device 3 is 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 priority determination unit 6 is realized by a processing circuit as dedicated hardware 200, and the function other than the function of the control unit 9b is a program in which at least one processor 100a is stored in at least one memory 100b. It may be realized by reading and executing.
  • the processing circuit realizes each function of the traffic management device 3 by hardware 200, software, firmware, or a combination thereof.
  • FIG. 13 is a configuration diagram of the traffic management system according to the second embodiment.
  • the same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.
  • the priority determination information acquisition unit 4 acquires intrusion request information of a plurality of moving objects as priority determination information in a preset area inside the building. For example, the priority determination information acquisition unit 4 acquires intrusion request information of a plurality of mobile objects via the building equipment 1.
  • other operations are equivalent to the operations of the traffic management device 3 of the first embodiment.
  • FIG. 14 is a block diagram for explaining an example of a method of determining priority by the traffic management device of the traffic management system according to the second embodiment.
  • the preset area is a narrow passage. A plurality of moving objects cannot pass each other in the passage.
  • the traffic management device 3 grasps that the robot R2 is located on one side of the passage based on the intrusion request information and the attribute information from the robot R2.
  • the traffic management device 3 grasps that the robot R3 is located on the other side of the passage based on the intrusion request information and the attribute information from the robot R3.
  • the traffic management device 3 determines that the robot R2 has invaded a preset area before the robot R3 at the acquisition timing of the intrusion request information and the attribute information.
  • the traffic management device 3 is set to give priority to the moving body that has invaded the preset area first. In this case, the traffic management device 3 gives priority to the traffic of the robot R2.
  • FIG. 15 is a flowchart for explaining an operation when the traffic management device of the traffic management system according to the second embodiment instructs the robot to perform a traffic method.
  • step S41 the traffic management device 3 acquires the intrusion request information of the moving body. After that, the traffic management device 3 performs the operation of step S42. In step S42, the traffic management device 3 acquires the attribute information of the moving body.
  • step S43 the traffic management device 3 determines whether or not the intrusion request information and the attribute information of the plurality of moving objects have been acquired inside the preset area in the preset time zone.
  • the traffic management device 3 When the intrusion request information and the attribute information of a plurality of moving objects are not acquired in the preset area in the preset time zone in step S43, the traffic management device 3 performs the operation of step S41. When the intrusion request information and the attribute information of a plurality of moving objects are acquired in the preset area in the preset time zone in step S43, the traffic management device 3 performs the operation of step S44.
  • step S44 the traffic management device 3 determines the priority for each of the plurality of moving objects. After that, the traffic management device 3 performs the operation of step S45.
  • step S45 the traffic management device 3 transmits a signal instructing each of the plurality of moving bodies to perform an operation corresponding to the traffic method according to the priority. After that, the traffic management device 3 ends the operation.
  • FIG. 16 is a flowchart for explaining an operation when the traffic management device of the traffic management system according to the second embodiment instructs a person on a passage method.
  • step S51 the traffic management device 3 acquires the intrusion request information of the moving body. After that, the traffic management device 3 performs the operation of step S52. In step S52, the traffic management device 3 acquires the attribute information of the moving body.
  • step S53 the traffic management device 3 determines whether or not the intrusion request information and the attribute information of the plurality of moving objects have been acquired inside the preset area in the preset time zone.
  • the traffic management device 3 When the intrusion request information and the attribute information of a plurality of moving objects are not acquired in the preset area in the preset time zone in step S53, the traffic management device 3 performs the operation of step S51. When the intrusion request information and the attribute information of a plurality of moving objects are acquired in the preset area in the preset time zone in step S53, the traffic management device 3 performs the operation of step S54.
  • step S54 the traffic management device 3 determines the priority for each of the plurality of moving objects. After that, the traffic management device 3 performs the operation of step S55.
  • step S55 the traffic management device 3 transmits a signal for notifying each of the plurality of information communication terminals 9 possessed by the plurality of mobile bodies of information for guiding the traffic method according to the priority. After that, the traffic management device 3 ends the operation.
  • FIG. 17 is a flowchart for explaining an operation when the traffic management device of the traffic management system according to the second embodiment transmits a signal to the entry / exit management device.
  • step S61 the traffic management device 3 acquires the intrusion request information of the moving body. After that, the traffic management device 3 performs the operation of step S62. In step S62, the traffic management device 3 acquires the attribute information of the moving body.
  • step S63 the traffic management device 3 determines whether or not the intrusion request information and the attribute information of the plurality of moving objects have been acquired inside the preset area in the preset time zone.
  • the traffic management device 3 When the intrusion request information and the attribute information of a plurality of moving objects are not acquired in the preset area in the preset time zone in step S63, the traffic management device 3 performs the operation of step S61. When the intrusion request information and the attribute information of a plurality of moving objects are acquired in the preset area in the preset time zone in step S63, the traffic management device 3 performs the operation of step S64.
  • step S64 the traffic management device 3 determines the priority for each of the plurality of moving objects. After that, the traffic management device 3 performs the operation of step S65. In step S65, the traffic management device 3 transmits a signal for operating the door or the gate so that the moving body corresponding to the higher priority passes preferentially to the entry / exit management device. After that, the traffic management device 3 ends the operation.
  • FIG. 18 is a flowchart for explaining an operation when the traffic management device of the traffic management system according to the second embodiment transmits a signal to the guidance device.
  • step S71 the traffic management device 3 acquires the intrusion request information of the moving body. After that, the traffic management device 3 performs the operation of step S72. In step S72, the traffic management device 3 acquires the attribute information of the moving body.
  • step S73 the traffic management device 3 determines whether or not the intrusion request information and the attribute information of the plurality of moving objects have been acquired inside the preset area in the preset time zone.
  • the traffic management device 3 When the intrusion request information and the attribute information of a plurality of moving objects are not acquired in the preset area in the preset time zone in step S73, the traffic management device 3 performs the operation of step S71. When the intrusion request information and the attribute information of a plurality of moving objects are acquired in the preset area in the preset time zone in step S73, the traffic management device 3 performs the operation of step S74.
  • step S74 the traffic management device 3 determines the priority for each of the plurality of moving objects. After that, the traffic management device 3 performs the operation of step S75.
  • step S75 the traffic management device 3 transmits a signal for guiding the guidance device 2 with information prompting the moving body corresponding to the higher priority to pass preferentially. After that, the traffic management device 3 ends the operation.
  • the traffic management device 3 acquires intrusion request information of a plurality of moving objects inside the building as priority determination information.
  • the traffic management device 3 acquires attribute information of a plurality of moving objects.
  • the traffic management device 3 determines the priority of the plurality of mobiles based on the priority determination information and the attribute information of the plurality of mobiles.
  • the traffic management device 3 instructs a plurality of moving bodies on a passing method based on the priority of the plurality of moving bodies.
  • the traffic management device 3 controls the operation of the building equipment 1 inside the building in accordance with the traffic methods of the plurality of moving bodies. Therefore, it is possible to realize smooth passage of a plurality of moving objects inside the building.
  • the traffic management device and the traffic management system according to the present invention can be used for controlling building equipment.

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Abstract

The present invention provides a passage management device capable of realizing smooth passage of a plurality of moving bodies inside a building. This passage management device is provided with: a priority determination information acquisition unit that acquires, as priority determination information, entry request information or position information of a plurality of moving bodies inside a building; a priority determination unit that determines priorities of the moving bodies on the basis of the priority determination information when the priority determination information acquisition unit acquires the priority determination information of the moving bodies; a passing method instruction unit provides an instruction about a passing method to the moving bodies on the basis of the priorities determined by the priority determination unit; and a facility control unit that controls the operation of a facility inside the building in a manner corresponding to the passing method instructed by the passing method instruction unit on the basis of the priorities determined by the priority determination unit.

Description

通行管理装置および通行管理システムTraffic management device and traffic management system
　この発明は、通行管理装置および通行管理システムに関する。 The present invention relates to a traffic management device and a traffic management system.
　特許文献１は、エレベーターの群管理装置を開示する。当該群管理装置によれば、移動体を用いて利用者に特定のエレベーターの位置を案内し得る。 Patent Document 1 discloses an elevator group management device. According to the group management device, a moving body can be used to guide the user to the position of a specific elevator.
国際公開第２０１８／０６６０５０号International Publication No. 2018/0666050
　しかしながら、特許文献１に記載の群管理装置においては、建築物の内部において、複数の移動体を同時に制御する際の詳細が示されていない。このため、建築物の内部において、複数の移動体が円滑に通行できないこともある。 However, in the group management device described in Patent Document 1, details for controlling a plurality of moving objects at the same time inside the building are not shown. For this reason, a plurality of moving objects may not be able to pass smoothly inside the building.
　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、建築物の内部において、複数の移動体の円滑な通行を実現することができる通行管理装置および通行管理システムを提供することである。 This invention was made to solve the above-mentioned problems. An object of the present invention is to provide a traffic management device and a traffic management system capable of realizing smooth passage of a plurality of moving objects inside a building.
　この発明に係る通行管理装置は、建築物の内部における複数の移動体の位置情報または侵入要求情報を優先権判定情報として取得する優先権判定情報取得部と、前記優先権判定情報取得部が前記複数の移動体の優先権判定情報を取得した際に当該優先権判定情報に基づいて前記複数の移動体の優先権を決定する優先権決定部と、前記優先権決定部により決定された優先権に基づいて前記複数の移動体に対して通行方法を指示する通行方法指示部と、前記優先権決定部により決定された優先権に基づいて前記通行方法指示部により指示された通行方法に対応して前記建築物の内部における設備の動作を制御する設備制御部と、を備えた。 The traffic management device according to the present invention includes a priority determination information acquisition unit that acquires position information or intrusion request information of a plurality of moving objects inside a building as priority determination information, and the priority determination information acquisition unit. A priority determination unit that determines the priority of the plurality of moving objects based on the priority determination information when the priority determination information of a plurality of moving objects is acquired, and a priority determined by the priority determination unit. Corresponds to the passage method instruction unit that instructs the passage method to the plurality of moving objects based on the above, and the passage method instructed by the passage method instruction unit based on the priority determined by the priority right determination unit. A facility control unit that controls the operation of the facility inside the building is provided.
