Movement control system

Abstract

Provided is a movement control system capable of guiding an autonomous moving body, which is difficult to move autonomously, to a destination. The present invention is provided with a first autonomous mobile body in which a failure has occurred, and a second autonomous mobile body that guides the first autonomous mobile body to a destination, the first autonomous mobile body comprising: a first communication unit that receives information relating to a movement direction and a movement distance from the second autonomous mobile body; and a first movement control unit that moves the first autonomous moving body in accordance with information relating to the movement direction and the movement distance received from the second autonomous moving body, the second autonomous moving body having: an analysis unit that analyzes the detection result of the external sensor; a second communication unit that transmits, to the first autonomous moving body, information relating to the moving direction and the moving distance of the first autonomous moving body calculated by the analysis unit; and a second movement control unit for moving the second autonomous moving body toward the destination while estimating the position of the second autonomous moving body, and moving the second autonomous moving body such that the external sensor periodically detects the first autonomous moving body.

Description

Technical Field

[0001] This disclosure relates to a mobile control system. Background Technology

[0002] In recent years, there has been a demand for rapidly guiding autonomous mobile entities, whose location is difficult to accurately estimate due to malfunctions of external sensors, to their destination. Related technologies are disclosed, for example, in Patent Document 1.

[0003] In the rescue robot system disclosed in Patent Document 1, when the management server receives a rescue notification from the autonomous mobile robot, it instructs its subordinate robots to provide rescue. The rescue robot that receives the rescue instruction searches for the robot to be rescued, calculates the location of the robot to be rescued, and notifies the robot to be rescued of the calculated location information, thereby restoring the estimated location of the robot to be rescued.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2010-3240 Summary of the Invention

[0007] The technical problem that the invention aims to solve

[0008] The system disclosed in Patent Document 1 relies on the premise that the rescued robot, after obtaining its own position information from the rescue robot, can continue to move autonomously using external sensors. Therefore, the system disclosed in Patent Document 1 has the following problem: it cannot move an autonomously moving body, which is difficult to move accurately due to malfunctions of external sensors, to its destination.

[0009] This disclosure was made in view of the above background, and its purpose is to provide a motion control system capable of guiding autonomous mobile bodies that are difficult to move independently to their destination.

[0010] Means for solving technical problems

[0011] The mobile control system disclosed herein comprises: a first autonomous mobile body that has experienced a malfunction that makes autonomous movement to a destination difficult; and a second autonomous mobile body that guides the first autonomous mobile body to the destination. The first autonomous mobile body includes: a first communication unit that receives information related to the direction of movement and the distance of movement from the second autonomous mobile body; and a first mobile control unit that moves the first autonomous mobile body according to the information related to the direction of movement and the distance of movement received from the second autonomous mobile body. The second autonomous mobile body includes: an external sensor configured to detect the first autonomous mobile body; an analysis unit that determines the posture of the first autonomous mobile body and the distance to the first autonomous mobile body by analyzing the detection results of the external sensor, and calculates the direction of movement and the distance of movement of the first autonomous mobile body based on the determination results; a second communication unit that transmits the information related to the direction of movement and the distance of movement calculated by the analysis unit to the first autonomous mobile body; and a second mobile control unit that moves the second autonomous mobile body toward the destination while estimating its own position, and moves the second autonomous mobile body in a manner that causes the external sensor to periodically detect the first autonomous mobile body. The mobility control system disclosed herein can guide an autonomous mobile body (the guided mobile body) that is unable to move accurately due to malfunctions in external sensors or other factors to its destination via another autonomous mobile body (the guiding mobile body). Furthermore, in the mobility control system disclosed herein, if the guiding mobile body cannot detect the guided mobile body due to the presence of an obstacle, the guidance of the guided mobile body to the destination is stopped until the guided mobile body is detected, thus preventing contact between the guided mobile body and the obstacle.

