Control device, database, server device, moving body, moving body control system, control method, trailer and trailer control system

Abstract

To suppress displacement in movement control of a moving body due to external force applied during component attachment and changes in weight.SOLUTION: A control device that controls a movement of a mobile body which is carried in the production process of the mobile body, capable of traveling by unmanned driving, includes a control command unit that generates and outputs a control command to move the mobile body. The control command unit generates the control command by utilizing vehicle state information, which is information related to at least one of: the magnitude of an impact applied to the mobile body; the direction in which the impact acts; the weight of the mobile body; the weight of a trailer configured to carry a component and configured to be removably coupled to the mobile body and move, the component being configured to be attached to the mobile body; and the process step in which the mobile body is positioned.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a control device, a database, a server device, a mobile body, a mobile body control system, a control method, a bogie, and a bogie control system. [Background technology]

[0002] 2. Description of the Related Art In a vehicle manufacturing process, a technology is known for remotely controlling a vehicle to operate unmanned (for example, see Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2017-538619 Summary of the Invention [Problem to be solved by the invention]

[0004] In the case of a vehicle in the middle of manufacturing, there is a problem that the movement control of the vehicle during unmanned driving may be deviated due to external forces applied during the part installation process and changes in weight due to the installation of parts. This problem is not limited to vehicles, but is common to any moving object. [Means for solving the problem]

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

[0006] (1) According to one aspect of the present disclosure, there is provided a control device for controlling movement of a moving body transported in a manufacturing process of a moving body capable of traveling by unmanned operation. This control device includes a control command unit that generates and outputs a control command for moving the moving body, and the control command unit generates the control command by using vehicle state information that is information on at least one of the magnitude of an impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of a carriage that stores parts to be attached to the moving body and is detachably connected to the moving body and moves, and a process in which the moving body is located. According to this embodiment of the control device, a control command unit is provided that generates and outputs a control command for moving the moving body, and the control command unit generates the control command by using the vehicle state information. Therefore, it is possible to suppress deviations in the movement control of the moving body due to unmanned driving that may be caused by at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of the cart, and the process in which the moving body is located. (2) In the above embodiment, the control command unit may use the vehicle status information to generate the control command so as to suppress changes in the speed of the moving body that change due to at least one of the impact force, attachment of the part to the moving body, connection of the bogie to the moving body, and disconnection of the connection between the bogie and the moving body. According to the control device of this embodiment, a control command is generated using the vehicle state information to suppress a change in the speed of the moving body caused by at least one of the following: an impact force, attachment of a part to the moving body, connection of the dolly to the moving body, and disconnection of the dolly from the moving body. Therefore, it is possible to suppress a change in the speed of the moving body caused by at least one of the following: an impact force, attachment of a part to the moving body, connection of the dolly to the moving body, and disconnection of the dolly from the moving body. (3) In the above embodiment, the control command unit may use the vehicle status information to generate the control command so as to suppress changes in the direction of travel of the moving body that occur due to at least one of the impact force, attachment of the part to the moving body, connection of the bogie to the moving body, and disconnection of the connection between the bogie and the moving body. According to the control device of this embodiment, a control command is generated using the vehicle state information to suppress a change in the traveling direction of the moving body caused by at least one of the following: an impact force, attachment of a part to the moving body, connection of the dolly to the moving body, and disconnection of the dolly from the moving body. Therefore, it is possible to suppress a change in the traveling direction of the moving body caused by at least one of the following: an impact force, attachment of a part to the moving body, connection of the dolly to the moving body, and disconnection of the dolly from the moving body. (4) In the above embodiment, the impact force may be generated due to at least one of a force acting when the part comes into contact with the moving body, a force acting when the part is fixed to the moving body, and a force acting when the cart is connected to the moving body. According to the control device of this embodiment, the impact force is generated due to at least one of the force acting when the part comes into contact with the moving body, the force acting when the part is fixed to the moving body, and the force acting when the cart is connected to the moving body. Therefore, it is possible to suppress deviations in the movement control of the moving body due to unmanned operation that may be caused by impact forces generated due to at least one of the force acting when the part comes into contact with the moving body, the force acting when the part is fixed to the moving body, and the force acting when the cart is connected to the moving body. (5) In the above embodiment, the vehicle status information may further include an information acquisition unit that acquires impact force information regarding the impact force from a sensor that detects the impact force, and the control command unit may generate the control command using the acquired impact force information. According to the control device of this embodiment, impact force information on the impact force is acquired from a sensor that detects the impact force, and a control command is generated using the acquired impact force information. Therefore, the control command can be generated using the impact force actually applied to the moving body, and compared to a mode in which a control command is generated by estimating the impact force to be applied in advance, it is possible to suppress deviations in the movement control of the moving body due to unmanned operation that may occur due to the impact force. (6) In the above embodiment, the vehicle status information may further include an information acquisition unit that acquires connection termination information from a sensor that acquires connection termination information indicating whether or not the connection state between the bogie and the moving body has been terminated, and the control command unit may generate the control command using the connection termination information. According to this embodiment of the control device, the connection termination information is acquired from a sensor that acquires the connection termination information indicating whether or not the connection state in which the bogie and the moving body are connected has been terminated, and a control command is generated using the connection termination information. Therefore, the control command can be generated based on the actual connection state, and deviations in the movement control of the moving body during unmanned operation caused by the connection state with the bogie can be suppressed. (7) In the above embodiment, the vehicle status information may further include an information acquisition unit that acquires weight-related information, which is information regarding the weight of the moving body, and the control command unit may generate the control command by utilizing the acquired weight-related information so that, when the weight of the moving body increases, the speed of the moving body is reduced compared to before the weight of the moving body increased. According to the control device of this embodiment, when the weight of the moving body increases, the control command is generated by utilizing the acquired weight-related information so that the speed of the moving body is reduced compared to before the weight of the moving body increased, thereby suppressing the braking distance of the moving body, which increases according to the weight of the moving body. (8) In the above embodiment, the vehicle may further include a weight estimation unit that estimates a weight of the moving body using the weight-related information, and the control command unit may generate the control command using the estimated weight of the moving body such that, when the weight of the moving body increases, the speed of the moving body is reduced compared to before the weight of the moving body increased. According to this aspect of the control device, a weight estimation unit is further provided that estimates the weight of the moving body by using the weight-related information, and the control command unit generates a control command by using the estimated weight of the moving body so that, when the weight of the moving body increases, the speed of the moving body is reduced compared to before the weight of the moving body increased. Therefore, a control command can be generated that suppresses the speed of the moving body even by the estimated weight of the moving body. (9) In the above embodiment, the system may further include an information storage unit that stores position-weight correspondence information, which is information in which the position of the moving body and the weight of the moving body are corresponding to each other, and the information acquisition unit acquires the position of the moving body as the weight-related information, and the weight estimation unit may estimate the weight of the moving body at the position of the moving body using the position-weight correspondence information and the acquired position of the moving body. According to this embodiment of the control device, the information storage unit stores position-weight correspondence information, the information acquisition unit acquires the position of the moving body as weight-related information, and the weight estimation unit estimates the weight of the moving body at the position of the moving body using the position-weight correspondence information and the acquired position of the moving body, so that the weight of the moving body can be easily estimated using the position of the moving body. Note that the "position of the moving body" is not limited to the coordinates indicating the position of the moving body, but has a broad meaning indicating the process in which the moving body is located. (10) In the above embodiment, the information acquisition unit may acquire, as the weight-related information, displacement information indicating a displacement of a suspension device supporting wheels of the moving body, and the weight estimation unit may estimate the weight of the moving body by utilizing the displacement information. According to this form of control device, the information acquisition unit acquires displacement information indicating the displacement of the suspension device as weight-related information, and the weight estimation unit estimates the weight of the moving body using the displacement information. Therefore, the weight of the moving body can be estimated more accurately based on the displacement information that changes according to the actual weight of the moving body. (11) In the above embodiment, when the moving body is located in a pre-bumper attachment process, which is a process prior to a bumper attachment process in which a bumper is attached to the moving body in the manufacturing process, and the weight of the moving body has increased compared to the weight of the moving body in a process prior to the pre-bumper attachment process, the control command unit generates the control command so that the speed of the moving body is reduced compared to before the weight of the moving body increased, and when the moving body is located in a post-bumper attachment process, which is a process after the bumper attachment process, and the weight of the moving body has increased compared to the weight of the moving body in a process prior to the post-bumper attachment process, the control command unit does not have to generate the control command so that the speed of the moving body is reduced compared to before the weight of the moving body increased. According to this form of control device, when the moving body is located in a post-bumper attachment process, which is a process after the bumper attachment process, and the weight of the moving body has increased compared to the weight of the moving body in a process prior to the post-bumper attachment process, a control command is not generated to reduce the speed of the moving body compared to before the increase in weight of the moving body, thereby preventing an increase in the time required to transport the moving body. (12) In the above embodiment, when the moving body is located in a manned process in the manufacturing process where workers are present and the weight of the moving body has increased compared to the weight of the moving body in a process prior to the manned process, the control command unit generates the control command such that the speed of the moving body is reduced compared to before the weight of the moving body increased, and when the moving body is located in an unmanned process in the manufacturing process in which workers are not present and the weight of the moving body has increased compared to the weight of the moving body in a process prior to the unmanned process, the control command unit does not have to generate the control command such that the speed of the moving body is reduced compared to before the weight of the moving body increased. According to this form of control device, when a moving body is located in an unmanned process in a manufacturing process where no workers are present, and the weight of the moving body has increased compared to the weight of the moving body in a process prior to the unmanned process, a control command to reduce the speed of the moving body compared to before the increase in weight of the moving body is not generated, thereby preventing an increase in the time required to transport the moving body. (13) In the above embodiment, the vehicle may further include a position estimation unit that estimates a position of the moving body, and the control command unit may generate the control command using a database that stores information regarding the control command and position information of the moving body in correspondence with each other, and the estimated position of the moving body, and the information regarding the control command in the database may be predetermined based on the vehicle state information corresponding to the position of the moving body. According to the control device of this embodiment, a database that manages information related to control commands and position information of the moving body in association with each other and an estimated position of the moving body are used to generate the control commands, so that the control commands can be easily generated using the database. Therefore, it is possible to easily suppress deviations in the movement control of the moving body due to unmanned operation that may be caused by at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of the cart, and the process in which the moving body is located. (14) According to another aspect of the present disclosure, there is provided a database, which holds information on a control command for moving an unmanned moving body in a manufacturing process of the moving body and position information of the moving body in association with each other, and the information on the control command is determined in advance based on vehicle state information which is information on at least one of the magnitude of an impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of a carriage that stores parts to be attached to the moving body and is connected to the moving body and moves, and the process in which the moving body is located. According to this form of database, the information on the control command, which is predetermined based on the driver information, and the information on the moving body can be stored in association with each other. Also, since the information on the control command is predetermined, it is possible to omit the calculation process for generating the control command. (15) According to another aspect of the present disclosure, there is provided a server device, the server device including the control device according to any one of the first to thirteenth aspects. According to the server device of this form, since it is equipped with a control device described in any one of forms 1 to 13 above, it is possible to suppress deviations in the movement control of the moving body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of the cart, and the process in which the moving body is located. (16) According to another aspect of the present disclosure, there is provided a server device including the control device according to aspect 13 and the database according to aspect 14. According to the server device of this form, since it is equipped with the control device described in form 13 above and the database described in form 14 above, control commands can be easily generated using the database, and deviations in the movement control of the moving body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of the cart, and the process in which the moving body is located can be easily suppressed. (17) According to another aspect of the present disclosure, there is provided a moving body, the moving body including a driving control unit that executes driving control of the moving body in accordance with the control command output from the server device according to the fifteenth aspect. According to the moving body of this form, operation control is performed in accordance with the control commands output from the server device of the above form, so that deviations in the movement control of the moving body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of the cart, and the process in which the moving body is located can be suppressed. (18) According to another aspect of the present disclosure, there is provided a moving body, the moving body including a driving control unit that executes driving control of the moving body in accordance with the control command output from the server device according to the sixteenth aspect. With this form of moving body, operation control can be performed in accordance with control commands generated using a database, and deviations in the movement control of the moving body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of the cart, and the process in which the moving body is located can be easily suppressed. (19) According to another aspect of the present disclosure, a moving body is provided, the moving body including a driving control unit that acquires a control command for moving the moving body and executes driving control of the moving body using the acquired control command, the driving control unit corrects the acquired control command using information on at least one of the following: a magnitude of an impact force applied to the moving body, a direction in which the impact force acts, a weight of the moving body, a weight of a carriage that stores parts to be attached to the moving body and is detachably connected to the moving body and moves, and a process in which the moving body is located, and executes the driving control according to the corrected control command. According to the moving body of this embodiment, the acquired control command is corrected using information on at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of the dolly, and the process in which the moving body is located, and the operation control is executed according to the corrected control command. Therefore, the control command output from the server device can be corrected on the moving body side, and deviations in the movement control of the moving body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of the dolly, and the process in which the moving body is located can be suppressed. (20) According to another aspect of the present disclosure, there is provided a moving body including the control device according to any one of the first to thirteenth aspects, and an operation control unit that controls operation of the moving body in accordance with the control command output from the control device. The moving body of this embodiment includes the control device according to any one of the above-mentioned embodiments 1 to 13, and an operation control unit that executes operation control of the moving body according to a control command output from the control device. Therefore, without requiring a server device, it is possible to suppress deviations in the movement control of the moving body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of the cart, and the process in which the moving body is located. (21) According to another aspect of the present disclosure, there is provided a moving body, the moving body including the control device according to the aspect 13, the database according to the aspect 14, and a driving control unit that executes driving control of the moving body according to the control command output from the control device. The moving body of this aspect includes the control device according to the above aspect 13, the database according to the above aspect 14, and an operation control unit that executes operation control of the moving body according to a control command output from the control device. Therefore, without requiring a server device, operation control can be executed according to a control command generated using the database, and deviations in the movement control of the moving body due to unmanned operation that may be caused by at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of the cart, and the process in which the moving body is located can be easily suppressed. (22) According to another aspect of the present disclosure, there is provided a mobile object control system, the mobile object control system including the server device according to the fifteenth aspect and the mobile object according to the seventeenth aspect. According to the mobile body control system of this form, which is equipped with the server device described in form 15 above and the mobile body described in form 17 above, it is possible to suppress deviations in the movement control of the mobile body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the mobile body, the direction in which the impact force acts, the weight of the mobile body, the weight of the cart, and the process in which the mobile body is located. (23) According to another aspect of the present disclosure, there is provided a mobile object control system, the mobile object control system including the server device according to the sixteenth aspect and the mobile object according to the eighteenth aspect. According to this form of the mobile body control system, since it is equipped with the server device described in form 16 above and the mobile body described in form 18 above, control commands can be easily generated using a database, and deviations in the movement control of the mobile body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the mobile body, the direction in which the impact force acts, the weight of the mobile body, the weight of the cart, and the process in which the mobile body is located can be easily suppressed. (24) According to another aspect of the present disclosure, there is provided a mobile object control system including: a server device that generates and outputs a control command for moving a mobile object capable of traveling by unmanned driving; and the mobile object according to aspect 19. According to this form of mobile body control system, the control commands output from the server device can be corrected on the mobile body side, and deviations in the movement control of the mobile body due to unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the mobile body, the direction in which the impact force acts, the weight of the mobile body, the weight of the cart, and the process in which the mobile body is located can be suppressed. (25) According to another aspect of the present disclosure, there is provided a control method for controlling movement of a moving body transported in a manufacturing process of a moving body capable of traveling by unmanned operation, the moving body control system including a step of correcting a control command for moving the moving body by using vehicle state information that is information on at least one of the following: a magnitude of an impact force applied to the moving body, a direction in which the impact force acts, a weight of the moving body, a weight of a carriage that stores parts to be attached to the moving body and moves while connected to the moving body, and a process in which the moving body is located. According to this form of control method, it is possible to suppress deviations in the movement control of a moving body during unmanned operation that may occur due to at least one of the magnitude of the impact force applied to the moving body, the direction in which the impact force acts, the weight of the moving body, the weight of the cart, and the process in which the moving body is located. (26) According to another aspect of the present disclosure, there is provided a carriage for storing parts to be assembled to a moving body capable of traveling in an unmanned driving manner in a manufacturing process of the moving body, the carriage including a connection unit connected to the moving body, a carriage drive unit for moving the carriage following the movement of the moving body in a connected state in which the moving body and the carriage are connected by the connection unit, a connection detection unit for detecting whether the connection unit is in the connected state, and a communication device for transmitting a detection result by the connection detection unit to a control device according to any one of the aspects 1 to 13 above. According to the trolley of this embodiment, it is equipped with a connection detection unit that detects whether or not the connection part is in a connected state, and a communication device that transmits the detection result by the connection detection unit to the control device described in any one of the above embodiments 1 to 13. Therefore, in the control device, the detection result by the connection detection unit can be used to suppress deviations in the operation of the moving body caused by the connection state between the trolley and the moving body. (27) In the above embodiment, the vehicle may further include a drive control unit that controls the drive of the bogie drive unit, and the drive control unit may increase the braking force of the bogie drive unit when the connection detection unit detects that the connection unit has changed from the connected state to a disconnected state in which the moving body and the bogie are not connected by the connection unit. With this type of trolley, when the connection detection unit detects that the connection part has changed from a connected state to a disconnected state in which the moving body and the trolley are not connected by the connection part, the braking force of the trolley drive unit is increased, so that the trolley can be quickly removed from the vicinity of the moving body and the trolley can be prevented from interfering with the transportation of the moving body. (28) In the above embodiment, the drive control unit may control the cart drive unit to move the cart to a process that precedes the process at which the cart is located in the manufacturing process after increasing the braking force. According to this type of cart, the cart can be attached to another moving body that is transported from the previous process. (29) In the above embodiment, the device may further include a process information acquisition unit that acquires information indicating whether the moving body has completed a connection state process that is predetermined as a process to be executed in the connected state among the manufacturing processes, and a connection control unit that controls the connection unit so that the moving body and the cart are in a non-connected state when the moving body has completed the connection state process. With this form of trolley, when the moving body completes the connected state process, the connection part is controlled so that the moving body and the trolley are in a disconnected state, thereby suppressing the occurrence of a deviation in the operation of the moving body due to the connection between the trolley and the moving body in processes other than the connected state process. (30) According to another aspect of the present disclosure, there is provided a bogie control system, comprising: a control device according to any one of aspects 1 to 13; and a bogie according to aspect 29, wherein the control device further comprises a determination unit that determines whether the moving body has completed the connected state process in the manufacturing process, and a notification output unit that outputs a connection termination notification instructing the moving body to terminate the connected state when the moving body has completed the connected state process, and the connection control unit controls the connection unit to enter the non-connected state when the connection termination notification is received. According to this form of trolley control system, when the moving body completes the connected state process, the connection part is controlled so that the moving body and the trolley are in a disconnected state, thereby suppressing the occurrence of a deviation in the operation of the moving body due to the connection between the trolley and the moving body in processes other than the connected state process. The present disclosure can also be realized in various forms other than a control device, a database, a server device, a mobile body, a mobile body control system, a control method, a cart, and a cart control system, for example, a remote control device, a mobile body transport system, a database management device, a database system, a control device and control method for a cart, a method for transporting a mobile body, a control method for a transport system, a computer program for realizing these control methods and databases, a non-transitory recording medium on which the computer program is recorded, etc. [Brief description of the drawings]

