Control device, system, assembly device, and moving object

Abstract

The invention provides a control device, a system, an assembling device and a moving body, which can properly assemble parts even if the assembly of the parts cannot be realized through moving assembly. A control device for controlling assembly of a component to a moving body in a manufacturing process of the moving body, the control device comprising: an information acquisition unit for acquiring first information relating to a case where an assembly device that performs moving assembly fails to assemble the component, the first information being information relating to a case where the assembly device fails to assemble the component; the moving assembly is assembly of parts of a moving body which is moving through unmanned driving; a first instruction unit that, when the first information is acquired, gives a first instruction for instructing the moving body to decelerate or stop; and a second instruction unit that, after the transmission of the first instruction, issues a second instruction to the assembly device that instructs reassembly, which is the assembly of the component to the decelerated or stopped moving body.

Description

Technical Field

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

[0002] There is known a technology for enabling unmanned driving of a vehicle by remote control during a vehicle manufacturing process (for example, Patent Document 1). 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] Research has been underway to control robots for the mobile assembly of moving vehicle components during vehicle manufacturing. However, Patent Document 1 does not fully address the issue of what to do if such mobile assembly fails. This problem applies not only to vehicles but to any mobile object. Technical means to solve problems

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

[0006] (1) According to one embodiment of the present disclosure, a control device is provided for controlling the assembly of components onto a mobile body during a manufacturing process of the mobile body. The control device includes: an information acquisition unit for acquiring first information related to a situation in which an assembly device that performs mobile assembly fails to assemble the components, wherein the mobile assembly is performed on the mobile body that is moving unmanned; a first instruction unit for issuing a first instruction to the mobile body to decelerate or stop upon acquiring the first information; and a second instruction unit for issuing a second instruction to the assembly device to perform reassembly after the first instruction is sent, wherein the reassembly is performed on the mobile body that has decelerated or stopped. According to this embodiment, if the mobile assembly method fails to assemble a component onto the mobile body, a first instruction to decelerate or stop the mobile body is sent, and a second instruction to reassemble the mobile body is sent to the assembly device. Therefore, even if the mobile assembly method fails to assemble a component onto the mobile body, reassembly of the component can be attempted while decelerating or stopping the mobile body, thereby reducing the difficulty of component assembly, and the component can be properly assembled onto the mobile body. (2) In the above embodiment, the first instruction unit may further instruct another moving body moving after the moving body, ie, a subsequent moving body, to decelerate or stop when the first information is acquired. According to this aspect of the control device, when the moving assembly fails, the control device instructs the following moving body to decelerate or stop. Therefore, it is possible to suppress a decrease in the distance between the moving body that failed the moving assembly and the following moving body. (3) In addition to the above embodiment, when the component is successfully assembled into the movable body through the reassembly, the movable body may be further instructed to accelerate or resume movement. According to this aspect of the control device, when the components are successfully assembled by reassembly control, the movement is restarted or accelerated. Therefore, compared with a method of continuing a decelerated or stopped state, an increase in the time required for manufacturing the movable body can be suppressed. (4) Based on the above embodiment, it may also be that, when the component cannot be assembled into the movable body through the reassembly, the first indication unit further executes at least any one of the following instructions: instructing the movable body to continue the decelerated or stopped state; and instructing other movable bodies that move after the movable body, i.e., subsequent movable bodies, to decelerate or stop. According to the control device of this method, since, in the case where the parts cannot be assembled into the moving body by reassembly, at least either of the two instructions of instructing the moving body to continue the state of deceleration or stop and instructing other moving bodies that move after the moving body, i.e., subsequent moving bodies, to decelerate or stop are further executed, the movement of the moving body or the subsequent moving body can be suppressed in the case where reassembly cannot be achieved, i.e., in the case where some abnormality may have occurred. (5) In the above embodiment, the device may further include an operation control signal generating unit for generating an operation control signal for operating the assembly device, and the second instruction unit may transmit the operation control signal to the assembly device as the second instruction. According to the control device of this aspect, since the operation control signal is generated in the control device and transmitted to the assembly device, it is possible to suppress the control on the assembly device side from becoming complicated. (6) According to another aspect of the present disclosure, a system is provided. The system includes: the control device according to any one of aspects 1 to 4 above; and the assembly device, wherein the assembly device includes: a receiving unit that receives the second instruction; an action control signal generating unit that receives the second instruction and generates an action control signal for causing the assembly device to operate; and a device control unit that controls the operation of the assembly device according to the action control signal. According to the system of this aspect, since the operation control signal is generated in the assembly device, it is possible to suppress the control on the control device side from becoming complicated. (7) According to another aspect of the present disclosure, an assembly device for assembling components onto a moving object is provided. The assembly device includes a device control unit that, when the components cannot be assembled onto the moving object while it is moving unmanned, performs reassembly, wherein the reassembly is performed on the moving object that has been decelerated or stopped. According to the assembling device of this aspect, even if the components cannot be assembled to the movable body by moving assembly, the components can be reassembled to the movable body that has been decelerated or stopped to reduce the difficulty of component assembly, thereby enabling appropriate assembly of the components to the movable body. (8) In the above embodiment, the device may include an action control signal generating unit for generating an action control signal for operating the assembly device, and the device control unit may execute the reassembly according to the action control signal generated by the action control signal generating unit. According to the assembly device of this aspect, since the operation control signal is generated in the assembly device, it is possible to suppress the control on the control device side from becoming complicated. (9) According to another embodiment of the present disclosure, a mobile body is provided that can be moved by unmanned driving during its own manufacturing process. The mobile body includes a mobile body control unit that performs the following operations: deceleration or stopping when mobile assembly, which is the assembly of components on the mobile body being moved by the unmanned driving, fails; and acceleration or restarting movement when the components are successfully assembled on the mobile body by reassembly, which is the assembly of components on the mobile body that was decelerated or stopped. According to the movable body of this aspect, even if components cannot be assembled to the movable body by moving assembly, reassembly of the components can be attempted in a state where the difficulty of component assembly is reduced by deceleration or stopping, thereby enabling appropriate assembly of components to the movable body. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 It is an explanatory diagram showing the configuration of the system in the first embodiment. Figure 2 It is an explanatory diagram showing the configuration of a vehicle in the first embodiment. Figure 3 It is an explanatory diagram showing the configuration of the server device in the first embodiment. Figure 4 It is an explanatory diagram showing the configuration of the assembling robot in the first embodiment. Figure 5 This is an explanatory diagram showing a situation in which a vehicle travels unmanned in a factory. Figure 6This is a flowchart showing the processing flow of the travel control of the vehicle 100 in the first embodiment. Figure 7 This is a flowchart showing the flow of component assembly control according to the first embodiment. Figure 8 This is a flowchart showing the flow of component assembly control according to the first embodiment. Figure 9 It is an explanatory diagram showing the configuration of an assembling robot in the second embodiment. Figure 10 It is a block diagram showing the configuration of a system in the third embodiment. Figure 11 This is a flowchart showing the processing flow of the vehicle travel control in the third embodiment. DETAILED DESCRIPTION

