Mobile control system

Abstract

To provide a technique for allowing a moving body to smoothly pass through an open-close body.SOLUTION: A system for controlling a moving body 1 comprises a route setting section (first route-setting section 24) that sets a route of a moving body 10 from a departure place to a destination, an acquisition section 22 that acquires information of a stopover area or point set before an open-close body located on the way of the route and information of a designated direction to pass through the open-close body at the stopover area or point, and a movement control section 28 that allows the moving body 10 to move based on the route and, if the moving body 10 arrives at a stopover-area inside or the stopover point, makes the moving body 10 temporarily stop in a state directed in the designated direction at the stopover-area inside or the stopover point.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a movement control system for autonomously moving a moving object.

Background Art

[0002] In recent years, the development of technologies for autonomously moving a moving object toward a target point has advanced. Patent Document 1 discloses a control system for a moving object that calculates a route from a starting position to a destination using information on obstacles included in map information. For example, using an algorithm called Global Dynamic Window Approach (Global DWA), a global path, which is an overall route plan, is obtained, and based on this, a local path, which is a local motion plan, is obtained.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When a moving object attempts to pass through a narrow path that can be temporarily passed through, such as an automatic door or an elevator door, while the door is closed, the moving object searches for a route, and thus moves along a route generated to avoid the closed door, and there is a possibility that it cannot pass when the door opens.

[0005] An object of the present invention is to provide a technology that enables a moving object to smoothly pass through an opening / closing body.

Means for Solving the Problems

[0006] To solve the above problems, a mobile body control system according to one aspect of the present invention includes a route setting unit that sets a route for a mobile body from a starting point to a destination, and information on a way area or way point set in front of an opening / closing body located along the route, and the way area Inside or the said waypoint The moving body that was temporarily stopped The system includes an acquisition unit that acquires information on a specified direction through which the opening / closing body can pass, and a movement control unit that moves the moving body based on the path, and when the moving body reaches the passage area or passage point, temporarily stops the moving body in the passage area or passage point facing the specified direction. [Effects of the Invention]

[0007] According to the present invention, a technology is available that allows a moving object to pass smoothly through an opening / closing object. [Brief explanation of the drawing]

[0008] [Figure 1] This diagram shows the functional configuration of the mobile control system according to the embodiment. [Figure 2] This figure shows an example of the movement of the moving object in Figure 1. [Figure 3] This figure, following Figure 2, shows an example of the movement of a mobile object. [Figure 4] This figure shows an example of the movement of a mobile object, following Figure 3. [Figure 5] This figure shows the situation where the door remains closed for longer than the waiting time, as shown in Figure 3. [Figure 6] This figure shows an example of the movement of the moving body in the first comparative example. [Figure 7] This figure, following Figure 6, shows an example of the movement of the moving body in the first comparative example. [Figure 8] This figure shows an example of the movement of the moving body in the second comparative example. [Figure 9] This figure, following Figure 8, shows an example of the movement of the moving body in the second comparative example. [Figure 10] This figure, following Figure 9, shows an example of the movement of the moving body in the second comparative example. [Figure 11]This figure, following Figure 10, shows an example of the movement of the moving body in the second comparative example. [Figure 12] This is a flowchart showing the processing of the moving object in Figure 1. [Figure 13] This figure shows an example of movement of the moving object in Figure 1 using a different control method. [Figure 14] This figure, following Figure 13, shows an example of the movement of a mobile object. [Figure 15] This figure shows an example of the movement of a mobile object, following Figure 14. [Figure 16] Figures 13 to 15 are flowcharts showing the processing of the moving objects. [Modes for carrying out the invention]

[0009] Figure 1 shows the functional configuration of a mobile control system 1 according to an embodiment. The mobile control system 1 comprises a mobile body 10 and a control device 80. The mobile body 10 autonomously moves from a starting point to a destination, such as within a building or between the outside and inside of a building. The mobile body 10 has wheels and travels on floors, roads, or the ground. The control device 80 is, for example, a personal computer or server and is configured to communicate with the mobile body 10 wirelessly or via wired communication. The control device 80 can transmit information such as the starting point and destination, and departure instructions to the mobile body 10.

