Movement Control System

Abstract

To provide a movement control system capable of guiding an autonomous moving body that has difficulty moving autonomously to a destination. [Solution] The mobility control system disclosed herein comprises a first autonomous mobile body that has broken down and a second autonomous mobile body that guides the first autonomous mobile body to a destination, wherein the first autonomous mobile body has a first communication unit that receives information regarding the direction of movement and the distance of movement from the second autonomous mobile body, and a first mobility control unit that moves the first autonomous mobile body in accordance with the information regarding the direction of movement and the distance of movement received from the second autonomous mobile body, and the second autonomous mobile body has an analysis unit that analyzes the detection results of an external sensor, a second communication unit that transmits information regarding the direction of movement and the distance of movement of the first autonomous mobile body calculated by the analysis unit to the first autonomous mobile body, and a second mobility control unit that moves the second autonomous mobile body toward the destination while estimating its own position and moves the second autonomous mobile body so as to have the external sensor periodically detect the first autonomous mobile body.

Description

[Technical Field]

[0001] The present disclosure relates to mobility control systems. [Background technology]

[0002] In recent years, there has been a demand for swiftly guiding an autonomous mobile body to a destination when it has become difficult to accurately estimate its own position due to a failure of an external sensor, etc. Related technology is disclosed in, for example, Patent Document 1.

[0003] In the rescue robot system disclosed in Patent Document 1, when a management server receives a rescue notification from an autonomous mobile robot, it instructs subordinate robots to provide rescue, and the rescue robot that receives the rescue instruction searches for the robot to be rescued, calculates the position of the robot to be rescued, and notifies the robot to be rescued of the calculated position information, thereby recovering the self-position estimation of the robot to be rescued. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-3240 Summary of the Invention [Problem to be solved by the invention]

[0005] The system disclosed in Patent Document 1 is based on the premise that the rescued robot can continue to move autonomously using external sensors after acquiring information on its own position from the rescuing robot. Therefore, the system disclosed in Patent Document 1 has a problem in that it cannot move an autonomous moving body that has difficulty moving autonomously accurately due to a failure of the external sensors, etc., to its destination.

[0006] The present disclosure has been made in consideration of the above background, and aims to provide a movement control system that can guide an autonomous moving body that has difficulty moving autonomously to a destination. [Means for solving the problem]

[0007] A mobility control system according to the present disclosure is a mobility control system including a first autonomous mobile body that has developed a failure that makes it difficult for the first autonomous mobile body to move autonomously to a destination, and a second autonomous mobile body that guides the first autonomous mobile body to the destination, wherein the first autonomous mobile body has a first communication unit that receives information regarding a movement direction and a movement distance from the second autonomous mobile body, and a first movement control unit that moves the first autonomous mobile body in accordance with the information regarding the movement direction and the movement distance received from the second autonomous mobile body, and the second autonomous mobile body has an external sensor configured to be able to detect the first autonomous mobile body, an analysis unit that identifies the attitude 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 movement direction and the movement distance of the first autonomous mobile body from the identification results, a second communication unit that transmits information regarding the movement direction and the movement distance calculated by the analysis unit to the first autonomous mobile body, and a second movement control unit that moves the second autonomous mobile body toward the destination while estimating its own position and moves the second autonomous mobile body so that the external sensor periodically detects the first autonomous mobile body. The mobility control system according to the present disclosure can guide an autonomous mobile body (guided mobile body) that has difficulty moving autonomously accurately due to an abnormality in an external sensor or the like to a destination by using another autonomous mobile body (guiding mobile body). Furthermore, in the mobility control system according to the present disclosure, if the guiding mobile body cannot find the guided mobile body due to the presence of an obstacle, it stops guiding the guided mobile body to the destination until it finds the guided mobile body, thereby preventing the guided mobile body from coming into contact with the obstacle. [Effects of the Invention]

[0008] The present disclosure makes it possible to provide a mobility control system that can guide an autonomous moving body that has difficulty moving autonomously to a destination. [Brief explanation of the drawings]

