System, assembly device, and moving object

Abstract

Provided is a technique suitable for stopping assembly of a moving body. The system is provided with: a control command unit that transmits a first control command for stopping a moving body at a first position to the moving body traveling by unmanned driving; and a determination unit that determines whether or not a first stop position at which the moving body is stopped in accordance with the first control command is a work position at which the component is to be assembled, and that, when the determination unit determines that the first stop position is not the work position, determines that the component is to be assembled. The control command unit transmits, to the moving body, a second control command for moving the moving body to a second position at which the component is to be assembled.

Description

Technical Field

[0001] The present disclosure relates to a system, an assembly device, and a moving object. Background Art

[0002] Patent Document 1 describes a method of operating a vehicle traveling within a manufacturing system by remote control. Prior art literature Patent Literature

[0003] Patent Document 1: Japanese Patent Application No. 2017-538619 Summary of the Invention Problems to be solved by the invention

[0004] In vehicle manufacturing, as a method for producing vehicles by assembling parts onto unfinished vehicles capable of unmanned driving, one approach is to stop a moving vehicle at a stop position for assembly. This method can result in the vehicle stopping at a position offset from the stop position. In such cases, proper assembly may not be possible. This issue applies not only to vehicles but also to mobile objects. Technical means to solve problems

[0005] The present disclosure can be implemented in the following forms.

[0006] (1) According to a first embodiment of the present disclosure, a system is provided. The system comprises: a control command unit that sends a first control command to a mobile body that is traveling unmanned, causing the mobile body to stop at a first position where components are to be assembled; and a judgment unit that judges whether the first stop position where the mobile body stops in accordance with the first control command is a suitable working position for assembling the components. If the judgment unit judges that the first stop position is not the working position, the control command unit sends a second control command to the mobile body, causing the mobile body to move to a second position where components are to be assembled. According to this embodiment, even if the mobile body stops at a position that is not a suitable working position for assembling components, the control command unit can move the mobile body to the second position, thereby assembling components at the second position. (2) In the system of the above embodiment, the system may include: a control device having the control instruction unit; and an assembly device having the determination unit and assembling the components. According to this embodiment, the assembly device can determine whether the position where the movable body is stopped is the working position, and the control device can send the second control instruction to the movable body. (3) In the system of the above embodiment, the assembly device may further include a transmitting unit that transmits first information indicating that the first stop position is not the working position to the control device when the determining unit determines that the first stop position is not the working position, and the control device may further include a receiving unit that receives the first information, and the control instruction unit may transmit the second control instruction when the receiving unit receives the first information. According to this embodiment, the control device can transmit the second control instruction when the assembly device transmits the first information. (4) In the system of the above embodiment, the first information may include second information related to a positional deviation between the first stop position and the working position. According to this embodiment, the assembly device can transmit information related to the positional deviation to the control device. This allows the movable body to be moved to a position suitable for assembling the components. (5) In the system according to the above aspect, the control device may further include a control instruction generator that uses the second information to generate the second control instruction including at least one of path information indicating a path to the second location and control amount information for remote control to the second location. According to this aspect, the second control instruction including either the path information or the control amount information generated by the control instruction generator can be generated. (6) In the system of the above embodiment, the system may further include an assembly device for assembling the components, wherein the assembly device assembles the components on the movable body that moves in accordance with the second control command. According to this embodiment, the assembly device can assemble the components on the movable body that stops in accordance with the second control command. (7) In addition to the system of the above embodiment, the system may further include an assembly device for assembling the components, and when the determination unit determines that the first stop position is the working position, the assembly device assembles the components on the movable body stopped at the first stop position. According to this embodiment, the assembly device can assemble the components on the movable body stopped at the movable body stop position. (8) In the system of the above embodiment, when the determination unit determines that the first stop position is not the working position, at least one of a deceleration command and a stop command may be sent to the moving body following the moving body stopped at the first stop position. According to this embodiment, the distance between the moving body stopped at the moving body stop position and the moving body following the moving body can be appropriately maintained. (9) In the system of the above-described embodiment, the judgment unit may judge whether the second stop position where the movable body stops according to the second control command is the working position, and if the judgment unit judges that the second stop position is not the working position, the control command unit performs at least one of a process of sending a first command to continue stopping at the second stop position, a process of sending a second command to the movable body following the movable body stopped at the second stop position to decelerate or stop the movable body, and a process of sending an abnormality signal to a reporting unit for reporting an abnormality. According to this embodiment, if the second stop position is not the working position, that is, if the movable body stopped at the second stop position cannot be properly assembled, any one of the process of sending the first command, the process of sending the second command, and the process of sending can be performed. (10) According to the second embodiment of the present disclosure, an assembly device is provided that assembles components to a mobile body. The assembly device includes: a transmitter for communicating with a control device that remotely controls the mobile body and at least one of the mobile body; a position detection unit that detects a stop position of the mobile body; and a judgment unit that judges whether the stop position is a suitable working position for assembling the components. When the judgment unit judges that the stop position is not the working position, the transmitter sends information related to the positional deviation between the stop position and the working position to the control device and at least one of the mobile body. According to this embodiment, it is possible to provide an assembly device that sends information related to the positional deviation between the stop position and the working position when it is judged that the position of the stopped mobile body is not a suitable working position for assembly. (11) According to a third aspect of the present disclosure, a mobile body is provided. The mobile body includes: an acquisition unit that acquires information related to a positional deviation between a stop position of the mobile body and a suitable work position for assembling components onto the mobile body; a mobile body generation unit that uses the acquired information to generate control information for stopping at the work position; and a control unit that uses the control information to control an actuator for moving the mobile body. According to this aspect, a mobile body can be provided that moves to a work position suitable for assembly when the position of the stopped mobile body is not a work position suitable for assembly. The present disclosure can be implemented in various forms other than the above-described forms, such as an assembly method, a program for the assembly method, and a non-transitory tangible recording medium having the assembly program recorded in a computer-readable manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is a conceptual diagram showing the system configuration. Figure 2 This is a diagram explaining the stop assembly. Figure 3 It is a block diagram showing the system configuration. Figure 4 This is a block diagram showing the configuration of an assembly robot. Figure 5 This is a flowchart showing the processing flow of vehicle travel control. Figure 6 This is a first flowchart showing the flow of stop assembly control. Figure 7 This is a second flowchart showing the flow of stop assembly control. Figure 8 It is an explanatory diagram showing a schematic configuration of a system according to the second embodiment. Figure 9 This is a flowchart showing the processing flow of the vehicle travel control according to the second embodiment. DETAILED DESCRIPTION

[0008] A. First embodiment: Figure 1 1 is a conceptual diagram showing the configuration of a system 50 in the first embodiment. The system 50 includes one or more vehicles 100 as mobile bodies, a server 200 , one or more external sensors 300 , and an assembly robot 400 .