[0008] A. First embodiment: A-1. System composition: Figure 1 : is an explanatory diagram showing the structure of the system 10 in the first embodiment. The system 10 is used, for example, in a factory KJ that manufactures a vehicle 100 as a mobile body. In the system 10 of 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. In the case where 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".

[0009] System 10 includes a server device 200, at least one external sensor 250, and an assembly robot 300. System 10 controls the assembly of components onto vehicle 100 in factory KJ, where vehicle 100 is manufactured. Vehicle 100 is configured to be capable of unmanned operation. Vehicle 100 can be operated unmanned even during its own manufacturing process, particularly during the process itself. In system 10, assembly robot 300 performs component assembly work on vehicle 100 while it is being operated unmanned. In this embodiment, vehicle 100 is operated unmanned in a so-called gantry configuration.

[0010] To perform the three functions of "driving," "steering," and "stopping" under unmanned operation, the platform-type vehicle 100 only needs to include a control device for controlling the vehicle's travel, as well as actuators such as a drive system, a steering system, and a brake system. If the vehicle 100 acquires information from the outside for unmanned operation, it may also be equipped with a communication device. Specifically, a vehicle 100 capable of unmanned operation may be devoid of 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 even a body shell. In such cases, the remaining components, such as the body shell, can be assembled onto the vehicle 100 before it is shipped from the factory KJ, or after the vehicle 100 is shipped from the factory KJ without the remaining components. Each component can be assembled from any direction of the vehicle 100 , such as the upper side, lower side, front side, rear side, right side, or left side, and can be assembled from the same direction or from different directions.

[0011] In this disclosure, "unmanned driving" means driving that does not rely on the driving operations of passengers in vehicle 100. "Driving operations" refer to operations related to at least one of "driving," "steering," and "stopping" of vehicle 100. Unmanned driving is achieved through automatic or manual remote control using a device located outside vehicle 100, or autonomous control of vehicle 100. A vehicle 100 operating unmanned may also have passengers who do not perform driving operations. Passengers who do not perform driving operations include, for example, those who simply sit in the driver's seat of vehicle 100 or those who perform activities other than driving operations. Examples of activities other than driving operations include assembling components of vehicle 100, inspecting vehicle 100, and operating switches on vehicle 100. Driving based on passenger driving operations is sometimes referred to as "manned driving." In this specification, "remote control" encompasses "full remote control," where all vehicle 100 operations are determined entirely from outside the vehicle 100, and "partial remote control," where only a portion of the vehicle 100's operations are determined from outside the vehicle 100. “Autonomous control” includes “full autonomous control” in which the vehicle 100 autonomously controls its own actions without receiving any information from devices outside the vehicle 100, and “partial autonomous control” in which the vehicle 100 autonomously controls its own actions using information received from devices outside the vehicle 100.

[0012] Figure 2This is an explanatory diagram showing the configuration of vehicle 100 in this embodiment. Vehicle 100 includes a vehicle control device 110 for controlling various components of vehicle 100, an actuator group 120 including at least one actuator driven under the control of vehicle control device 110, and a communication device 130 for communicating with server device 200 via wireless communication. In this embodiment, actuator group 120 includes actuators for the drive device 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. The drive device includes a battery, a travel motor driven by the battery's electricity, and wheels rotated by the travel motor. The actuators in the drive device include the travel motor.

[0013] 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.

[0014] 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 device 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 in addition to the acceleration of the vehicle 100. Furthermore, when a passenger is boarding the vehicle 100, the vehicle control unit 115 can control the actuator group 120 based on the passenger's driving operation, thereby enabling the vehicle 100 to drive. Furthermore, the vehicle control unit 115 can control the actuator group 120 based on the driving control signal received from the server device 200, thereby enabling the vehicle 100 to drive, regardless of whether a passenger is boarding the vehicle 100. The vehicle control unit 115 corresponds to the “moving body control unit” in the present disclosure.