[0012] Invention Effects

[0013] According to this disclosure, a motion control system is provided that can guide autonomous mobile bodies that are difficult to move independently to their destination. Attached Figure Description

[0014] Figure 1 This is a diagram illustrating a configuration example of the motion control system according to Embodiment 1.

[0015] Figure 2 This is a block diagram illustrating an example of the configuration of an autonomous mobile body installed in the mobile control system according to Embodiment 1.

[0016] Figure 3 This is a schematic perspective view showing the appearance of the autonomous mobile body installed in the mobile control system according to Embodiment 1.

[0017] Figure 4This is a block diagram showing an example of the configuration of each of the guided autonomous mobile body and the autonomous mobile body that performs the guidance in the multiple autonomous mobile bodies provided in the mobile control system according to Embodiment 1.

[0018] Figure 5 This is a flowchart illustrating the operation of the motion control system according to Embodiment 1.

[0019] Figure 6 This is a diagram used to illustrate the operation of the motion control system according to Embodiment 1.

[0020] Figure 7 This is a diagram used to illustrate the operation of the motion control system according to Embodiment 1. Detailed Implementation

[0021] The present invention will now be described through embodiments thereof, but the invention as defined in the claims is not limited to these embodiments. Furthermore, the configurations described in the embodiments are not necessarily essential, as they serve as means to solve technical problems. For clarity, the following descriptions and drawings have been appropriately omitted and simplified. In the drawings, the same reference numerals are used for the same elements, and repeated descriptions are omitted as necessary.

[0022] <Implementation Method 1>

[0023] Figure 1 This diagram illustrates a configuration example of the mobility control system 1 according to Embodiment 1. The mobility control system 1 according to this embodiment is a system for managing multiple autonomous mobile bodies configured in a predetermined work area. Here, the mobility control system 1 according to this embodiment can detect autonomous mobile bodies that are difficult to move accurately due to abnormalities in external sensors or the like, and quickly guides the detected autonomous mobile bodies to their destination using other autonomous mobile bodies. A detailed description will follow.

[0024] like Figure 1 As shown, the mobility control system 1 includes a management device 10, autonomous mobile bodies 20_1 to 20_n (n being an integer of 2 or more), a map database (map DB) 30 storing map information of predetermined work areas, and a network 50. The management device 10, autonomous mobile bodies 20_1 to 20_n, and the map database 30 are configured to communicate with each other via the wired or wireless network 50. Hereinafter, any one of the autonomous mobile bodies 20_1 to 20_n will be referred to as autonomous mobile body 20.

[0025] Autonomous mobile bodies 20_1 to 20_n are mobile robots that autonomously move while estimating their own position within a predetermined work area. However, autonomous mobile bodies 20_1 to 20_n are not limited to mobile robots capable of autonomous movement; they can also be vehicles capable of autonomous movement. Vehicles capable of autonomous movement include commercial vehicles, passenger cars, and construction machinery.

[0026] The management device 10, also referred to as a management server, manages the autonomous mobile bodies 20_1 to 20_n configured in a predetermined work area. For example, the management device 10 instructs each of the autonomous mobile bodies 20_1 to 20_n on a specific task. Consequently, the autonomous mobile bodies 20_1 to 20_n perform actions according to the task instructions from the management device 10. For example, the autonomous mobile bodies 20_1 to 20_n move from their current location to their destination according to the task instructions from the management device 10.

[0027] Furthermore, the management device 10 detects autonomous mobile bodies 20_1 to 20_n that are difficult to move accurately due to abnormalities in external sensors, etc., as guided mobile bodies A (first autonomous mobile bodies), and selects autonomous mobile bodies 20_1 to 20_n that are different from guided mobile bodies A as guiding mobile bodies B (second autonomous mobile bodies) to guide guided mobile bodies A.