[0010] Figure 2 shows an example of the movement of the mobile body 10 in Figure 1. Figure 2 shows an area including a wall 40, a passageway 42, and an elevator 44. It is assumed that the mobile body 10 moves along the passageway 42 separated by the wall 40 to destination D1 inside the elevator 44. The entrance to the elevator 44 is provided with an openable and closable door 46. The door 46 of the elevator 44 is an example of an openable and closable mechanism that can be temporarily opened to allow passage, and the openable and closable mechanism may be an automatic door, an authentication-type door, an automatic shutter, an authentication-type shutter, etc. In the state shown in Figure 2, the door 46 is closed, and there is a waiting time until the door 46 opens.

[0011] The mobile body 10 generates an overall route (not shown) from the departure point to the destination D1 based on the map information, and moves while periodically performing route search based on the generated overall route and the information of surrounding objects detected by its own detection unit 12, and periodically generates a local route. The local route is the route from the current sampling time to the next sampling time. If no obstacle such as a person is detected in the traveling direction of the mobile body 10 along the overall route, the local route may substantially coincide with a part of the overall route. When an obstacle is detected in the traveling direction of the mobile body 10 along the overall route, a local route is generated so as to avoid the obstacle.

[0012] In the example of FIG. 2, since the door 46 is detected as an object in the traveling direction of the mobile body 10 along the overall route to the destination D1, the mobile body 10 generates a plurality of local routes P1 to P3 so as to avoid the door 46. The mobile body 10 selects a local route that satisfies a predetermined criterion among the plurality of generated local routes P1 to P3. As the predetermined criterion, a known criterion can be adopted. For example, the straight-line distance from the position after movement to the destination D1 may be the shortest. The mobile body 10 selects the local route P2 with the shortest distance to the destination D1 and moves along the local route P2.

[0013] In front of the door 46, a passage area A1 is preset. In the passage area A1, a designated direction through which the door 46 can be passed is preset. The designated direction can also be called a designated posture.

[0014] FIG. 3 shows an example of the movement of the mobile body 10 following FIG. 2. When the mobile body 10 passes through the passage area A1 while moving toward the destination D1 along the local route P2, it temporarily stops while facing the designated direction d1 within the passage area A1. That is, the direction d2 of the stopped mobile body 10 coincides with the designated direction d1. The mobile body 10 continues to stop until no object is detected ahead.

[0015] The transit area A1 and the designated direction d1 are pre-set so that when the moving object 10 stops in transit area A1 facing the designated direction d1, it can pass through the open door 46.

[0016] The control system of the elevator 44 (not shown) may, for example, if a sensor (not shown) detects that the moving body 10 has arrived in front of the door 46, move the elevator car of the elevator 44 to the floor where the sensor is installed and open the door 46. Alternatively, when the moving body 10 arrives in front of the door 46, it may control an arm (not shown) provided on the moving body 10 to operate an operation button provided on the wall 40 near the door 46, and the control system of the elevator 44 may move the elevator car of the elevator 44 in response to the button operation.

[0017] Figure 4 shows an example of the movement of the mobile body 10 following Figure 3. In Figure 4, the elevator car 44 has arrived and the door 46 is open. When the door 46 is open and no object is detected ahead, the mobile body 10 resumes its movement toward destination D1. The mobile body 10 moves forward along a local path P4 that substantially coincides with a portion of the overall path. By simply moving straight from the stopping position, the mobile body 10 can smoothly pass through the narrow door 46 and reach destination D1. The mobile body 10 stops upon arrival at destination D1.