[0007] [Figure 1] 1 is an explanatory diagram showing a schematic configuration of a vehicle control system as a control system according to a first embodiment. [Diagram 2] FIG. 1 is a block diagram showing a schematic configuration of a bogie according to a first embodiment. [Diagram 3] 1 is a block diagram showing a schematic configuration of a vehicle according to a first embodiment. [Figure 4] 2 is a block diagram showing the internal functional configuration of the remote control device of the first embodiment. FIG. [Diagram 5] 4 is a flowchart showing a method for driving a vehicle in the first embodiment. [Figure 6] FIG. 11 is an explanatory diagram showing an example of a control command generated to suppress a change in speed associated with the installation of a part on a vehicle. [Figure 7] FIG. 11 is an explanatory diagram showing an example of a control command generated to suppress a change in speed associated with the connection of the bogie to the vehicle. [Figure 8] 4 is a flowchart showing the steps of a vehicle control method implemented by the remote control device of the first embodiment. [Figure 9] 4 is a flowchart showing the steps of a vehicle control method implemented by the remote control device of the first embodiment. [Figure 10] FIG. [Figure 11] 13 is a flowchart showing the procedure of a control command generating process executed in a remote control device of a third embodiment. [Figure 12] FIG. 13 is a block diagram showing a schematic configuration of a vehicle control device provided in a vehicle according to a fifth embodiment. [Figure 13] 13 is a flowchart showing a vehicle running method according to a fifth embodiment. [Figure 14] FIG. 13 is a block diagram showing a schematic configuration of a remote control device according to another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] A. First embodiment: A-1. System configuration: FIG. 1 is an explanatory diagram showing a schematic configuration of a vehicle control system 600 as a mobile object control system of the first embodiment. The vehicle control system 600 is used, for example, in a factory that manufactures a vehicle 100. The transport target of the vehicle control system 600 is the vehicle 100 that can run by remote control. In this embodiment, the vehicle control system 600 is used in the assembly process of the vehicle 100 among the manufacturing processes for manufacturing the vehicle 100, and transports the vehicle 100 in a platform state over a predetermined transport section. The "platform state" means a state in which the vehicle 100 can perform three functions of "running," "turning," and "stopping" by remote control. More specifically, it means a state in which interior parts such as a driver's seat and a dashboard are not installed, exterior parts such as a bumper and a fender are not installed, and a body shell is not installed. In addition, for the vehicle 100 in the platform state, the remaining parts such as a body shell may be attached to the vehicle 100 before the vehicle 100 is shipped from the factory, or the remaining parts such as a body shell may be attached to the vehicle 100 after the vehicle 100 is shipped from the factory in a state in which the remaining parts such as the body shell are not attached to the vehicle 100. The vehicle 100 undergoes processing such as inspection and assembly by workers, equipment, etc. during transportation. Each part may be attached from any direction such as the upper side, lower side, front side, rear side, right side, or left side of the vehicle 100, and each part may be attached from the same direction or from different directions.

[0009] As shown in Fig. 1, the vehicle 100 in a platform state is transported by remote control using the vehicle control system 600, and a part PT is mounted on the vehicle 100 using an assembly robot RB, fixed using a fixing tool TL held by a worker, and then the vehicle proceeds to the next process. Although only one assembly robot RB is shown in Fig. 1, a plurality of parts may be installed depending on the types of parts PT to be attached to the vehicle 100. Note that when the part PT is mounted on the vehicle 100 by the assembly robot RB, the part PT may be fixed without using the fixing tool TL by fitting it into a fitting portion (not shown) formed in advance on the vehicle 100.

[0010] In this embodiment, the fixed tool TL is configured as an impact wrench, and is configured to communicate with the remote control device 300 and output an operating state and a fastening torque to the remote control device 300. The assembly robot RB is configured as an articulated robot having a gripper, and communicates with the remote control device 300, receives a control command output from the remote control device 300 as described below, and performs an assembly operation of the part PT in response to the control command. The assembly robot RB is configured to output to the remote control device 300 information indicating whether or not the mounting of the part PT on the vehicle 100 has been completed, the weight of the part PT, and an impact force generated when the part PT is mounted on the vehicle 100. The communication between the fixed tool TL and the remote control device 300 and the communication between the assembly robot RB and the remote control device 300 may be realized by any method, such as wired or wireless.

[0011] In at least a part of the transport section by remote control, the vehicle 100 is connected to a dolly 400 that stores various parts to be assembled to the vehicle 100, and the dolly 400 is towed. The dolly 400 may be towed not only in a positional relationship in which the dolly 400 is located at the rear of the vehicle 100, but also in a positional relationship in which the dolly 400 is located in front or to the side of the vehicle 100. In this embodiment, the dolly 400 stores relatively small fixed parts such as bolts that are attached by a worker to fix the part PT to the vehicle 100. The dolly 400 may store large parts such as a seat or a body shell that are attached to the vehicle 100 by the assembly robot RB. The dolly 400 includes wheels 432 and a connecting portion 434, and is towed by detachably connecting the connecting portion 434 to a towing hook that is provided in advance on the vehicle 100 being transported or to an arbitrary protrusion of the vehicle 100. The connection part 434 is configured as, for example, a belt or a hook, and is detached and the connection is released when the transportation of the vehicle 100 over a predetermined section is completed. In the following description, the state in which the bogie 400 and the vehicle 100 are connected by the connection part 434 is also referred to as a "connected state," and the state in which the connection state is released and the bogie 400 and the vehicle 100 are not connected is also referred to as a "disconnected state." The wheels 432 correspond to the "bogie driving part" in this disclosure.

[0012] FIG. 2 is a block diagram showing a schematic configuration of the bogie 400 of the first embodiment. The bogie control device 500 is mounted on the bogie 400 and executes various controls of the bogie 400. The bogie control device 500 is configured as an ECU (Electronic Control Unit) including a CPU 510 as a central processing unit, a storage device 530 such as an HDD (hard disk drive), an SSD (solid state drive), an optical recording medium, a RAM, and a ROM, and an interface circuit 540. The CPU 510, the storage device 530, and the interface circuit 540 are connected via an internal bus so as to be able to communicate bidirectionally. The interface circuit 540 is connected to the communication device 410, the sensor group 420, and the actuator group 430. The communication device 410 performs wireless communication with devices outside the vehicle 100 connected to the network, such as the remote control device 300, via an access point in the factory or the like.

[0013] The sensor group 420 is used for various controls of the bogie 400 by the bogie control device 500. In this embodiment, the sensor group 420 includes a connection detection unit 422 that detects whether the connection unit 434 is in a connected state or a non-connected state. The connection detection unit 422 is configured, for example, as a pressure sensor provided at a contact portion between the connection unit 434 and the vehicle 100, or a distance measurement sensor that detects the distance between the bogie 400 and the vehicle 100. The detection result by the connection detection unit 422 is output to the remote control device 300 and the CPU 510.