　この発明に係る通行管理システムは、建築物の内部を自律移動する複数のロボットと、前記建築物に設けられた設備と、前記複数のロボットの位置情報または侵入要求情報を優先権判定情報として取得し、当該優先権判定情報に基づいて前記複数のロボットの優先権を決定し、当該優先権に基づいて前記複数のロボットに対して通行方法を指示し、当該優先権に基づいて前記複数のロボットに対する通行方法に対応して前記建築物の内部における設備の動作を制御する通行管理装置と、を備えた。 The traffic management system according to the present invention acquires a plurality of robots that autonomously move inside a building, equipment provided in the building, and position information or intrusion request information of the plurality of robots as priority determination information. Then, the priority of the plurality of robots is determined based on the priority determination information, the passage method is instructed to the plurality of robots based on the priority, and the plurality of robots are instructed based on the priority. It is provided with a traffic management device for controlling the operation of equipment inside the building in accordance with the traffic method for the above.
　この発明に係る通行管理システムは、建築物の内部において複数の人にそれぞれ所持された複数の情報通信端末と、前記建築物に設けられた設備と、前記複数の人の位置情報または侵入要求情報を優先権判定情報として取得し、当該優先権判定情報に基づいて前記複数の人の優先権を決定し、当該優先権に基づいて前記複数の情報通信端末に対して通行方法を案内する情報を報知させ、当該優先権に基づいて前記複数の人に対する通行方法に対応して前記建築物の内部における設備の動作を制御する通行管理装置と、を備えた。 The traffic management system according to the present invention includes a plurality of information and communication terminals possessed by a plurality of people inside the building, equipment provided in the building, and location information or intrusion request information of the plurality of people. Is acquired as priority judgment information, the priority of the plurality of persons is determined based on the priority judgment information, and information for guiding the passage method to the plurality of information communication terminals based on the priority is provided. A traffic management device for notifying and controlling the operation of equipment inside the building according to the traffic method for the plurality of people based on the priority is provided.
　この発明に係る通行管理システムは、建築物の内部を自律移動するロボットと、前記建築物の内部において人に所持された情報通信端末と、　前記建築物に設けられた設備と、前記ロボットと前記情報通信端末との位置情報または侵入要求情報を優先権判定情報として取得し、当該優先権判定情報に基づいて前記ロボットと前記人との優先権を決定し、当該優先権に基づいて前記ロボットと前記人とに対して通行方法を指示し、当該優先権に基づいて前記ロボットと前記人とに対する通行方法に対応して前記建築物の内部における設備の動作を制御する通行管理装置と、を備えた。 The traffic management system according to the present invention includes a robot that autonomously moves inside a building, an information and communication terminal possessed by a person inside the building, equipment provided in the building, the robot, and the above. The location information or intrusion request information with the information communication terminal is acquired as priority judgment information, the priority between the robot and the person is determined based on the priority judgment information, and the robot and the robot are based on the priority. It is provided with a traffic management device that instructs the person to pass through and controls the operation of the equipment inside the building according to the passage method to the robot and the person based on the priority. It was.
　これらの発明によれば、建築物の内部において、複数の移動体の円滑な通行を実現することができる。 According to these inventions, it is possible to realize smooth passage of a plurality of moving objects inside a building.
実施の形態１における通行管理システムの構成図である。It is a block diagram of the traffic management system in Embodiment 1. FIG. 実施の形態１における通行管理システムの通行管理装置による優先権の判定方法の第１例を説明するためのブロック図である。It is a block diagram for demonstrating the first example of the priority determination method by the traffic management apparatus of the traffic management system in Embodiment 1. FIG. 実施の形態１における通行管理システムの通行管理装置による優先権の判定方法の第２例を説明するためのブロック図である。It is a block diagram for demonstrating the 2nd example of the priority determination method by the traffic management apparatus of the traffic management system in Embodiment 1. FIG. 実施の形態１における通行管理システムの通行管理装置による優先権の判定方法の第３例を説明するためのブロック図である。It is a block diagram for demonstrating the 3rd example of the priority determination method by the traffic management apparatus of the traffic management system in Embodiment 1. FIG. 実施の形態１における通行管理システムの通行管理装置による優先権の判定方法の第４例を説明するためのブロック図である。It is a block diagram for demonstrating the 4th example of the priority determination method by the traffic management apparatus of the traffic management system in Embodiment 1. FIG. 実施の形態１における通行管理システムの通行管理装置による優先権の判定方法の第５例を説明するためのブロック図である。It is a block diagram for demonstrating the 5th example of the priority determination method by the traffic management apparatus of the traffic management system in Embodiment 1. FIG. 実施の形態１における通行管理システムの通行管理装置による優先権の判定方法の第６例を説明するためのブロック図である。It is a block diagram for demonstrating the sixth example of the priority determination method by the traffic management apparatus of the traffic management system in Embodiment 1. FIG. 実施の形態１における通行管理システムの通行管理装置がロボットに対して通行方法を指示する際の動作を説明するためのフローチャートである。It is a flowchart for demonstrating the operation when the traffic management apparatus of the traffic management system in Embodiment 1 instructs a robot a traffic method. 実施の形態１における通行管理システムの通行管理装置が人に対して通行方法を指示する際の動作を説明するためのフローチャートである。It is a flowchart for demonstrating the operation when the traffic management apparatus of the traffic management system in Embodiment 1 instructs a person a traffic method. 実施の形態１における通行管理システムの通行管理装置が入退室管理装置に信号を送信する際の動作を説明するためのフローチャートである。It is a flowchart for demonstrating the operation when the traffic management apparatus of the traffic management system in Embodiment 1 transmits a signal to the entrance / exit management apparatus. 実施の形態１における通行管理システムの通行管理装置が案内装置に信号を送信する際の動作を説明するためのフローチャートである。It is a flowchart for demonstrating the operation when the traffic management device of the traffic management system in Embodiment 1 transmits a signal to a guidance device. 実施の形態１における通行管理システムの通行管理装置のハードウェア構成図である。FIG. 5 is a hardware configuration diagram of a traffic management device of the traffic management system according to the first embodiment. 実施の形態２における通行管理システムの構成図である。It is a block diagram of the traffic management system in Embodiment 2. 実施の形態２における通行管理システムの通行管理装置による優先権の判定方法の例を説明するためのブロック図である。It is a block diagram for demonstrating an example of the priority determination method by the traffic management apparatus of the traffic management system in Embodiment 2. FIG. 実施の形態２における通行管理システムの通行管理装置がロボットに対して通行方法を指示する際の動作を説明するためのフローチャートである。It is a flowchart for demonstrating the operation when the traffic management apparatus of the traffic management system in Embodiment 2 instructs a traffic method to a robot. 実施の形態２における通行管理システムの通行管理装置が人に対して通行方法を指示する際の動作を説明するためのフローチャートである。It is a flowchart for demonstrating the operation when the traffic management apparatus of the traffic management system in Embodiment 2 instructs a person a traffic method. 実施の形態２における通行管理システムの通行管理装置が入退室管理装置に信号を送信する際の動作を説明するためのフローチャートである。It is a flowchart for demonstrating the operation when the traffic management apparatus of the traffic management system in Embodiment 2 transmits a signal to the entrance / exit management apparatus. 実施の形態２における通行管理システムの通行管理装置が案内装置に信号を送信する際の動作を説明するためのフローチャートである。It is a flowchart for demonstrating the operation when the traffic management device of the traffic management system in Embodiment 2 transmits a signal to a guidance device.
　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。 The embodiment for carrying out the present invention will be described with reference to the attached drawings. In each figure, the same or corresponding parts are designated by the same reference numerals. The duplicate description of the relevant part will be simplified or omitted as appropriate.
実施の形態１．
　図１は実施の形態１における通行管理システムの構成図である。 Embodiment 1.
FIG. 1 is a configuration diagram of a traffic management system according to the first embodiment.
　図１の通行管理システムは、建築物に適用される。通行管理システムにおいて、複数の移動体は、建築物の内部に存在する。例えば、複数の移動体Ａの各々は、ロボットである。複数のロボットの各々は、自律移動し得る。例えば、複数の移動体Ｂの各々は、人である。複数の人の各々は、複数の情報通信端末９の各々を所持する。例えば、情報通信端末９は、スマートフォンである。例えば、情報通信端末９は、タブレット端末である。なお、図１においては、移動体Ａと移動体Ｂと情報端末とは、１つのみ示される。 The traffic management system shown in Fig. 1 is applied to buildings. In a traffic management system, multiple moving objects exist inside a building. For example, each of the plurality of mobile bodies A is a robot. Each of the plurality of robots can move autonomously. For example, each of the plurality of mobile bodies B is a person. Each of the plurality of persons possesses each of the plurality of information and communication terminals 9. For example, the information communication terminal 9 is a smartphone. For example, the information communication terminal 9 is a tablet terminal. In FIG. 1, only one mobile body A, mobile body B, and information terminal are shown.
　ビル設備１は、建築物の内部に設けられる。例えば、ビル設備１は、エレベーターである。例えば、ビル設備１は、エスカレーターである。例えば、ビル設備１は、動く歩道である。例えば、ビル設備１は、入退室管理装置である。 Building equipment 1 is installed inside the building. For example, the building facility 1 is an elevator. For example, the building equipment 1 is an escalator. For example, the building facility 1 is a moving walkway. For example, the building equipment 1 is an entry / exit management device.
　案内装置２は、建築物の内部に設けられる。例えば、案内装置２は、ビル設備１の周囲に設けられる。例えば、案内装置２は、表示装置である。例えば、案内装置２は、音声出力装置である。 The guidance device 2 is provided inside the building. For example, the guide device 2 is provided around the building equipment 1. For example, the guidance device 2 is a display device. For example, the guidance device 2 is a voice output device.