[0018] Furthermore, even after the elevator car 44 arrives and the doors 46 open, if there are people or other objects inside the elevator 44, the moving body 10 will continue to detect the presence of an object in front of it and will remain stationary. Once people move out of the elevator 44 and no objects are detected, the moving body 10 will move forward. By keeping the moving body 10 stationary, people who were inside the elevator 44 can safely exit.

[0019] When the mobile unit 10 reaches destination D1, the control device 80 may instruct the mobile unit 10 to go to the next destination. Upon receiving the instruction, the mobile unit 10 turns around in place and then begins moving toward the next destination on a predetermined floor.

[0020] Figure 5 shows a situation where the door 46 remains closed for longer than the waiting time in the state shown in Figure 3. If an object is detected in front of the mobile body 10 after a predetermined waiting time has elapsed since it paused, i.e., if the door 46 remains closed, the mobile body 10 will notify those around it of the presence of an obstacle using sound, a display, a lamp, etc. The mobile body 10 may also notify the elevator 44 or a control system such as an automatic door. This allows people and control systems around the mobile body to be informed that the door 46 will not open. For example, if the elevator 44's sensor does not correctly detect that the mobile body 10 has arrived in front of the door 46, or if the mobile body 10 mistakenly operates the control button on the wall 40 with its arm, the door 46 may not open even after the waiting time has elapsed. Even in such cases, the person or control system that receives the notification can call the elevator car of the elevator 44 to open the door 46, allowing the mobile body 10 to pass through the door 46 smoothly and move to the destination D1. In other words, it can also deal with abnormal situations. The waiting time can be determined as appropriate through experiments or simulations.

[0021] Here, the operation of the mobile body 10x in the first and second comparative examples will be described. The mobile body 10x differs from the embodiment in that it does not perform control in the transit area. The map information is assumed to be the same as that in Figure 2, etc.

[0022] Figure 6 shows an example of movement of the mobile body 10x in the first comparative example. During pathfinding while moving, a door 46 is detected in the direction of travel of the mobile body 10x along the overall path to destination D1. Therefore, the mobile body 10x generates multiple local paths to avoid the door 46. The mobile body 10x selects the local path P1x that is the shortest distance from its current position to destination D1 and moves along the local path P1x.

[0023] Figure 7 shows an example of the movement of the moving body 10x in the first comparative example, following Figure 6. Assume that the door 46 opens after the moving body 10x has moved to the position shown in Figure 7. As a result of moving along the local path P1x, the moving body 10x has moved in a direction and position that prevents it from passing through the door 46 even when it is open. Therefore, the moving body 10x cannot pass through the door 46.

[0024] In the first comparative example, if the timing of the door 46 opening is appropriate, it is possible that the moving body 10x can pass through the door 46. However, in this case, if there are people inside the elevator 44, the moving body 10x is expected to continue making small movements in order to generate a local path that avoids the people and moves towards the destination D1. Therefore, it becomes difficult for people inside the elevator 44 to decide when they should get out. In contrast, in the embodiment, as described above, the moving body 10 remains stationary, making it easier for people inside the elevator 44 to get out.

[0025] Figure 8 shows an example of the movement of the mobile body 10x in the second comparative example. In the second comparative example, unlike the first comparative example, if an obstacle is detected in the direction of travel of the mobile body 10x along the overall path, the path search continues while moving until a path that can reach the destination D1 is found. As shown in Figure 8, during the path search while moving, a door 46 is detected in the direction of travel of the mobile body 10x along the overall path to the destination D1, so the mobile body 10x moves along the local path P11.

[0026] Figure 9 shows an example of the movement of the moving body 10x in the second comparative example, following Figure 8. Assume that the door 46 opens at the position of the moving body 10x in Figure 9. The moving body 10x generates multiple local paths, but the two local paths shown by the dashed lines have sharp turns and cannot be moved along, so it moves along local path P12.

[0027] Figure 10 shows an example of the movement of the mobile body 10x in the second comparative example, following Figure 9. As a result of moving along the local path P12, the mobile body 10x is not facing the direction of the open door 46 and cannot move toward the open door 46, so it moves along the local path P13 shown by the solid line.