[0015] Figure 3: is an explanatory diagram showing the structure of the server device 200 in this embodiment. The server device 200 is composed of a computer having a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected via the internal bus 204 so as to be capable of bidirectional communication. A communication device 205 for communicating with the vehicle 100 via wireless communication is connected to the input / output interface 203. In this embodiment, the communication device 205 can communicate with the external sensor 250 and the assembly robot 300 via wired communication or wireless communication. The processor 201 functions as a calculation unit 210, a vehicle control instruction unit 212, an error information acquisition unit 214, a stop instruction unit 216, and a robot control instruction unit 218 by executing the program PG2 pre-stored in the memory 202. The server device 200 is equivalent to the "control device" in this disclosure.

[0016] In this embodiment, calculation unit 210 uses detection results output from external sensor 250 to obtain vehicle position information. This vehicle position information includes information about the position and orientation of vehicle 100. Vehicle control command unit 212 uses this vehicle position information to generate vehicle control commands. Vehicle control command unit 212 generates the aforementioned driving control signal as a vehicle control command.

[0017] The error information acquisition unit 214 acquires assembly error information and switches the state of the stop flag SF stored in the memory 202 to either ON (activated) or OFF (inactivated) according to the assembly error information. "Assembly error information" means information related to an assembly error. "Assembly error" means that even if the assembly robot 300 performs the component assembly action, the component is not properly assembled relative to the vehicle 100. That is, the assembly error information means information indicating that the assembly robot 300 has failed to assemble the component to the vehicle 100. In this embodiment, the error information acquisition unit 214 acquires an error signal output from the assembly robot 300 as described later as assembly error information. "Stop flag SF" means a flag indicating the occurrence of an assembly error in the system 10. The specific method of switching the stop flag SF will be described later. The assembly error information is equivalent to the "first information" in the present disclosure. In addition, the error information acquisition unit 214 is equivalent to the "information acquisition unit" in the present disclosure.

[0018] When the assembly error information is obtained, the stop instruction unit 216 sends a stop signal to the vehicle 100 to instruct it to stop. In the present embodiment, the stop signal is an emergency stop signal that instructs the vehicle 100 to stop urgently, and can be generated regardless of the detection result of the external sensor 250. Therefore, when the assembly error information is obtained, the stop instruction unit 216 can quickly instruct the vehicle 100 to stop urgently, regardless of the detection result based on the external sensor 250. When the vehicle control unit 115 receives the stop signal, it controls the actuator group 120 to stop the vehicle 100. That is, the stop signal is equivalent to the "first instruction" in the present disclosure, and the stop instruction unit 216 is equivalent to the "first instruction unit" in the present disclosure.

[0019] The robot control command unit 218 generates a motion control signal for causing the assembly robot 300 to move, and transmits it to the assembly robot 300. Upon receiving the motion control signal, the assembly robot 300 moves in accordance with the motion control signal. In the following description, the motion control signal that instructs the assembly robot 300 to perform component assembly on the vehicle 100 is also referred to as an "assembly instruction." The motion control signal of this embodiment is generated as a signal that specifically instructs the movement amount of each component that constitutes the assembly robot 300. The robot control command unit 218 of this embodiment is equivalent to the "motion control signal generating unit."

[0020] In the present embodiment, the robot control command unit 218 generates a motion control signal for the assembly robot 300 so that the assembly robot 300 performs assembly work while the vehicle 100 is moving unmanned. In the following description, such assembly of parts on a vehicle 100 that is moving unmanned is also referred to as "mobile assembly." In mobile assembly, since the work is performed while the vehicle 100 is moving, the work can be performed without affecting the manufacturing speed. The robot control command unit 218 generates a motion control signal so that the relative speed between the vehicle 100 and the parts becomes 0 when assembling at a predetermined position of the moving vehicle 100 in a predetermined direction and in a direction parallel to the assembled surface of the vehicle 100.

[0021] External sensor 250 is located outside vehicle 100. External sensor 250 is used to detect the position and orientation of vehicle 100. In this embodiment, external sensor 250 is a camera installed in factory KJ. External sensor 250 includes a communication device (not shown) and is capable of communicating with server device 200 via wired or wireless communication. Furthermore, external sensor 250 is not limited to a camera and may also be, for example, a LiDAR.

[0022] Figure 4: This is an explanatory diagram showing the structure of the assembly robot 300 in this embodiment. The assembly robot 300 includes a robot control device 310, an arm 320, and a communication device 330. In this embodiment, the robot control device 310 controls each part of the assembly robot 300. The arm 320 is composed of a vertical multi-jointed robot arm. An end effector for gripping components is mounted at the front end of the arm 320. In this embodiment, the end effector is configured to clamp components. The communication device 330 can communicate with the server device 200 via wired communication or wireless communication. In addition, the arm 320 is not limited to a vertical multi-jointed robot arm, and can also be composed of, for example, a horizontal multi-jointed robot arm, an orthogonal robot arm, or a parallel link robot arm. The end effector can also be configured to suck components instead of clamping components. In addition, although not shown in the figure, the assembly robot 300 includes sensors for detecting the load of the motor used to drive the arm 320, the impact force during component assembly, and the like. The assembly robot 300 corresponds to the "assembly device" in this disclosure.

[0023] The robot control device 310 is composed of a computer including a processor 311, a memory 312, an input / output interface 313, and an internal bus 314. The processor 311, the memory 312, and the input / output interface 313 are connected for bidirectional communication via the internal bus 314. The arm 320 and the communication device 330 are connected to the input / output interface 313.

[0024] In this embodiment, processor 311 functions as robot control unit 315 by executing program PG3 pre-stored in memory 312. Robot control unit 315 receives motion control signals and controls various components of assembly robot 300, including arm 320, based on the motion control signals. Robot control unit 315 corresponds to the "receiving unit" and "device control unit" in this disclosure.