[0009] [Figure 1]FIG. 1 is a diagram illustrating a configuration example of a mobility control system according to a first embodiment. [Figure 2] 1 is a block diagram showing a configuration example of an autonomous moving body provided in a movement control system according to a first embodiment. [Figure 3] 1 is a schematic perspective view showing the appearance of an autonomous moving body provided in a movement control system according to a first embodiment. [Figure 4] 2 is a block diagram showing an example of the configuration of an autonomous moving body to be guided and an autonomous moving body that performs guidance, among a plurality of autonomous moving bodies provided in the movement control system according to the first embodiment. FIG. [Figure 5] 3 is a flowchart showing the operation of the mobility control system according to the first embodiment. [Figure 6] FIG. 2 is a diagram for explaining the operation of the mobility control system according to the first embodiment. [Figure 7] FIG. 2 is a diagram for explaining the operation of the mobility control system according to the first embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] The present invention will be described below through embodiments of the invention, but the invention according to the claims is not limited to the following embodiments. Furthermore, not all of the configurations described in the embodiments are necessarily essential means for solving the problems. For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are given the same reference numerals, and duplicate explanations are omitted as necessary.

[0011] <First Embodiment> FIG. 1 is a diagram illustrating a configuration example of a mobility control system 1 according to a first embodiment. The mobility control system 1 according to this embodiment is a system that manages a plurality of autonomous mobile bodies arranged in a predetermined work area. Here, the mobility control system 1 according to this embodiment detects, from the plurality of autonomous mobile bodies, an autonomous mobile body that is having difficulty moving autonomously accurately due to an abnormality in an external sensor or the like, and can have the detected autonomous mobile body quickly guided to a destination by another autonomous mobile body. This will be explained in detail below.

[0012] 1, the mobility control system 1 includes a management device 10, autonomous mobile bodies 20_1 to 20_n (n is an integer equal to or greater than 2), a map database (map DB) 30 storing map information of a predetermined work area, and a network 50. The management device 10, the autonomous mobile bodies 20_1 to 20_n, and the map database 30 are configured to be able to communicate with each other via the wired or wireless network 50. Hereinafter, any of the autonomous mobile bodies 20_1 to 20_n will also be simply referred to as the autonomous mobile body 20.

[0013] The autonomous moving bodies 20_1 to 20_n are mobile robots that move autonomously while estimating their own positions in a predetermined work area. However, the autonomous moving bodies 20_1 to 20_n are not limited to autonomously movable mobile robots, and may be autonomously movable vehicles, etc. Autonomously movable vehicles include commercial vehicles, passenger cars, construction machines, etc.

[0014] The management device 10 is also called a management server, and manages the autonomous mobile bodies 20_1 to 20_n arranged in a predetermined work area. For example, the management device 10 instructs each of the autonomous mobile bodies 20_1 to 20_n on work content. As a result, the autonomous mobile bodies 20_1 to 20_n operate in accordance with the work content instructed by the management device 10. For example, the autonomous mobile bodies 20_1 to 20_n move from their current locations to their destinations in accordance with the work content instructed by the management device 10.

[0015] Furthermore, the management device 10 detects, among the autonomous moving bodies 20_1 to 20_n, an autonomous moving body that has difficulty moving autonomously accurately due to an abnormality in an external sensor or the like, as a guided moving body A (first autonomous moving body), and selects, among the autonomous moving bodies 20_1 to 20_n, an autonomous moving body other than the guided moving body A as a guiding moving body B (second autonomous moving body) that will guide the guided moving body A.

[0016] Specifically, the management device 10 includes a detection unit 11 and an instruction unit 12. The detection unit 11 detects, among the autonomous moving bodies 20_1 to 20_n, an autonomous moving body that has difficulty moving autonomously accurately due to an abnormality in an external sensor or the like, as a guided moving body A. For example, the detection unit 11 may detect, as the guided moving body A, an autonomous moving body 20 that moves autonomously differently from an instruction, or, when the detection unit 11 receives a notification from an autonomous moving body 20 that an abnormality has occurred in an external sensor or the like, may detect the autonomous moving body 20 that has sent the notification as the guided moving body A. The instruction unit 12 selects, from among the autonomous moving bodies 20_1 to 20_n, an autonomous moving body other than the guided moving body A, a guiding moving body B that will guide the guided moving body A, and instructs the selected guiding moving body B to guide the guided moving body A to a destination such as an emergency evacuation area. The instruction unit 12 may give priority to instructing the autonomous moving body 20 located near the guided moving body A to guide, or may give priority to instructing the autonomous moving body 20 for which no work content has been instructed to guide. Details of the method for guiding the guided moving body A by the guiding moving body B will be described later.