[0028] Figure 11 shows an example of the movement of the mobile body 10x in the second comparative example, following Figure 10. As a result of moving along the local path P13, the mobile body 10x becomes stuck near the wall 40 and cannot reach the destination D1.

[0029] In contrast to these first and second comparative examples, the embodiment allows for easy arrival at destination D1, as described above.

[0030] Returning to Figure 1, the configuration of the mobile unit 10 will be described. The mobile unit 10 comprises a detection unit 12, a processing unit 14, a storage unit 16, a drive unit 18, and an output unit 20.

[0031] The detection unit 12 includes sensors and periodically detects information about objects such as walls and pedestrians around the moving object 10, and outputs the detection results to the processing unit 14. The detection unit 12 measures the distance from the moving object 10 to the surrounding objects. The detection unit 12 may include, for example, a LiDAR (Laser Imaging Detection and Ranging) or a camera.

[0032] The memory unit 16 stores information on the departure point, destination, map information, information on the opening / closing device, information on the transit area set before the opening / closing device, and information on the designated directions in which the opening / closing device can pass through within the transit area. If there are multiple opening / closing devices, information on the transit area and designated directions for each opening / closing device is stored.

[0033] The departure point and destination are identified by coordinates on a map and transmitted from the control device 80. The departure point may be the current location of the mobile unit 10.

[0034] Map information can be created, for example, based on information about objects detected by the detection unit 12 in the area where the mobile body 10 is to move. For example, the operator may manually move the mobile body 10 via the control device 80 prior to autonomous movement, and the processing unit 14 may collect information detected by the detection unit 12 during movement and derive map information based on the collected information. Alternatively, if the location and dimensions of obstacles such as walls in the area where the mobile body 10 is to move are known in advance from drawing information, the control device 80 or the processing unit 14 may convert this into map information. Known technologies can be used to create map information.

[0035] Information about the opening / closing mechanism includes its position and dimensions and is identified by coordinates on a map. The operator can input information about the opening / closing mechanism into the control device 80. If the position and dimensions of the opening / closing mechanism are known in advance from drawing information, etc., the control device 80 or the processing unit 14 may convert this information into coordinates on a map. Furthermore, after the map has been created, if the detection unit 12 detects an obstacle not shown on the map while the mobile body 10 is moving autonomously, the processing unit 14 may identify the detected obstacle as an opening / closing mechanism.

[0036] The route area and specified direction information are identified by coordinates on a map. The route area and specified direction information may be input by the operator to the control device 80, or it may be automatically set by the control device 80 according to a predetermined algorithm.

[0037] The drive unit 18 rotates the wheels of the mobile body 10 and moves the mobile body 10 according to the control signal output from the processing unit 14. The drive unit 18 includes, for example, a servo motor for rotating the wheels.

[0038] The output unit 20 includes at least one of a display unit and a speaker, and outputs notification information around the mobile body 10 according to instructions from the processing unit 14. The output unit 20 may also output notification information wirelessly to a control system such as the control device 80 or the elevator 44.

[0039] The processing unit 14 comprises an acquisition unit 22, a first route setting unit 24, a second route setting unit 26, a movement control unit 28, and a notification unit 30. The configuration of the processing unit 14 can be realized in hardware terms using the CPU, memory, and other LSIs of any computer, and in software terms using programs loaded into memory, etc., but here we are describing the functional blocks realized by the cooperation of these. Therefore, it will be understood by those skilled in the art that these functional blocks can be realized in various ways using only hardware, only software, or a combination thereof.

[0040] The acquisition unit 22 acquires map information and information about the open / closed body from the storage unit 16 and supplies the acquired information to the first route setting unit 24 and the second route setting unit 26.