[0025] Furthermore, the robot control unit 315 outputs an error signal if an assembly error occurs during the assembly of components onto the vehicle 100. Examples of assembly errors include improper component assembly position settings and errors in position detection of the vehicle 100. For example, if the motor load or the impact force during component assembly is not within a preset threshold range, the robot control unit 315 deems that an assembly error has occurred and outputs an error signal.

[0026] Figure 5This is an explanatory diagram showing a vehicle 100 traveling unmanned within a factory KJ. In this embodiment, the factory KJ includes a first location PL1, a second location PL2, and a third location PL3. The first location PL1, the second location PL2, and the third location PL3 are connected by a travel road SR on which the vehicle 100 can travel. In the factory KJ, multiple external sensors 250 are installed along the travel road SR.

[0027] The first location PL1 is where the assembly of the vehicle 100 is performed. After being assembled at the first location PL1, the vehicle 100 is ready for unmanned driving. In other words, it can perform the three functions of "driving," "steering," and "stopping" without human intervention. In this embodiment, the vehicle 100 assembled at the first location PL1 is in a platform configuration. The vehicle 100 is moved from the first location PL1 to the second location PL2 without human intervention.

[0028] The second location PL2 is where further component assembly is performed on the vehicle 100. An assembly robot 300 is deployed at the second location PL2. Examples of components assembled at the second location PL2 include body parts, interior components such as seats, headlights, windshield wipers, and the like. In this embodiment, the vehicle 100, after components have been assembled at the second location PL2, becomes a finished vehicle. The vehicle 100 moves from the second location PL2 to the third location PL3 using unmanned driving.

[0029] The third location PL3 is where the vehicle 100 is inspected. Vehicles 100 that pass the inspection at the third location PL3 are shipped from the factory KJ. Furthermore, the vehicles 100 shipped from the factory KJ do not necessarily need to be finished vehicles. In other words, the vehicles 100 shipped from the factory KJ may contain unassembled parts. In this case, the unassembled parts can be assembled onto the vehicle 100 after it is shipped from the factory KJ.

[0030] A-2. Driving Control: Figure 6 This flowchart illustrates the process flow for driving control of vehicle 100 in the first embodiment. In step S1, calculation unit 210 uses detection results output by external sensor 250 to obtain vehicle position information of vehicle 100. Vehicle position information is the basis for generating driving control signals. In this embodiment, vehicle position information includes the position and orientation of vehicle 100 in the global coordinate system GA of plant KJ. Specifically, in step S1, calculation unit 210 uses images captured by a camera serving as external sensor 250 to obtain vehicle position information.

[0031] Specifically, in step S1, the calculation unit 210 detects the outer shape of the vehicle 100 from a captured image, calculates the coordinates of the vehicle 100's positioning 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 GA, thereby obtaining the position of the vehicle 100. The outer shape of the 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. The detection model DM can be prepared, for example, within or outside the system 10 and pre-stored in the memory 202 of the server device 200. An example of the detection model DM is 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 includes, for example, multiple training images containing the vehicle 100 and labels indicating whether each region in the training image represents the vehicle 100 or represents a region other than the 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, the calculation unit 210 can estimate the direction of the vehicle 100's motion vector, calculated from the positional changes of the vehicle's 100 feature points between captured image frames, using, for example, an optical flow method, thereby determining the vehicle's 100 orientation.

[0032] In step S2, the vehicle control command unit 212 determines the target position to which the vehicle 100 should go next. In the present embodiment, the target position is represented by the X, Y, and Z coordinates in the global coordinate system GA. In the memory 202 of the server device 200, a reference path RR, which is the path that the vehicle 100 should travel, is pre-stored. The path is represented by a node indicating the departure point, a node indicating a waypoint, a node indicating the destination, and links connecting the nodes. The vehicle control command unit 212 uses the vehicle position information and the reference path RR to determine the target position to which the vehicle 100 should go next. The vehicle control command unit 212 determines the target position on the reference path RR that is further ahead than the current position of the vehicle 100.

[0033] In step S3, the vehicle control command unit 212 generates a driving control signal for driving the vehicle 100 toward the determined target position. The vehicle control command unit 212 calculates the driving speed of the vehicle 100 based on the change in the position of the vehicle 100 and compares the calculated driving speed with the target speed. Generally speaking, the vehicle control command unit 212 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 path RR, the vehicle control command unit 212 determines the steering angle and acceleration to prevent the vehicle 100 from deviating from the reference path RR. When the vehicle 100 is not on the reference path RR, in other words, if the vehicle 100 has deviated from the reference path RR, the vehicle control command unit 212 determines the steering angle and acceleration to return the vehicle 100 to the reference path RR.

[0034] In step S4, the vehicle control command unit 212 transmits the generated travel control signal to the vehicle 100. The vehicle control command unit 212 repeatedly acquires the position of the vehicle 100, determines the target position, generates and transmits the travel control signal in a predetermined cycle.

[0035] In step S5, the vehicle control unit 115 receives the driving control signal transmitted from the server device 200. In step S6, the vehicle control unit 115 uses the received driving control signal to control the actuator group 120, thereby causing the vehicle 100 to travel at the acceleration and steering angle indicated by the driving control signal. The vehicle control unit 115 repeatedly receives the driving control signal and controls the actuator group 120 at a predetermined cycle. According to the system 10 of this embodiment, the vehicle 100 can be driven by remote control, and the vehicle 100 can be moved without using transportation equipment such as cranes and conveyors.

[0036] A-3. Component assembly control: Figure 7 as well as Figure 8 A flowchart showing the flow of component assembly control according to the first embodiment. In this embodiment, the above-mentioned travel control is executed as a basic control, and this control is executed in combination with the travel control. Figure 7 The control shown is Figure 8 The control shown is started when the system 10 is put into operation, and is repeatedly executed in parallel with each other while the system 10 is in operation.