　例えば、通行管理装置３は、建築物の管理室に設けられる。通行管理装置３は、優先権判定情報取得部４と属性情報取得部５と優先権決定部６と通行方法指示部７と設備制御部８とを備える。 For example, the traffic management device 3 is provided in the management room of the building. The traffic management device 3 includes a priority determination information acquisition unit 4, an attribute information acquisition unit 5, a priority determination unit 6, a traffic method instruction unit 7, and an equipment control unit 8.
　優先権判定情報取得部４は、移動体Ａから当該移動体Ａの位置情報を取得する。例えば、優先権判定情報取得部４は、無線通信により移動体Ａから当該移動体Ａの位置情報を直接的に取得する。例えば、優先権判定情報取得部４は、図示されない無線通信機器を介して移動体Ａから当該移動体Ａの位置情報を間接的に取得する。 The priority determination information acquisition unit 4 acquires the position information of the moving body A from the moving body A. For example, the priority determination information acquisition unit 4 directly acquires the position information of the mobile body A from the mobile body A by wireless communication. For example, the priority determination information acquisition unit 4 indirectly acquires the position information of the mobile body A from the mobile body A via a wireless communication device (not shown).
　優先権判定情報取得部４は、移動体Ｂに所持された情報通信端末９から当該移動体Ｂの位置情報を取得する。例えば、優先権判定情報取得部４は、無線通信により情報通信端末９から当該移動体Ｂの位置情報を直接的に取得する。例えば、優先権判定情報取得部４は、無線通信機器を介して情報通信端末９から当該移動体Ｂの位置情報を間接的に取得する。 The priority determination information acquisition unit 4 acquires the position information of the mobile body B from the information communication terminal 9 possessed by the mobile body B. For example, the priority determination information acquisition unit 4 directly acquires the position information of the mobile body B from the information communication terminal 9 by wireless communication. For example, the priority determination information acquisition unit 4 indirectly acquires the position information of the mobile body B from the information communication terminal 9 via the wireless communication device.
　属性情報取得部５は、移動体Ａから当該移動体Ａの属性情報としてロボットであることを示す情報を取得する。例えば、優先権判定情報取得部４は、無線通信により移動体Ａから当該移動体Ａの属性情報を直接的に取得する。例えば、属性情報取得部５は、無線通信機器を介して移動体Ａから当該移動体Ａの属性情報を間接的に取得する。 The attribute information acquisition unit 5 acquires information indicating that the robot is a robot as the attribute information of the moving body A from the moving body A. For example, the priority determination information acquisition unit 4 directly acquires the attribute information of the mobile body A from the mobile body A by wireless communication. For example, the attribute information acquisition unit 5 indirectly acquires the attribute information of the mobile body A from the mobile body A via the wireless communication device.
　属性情報取得部５は、移動体Ｂに所持された情報通信端末９から当該移動体Ｂの属性情報として人であることを示す情報を取得する。例えば、優先権判定情報取得部４は、無線通信により情報通信端末９から当該移動体Ｂの属性情報を直接的に取得する。例えば、属性情報取得部５は、無線通信機器を介して情報通信端末９から当該移動体Ａの属性情報を間接的に取得する。 The attribute information acquisition unit 5 acquires information indicating that the person is a person as the attribute information of the mobile body B from the information communication terminal 9 possessed by the mobile body B. For example, the priority determination information acquisition unit 4 directly acquires the attribute information of the mobile body B from the information communication terminal 9 by wireless communication. For example, the attribute information acquisition unit 5 indirectly acquires the attribute information of the mobile body A from the information communication terminal 9 via the wireless communication device.
　優先権決定部６は、優先権判定情報取得部４により取得された優先権判定情報と属性情報取得部５により取得された属性情報とに基づいて複数の移動体の優先権を決定する。 The priority right determination unit 6 determines the priority of a plurality of moving objects based on the priority right determination information acquired by the priority right determination information acquisition unit 4 and the attribute information acquired by the attribute information acquisition unit 5.
　通行方法指示部７は、優先権決定部６により決定された優先権に基づいて複数の移動体に対して通行方法を指示する。例えば、通行方法指示部７は、複数の移動体に対して、前進、後退、停止、退避等の具体的な通行方法を指示する。例えば、通行方法指示部７は、優先権が付与された移動体に対して前進を指示し、優先権が付与されなかった移動体に対して後退、停止、退避を指示する。 The passage method instruction unit 7 instructs a plurality of moving bodies on the passage method based on the priority determined by the priority determination unit 6. For example, the passage method instruction unit 7 instructs a plurality of moving bodies to perform specific passage methods such as forward movement, backward movement, stop, and evacuation. For example, the passage method instruction unit 7 instructs the moving body to which the priority is given to move forward, and instructs the moving body to which the priority is not given to move backward, stop, or evacuate.
　設備制御部８は、優先権決定部６により決定された優先権に基づいて通行方法指示部７により指示された通行方法に対応して建築物の内部におけるビル設備１の動作を制御する。 The equipment control unit 8 controls the operation of the building equipment 1 inside the building in accordance with the passage method instructed by the passage method instruction unit 7 based on the priority determined by the priority determination unit 6.
　次に、図２を用いて、優先権の決定方法の第１例を説明する。
　図２は実施の形態１における通行管理システムの通行管理装置による優先権の判定方法の第１例を説明するためのブロック図である。 Next, a first example of the priority determination method will be described with reference to FIG.
FIG. 2 is a block diagram for explaining a first example of a method of determining priority by a traffic management device of a traffic management system according to the first embodiment.
　図２に示されるように、予め設定された領域は、狭い通路である。当該通路において、複数の移動体は、すれ違うことができない。 As shown in FIG. 2, the preset area is a narrow passage. A plurality of moving objects cannot pass each other in the passage.
　通行管理装置３は、ロボットＲ１からの位置情報と属性情報とに基づいて当該ロボットＲ１が通路の一側に位置することを把握する。通行管理装置３は、人Ｈ１に所持された情報通信端末９からの位置情報と属性情報とに基づいて当該人Ｈ１が通路の通路に位置することを把握する。 The traffic management device 3 grasps that the robot R1 is located on one side of the passage based on the position information and the attribute information from the robot R1. The traffic management device 3 grasps that the person H1 is located in the passage of the passage based on the position information and the attribute information from the information communication terminal 9 possessed by the person H1.
　通行管理装置３においては、ロボットよりも人の通行を優先する設定がなされている。この場合、通行管理装置３は、人Ｈ１の通行を優先させる。 The traffic management device 3 is set to prioritize the passage of people over robots. In this case, the traffic management device 3 gives priority to the passage of the person H1.
　次に、図３を用いて、優先権の判定方法の第２例を説明する。
　図３は実施の形態１における通行管理システムの通行管理装置による優先権の判定方法の第２例を説明するためのブロック図である。 Next, a second example of the priority determination method will be described with reference to FIG.
FIG. 3 is a block diagram for explaining a second example of the priority determination method by the traffic management device of the traffic management system according to the first embodiment.
　図３に示されるように、予め設定された領域は、狭い通路である。当該通路において、複数の移動体は、すれ違うことができない。 As shown in FIG. 3, the preset area is a narrow passage. A plurality of moving objects cannot pass each other in the passage.
　通行管理装置３は、ロボットＲ２からの位置情報と属性情報とに基づいて当該ロボットＲ２が通路の一側に位置することを把握する。通行管理装置３は、ロボットＲ３からの位置情報と属性情報とに基づいて当該ロボットＲ３が通路の他側に位置することを把握する。 The traffic management device 3 grasps that the robot R2 is located on one side of the passage based on the position information and the attribute information from the robot R2. The traffic management device 3 grasps that the robot R3 is located on the other side of the passage based on the position information and the attribute information from the robot R3.
　通行管理装置３は、ロボットＲ２からの位置情報に基づいて当該ロボットＲ２の通行方向が図３の左側から右側に向かう方向であることを把握する。通行管理装置３は、ロボットＲ３からの位置情報に基づいて当該ロボットＲ３の通行方向が図３の右側から左側に向かう方向であることを把握する。 The traffic management device 3 grasps that the traffic direction of the robot R2 is from the left side to the right side of FIG. 3 based on the position information from the robot R2. The traffic management device 3 grasps that the traffic direction of the robot R3 is from the right side to the left side of FIG. 3 based on the position information from the robot R3.
　通行管理装置３においては、通行方向が図３の左側から右側に向かう方向である移動体を優先する設定がなされている。この場合、通行管理装置３は、ロボットＲ２の通行を優先する。 The traffic management device 3 is set to give priority to a moving body whose traffic direction is from the left side to the right side in FIG. In this case, the traffic management device 3 gives priority to the traffic of the robot R2.
　次に、図４を用いて、優先権の判定方法の第３例を説明する。
　図４は実施の形態１における通行管理システムの通行管理装置による優先権の判定方法の第３例を説明するためのブロック図である。 Next, a third example of the priority determination method will be described with reference to FIG.
FIG. 4 is a block diagram for explaining a third example of the priority determination method by the traffic management device of the traffic management system according to the first embodiment.
　図４に示されるように、予め設定された領域は、狭い通路である。当該通路において、複数の移動体は、すれ違うことができない。 As shown in FIG. 4, the preset area is a narrow passage. A plurality of moving objects cannot pass each other in the passage.
　通行管理装置３は、ロボットＲ２からの位置情報と属性情報とに基づいて当該ロボットＲ２が通路の一側に位置することを把握する。通行管理装置３は、ロボットＲ３からの位置情報と属性情報とに基づいて当該ロボットＲ３が通路の他側に位置することを把握する。 The traffic management device 3 grasps that the robot R2 is located on one side of the passage based on the position information and the attribute information from the robot R2. The traffic management device 3 grasps that the robot R3 is located on the other side of the passage based on the position information and the attribute information from the robot R3.
　通行管理装置３は、位置情報と属性情報との取得タイミングにおいてロボットＲ２がロボットＲ３よりも予め設定された領域に先に侵入したと判定する。 The traffic management device 3 determines that the robot R2 has invaded a preset area before the robot R3 at the acquisition timing of the position information and the attribute information.