[0028] Specifically, the management device 10 includes a detection unit 11 and an instruction unit 12. The detection unit 11 detects autonomous mobile bodies 20_1 to 20_n that are difficult to move accurately due to malfunctions in external sensors or other sources as guided mobile bodies A. For example, the detection unit 11 can detect an autonomous mobile body 20 that is moving differently from its intended movement as guided mobile body A, or it can detect an autonomous mobile body 20 that has received a notification indicating that there is a malfunction in external sensors or other sources as guided mobile body A. The instruction unit 12 selects a guiding mobile body B from among the autonomous mobile bodies 20_1 to 20_n that is different from guided mobile body A, and instructs the selected guiding mobile body B to guide guided mobile body A to a destination such as an emergency evacuation area. Furthermore, the instruction unit 12 can prioritize instructing guidance to autonomous mobile bodies 20 located near guided mobile body A, or it can prioritize instructing guidance to autonomous mobile bodies 20 that have not been instructed to perform any specific tasks. Details of the guiding method for the guided mobile body A, performed by the guiding mobile body B, will be described later.

[0029] (Composition of autonomous mobile body 20)

[0030] Figure 2 This is a block diagram showing an example of the configuration of the autonomous moving body 20. For example... Figure 2 As shown, the autonomous mobile body 20 includes an external sensor 201, a marker 202, a resolution unit 203, a communication unit 204, a self-position estimation unit 205, a control unit 206, and a wheel drive unit 207.

[0031] External sensors 201, such as cameras or LiDAR (Light Detection and Ranging) devices, detect the surrounding environment (surrounding objects, etc.) of the autonomous mobile body 20. Furthermore, the external sensors 201 are configured to detect markers 202 mounted on other autonomous mobile bodies 20. Markers 202, such as AR markers, are mounted in a manner that allows for visual recognition from the external perspective of the autonomous mobile body 20. Here, markers 202 contain information related to the direction of movement, such as forward movement or rotation.

[0032] The analysis unit 203 analyzes the detection results of the external sensor 201. If the external sensor 201 is a camera, the analysis unit 203 analyzes the image captured by the camera. In this case, OpenCV or similar methods are used for image analysis. For example, the analysis unit 203 determines the obstacles and their positions around the autonomous mobile body 20 by analyzing the detection results of the external sensor 201. Furthermore, the analysis unit 203 determines the posture (orientation) and distance to other autonomous mobile bodies 20 that are difficult to move autonomously due to malfunctions by analyzing the detection results of the external sensor 201. Then, based on the determined results, the analysis unit 203 calculates the movement direction and movement distance of the other autonomous mobile bodies 20. Additionally, if the analysis unit 203 determines a marker 202 installed on another autonomous mobile body 20 by analyzing the detection results of the external sensor 201, it extracts information related to the movement direction contained in the determined marker 202. The following explanation will focus on the case where the analysis unit 203 extracts information related to the movement direction from the marker 202 installed on another autonomous mobile body 20. In addition, the autonomous mobile body 20 may also have external sensors such as a camera for reading information from the markers 202 of other autonomous mobile bodies 20, in addition to external sensors 201 for detecting the surrounding environment for autonomous movement.

[0033] The communication unit 204 communicates with other autonomous mobile units 20, management device 10, and map database 30 via network 50. For example, the communication unit 204 sends information related to the direction of movement and distance of movement calculated by the analysis unit 203 to other autonomous mobile units 20 equipped with the marker 202. Alternatively, the communication unit 204 receives information related to the direction of movement and distance of movement sent from other autonomous mobile units 20. The processing of information related to the direction of movement and distance of movement will be described later.

[0034] The self-position estimation unit 205 estimates its own position by comparing the detection results (surrounding environment) of the external sensor 201 with the map information stored in the map database 30.

[0035] The control unit 206 controls the movement of the autonomous mobile body 20 according to the instructions from the management device 10. For example, the control unit 206 estimates its own position through the self-position estimation unit 205 and drives the wheels through the wheel drive unit 207 according to the instructions from the management device 10, thereby moving the autonomous mobile body 20 from its current position to its destination.