[0009] In the present disclosure, a "mobile body" means an object that can move, such as a vehicle or an electric vertical take-off and landing aircraft (a so-called flying car). A vehicle can be a vehicle that moves on wheels or a vehicle that moves on tracks, such as a passenger car, a truck, a bus, a two-wheeled vehicle, a four-wheeled vehicle, a tank, an engineering vehicle, etc. Vehicles include electric vehicles (BEV: Battery Electric Vehicle), gasoline vehicles, hybrid vehicles, and fuel cell vehicles. When the mobile body is other than a vehicle, the expressions "vehicle" and "car" in the present disclosure can be appropriately replaced with "mobile body", and the expression "travel" can be appropriately replaced with "move".

[0010] The vehicle 100 is configured to be able to travel by unmanned driving. "Unmanned driving" means driving that does not rely on the driving operation of the passengers. Driving operation means an operation related to at least one of "driving", "steering" and "stopping" of the vehicle 100. Unmanned driving is achieved by automatic or manual remote control using a device located outside the vehicle 100, or autonomous control of the vehicle 100. In the vehicle 100 that travels by unmanned driving, there may also be passengers who do not perform driving operations. Passengers who do not perform driving operations include, for example, people who only sit on the seats of the vehicle 100, and people who perform operations other than driving operations such as assembly, inspection, and switch operations while riding in the vehicle 100. In addition, driving based on the driving operations of passengers is sometimes referred to as "manned driving".

[0011] In this specification, "remote control" includes "full remote control," in which all operations of vehicle 100 are determined entirely from outside vehicle 100, and "partial remote control," in which only a portion of the operations of vehicle 100 are determined from outside vehicle 100. Furthermore, "autonomous control" includes "full autonomous control," in which vehicle 100 autonomously controls its own operations without receiving any information from devices outside vehicle 100, and "partial autonomous control," in which vehicle 100 autonomously controls its own operations using information received from devices outside vehicle 100.

[0012] In this embodiment, the system 50 is used in a factory FC that manufactures vehicles 100. The reference coordinate system of the factory FC is the global coordinate system GC. Any position within the factory FC can be represented by X, Y, and Z coordinates in the global coordinate system GC. The factory FC includes a first location PL1 and a second location PL2. The first and second locations PL1 and PL2 are connected by a driving road TR on which the vehicle 100 can travel. In the factory FC, multiple external sensors 300 are installed along the driving road TR. The position of each external sensor 300 in the factory FC is pre-adjusted. The vehicle 100 moves from the first location PL1 to the second location PL2 via the driving road TR without human intervention.

[0013] In this embodiment, the assembly process of components PA is performed on a gantry-type vehicle 100 at a first location PL1. The assembled vehicle 100 then moves to a second location PL2, where the next process is performed. To achieve the three functions of "driving," "steering," and "stopping" through unmanned operation, the gantry-type vehicle 100 includes at least a vehicle control device 110, an actuator group 120, and a communication device 130.

[0014] Figure 2 1 is a diagram illustrating the assembly of the components PA of the vehicle 100 at the first location PL1. Figure 2As shown, in the first location PL1, an assembly robot 400 as an assembly device is arranged along a travel path TR of the vehicle 100. In addition, in the present disclosure, the path along which the vehicle 100 travels in the first location PL1 is also referred to as a travel path TR.

[0015] In this embodiment, the assembly robot 400 is a vertical multi-joint robot and includes an arm 420 and a robot sensor 440. An end effector 421 for gripping a component PA is attached to the front end of the arm 420.

[0016] Vehicle 100 drives towards Figure 2 The vehicle 100 travels in the direction indicated by the arrow and stops near the assembly robot 400. The assembly robot 400 then assembles the component PA while the vehicle 100 is stopped. This method of assembling the component PA onto a stationary platform-type vehicle 100 is also referred to as "stationary assembly." In contrast, the method of assembling the component PA onto a mobile platform-type vehicle 100, which differs from the present embodiment, is also referred to as "mobile assembly." The advantage of "stationary assembly" over "mobile assembly" is that the required precision for controlling the vehicle 100 and the robot sensor 440 tends to be lower.

[0017] During "stop assembly", the stop position PS of the vehicle 100 may deviate from the appropriate position. According to the present embodiment described below, even when the stop position of the vehicle 100 deviates from the appropriate position, the component PA can be assembled.

[0018] Figure 3 This is a block diagram illustrating the configuration of system 50. Vehicle 100 includes a vehicle control device 110 for controlling various components of vehicle 100, an actuator group 120 comprising one or more actuators driven under the control of vehicle control device 110, and a communication device 130 for communicating with external devices such as server 200 via wireless communication. Actuator group 120 includes actuators for the drive system for accelerating vehicle 100, actuators for the steering system for changing the direction of travel of vehicle 100, and actuators for the braking system for decelerating vehicle 100.

[0019] The vehicle control device 110 is composed of a computer including a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are connected to each other via the internal bus 114 so as to enable bidirectional communication. The actuator group 120 and the communication device 130 are connected to the input / output interface 113. The processor 111 implements various functions, including those of the vehicle control unit 115, by executing a program PG1 stored in the memory 112.

[0020] The vehicle control unit 115 drives the vehicle 100 by controlling the actuator group 120. The vehicle control unit 115 controls the actuator group 120 using a driving control signal received from the server 200, thereby enabling the vehicle 100 to drive. The driving control signal is a control signal for driving the vehicle 100. In this embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. In other embodiments, the driving control signal may include the speed of the vehicle 100 as a parameter instead of the acceleration of the vehicle 100, or may include the speed of the vehicle 100 as a parameter in addition to the acceleration of the vehicle 100.

[0021] Server 200 is comprised of a computer including a processor 201, memory 202, an input / output interface 203, and an internal bus 204. Processor 201, memory 202, and input / output interface 203 are connected via internal bus 204 for bidirectional communication. A communication device 205 for communicating with various devices external to server 200 is connected to input / output interface 203. Communication device 205 can communicate with vehicle 100 via wireless communication and with external sensors 300 via wired or wireless communication. Processor 201 implements various functions, including those of remote control unit 210, by executing program PG2 stored in memory 202.

[0022] Remote control unit 210 obtains sensor-derived detection results, uses these detection results to generate travel control signals for controlling actuator group 120 of vehicle 100, and transmits the travel control signals to vehicle 100, thereby causing vehicle 100 to travel via remote control. Remote control unit 210 can generate and output not only travel control signals but also actuator control signals for operating various equipment included in vehicle 100, such as various auxiliary devices, wipers, power windows, and lights. In other words, remote control unit 210 can also operate these various equipment and auxiliary devices via remote control.