[0041] Prior to autonomous movement, the first route setting unit 24 sets the overall route of the mobile body 10 from the starting point to the destination based on map information, with the opening and closing parts removed from the map, and supplies the set route information to the acquisition unit 22 and the second route setting unit 26. The first route setting unit 24 may set the overall route that minimizes the travel distance while avoiding obstacles such as walls. The first route setting unit 24 can also be called a global planner.

[0042] The acquisition unit 22 acquires information from the storage unit 16 about the transit area set in front of the opening / closing body located along the overall route set by the first route setting unit 24, and information about the specified direction within that transit area, and supplies the acquired information to the second route setting unit 26.

[0043] The second route setting unit 26 periodically searches for a route while the mobile body 10 is moving autonomously, and based on the overall route, periodically sets a local route to avoid objects ahead detected by the detection unit 12, and periodically supplies information about the set route to the movement control unit 28. The second route setting unit 26 can also be called a local planner.

[0044] The second route setting unit 26 may, for example, multiply (1) the distance from the post-movement position to the overall route, (2) the distance from the post-movement position to the destination, and (3) the distance from the post-movement position to the obstacle by a predetermined weighting parameter, and determine the local route that minimizes the sum of the obtained values. As described above, if no obstacle is detected near the moving body 10, the local route may substantially overlap with a part of the overall route.

[0045] Publicly known techniques can be used to configure both global and local routes. Global DWA may be used for configuring local routes.

[0046] The movement control unit 28 controls the drive unit 18 to move the mobile body 10 along the local path set by the second path setting unit 26. This process is equivalent to the movement control unit 28 moving the mobile body 10 based on the overall path.

[0047] The second route setting unit 26 sets a local route so that when the mobile body 10 reaches the transit area, the mobile body 10 faces a specified direction within the transit area. If a predetermined reference position of the mobile body 10 is located within the transit area, the mobile body 10 is considered to be located within the transit area.

[0048] When the moving body 10 reaches the transit area, the movement control unit 28 moves the moving body 10 along the local path set by the second route setting unit 26, and temporarily stops the moving body 10 while it is facing the specified direction within the transit area.

[0049] If the movement control unit 28 temporarily stops the moving body 10 within the transit area, and the detection unit 12 does not detect an object in front of the moving body 10, the movement control unit 28 will move the moving body 10 forward based on the overall path.

[0050] If the detection unit 12 detects an object in front of the moving body 10 even after a predetermined waiting time has elapsed since the moving body 10 temporarily stopped within the transit area, the notification unit 30 notifies people in the vicinity via the output unit 20 that an obstacle is present.

[0051] Next, the overall operation of the mobile control system 1 will be described. Figure 12 is a flowchart showing the processing of the mobile body 10 in Figure 1. This processing begins when the control device 80 transmits departure and destination information and a departure instruction to the mobile body 10.

[0052] The acquisition unit 22 acquires map information and the position information of the opening / closing body from the storage unit 16 (S10). The first route setting unit 24 sets the overall route to the destination with the opening / closing body excluded from the map (S12). The acquisition unit 22 acquires information on the route area and specified direction from the storage unit 16 (S14). The movement control unit 28 moves the moving body 10 based on the overall route (S16). When the destination is reached (Y in S18), the movement control unit 28 stops the moving body 10 (S32) and terminates the process.

[0053] If the destination has not been reached (N in S18), or if the way area has not been reached (N in S20), the system returns to S16. If the way area has been reached (Y in S20), the movement control unit 28 temporarily stops the moving body 10 while it is facing the specified direction within the way area (S22). If there is no object in front (N in S24), the system returns to S16.

[0054] If there is an object ahead (Y in S24), and the waiting time has not elapsed since the pause (N in S26), the system returns to S24. If the waiting time has elapsed (Y in S26), the notification unit 30 notifies the surroundings (S28), and if there is an object ahead (Y in S30), the system returns to S28. If there is no object ahead (N in S30), the system returns to S16.