[0014] Computer programs for implementing at least some of the functions provided in this embodiment are stored in the storage device 530. The CPU 510 executes various computer programs stored in the memory, thereby functioning as a drive control unit 512, a connection control unit 514, and a process information acquisition unit 516.

[0015] The process information acquisition unit 516 acquires information indicating whether the vehicle 100 has completed a connection state process, which is a process to be performed in a connection state among the manufacturing processes. The drive control unit 512 controls the drive of the actuators involved in the drive control of the wheels 432 of the bogie 400, among the actuator group 430. The "actuators involved in the drive control of the wheels 432" include an actuator of a drive device (not shown) that drives the wheels 432, an actuator of a braking device (not shown) that generates a braking force that decelerates the wheels 432, and an actuator of a steering device (not shown) that changes the traveling direction of the wheels 432. In this embodiment, the drive control unit 512 drives the wheels 432 to run the bogie 400 by controlling the wheels 432 according to whether the connection state process has been completed and the state of the connection unit 434 detected by the connection detection unit 422. In this embodiment, when the connection unit 434 is in a connection state, the drive control unit 512 does not drive the wheels 432 by the actuator, and the wheels 432 are driven by being towed by the vehicle 100.

[0016] The connection control unit 514 controls the driving of the actuators involved in the control of the connection unit 434 of the carriage 400, among the actuator group 430. In this embodiment, the connection control unit 514 realizes switching between the connection state and the non-connection state of the connection unit 434 by controlling the connection unit 434 depending on whether the connection state process has been completed or not. Specific controls in the drive control unit 512, the connection control unit 514, and the process information acquisition unit 516 will be described later.

[0017] FIG. 3 is a block diagram showing a schematic configuration of the vehicle 100 of the first embodiment. The vehicle 100 is, for example, a passenger car, a truck, a bus, and a construction vehicle. In this embodiment, the vehicle 100 is an electric vehicle (BEV: Battery Electric Vehicle) that can run by unmanned driving. "Unmanned driving" means driving without the driving operation of a passenger. Driving operation means at least one operation of the vehicle 100, such as "running", "turning", and "stopping". Unmanned driving is realized by automatic or manual remote control using a device provided outside the vehicle 100, or autonomous control of the vehicle 100. The vehicle 100 running by unmanned driving may have a passenger who does not perform driving operation on board. The passenger who does not perform driving operation includes, for example, a person who simply sits in the seat of the vehicle 100, and a person who performs work other than driving operation, such as assembly, inspection, and operation of switches, while riding in the vehicle 100. Driving by a passenger's driving operation is sometimes called "manned driving". The vehicle 100 includes a communication device 110 , a group of sensors 120 , a group of actuators 130 , and a vehicle control device 200 .

[0018] The vehicle control device 200 is mounted on the vehicle 100 and executes various controls of the vehicle 100. The vehicle control device 200 is configured as an ECU including a CPU 210 as a central processing unit, a storage device 230 such as a RAM, a ROM, an HDD, and an SSD, and an interface circuit 240. The CPU 210, the storage device 230, and the interface circuit 240 are connected to each other via an internal bus so as to be able to communicate bidirectionally. The interface circuit 240 is connected to the actuator group 130, the sensor group 120, and the communication device 110. The communication device 110 performs wireless communication with devices outside the vehicle 100 connected to a network, such as a remote control device 300, via an access point in a factory or the like.

[0019] Computer programs for implementing at least some of the functions provided in this embodiment are stored in the storage device 230. The CPU 210 executes various computer programs stored in the memory to implement functions such as the operation control unit 212.

[0020] The driving control unit 212 executes driving control of the vehicle 100. The "driving control" refers to various controls for driving the actuator group 130 that exerts the functions of "running," "turning," and "stopping" of the vehicle 100, such as adjusting acceleration, speed, and steering angle. In this embodiment, the actuator group 130 includes an actuator of a driving device 132 for accelerating the vehicle 100, an actuator of a braking device 134 for decelerating the vehicle 100, and an actuator of a steering device 136 for changing the traveling direction of the vehicle 100. The actuator group 130 may also include an actuator for swinging the wipers of the vehicle 100, an actuator for opening and closing the power windows of the vehicle 100, and the like.

[0021] The actuator of the drive device 160 includes a driving battery (not shown), a driving motor (not shown) that is driven by the power of the driving battery, and four wheels. The driving motor is an example of a prime mover. The wheels rotate by the power transmitted from the driving motor. Another type of prime mover, such as an internal combustion engine or an external combustion engine, may be provided instead of the driving motor.

[0022] When a driver is on board the vehicle 100, the driving control unit 212 can control the actuator group 130 in response to an operation by the driver to drive the vehicle 100. In addition, the driving control unit 212 can also drive the vehicle 100 by controlling the actuator group 130 in response to a control command transmitted from the remote control device 300, regardless of whether a driver is on board the vehicle 100 or not.

[0023] The sensor group 120 is a general type of sensor used for driving control of the vehicle 100. In this embodiment, the measurement results by the sensor group 120 are transmitted to the vehicle control device 200. Note that the vehicle 100 in the platform state may not be equipped with the sensor group 120.

[0024] As shown in FIG. 1, the vehicle control system 600 includes a vehicle detector 80 and a remote control device 300. The vehicle detector 80 is a device for measuring vehicle information. The "vehicle information" is information used to estimate at least one of the position and the orientation of the vehicle 100, such as an image of the vehicle 100 or three-dimensional point cloud data of the vehicle 100. The "three-dimensional point cloud data" is data indicating the three-dimensional position of a point cloud. In this embodiment, the vehicle detector 80 is configured as a camera and acquires an image of the vehicle 100 as the vehicle information.

[0025] The vehicle detector 80 is communicatively connected to the remote control device 300 via wireless or wired communication. The remote control device 300 can acquire the relative position and orientation of the vehicle 100 with respect to the target route in real time by acquiring vehicle information from the vehicle detector 80.

[0026] 4 is a block diagram showing an internal functional configuration of the remote control device 300 of the first embodiment. The remote control device 300 generates a control command for automatically driving the vehicle 100 by remote control, transmits the control command to the vehicle 100, and executes driving control of the vehicle 100 by remote control. For example, the remote control device 300 transports the vehicle 100 in a transport section in a factory by automatically driving the vehicle 100 by remote control. In this embodiment, the remote control device 300 generates a control command for operating each of the assembly robot RB and the cart 400 by remote control, and transmits the control command to the assembly robot RB and the cart control device 500. The remote control device 300 corresponds to a "server device" in this disclosure.

[0027] The remote control device 300 is configured as an ECU including a CPU 310 as a central processing unit, a storage device 330, an interface circuit 340, and a communication device 350. The CPU 310, the storage device 330, and the interface circuit 340 are connected to each other via an internal bus so as to be able to communicate in both directions. The communication device 350 is connected to the interface circuit 340. The communication device 350 communicates with the vehicle 100, the bogie control device 500, and the assembly robot RB via a network or the like.

[0028] The storage device 330 is, for example, a RAM, a ROM, a HDD, or an SSD. An estimated position VL, which will be described later, is stored in a readable / writable area of ​​the storage device 330. The storage device 330 also stores a computer program for implementing at least a part of the functions provided in this embodiment. When the computer program stored in the storage device 330 is executed by the CPU 310, the CPU 310 functions as a vehicle control command unit 312, a position estimation unit 314, an information acquisition unit 316, a bogie control command unit 318, and a robot control command unit 320. However, some or all of these functions may be configured by hardware circuits.

[0029] The position estimation unit 314 estimates the relative position and orientation of the vehicle 100 by analyzing the image acquired by the vehicle detector 80. The vehicle control command unit 312 can estimate the position and orientation of the vehicle 100 using the captured image acquired by the camera as the vehicle detector 80. The position of the vehicle 100 can be acquired, for example, by calculating the coordinates of the positioning point of the vehicle 100 in the image coordinate system using the outer shape of the vehicle 100 detected from the captured image, and converting the calculated coordinates into coordinates in the global coordinate system. The orientation of the vehicle 100 can be estimated based on the direction of the movement vector of the vehicle 100 calculated from the position change of the characteristic points of the vehicle 100 between frames of the captured image, using, for example, an optical flow method. The orientation of the vehicle 100 may be calculated, for example, using the output result of a yaw rate sensor or the like mounted on the vehicle 100.

[0030] The outer shape of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into a detection model that utilizes artificial intelligence. The detection model can be, for example, a trained machine learning model that has been trained to realize either semantic segmentation or instance segmentation. For example, this machine learning model can be a convolutional neural network (hereinafter, CNN) trained by supervised learning using a training dataset. The training dataset has, for example, a plurality of training images including the vehicle 100, and a correct answer label indicating whether each area in the training image is an area indicating the vehicle 100 or an area indicating something other than the vehicle 100. Note that, during training of the CNN, it is preferable to update the parameters of the CNN by backpropagation (error backpropagation method) so as to reduce an error between the output result of the detection model and the correct answer label.

[0031] The information acquisition unit 316 acquires the vehicle state information SJ. The "vehicle state information SJ" means information on at least one of the magnitude of the impact force applied to the vehicle 100, the direction of the impact force, the weight of the vehicle 100, the weight of the bogie 400, and the process in which the vehicle 100 is located. More specifically, the vehicle state information SJ includes information indicating the type of the part PT to be attached in each process in the manufacturing process, the weight of the part PT to be attached in each process, the magnitude and direction of the impact force generated when each part PT is attached to the vehicle 100, the timing when the bogie 400 starts to be connected or disconnected, the weight of the bogie 400 in each process, and the like. In this embodiment, the information acquisition unit 316 acquires the vehicle state information SJ stored in advance in the storage device 330 from the storage device 330.

[0032] Each element used as the vehicle state information SJ in this embodiment and the influence of each element on the driving state of the vehicle 100 will be specifically described. When each part PT is attached to the vehicle 100, the weight of the part PT is added, and the total weight of the vehicle 100 increases. When the total weight of the vehicle 100 increases, the frictional force with the road surface increases, and the driving resistance of the driving device 132 increases, so that the vehicle 100 decelerates. Furthermore, when the total weight of the vehicle 100 increases, the driving torque required to realize a predetermined acceleration and the braking force required to realize a predetermined deceleration increase. In this embodiment, the information acquisition unit 316 adds up the weight of the part PT attached in each process, and records the total vehicle weight WT in the storage device 330 as the total weight of the vehicle 100. The total vehicle weight WT is included in the vehicle state information SJ. The total vehicle weight WT may be associated with the position of the vehicle 100 and stored in advance in the storage device 330 as the vehicle state information SJ.

[0033] In this embodiment, the "impact force generated when each part PT is attached to the vehicle 100" refers to the impact force resulting from the force when the part PT is mounted by the assembly robot RB and contacts the vehicle 100, the force acting when the part PT is attached to the vehicle 100 by the fixing tool TL, and the force acting when the cart 400 is connected to the vehicle 100. The type of impact force used as the vehicle status information SJ may be at least one of the above-mentioned forces. In addition, the "magnitude and direction of the impact force" can be specified in advance by simulation as the magnitude and direction of the impact force when the part PT is attached to the vehicle 100 by the part weight, contact speed, contact direction, and fixing force that are predefined for each type of part PT, and the magnitude and direction of the impact force when the cart 400 of a predefined weight is connected to the vehicle 100 traveling at a predefined speed. The information on the impact force described above corresponds to the "impact force information" in this disclosure.

[0034] The impact force affects the driving state of the vehicle 100 depending on the direction in which the impact force acts. More specifically, an impact force acting in the traveling direction of the vehicle 100 acts as a force that accelerates the vehicle 100, accelerating the vehicle 100. On the other hand, an impact force acting in the opposite direction to the traveling direction of the vehicle 100 acts as a force that decelerates the vehicle 100, decelerating the vehicle 100. In addition, an impact force acting in a direction perpendicular to the traveling direction of the vehicle 100 increases the frictional force between the vehicle 100 and the road surface and the driving resistance of the driving device 132, thereby decelerating the vehicle 100.

[0035] The "weight of the dolly 400" includes the weight of various parts stored in the dolly 400. The later the process in the manufacturing process, the lighter the parts PT stored in the dolly 400 become as they are attached to the vehicle 100, so the weight of the dolly 400 is preset for each process. Note that when the parts PT stored in the dolly 400 are small parts PT such as bolts, the change in the weight of the dolly 400 between processes is small, so the weight of the dolly 400 may be preset as a constant value.

[0036] When the bogie 400 is connected to the vehicle 100, the frictional force acting between the road surface and the bogie 400 acts on the vehicle 100, causing the vehicle 100 to decelerate. In addition, the driving torque required to achieve a predetermined acceleration and the braking force required to achieve a predetermined deceleration increase. On the other hand, when the state in which the bogie 400 and the vehicle 100 are no longer connected to each other, the frictional force acting between the road surface and the bogie 400 no longer acts on the vehicle 100, and the force that decelerates the vehicle 100 is lost, causing the vehicle 100 to accelerate.