[0023] In addition to the above components, processor 201 also includes a control command unit 211 and a control command generation unit 212. Memory 202 also stores program PG3. Control command unit 211 and control command generation unit 212 are functional units implemented by executing program PG3. Server 200 functions as a control device for controlling vehicle 100 during the assembly process.

[0024] The external sensor 300 is a sensor located outside the vehicle 100. In this embodiment, the external sensor 300 captures the vehicle 100 from outside the vehicle 100. The external sensor 300 includes a communication device (not shown) and can communicate with other devices such as the server 200 through wired or wireless communication.

[0025] Specifically, the external sensor 300 is constituted by a camera. The camera serving as the external sensor 300 captures an image of the vehicle 100 and outputs the captured image as a detection result.

[0026] Figure 4 4 is a block diagram showing the configuration of the assembly robot 400. The assembly robot 400 includes a robot control device 410 and a communication device 430 in addition to the above-described configuration.

[0027] The robot control device 410 is composed of a computer including a processor 411, a memory 412, an input / output interface 413, and an internal bus 414. The processor 411, the memory 412, and the input / output interface 413 are connected to each other for bidirectional communication via the internal bus 414. The arm 420, the communication device 430, and the robot sensor 440 are connected to the input / output interface 413.

[0028] In this embodiment, the processor 411 functions as a robot control unit 415, a judgment unit 416, and a position detection unit 417 by executing a program PG4 pre-stored in the memory 412. The robot control unit 415 controls various parts of the assembly robot 400, including the arm 420. The communication device 430, which serves as a transmitting unit and a receiving unit, can communicate with the server 200 and the assembly robot 400 through wired communication or wireless communication. The robot sensor 440 is a sensor that captures the vehicle 100 from the outside. Specifically, the robot sensor 440 is composed of a camera. The camera serving as the robot sensor 440 captures the vehicle 100 and outputs the captured image as a detection result.

[0029] As described above, at the first location PL1, the platform vehicle 100 is driven by an unmanned vehicle under the control of the server 200. Then, the component PA is assembled to the vehicle 100 stopped at the stop position PS. Figure 5 , explaining the driving control based on the server 200.

[0030] Figure 5 1 is a flowchart showing the processing flow of the driving control of the vehicle 100. Figure 5In the processing flow of FIG. 1 , the processor 201 of the server 200 functions as the remote control unit 210 by executing the program PG2. In addition, the processor 111 of the vehicle 100 functions as the vehicle control unit 115 by executing the program PG1.

[0031] In step S1, the processor 201 of the server 200 uses the detection results output by the external sensor 300 to obtain vehicle position information. Vehicle position information is the basis for generating a driving control signal. In this embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GC of the factory FC. Specifically, in step S1, the processor 201 uses images captured by a camera serving as the external sensor 300 to obtain vehicle position information.

[0032] Specifically, in step S1, processor 201 detects the shape of vehicle 100 from a captured image, calculates the coordinates of the vehicle 100's location points in the captured image's coordinate system, i.e., the local coordinate system, and converts the calculated coordinates into coordinates in the global coordinate system GC, thereby obtaining the position of vehicle 100. The shape of vehicle 100 contained in the captured image can be detected, for example, by inputting the captured image into a detection model DM that utilizes artificial intelligence. Detection model DM is, for example, prepared within or outside system 50 and pre-stored in memory 202 of server 200. Detection model DM can be, for example, a machine learning model that has been learned to achieve either semantic segmentation or instance segmentation. For example, a convolutional neural network (CNN) learned through supervised learning using a training dataset can be used as this machine learning model. The training dataset, for example, includes multiple training images containing vehicle 100 and labels indicating whether each region in the training image represents vehicle 100 or represents a region other than vehicle 100. When learning the CNN, back-propagation (error back propagation) is preferably used to update the CNN parameters in a manner that reduces the error between the output of the detection model DM and the label. Furthermore, processor 201 can estimate the direction of the vehicle 100's motion vector, calculated from the positional changes of the vehicle's feature points between captured image frames, using, for example, optical flow methods, to determine the vehicle's orientation.

[0033] In step S2, the processor 201 of the server 200 determines the target location to which the vehicle 100 should next proceed. In this embodiment, the target location is represented by X, Y, and Z coordinates in the global coordinate system GC. The memory 202 of the server 200 pre-stores a reference path RR, which is the path that the vehicle 100 should travel. The path is represented by a node indicating the departure point, nodes indicating waypoints, a node indicating the destination, and links connecting the nodes. The processor 201 uses the vehicle position information and the reference path RR to determine the target location to which the vehicle 100 should next proceed. The processor 201 determines the target location on the reference path RR that is further ahead than the current position of the vehicle 100.

[0034] In step S3, the processor 201 of the server 200 generates a driving control signal for driving the vehicle 100 toward the determined target position. The processor 201 calculates the driving speed of the vehicle 100 based on the change in the vehicle 100's position and compares the calculated driving speed with the target speed. Generally, the processor 201 determines the acceleration to accelerate the vehicle 100 when the driving speed is below the target speed, and to decelerate the vehicle 100 when the driving speed is above the target speed. Furthermore, when the vehicle 100 is on the reference route RR, the processor 201 determines the steering angle and acceleration to prevent the vehicle 100 from deviating from the reference route RR. When the vehicle 100 is not on the reference route RR, in other words, if the vehicle 100 has deviated from the reference route RR, the processor 201 determines the steering angle and acceleration to return the vehicle 100 to the reference route RR.

[0035] In step S4, the processor 201 of the server 200 transmits the generated travel control signal to the vehicle 100. The processor 201 repeatedly acquires vehicle position information, determines a target position, generates and transmits the travel control signal in a predetermined cycle.

[0036] In step S5, processor 111 of vehicle 100 receives the driving control signal transmitted from server 200. In step S6, processor 111 of vehicle 100 uses the received driving control signal to control actuator group 120, thereby causing vehicle 100 to travel at the acceleration and steering angle indicated by the driving control signal. Processor 111 repeats the reception of the driving control signal and the control of actuator group 120 at a predetermined cycle. According to system 50 of this embodiment, vehicle 100 can be driven by remote control, enabling vehicle 100 to be moved without using transport equipment such as cranes or conveyors.

[0037] Next, use Figure 6 and Figure 7Instructions "Stop assembly". Figure 6 This is a first flowchart showing the flow of stop assembly control. Figure 7 The second flowchart shows the process of stopping assembly control. Figure 5 The vehicle 100 performs the driving control shown in FIG. 2 and performs the assembly stop control. This assembly stop control is applied when the current position of the vehicle 100 reaches the confirmed position PO1 described below. During the "assembly stop" control, the communication device 205 of the server 200 functions as a receiver for receiving the first information described below. During the "assembly stop" control, the communication device 430 of the assembly robot 400 functions as a transmitter.

[0038] exist Figure 6 In step S21, similar to step S1, the control unit 211 of the server 200 obtains vehicle position information using the detection results output from the external sensor 300. The vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GC of the factory FC.