[0036] Furthermore, when the autonomous mobile body 20 is a guided mobile body A, the control unit 206 moves the autonomous mobile body 20 according to information received from other autonomous mobile bodies 20 acting as guided mobile bodies B, related to the direction and distance of movement. Furthermore, when the autonomous mobile body 20 is a guided mobile body B, the control unit 206 moves the autonomous mobile body 20 (this device) toward the destination while estimating its own position, and moves the autonomous mobile body 20 (this device) by periodically detecting other autonomous mobile bodies 20 (including markers 202) acting as guided mobile bodies A using external sensors 201.

[0037] Figure 3 This is a schematic perspective view showing the appearance of the autonomous mobile body 20. Figure 3 In the example, marker 202 is composed of markers 202a to 202d. Specifically, in the autonomous moving body 20, marker 202a is installed on the front surface of the cuboid-shaped housing 208, marker 202b is installed on the right side of the housing 208, marker 202c is installed on the left side of the housing 208, and marker 202d is installed on the rear surface of the housing 208. A wheel 209 is provided on the underside of the housing 208. Furthermore, in Figure 3 In this example, a camera serving as an external sensor 201 is mounted on the front surface of the housing 208.

[0038] Here, the mark 202a installed on the front surface of the housing 208 contains information indicating forward movement. The mark 202b installed on the right side of the housing 208 contains information indicating a right turn (clockwise) at a predetermined angle. The mark 202c installed on the left side of the housing 208 contains information indicating a left turn (counterclockwise) at a predetermined angle. The mark 202d installed on the rear surface of the housing 208 contains information indicating a right turn at a predetermined angle. However, the rotation direction included by marks 202b to 202d can also be either a right turn or a left turn.

[0039] (Action of the mobile control system 1)

[0040] Next, the operation of the motion control system 1 will be explained. The following explanation will take the case where autonomous mobile body 20_1 is detected as guided mobile body A and autonomous mobile body 20_2 is selected as guided mobile body B as an example. However, it is not limited to this. Autonomous mobile body 20 other than autonomous mobile body 20_1 can also be detected as guided mobile body A, and autonomous mobile body 20 other than autonomous mobile body 20_2 can also be selected as guided mobile body B.

[0041] Figure 4 This is a block diagram showing examples of the configurations of the guided mobile body A and the guiding mobile body B. For example... Figure 4 As shown, the guided mobile body A includes an external sensor 211, a marker 212, a resolution unit 213, a communication unit 214, a self-position estimation unit 215, a control unit 216, and a wheel drive unit 217. The external sensor 211, marker 212, resolution unit 213, communication unit 214, self-position estimation unit 215, control unit 216, and wheel drive unit 217 correspond to the external sensor 201, marker 202, resolution unit 203, communication unit 204, self-position estimation unit 205, control unit 206, and wheel drive unit 207, respectively. The guided mobile body B includes an external sensor 221, marker 222, resolution unit 223, communication unit 224, self-position estimation unit 225, control unit 226, and wheel drive unit 227. External sensor 221, marker 222, analysis unit 223, communication unit 224, self-position estimation unit 225, control unit 226, and wheel drive unit 227 correspond to external sensor 201, marker 202, analysis unit 203, communication unit 204, self-position estimation unit 205, control unit 206, and wheel drive unit 207, respectively. Here, it is assumed that the guided moving body A is unable to move autonomously due to a malfunction of external sensor 211.

[0042] Figure 5 This is a flowchart illustrating the operation of the motion control system 1. Furthermore, Figure 6 and Figure 7 This is a diagram used to illustrate the operation of the motion control system 1. Figure 5 In the diagram, the dashed arrows indicate the exchange of information between the guided mobile body A, the guiding mobile body B, and the management device 10.

[0043] First, the external sensor 211 of autonomous mobile body 20_1 among the multiple autonomous mobile bodies 20_1 to 20_n malfunctions (step S101). As a result, autonomous mobile body 20_1 has difficulty moving accurately autonomously. Therefore, autonomous mobile body 20_1 does not move autonomously and remains in standby mode (step S102).