　通行管理装置３においては、予め設定された領域に先に侵入した移動体を優先する設定がなされている。この場合、通行管理装置３は、ロボットＲ２の通行を優先する。 The traffic management device 3 is set to give priority to the moving body that has invaded the preset area first. In this case, the traffic management device 3 gives priority to the traffic of the robot R2.
　次に、図５を用いて、優先権の判定方法の第４例を説明する。
　図５は実施の形態１における通行管理システムの通行管理装置による優先権の判定方法の第４例を説明するためのブロック図である。 Next, a fourth example of the priority determination method will be described with reference to FIG.
FIG. 5 is a block diagram for explaining a fourth example of the priority determination method by the traffic management device of the traffic management system according to the first embodiment.
　図５に示されるように、予め設定された領域は、狭い通路である。当該通路において、複数の移動体は、すれ違うことができない。 As shown in FIG. 5, the preset area is a narrow passage. A plurality of moving objects cannot pass each other in the passage.
　通行管理装置３は、ロボットＲ２からの位置情報と属性情報とに基づいて当該ロボットＲ２が通路の一側に位置することを把握する。通行管理装置３は、ロボットＲ３からの位置情報と属性情報とに基づいて当該ロボットＲ３が通路の他側に位置することを把握する。 The traffic management device 3 grasps that the robot R2 is located on one side of the passage based on the position information and the attribute information from the robot R2. The traffic management device 3 grasps that the robot R3 is located on the other side of the passage based on the position information and the attribute information from the robot R3.
　通行管理装置３は、ロボットＲ２の属性情報に含まれる緊急度の情報が「高」であることを把握する。通行管理装置３は、ロボットＲ２の属性情報に含まれる緊急度の情報が「低」であることを把握する。 The traffic management device 3 grasps that the urgency information included in the attribute information of the robot R2 is "high". The traffic management device 3 grasps that the urgency information included in the attribute information of the robot R2 is "low".
　通行管理装置３においては、緊急度が高い移動体を優先する設定がなされている。この場合、通行管理装置３は、ロボットＲ２の通行を優先する。 The traffic management device 3 is set to give priority to moving objects with a high degree of urgency. In this case, the traffic management device 3 gives priority to the traffic of the robot R2.
　次に、図６を用いて、優先権の判定方法の第５例を説明する。
　図６は実施の形態１における通行管理システムの通行管理装置による優先権の判定方法の第５例を説明するためのブロック図である。 Next, a fifth example of the priority determination method will be described with reference to FIG.
FIG. 6 is a block diagram for explaining a fifth example of the priority determination method by the traffic management device of the traffic management system according to the first embodiment.
　図６に示されるように、予め設定された領域は、狭い通路である。当該通路において、複数の移動体は、すれ違うことができない。 As shown in FIG. 6, the preset area is a narrow passage. A plurality of moving objects cannot pass each other in the passage.
　通行管理装置３は、ロボットＲ２からの位置情報と属性情報とに基づいて当該ロボットＲ２が通路の一側に位置することを把握する。通行管理装置３は、ロボットＲ３からの位置情報と属性情報とに基づいて当該ロボットＲ３が通路の他側に位置することを把握する。 The traffic management device 3 grasps that the robot R2 is located on one side of the passage based on the position information and the attribute information from the robot R2. The traffic management device 3 grasps that the robot R3 is located on the other side of the passage based on the position information and the attribute information from the robot R3.
　通行管理装置３は、過去の自らの判定結果に基づいてロボットＲ２が通路を通過できずに他の移動体を優先させて待機している回数である待機台数が「Ｎ」であることを把握する。通管理装置は、過去の自らの判定結果に基づいてロボットＲ２が通路を通過できずに他の移動体を優先させて待機している回数である待機台数が「０」であることを把握する。 The traffic management device 3 grasps that the number of standby units, which is the number of times that the robot R2 cannot pass through the aisle and is waiting with priority given to other moving objects, is "N" based on its own judgment result in the past. To do. The communication management device grasps that the number of standby units, which is the number of times that the robot R2 cannot pass through the aisle and is waiting with priority given to other moving objects, is "0" based on its own judgment result in the past. ..
　通行管理装置３においては、待機台数が「Ｎ」以上である移動体を優先する設定がなされている。この場合、通行管理装置３は、ロボットＲ２の通行を優先する。 The traffic management device 3 is set to give priority to moving objects whose standby number is "N" or more. In this case, the traffic management device 3 gives priority to the traffic of the robot R2.
　なお、通行管理装置３において、待機時間が「Ｍ」以上である移動体を優先する設定がなされていてもよい。 Note that the traffic management device 3 may be set to give priority to a moving body having a standby time of "M" or more.
　次に、図７を用いて、優先権の判定方法の第６例を説明する。
　図７は実施の形態１における通行管理システムの通行管理装置による優先権の判定方法の第６例を説明するためのブロック図である。 Next, a sixth example of the priority determination method will be described with reference to FIG. 7.
FIG. 7 is a block diagram for explaining a sixth example of a method of determining priority by the traffic management device of the traffic management system according to the first embodiment.
　図７に示されるように、予め設定された領域は、狭い通路である。当該通路において、複数の移動体は、すれ違うことができない。 As shown in FIG. 7, the preset area is a narrow passage. A plurality of moving objects cannot pass each other in the passage.
　通行管理装置３は、ロボットＲ２からの位置情報と属性情報とに基づいて当該ロボットＲ２が通路の一側に位置することを把握する。通行管理装置３は、ロボットＲ３からの位置情報と属性情報とに基づいて当該ロボットＲ３が通路の他側に位置することを把握する。 The traffic management device 3 grasps that the robot R2 is located on one side of the passage based on the position information and the attribute information from the robot R2. The traffic management device 3 grasps that the robot R3 is located on the other side of the passage based on the position information and the attribute information from the robot R3.
　通行管理装置３は、ロボットＲ２の属性情報等に基づいてロボットＲ２の目的地を把握する。通行管理装置３は、他の移動体の位置情報等に基づいてロボットＲ２の目的地の混雑度が「高」であることを把握する。通行管理装置３は、ロボットＲ３の属性情報等に基づいてロボットＲ３の目的地を把握する。通行管理装置３は、他の移動体の位置情報等に基づいてロボットＲ３の目的地の混雑度が「低」であることを把握する。 The traffic management device 3 grasps the destination of the robot R2 based on the attribute information of the robot R2 and the like. The traffic management device 3 grasps that the congestion degree of the destination of the robot R2 is "high" based on the position information of other moving objects and the like. The traffic management device 3 grasps the destination of the robot R3 based on the attribute information of the robot R3 and the like. The traffic management device 3 grasps that the congestion degree of the destination of the robot R3 is "low" based on the position information of other moving objects and the like.
　通行管理装置３においては、目的地の混雑度が高い移動体を優先する設定がなされている。この場合、通行管理装置３は、ロボットＲ２の通行を優先する。 The traffic management device 3 is set to give priority to moving objects with a high degree of congestion at the destination. In this case, the traffic management device 3 gives priority to the traffic of the robot R2.
　次に、図８を用いて、通行管理装置３がロボットに対して通行方法を指示する際の動作を説明する。
　図８は実施の形態１における通行管理システムの通行管理装置がロボットに対して通行方法を指示する際の動作を説明するためのフローチャートである。 Next, with reference to FIG. 8, the operation when the traffic management device 3 instructs the robot the passage method will be described.
FIG. 8 is a flowchart for explaining an operation when the traffic management device of the traffic management system according to the first embodiment instructs the robot to perform a traffic method.
　ステップＳ１では、通行管理装置３は、移動体の位置情報を取得する。その後、通行管理装置３は、ステップＳ２の動作を行う。ステップＳ２では、通行管理装置３は、移動体の属性情報を取得する。 In step S1, the traffic management device 3 acquires the position information of the moving body. After that, the traffic management device 3 performs the operation of step S2. In step S2, the traffic management device 3 acquires the attribute information of the moving body.
　その後、通行管理装置３は、ステップＳ３の動作を行う。ステップＳ３では、通行管理装置３は、予め設定された時間帯において予め設定された領域の内部で複数の移動体の位置情報と属性情報とが取得されたか否かを判定する。 After that, the traffic management device 3 performs the operation of step S3. In step S3, the traffic management device 3 determines whether or not the position information and attribute information of the plurality of moving objects have been acquired within the preset area in the preset time zone.
　ステップＳ３で予め設定された時間帯において予め設定された領域の内部で複数の移動体の位置情報と属性情報とが取得されていない場合、通行管理装置３は、ステップＳ１の動作を行う。ステップＳ３で予め設定された時間帯において予め設定された領域の内部で複数の移動体の位置情報と属性情報とが取得されている場合、通行管理装置３は、ステップＳ４の動作を行う。 When the position information and the attribute information of the plurality of moving objects are not acquired in the preset area in the preset time zone in step S3, the traffic management device 3 performs the operation of step S1. When the position information and the attribute information of the plurality of moving objects are acquired in the preset area in the preset time zone in step S3, the traffic management device 3 performs the operation of step S4.
　ステップＳ４では、通行管理装置３は、当該複数の移動体のそれぞれに対して優先権を決定する。その後、通行管理装置３は、ステップＳ５の動作を行う。ステップＳ５では、通行管理装置３は、当該複数の移動体のそれぞれに対して優先権に応じた通行方法に対応した動作を行うように指示する信号を送信する。その後、通行管理装置３は、動作を終了する。 In step S4, the traffic management device 3 determines the priority for each of the plurality of moving objects. After that, the traffic management device 3 performs the operation of step S5. In step S5, the traffic management device 3 transmits a signal instructing each of the plurality of moving bodies to perform an operation corresponding to the traffic method according to the priority. After that, the traffic management device 3 ends the operation.
　次に、図９を用いて、通行管理装置３が人に対して通行方法を指示する際の動作を説明する。
　図９は実施の形態１における通行管理システムの通行管理装置が人に対して通行方法を指示する際の動作を説明するためのフローチャートである。 Next, with reference to FIG. 9, the operation when the traffic management device 3 instructs a person the passage method will be described.