[0039] In step S22, it is determined whether the vehicle position of the vehicle 100 indicated by the vehicle position information is the confirmed position PO1. Figure 2 As shown, the confirmation position PO1 is a position upstream in the travel path TR relative to the stop position PS where the assembly is performed by the assembly robot 400 .

[0040] If Figure 6 If, in step S22, it is determined that the vehicle position of vehicle 100 is not confirmed position PO1, control command unit 211 returns the process to step S21 after a predetermined time has elapsed. The predetermined time may be, for example, several milliseconds. Here, confirmed position PO1 is position information used to determine whether vehicle 100 is approaching stop position PS. Therefore, confirmed position PO1 may be set to encompass a position range rather than a point in global coordinate system GC.

[0041] If it is determined in step S22 that the vehicle position is the confirmed position PO1, then in step S23, the control instruction unit 211 generates a first control instruction and sends it to the vehicle 100. The first control instruction is a signal instructing the vehicle 100 to stop at the first position PS1. In the present embodiment, in detail, the first control instruction is a driving control signal set to stop at the first position PS1. The first position PS1 is the position where the assembly robot 400 is scheduled to assemble the component PA. In the present embodiment, the first position PS1 is represented by the X, Y, and Z coordinates in the global coordinate system GC. In addition, similar to the confirmed position PO1, the first position PS1 can also be set not as a point in the global coordinate system GC, but in a manner that includes a position range. This is because even if the stop position PS of the vehicle 100 deviates from the position most suitable for the assembly operation, the position deviation can be compensated by the action of the arm 420 of the assembly robot 400 to perform the assembly operation.

[0042] When receiving the first control instruction, the vehicle control unit 115 of the vehicle 100 controls the actuator group 120 to stop at the first position PS1, similar to step S6 described above.

[0043] When performing assembly work, assembly robot 400 first confirms whether the position of stopped vehicle 100 is suitable for assembly. Specifically, in step S41, position detection unit 417 of assembly robot 400 uses robot sensor 440 to detect the stopped position PS of vehicle 100, i.e., the first stopped position. In this embodiment, the position obtained in step S41 is the relative position of vehicle 100 with respect to assembly robot 400. Step S41 is performed similarly to step S1 performed by server 200, and therefore its description is omitted.

[0044] Next, in step S42, the judgment unit 416 of the assembly robot 400 judges whether the first stop position where the vehicle 100 stops in accordance with the first control instruction is a working position suitable for assembling the component PA. In step S42, if it is judged that the first stop position is not the working position, in step S43, the robot control unit 415 sends an abnormal signal as the first information to the server 200 via the communication device 430. The abnormal signal includes information indicating that the first stop position is not the working position. In this embodiment, the first information also includes second information related to the position deviation between the first stop position and the working position. In this embodiment, the second information is information about whether the position of the vehicle 100 is at the rear or the front relative to the working position. The abnormal signal is received by the communication device 205 of the server 200.

[0045] There are several reasons why the first stop position may not be the work position. For example, the vehicle position of vehicle 100, calculated by processor 201 of server 200 using captured images, i.e., the estimated position, may deviate from its actual position. Since vehicle 100 travels according to the travel control signals generated by server 200, if the vehicle position serving as the starting point deviates from its actual position, the first stop position serving as the end point may also deviate from first position PS1. Alternatively, the first stop position may not be the work position because the coordinates of first position PS1, the target location for vehicle 100, may be incorrect.

[0046] Due to the joint mechanism, if vehicle 100 is too far away, assembly robot 400 may find itself in a difficult position to perform assembly. Therefore, as described above, assembly robot 400 determines whether the position of vehicle 100 is a suitable working position for operation using robot sensor 440 before performing assembly work. Furthermore, for the same reason as for first position PS1, the working position may be set to encompass a range of positions rather than a point in global coordinate system GC.

[0047] If it is determined that the first stop position is the working position, the robot control unit 415 starts the assembly work on the vehicle 100 stopped at the first stop position in step S44. The robot control unit 415 performs the assembly work as another processing routine.

[0048] In step S24, the control command unit 211 determines whether the first stop position, at which the vehicle 100 stops in response to the first control command, is the working position. If the control command unit 211 receives the abnormality signal transmitted in step S43, it determines that the first stop position is not the working position. On the other hand, if the control command unit 211 does not receive the abnormality signal transmitted in step S43, it determines that the first stop position is the working position.

[0049] In step S24 , when it is determined that the first stop position is the working position, since there is no need to move the vehicle 100 further, the control command unit 211 ends this processing routine.

[0050] In step S24, if it is determined that the first stop position is not the working position, Figure 7In step S25, the control command generation unit 212 generates a second control command. The second control command is a command for moving the vehicle 100 to the second position PS2 where the component PA is to be assembled. In this embodiment, the second control command includes control variable information for remote control to the second position PS2. The control variable information is information indicating the control variable for the vehicle 100 to move from the first stop position to the second position PS2. Specifically, it includes information on control variables such as the steering angle and acceleration.

[0051] In step S26, the control command unit 211 transmits the generated second control command to the vehicle 100 via the communication device 205. In addition, in step S26, the control command unit 211 transmits at least one of a deceleration command and a stop command to subsequent vehicles 100 on the travel path TR of the vehicle 100 that has transmitted the second control command.

[0052] The second position PS2 is a position different from the first stop position. In the present embodiment, the second position PS2 is set to a relative position relative to the first stop position. In the present embodiment, the second position PS2 is a position that is a predetermined distance away from the front or rear of the vehicle 100 relative to the first position PS1. In the present embodiment, the abnormal signal contains information on the positional deviation of whether the first stop position is located at the rear or the front relative to the working position. Therefore, the control instruction generation unit 212 uses the information on the positional deviation contained in the abnormal signal to determine the moving direction of the vehicle 100 in the second control instruction. That is, when the information that the first stop position is located at the rear relative to the working position is contained in the abnormal signal, the moving direction indicated in the second control instruction is the front. Through the second control instruction, for example, a control to move 50 cm forward is indicated.

[0053] After the vehicle 100 moves according to the second control command, the assembly robot 400 attempts to assemble the component PA again. Specifically, first, in step S45 , similar to step S41 , the position detector 417 of the assembly robot 400 detects the stop position PS of the vehicle 100 using the robot sensor 440 .

[0054] Furthermore, step S45 is a processing step for determining whether the position of vehicle 100, which has been moved in accordance with the second control command, i.e., the second stop position, is the working position. Therefore, server 200 may also transmit a signal to assembly robot 400 in step S25 indicating that the second control command has been transmitted to vehicle 100. Furthermore, robot control unit 415 may also proceed to step S45 upon receiving the signal indicating that the second control command has been transmitted to vehicle 100.