[0044] After the management device 10 detects an autonomous mobile body 20_1, where an anomaly is found on the external sensor 211, as the guided mobile body A (step S301), it selects one of the autonomous mobile bodies 20_2 to 20_n, for example, an autonomous mobile body 20_2 located near autonomous mobile body 20_1, as the guiding mobile body B to guide the guided mobile body A (step S302). Then, the management device 10 instructs the selected guiding mobile body B to guide the guided mobile body A to a destination FP, such as an emergency refuge area (step S303). At this time, the management device 10 also obtains the location information of the guided mobile body A and sends the obtained location information of the guided mobile body A to the guiding mobile body B.

[0045] Alternatively, the management device 10 can also detect the autonomous mobile body 20_1 that received the notification indicating that there is an anomaly in the external sensor 211 as the guided mobile body A. Or, the management device 10 can also detect the autonomous mobile body 20_1 that is performing autonomous movements different from the indicated movements as the guided mobile body A.

[0046] After receiving the guidance instruction (step S201), the guided mobile body B moves autonomously while searching for the guided mobile body A (step S202, refer to...). Figure 6 (a)).

[0047] For example, if the guiding mobile body B cannot find the guided mobile body A, it continues the search for the guided mobile body A, for example, by rotating ("No" in step S203 → step S202). Then, after the guiding mobile body B finds the guided mobile body A ("Yes" in step S203, see...), Figure 6 (b) The orientation (orientation) of the guided mobile body A and the distance to the guided mobile body A are determined, and information related to the direction and distance of movement is obtained from the determination result (step S204). Additionally, information related to the direction of movement is extracted from the information contained in marker 212. The information related to the direction of movement contained in marker 212 can also be represented by numerical values ​​from 1 to 4. In this case, for example, "1" represents going straight, "2" represents turning right (clockwise), and "3" and "4" represent turning left (counterclockwise). Then, the guiding mobile body B sends the obtained information related to the direction and distance of movement to the guided mobile body A (step S205).

[0048] After receiving information related to the direction and distance of movement from the guiding mobile body B (step S103), the guided mobile body A moves straight or rotates by a predetermined angle according to the received information related to the direction and distance of movement, and then enters standby mode (steps S104 → S105, refer to...). Figure 6 (c)).

[0049] Here, even if the guided mobile body A moves a specified distance, and mobile bodies A and B separate to the point where the distance between them exceeds a threshold (step S206 "No"), the guiding mobile body B again obtains information related to the movement direction and distance, and sends it to the guided mobile body A (step S204 → step S205). Then, the guided mobile body A again moves straight or rotates a predetermined angle according to the information related to the movement direction and distance received from the guiding mobile body B, and then enters standby mode (step S106 "Yes" → step S103 → step S104 → step S105). These processes are repeated until the distance between mobile bodies A and B becomes within the threshold.

[0050] For example, when guided mobile body A receives information from guided mobile body B indicating straight movement from a mark 212 mounted on the front of guided mobile body A, it moves straight. That is, guided mobile body A approaches guided mobile body B. Furthermore, when guided mobile body A receives information from guided mobile body B indicating rotation from a mark 212 mounted outside the front of guided mobile body A, it rotates by a predetermined angle (e.g., 0.25 rad) about the vertical axis. That is, guided mobile body A faces guided mobile body B by a predetermined angle. Thus, the front of guided mobile body A is easily seen by guided mobile body B. By repeatedly performing this action, guided mobile body A reaches a state where it is close to guided mobile body B to a threshold range and faces guided mobile body B.

[0051] Then, when the guided mobile body A moves the specified distance and the distance between mobile bodies A and B becomes within the threshold ("Yes" in step S206), the guiding mobile body B determines that the guided mobile body A has sufficiently approached the guiding mobile body B and begins to move towards the destination FP (step S207, see below). Figure 6 (d)). During this period, the guided mobile body A enters standby mode (step S105).