[0037] The vehicle control command unit 312 generates control commands for causing the vehicle 100 to perform various operations and outputs the control commands to the vehicle 100. For example, the vehicle control command unit 312 uses the estimated position and orientation of the vehicle 100, i.e., the estimated position VL, to generate a control command for automatically driving the vehicle 100 by remote control and transmits the control command to the vehicle 100. The control command is, for example, a command for driving the vehicle 100 according to a target route stored in the storage device 330. The control command can be generated as a driving control signal including control command values ​​that respectively indicate a driving force or a braking force and a steering angle. When the vehicle 100 receives the driving control signal as a request for remote control, driving control is realized by the driving control unit 212 of the vehicle control device 200, and as a result, the vehicle 100 automatically drives.

[0038] FIG. 5 is a flowchart showing a method for driving the vehicle 100 according to the first embodiment. In FIG. 5, the flow on the left side shows the processing executed in the remote control device 300, and the flow on the right side shows the processing executed in the vehicle 100. In step S110, the vehicle control command unit 312 acquires position information indicating the position and orientation of the vehicle 100 using the detection result of the vehicle detector 80. In this embodiment, the position of the vehicle 100 includes X, Y, and Z coordinates in the global coordinate system of the factory. The position of the vehicle detector 80 is adjusted in advance. The vehicle control command unit 312 detects the position of the vehicle 100 from the detection result acquired from the vehicle detector 80, and acquires position information of the vehicle 100 in the factory from the detected position of the vehicle 100.

[0039] In step S120, the vehicle control command unit 312 determines a target position to which the vehicle 100 should next head. In this embodiment, the target position is represented by X, Y, and Z coordinates in the global coordinate system of the factory. A target route, which is a route along which the vehicle 100 should travel, is stored in advance in the storage device 330 of the remote control device 300. The target route is represented by a node indicating a starting point, a node indicating a passing point, a node indicating a destination, and links connecting the nodes. The vehicle control command unit 312 uses the position information of the vehicle 100 and the target route to determine a target position to which the vehicle 100 should next head. The vehicle control command unit 312 determines a target position on the target route that is ahead of the current position of the vehicle 100.

[0040] In step S130, the vehicle control command unit 312 generates a driving control signal for driving the vehicle 100 toward the determined target position. In this embodiment, the driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. The vehicle control command unit 312 calculates the driving speed of the vehicle 100 from the transition of the position of the vehicle 100, and compares the calculated driving speed with a predetermined target speed of the vehicle 100. When the driving speed is lower than the target speed, the vehicle control command unit 312 determines the acceleration so that the vehicle 100 accelerates, and when the driving speed is higher than the target speed, the vehicle control command unit 312 determines the acceleration so that the vehicle 100 decelerates. When the vehicle 100 is located on the target route, the vehicle control command unit 312 determines the steering angle so that the vehicle 100 does not deviate from the target route, and when the vehicle 100 is not located on the target route, in other words, when the vehicle 100 deviates from the target route, the vehicle control command unit 312 determines the steering angle so that the vehicle 100 returns to the target route.

[0041] In step S140, the vehicle control command unit 312 transmits the generated driving control signal to the vehicle 100. The vehicle control command unit 312 repeats, at a predetermined cycle, obtaining the position of the vehicle 100, determining a target position, generating the driving control signal, and transmitting the driving control signal.

[0042] The driving control unit 212 of the vehicle 100 receives the driving control signal from the vehicle control command unit 312 in step S150, and controls the actuator group 130 using the driving control signal received in step S160, thereby causing the vehicle 100 to drive at the acceleration and steering angle represented by the driving control signal. The driving control unit 212 repeats receiving the driving control signal and controlling the actuator group 130 at a predetermined cycle. As described above, by causing the vehicle 100 to drive by remote control, it is possible to move the vehicle 100 without using transportation equipment such as a crane or a conveyor.

[0043] In this embodiment, the vehicle control command unit 312 uses the above-mentioned vehicle state information SJ to generate a control command to suppress the change in the speed of the vehicle 100 that changes as described above due to the impact force, the attachment of the part PT to the vehicle 100, the connection of the bogie 400 to the vehicle 100, and the release of the connection between the bogie 400 and the vehicle 100. A control command to suppress the change in speed may be generated from scratch taking into account the vehicle state information SJ, or may be generated by adding a correction value generated taking into account the vehicle state information SJ to a control command generated without taking into account the vehicle state information SJ. The vehicle control command unit 312 corresponds to the "control command unit" in this disclosure.

[0044] An example of generation of a control command by the vehicle control command unit 312 to suppress a change in speed will be described in more detail with reference to Fig. 6 and Fig. 7. Fig. 6 is an explanatory diagram showing an example of a control command generated to suppress a change in speed related to the attachment of a part PT to the vehicle 100. Fig. 7 is an explanatory diagram showing an example of a control command generated to suppress a change in speed related to the connection of a bogie 400 to the vehicle 100.

[0045] First, a description will be given with reference to Fig. 6. In Fig. 6, the horizontal axis indicates time, and the vertical axis indicates the total vehicle weight WT, the external force acting on the vehicle 100, and the control command value. In the example shown in Fig. 6, the "external force acting on the vehicle 100" means the sum of the impact force acting on the vehicle 100 and the total weight of the parts PT assembled to the vehicle 100. Also, in Fig. 6, the external force acting on the vehicle 100 is shown with the direction in which the vehicle 100 is decelerated as positive. Also, the control command value means a value that indicates the driving force for driving the vehicle 100 at each time at a predetermined specified speed. The larger the control command value, the larger the driving force required.

[0046] At time T0, the total vehicle weight WT, the magnitude of the external force, and the control command value are respectively total vehicle weight WT0, external force FR0, and control command value C0. Here, the external force FR0 is the gravity acting on the vehicle 100 with total vehicle weight WT0, and the control command value C0 means a control command value that indicates the driving force for driving the vehicle 100, on which the external force FR0 is acting, at a specified speed.

[0047] At time T1, a first part is mounted on the vehicle 100. The weight of the first part is added to the total vehicle weight WT, and the total vehicle weight WT increases from the total vehicle weight WT0 to the total vehicle weight WT1. The external force increases from the external force FR0 to the external force FR1. The external force FR1 is the gravity acting on the vehicle 100 with the total vehicle weight WT1. More specifically, when the first part is mounted on the vehicle 100, the first part is held by the assembly robot RB and contacts the vehicle 100 at a predetermined speed. Therefore, the external force acting on the vehicle 100 is temporarily greater than the external force FR1 due to the impact force caused by such contact being temporarily added, and when the speed of the first part becomes 0, the external force converges to the external force FR1. The control command value is generated so as to increase from the control command value C0 to the control command value C1. The control command value C1 means a control command value that instructs the driving force for driving the vehicle 100 on which the external force FR1 is acting at a specified speed. More specifically, the control command value is generated so as to temporarily command a value larger than the control command value C1 in response to the above-mentioned change in the external force, and then converge to the control command value C1.

[0048] In the example shown in FIG. 6, after the first part is mounted on the vehicle 100, four points are fastened by an impact wrench as the fixed tool TL once each at times T2, T3, T4, and T5. At each of times T2, T3, T4, and T5, an impact force is applied to the vehicle 100 in a vertically downward direction, and the external force temporarily becomes larger than the external force FR1. The control command value is also generated so as to converge to the control command value C1 after temporarily commanding a value larger than the control command value C1 in response to the change in the external force. In the example shown in FIG. 6, since the impact force is applied in the vertically downward direction where gravity acts, the external force temporarily becomes larger than the external force FR1, but when the impact force is applied vertically upward, the external force temporarily becomes smaller than the external force FR1. In such a case, the control command value is also generated so as to temporarily become smaller than the control command value C1 in response to the change in the external force FR0.

[0049] At time T6, a second part is mounted on the vehicle 100. The weight of the second part is added to the total vehicle weight WT, and the total vehicle weight WT increases from the total vehicle weight WT1 to the total vehicle weight WT2. The external force increases from the external force FR1 to the external force FR2. The external force FR2 is the gravity acting on the vehicle 100 with the total vehicle weight WT2. More specifically, when the second part is mounted on the vehicle 100, the second part is held by the assembly robot RB and contacts the vehicle 100 at a predetermined speed, similar to the first part. Therefore, the external force acting on the vehicle 100 is temporarily greater than the external force FR2 due to the impact force caused by such contact being temporarily added, and converges to the external force FR2 when the speed of the second part becomes 0. The control command value is generated so as to increase from the control command value C1 to the control command value C2. The control command value C2 means a control command value that instructs the driving force for driving the vehicle 100 on which the external force FR2 is acting at a specified speed. More specifically, the control command value is generated so as to temporarily command a value larger than the control command value C2 in response to the above-mentioned change in the external force, and then converge to the control command value C2.

[0050] 6, the second part is fixed to the vehicle 100 by being fitted into a fitting portion (not shown) formed in advance in the vehicle 100 when the second part is mounted on the vehicle 100. Therefore, after time T6, the vehicle 100 is not subjected to an impact by the fixing tool TL, and the external force and the control command value do not change.

[0051] Next, a description will be given with reference to Fig. 7. In Fig. 7, the horizontal axis indicates time, and the vertical axis indicates the total vehicle weight WT, the external force acting on the vehicle 100, the bogie speed, and the control command value, respectively. In the example shown in Fig. 7, the external force acting on the vehicle 100 and the control command value are shown in the same manner as in Fig. 6.

[0052] At time T7, the total vehicle weight WT, the magnitude of the external force, and the control command value are respectively total vehicle weight WT3, external force FR3, and control command value C3. Here, the external force FR3 is the gravity acting on the vehicle 100 with total vehicle weight WT3, and the control command value C3 means a control command value that indicates the driving force for driving the vehicle 100, on which the external force FR3 is acting, at a specified speed. In addition, the bogie speed is 0, and the bogie 400 is stopped.

[0053] At time T8, the bogie 400 is connected to the vehicle 100. The weight of the bogie 400 is added to the total vehicle weight WT, and the total vehicle weight WT increases from total vehicle weight WT3 to total vehicle weight WT4. When the bogie 400 is connected to the vehicle 100, the bogie 400 is towed by the vehicle 100 at a bogie speed V1. At this time, frictional forces and inertial forces acting when the bogie 400 is towed act on the vehicle 100, and this can be considered to be the same as a state in which the weight of the bogie 400 is added to the vehicle 100. The external force increases from external force FR3 to external force FR4. The external force FR4 is the sum of the external force FR3 and the kinetic friction force acting on the bogie 400 being towed at the bogie speed V1. After the bogie 400 and the vehicle 100 are connected, until the stationary bogie 400 starts to move, a static frictional force larger than a kinetic frictional force acts on the vehicle 100 towing the bogie 400, and the external force temporarily becomes larger than the external force FR4. When the force with which the vehicle 100 tows the bogie 400 exceeds the static frictional force, the bogie 400 starts to follow the bogie 400, a kinetic frictional force acts, and the external force converges to the external force FR4. The control command value is generated so as to increase from the control command value C3 to the control command value C4. The control command value C4 means a control command value that indicates a driving force for causing the vehicle 100, on which the external force FR4 is acting, to travel at a specified speed. More specifically, the control command value is generated so as to temporarily command a value larger than the control command value C4 in response to the change in the external force described above, and then converge to the control command value C4.

[0054] After time T8, the total vehicle weight WT, the external force acting on the vehicle 100, the bogie speed, and the control command value do not change until the connection between the bogie 400 and the vehicle 100 is released at time T9. When the connection between the bogie 400 and the vehicle 100 is released at time T9, the total vehicle weight WT decreases from the total vehicle weight WT4 to the total vehicle weight WT3 again. The external force decreases from the external force FR4 to the external force FR3 again as the kinetic friction force caused by the traction of the bogie 400 is lost. The control command value is generated so as to decrease from the control command value C4 to the control command value C3 again in response to the above-mentioned change in the external force.

[0055] After time T9, the total vehicle weight WT, the external force acting on the vehicle 100, and the control command value do not change. After the connection between the vehicle 100 and the bogie 400 is released, a braking force is applied by the drive control unit 512 as described below, and the bogie speed is decelerated. The bogie speed becomes 0 at time T10, and the bogie 400 stops. Note that the bogie 400 may be decelerated and stopped only by kinetic friction force, without being applied with a braking force by the drive control unit 512. This concludes the explanation of one example of generation of a control command by the vehicle control command unit 312 to suppress a change in speed.

[0056] In Fig. 6 and Fig. 7, except for the case where the vehicle state information and the control command are stored in association with each other in advance, the total vehicle weight, the external force, the bogie speed and the control command value do not completely match on the time axis, and the control command value may be delayed. This is due to the time required to calculate the control command value, etc. However, such delays are not shown in Fig. 6 and Fig. 7.

[0057] As can be understood from the explanation using Figures 6 and 7, the above-mentioned "utilizing vehicle state information SJ to generate a control command to suppress changes in the speed of vehicle 100" specifically includes the following processes (a) to (c). (a) The information acquisition unit 316 acquires the "vehicle state information SJ." (b) The vehicle control command unit 312 calculates the acceleration (not limited to the forward / rearward direction) applied to the vehicle 100 from the vehicle state information. (c) A control command value for an actuator of the drive device 132 or the steering device 136 of the vehicle 100 is calculated so that a change in at least one of the speed and traveling direction of the vehicle 100 caused by the calculated acceleration is suppressed.