[0055] According to this embodiment, a transit area A1 and a designated direction d1 are set in front of an opening / closing body such as the door 46 of the elevator 44 or an automatic door, and the moving body 10 is temporarily stopped in transit area A1 facing the designated direction d1, so that when the opening / closing body opens, the moving body 10 can pass through the opening / closing body smoothly.

[0056] (Another control example) Next, we will describe another control method for the mobile unit 10. Hereafter, the control method described above will be referred to as the first control method, and the other control method will also be referred to as the second control method. The second control method differs from the first control method in that it uses waypoints instead of way areas. The following explanation will focus on the differences from the first control method.

[0057] Figure 13 shows an example of movement of the mobile body 10 in Figure 1 using a different control method. The mobile body 10 generates an overall route P20 from the starting point to the destination D1 based on map information, sets a waypoint p1 before the door 46 on the generated overall route P20, and sets a specified direction d21 at waypoint p1 that allows passage through the door 46.

[0058] Based on the generated overall path P20 and information about surrounding objects detected by the detection unit 12, the moving object 10 periodically performs pathfinding during movement and periodically generates local paths to waypoints p1.

[0059] In the example in Figure 13, since no object is detected in the direction of travel of the moving body 10 along the overall path P20 to waypoint p1, the moving body 10 generates and selects a local path P21 that substantially overlaps the overall path P20. The moving body 10 moves along the local path P21.

[0060] Figure 14 shows an example of the movement of the mobile body 10, following Figure 13. The mobile body 10 moves along a local path P21 and, upon reaching a waypoint p1, pauses at waypoint p1 facing the specified direction d21. That is, the orientation d22 of the stopped mobile body 10 coincides with the specified direction d21. Assume that the mobile body 10 can rotate in place.

[0061] Figure 15 shows an example of the movement of the mobile body 10 following Figure 14. In Figure 15, the elevator car 44 has arrived and the door 46 is open. If no object is detected ahead, the mobile body 10 resumes movement toward destination D1. The mobile body 10 moves forward along a local path P22 that substantially coincides with a portion of the overall path. This allows the mobile body 10 to smoothly pass through the narrow door 46 and reach destination D1. The mobile body 10 stops upon reaching destination D1.

[0062] The functions of each part of the mobile body 10 in the second control system will be explained. The acquisition unit 22 sets waypoints on the overall route before reaching an open / closed object located along the overall route set by the first route setting unit 24, sets a specified direction in which passage through the open / closed object at the set waypoint, and acquires the set information. The acquisition unit 22 outputs the acquired waypoint information and the specified direction information at the waypoint to the second route setting unit 26. If there are multiple open / closed objects before the destination, the acquisition unit 22 sets waypoints and specified directions for each open / closed object.

[0063] The second route setting unit 26 periodically searches for a route while the mobile body 10 is moving autonomously, and based on the overall route, periodically sets local routes to waypoints to avoid objects ahead detected by the detection unit 12, and periodically supplies the information of the set route to the movement control unit 28. When the mobile body 10 reaches a waypoint, if there are no further waypoints between that waypoint and the destination, the second route setting unit 26 periodically sets a local route to the destination.

[0064] When the moving body 10 reaches a waypoint, the movement control unit 28 rotates the moving body 10 and temporarily stops it at the waypoint while it is facing the specified direction.

[0065] Figure 16 is a flowchart showing the processing of the moving object 10 in Figures 13 to 15. This processing is an example where there is one waypoint to the destination.

[0066] The acquisition unit 22 acquires map information and the position information of the opening / closing body from the storage unit 16 (S40). The first route setting unit 24 sets the overall route to the destination with the opening / closing body removed from the map (S42). The acquisition unit 22 acquires information on waypoints and specified directions on the overall route (S44). The movement control unit 28 moves the moving body 10 toward the waypoints based on the overall route (S46).

[0067] If the waypoint has not been reached (N in S48), the process returns to S46. If the waypoint has been reached (Y in S48), the movement control unit 28 temporarily stops the moving body 10 while it is facing the specified direction at the waypoint (S50).