[0052] After a predetermined time has elapsed since the guiding mobile body B started moving towards the destination FP (step S207) (step S208), if the guided mobile body A has not reached the destination FP ("No" in step S209), then the search for the guided mobile body A in the process of being guided is performed (step S202). Specifically, the guiding mobile body B rotates to orient the external sensor 221 toward the direction of the guided mobile body A in the process of being guided (refer to...). Figure 6(e)). Furthermore, when the guiding mobile body B detects the guided mobile body A ("Yes" in step S203), it repeatedly acquires and sends information related to the movement direction and distance to the guided mobile body A ("No" in steps S204 → S205 → S206) until the distance between mobile bodies A and B becomes within a threshold. At this time, the guided mobile body A repeatedly moves according to the information related to the movement direction and distance received from the guiding mobile body B ("Yes" in steps S103 → S104 → S105 → S106, refer to...). Figure 6 Then, when the distance between mobile bodies A and B becomes within the threshold ("Yes" in step S206), the guiding mobile body B determines that the guided mobile body A has sufficiently approached the guiding mobile body B and begins to move towards the destination FP (step S207). During this period, the guided mobile body A is in standby mode (step S105). These processes are repeated until the guided mobile body A reaches the destination FP.

[0053] Then, when the guiding mobile body A reaches the destination FP ("Yes" in step S209), the guiding mobile body B detects that the guided mobile body A has reached the destination FP and communicates the end of the process to the guided mobile body A (step S210). The guided mobile body A receives the end of the process from the guiding mobile body B ("No" in step S106 → step S107). Then, mobile bodies A and B end the process (see...). Figure 6 (g)).

[0054] Here, if the guiding mobile body B cannot detect the guided mobile body A due to the presence of obstacle C ("No" in step S203, see...), Figure 7 (a) Temporarily halt movement toward destination FP, and search for guided moving body A by rotating or reversing along the movement path (step S202, refer to...). Figure 7 (b)). At this time, the guided mobile body A does not move because it does not receive information related to the direction and distance of movement from the guiding mobile body B. Therefore, the guided mobile body A will not come into contact with the obstacle C. Then, after the guiding mobile body B discovers the guided mobile body A ("Yes" in step S203), it obtains information related to the direction and distance of movement and sends it to the guided mobile body A (step S204 → step S205). The guided mobile body A moves according to the information related to the direction and distance of movement received from the guiding mobile body B (step S103 → step S104, see step S104). Figure 7 (c)). Subsequent processing is as already described.

[0055] Thus, the motion control system 1 of this disclosure can quickly guide an autonomous mobile body (guided mobile body A) that is unable to move accurately due to malfunctions in external sensors, etc., to its destination via another autonomous mobile body (guide mobile body B). Furthermore, in the motion control system 1 of this disclosure, if the guide mobile body B cannot detect the guided mobile body A due to the presence of an obstacle C, the guidance of the guided mobile body A to the destination is stopped until the guided mobile body A is detected, thereby preventing contact between the guided mobile body A and the obstacle.

[0056] Furthermore, this disclosure uses the case where each main mobile body 20 has a marker 202 as an example, but it is not limited to this. In each main mobile body 20, if the analysis unit 203 is configured to determine the posture (orientation) and distance of other autonomous mobile bodies 20 by analyzing the detection results of external sensors 201, and calculate the movement direction and movement distance of the other autonomous mobile body 20 based on the determination results, then each main mobile body 20 may not have a marker 202.

[0057] This disclosure enables the management device 10 and its respective main mobile bodies 20_1 to 20_n to perform part or all of the processing by having the CPU (Central Processing Unit) execute computer programs.