FIG. 9 is a flowchart for explaining an operation when the traffic management device of the traffic management system according to the first embodiment instructs a person on a passage method.
　ステップＳ１１では、通行管理装置３は、移動体の位置情報を取得する。その後、通行管理装置３は、ステップＳ１２の動作を行う。ステップＳ１２では、通行管理装置３は、移動体の属性情報を取得する。 In step S11, the traffic management device 3 acquires the position information of the moving body. After that, the traffic management device 3 performs the operation of step S12. In step S12, the traffic management device 3 acquires the attribute information of the moving body.
　その後、通行管理装置３は、ステップＳ１３の動作を行う。ステップＳ１３では、通行管理装置３は、予め設定された時間帯において予め設定された領域の内部で複数の移動体の位置情報と属性情報とが取得されたか否かを判定する。 After that, the traffic management device 3 performs the operation of step S13. In step S13, the traffic management device 3 determines whether or not the position information and the attribute information of the plurality of moving objects have been acquired inside the preset area in the preset time zone.
　ステップＳ１３で予め設定された時間帯において予め設定された領域の内部で複数の移動体の位置情報と属性情報とが取得されていない場合、通行管理装置３は、ステップＳ１１の動作を行う。ステップＳ１３で予め設定された時間帯において予め設定された領域の内部で複数の移動体の位置情報と属性情報とが取得されている場合、通行管理装置３は、ステップＳ１４の動作を行う。 When the position information and the attribute information of the plurality of moving objects are not acquired in the preset area in the preset time zone in step S13, the traffic management device 3 performs the operation of step S11. When the position information and the attribute information of the plurality of moving objects are acquired in the preset area in the preset time zone in step S13, the traffic management device 3 performs the operation of step S14.
　ステップＳ１４では、通行管理装置３は、当該複数の移動体のそれぞれに対して優先権を決定する。その後、通行管理装置３は、ステップＳ１５の動作を行う。ステップＳ１５では、通行管理装置３は、当該複数の移動体が所持する複数の情報通信端末９のそれぞれに対して優先権に応じた通行方法を案内する情報を報知させる信号を送信する。その後、通行管理装置３は、動作を終了する。 In step S14, the traffic management device 3 determines the priority for each of the plurality of moving objects. After that, the traffic management device 3 performs the operation of step S15. In step S15, the traffic management device 3 transmits a signal for notifying each of the plurality of information communication terminals 9 possessed by the plurality of mobile bodies of information for guiding the traffic method according to the priority. After that, the traffic management device 3 ends the operation.
　次に、図１０を用いて、通行管理装置３が入退室管理装置に信号を送信する際の動作を説明する。
　図１０は実施の形態１における通行管理システムの通行管理装置が入退室管理装置に信号を送信する際の動作を説明するためのフローチャートである。 Next, the operation when the traffic management device 3 transmits a signal to the entry / exit management device will be described with reference to FIG.
FIG. 10 is a flowchart for explaining an operation when the traffic management device of the traffic management system according to the first embodiment transmits a signal to the entry / exit management device.
　ステップＳ２１では、通行管理装置３は、移動体の位置情報を取得する。その後、通行管理装置３は、ステップＳ２２の動作を行う。ステップＳ２２では、通行管理装置３は、移動体の属性情報を取得する。 In step S21, the traffic management device 3 acquires the position information of the moving body. After that, the traffic management device 3 performs the operation of step S22. In step S22, the traffic management device 3 acquires the attribute information of the moving body.
　その後、通行管理装置３は、ステップＳ２３の動作を行う。ステップＳ２３では、通行管理装置３は、予め設定された時間帯において予め設定された領域の内部で複数の移動体の位置情報と属性情報とが取得されたか否かを判定する。 After that, the traffic management device 3 performs the operation of step S23. In step S23, the traffic management device 3 determines whether or not the position information and attribute information of the plurality of moving objects have been acquired within the preset area in the preset time zone.
　ステップＳ２３で予め設定された時間帯において予め設定された領域の内部で複数の移動体の位置情報と属性情報とが取得されていない場合、通行管理装置３は、ステップＳ２１の動作を行う。ステップＳ２３で予め設定された時間帯において予め設定された領域の内部で複数の移動体の位置情報と属性情報とが取得されている場合、通行管理装置３は、ステップＳ２４の動作を行う。 When the position information and the attribute information of the plurality of moving objects are not acquired in the preset area in the preset time zone in step S23, the traffic management device 3 performs the operation of step S21. When the position information and the attribute information of the plurality of moving objects are acquired in the preset area in the preset time zone in step S23, the traffic management device 3 performs the operation of step S24.
　ステップＳ２４では、通行管理装置３は、当該複数の移動体のそれぞれに対して優先権を決定する。その後、通行管理装置３は、ステップＳ２５の動作を行う。ステップＳ２５では、通行管理装置３は、入退室管理装置に対してより高い優先権に対応した移動体が優先的に通行するようにドアまたはゲートを動作させる信号を送信する。その後、通行管理装置３は、動作を終了する。 In step S24, the traffic management device 3 determines the priority for each of the plurality of moving objects. After that, the traffic management device 3 performs the operation of step S25. In step S25, the traffic management device 3 transmits a signal for operating the door or the gate so that the moving body corresponding to the higher priority passes preferentially to the entry / exit management device. After that, the traffic management device 3 ends the operation.
　次に、図１１を用いて、通行管理装置３が案内装置２に信号を送信する際の動作を説明する。
　図１１は実施の形態１における通行管理システムの通行管理装置が案内装置に信号を送信する際の動作を説明するためのフローチャートである。 Next, the operation when the traffic management device 3 transmits a signal to the guidance device 2 will be described with reference to FIG.
FIG. 11 is a flowchart for explaining an operation when the traffic management device of the traffic management system according to the first embodiment transmits a signal to the guidance device.
　ステップＳ３１では、通行管理装置３は、移動体の位置情報を取得する。その後、通行管理装置３は、ステップＳ３２の動作を行う。ステップＳ３２では、通行管理装置３は、移動体の属性情報を取得する。 In step S31, the traffic management device 3 acquires the position information of the moving body. After that, the traffic management device 3 performs the operation of step S32. In step S32, the traffic management device 3 acquires the attribute information of the moving body.
　その後、通行管理装置３は、ステップＳ３３の動作を行う。ステップＳ３３では、通行管理装置３は、予め設定された時間帯において予め設定された領域の内部で複数の移動体の位置情報と属性情報とが取得されたか否かを判定する。 After that, the traffic management device 3 performs the operation of step S33. In step S33, the traffic management device 3 determines whether or not the position information and attribute information of the plurality of moving objects have been acquired within the preset area in the preset time zone.
　ステップＳ３３で予め設定された時間帯において予め設定された領域の内部で複数の移動体の位置情報と属性情報とが取得されていない場合、通行管理装置３は、ステップＳ３１の動作を行う。ステップＳ３３で予め設定された時間帯において予め設定された領域の内部で複数の移動体の位置情報と属性情報とが取得されている場合、通行管理装置３は、ステップＳ３４の動作を行う。 When the position information and the attribute information of the plurality of moving objects are not acquired in the preset area in the preset time zone in step S33, the traffic management device 3 performs the operation of step S31. When the position information and the attribute information of the plurality of moving objects are acquired in the preset area in the preset time zone in step S33, the traffic management device 3 performs the operation of step S34.
　ステップＳ３４では、通行管理装置３は、当該複数の移動体のそれぞれに対して優先権を決定する。その後、通行管理装置３は、ステップＳ３５の動作を行う。ステップＳ３５では、通行管理装置３は、案内装置２に対してより高い優先権に対応した移動体が優先的に通行するように促す情報を案内させる信号を送信する。その後、通行管理装置３は、動作を終了する。 In step S34, the traffic management device 3 determines the priority for each of the plurality of moving objects. After that, the traffic management device 3 performs the operation of step S35. In step S35, the traffic management device 3 transmits a signal for guiding the guidance device 2 with information prompting the moving body corresponding to the higher priority to pass preferentially. After that, the traffic management device 3 ends the operation.
　以上で説明した実施の形態１によれば、通行管理装置３は、建築物の内部における複数の移動体の位置情報を優先権判定情報として取得する。通行管理装置３は、複数の移動体の属性情報を取得する。通行管理装置３は、複数の移動体の優先権判定情報と属性情報とに基づいて複数の移動体の優先権を決定する。通行管理装置３は、複数の移動体の優先権に基づいて複数の移動体に対して通行方法を指示する。通行管理装置３は、複数の移動体の通行方法に対応して建築物の内部におけるビル設備１の動作を制御する。このため、建築物の内部において、複数の移動体の円滑な通行を実現することができる。 According to the first embodiment described above, the traffic management device 3 acquires the position information of a plurality of moving objects inside the building as priority determination information. The traffic management device 3 acquires attribute information of a plurality of moving objects. The traffic management device 3 determines the priority of the plurality of mobiles based on the priority determination information and the attribute information of the plurality of mobiles. The traffic management device 3 instructs a plurality of moving bodies on a passing method based on the priority of the plurality of moving bodies. The traffic management device 3 controls the operation of the building equipment 1 inside the building in accordance with the traffic methods of the plurality of moving bodies. Therefore, it is possible to realize smooth passage of a plurality of moving objects inside the building.
　なお、通行管理装置３において、複数の移動体の優先権判定情報のみに基づいて複数の移動体の優先権を決定してもよい。この場合も、建築物の内部において、複数の移動体の円滑な通行を実現することができる。 Note that the traffic management device 3 may determine the priority of a plurality of mobile objects based only on the priority determination information of the plurality of mobile objects. In this case as well, smooth passage of a plurality of moving objects can be realized inside the building.
　また、通行管理装置３は、予め設定された領域において優先権判定情報を取得された順番に複数の移動体の優先権を決定する。このため、複数の移動体の各々に対し、妥当な順番で当該領域の通行を許可することができる。 Further, the traffic management device 3 determines the priority of a plurality of moving objects in the order in which the priority determination information is acquired in the preset area. Therefore, it is possible to allow each of the plurality of moving bodies to pass through the area in an appropriate order.