[0068] If there is no object in front (N in S52), the movement control unit 28 moves the moving body 10 toward the destination based on the overall path (S54). If the destination has not been reached (N in S56), the process returns to S54. If the destination has been reached (Y in S56), the movement control unit 28 stops the moving body 10 (S58) and terminates the process.

[0069] If there is an object ahead in S52 (Y in S52), and if the waiting time has not elapsed since the pause (N in S60), the system returns to S52. If the waiting time has elapsed (Y in S60), the notification unit 30 notifies the surroundings (S62), and if there is an object ahead (Y in S64), the system returns to S62. If there is no object ahead (N in S64), the system proceeds to S54.

[0070] The present invention has been described above based on embodiments. The embodiments are merely illustrative, and it will be understood by those skilled in the art that various modifications are possible in combinations of each component and each processing process, and that such modifications also fall within the scope of the present invention.

[0071] For example, the acquisition unit 22, first route setting unit 24, second route setting unit 26, movement control unit 28, and notification unit 30 of the embodiment may be provided by the control device 80 instead of the mobile body 10. In this case, the mobile body 10 includes a communication unit that communicates with the control device 80, transmits information detected by the detection unit 12 to the control device 80 via the communication unit, receives control information output from the movement control unit 28 of the control device 80 via the communication unit, and the drive unit 18 moves the mobile body 10 according to the received control information. This modified example improves the degree of freedom in the configuration of the mobile body control system 1. [Explanation of Symbols]

[0072] 1...Mobile object control system, 10...Mobile object, 12...Detection unit, 14...Processing unit, 16...Storage unit, 18...Drive unit, 20...Output unit, 22...Acquisition unit, 24...First route setting unit, 26...Second route setting unit, 28...Movement control unit, 30...Notification unit, 80...Control device.

Claims

1. A route setting unit that sets the route of a moving object from the departure point to the destination, An acquisition unit that acquires information on a way area or way point set in front of an opening / closing body located along the aforementioned path, and information on a specified direction in which the moving body, which has temporarily stopped within the way area or at the way point, can pass through the opening / closing body. A movement control unit moves the moving body based on the aforementioned path, and when the moving body reaches the aforementioned transit area or transit point, it temporarily stops the moving body in the transit area or transit point while facing the specified direction. A mobile control system characterized by comprising the following features.

2. The route setting unit is a first route setting unit that sets the overall route of the moving body from the departure point to the destination, The system further includes a second path setting unit that periodically searches for a path while the moving body is in motion and periodically sets a local path to avoid objects in front of the moving body detected by the detection unit, based on the overall path set by the first path setting unit. The movement control unit moves the moving body along the local path set by the second path setting unit. The second route setting unit sets the local route so that when the moving object reaches the transit area, the moving object faces the specified direction within the transit area. The mobile control system according to claim 1, characterized in that it is as described above.

3. The route setting unit is a first route setting unit that sets the overall route of the moving body from the departure point to the destination, The system further includes a second path setting unit that periodically searches for a path while the moving body is in motion and, based on the overall path set by the first path setting unit, periodically sets local paths to waypoints that avoid objects in front of the moving body detected by the detection unit. The movement control unit moves the moving body along the local path set by the second path setting unit. When the moving body reaches the waypoint, if there is no further waypoint between the waypoint and the destination, the second route setting unit periodically sets a local route to the destination based on the overall route set by the first route setting unit, so as to avoid any objects in front of the moving body detected by the detection unit. The mobile control system according to claim 1, characterized in that it is as described above.

4. If the moving body is temporarily stopped, and the detection unit does not detect an object in front of the moving body, the movement control unit will move the moving body forward based on the local path set by the second path setting unit. The mobile control system according to claim 2 or 3, characterized in that it is as follows:

5. The opening and closing mechanism includes an automatic door, an authentication door, an automatic shutter, or an authentication shutter. A mobile body control system according to any one of claims 1 to 3.

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