[0017] (Configuration of the autonomous moving body 20) 2 is a block diagram showing an example configuration of the autonomous moving body 20. As shown in FIG. 2, the autonomous moving body 20 includes an external sensor 201, a marker 202, an analysis unit 203, a communication unit 204, a self-position estimation unit 205, a control unit 206, and a wheel drive unit 207.

[0018] The external sensor 201 is, for example, a camera, a LiDAR (Light Detection And Ranging), or the like, and detects the surrounding environment (surrounding objects, etc.) of the autonomous mobile body 20. The external sensor 201 is also configured to be able to detect a marker 202 attached to another autonomous mobile body 20. The marker 202 is, for example, an AR marker, and is attached so as to be visible from outside the autonomous mobile body 20. Here, the marker 202 includes information regarding the moving direction, such as moving straight (forward) or rotating.

[0019] 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 an image captured by the camera. In this case, OpenCV or the like is used for the image analysis. For example, the analysis unit 203 identifies obstacles around the autonomous moving body 20 and their positions by analyzing the detection results of the external sensor 201. Furthermore, the analysis unit 203 analyzes the detection results of the external sensor 201 to identify the attitude (direction) of another autonomous moving body 20 that has difficulty moving autonomously due to a malfunction and the distance to the other autonomous moving body 20. Then, the analysis unit 203 calculates the movement direction and movement distance of the other autonomous moving body 20 from the identified results. Note that, when the analysis unit 203 identifies a marker 202 attached to another autonomous moving body 20 by analyzing the detection results of the external sensor 201, it extracts information related to the movement direction included in the identified marker 202. In the following, an example will be described in which the analysis unit 203 extracts information about the movement direction from the markers 202 attached to other autonomous moving bodies 20. Note that the autonomous moving body 20 may be equipped with an external sensor such as a camera for reading information about the markers 202 of other autonomous moving bodies 20, in addition to the external sensor 201 that detects the surrounding environment for autonomous movement.

[0020] The communication unit 204 communicates with other autonomous moving bodies 20, the management device 10, and the map database 30 via the network 50. For example, the communication unit 204 transmits information relating to the moving direction and moving distance calculated by the analysis unit 203 to another autonomous moving body 20 to which the marker 202 is attached. Alternatively, the communication unit 204 receives information relating to the moving direction and moving distance transmitted from another autonomous moving body 20. Handling of the information relating to the moving direction and moving distance will be described later.

[0021] The self-position estimation unit 205 compares the detection result (surrounding environment) by the external sensor 201 with the map information stored in the map database 30 to estimate the self-position.

[0022] The control unit 206 controls the operation of the autonomous moving body 20 in accordance with instructions from the management device 10. For example, the control unit 206 drives the wheels with the wheel driving unit 207 while estimating its own position with the self-position estimation unit 205 in accordance with instructions from the management device 10, thereby moving the autonomous moving body 20 from its current location to its destination.

[0023] Furthermore, when the autonomous moving body 20 is a guided moving body A, the control unit 206 moves the autonomous moving body 20 in accordance with information on the moving direction and moving distance received from another autonomous moving body 20 that is a guiding moving body B. Furthermore, when the autonomous moving body 20 is a guiding moving body B, the control unit 206 moves the autonomous moving body 20 (own device) toward the destination while estimating its own position, and moves the autonomous moving body 20 (own device) so that the external sensor 201 periodically detects the other autonomous moving body 20 (including the marker 202) that is a guided moving body A.

[0024] Fig. 3 is a schematic perspective view showing the appearance of the autonomous mobile body 20. In the example of Fig. 3, the marker 202 is composed of markers 202a to 202d. Specifically, in the autonomous mobile body 20, marker 202a is attached to the front surface of a rectangular parallelepiped housing 208, marker 202b is attached to the right side of the housing 208, marker 202c is attached to the left side of the housing 208, and marker 202d is attached to the rear surface of the housing 208. Wheels 209 are provided on the underside of the housing 208. Furthermore, in the example of Fig. 3, a camera serving as the external sensor 201 is attached to the front surface of the housing 208.

[0025] Here, marker 202a attached to the front of housing 208 contains information instructing to move forward. Marker 202b attached to the right side of housing 208 contains information instructing to rotate to the right (clockwise) by a predetermined angle. Marker 202c attached to the left side of housing 208 contains information instructing to rotate to the left (counterclockwise) by a predetermined angle. Marker 202d attached to the rear of housing 208 contains information instructing to rotate to the right by a predetermined angle. However, the rotation direction included in markers 202b to 202d may be either a right rotation or a left rotation.