　また、通行管理装置３は、複数の移動体の属性情報に含まれる緊急度の情報に基づいて複数の移動体の優先権を決定する。このため、複数の移動体の各々に対し、状況に応じて妥当な順番で通行を許可することができる。 Further, the traffic management device 3 determines the priority of the plurality of mobiles based on the urgency information included in the attribute information of the plurality of mobiles. Therefore, it is possible to allow each of the plurality of moving objects to pass in an appropriate order depending on the situation.
　また、通行管理装置３は、複数の移動体の通行方向に基づいて複数の移動体の優先権を決定する。このため、複数の移動体の各々に対し、特定の方向の通行を優先させることができる。 Further, the traffic management device 3 determines the priority of the plurality of moving bodies based on the traffic directions of the plurality of moving bodies. Therefore, it is possible to prioritize the passage in a specific direction for each of the plurality of moving objects.
　また、通行管理装置３は、ロボットに向けて通行方法に対応した動作を行うように指示する信号を送信する。このため、ロボットの動作を適切に制御することができる。 Further, the traffic management device 3 transmits a signal instructing the robot to perform an operation corresponding to the traffic method. Therefore, the operation of the robot can be appropriately controlled.
　また、通行管理装置３は、人に所持された情報通信端末９に向けて通行方法を案内する情報を報知させる信号を送信する。このため、人に対して適切な動作を促すことができる。この際の報知は、音声または表示で行えばよい。 Further, the traffic management device 3 transmits a signal for notifying the information and communication terminal 9 possessed by a person of information that guides the traffic method. Therefore, it is possible to encourage a person to perform an appropriate action. The notification at this time may be performed by voice or display.
　また、通行管理装置３は、入退室管理装置に対してより高い優先権に対応した移動体が優先的に通行するように動作させる信号を送信する。このため、建築物の内部において、複数の移動体の円滑な通行をより確実に実現することができる。 Further, the traffic management device 3 transmits a signal to the entry / exit management device so that the moving body corresponding to the higher priority will preferentially pass through. Therefore, it is possible to more reliably realize smooth passage of a plurality of moving objects inside the building.
　また、通行管理装置３は、案内装置２に対してより高い優先権に対応した移動体が優先的に通行するように促す情報を案内させる信号を送信する。このため、人に対して適切な動作をより確実に促すことができる。 Further, the traffic management device 3 transmits a signal for guiding the guidance device 2 with information prompting the moving body corresponding to the higher priority to pass preferentially. Therefore, it is possible to more reliably encourage a person to perform an appropriate action.
　なお、通行管理装置３において、複数の移動体の位置情報に基づいて当該位置情報に対応した移動体に対する当該位置情報に対応した位置の周囲にある設備における優先権を決定してもよい。この際、当該優先権に基づいて当該移動体に対して当該位置情報に対応した周囲にあるビル設備１の通行方法を指示し、優先権に基づいて通行方法に対応して当該位置情報に対応した周囲にあるビル設備１の動作を制御してもよい。この場合、建築物の内部において、複数の移動体の円滑な通行をより確実に実現することができる。 Note that the traffic management device 3 may determine the priority of the equipment around the position corresponding to the position information for the moving body corresponding to the position information based on the position information of the plurality of moving bodies. At this time, based on the priority, the moving body is instructed on the passage method of the surrounding building equipment 1 corresponding to the location information, and the location information is supported according to the passage method based on the priority. You may control the operation of the building equipment 1 in the surrounding area. In this case, smooth passage of a plurality of moving objects can be more reliably realized inside the building.
　次に、図１２を用いて、通行管理装置３の例を説明する。
　図１２は実施の形態１における通行管理システムの通行管理装置のハードウェア構成図である。 Next, an example of the traffic management device 3 will be described with reference to FIG.
FIG. 12 is a hardware configuration diagram of the traffic management device of the traffic management system according to the first embodiment.
　通行管理装置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 traffic management device 3 can be realized by a processing circuit. For example, the processing circuit includes 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、通行管理装置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、通行管理装置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 traffic management device 3 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. At least one of the software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the traffic management device 3 by reading and executing a program stored in at least one memory 100b. At least one processor 100a is also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. For example, at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, 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、通行管理装置３の各機能は、それぞれ処理回路で実現される。例えば、通行管理装置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, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. To. For example, each function of the traffic management device 3 is realized by a processing circuit. For example, each function of the traffic management device 3 is collectively realized by a processing circuit.
　通行管理装置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、優先権決定部６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、制御部９ｂ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。 For each function of the traffic 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 priority determination unit 6 is realized by a processing circuit as dedicated hardware 200, and the function other than the function of the control unit 9b is a program in which at least one processor 100a is stored in at least one memory 100b. It may be realized by reading and executing.
　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通行管理装置３の各機能を実現する。 In this way, the processing circuit realizes each function of the traffic management device 3 by hardware 200, software, firmware, or a combination thereof.
実施の形態２．
　図１３は実施の形態２における通行管理システムの構成図である。なお、実施の形態１の部分と同一又は相当部分には同一符号が付される。当該部分の説明は省略される。 Embodiment 2.
FIG. 13 is a configuration diagram of the traffic management system according to the second embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.
　実施の形態２の通行管理装置３において、優先権判定情報取得部４は、建築物の内部の予め設定された領域において複数の移動体の侵入要求情報を優先権判定情報として取得する。例えば、優先権判定情報取得部４は、ビル設備１を介して複数の移動体の侵入要求情報を取得する。実施の形態２の通行管理装置３において、その他の動作は、実施の形態１の通行管理装置３の動作と同等である。 In the traffic management device 3 of the second embodiment, the priority determination information acquisition unit 4 acquires intrusion request information of a plurality of moving objects as priority determination information in a preset area inside the building. For example, the priority determination information acquisition unit 4 acquires intrusion request information of a plurality of mobile objects via the building equipment 1. In the traffic management device 3 of the second embodiment, other operations are equivalent to the operations of the traffic management device 3 of the first embodiment.
　次に、図１４を用いて、優先権の判定方法の例を説明する。
　図１４は実施の形態２における通行管理システムの通行管理装置による優先権の判定方法の例を説明するためのブロック図である。 Next, an example of a priority determination method will be described with reference to FIG.
FIG. 14 is a block diagram for explaining an example of a method of determining priority by the traffic management device of the traffic management system according to the second embodiment.
　図１４に示されるように、予め設定された領域は、狭い通路である。当該通路において、複数の移動体は、すれ違うことができない。 As shown in FIG. 14, the preset area is a narrow passage. A plurality of moving objects cannot pass each other in the passage.
　通行管理装置３は、ロボットＲ２からの侵入要求情報と属性情報とに基づいて当該ロボットＲ２が通路の一側に位置することを把握する。通行管理装置３は、ロボットＲ３からの侵入要求情報と属性情報とに基づいて当該ロボットＲ３が通路の他側に位置することを把握する。 The traffic management device 3 grasps that the robot R2 is located on one side of the passage based on the intrusion request information and the attribute information from the robot R2. The traffic management device 3 grasps that the robot R3 is located on the other side of the passage based on the intrusion request information and the attribute information from the robot R3.
　通行管理装置３は、侵入要求情報と属性情報との取得タイミングにおいてロボットＲ２がロボットＲ３よりも予め設定された領域に先に侵入したと判定する。 The traffic management device 3 determines that the robot R2 has invaded a preset area before the robot R3 at the acquisition timing of the intrusion request information and the attribute information.
　通行管理装置３においては、予め設定された領域に先に侵入した移動体を優先する設定がなされている。この場合、通行管理装置３は、ロボットＲ２の通行を優先する。 The traffic management device 3 is set to give priority to the moving body that has invaded the preset area first. In this case, the traffic management device 3 gives priority to the traffic of the robot R2.
　次に、図１５を用いて、通行管理装置３がロボットに対して通行方法を指示する際の動作を説明する。
　図１５は実施の形態２における通行管理システムの通行管理装置がロボットに対して通行方法を指示する際の動作を説明するためのフローチャートである。 Next, with reference to FIG. 15, the operation when the traffic management device 3 instructs the robot the passage method will be described.
FIG. 15 is a flowchart for explaining an operation when the traffic management device of the traffic management system according to the second embodiment instructs the robot to perform a traffic method.
　ステップＳ４１では、通行管理装置３は、移動体の侵入要求情報を取得する。その後、通行管理装置３は、ステップＳ４２の動作を行う。ステップＳ４２では、通行管理装置３は、移動体の属性情報を取得する。 In step S41, the traffic management device 3 acquires the intrusion request information of the moving body. After that, the traffic management device 3 performs the operation of step S42. In step S42, the traffic management device 3 acquires the attribute information of the moving body.
　その後、通行管理装置３は、ステップＳ４３の動作を行う。ステップＳ４３では、通行管理装置３は、予め設定された時間帯において予め設定された領域の内部で複数の移動体の侵入要求情報と属性情報とが取得されたか否かを判定する。 After that, the traffic management device 3 performs the operation of step S43. In step S43, the traffic management device 3 determines whether or not the intrusion request information and the attribute information of the plurality of moving objects have been acquired inside the preset area in the preset time zone.
　ステップＳ４３で予め設定された時間帯において予め設定された領域の内部で複数の移動体の侵入要求情報と属性情報とが取得されていない場合、通行管理装置３は、ステップＳ４１の動作を行う。ステップＳ４３で予め設定された時間帯において予め設定された領域の内部で複数の移動体の侵入要求情報と属性情報とが取得されている場合、通行管理装置３は、ステップＳ４４の動作を行う。 When the intrusion request information and the attribute information of a plurality of moving objects are not acquired in the preset area in the preset time zone in step S43, the traffic management device 3 performs the operation of step S41. When the intrusion request information and the attribute information of a plurality of moving objects are acquired in the preset area in the preset time zone in step S43, the traffic management device 3 performs the operation of step S44.