[0055] In step S46, the determination unit 416 of the assembly robot 400 determines whether the second stop position, where the vehicle 100 has stopped in response to the second control command, is a suitable work position for assembling the component PA. If, in step S46, the vehicle position is determined to be the work position, the robot control unit 415 starts the assembly work in step S48, terminating the present processing routine.

[0056] If it is determined in step S46 that the second stop position is not the working position, then in step S47 , similar to step S45 , the robot control unit 415 transmits an abnormality signal to the server 200 and ends this processing routine.

[0057] In step S27, similar to step S24, the control command unit 211 determines whether the second stop position is the working position. If the control command unit 211 receives the abnormality signal sent in step S47, it determines that the second stop position is not the working position. On the other hand, if the control command unit 211 does not receive the abnormality signal sent in step S47, it determines that the second stop position is the working position.

[0058] In step S27 , when it is determined that the second stop position is the working position, since there is no need to further move the vehicle 100 , the control command unit 211 ends this processing routine.

[0059] If it is determined in step S27 that the second stop position is not the working position, in step S28 the control command unit 211 generates a first command to continue stopping at the second stop position and transmits the command to the vehicle 100 stopped at the second stop position.

[0060] In step S29 , the control command unit 211 performs a process of transmitting a second command for decelerating or stopping the vehicle 100 following the vehicle 100 stopped at the second vehicle stopping position.

[0061] In step S30, the control command unit 211 performs a process of transmitting an abnormality signal to a reporting unit (not shown) that reports the abnormality. Specifically, the reporting unit is an alarm device located at the first location PL1 that issues an alarm, or an information terminal device used by an administrator. If the reporting unit is an alarm device, the alarm device issues an alarm upon receiving the abnormality signal. Alternatively, if the reporting unit is an information terminal, the information terminal displays a message on a display notifying of the abnormality upon receiving the abnormality signal.

[0062] In the above-mentioned step S27, the case where it is determined that the second stop position is not the working position means that the assembly work cannot be started even if the vehicle 100 stopped at the first stop position moves further. In this case, it is often more efficient to let the operator solve the abnormality. Therefore, in this embodiment, by performing steps S28, S29, and S30, the abnormality can be solved as soon as possible. In addition, the order of performing the processing steps of steps S28, S29, and S30 is not limited to Figure 7 In addition, as another embodiment, at least one of step S28, step S29, and step S30 may be performed.

[0063] In addition, in addition to before the assembly robot 400 starts assembly, in step S44 and step S48, there are also cases where abnormalities occur after the assembly starts. In this case, the control instruction unit 211 can also adopt the method of performing steps S27, step S28, and step S29. In this way, the abnormality can be resolved as soon as possible. In detail, the robot control unit 415 uses the end effector 421 to grasp the component PA during the assembly operation and assemble it into the stopped vehicle 100. For abnormalities in assembly, there are, for example, abnormalities such as the inability to grasp the component PA and the inability to assemble the grasped component PA. The reasons for the abnormality of being unable to assemble the grasped component PA include, for example, abnormal posture of the component PA before being grasped, abnormal posture of the grasped component PA, abnormal relative position of the vehicle 100 and the assembly robot 400, etc. In this method, when an abnormality occurs during the assembly operation, the robot control unit 415 sends an abnormality signal to the server 200. When receiving the abnormality signal, the control instruction unit 211 performs step S27 , step S28 , and step S29 .

[0064] According to the first embodiment described above, the system 50 includes the control command unit 211 and the determination unit 416. If the determination unit 416 determines that the first stop position is not a suitable work position for assembly, the control command unit 211 transmits a second control command to the vehicle 100 in step S26 to move the vehicle 100 to the second position PS2. Thus, even if the vehicle 100 is stopped at a position that is not a suitable work position for assembling the component PA, the control command unit 211 can move the vehicle 100 to the second position PS2, allowing assembly of the component PA to be performed at the second position PS2.

[0065] The server 200 also includes a control command unit 211. The assembly robot 400 includes a determination unit 416. This allows the assembly robot 400 to determine whether the position where the vehicle 100 is stopped is a work position, and the server 200 transmits a second control command to the vehicle 100.

[0066] Furthermore, assembly robot 400 includes communication device 430, which transmits an abnormality signal to server 200 indicating that the first stop position is not the working position. Upon receiving the abnormality signal from communication device 205, control command unit 211 transmits a second control command in step S26. This allows server 200 to transmit the second control command even when assembly robot 400 transmits the abnormality signal.

[0067] Furthermore, the abnormality signal indicating that the first stop position is not the working position includes information about positional deviation. Thus, the control command generator 212 can generate a second control command reflecting this information about positional deviation. This allows the vehicle 100 to be moved to a position suitable for component assembly.

[0068] The server 200 also includes a control command generator 212 that generates a second control command including control amount information for remote control to the second position PS2. This allows the control command generator 212 to generate a second control command including control amount information.

[0069] Furthermore, assembly robot 400 assembles component PA on vehicle 100 that has stopped according to the second control command. Thus, assembly robot 400 can assemble component PA on vehicle 100 that has stopped according to the second control command. Furthermore, assembly robot 400 assembles component PA on vehicle 100 that has stopped at first position PS1. Thus, assembly robot 400 can assemble component PA on vehicle 100 that has stopped according to the first control command.

[0070] Furthermore, if the determination unit 416 determines that the first stop position is not the working position, in step S26, the control command unit 211 transmits at least one of a deceleration command and a stop command to the vehicle 100 following the stopped vehicle 100. This allows the distance between the stopped vehicle 100 and the following vehicle 100 to be appropriately maintained.

[0071] Furthermore, if the determination unit 416 determines that the second stop position at which the vehicle 100 stops in accordance with the second control command is not the work position, the control command unit 211 performs steps S28, S29, and S30. This allows steps S28, S29, and S30 to be performed even if the vehicle 100 stopped at the second stop position cannot be properly assembled. This allows the distance between the stopped vehicle 100 and the following vehicle 100 to be properly maintained. Furthermore, the operator can resolve the abnormality quickly.

[0072] B. Second embodiment: Figure 8This is an explanatory diagram showing the schematic configuration of system 50v in the second embodiment. This embodiment differs from the first embodiment in that system 50v does not include server 200. Furthermore, vehicle 100v in this embodiment is capable of autonomous driving. Unless otherwise specified, all other configurations are the same as those of the first embodiment.

[0073] In this embodiment, the processor 111v of the vehicle control device 110v functions as a vehicle control unit 115v by executing a program PG1 stored in a memory 112v. The vehicle control unit 115v obtains sensor outputs, uses these outputs to generate travel control signals, and outputs these generated travel control signals to activate the actuator group 120, thereby enabling autonomous control to drive the vehicle 100v. In this embodiment, in addition to the program PG1, the memory 112 also pre-stores a detection model DM and a reference route RR.