[0026] (Operation of the mobility control system 1) Next, a description will be given of the operation of the mobility control system 1. In the following, a case will be described as an example in which the autonomous mobile body 20_1 is detected as the guided mobile body A and the autonomous mobile body 20_2 is selected as the guiding mobile body B, but the present invention is not limited to this, and an autonomous mobile body 20 other than the autonomous mobile body 20_1 may be detected as the guided mobile body A, or an autonomous mobile body 20 other than the autonomous mobile body 20_2 may be selected as the guiding mobile body B.

[0027] 4 is a block diagram showing an example of the configuration of each of the guided mobile object A and the guiding mobile object B. As shown in FIG. 4, the guided mobile object A includes an external sensor 211, a marker 212, an analysis 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, the marker 212, the analysis unit 213, the communication unit 214, the self-position estimation unit 215, the control unit 216, and the wheel drive unit 217 correspond to the external sensor 201, the marker 202, the analysis unit 203, the communication unit 204, the self-position estimation unit 205, the control unit 206, and the wheel drive unit 207, respectively. The guiding mobile object B includes an external sensor 221, a marker 222, an analysis unit 223, a communication unit 224, a self-position estimation unit 225, a control unit 226, and a wheel drive unit 227. The external sensor 221, the marker 222, the analysis unit 223, the communication unit 224, the self-position estimation unit 225, the control unit 226, and the wheel drive unit 227 correspond to the external sensor 201, the marker 202, the analysis unit 203, the communication unit 204, the self-position estimation unit 205, the control unit 206, and the wheel drive unit 207, respectively. Here, it is assumed that the guided moving object A has difficulty moving autonomously because the external sensor 211 has failed.

[0028] Fig. 5 is a flowchart showing the operation of the mobility control system 1. Fig. 6 and Fig. 7 are diagrams for explaining the operation of the mobility control system 1. In Fig. 5, dotted arrows indicate the exchange of information between the guided mobile object A, the guiding mobile object B, and the management device 10.

[0029] First, an abnormality occurs in the external sensor 211 of the autonomous moving body 20_1 among the plurality of autonomous moving bodies 20_1 to 20_n (step S101). This makes it difficult for the autonomous moving body 20_1 to move autonomously accurately. Therefore, the autonomous moving body 20_1 waits without moving autonomously (step S102).

[0030] When the management device 10 detects the autonomous mobile body 20_1 having an abnormality in the external sensor 211 as the guided mobile body A (step S301), it selects, for example, the autonomous mobile body 20_2 located near the autonomous mobile body 20_1 among the autonomous mobile bodies 20_2 to 20_n, as a guiding mobile body B that will guide the guiding 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 evacuation area (step S303). At this time, the management device 10 also acquires position information of the guided mobile body A and transmits the acquired position information of the guided mobile body A to the guiding mobile body B.

[0031] When the management device 10 receives a notification from the autonomous moving body 20_1 that there is an abnormality in the external sensor 211, the management device 10 may detect the autonomous moving body 20_1 that has made the notification as the guided moving body A. Alternatively, the management device 10 may detect the autonomous moving body 20_1 that performs autonomous movement different from the instruction as the guided moving body A.

[0032] When the guiding mobile object B receives a guidance instruction (step S201), it searches for the guided mobile object A while moving autonomously (step S202, see FIG. 6(a)).

[0033] For example, if the guiding mobile body B cannot find the guided mobile body A, it continues searching for the guided mobile body A, for example, by rotating (NO in step S203 → step S202). Then, when the guiding mobile body B finds the guided mobile body A (YES in step S203, see FIG. 6(b)), it identifies the posture (orientation) of the guided mobile body A and the distance to the guided mobile body A, and acquires information about the moving direction and moving distance from the identification result (step S204). Note that the information about the moving direction is extracted from information included in the marker 212. The information about the moving direction included in the marker 212 may be represented by a number such as 1 to 4. In this case, for example, "1" represents going straight, "2" represents a right turn (clockwise), and "3" and "4" represent a left turn (counterclockwise). Then, the guiding mobile body B transmits the acquired information about the moving direction and moving distance to the guided mobile body A (step S205).