　ステップＳ４４では、通行管理装置３は、当該複数の移動体のそれぞれに対して優先権を決定する。その後、通行管理装置３は、ステップＳ４５の動作を行う。ステップＳ４５では、通行管理装置３は、当該複数の移動体のそれぞれに対して優先権に応じた通行方法に対応した動作を行うように指示する信号を送信する。その後、通行管理装置３は、動作を終了する。 In step S44, the traffic management device 3 determines the priority for each of the plurality of moving objects. After that, the traffic management device 3 performs the operation of step S45. In step S45, the traffic management device 3 transmits a signal instructing each of the plurality of moving bodies to perform an operation corresponding to the traffic method according to the priority. After that, the traffic management device 3 ends the operation.
　次に、図１６を用いて、通行管理装置３が人に対して通行方法を指示する際の動作を説明する。
　図１６は実施の形態２における通行管理システムの通行管理装置が人に対して通行方法を指示する際の動作を説明するためのフローチャートである。 Next, with reference to FIG. 16, the operation when the traffic management device 3 instructs a person the passage method will be described.
FIG. 16 is a flowchart for explaining an operation when the traffic management device of the traffic management system according to the second embodiment instructs a person on a passage method.
　ステップＳ５１では、通行管理装置３は、移動体の侵入要求情報を取得する。その後、通行管理装置３は、ステップＳ５２の動作を行う。ステップＳ５２では、通行管理装置３は、移動体の属性情報を取得する。 In step S51, the traffic management device 3 acquires the intrusion request information of the moving body. After that, the traffic management device 3 performs the operation of step S52. In step S52, the traffic management device 3 acquires the attribute information of the moving body.
　その後、通行管理装置３は、ステップＳ５３の動作を行う。ステップＳ５３では、通行管理装置３は、予め設定された時間帯において予め設定された領域の内部で複数の移動体の侵入要求情報と属性情報とが取得されたか否かを判定する。 After that, the traffic management device 3 performs the operation of step S53. In step S53, the traffic management device 3 determines whether or not the intrusion request information and the attribute information of the plurality of moving objects have been acquired inside the preset area in the preset time zone.
　ステップＳ５３で予め設定された時間帯において予め設定された領域の内部で複数の移動体の侵入要求情報と属性情報とが取得されていない場合、通行管理装置３は、ステップＳ５１の動作を行う。ステップＳ５３で予め設定された時間帯において予め設定された領域の内部で複数の移動体の侵入要求情報と属性情報とが取得されている場合、通行管理装置３は、ステップＳ５４の動作を行う。 When the intrusion request information and the attribute information of a plurality of moving objects are not acquired in the preset area in the preset time zone in step S53, the traffic management device 3 performs the operation of step S51. When the intrusion request information and the attribute information of a plurality of moving objects are acquired in the preset area in the preset time zone in step S53, the traffic management device 3 performs the operation of step S54.
　ステップＳ５４では、通行管理装置３は、当該複数の移動体のそれぞれに対して優先権を決定する。その後、通行管理装置３は、ステップＳ５５の動作を行う。ステップＳ５５では、通行管理装置３は、当該複数の移動体が所持する複数の情報通信端末９のそれぞれに対して優先権に応じた通行方法を案内する情報を報知させる信号を送信する。その後、通行管理装置３は、動作を終了する。 In step S54, the traffic management device 3 determines the priority for each of the plurality of moving objects. After that, the traffic management device 3 performs the operation of step S55. In step S55, the traffic management device 3 transmits a signal for notifying each of the plurality of information communication terminals 9 possessed by the plurality of mobile bodies of information for guiding the traffic method according to the priority. After that, the traffic management device 3 ends the operation.
　次に、図１７を用いて、通行管理装置３が入退室管理装置に信号を送信する際の動作を説明する。
　図１７は実施の形態２における通行管理システムの通行管理装置が入退室管理装置に信号を送信する際の動作を説明するためのフローチャートである。 Next, the operation when the traffic management device 3 transmits a signal to the entry / exit management device will be described with reference to FIG.
FIG. 17 is a flowchart for explaining an operation when the traffic management device of the traffic management system according to the second embodiment transmits a signal to the entry / exit management device.
　ステップＳ６１では、通行管理装置３は、移動体の侵入要求情報を取得する。その後、通行管理装置３は、ステップＳ６２の動作を行う。ステップＳ６２では、通行管理装置３は、移動体の属性情報を取得する。 In step S61, the traffic management device 3 acquires the intrusion request information of the moving body. After that, the traffic management device 3 performs the operation of step S62. In step S62, the traffic management device 3 acquires the attribute information of the moving body.
　その後、通行管理装置３は、ステップＳ６３の動作を行う。ステップＳ６３では、通行管理装置３は、予め設定された時間帯において予め設定された領域の内部で複数の移動体の侵入要求情報と属性情報とが取得されたか否かを判定する。 After that, the traffic management device 3 performs the operation of step S63. In step S63, the traffic management device 3 determines whether or not the intrusion request information and the attribute information of the plurality of moving objects have been acquired inside the preset area in the preset time zone.
　ステップＳ６３で予め設定された時間帯において予め設定された領域の内部で複数の移動体の侵入要求情報と属性情報とが取得されていない場合、通行管理装置３は、ステップＳ６１の動作を行う。ステップＳ６３で予め設定された時間帯において予め設定された領域の内部で複数の移動体の侵入要求情報と属性情報とが取得されている場合、通行管理装置３は、ステップＳ６４の動作を行う。 When the intrusion request information and the attribute information of a plurality of moving objects are not acquired in the preset area in the preset time zone in step S63, the traffic management device 3 performs the operation of step S61. When the intrusion request information and the attribute information of a plurality of moving objects are acquired in the preset area in the preset time zone in step S63, the traffic management device 3 performs the operation of step S64.
　ステップＳ６４では、通行管理装置３は、当該複数の移動体のそれぞれに対して優先権を決定する。その後、通行管理装置３は、ステップＳ６５の動作を行う。ステップＳ６５では、通行管理装置３は、入退室管理装置に対してより高い優先権に対応した移動体が優先的に通行するようにドアまたはゲートを動作させる信号を送信する。その後、通行管理装置３は、動作を終了する。 In step S64, the traffic management device 3 determines the priority for each of the plurality of moving objects. After that, the traffic management device 3 performs the operation of step S65. In step S65, the traffic management device 3 transmits a signal for operating the door or the gate so that the moving body corresponding to the higher priority passes preferentially to the entry / exit management device. After that, the traffic management device 3 ends the operation.
　次に、図１８を用いて、通行管理装置３が案内装置２に信号を送信する際の動作を説明する。
　図１８は実施の形態２における通行管理システムの通行管理装置が案内装置に信号を送信する際の動作を説明するためのフローチャートである。 Next, the operation when the traffic management device 3 transmits a signal to the guidance device 2 will be described with reference to FIG.
FIG. 18 is a flowchart for explaining an operation when the traffic management device of the traffic management system according to the second embodiment transmits a signal to the guidance device.
　ステップＳ７１では、通行管理装置３は、移動体の侵入要求情報を取得する。その後、通行管理装置３は、ステップＳ７２の動作を行う。ステップＳ７２では、通行管理装置３は、移動体の属性情報を取得する。 In step S71, the traffic management device 3 acquires the intrusion request information of the moving body. After that, the traffic management device 3 performs the operation of step S72. In step S72, the traffic management device 3 acquires the attribute information of the moving body.
　その後、通行管理装置３は、ステップＳ７３の動作を行う。ステップＳ７３では、通行管理装置３は、予め設定された時間帯において予め設定された領域の内部で複数の移動体の侵入要求情報と属性情報とが取得されたか否かを判定する。 After that, the traffic management device 3 performs the operation of step S73. In step S73, the traffic management device 3 determines whether or not the intrusion request information and the attribute information of the plurality of moving objects have been acquired inside the preset area in the preset time zone.
　ステップＳ７３で予め設定された時間帯において予め設定された領域の内部で複数の移動体の侵入要求情報と属性情報とが取得されていない場合、通行管理装置３は、ステップＳ７１の動作を行う。ステップＳ７３で予め設定された時間帯において予め設定された領域の内部で複数の移動体の侵入要求情報と属性情報とが取得されている場合、通行管理装置３は、ステップＳ７４の動作を行う。 When the intrusion request information and the attribute information of a plurality of moving objects are not acquired in the preset area in the preset time zone in step S73, the traffic management device 3 performs the operation of step S71. When the intrusion request information and the attribute information of a plurality of moving objects are acquired in the preset area in the preset time zone in step S73, the traffic management device 3 performs the operation of step S74.
　ステップＳ７４では、通行管理装置３は、当該複数の移動体のそれぞれに対して優先権を決定する。その後、通行管理装置３は、ステップＳ７５の動作を行う。ステップＳ７５では、通行管理装置３は、案内装置２に対してより高い優先権に対応した移動体が優先的に通行するように促す情報を案内させる信号を送信する。その後、通行管理装置３は、動作を終了する。 In step S74, the traffic management device 3 determines the priority for each of the plurality of moving objects. After that, the traffic management device 3 performs the operation of step S75. In step S75, the traffic management device 3 transmits a signal for guiding the guidance device 2 with information prompting the moving body corresponding to the higher priority to pass preferentially. After that, the traffic management device 3 ends the operation.
　以上で説明した実施の形態２によれば、通行管理装置３は、建築物の内部における複数の移動体の侵入要求情報を優先権判定情報として取得する。通行管理装置３は、複数の移動体の属性情報を取得する。通行管理装置３は、複数の移動体の優先権判定情報と属性情報とに基づいて複数の移動体の優先権を決定する。通行管理装置３は、複数の移動体の優先権に基づいて複数の移動体に対して通行方法を指示する。通行管理装置３は、複数の移動体の通行方法に対応して建築物の内部におけるビル設備１の動作を制御する。このため、建築物の内部において、複数の移動体の円滑な通行を実現することができる。 According to the second embodiment described above, the traffic management device 3 acquires intrusion request information of a plurality of moving objects inside the building as priority determination information. The traffic management device 3 acquires attribute information of a plurality of moving objects. The traffic management device 3 determines the priority of the plurality of mobiles based on the priority determination information and the attribute information of the plurality of mobiles. The traffic management device 3 instructs a plurality of moving bodies on a passing method based on the priority of the plurality of moving bodies. The traffic management device 3 controls the operation of the building equipment 1 inside the building in accordance with the traffic methods of the plurality of moving bodies. Therefore, it is possible to realize smooth passage of a plurality of moving objects inside the building.