[0037] illustrate Figure 7 Assembling control of components as shown. Figure 7As shown, steps S102 to S114 are executed in server device 200. In step S102, stop instruction unit 216 determines whether the stop flag SF is on. If it is determined that the stop flag SF is on (step S102: Yes), in step S114, stop instruction unit 216 transmits a stop instruction to vehicle 100. Thereafter, step S102 is executed again.

[0038] If it is determined that the stop flag SF is not on (step S102: No), in other words, if the stop flag SF is off, in step S104, the calculation unit 210 obtains the detection result of the external sensor 250. In addition, in step S106, the calculation unit 210 calculates the vehicle position information using the detection result of the external sensor 250.

[0039] In step S108, the vehicle control command unit 212 generates a vehicle control command using the vehicle position information and transmits the command to the vehicle 100. Thereafter, the above-mentioned step S102 is executed again.

[0040] In step S110 , the robot control command unit 218 determines whether the vehicle 100 is located at a predetermined component assembly position. The “component assembly position” refers to a predetermined position where the assembly robot 300 starts assembling components into the vehicle 100 during the manufacturing process of the vehicle 100 .

[0041] If it is determined that the vehicle 100 is located at the component assembly position (step S110: YES), in step S112, the robot control command unit 218 generates an assembly instruction and transmits it to the assembly robot 300. Thereafter, the above-mentioned step S102 is executed again.

[0042] If it is determined that vehicle 100 is not at the component assembly location (step S110: No), step S102 is executed again. In other words, if vehicle 100 has not yet reached the component assembly location, driving control of vehicle 100 toward the component assembly location is continued. Thereafter, step S102 is executed again.

[0043] illustrate Figure 8 Assembly control of components shown. Figure 8 The control shown is the same as above Figure 7 The control shown is executed in parallel. Figure 8 As shown, steps S202 to S212 are executed in the server device 200 , and steps S302 to S310 are executed in the assembly robot 300 .

[0044] exist Figure 8In step S202 shown, the error information acquisition unit 214 determines whether an error signal has been received. If it is determined that an error signal has not been received (step S202: No), the error information acquisition unit 214 repeatedly executes step S202.

[0045] When it is determined that an error signal has been received (step S202 : YES), in step S204 , the stop instruction unit 216 transmits a stop signal to the vehicle 100 , and the error information acquisition unit 214 switches the state of the stop flag SF to ON.

[0046] In step S206, the robot control command unit 218 generates an assembly instruction and transmits it to the assembly robot 300. Specifically, in this embodiment, if mobile assembly fails, the robot control command unit 218 stops the vehicle 100 and then instructs the assembly of components on the stopped vehicle 100 (hereinafter also referred to as "reassembly"). In other words, the assembly instruction in this step corresponds to the "second instruction" in this disclosure, and the robot control command unit 218 corresponds to the "second instruction unit" in this disclosure. In the following description, as with the reassembly control in this step, the assembly of components on a stopped vehicle 100 is also referred to as "stop assembly."

[0047] In step S208, stop instructing unit 216 determines whether an error signal has been received. If it is determined that no error signal has been received (step S208: No), in step S210, vehicle control command unit 212 transmits a restart driving instruction to vehicle 100 to restart driving, and error information acquisition unit 214 switches the state of stop flag SF to OFF.

[0048] If it determines that an error signal has been received (step S208: YES), vehicle control command unit 212 issues a stop instruction to vehicle 100. In other words, it instructs vehicle 100 to continue its stopped state and contacts a manager. "Manager" is not limited to the person who manages system 10. It also includes workers who perform recovery operations when an anomaly occurs in system 10, or workers working near component assembly processes. By maintaining vehicle 100's stopped state and contacting a manager, it is possible to prevent anomalies in system 10 from causing continued stalling of vehicle 100 production.

[0049] The control in the assembly robot 300 will be described. In step S302, the robot control unit 315 determines whether an assembly instruction has been received. If it is determined that no assembly instruction has been received (step S302: No), the robot control unit 315 repeatedly executes step S302.

[0050] When it is determined that the assembly instruction has been received (step S302 : YES), in step S304 , the robot control unit 315 assembles the components of the vehicle 100 .

[0051] In step S306, the robot control unit 315 determines whether an assembly error has occurred. If it is determined that no assembly error has occurred (step S306: No), in other words, if the mobile assembly of the vehicle 100 is successful, the above-mentioned step S302 is executed again.

[0052] When it is determined that an assembly error has occurred (step S306 : Yes), in step S308 , the robot control unit 315 transmits an error signal to the server device 200 .

[0053] In step S310, the robot control unit 315 retracts the component. More specifically, the robot control unit 315 moves the component to a position where it does not interfere with the vehicle 100. Thereafter, the above-mentioned step S302 is executed again.

[0054] According to the system 10 of the embodiment described above, when components cannot be assembled into the vehicle 100 through mobile assembly, a stop instruction is sent to the vehicle 100, and a reassembly instruction is sent to the assembly robot 300. Therefore, even when components cannot be assembled into the vehicle 100 through mobile assembly, reassembly of the components can be attempted while the vehicle 100 is stopped to reduce the difficulty of component assembly, thereby enabling appropriate assembly of components into the vehicle 100.

[0055] Furthermore, since the vehicle resumes traveling when the components are successfully assembled by the reassembly control, an increase in the time required for manufacturing the vehicle 100 can be suppressed compared to a method of continuing the vehicle in a stopped state.

[0056] Furthermore, since the server device 200 includes the robot control instruction unit 218 that generates a motion control signal and transmits the generated motion control signal to the assembling robot 300 , it is possible to suppress the control on the assembling robot 300 side from becoming complicated.