[0034] When the guided moving body A receives information regarding the direction of movement and distance of movement transmitted from the guiding moving body B (step S103), it moves straight or rotates a predetermined angle according to the received information regarding the direction of movement and distance of movement, and then waits (step S104 → step S105, see (c) of Figure 6).

[0035] Here, if the distance between moving bodies A and B exceeds the threshold even after guided moving body A has moved the specified moving distance (NO in step S206), the guiding moving body B again acquires information about the moving direction and moving distance and transmits it to guided moving body A (step S204 → step S205). Then, guided moving body A again moves straight or turns a predetermined angle according to the information about the moving direction and moving distance received from guiding moving body B, and then waits (YES in step S106 → step S103 → step S104 → step S105). These processes are repeated until the distance between moving bodies A and B is within the threshold.

[0036] For example, when guided mobile body A receives from guiding mobile body B information instructing it to move straight, which is read from a marker 212 attached to the front of guided mobile body A, it moves straight. In other words, guided mobile body A approaches guiding mobile body B. Also, when guided mobile body A receives from guiding mobile body B information instructing it to rotate, which is read from a marker 212 attached to a part other than the front of guided mobile body A, it rotates by a predetermined angle (e.g., 0.25 rad) around the vertical direction as the axis of rotation. In other words, guided mobile body A faces its front toward guiding mobile body B by the predetermined angle. This makes the front of guided mobile body A more easily visible to guiding mobile body B. By repeating this operation, guided mobile body A approaches guiding mobile body B to within the threshold range and faces its front toward guiding mobile body B.

[0037] Then, when the guided mobile object A moves the specified distance and the distance between the mobile objects A and B becomes within the threshold value (YES in step S206), the guiding mobile object B determines that the guided mobile object A is sufficiently close to the guiding mobile object B and starts moving toward the destination FP (step S207, see (d) of FIG. 6). During this time, the guided mobile object A waits (step S105).

[0038] After the guiding mobile body B starts moving toward the destination FP (step S207), if the guided mobile body A has not arrived at the destination FP (step S209: NO) after a predetermined time has elapsed (step S208), the guiding mobile body B searches for the guided mobile body A being guided (step S202). Specifically, the guiding mobile body B rotates to point the external sensor 221 toward the guided mobile body A being guided (see (e) of FIG. 6). Then, when the guiding mobile body B finds the guided mobile body A (step S203: YES), it repeatedly obtains and transmits information about the moving direction and moving distance to the guided mobile body A until the distance between the mobile bodies A and B becomes within a threshold (step S204 → step S205 → step S206: NO). At this time, the guided mobile object A repeats moving in accordance with the information regarding the moving direction and moving distance received from the guiding mobile object B (YES in steps S103 → S104 → S105 → S106, see (f) of FIG. 6). Then, when the distance between the mobile objects A and B becomes within the threshold (YES in step S206), the guiding mobile object B determines that the guided mobile object A is sufficiently close to the guiding mobile object B, and starts moving toward the destination FP (step S207). During this time, the guided mobile object A waits (step S105). These processes are repeated until the guided mobile object A arrives at the destination FP.

[0039] Then, when the guiding mobile object A arrives at the destination FP (YES in step S209), the guiding mobile object B detects that the guided mobile object A has arrived at the destination FP and notifies the guided mobile object A of the end of the process (step S210). The guided mobile object A receives the end of the process from the guiding mobile object B (NO in step S106 → step S107). Thereafter, the mobile objects A and B end the process (see (g) of FIG. 6).

[0040] Here, if the guiding mobile body B cannot find the guided mobile body A due to the presence of an obstacle C (NO in step S203, see FIG. 7(a)), it temporarily stops moving toward the destination FP and searches for the guided mobile body A by turning around or retracing its movement route (step S202, see FIG. 7(b)). At this time, the guided mobile body A does not move because it does not receive information about the movement direction and movement distance from the guiding mobile body B. Therefore, the guided mobile body A does not come into contact with the obstacle C. Then, when the guiding mobile body B finds the guided mobile body A (YES in step S203), it acquires information about the movement direction and movement information and transmits it to the guided mobile body A (step S204 → step S205). The guided mobile body A moves according to the information about the movement direction and movement distance received from the guiding mobile body B (step S103 → step S104, see FIG. 7(c)). The subsequent processing is as already described.