[0058] A-2. Control method of the vehicle 100 implemented by the remote control device 300: 8 and 9 are flowcharts showing the steps of a method for controlling the vehicle 100 implemented by the remote control device 300 of the first embodiment. Every time vehicle information is transmitted from the vehicle detector 80, the remote control device 300 starts the control shown in FIGS.

[0059] In step S202 shown in FIG. 8, the position estimation unit 314 acquires the vehicle information transmitted from the vehicle detector 80.

[0060] In step S204, the position estimation unit 314 estimates the position and orientation of the vehicle 100 using the vehicle information as described above.

[0061] After step S204, the control from step S206 to step S222 shown in Fig. 9 is executed in parallel with the control from step S224 to step S232 shown in Fig. 8. Note that step S206 and step S208 may be executed in parallel, independent of the control from step S210 to step S222 shown in Fig. 9.

[0062] In step S206 shown in Fig. 8, the robot control command unit 320 judges whether the estimated position of the vehicle 100 is a part installation position. The "part installation position" refers to a position that is set in advance as a position where the installation of the part PT to the vehicle 100 is performed by the assembly robot RB in the manufacturing process. If it is judged that the position of the vehicle 100 is not the part installation position (step S206: No), the remote control device 300 ends the control.

[0063] If it is determined that the position of the vehicle 100 is the part attachment position (step S206: Yes), the robot control command unit 320 transmits a control command to the assembly robot RB to instruct it to attach the part PT to the vehicle 100. The assembly robot RB that has received the control command attaches the part PT to the vehicle 100 in accordance with the control command. The control command transmitted in this step may be a control signal that specifically instructs the amount of movement of each part constituting the assembly robot RB, or may simply instruct the assembly robot RB to start control of the assembly of the part PT. The assembly robot RB that has been instructed to start control of the assembly may identify the attachment position of the part PT on the vehicle 100 using a camera or the like that it has, and realize the attachment of the part PT by autonomous control.

[0064] 9, the flow shown on the left side shows the control executed in the remote control device 300, and the flow shown on the right side shows the control executed in the bogie control device 500. In step S210, the robot control command unit 320 judges whether or not the connection flag JF stored in the storage device 330 is in the "OFF" state. The "connection flag JF" is overwritten by the control described below so that it is in the "ON" state when the vehicle 100 and the bogie 400 are in a connected state, and in the "OFF" state when they are not connected.

[0065] If it is determined that the connection flag JF is in the "OFF" state (step S210: Yes), in step S212, the bogie control command unit 318 determines whether or not the position of the vehicle 100 estimated in step S204 is the connection start position. The "connection start position" means a position that has been set in advance as a position where the connection of the bogie 400 to the vehicle 100 starts. More specifically, the connection start position is a connection state process that has been set in advance as a process that is executed in the connection state, and is set as the position where the connection state process in which the installation of the parts stored in the bogie 400 is executed is started. If it is determined that the position of the vehicle 100 is not the connection start position (step S212: No), the remote control device 300 ends the control.

[0066] When it is determined that the position of the vehicle 100 is the connection start position (step S212: Yes), in step S214, the bogie control command unit 318 transmits a connection notification to the bogie control device 500 to instruct the bogie control device 500 to start a connection state. The control by the bogie control device 500 that has received the connection notification will be described later.

[0067] In step S216, the carriage control command unit 318 overwrites the state of the connection flag JF recorded in the storage device 330 from "OFF" to "ON." After that, the remote control device 300 ends the control.

[0068] Returning to step S210, if it is determined that the connection flag JF is not in the "OFF" state (step S210: No), in other words, if the connection flag JF is in the "ON" state, in step S218, the bogie control command unit 318 determines whether or not the position of the vehicle 100 estimated in step S204 is a connection cancellation position. The "connection cancellation position" means a position that is set in advance as a position where the connection of the bogie 400 to the vehicle 100 is cancelled. More specifically, the connection cancellation position is set as a position where the above-mentioned connection state process is completed. That is, in step S218, the bogie control command unit 318 determines whether or not the vehicle 100 has completed the connection state process in the manufacturing process. The bogie control command unit 318 corresponds to the "determination unit" in this disclosure. If it is determined that the position of the vehicle 100 is not the connection cancellation position (step S218: No), the remote control device 300 ends the control.

[0069] When it is determined that the position of the vehicle 100 is the connection cancellation position (step S218: Yes), in step S220, the bogie control command unit 318 transmits a connection cancellation notification to the bogie control device 500 to instruct the bogie control device 500 to cancel the connection state. The bogie control command unit 318 corresponds to the "notification output unit" in this disclosure. The control by the bogie control device 500 that has received the connection cancellation notification will be described later.

[0070] In step S222, the carriage-control command unit 318 overwrites the state of the connection flag JF recorded in the storage device 330 from "ON" to "OFF." After that, the remote control device 300 ends the control.

[0071] The control in the cart control device 500 will be described. In step S302, the process information acquisition unit 516 judges whether or not a connection notification has been received from the remote control device 300. If it is judged that a connection notification has not been received (step S302: No), the connection control unit 514 executes step S306, which will be described later.

[0072] When it is determined that the connection notification has been received (step S302: Yes), in step S304, the drive control unit 512 and the connection control unit 514 execute the connection control. In this embodiment, the drive control unit 512 and the connection control unit 514 are configured to execute a preset connection notification triggered by the reception of the connection notification. Before receiving the connection notification, the dolly 400 waits at a predetermined waiting position. When the connection notification is received, the drive control unit 512 drives the wheels 432 to approach the vehicle 100, and when the relative positions of the vehicle 100 and the dolly 400 reach a predetermined positional relationship, the connection control unit 514 controls the connection unit 434 to connect the connection unit 434 to a predetermined position of the vehicle 100. After the dolly 400 and the vehicle 100 are connected, the drive control unit 512 stops driving the wheels 432 by the actuator, and the wheels 432 are towed by the vehicle 100 and follow it. In this embodiment, after the bogie 400 and the vehicle 100 are connected, the drive control unit 512 stops driving the wheels 432 by the actuator, thereby suppressing an increase in power consumption due to the driving of the wheels 432. Note that the above-mentioned connection control does not need to be set in advance, and may be realized by generating and outputting a control signal instructing a specific operation of the bogie 400 by the bogie control command unit 318, and executing control by the drive control unit 512 and the connection control unit 514 in accordance with the received control signal.

[0073] In step S306, the connection control unit 514 judges whether or not a connection cancellation notice has been received from the remote control device 300. If it is judged that a connection cancellation notice has not been received (step S306: No), the bogie control device 500 executes step S302 again.

[0074] If it is determined that the connection termination notification has been received (step S306: Yes), in step S308, the connection control unit 514 executes connection termination control. In this embodiment, upon receipt of the connection termination notification, the connection control unit 514 controls the connection unit 434 to terminate the connection state and set the state to a non-connection state.

[0075] In step S310, when the connection detection unit 422 detects that the connection state has been released and that the connection state has been released, the drive control unit 512 controls the brake device 134 to increase the braking force and decelerate the dolly 400. Furthermore, the drive control unit 512 drives the wheels 432 to move the dolly 400 to a standby position located in an earlier process in the manufacturing process than the connection release position where the dolly 400 is located. When the connection detection unit 422 detects that the connection unit 434 has been released, the drive control unit 512 increases the braking force to decelerate the dolly 400, so that the dolly 400 can be quickly removed from the vicinity of the vehicle 100 and the dolly 400 can be prevented from interfering with the transportation of the vehicle 100. Furthermore, the drive control unit 512 moves the dolly 400 to a standby position located in an earlier process in the manufacturing process, so that the dolly 400 can be attached to another vehicle 100 transported from the earlier process. After that, the bogie control device 500 executes step S302 again. The vehicle control system 600 including the remote control device 300 having the bogie control command unit 318 that realizes the control of the bogie 400 described above and the bogie 400 corresponds to the "bogie control system" in this disclosure.

[0076] In parallel with the control from step S206 to step S222 described above, in step S224 shown in FIG.

[0077] In step S226, the information acquisition unit 316 refers to the vehicle state information SJ and adds the weight of the part PT that has been installed in a process located earlier than the position of the vehicle 100 estimated in step S204 to the total vehicle weight WT.

[0078] In step S228, the information acquisition unit 316 judges whether or not the connection flag JF recorded in the storage device 330 is in the "OFF" state. If it is judged that the connection flag JF is not in the "OFF" state (step S228: No), in other words, if the connection flag JF is in the "ON" state, in step S232, the information acquisition unit 316 adds the weight of the bogie 400 to the total vehicle weight WT. This is because the state in which the bogie 400 is connected to the vehicle 100 is regarded as the same state in which the weight of the bogie 400 is added to the vehicle 100, since frictional force and inertial force acting when the bogie 400 is towed act on the vehicle 100. On the other hand, if it is judged that the connection flag JF is not in the "OFF" state (step S228: Yes), step S232 is not executed.

[0079] In step S230, the vehicle control command unit 312 generates a control command using the vehicle state information SJ as described above as a control command generation process, and transmits the control command to the vehicle 100. Thereafter, the remote control device 300 ends the control.

[0080] The vehicle control system 600 equipped with the remote control device 300 of the first embodiment described above includes a vehicle control command unit 312 that generates and outputs a control command for moving the vehicle 100, and the vehicle control command unit 312 generates a control command by using the vehicle state information SJ. This makes it possible to suppress deviations in the movement control of the vehicle 100 due to unmanned driving that may be caused by at least one of the magnitude of the impact force applied to the vehicle 100, the direction in which the impact force acts, the weight of the vehicle 100, the weight of the bogie 400, and the process in which the vehicle 100 is located.

[0081] In addition, a control command is generated using the vehicle status information SJ to suppress changes in the speed of the vehicle 100 caused by at least one of the following: an impact force, attachment of the part PT to the vehicle 100, connection of the bogie 400 to the vehicle 100, and dissolution of the connection between the bogie 400 and the vehicle 100. This makes it possible to suppress changes in the speed of the vehicle 100 caused by at least one of the following: an impact force, attachment of the part PT to the vehicle 100, connection of the bogie 400 to the vehicle 100, and dissolution of the connection between the bogie 400 and the vehicle 100.

[0082] Furthermore, the impact force is generated due to at least one of a force acting when the part PT comes into contact with the vehicle 100, a force acting when the part PT is fixed to the vehicle 100, and a force acting when the cart 400 is connected to the vehicle 100. This makes it possible to suppress deviations in the movement control of the vehicle 100 during unmanned operation that may be caused by at least one of a force acting when the part PT comes into contact with the vehicle 100, a force acting when the part PT is fixed to the vehicle 100, and a force acting when the cart 400 is connected to the vehicle 100.

[0083] B. Second embodiment: The vehicle control device 200 of the second embodiment differs from the remote control device 300 of the first embodiment in that, in addition to using the vehicle state information SJ to generate a control command to suppress a change in the speed of the vehicle 100, the vehicle control device 200 also generates a control command to suppress a change in the traveling direction of the vehicle 100. Since the device configuration of the remote control device 300 of the second embodiment and the procedures in other controls realized by the remote control device 300 are similar to those of the first embodiment, the same configurations and procedures are denoted by the same reference numerals and detailed descriptions thereof will be omitted.

[0084] In the second embodiment, the vehicle control command unit 312 uses, as vehicle status information SJ, the attachment position of the part PT on the vehicle 100 and the connection position of the bogie 400 to the vehicle 100 in addition to each element used in the first embodiment. The vehicle control command unit 312 generates a control command using the attachment position of the part PT on the vehicle 100 and the connection position of the bogie 400 to the vehicle 100 to suppress changes in the traveling direction of the vehicle 100 that change depending on the attachment position of the part PT and the connection position of the bogie 400. In this embodiment, the attachment position of the part PT and the connection position of the bogie 400 in each process are stored in advance in the storage device 330 as vehicle status information SJ.

[0085] FIG. 10 is a top view of the vehicle 100. With reference to FIG. 10, the generation of a control command to suppress a change in the traveling direction of the vehicle 100 will be described. In the following description, the terms "rightward toward the traveling direction" and "leftward toward the traveling direction" are simply referred to as "rightward" and "leftward". As shown in FIG. 10, the part PT is attached to a mounting position P1 that is shifted to the right with respect to the central axis CL of the vehicle 100. In addition, the dolly 400 is connected by a connection part 434 at a connection position P2 that is shifted to the right with respect to the central axis CL of the vehicle 100. In this case, a force that decelerates the vehicle 100, such as the weight of the part PT and a frictional force due to the traction of the dolly 400, acts on the vehicle 100 in a rightward biased manner. By acting with a deceleration force biased toward the rightward direction, the vehicle 100 travels toward a deflection direction D2 that is a direction changed to the right with respect to a target direction D1 that is predetermined as the traveling direction. In addition, even if an impact force acts on the vehicle 100 in the rightward direction, the vehicle 100 travels toward the deflection direction D2. In yet another example, in a state where the vehicle 100 is traveling toward the target direction D1 even when the bogie 400 is connected at the connection position P2, if the connection between the vehicle 100 and the bogie 400 is released, the deceleration force acting at the connection position P2, which is shifted to the right with respect to the central axis CL of the vehicle 100, is lost, and the vehicle 100 travels toward the left. That is, the traveling direction of the vehicle 100 changes due to at least one of the impact force acting on the vehicle 100, the attachment of the part PT to the vehicle 100, the connection of the bogie 400 to the vehicle 100, and the release of the connection between the bogie 400 and the vehicle 100. If such a change in the traveling direction becomes large, the difference between the position of the vehicle 100 and the target route becomes large, and there is a risk of a problem occurring in which the attachment of the part to the vehicle 100 is hindered.