[0057] B. Second embodiment: Figure 9 This is an explanatory diagram illustrating the configuration of an assembly robot 300a according to a second embodiment. The assembly robot 300a according to the second embodiment differs from the assembly robot 300 according to the first embodiment in that the processor 311a functions as a motion control signal generator 317 in addition to the robot control unit 315. Since the remaining configuration of the assembly robot 300a according to the second embodiment is identical to that of the assembly robot 300 according to the first embodiment, identical configurations are denoted by the same reference numerals, and detailed descriptions thereof are omitted.

[0058] The motion control signal generating unit 317 receives an assembly instruction from the robot control command unit 218 of the server device 200 and generates a motion control signal. In this embodiment, the assembly instruction received from the robot control command unit 218 may be a signal that only instructs the assembly robot 300 to start assembly control of the component. Upon receiving such an assembly instruction, the motion control signal generating unit 317 uses the detection results of sensors (not shown), such as cameras, included in the assembly robot 300a to determine the assembly position of the component relative to the vehicle 100 and autonomously generates a motion control signal. In this embodiment, the robot control unit 315 controls various parts of the assembly robot 300a, including the arm 320, according to the motion control signal generated by the motion control signal generating unit 317.

[0059] According to the system 10 including the assembly robot 300a of the second embodiment described above, since the assembly robot 300a includes the motion control signal generating unit 317, the assembly robot 300a can be autonomously controlled using the motion control signals generated by the assembly robot 300a. Therefore, the server device 200 does not need to perform processing for controlling the assembly robot 300a, and the control on the server device 200 side can be prevented from becoming complicated.

[0060] C. Third embodiment: Figure 10 This is a block diagram illustrating the configuration of a system 10v in a third embodiment. This embodiment differs from the first embodiment in that the system 10v does not include a server device 200 and includes a vehicle control device 110v, which is included in the vehicle 100v. Furthermore, the vehicle 100v in this embodiment is capable of traveling under autonomous control. Unless otherwise specified, all other configurations are the same as those in the first embodiment.

[0061] In this embodiment, the processor 111v of the vehicle control device 110v executes the program PG1 stored in the memory 112v, thereby functioning as a vehicle control unit 115v, a calculation unit 190, an error information acquisition unit 192, a stop instruction unit 194, and a robot control instruction unit 196. The vehicle control unit 115v uses vehicle position information to generate a travel control signal and outputs the generated travel control signal to activate the actuator group 120, thereby enabling the vehicle 100v to travel through autonomous control. In this embodiment, in addition to the program PG1, the memory 112v also pre-stores a detection model DM, a reference path RR, and a stop flag SF. The vehicle control device 110v in the third embodiment corresponds to the "control device" in this disclosure. In addition, the vehicle control unit 115v corresponds to the "moving body control unit" in this disclosure.

[0062] Figure 11 1 is a flowchart showing the processing flow of the driving control of the vehicle 100v in the third embodiment. In step S11, the processor 111v obtains the vehicle position information using the detection result output from the camera as the external sensor 250. In step S11 of this embodiment, the processor 111v and Figure 3 In step S1, the captured image and the vehicle speed are similarly used to obtain the vehicle position information. In step S12, the processor 111v determines the target position to which the vehicle 100v should go next. In step S13, the processor 111v generates a travel control signal for causing the vehicle 100v to travel toward the determined target position. In step S14, the processor 111v controls the actuator group 120 by using the generated travel control signal, thereby causing the vehicle 100v to travel according to the parameters represented by the travel control signal. The processor 111v repeats the acquisition of vehicle position information, determination of the target position, generation of the travel control signal, and control of the actuator group 120 at a predetermined cycle. According to the system 10v in this embodiment, even if the vehicle 100v is not remotely controlled by the server device 200, the vehicle 100v can be driven by the autonomous control of the vehicle 100v. In addition, according to the system 10v in this embodiment, as in the above-mentioned embodiment, even if the components cannot be assembled into the vehicle 100v through mobile assembly, the components can be reassembled by stopping the vehicle 100v, thereby reducing the difficulty of component assembly, and the components can be properly assembled into the vehicle 100v.

[0063] D. Other implementation methods: (D1) In the above embodiment, when the state of the stop flag SF is ON, the stop instruction unit 216 sends a stop instruction to stop, in other words, sends a stop instruction to decelerate the driving speed of the vehicle 100 to 0, but the present disclosure is not limited to this. The stop instruction unit 216 may also send a deceleration instruction to decelerate to an arbitrary speed instead of instructing deceleration to stop. That is, the stop instruction unit 216 generally instructs the vehicle 100 to decelerate or stop. In addition, the deceleration instruction is equivalent to the "first instruction" in the present disclosure. According to this method, in the case where mobile assembly cannot be achieved, mobile assembly can be performed on the vehicle 100 in a state where the difficulty of coordinated control with the assembly robot 300 is lower, compared with the mobile assembly performed on the vehicle 100 traveling at normal speed.

[0064] In addition, in the method of sending a deceleration instruction instead of sending a stop instruction, Figure 8In step S210 of the component assembly control shown, vehicle control command unit 212 may instruct the vehicle to accelerate from a decelerated state to a normal driving speed as a restart driving instruction. Furthermore, vehicle control command unit 212 may instruct the vehicle to accelerate to any speed faster than the driving speed at the time of the assembly error, rather than being limited to the normal driving speed, as a restart driving instruction. This method accelerates vehicle 100 when component assembly is successfully completed through reassembly control. Therefore, compared to a method where the vehicle continues in a decelerated state, an increase in the time required to manufacture vehicle 100 can be minimized.