[0058] The program described above contains a set of commands (or software code) that, when read into a computer, cause the computer to perform one or more functions described in the embodiments. The program may also be stored on a non-transitory computer-readable medium or a tangible storage medium. By way of example, and not limitation, computer-readable media or tangible storage media include RAM (Random-Access Memory), ROM (Read-Only Memory), flash memory, SSD (Solid-State Drive) or other memory technologies, CD-ROM, DVD (Digital Versatile Disc), Blu-ray disc (registered trademark), or other optical disc storage, cassette tape, magnetic tape, disk storage, or other magnetic storage devices. The program may also be transmitted on a temporary computer-readable medium or a communication medium. By way of example, and not limitation, temporary computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagation signals.

[0059] The present disclosure has been described above with reference to the embodiments, but the present disclosure is not limited to the above embodiments. Various modifications that can be understood by those skilled in the art can be made to the structure and details of the present disclosure within its scope. Furthermore, each embodiment can be appropriately combined with other embodiments.

[0060] [Explanation of reference numerals in the attached figures]

[0061] 1. Motion control system; 10. Management device; 11. Detection unit; 12. Indication unit; 20_1~20_n. Autonomous mobile body; 30. Map database; 50. Network; 201. External sensor; 202. Marker; 203. Analysis unit; 204. Communication unit; 205. Self-position estimation unit; 206. Control unit; 207. Wheel drive unit; 208. Housing; 209. Wheel; 211. External sensor; 212. Marker; 213. Analysis unit; 214. Communication unit; 215. Self-position estimation unit; 216. Control unit; 217. Wheel drive unit; 221. External sensor; 222. Marker; 223. Analysis unit; 224. Communication unit; 225. Self-position estimation unit; 226. Control unit; 227. Wheel drive unit; A. Guided mobile body; B. Guided mobile body; C. Obstacle.

Claims

1. A mobile control system, comprising: The first autonomous mobile unit experienced a malfunction that made autonomous movement to its destination difficult; and The second autonomous mobile unit guides the first autonomous mobile unit to the destination. The first autonomous mobile body has: The first communication unit receives information related to the direction and distance of movement from the second autonomous mobile body; as well as The first motion control unit moves the first autonomous mobile body according to information received from the second autonomous mobile body regarding the direction and distance of movement. The second autonomous mobile body has: An external sensor, configured to detect the first autonomous moving body; The analysis unit determines the posture of the first autonomous mobile body and the distance to the first autonomous mobile body by analyzing the detection results of the external sensors, and calculates the movement direction and movement distance of the first autonomous mobile body based on the determination results; The second communication unit sends information related to the direction and distance of movement calculated by the analysis unit to the first autonomous mobile body. as well as The second motion control unit moves the second autonomous mobile body toward the destination while estimating its own position, and moves the second autonomous mobile body by periodically detecting the first autonomous mobile body through the external sensors.

2. The mobile control system according to claim 1, wherein, If the external sensor fails to detect the first autonomous mobile body before a predetermined time, the second movement control unit stops the movement of the second autonomous mobile body toward the destination until the external sensor detects the first autonomous mobile body.

3. The mobile control system according to claim 1, wherein, If the external sensor fails to detect the first autonomous moving body before a predetermined time, the second movement control unit causes the second autonomous moving body to rotate or turn back along the movement path until the external sensor detects the first autonomous moving body.

4. The mobile control system according to claim 1, wherein, The first autonomous mobile body also has a marker containing information related to the direction of movement, and is installed in a manner that allows it to be visually identified from the outside. In the second autonomous mobile body, the analysis unit obtains information related to the movement direction of the first autonomous mobile body from the marker detected by the external sensor.

5. The mobile control system according to claim 1, wherein, have: Multiple autonomous mobile entities, including the first autonomous mobile entity and the second autonomous mobile entity; and Management device, The management device has: The detection unit detects the first autonomous mobile body from the plurality of autonomous mobile bodies; as well as The instruction unit instructs the second autonomous mobile body, which is an autonomous mobile body different from the first autonomous mobile body, to guide the first autonomous mobile body.

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