[0086] In order to solve the above problem, in this embodiment, the vehicle control command unit 312 generates a control command to move the vehicle 100 to the left of the travel direction with respect to the target direction D1, that is, to the correction direction D3 changed to the opposite direction to the deflection direction D2. More specifically, the vehicle control command unit 312 generates a control command value instructing a steering angle toward the correction direction D3 and outputs it to the vehicle 100 as a control command. In addition, when the vehicle 100 is configured to be able to drive the left and right wheels with different driving torques, the vehicle control command unit 312 may generate a control command value of the driving force so that the torque of the right wheel, to which a larger deceleration force is applied compared to the left wheel, is larger than the torque of the left wheel 432, and transmit the control command to the vehicle 100. By generating a control command in this manner, the force to move toward the deflection direction D2 and the force to move toward the correction direction D3 can be offset, and the vehicle 100 can be made to travel toward the target direction D1. Note that, like the first embodiment, the generation of such control commands is executed in accordance with the timing of mounting and fixing of the part PT to the vehicle 100, and the start and end of the connection between the bogie 400 and the vehicle 100.

[0087] According to the remote control device 300 of the second embodiment described above, a control command is generated using the vehicle state information SJ to suppress a change in the traveling direction of the vehicle 100 caused by at least one of an impact force, attachment of the part PT to the vehicle 100, connection of the bogie 400 to the vehicle 100, and dissolution of the connection between the bogie 400 and the vehicle 100. Therefore, it is possible to suppress a change in the traveling direction of the vehicle 100 caused by at least one of an impact force, attachment of the part PT to the vehicle 100, connection of the bogie 400 to the vehicle 100, and dissolution of the connection between the bogie 400 and the vehicle 100.

[0088] C. Third embodiment: The remote control device 300 of the third embodiment differs from the remote control device 300 of the first embodiment in that it executes control to reduce the traveling speed of the vehicle 100 according to the total vehicle weight WT. Since the device configuration of the remote control device 300 of the third embodiment and the procedures in other controls realized by the remote control device 300 are similar to those of the first embodiment, the same configurations and procedures are denoted by the same reference numerals and detailed descriptions thereof are omitted.

[0089] When the weight of the vehicle 100 increases, if the vehicle 100 is decelerated with the same braking force as before the weight increase, it takes longer to decelerate the vehicle 100 to a desired speed, and the braking distance increases. In such a case, when attaching a part PT to the vehicle 100, the speed of the vehicle 100 at the time of reaching the part attachment position may exceed a predetermined speed, or the timing at which the vehicle 100 reaches the part attachment position may be delayed, resulting in a problem that the part PT cannot be attached appropriately. In addition, as the braking distance increases, the vehicle 100 that has exceeded the predetermined position may come into contact with an obstacle and be damaged, and the cycle time for repairs may increase. In order to solve such a problem, in this embodiment, the vehicle control command unit 312 uses information on the weight of the vehicle 100 (hereinafter also referred to as "weight-related information") as the vehicle state information SJ to generate a control command so that the speed of the vehicle 100 is reduced when the weight of the vehicle 100 increases, compared to before the weight of the vehicle 100 increases.

[0090] FIG. 11 is a flowchart showing the procedure of the control command generation process executed in the remote control device 300 of this embodiment. In step S402, the information acquisition unit 316 estimates the weight of the vehicle 100. In this embodiment, the vehicle total weight WT is associated with the position of the vehicle 100 and is stored in advance in the storage device 330 as vehicle state information SJ. The vehicle state information SJ of this embodiment corresponds to the "position-weight correspondence information" in this disclosure. The storage device 330 corresponds to the "information holding unit." The information acquisition unit 316 uses the position of the vehicle 100 estimated by the position estimation unit 314 and the vehicle state information SJ as the position-weight correspondence information to specify the vehicle total weight WT at the position of the vehicle 100, in other words, to estimate the weight of the vehicle 100. The information acquisition unit 316 of this embodiment corresponds to the "weight estimation unit" in this disclosure.

[0091] In step S404, the vehicle control command unit 312 determines whether the vehicle 100 is in a pre-bumper attachment process. The "pre-bumper attachment process" refers to a process prior to the bumper attachment process in which a bumper is attached to the outside of the vehicle 100. If it is determined that the vehicle 100 is in the pre-bumper attachment process (step S404: Yes), in step S406, the vehicle control command unit 312 determines whether the vehicle 100 is in a manned process. The "manned process" refers to a process in which a worker is present.

[0092] If it is determined that the vehicle 100 is in a manned process (step S406: Yes), in step S408, the vehicle control command unit 312 generates a control command instructing a speed according to the weight of the vehicle 100 and transmits it to the vehicle 100. The vehicle control command unit 312 generates a control command according to the weight of the vehicle 100 so that the speed of the vehicle 100 is reduced compared to before the weight of the vehicle 100 increased. Thereafter, the remote control device 300 ends this process.

[0093] If it is determined that the vehicle 100 is not in a pre-bumper attachment process (step S404: No), that is, if the vehicle 100 is in a post-bumper attachment process that is a process after the bumper attachment process, or if it is determined that the vehicle 100 is in a process that is not a manned process (step S406: No), that is, if the vehicle 100 is in an unmanned process where no worker is present, in step S410, the vehicle control command unit 312 generates a control command instructing a specified speed regardless of the weight of the vehicle 100 and outputs it to the vehicle 100. That is, in such a case, even if the weight of the vehicle 100 has increased, a control command is not generated to reduce the speed of the vehicle 100 compared to before the weight of the vehicle 100 increased. After the bumper installation process, even if the vehicle 100 comes into contact with an obstacle due to an increase in the weight of the vehicle 100, the degree of damage to the vehicle 100 can be reduced without reducing the speed of the vehicle 100 compared to a state where the bumper is not installed, so the time required for repairs can be shortened and an increase in cycle time can be suppressed. Also, in an unmanned process, there is no need to limit the speed in consideration of the working speed of the worker. Furthermore, by installing the bumper, it becomes easier for the worker to recognize the vehicle 100.

[0094] According to the remote control device 300 of the third embodiment described above, when the weight of the vehicle 100 increases, the acquired weight-related information is used to generate a control command to reduce the speed of the vehicle 100 compared to before the weight of the vehicle 100 increases. Therefore, the braking distance of the vehicle 100, which increases according to the weight of the vehicle 100, can be suppressed.

[0095] The vehicle control command unit 312 further includes a weight estimation unit that estimates the weight of the vehicle 100 by using the weight-related information, and generates a control command by using the estimated weight of the vehicle 100, such that when the weight of the vehicle 100 increases, the speed of the vehicle 100 is reduced compared to before the weight of the vehicle 100 increased. Therefore, a control command can be generated that suppresses the speed of the vehicle 100 even according to the estimated weight of the vehicle 100.

[0096] In addition, the system further includes an information storage unit that stores position-weight correspondence information, and the information acquisition unit 316 acquires the position of the vehicle 100 as weight-related information. The weight estimation unit estimates the weight of the vehicle 100 at the position of the vehicle 100 using the position-weight correspondence information and the acquired position of the vehicle 100, so that the weight of the vehicle 100 can be easily estimated using the position of the vehicle 100.

[0097] In addition, when vehicle 100 is located in a post-bumper installation process, which is a process subsequent to the bumper installation process, and the weight of vehicle 100 has increased compared to the weight of vehicle 100 in a process prior to the post-bumper installation process, a control command to reduce the speed of vehicle 100 compared to before the increase in weight of vehicle 100 is not generated, thereby preventing an increase in the time required to transport vehicle 100.

[0098] In addition, when vehicle 100 is located in an unmanned process in the manufacturing process where no workers are present, and the weight of vehicle 100 has increased compared to the weight of vehicle 100 in a process prior to the unmanned process, a control command to reduce the speed of vehicle 100 compared to before the increase in weight of vehicle 100 is not generated, thereby preventing an increase in the time required to transport vehicle 100.

[0099] D. Fourth embodiment: The remote control device 300 of the fourth embodiment differs from the remote control device 300 of the third embodiment in that the weight-related information is estimated by using displacement information indicating the displacement of a suspension device (not shown) of the vehicle 100 instead of the total vehicle weight WT. Since the device configuration of the remote control device 300 of the fourth embodiment and the procedures in other controls realized by the remote control device 300 are similar to those of the third embodiment, the same configurations and procedures are denoted by the same reference numerals and detailed descriptions thereof will be omitted.

[0100] In step S402 shown in Fig. 11, in this embodiment, the information acquisition unit 316 estimates the weight of the vehicle 100 by using, as the weight-related information, displacement information indicating the displacement of a suspension device (not shown) that supports the wheels of the vehicle 100. The displacement information is acquired by a sensor (not shown) that is provided in advance on the vehicle 100 or outside the vehicle 100, and is output to the information acquisition unit 316. The information acquisition unit 316 can estimate the weight of the vehicle 100 at each point in time by using the displacement information. The relationship between the displacement information and the weight of the vehicle 100 is specified in advance, for example, by an experiment, a simulation, or the like, and is stored in the storage device 330 as a table.

[0101] According to the remote control device 300 of the fourth embodiment described above, displacement information indicating the displacement of the suspension device is obtained as weight-related information, and the weight of the vehicle 100 is estimated using the displacement information. Therefore, the weight of the vehicle 100 can be estimated more accurately based on the displacement information that changes depending on the actual weight of the vehicle 100.

[0102] E. Fifth embodiment: 12 is a block diagram showing a schematic configuration of a vehicle control device 200e provided in a vehicle 100 of the fifth embodiment. In this embodiment, a vehicle control system 600 differs from the first embodiment in that it does not include a remote control device 300. Specifically, it differs from the first embodiment in that a vehicle control device 200e provided in the vehicle 100 has a function as a control device in the present disclosure instead of the remote control device 300. The other configurations of the vehicle control system 600 are the same as those of the first embodiment unless otherwise described.

[0103] As shown in FIG. 12, the vehicle control device 200e differs from the vehicle control device 200 shown in the first embodiment in that the vehicle control device 200e includes a CPU 210e instead of the CPU 210 and a storage device 230e instead of the storage device 230. Specifically, the storage device 230e stores a program for implementing functions corresponding to the vehicle control command unit 312, the position estimation unit 314, the information acquisition unit 316, the bogie control command unit 318, and the robot control command unit 320 included in the remote control device 300, in addition to the functions of the CPU 210 shown in the first embodiment. As a result, the CPU 210e further functions as the vehicle control command unit 214, the position estimation unit 216, the information acquisition unit 218, the bogie control command unit 220, and the robot control command unit 222 corresponding to these functions. The storage device 230e also stores the estimated position VL, the vehicle state information SJ, and the connection flag JF stored in the remote control device 300. According to the vehicle 100 configured in this manner, it is possible to obtain the same effects as those of the first embodiment without using a device separate from the vehicle 100, such as the remote control device 300.

[0104] FIG. 13 is a flowchart showing a driving method of the vehicle 100 according to the present embodiment. In step S510, the position estimation unit 216 acquires the position and orientation of the vehicle 100 using the detection result of the vehicle detector 80. In step S520, the vehicle control command unit 214 determines a target position to which the vehicle 100 should next move. In this embodiment, an ideal route is pre-stored in the storage device 230e of the vehicle control device 200e. In step S530, the vehicle control command unit 214 generates a driving control signal for driving the vehicle 100 toward the determined target position. In step S540, the driving control unit 212 controls the actuator group 140 using the generated driving control signal, thereby causing the vehicle 100 to drive at the acceleration and steering angle represented by the driving control signal. The driving control unit 212 repeats the acquisition of the position and orientation of the vehicle 100, the determination of the target position, the generation of the driving control signal, and the control of the actuator group 140 at a predetermined cycle. According to the vehicle 100 of this embodiment, the vehicle 100 can be caused to run under autonomous control without remotely controlling the vehicle 100 using the remote control device 300.

[0105] F. Other Embodiments: (F1) In the above embodiment, the part PT is fixed by a fixed tool TL held by a worker, but the present disclosure is not limited to this. The part PT may be fixed by a fixed tool TL mounted on an assembly robot RB.

[0106] In the above embodiment, the fixed tool TL is configured as an impact wrench, but the present disclosure is not limited thereto. The TL is not limited to a fastening tool such as an impact wrench, and may be a tool that realizes any fastening method involving contact with the part PT mounted on the vehicle 100 or the vehicle 100, such as spot welding in which a predetermined portion between the vehicle 100 and the part PT is clamped and welded. Even with this form, it is possible to suppress changes in the speed and traveling direction of the vehicle 100 caused by the contact of the tool with the part PT or the vehicle 100, and to suppress deviations in the movement control of the vehicle 100.