[0065] (D2) In the above embodiment, when the stop flag SF is on, the stop instruction unit 216 sends a stop instruction to the vehicle 100. However, the present disclosure is not limited to this. For example, if the vehicle 100 is configured to automatically stop when a load exceeding a predetermined value is applied, the stop instruction unit 216 may not send a stop instruction to the vehicle 100. In this embodiment, the server device 200 may not include the stop instruction unit 216. This embodiment also achieves the same effects as the above embodiment.

[0066] (D3) In the above embodiment, when the state of the stop flag SF is ON, the stop instruction unit 216 sends an emergency stop signal as a stop instruction, but the present disclosure is not limited to this. In addition to the emergency stop signal, the vehicle control instruction unit 212 may also send a travel control signal instructing the vehicle 100 to stop. In this method, the vehicle control instruction unit 212 is equivalent to the "first instruction unit" in the present disclosure. According to this method, the same effect as the above embodiment is achieved. In addition, since not only the emergency stop signal but also the travel control signal instructing to stop is sent, the vehicle 100 can be stopped more reliably. In addition, instead of sending the emergency stop signal, a travel control signal instructing the vehicle 100 to stop may be sent. In this method, the server device 200 may not have the stop instruction unit 216.

[0067] (D4) In the above embodiment, error information acquisition unit 214 acquires an error signal as assembly error information, but the present disclosure is not limited to this. Error information acquisition unit 214 may also acquire detection results from external sensor 250 as assembly error information. In this embodiment, error information acquisition unit 214 may acquire an image captured by a camera serving as external sensor 250, and determine whether assembly of the component to vehicle 100 is successful by detecting the positional relationship between vehicle 100 and the component in the captured image. This embodiment also achieves the same effects as the above embodiment.

[0068] (D5) In the above-mentioned embodiment, the server device 200 controls the vehicle 100 as the target of component assembly according to whether the mobile assembly is successful, but the present disclosure is not limited to this. The server device 200 may also control the vehicle 100 as the target of component assembly according to whether the mobile assembly is successful. In addition to the above-mentioned step S204, when the mobile assembly fails and the vehicle 100 as the target of component assembly stops, the server device 200 may also instruct other vehicles (hereinafter also referred to as "subsequent vehicles") that are traveling after the vehicle 100 to stop or slow down. According to this method, it is possible to prevent the travel of the subsequent moving body from being obstructed due to the reduction in the distance between the moving body that failed to achieve mobile assembly and the subsequent moving body.

[0069] Furthermore, if the component cannot be assembled even after reassembly, the server device 200 may, in addition to step S212 described above, instruct the subsequent vehicle to stop or decelerate. In other words, it may instruct the subsequent vehicle to continue the stopped or decelerated state. This method allows the vehicle 100 or the subsequent moving object to be prevented from traveling in a situation where reassembly cannot be achieved, i.e., in a situation where some abnormality may have occurred.

[0070] Furthermore, if mobile assembly fails and the target vehicle 100 stops, server device 200 can also reset the component assembly position, component assembly angle relative to the subsequent vehicle, and component assembly speed for mobile assembly on the subsequent vehicle. The new component assembly position, component assembly angle relative to the subsequent vehicle, and component assembly speed can be determined, for example, by adding a pre-set correction amount or based on detection results from external sensor 250. This approach allows the mobile assembly plan for the subsequent vehicle to be modified based on whether the mobile assembly on the preceding vehicle was successful, thus preventing mobile assembly failures on the subsequent vehicle.

[0071] Furthermore, if mobile assembly fails and the target vehicle 100 is stopped, the server device 200 may execute stop assembly on a subsequent vehicle instead of mobile assembly. This method allows the components to be properly assembled on the vehicle 100 even if mobile assembly fails, by attempting to reassemble the components using stop assembly, which is less difficult than mobile assembly.

[0072] (D6) In the above embodiment, the motion control signal generating unit 317 receives assembly instructions from the robot control command unit 218 of the server device 200 and generates motion control signals, but the present disclosure is not limited to this. The motion control signal generating unit 317 may not receive assembly instructions from the robot control command unit 218, but may generate motion control signals when it detects that the vehicle 100 is in the component assembly position, for example, by using the detection results of a sensor (not shown), such as a camera, included in the assembly robot 300a. In other words, the assembly robot 300 may also perform component assembly operations on the vehicle 100 without relying on instructions from other devices. This method also achieves the same effects as the above embodiment.

[0073] (D7) In each of the above embodiments, external sensor 250 is a camera. Alternatively, external sensor 250 may not be a camera but may 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 external sensor 250 may be three-dimensional point cloud data representing vehicle 100. In this case, server device 200 and vehicle 100 may also obtain vehicle position information by matching the three-dimensional point cloud data, which is the detection result, with a template of pre-prepared reference point cloud data.

[0074] (D8) In the first embodiment described above, the server device 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.

[0075] (1) The server device 200 may obtain vehicle position information, determine a target location to which the vehicle 100 should next go, and generate a route from the current position of the vehicle 100 indicated by the obtained vehicle position information to the target location. The server device 200 may generate a route to the target location between the current position and the destination, or may generate a route to the destination. The server device 200 may transmit the generated route to the vehicle 100. The vehicle 100 may generate a travel control signal so that the vehicle 100 travels along the route received from the server device 200, and may control the actuator group 120 using the generated travel control signal.

[0076] (2) The server device 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.

[0077] (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 device 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.

[0078] (D9) In the third 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.