[0074] The processor 111v further includes an acquisition unit 116 and a vehicle generation unit 117 as a moving body generation unit. The processor 111v of the vehicle control device 110v functions as the acquisition unit 116 and the vehicle generation unit 117 by executing the program PG1 stored in the memory 112v.

[0075] Figure 9 1 is a flowchart showing the processing flow of the travel control of the vehicle 100v in the second embodiment. Figure 9 In the processing flow of FIG. 1 , the processor 111 v of the vehicle 100 v functions as a vehicle control unit 115 v by executing the program PG1 .

[0076] In step S901, the processor 111v of the vehicle control device 110v uses the detection results output by the camera serving as the external sensor 300 to obtain vehicle position information. In step S902, the processor 111v determines the target location to which the vehicle 100v should next proceed. In step S903, the processor 111v generates a travel control signal for causing the vehicle 100v to travel toward the determined target location. In step S904, the processor 111v controls the actuator group 120 using the generated travel control signal, thereby causing the vehicle 100v to travel according to the parameters indicated by the travel control signal. The processor 111v repeats the acquisition of vehicle position information, determination of the target location, generation of the travel control signal, and control of the actuators at a predetermined cycle. According to the system 50v of this embodiment, the vehicle 100v can be driven through autonomous control of the vehicle 100v, even without remote control of the vehicle 100v by the server 200.

[0077] The differences between the "stop assembly" process of this embodiment and the first embodiment will be described. In the first embodiment, when the first stop position is not the work position, the vehicle 100 moves to the second position PS2 in accordance with the second control command transmitted from the server 200. In contrast, in this embodiment, the vehicle 100 generates a control signal to the second position PS2 and then moves.

[0078] Specifically, when the stop position for assembly is not the working position, the acquisition unit 116 acquires information related to the positional deviation between the stop position and the working position. Specifically, for example, the acquisition unit 116 acquires information related to the positional deviation between the stop position and the working position from the assembly robot 400.

[0079] In the present embodiment, the reason why the stop position is not the working position may be, for example, that the vehicle position information acquired by the processor 111 v of the vehicle control device 110 v deviates from the actual position.

[0080] The vehicle generation unit 117 uses the information acquired by the acquisition unit 116 to generate control information for stopping at the work position. This control information includes the same information as that included in the aforementioned travel control signal. The vehicle control unit 115v, acting as a control unit, controls the actuators included in the actuator group 120 according to the control information. This allows the vehicle 100v to move to the second position PS2 without relying on the second control command from the server 200.

[0081] C. Other embodiments (other embodiments related to assembly): (C1) In the first embodiment described above, the second control instruction sent in step S26 is used to instruct the vehicle 100 to move a predetermined distance forward or backward. As another embodiment, the second information may include information on the distance between the first stop position and the working position. In this case, the judgment unit 416 of the assembly robot 400 generates information on the distance between the first stop position and the working position as the second information. Then, the control instruction generation unit 212 uses the second information to generate a second control instruction including a moving direction and a moving distance. In addition, the second control instruction may also include a moving direction including a left and right direction calculated based on the second information, and a moving distance. The more information indicated by the second control instruction, the more accurately the vehicle 100 can be guided to the working position. The less information indicated by the second control instruction, the more the calculation load performed by the judgment unit 416 of the assembly robot 400 and the calculation load performed by the control instruction generation unit 212 can be reduced.

[0082] (C2) In the first embodiment described above, the second control instruction sent in step S26 instructs the vehicle 100 to move a predetermined distance forward or backward. As another embodiment, the second control instruction may also include a distance calculated based on the distance between the first stop position and the working position contained in the second information, rather than a predetermined distance. In this case, the control instruction generating unit 212 may generate the second control instruction under the premise that the assembly robot 400 responds to the position deviation in the left-right direction of the vehicle 100 and the vehicle 100 moves only in the front-back direction. It is difficult for the vehicle 100 to move in the left-right direction. Therefore, by generating the second control instruction that causes the vehicle 100 to move only in the front-back direction, the moving time of the vehicle 100 from the first stop position to the second position can be shortened.

[0083] (C3) In the first embodiment described above, in step S25, the second control command generated by the control command generator 212 includes control information for remote control to the second position PS2. In other embodiments, the second control command generated by the control command generator 212 may include path information for the path to the second position PS2. Alternatively, the second control command may include both path information and control amount information. If the second control command includes path information, the vehicle control unit 115 uses the path information to control the actuator group 120 to travel along the path.

[0084] (C4) In the first embodiment, the assembly robot 400 is a vertical articulated robot. The assembly robot 400 is not limited to a vertical articulated robot, and may be a robot of another type, such as a horizontal articulated robot.

[0085] (C5) In the first embodiment described above, the robot sensor 440 is a camera. The robot sensor 440 is not limited to a camera and may also be, for example, a distance measuring device. An example of a distance measuring device is LiDAR (Light Detection and Ranging). In this case, the detection result output by the robot sensor 440 may be three-dimensional point cloud data representing the vehicle 100. In this case, the position detection unit 417 may also obtain vehicle position information by matching the three-dimensional point cloud data obtained as a detection result with a template of pre-prepared reference point cloud data.

[0086] (C6) Assume that in step S42 of the first embodiment, the position of the vehicle 100 is not the working position because the coordinates of the first position PS1 indicated by the control command unit 211 are incorrect. In this case, the abnormality signal in step S43 is frequently transmitted. Therefore, the server 200 can count the frequency of executing step S43 and, when it exceeds a predetermined threshold, execute steps S28, S29, and S30. This allows the abnormality to be resolved quickly.

[0087] (C7) In the first embodiment, the judgment unit 416 is provided in the assembly robot 400. As another embodiment, the server 200 may include the judgment unit. In this case, the judgment unit of the server 200 may perform judgment using a detection signal from the external sensor 300 or an abnormality signal sent from the assembly robot 400. In addition, in the first embodiment, the control command unit 211 is provided in the server 200. As another embodiment, the assembly robot 400 may include the control command unit 211.

[0088] (C8) In the first embodiment described above, at least one of a deceleration command and a stop command is issued in step S26. In another embodiment, neither a deceleration command nor a stop command may be issued in step S26. Furthermore, in the first embodiment described above, if it is determined in step S27 that the second stop position is not the working position, steps S28, S29, and S30 are performed. In another embodiment, none of steps S28, S29, and S30 may be performed.