[0107] (F2) In the above embodiment, the remote control device 300 includes the bogie control command unit 318, but the present disclosure is not limited thereto. The remote control device 300 may not include the bogie control command unit 318, and the bogie 400 may be controlled autonomously. For example, the bogie 400 may include a camera that captures the surroundings of the bogie 400, and may autonomously start or terminate the connection with the moving body when it recognizes that the vehicle 100 has reached the connection start position or the connection termination position. In this embodiment, the remote control device 300 may not need to transmit a connection notification and a connection termination notification to the bogie 400. This embodiment also provides the same effects as the above embodiment. In addition, since it is not necessary to transmit a connection notification and a connection termination notification to the bogie 400, it is possible to prevent the control in the remote control device 300 from becoming complicated.

[0108] (F3) In the above embodiment, the information acquisition unit 316 acquires the pre-stored vehicle status information SJ from the storage device 330, but the present disclosure is not limited thereto. The information acquisition unit 316 may acquire the vehicle status information SJ from a process management device (not shown). The process management device is a device for managing the manufacturing process of the vehicle 100. The process management device is configured with a computer. The process management device acquires information from various facilities in a factory and generates information (hereinafter also referred to as "process information") related to the manufacturing process of the vehicle 100, which is a product. The process information includes information indicating when, where, and which worker is scheduled to perform what work on which product, information indicating when, where, and which worker performed what work on which product, and information indicating the progress of the work. The process management device includes a communication device and transmits the process information to the remote control device 300 by wired communication or wireless communication. Note that the remote control device 300 may have the function of the process management device.

[0109] The information acquisition unit 316 may acquire, as the vehicle state information SJ, information acquired by at least one of a sensor provided in the vehicle 100 and a sensor previously installed outside the vehicle 100. For example, the type of the part PT to be attached to the vehicle 100 in each process, whether or not the attachment of the part PT to the vehicle 100 has been completed, the attachment position of the part PT to the vehicle 100, and whether or not the cart 400 is connected to the vehicle 100 may be identified by analyzing an image acquired by the vehicle detector 80. The weight of the vehicle 100, the weight of the cart 400, and the weight of the part PT may be acquired by a weight sensor previously installed on or near the road on which the vehicle 100 runs. The weight of the part PT may be acquired by a weight sensor previously installed in the assembly robot RB when the part PT is gripped by the assembly robot RB. The weight of the part PT may be acquired by a weight sensor previously installed in the vehicle 100 when the part PT is mounted on the vehicle 100. According to this embodiment, the same effect as that of the above embodiment is achieved. In addition, the weight of the vehicle 100, the weight of the cart 400, the weight of the part PT, the attachment position of the part PT to the vehicle 100, the attachment timing, and the timing of connecting the cart 400 to the vehicle 100 can be identified based on the actual state of the vehicle 100. Therefore, a control command can be generated based on the identified actual weight and timing, and deviations in the movement control of the moving body due to unmanned driving can be further suppressed.

[0110] The impact force acting on the vehicle 100 may be acquired by an acceleration sensor previously installed on at least one of the vehicle 100, the assembly robot RB, and the cart 400. The information acquired by the acceleration sensor corresponds to the "impact force information" in this disclosure. According to this embodiment, the same effects as those of the above embodiment are achieved. In addition, the control command can be generated using the impact force actually acting on the vehicle 100, and compared to the embodiment in which the control command is generated using a preset impact force, it is possible to suppress deviations in the movement control of the vehicle 100 due to unmanned driving that may occur due to the impact force.

[0111] The timing at which the bogie 400 starts to connect or is disconnected may be specified by acquiring connection cancellation information indicating whether the connection state has been cancelled or not as a result of detection by the connection detection unit 422. According to this embodiment, the same effects as those of the above embodiment are achieved. In addition, a control command can be generated based on the actual connection state, and deviations in the movement control of the vehicle 100 during unmanned operation caused by the connection state with the bogie 400 can be suppressed.

[0112] (F4) In the above embodiment, the vehicle control command unit 312 generates a control command using the vehicle state information SJ acquired by the information acquisition unit 316, but the present disclosure is not limited thereto. FIG. 14 is a block diagram showing a schematic configuration of a remote control device 300f of another embodiment. As shown in FIG. 14, the storage device 330f stores a database DB in advance. Also, the CPU 310f does not need to include the information acquisition unit 316. The "database DB" holds information related to the control command and the position information of the vehicle 100 in association with each other. The "information related to the control command" is a control command that is specified in advance for each position of the vehicle 100 based on the vehicle state information SJ corresponding to the position information of the vehicle 100, or a correction value that is added to a control command generated without considering the vehicle state information SJ.

[0113] In this embodiment, the vehicle control command unit 312 refers to the database DB and specifies a control command or a correction value corresponding to the estimated position VL estimated by the position estimation unit 314. The vehicle control command unit 312 transmits to the vehicle 100 a control command generated by adding the specified correction value to the specified control command or a control command generated without considering the vehicle state information SJ. According to this embodiment, the same effects as those of the above embodiment are achieved. In addition, the control command can be easily generated using the database DB, and deviations in the movement control of the vehicle 100 due to unmanned driving that may occur due to at least one of the magnitude of the impact force applied to the vehicle 100, the direction in which the impact force acts, the weight of the vehicle 100, the weight of the bogie 400, and the process in which the vehicle 100 is located can be easily suppressed. The remote control device 300f, which includes a storage device 330f that stores the database DB and a functional unit that controls writing and reading to the database DB in the remote control device 300f, may be realized as a database management device, a database system, and a computer program for realizing the database DB. In addition, a database management device and a database system including the storage device 330f that stores the database DB and a functional unit in the remote control device 300f that controls writing and reading to the database DB may be realized independently of the remote control device 300.

[0114] (F5) In the above second embodiment, the remote control device 300 generates a control command to suppress a change in the traveling direction of the vehicle 100 in addition to generating a control command to suppress a change in the speed of the vehicle 100, but the present disclosure is not limited to this. The remote control device 300 may execute only the generation of a control command to suppress a change in the traveling direction of the vehicle 100.

[0115] (F6) In the above embodiment, the vehicle control command unit 312 transmits a control command generated by using the vehicle state information SJ to the vehicle 100, and the driving control unit 212 included in the vehicle 100 drives the vehicle 100 according to the received control command, but the present disclosure is not limited thereto. The vehicle control command unit 312 may transmit a control command generated without considering the vehicle state information SJ to the vehicle 100, and the driving control unit 212 included in the vehicle 100 may correct the received control command by using the vehicle state information SJ, and drive the vehicle 100 according to the corrected control command. In such a form, the driving control unit 212 may acquire information acquired by at least one of a sensor included in the vehicle 100 and a sensor previously installed outside the vehicle 100 as the vehicle state information SJ. Even with such a form, the same effect as the above embodiment is achieved.

[0116] (F7) In the control command generation process of the third embodiment, the remote control device 300 executes step S404 and step S406, but the present disclosure is not limited thereto. The remote control device 300 may execute only one of step S404 and step S406. According to this embodiment, the execution of the determination process in the control command generation process can be suppressed, so that the process in the remote control device 300 can be prevented from becoming complicated. In addition, compared to an embodiment in which neither step S404 nor step S406 is executed, the time required for transporting the vehicle 100 can be prevented from increasing.

[0117] Furthermore, the remote control device 300 may not execute steps S404, S406, and S410. That is, after estimating the weight of the vehicle 100 in step S402, the remote control device 300 may always generate and output a control command instructing a speed according to the weight of the vehicle 100 in step S408. According to this embodiment, when the weight of the vehicle 100 increases, a control command is always generated so that the speed of the vehicle 100 is reduced compared to before the weight of the vehicle 100 increased, so that the braking distance of the vehicle 100, which increases according to the weight of the vehicle 100, can be suppressed in each process.

[0118] (F8) In the above embodiment, the vehicle control system 600 includes a camera as the vehicle detector 80, but the present disclosure is not limited thereto. The vehicle control system 600 may include a LiDAR (Light Detection And Ranging) instead of or in addition to the camera as the vehicle detector 80. In this embodiment, the vehicle detector 80 acquires three-dimensional point cloud data of the vehicle 100 in addition to the image of the vehicle 100. The "three-dimensional point cloud data" is data indicating the three-dimensional position of the point cloud. The vehicle control command unit 312 also estimates the position and orientation of the vehicle 100 in the acquired three-dimensional point cloud data. Specifically, the vehicle control command unit 312 executes template matching using the vehicle point cloud data previously stored in the storage device 330 for the three-dimensional point cloud data. Therefore, the position and orientation of the vehicle 100 in the three-dimensional point cloud data can be estimated with high accuracy. The estimated position and orientation of the vehicle 100 are stored in the storage device 330 as an estimated position VL. For example, three-dimensional CAD data of the vehicle 100 can be used as the vehicle point cloud data serving as a template. The vehicle point cloud data includes information for identifying the orientation of the vehicle 100. For template matching of the vehicle point cloud data to the three-dimensional point cloud data, for example, an ICP (Iterative Closest Point) algorithm or an NDT (Normal Distribution Transform) algorithm can be used. Note that, in cases where the position of the vehicle 100 can be estimated with high accuracy from the three-dimensional point cloud data, template matching does not need to be performed.

[0119] (F9) In the above embodiments, examples have been given in which the vehicle 100 is a passenger car, a truck, a bus, a construction vehicle, and the like. However, the vehicle 100 is not limited to these, and may be various moving bodies. The term "moving body" refers to an object that can move, such as a vehicle or an electric vertical take-off and landing aircraft (a so-called flying car). The vehicle may be a vehicle that runs on wheels or a vehicle that runs on caterpillar tracks, and may be, for example, a two-wheeled vehicle, a four-wheeled vehicle, a tank, and the like. The vehicle is not limited to an electric vehicle, but includes a gasoline-powered vehicle, a hybrid vehicle, and a fuel cell vehicle. When the moving body is other than a vehicle, the expressions "vehicle" and "car" in this disclosure may be appropriately replaced with "moving body", and the expression "running" may be appropriately replaced with "moving". The system for controlling the movement of the moving body described above corresponds to the "moving body control system" in this disclosure.

[0120] (F10) The vehicle 100 may be manufactured by any manufacturing method. For example, the vehicle 100 may be manufactured by combining a plurality of modules. The module means a unit composed of a plurality of parts grouped according to the part or function of the vehicle 100. For example, the platform of the vehicle 100 may be manufactured by combining a front module that configures the front part of the platform, a central module that configures the central part of the platform, and a rear module that configures the rear part of the platform. The number of modules that configure the platform is not limited to three, and may be two or less, or four or more. In addition to or instead of the parts that configure the platform, parts that configure parts of the vehicle 100 that are different from the platform may be modularized. The various modules may include any exterior parts such as a bumper or a grille, or any interior parts such as a seat or a console. In addition, not limited to the vehicle 100, any type of moving body may be manufactured by combining a plurality of modules. Such a module may be manufactured, for example, by joining a plurality of parts by welding or a fastener, or may be manufactured by integrally molding at least a part of the parts that configure the module as one part by casting. The molding method for integrally molding a single component, particularly a relatively large component, is also called gigacast or megacast. For example, the front module, the center module, and the rear module may be manufactured using gigacast.

[0121] (F11) In the above embodiment, an example was shown in which the remote control device 300 executes the processes from acquiring the position and orientation of the vehicle 100 to generating the driving control signal. However, at least a part of the processes from acquiring the position and orientation of the vehicle 100 to generating the driving control signal may be executed by the vehicle 100. For example, the following forms (1) to (3) may be used.

[0122] (1) The remote control device 300 may acquire the position and orientation of the vehicle 100, determine a target position to which the vehicle 100 should next head, and generate a route from the current location of the vehicle 100, which is indicated in the acquired position, to the target position. The remote control device 300 may generate a route to a target position between the current location and the destination, or may generate a route to the destination. The remote control device 300 may transmit the generated route to the vehicle 100. The vehicle 100 may generate a travel control signal so that the vehicle 100 travels on the route received from the remote control device 300, and control the actuator group 140 using the generated travel control signal.

[0123] (2) The remote control device 300 may acquire the position and orientation of the vehicle 100, and transmit the acquired position and orientation to the vehicle 100. The vehicle 100 may determine a target position to which the vehicle 100 should next head, generate a route from the current location of the vehicle 100 indicated in the received position to the target position, generate a driving control signal so that the vehicle 100 travels along the generated route, and control the actuator group 140 using the generated driving control signal.

[0124] (3) In the above embodiments (1) to (2), the vehicle 100 may be equipped with an internal sensor, and a detection result output from the internal sensor may be used for at least one of generating a route and generating a travel control signal. The internal sensor may include, for example, an imaging device, LiDAR, a millimeter wave radar, an ultrasonic sensor, a GPS sensor, an acceleration sensor, and a gyro sensor. For example, in the above embodiment (1), the remote control device 300 may acquire the detection result of the internal sensor, and when generating a route, may reflect the detection result of the internal sensor in the route. In the above embodiment (1), the vehicle 100 may acquire the detection result of the internal sensor, and when generating a travel control signal, may reflect the detection result of the internal sensor in the travel control signal. In the above embodiment (2), the vehicle 100 may acquire the detection result of the internal sensor, and when generating a route, may reflect the detection result of the internal sensor in the route. In the above embodiment (2), the vehicle 100 may acquire the detection result of the internal sensor, and when generating a route, may reflect the detection result of the internal sensor in the travel control signal.