[0041] In this way, the mobility control system 1 according to the present disclosure can quickly guide an autonomous mobile body (guided mobile body A) that has difficulty moving autonomously accurately due to an abnormality in an external sensor or the like to a destination using another autonomous mobile body (guiding mobile body B). Furthermore, in the mobility control system 1 according to the present disclosure, if the guiding mobile body B cannot find the guided mobile body A due to the presence of an obstacle C, the guiding mobile body B stops guiding the guided mobile body A to the destination until it finds the guided mobile body A, thereby preventing the guided mobile body A from coming into contact with the obstacle.

[0042] In the present disclosure, an example has been described in which each autonomous moving body 20 is equipped with a marker 202, but the present disclosure is not limited to this. In each autonomous moving body 20, as long as the analysis unit 203 is configured to identify the attitude (orientation) and distance of another autonomous moving body 20 by analyzing the detection results of the external sensor 201, and to calculate the moving direction and moving distance of the other autonomous moving body 20 from the identification results, each autonomous moving body 20 does not need to be equipped with a marker 202.

[0043] The present disclosure can be realized by causing a CPU (Central Processing Unit) to execute a computer program to perform part or all of the processing of the management device 10 and each of the autonomous moving bodies 20_1 to 20_n.

[0044] The above-described program includes a set of instructions (or software code) that, when loaded into a computer, causes the computer to perform one or more functions described in the embodiments. The program may be stored in 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 random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drives (SSD) or other memory technologies, CD-ROMs, digital versatile discs (DVDs), Blu-ray discs or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices. The program may also be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0045] Although the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present disclosure within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate. [Explanation of symbols]

[0046] 1. Movement control system 10 Management device 11 Detection unit 12 Instruction part 20_1~20_n Autonomous Mobile Vehicles 30 Map Database 50 Network 201 External Sensor 202 Marker 203 Analysis Department 204 Communications Department 205 Self-position estimation section 206 Control Unit 207 Wheel drive unit 208 Case 209 Wheels 211 External Sensor 212 Marker 213 Analysis Department 214 Communications Department 215 Self-position estimation part 216 Control Unit 217 Wheel drive unit 221 External Sensor 222 Marker 223 Analysis Department 224 Communications Department 225 Self-position estimation part 226 Control Unit 227 Wheel drive unit A Guided moving object B Guided moving body C Obstacle

Claims

1. a first autonomous moving body in which a failure has occurred that makes it difficult for the first autonomous moving body to move autonomously to the destination; a second autonomous moving body that guides the first autonomous moving body to the destination; A movement control system comprising: The first autonomous moving body is a first communication unit that receives information regarding a moving direction and a moving distance from the second autonomous moving body; a first movement control unit that moves the first autonomous moving body in accordance with information regarding a movement direction and a movement distance received from the second autonomous moving body; and The second autonomous moving body an external sensor configured to be able to detect the first autonomous moving body; an analysis unit that identifies the attitude of the first autonomous moving body and the distance to the first autonomous moving body by analyzing the detection results of the external sensor, and calculates the moving direction and moving distance of the first autonomous moving body from the identification results; a second communication unit that transmits information about the moving direction and moving distance calculated by the analysis unit to the first autonomous moving object; a second movement control unit that moves the second autonomous moving body toward a destination while estimating its own position, and moves the second autonomous moving body so that the external sensor periodically detects the first autonomous moving body; A movement control system comprising:

2. when the external sensor fails to detect the first autonomous moving body by a predetermined time, the second movement control unit stops movement of the second autonomous moving body to the destination until the external sensor detects the first autonomous moving body; The movement control system of claim 1 .

3. When the external sensor fails to detect the first autonomous moving body by a predetermined time, the second movement control unit causes the second autonomous moving body to rotate or retrace its movement path until the external sensor detects the first autonomous moving body. The movement control system of claim 1 .

4. The first autonomous moving body is a marker including information about the direction of movement and attached so as to be visible from the outside; In the second autonomous moving body, the analysis unit acquires information regarding the moving direction of the first autonomous moving body from the marker detected by the external sensor. The movement control system of claim 1 .

5. a plurality of autonomous moving bodies including the first and second autonomous moving bodies; A management device; 10. The movement control system of claim 1, comprising: The management device a detection unit that detects the first autonomous moving body from the plurality of autonomous moving bodies; an instruction unit that instructs the second autonomous moving body, which is an autonomous moving body different from the first autonomous moving body, among the plurality of autonomous moving bodies, to guide the first autonomous moving body; A movement control system comprising:

Images