[0079] (D10) In the above-described embodiment in which vehicle 100 is capable of autonomous driving, vehicle 100 acquires vehicle position information using detection results from external sensors 250. Alternatively, vehicle 100 may be equipped with internal sensors, and vehicle 100 may acquire vehicle position information using the detection results from the internal sensors, determine a target location to which vehicle 100 should next proceed, generate a route from the current location of vehicle 100 indicated by the acquired vehicle position information to the target location, generate a driving control signal for driving along the generated route, and control the actuator group of vehicle 100 using the generated driving control signal. In this case, vehicle 100 can drive without using any detection results from external sensors 250. Alternatively, vehicle 100 may acquire a target arrival time and / or congestion information from outside vehicle 100, and reflect the target arrival time and / or congestion information in at least one of the route and the driving control signal. Furthermore, the functional components of system 10 may all be incorporated into vehicle 100. In other words, the processing implemented by system 10 in this disclosure may be implemented solely by vehicle 100. In this method, the success of component assembly on vehicle 100 can be determined by, for example, the connection status of the component with the in-vehicle LAN. If a connection is not established with a predetermined component at a predetermined timing, it is detected that the mobile assembly of the component has failed.

[0080] (D11) In the first embodiment described above, the server device 200 automatically generates a driving control signal to be transmitted to the vehicle 100. Alternatively, the server device 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 output from the external sensor 250, a steering wheel for remotely operating the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the server device 200 via wired or wireless communication, and the server device 200 may generate a driving control signal in accordance with the operation performed on the operating device.

[0081] (D12) 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 portion 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.

[0082] (D13) 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 KJ that manufactures vehicles 100, at least a portion of the transport of the vehicle 100 is accomplished by self-propelled transport.

[0083] (D14) 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.

[0084] 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 in the embodiments corresponding to the technical features in each method 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

[0085] 10, 10V…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; 120…Actuator group; 130…Communication device; 190…Calculation unit; 192…Error information acquisition unit; 194…Stop instruction unit; 196…Robot control command unit; 200…Server device; 201…Processor; 202…Memory; 203…Input / output interface; 204…Internal bus; 205…Communication device; 210…Calculation unit; 212…Vehicle control command unit; 214…Error information acquisition unit Information acquisition unit; 216…stop instruction unit; 218…robot control instruction unit; 250…external sensor; 300, 300a…assembly robot; 310…robot control device; 311, 311a…processor; 312…memory; 313…input / output interface; 314…internal bus; 315…robot control unit; 317…motion control signal generation unit; 320…arm; 330…communication device; DB…database; DM…detection model; GA…global coordinate system; KJ…factory; PG1, PG2, PG3…program; PL1…first place; PL2…second place; PL3…third place; RR…reference path; SF…stop sign; SR…driving road.

Claims

1. A control device for controlling assembly of components into a movable body during a manufacturing process of the movable body, comprising: an information acquisition unit that acquires first information related to a situation in which an assembling device that performs mobile assembly, which is assembling the component on the mobile body that is moving unmanned, fails to assemble the component; a first instruction unit configured to issue a first instruction to the moving object to decelerate or stop when the first information is acquired; as well as A second instruction unit is configured to issue a second instruction to the assembling device to instruct reassembly after the first instruction is transmitted, wherein the reassembly is to assemble the components on the decelerated or stopped moving body.

2. The control device according to claim 1, wherein: The first instruction unit further instructs another moving body, ie, a subsequent moving body, which is another moving body moving after the moving body, to decelerate or stop when the first information is acquired.

3. The control device according to claim 1, wherein: When the component is successfully assembled to the movable body through the reassembly, the movable body is further instructed to accelerate or resume movement.

4. The control device according to any one of claims 1 to 3, wherein: If the component cannot be assembled into the movable body through the reassembly, the first instruction unit further executes at least one of the following instructions: instructing the moving object to continue the decelerated or stopped state; and The other moving objects moving after the moving object, ie, the subsequent moving objects, are instructed to decelerate or stop.

5. The control device according to any one of claims 1 to 3, wherein: It also includes an operation control signal generating unit that generates an operation control signal for operating the assembling device. The second instruction unit transmits the operation control signal to the assembling device as the second instruction.

6. The control device according to claim 4, wherein: It also includes an operation control signal generating unit that generates an operation control signal for operating the assembling device. The second instruction unit transmits the operation control signal to the assembling device as the second instruction.

7. A system comprising: The control device according to any one of claims 1 to 3; and The assembling device, The assembly device comprises: a receiving unit configured to receive the second instruction; an operation control signal generating unit that receives the second instruction and generates an operation control signal for operating the assembling device; and A device control unit controls the operation of the assembling device according to the operation control signal.

8. A system comprising: The control device according to claim 4; and The assembling device, The assembly device comprises: a receiving unit configured to receive the second instruction; an operation control signal generating unit that receives the second instruction and generates an operation control signal for operating the assembling device; and A device control unit controls the operation of the assembling device according to the operation control signal.

9. An assembly device for assembling components to a moving body. A device control unit is provided for executing reassembly when the component cannot be assembled on the movable body that is moving by unmanned driving, wherein the reassembly is performed on the movable body that has been decelerated or stopped.

10. The assembly device according to claim 9, wherein: An operation control signal generating unit is provided to generate an operation control signal for operating the assembling device. The device control unit performs the reassembly according to the motion control signal generated by the motion control signal generation unit.

11. A mobile body capable of moving unmanned during its own manufacturing process. A mobile body control unit is provided, wherein the mobile body control unit performs: If mobile assembly cannot be achieved, decelerating or stopping, wherein the mobile assembly is performed on the moving body that is being moved by the unmanned driving; and When the component is successfully assembled to the moving body by reassembly, which is the assembly of the component to the moving body that has been decelerated or stopped, the moving body is accelerated or resumed.

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