[0125] (F12) In the above embodiment, the vehicle 100 may be equipped with an internal sensor, and a detection result output from the internal sensor may be used for at least one of generating a route and generating a driving control signal. For example, the vehicle 100 may acquire the detection result of the internal sensor, and when generating a route, may reflect the detection result of the internal sensor in the route. The vehicle 100 may acquire the detection result of the internal sensor, and when generating a driving control signal, may reflect the detection result of the internal sensor in the driving control signal.

[0126] (F13) In the above embodiment, the vehicle 100 acquires the position and orientation of the vehicle 100 using the detection result of the vehicle detector 80. In contrast, the vehicle 100 may be equipped with an internal sensor, and the vehicle 100 may acquire the position and orientation using the detection result of the internal sensor, determine the target position to which the vehicle 100 should next head, generate a route from the current location of the vehicle 100 represented by the acquired position and orientation to the target position, generate a travel control signal for traveling along the generated route, and control the actuator group 140 using the generated travel control signal. In this case, the vehicle 100 can travel without using any detection result of the vehicle detector 80. The vehicle 100 may acquire a target arrival time and traffic congestion information from outside the vehicle 100, and reflect the target arrival time and traffic congestion information in at least one of the route and the travel control signal.

[0127] (F14) In the above embodiment, the remote control device 300 automatically generates a driving control signal to be transmitted to the vehicle 100. In contrast, the remote control device 300 may generate a driving control signal to be transmitted to the vehicle 100 according to the operation of an operator located outside the vehicle 100. For example, the operator may operate a steering device including a display for displaying an image output from the vehicle detector 80, a steering wheel for remotely operating the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the remote control device 300 by wired communication or wireless communication, and the remote control device 300 may generate a driving control signal according to the operation applied to the steering device. In this embodiment, the vehicle control command unit 312 may generate a correction value taking into account the vehicle state information SJ, and generate a driving control signal in which the generated correction value is reflected in the driving control signal according to the operation applied to the steering device. This embodiment also provides the same effects as the above embodiment.

[0128] (F15) Transporting a vehicle using unmanned vehicle driving is also called "self-propelled transport." Also, the configuration for realizing self-propelled transport is also called "vehicle remote control autonomous driving transport system." Also, the production method for producing vehicles using self-propelled transport is also called "self-propelled production." In self-propelled production, for example, at least a part of the transportation of vehicles in a factory where vehicles are manufactured is realized by self-propelled transport.

[0129] The present disclosure is not limited to the above-mentioned embodiment, and can be realized in various configurations without departing from the spirit of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention column can be appropriately replaced or combined to solve some or all of the above-mentioned problems or to achieve some or all of the above-mentioned effects. Furthermore, if the technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0130] 80...vehicle detector, 100...vehicle, 110...communication device, 120...sensor group, 130...actuator group, 132...driving device, 134...braking device, 136...steering device, 140...actuator group, 160...driving device, 200, 200e...vehicle control device, 210, 210e...CPU, 212...driving control unit, 214...vehicle control command unit, 216...position estimation unit, 218...information acquisition unit, 220...bogie control Command unit, 222... robot control command unit, 230, 230e... storage device, 240... interface circuit, 300, 300f... remote control device, 310, 310f... CPU, 312... vehicle control command unit, 314... position estimation unit, 316... information acquisition unit, 318... cart control command unit, 320... robot control command unit, 330, 330f... storage device, 340... interface circuit, 350... communication device, 400... cart , 410... communication device, 420... sensor group, 422... connection detection unit, 430... actuator group, 432... wheels, 434... connection unit, 500... bogie control device, 510... CPU, 512... drive control unit, 514... connection control unit, 516... process information acquisition unit, 530... storage device, 540... interface circuit, 600... vehicle control system, C0, C1, C2, C3, C4... control command value, CL... center axis, D1... eye Marker direction, D2...deflection direction, D3...correction direction, DB...database, FR0, FR1, FR2, FR3, FR4...external force, JF...connection flag, P1...installation position, P2...connection position, PT...part, RB...assembly robot, SJ...vehicle status information, T0, T1, T2~T6, T7, T8, T9, T10...time, TL...fixed tool, VL...estimated position, WT, WT0, WT1, WT2, WT3, WT4...total vehicle weight

Claims

1. A control device for controlling movement of a moving body that is transported in a manufacturing process of a moving body that can travel by unmanned operation, comprising: A control command unit that generates and outputs a control command for moving the moving body, The control command unit is The magnitude of the impact force applied to the moving body; and A direction in which the impact force acts; The weight of the moving body; A weight of a carriage in which components to be attached to the movable body are stored and which is detachably connected to the movable body and moves; A step of positioning the moving body; generating the control command by utilizing vehicle state information which is information relating to at least one of the above; Control device.

2. The control device according to claim 1 , the control command unit generates the control command by utilizing the vehicle state information so as to suppress a change in the speed of the moving body that is caused by at least one of the impact force, attachment of the part to the moving body, connection of the bogie to the moving body, and release of the connection between the bogie and the moving body. Control device.

3. The control device according to claim 1 , the control command unit generates the control command by utilizing the vehicle state information so as to suppress a change in the traveling direction of the moving body that is caused by at least one of the impact force, attachment of the part to the moving body, connection of the bogie to the moving body, and disconnection of the connection between the bogie and the moving body. Control device.

4. The control device according to claim 1 , the impact force is generated due to at least one of a force acting when the component comes into contact with the moving body, a force acting when the component is fixed to the moving body, and a force acting when the carriage is connected to the moving body. Control device.

5. The control device according to claim 4, an information acquisition unit that acquires, as the vehicle state information, impact force information related to the impact force from a sensor that detects the impact force, The control command unit generates the control command by utilizing the acquired impact force information. Control device.

6. The control device according to claim 1 , an information acquisition unit that acquires, as the vehicle state information, connection termination information indicating whether or not a connection state in which the bogie and the moving body are connected has been terminated, from a sensor that acquires the connection termination information, The control command unit generates the control command by using the connection termination information. Control device.

7. The control device according to claim 1 , An information acquisition unit that acquires weight-related information, which is information regarding a weight of the moving body, as the vehicle state information, the control command unit generates the control command by utilizing the acquired weight-related information, when a weight of the moving body increases, so that a speed of the moving body is reduced compared to a speed before the weight of the moving body increases. Control device.

8. The control device according to claim 7, A weight estimation unit that estimates a weight of the moving object by using the weight-related information, the control command unit generates the control command by utilizing the estimated weight of the moving body, when the weight of the moving body increases, such that the speed of the moving body is reduced compared to before the weight of the moving body increases. Control device.

9. The control device according to claim 8, An information storage unit that stores position-weight correspondence information that is information in which the position of the moving body and the weight of the moving body are associated with each other, the information acquisition unit acquires a position of the moving object as the weight-related information, The weight estimation unit estimates a weight of the moving body at the position of the moving body by using the position-weight correspondence information and the acquired position of the moving body. Control device.

10. The control device according to claim 8, the information acquisition unit acquires, as the weight-related information, displacement information indicating a displacement of a suspension device supporting a wheel of the moving object; The weight estimation unit estimates a weight of the moving object by using the displacement information. Control device.

11. The control device according to claim 7, The control command unit is when the moving body is located in a pre-bumper attachment process that is a process prior to a bumper attachment process in which a bumper is attached to the moving body in the manufacturing process, and when the weight of the moving body has increased compared to the weight of the moving body in a process prior to the pre-bumper attachment process, the control command is generated so that the speed of the moving body is reduced compared to the speed before the increase in the weight of the moving body; When the moving body is located in a post-bumper mounting process that is a process subsequent to the bumper mounting process, and the weight of the moving body has increased compared to the weight of the moving body in a process prior to the post-bumper mounting process, the control command is not generated so as to reduce the speed of the moving body compared to the weight of the moving body before the increase in weight. Control device.

12. The control device according to claim 7, The control command unit is when the moving object is located in a manned process in the manufacturing process where a worker is present and the weight of the moving object has increased compared to the weight of the moving object in a process prior to the manned process, the control command is generated so that the speed of the moving object is reduced compared to the speed before the weight of the moving object increased; When the moving body is located in an unmanned process where no worker is present in the manufacturing process, and the weight of the moving body has increased compared to the weight of the moving body in a process prior to the unmanned process, the control command is not generated so as to reduce the speed of the moving body compared to before the weight of the moving body increased. Control device.

13. The control device according to claim 1 , A position estimation unit that estimates a position of the moving object is further provided, the control command unit generates the control command by using a database that stores information related to the control command and position information of the moving object in association with each other, and the estimated position of the moving object; The information regarding the control command in the database is specified in advance based on the vehicle state information corresponding to the position of the moving body. Control device.

14. A database, information relating to a control command for moving a moving body capable of traveling by unmanned operation in a manufacturing process of the moving body and position information of the moving body are stored in association with each other; The information regarding the control command is The magnitude of the impact force applied to the moving body; and A direction in which the impact force acts; The weight of the moving body; A weight of a carriage which stores components to be attached to the movable body and is connected to the movable body and moves; A step of positioning the moving body; is determined in advance based on vehicle state information, which is information regarding at least one of the above. Database.

15. A server device, A control device according to any one of claims 1 to 13, Server device.

16. A server device, A control device according to claim 13; A database according to claim 14; Equipped with Server device.

17. A mobile object, a driving control unit that controls driving of the moving object according to the control command output from the server device according to claim 15; Mobile body.

18. A mobile object, a driving control unit that controls driving of the moving object according to the control command output from the server device according to claim 16, Mobile body.

19. A mobile object, a driving control unit that acquires a control command for moving the moving body and executes driving control of the moving body by using the acquired control command; The operation control unit is The magnitude of the impact force applied to the moving body; and A direction in which the impact force acts; The weight of the moving body; A weight of a carriage in which components to be attached to the movable body are stored and which is detachably connected to the movable body and moves; A step of positioning the moving body; correcting the obtained control command using information on at least one of the following: Executing the operation control in accordance with the corrected control command; and Execute Mobile body.

20. A mobile object, A control device according to any one of claims 1 to 13; an operation control unit that executes operation control of the moving body in accordance with the control command output from the control device; Equipped with Mobile body.

21. A mobile object, A control device according to claim 13; A database according to claim 14; an operation control unit that executes operation control of the moving body in accordance with the control command output from the control device; Equipped with Mobile body.

22. A mobile object control system, A server device according to claim 15; A moving body according to claim 17; Equipped with Mobile control system.

23. A mobile object control system, A server device according to claim 16; A moving body according to claim 18; Equipped with Mobile control system.

24. A mobile object control system, A server device that generates and outputs a control command for moving a moving body that can be driven autonomously; A moving body according to claim 19; Equipped with Mobile control system.

25. A method for controlling movement of a moving body that is transported in a manufacturing process of a moving body that can travel by unmanned operation, comprising: The magnitude of the impact force applied to the moving body; and A direction in which the impact force acts; The weight of the moving body; A weight of a carriage which stores components to be attached to the movable body and is connected to the movable body and moves; A step of positioning the moving body; generating a control command for moving the moving object by using vehicle state information, which is information related to at least one of the above items; Control methods.

26. A cart for storing parts to be assembled to a moving body in a manufacturing process of the moving body capable of traveling by unmanned operation, A connection part connected to the moving body; a carriage driving unit that moves the carriage in response to movement of the moving body in a connected state in which the moving body and the carriage are connected by the connection unit; a connection detection unit that detects whether the connection unit is in the connected state; a communication device that transmits a detection result by the connection detection unit to the control device according to any one of claims 1 to 13; Equipped with Trolley.

27. 27. The dolly of claim 26, A drive control unit that controls the drive of the carriage drive unit is further provided. When the connection detection unit detects that the connection unit has changed from the connected state to a disconnected state in which the moving body and the cart are not connected by the connection unit, the drive control unit increases a braking force of the cart drive unit. Trolley.

28. 28. The dolly of claim 27, the drive control unit controls the carriage drive unit so as to move the carriage to a process that precedes the process in which the carriage is located in the manufacturing process after increasing the braking force. Trolley.

29. 27. The dolly of claim 26, a process information acquisition unit that acquires information indicating whether the moving object has completed a connection state process that is predetermined as a process to be executed in the connection state among the manufacturing processes; a connection control unit that controls the connection unit so that the moving body and the carriage are in a disconnected state when the moving body completes the connected state step; Further comprising: Trolley.

30. 1. A bogie control system, comprising: A control device according to any one of claims 1 to 13; 30. A dolly according to claim 29; Equipped with The control device includes: a determination unit that determines whether the moving body has completed the connection state process in the manufacturing process; a notification output unit that outputs a connection release notification instructing the mobile unit to release the connection state when the mobile unit completes the connection state process; Further equipped with the connection control unit controls the connection unit to be in the non-connected state when the connection release notification is received. Truck control system.

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