[0089] (C9) In the first embodiment described above, the abnormal signal as the first information includes information on position deviation as the second information. As another embodiment, the abnormal signal may not include information on position deviation. As described above, in the case where the first stop position is not the working position, there is also a case where the coordinates of the first position PS1 indicated by the control instruction unit 211 are incorrect. In this case, there is also a case where the vehicle 100 cannot be detected by the robot sensor 440. In this case, it is also possible to adopt a method in which the abnormal signal does not include information on position deviation, but includes information indicating that the first stop position is not the working position. In addition, it is also possible to adopt a method in which, when the vehicle 100 is detected by the robot sensor 440, the abnormal signal includes information on position deviation, and when the vehicle 100 cannot be detected by the robot sensor 440, the abnormal signal does not include information on position deviation.

[0090] (C10) In the first embodiment described above, the second control instruction includes an instruction indicating whether the direction of movement is forward or backward based on information about the position deviation. As another embodiment, the second control instruction may indicate movement in a predetermined direction. Depending on the posture of the arm 420 of the assembly robot 400, there is a case where the assembly operation can be performed by moving the vehicle 100 regardless of whether the vehicle 100 moves forward or backward. In this case, by sending the predetermined second control instruction without relying on the calculation of the control instruction generation unit 212, the calculation load of the control instruction generation unit 212 can be reduced.

[0091] (C11) In the first embodiment described above, the position obtained in step S41 is the relative position of the vehicle 100 relative to the assembly robot 400. This relative position is not limited to an exact position that can be converted into coordinates in the global coordinate system GC, but may also be approximate position information. Approximate information may include, for example, information indicating whether the stopped position PS of the vehicle 100 is forward or backward relative to the working position. Furthermore, the position obtained in step S41 may not be a relative position, but may be a coordinate in the global coordinate system GC.

[0092] (C12) In the first embodiment, the second position PS2 is set as a relative position to the first stop position. As another embodiment, the second position PS2 may be a coordinate in the global coordinate system GC.

[0093] D. Other implementation methods (other implementation methods related to self-propelled transportation): (D1) In the above embodiments, the external sensor 300 is not limited to a camera and may also be, for example, a distance measuring device. An example of a distance measuring device is LiDAR (Light Detection and Ranging). In this case, the detection result output by the external sensor 300 may also be three-dimensional point cloud data representing the vehicle 100. In this case, the server 200 and the vehicle 100 may also obtain vehicle position information by matching the three-dimensional point cloud data obtained as a detection result with a template of pre-prepared reference point cloud data.

[0094] (D2) In the first embodiment described above, the server 200 performs the processing from acquiring vehicle position information to generating a travel control signal. Alternatively, at least a portion of the processing from acquiring vehicle position information to generating a travel control signal may be performed by the vehicle 100. For example, the following methods (1) to (3) may be employed.

[0095] (1) The server 200 may obtain vehicle position information, determine a target location to which the vehicle 100 should next go, and generate a path from the current position of the vehicle 100 indicated by the obtained vehicle position information to the target location. The server 200 may generate a path to a target location between the current position and the destination, or may generate a path to the destination. The server 200 may transmit the generated path to the vehicle 100. The vehicle 100 may generate a travel control signal so that the vehicle 100 travels along the path received from the server 200, and may control the actuator group 120 using the generated travel control signal.

[0096] (2) The server 200 may obtain vehicle position information and transmit the obtained vehicle position information to the vehicle 100. The vehicle 100 may determine a target location to which the vehicle 100 should next go, generate a route from the current location of the vehicle 100 indicated by the received vehicle position information to the target location, generate a travel control signal so that the vehicle 100 travels along the generated route, and control the actuator group 120 using the generated travel control signal.

[0097] (3) In the above-mentioned methods (1) and (2), the vehicle 100 may be equipped with internal sensors, and the detection results outputted from the internal sensors may be used in at least one of the generation of the route and the generation of the driving control signal. The internal sensors are sensors mounted on the vehicle 100. The internal sensors may include, for example, sensors for detecting the motion state of the vehicle 100, sensors for detecting the motion state of each part of the vehicle 100, and sensors for detecting the environment surrounding the vehicle 100. Specifically, the internal sensors may include, for example, cameras, LiDAR, millimeter-wave radars, ultrasonic sensors, GPS sensors, acceleration sensors, gyroscope sensors, etc. For example, in the above-mentioned method (1), the server 200 may obtain the detection results of the internal sensors and reflect the detection results of the internal sensors in the route when generating the route. In the above-mentioned method (1), the vehicle 100 may obtain the detection results of the internal sensors and reflect the detection results of the internal sensors in the driving control signal when generating the driving control signal. In the above-mentioned method (2), the vehicle 100 may obtain the detection results of the internal sensors and reflect the detection results of the internal sensors in the route when generating the route. In the above-mentioned embodiment (2), the vehicle 100 may obtain the detection results of the internal sensors and reflect the detection results of the internal sensors in the traveling control signal when generating the traveling control signal.

[0098] (D3) In the fourth embodiment, vehicle 100v may be equipped with internal sensors, and detection results output by the internal sensors may be used in at least one of generating a route and generating a driving control signal. For example, vehicle 100v may obtain detection results from the internal sensors and reflect the detection results in the route when generating a route. Vehicle 100v may obtain detection results from the internal sensors and reflect the detection results in the driving control signal when generating a driving control signal.

[0099] (D4) In the fourth embodiment described above, vehicle 100v obtains vehicle position information using detection results from external sensors 300. Alternatively, vehicle 100v may be equipped with internal sensors, and vehicle 100v may use the detection results from the internal sensors to obtain vehicle position information, determine a target location to which vehicle 100v should next proceed, generate a route from the current location of vehicle 100v indicated by the obtained vehicle position information to the target location, generate a travel control signal for traveling along the generated route, and control actuator group 120 using the generated travel control signal. In this case, vehicle 100v can travel without using any detection results from external sensors 300. Furthermore, vehicle 100v may obtain a target arrival time and / or congestion information from outside vehicle 100v, and reflect the target arrival time and / or congestion information in at least one of the route and the travel control signal. Furthermore, the functional components of system 50v may all be incorporated into vehicle 100v. In other words, the processing implemented by system 50v in this disclosure may be implemented solely by vehicle 100v.

[0100] (D5) In the first embodiment described above, the server 200 automatically generates a driving control signal to be transmitted to the vehicle 100. Alternatively, the server 200 may generate a driving control signal to be transmitted to the vehicle 100 in response to an operation performed by an external operator located outside the vehicle 100. For example, the external operator may operate an operating device including a display for displaying images captured by the external sensor 300, a steering wheel for remotely operating the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the server 200 via wired or wireless communication, and the server 200 may generate a driving control signal in response to the operation performed on the operating device.