　以上のように、この発明に係る通行管理装置および通行管理システムは、ビル設備の制御に利用できる。 As described above, the traffic management device and the traffic management system according to the present invention can be used for controlling building equipment.
　１　ビル設備、　２　案内装置、　３　通行管理装置、　４　優先権判定情報取得部、　５　属性情報取得部、　６　優先権決定部、　７　通行方法指示部、　８　設備制御部、　９　情報通信端末、　１００ａ　プロセッサ、　１００ｂ　メモリ、　２００　ハードウェア 1 Building equipment, 2 Guidance device, 3 Traffic management device, 4 Priority judgment information acquisition unit, 5 Attribute information acquisition unit, 6 Priority determination unit, 7 Traffic method instruction unit, 8 Equipment control unit, 9 Information communication terminal, 100a Processor, 100b memory, 200 hardware

Claims (13)

  1. 　建築物の内部における複数の移動体の位置情報または侵入要求情報を優先権判定情報として取得する優先権判定情報取得部と、
    　前記優先権判定情報取得部が前記複数の移動体の優先権判定情報を取得した際に当該優先権判定情報に基づいて前記複数の移動体の優先権を決定する優先権決定部と、
    　前記優先権決定部により決定された優先権に基づいて前記複数の移動体に対して通行方法を指示する通行方法指示部と、
    　前記優先権決定部により決定された優先権に基づいて前記通行方法指示部により指示された通行方法に対応して前記建築物の内部における設備の動作を制御する設備制御部と、
    を備えた通行管理装置。     The priority judgment information acquisition unit that acquires the position information or intrusion request information of multiple moving objects inside the building as priority judgment information,
    When the priority determination information acquisition unit acquires the priority determination information of the plurality of mobiles, the priority determination unit determines the priority of the plurality of mobiles based on the priority determination information.
    A passage method instruction unit that instructs a passage method to the plurality of moving objects based on the priority determined by the priority right determination unit, and a passage method instruction unit.
    An equipment control unit that controls the operation of equipment inside the building in response to the passage method instructed by the passage method instruction unit based on the priority determined by the priority determination unit.
    Traffic management device equipped with.
  2. 　前記優先権決定部は、前記建築物の内部において予め設定された領域において前記優先権判定情報取得部により優先権判定情報を取得された順番に前記複数の移動体の優先権を決定する請求項１に記載の通行管理装置。 The claim that the priority determination unit determines the priority of the plurality of moving objects in the order in which the priority determination information is acquired by the priority determination information acquisition unit in a preset area inside the building. The traffic management device according to 1.
  3. 　前記複数の移動体の属性情報を取得する属性情報取得部、
    を備え、
    　前記優先権決定部は、前記優先権判定情報取得部により取得された優先権判定情報と前記属性情報取得部により取得された属性情報とに基づいて前記複数の移動体の優先権を決定する請求項１に記載の通行管理装置。     Attribute information acquisition unit that acquires attribute information of the plurality of moving objects,
    With
    The priority determination unit determines the priority of the plurality of moving objects based on the priority determination information acquired by the priority determination information acquisition unit and the attribute information acquired by the attribute information acquisition unit. Item 1. The traffic management device according to item 1.
  4. 　前記優先権決定部は、前記属性情報取得部により取得された属性情報に含まれる緊急度の情報に基づいて前記複数の移動体の優先権を決定する請求項３に記載の通行管理装置。 The traffic management device according to claim 3, wherein the priority determination unit determines the priority of the plurality of moving objects based on the urgency information included in the attribute information acquired by the attribute information acquisition unit.
  5. 　前記優先権決定部は、前記複数の移動体の通行方向に基づいて前記複数の移動体の優先権を決定する請求項１に記載の通行管理装置。 The traffic management device according to claim 1, wherein the priority determination unit determines the priority of the plurality of mobiles based on the traffic directions of the plurality of mobiles.
  6. 　前記通行方法指示部は、移動体がロボットである場合に、当該ロボットに向けて通行方法に対応した動作を行うように指示する信号を送信する請求項１から請求項５のいずれか一項に記載の通行管理装置。 According to any one of claims 1 to 5, the passage method instruction unit transmits a signal instructing the robot to perform an operation corresponding to the passage method when the moving body is a robot. The described traffic control device.
  7. 　前記通行方法指示部は、移動体が人である場合に、当該人に所持された情報通信端末に向けて通行方法を案内する情報を報知させる信号を送信する請求項１から請求項６のいずれか一項に通行管理装置。 Any of claims 1 to 6, wherein the passage method instruction unit transmits a signal for notifying information indicating the passage method to the information communication terminal possessed by the person when the moving body is a person. Traffic management device in one item.
  8. 　前記設備制御部は、前記建築物に設けられたドアまたはゲートを制御する入退室管理装置に対してより高い優先権に対応した移動体が優先的に通行するように動作させる信号を送信する請求項１から請求項７のいずれか一項に記載の通行管理装置。 The equipment control unit transmits a signal to the entrance / exit management device for controlling a door or a gate provided in the building to operate a moving body corresponding to a higher priority so as to preferentially pass through. The traffic management device according to any one of items 1 to 7.
  9. 　前記通行方法指示部は、前記建築物に設けられた案内装置に対してより高い優先権に対応した移動体が優先的に通行するように促す情報を案内させる信号を送信する請求項１から請求項８のいずれか一項に記載の通行管理装置。 The passage method instruction unit requests from claim 1 to transmit a signal for guiding information prompting a moving body corresponding to a higher priority to pass preferentially to a guidance device provided in the building. Item 8. The traffic management device according to any one of items 8.
  10. 　前記優先権決定部は、前記優先権判定情報取得部により取得された位置情報に基づいて当該位置情報に対応した移動体に対する当該位置情報に対応した位置の周囲にある設備における優先権を決定し、
    　前記通行方法指示部は、前記優先権決定部により決定された優先権に基づいて当該移動体に対して当該位置情報に対応した周囲にある設備の通行方法を指示し、
    　前記設備制御部は、前記優先権決定部により決定された優先権に基づいて前記通行方法指示部により指示された通行方法に対応して当該位置情報に対応した周囲にある設備の動作を制御する請求項１から請求項９のいずれか一項に記載の通行管理装置。     Based on the position information acquired by the priority determination information acquisition unit, the priority determination unit determines the priority of the moving body corresponding to the position information in the equipment around the position corresponding to the position information. ,
    The passage method instruction unit instructs the moving body on the passage method of the surrounding equipment corresponding to the position information based on the priority determined by the priority right determination unit.
    The equipment control unit controls the operation of surrounding equipment corresponding to the position information in response to the passage method instructed by the passage method instruction unit based on the priority determined by the priority determination unit. The traffic management device according to any one of claims 1 to 9.
  11. 　建築物の内部を自律移動する複数のロボットと、
    　前記建築物に設けられた設備と、
    　前記複数のロボットの位置情報または侵入要求情報を優先権判定情報として取得し、当該優先権判定情報に基づいて前記複数のロボットの優先権を決定し、当該優先権に基づいて前記複数のロボットに対して通行方法を指示し、当該優先権に基づいて前記複数のロボットに対する通行方法に対応して前記建築物の内部における設備の動作を制御する通行管理装置と、
    を備えた通行管理システム。     Multiple robots that move autonomously inside a building,
    The equipment installed in the building and
    The position information or intrusion request information of the plurality of robots is acquired as priority determination information, the priority of the plurality of robots is determined based on the priority determination information, and the plurality of robots are assigned based on the priority. A traffic management device that instructs the traffic method to the traffic method and controls the operation of the equipment inside the building according to the traffic method for the plurality of robots based on the priority.
    Traffic management system equipped with.
  12. 　建築物の内部において複数の人にそれぞれ所持された複数の情報通信端末と、
    　前記建築物に設けられた設備と、
    　前記複数の人の位置情報または侵入要求情報を優先権判定情報として取得し、当該優先権判定情報に基づいて前記複数の人の優先権を決定し、当該優先権に基づいて前記複数の情報通信端末に対して通行方法を案内する情報を報知させ、当該優先権に基づいて前記複数の人に対する通行方法に対応して前記建築物の内部における設備の動作を制御する通行管理装置と、
    を備えた通行管理システム。     Multiple information and communication terminals owned by multiple people inside the building,
    The equipment installed in the building and
    The location information or intrusion request information of the plurality of persons is acquired as priority determination information, the priority of the plurality of persons is determined based on the priority determination information, and the plurality of information communication is performed based on the priority. A traffic management device that notifies the terminal of information that guides the passage method and controls the operation of equipment inside the building in response to the passage method for the plurality of people based on the priority.
    Traffic management system equipped with.
  13. 　建築物の内部を自律移動するロボットと、
    　前記建築物の内部において人に所持された情報通信端末と、
    　前記建築物に設けられた設備と、
    　前記ロボットと前記情報通信端末との位置情報または侵入要求情報を優先権判定情報として取得し、当該優先権判定情報に基づいて前記ロボットと前記人との優先権を決定し、当該優先権に基づいて前記ロボットと前記人とに対して通行方法を指示し、当該優先権に基づいて前記ロボットと前記人とに対する通行方法に対応して前記建築物の内部における設備の動作を制御する通行管理装置と、
    を備えた通行管理システム。     A robot that autonomously moves inside a building,
    An information and communication terminal possessed by a person inside the building,
    The equipment installed in the building and
    The position information or intrusion request information between the robot and the information communication terminal is acquired as priority determination information, the priority between the robot and the person is determined based on the priority determination information, and the priority is determined based on the priority. A traffic management device that instructs the robot and the person on the passage method and controls the operation of the equipment inside the building according to the passage method for the robot and the person based on the priority. When,
    Traffic management system equipped with.
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