[0101] (D6) In each of the above embodiments, vehicle 100 only needs to be configured to be capable of unmanned operation. For example, it may be configured as a platform having the following configuration. Specifically, in order to perform the three functions of "driving," "steering," and "stopping" under unmanned operation, vehicle 100 only needs to include a vehicle control device 110 and an actuator assembly 120. If vehicle 100 acquires information from the outside for unmanned operation, vehicle 100 may also include a communication device 130. In other words, a vehicle 100 capable of unmanned operation may not be equipped with at least a portion of interior components such as a driver's seat and instrument panel, at least a portion of exterior components such as bumpers and fenders, or a body shell. In such cases, the remaining components such as the body shell may be assembled onto vehicle 100 before it is shipped from the factory FC, or the remaining components such as the body shell may be assembled onto vehicle 100 after it is shipped from the factory FC without the remaining components. Each component can be assembled from any direction, such as the top, bottom, front, rear, right, or left side of the vehicle 100. They can be assembled from the same direction or from different directions. Furthermore, the positioning of the gantry can be determined in the same manner as in the vehicle 100 of the first embodiment.

[0102] (D7) The vehicle 100 can also be manufactured by combining multiple modules. A module means a unit composed of one or more components that are aggregated according to the structure and function of the vehicle 100. For example, the platform of the vehicle 100 can be manufactured by combining a front module that constitutes the front part of the platform, a central module that constitutes the center part of the platform, and a rear module that constitutes the rear part of the platform. In addition, the number of modules that constitute the platform is not limited to three, and can also be two or less or four or more. In addition, in addition to the platform, parts of the vehicle 100 that are different from the platform can also be modularized, or parts of the vehicle 100 that are different from the platform can be modularized instead of the platform. In addition, various modules can also include any exterior parts such as bumpers and grilles, and any interior parts such as seats and consoles. In addition, not limited to the vehicle 100, any type of mobile body can be manufactured by combining multiple modules. Such a module can be manufactured, for example, by joining multiple parts using welding or fasteners, or by integrally molding at least a part of the module into a single part using casting. The method of integrally molding at least a portion of a module into a single component is also known as giga-casting or mega-casting. Giga-casting allows components of a moving object, which were previously formed by joining multiple components, to be formed into a single component. For example, the front, center, and rear modules described above can also be manufactured using giga-casting.

[0103] (D8) Transporting a vehicle 100 by using the unmanned driving of the vehicle 100 is also referred to as "self-propelled transport." Furthermore, a configuration for implementing self-propelled transport is also referred to as a "vehicle remote-controlled autonomous transport system." Furthermore, a production method utilizing self-propelled transport to produce vehicles 100 is also referred to as "self-propelled production." In self-propelled production, for example, in a factory FC that manufactures vehicles 100, at least a portion of the transport of the vehicle 100 is accomplished by self-propelled transport.

[0104] (D9) In each of the above embodiments, some or all of the functions and processes implemented by software may also be implemented by hardware. Furthermore, some or all of the functions and processes implemented by hardware may also be implemented by software. Hardware for implementing the various functions in each of the above embodiments may include, for example, integrated circuits and discrete circuits.

[0105] The present disclosure is not limited to the above-mentioned embodiments and can be implemented in various configurations without departing from its main purpose. For example, the technical features of the embodiments corresponding to the technical features of the various methods described in the "Summary of the Invention" section can be appropriately replaced or combined in order to solve part or all of the above-mentioned problems or to achieve part or all of the above-mentioned effects. In addition, as long as the technical features are not described as essential parts in this specification, they can be appropriately deleted. Description of Reference Numerals

[0106] 50, 50V…System; 100, 100V…Vehicle; 110, 110V…Vehicle control device; 111, 111V…Processor; 112, 112V…Memory; 113…Input / Output interface; 114…Internal bus; 115, 115V…Vehicle control unit; 116…Acquisition unit; 117…Vehicle generation unit; 120…Actuator group; 130…Communication device; 200…Server; 201…Processor; 202…Memory; 203…Input / Output interface; 204…Internal bus line; 205…communication device; 210…remote control unit; 211…control instruction unit; 212…control instruction generation unit; 300…external sensor; 400…assembly robot; 410…robot control device; 411…processor; 412…memory; 413…input / output interface; 414…internal bus; 415…robot control unit; 416…judgment unit; 417…position detection unit; 420…arm; 421…end effector; 430…communication device; 440…robot sensor.

Claims

1. A system comprising: a control command unit that sends a first control command to a mobile body traveling unmanned so as to stop the mobile body at a first position where components are scheduled to be assembled; and a determination unit for determining whether a first stop position where the movable body stops according to the first control instruction is a suitable working position for assembling the component, When the determination unit determines that the first stop position is not the working position, the control command unit transmits a second control command to the movable body to move the movable body to a second position where the components are assembled.

2. The system according to claim 1, wherein: The system has: a control device comprising the control instruction unit; and An assembling device includes the determination unit and assembles the components.

3. The system according to claim 2, wherein: The assembling device further includes a transmitting unit that transmits first information indicating that the first stop position is not the working position to the control device when the determining unit determines that the first stop position is not the working position. The control device further includes a receiving unit that receives the first information. The control instruction unit sends the second control instruction when the receiving unit receives the first information.

4. The system according to claim 3, wherein: The first information includes second information related to a positional deviation between the first stop position and the working position.

5. The system according to claim 4, wherein: The control device further includes a control command generating unit that uses the second information to generate the second control command including at least either route information of the route to the second position and control amount information of the remote control to the second position.

6. The system according to claim 1, wherein: The system further comprises an assembling device for assembling the components. The assembling device assembles the components on the movable body that moves according to the second control command.

7. The system according to claim 1, wherein: The system further comprises an assembling device for assembling the components. When the determination unit determines that the first stop position is the working position, the assembling device assembles the component on the movable body stopped at the first stop position.

8. The system according to claim 1, wherein: When the determination unit determines that the first stop position is not the working position, at least one of a deceleration command and a stop command is transmitted to the moving body following the moving body stopped at the first stop position.

9. The system according to claim 1, wherein: The determination unit determines whether the second stop position where the movable body stops according to the second control instruction is the working position. When the judgment unit determines that the second stop position is not the working position, the control command unit performs at least any one of a process of sending a first instruction to continue stopping at the second stop position, a process of sending a second instruction to slow down or stop the subsequent moving body of the moving body that stops at the second stop position, and a process of sending an abnormality signal to a reporting unit for reporting the abnormality.

10. An assembly device for assembling components onto a moving object. The assembly device has: a transmitting unit for communicating with at least one of a control device that remotely controls the moving object and the moving object; a position detection unit that detects a stop position of the moving body; as well as a judging unit for judging whether the stop position is a suitable working position for assembling the component, When the determination unit determines that the stop position is not the working position, the transmission unit transmits information on the positional deviation between the stop position and the working position to at least one of the control device and the movable body.

11. A mobile object comprising: an acquisition unit that acquires information related to a positional deviation between a stop position of the movable body and a suitable working position for assembling a component to the movable body, a movable body generating unit that generates control information for stopping at the work position using the acquired information; and The control unit controls an actuator for causing the moving body to travel using the control information.

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