Instruction device and work device

Abstract

To enhance the workability of work that assembles a component to a mobile body.SOLUTION: A system includes reflects, on the control of at least one of a work device which is used for work to a mobile body movable by unmanned operation and a mobile body moved by the unmanned operation to a work place where the work device is arranged, operation information regarding the operation of the other.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to systems and devices. [Background technology]

[0002] 2. Description of the Related Art In a vehicle manufacturing process, a technique for running a vehicle in an unmanned manner is known (for example, 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 a manufacturing process for a moving body such as a vehicle, when the moving body is moved by unmanned operation rather than transported by a conveyor or the like, there is room for improvement in terms of improving the workability of assembling parts onto the moving body. [Means for solving the problem]

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

[0006] (1) According to a first aspect of the present disclosure, there is provided a system, characterized in that the system reflects operation information regarding the operation of at least one of a working device used for performing work on a mobile body capable of moving by unmanned operation and the mobile body that moves by unmanned operation to a work location where the working device is located, in the control of the other. According to the system of this aspect, the mobile body and the working device can cooperate with each other, thereby improving the efficiency of work performed on the mobile body using the working device. (2) The system of the above aspect may include an acquisition unit that acquires the motion information related to a motion of the moving object, and a control unit that controls the working device in accordance with the motion information. According to the system of this aspect, the working device can be operated in accordance with the movement of the moving object, thereby improving the efficiency of work performed on the moving object using the working device. (3) The system of the above aspect may include an acquisition unit that acquires the operation information related to the operation of the working device, and a control unit that controls the moving object in accordance with the operation information. According to the system of this aspect, the moving body can be operated in accordance with the operation of the working device, so that the efficiency of work performed on the moving body using the working device can be improved. (4) According to a second aspect of the present disclosure, there is provided an apparatus including: an acquisition unit that acquires operation information related to an operation of a moving object moving by an unmanned operation; a generation unit that generates, in accordance with the operation information, work device control information used to control a work device that assembles a part on the moving object; and a transmission unit that transmits the work device control information to the work device. According to the device of this embodiment, the working device can be operated in response to the movement of the moving body, so that parts can be appropriately assembled by the working device to the moving body while it is moving, thereby improving the work efficiency of the assembly work of parts to the moving body. (5) In the apparatus of the above aspect, the working device may include an arm unit that grasps the part and a control unit that controls the arm unit, the generation unit may generate the working device control information including parameters used to control the arm unit, and the control unit may control the arm unit using the parameters. According to the device of this aspect, the arm portion can be operated by transmitting the working device control information to the working device. (6) In the device according to the above aspect, the generation unit may further generate mobile object control information used to control the mobile object. According to the device of this aspect, it is possible to generate moving object control information and working device control information by a single device. (7) In the device of the above aspect, the generation unit may generate at least one of an instruction to stop the moving body, an instruction to stop the work device, and an instruction to notify that an abnormality has occurred, when the operation of the moving body satisfies a predetermined condition. According to the device of this embodiment, when there is a possibility that an abnormality has occurred in the operation of the moving object, it is possible to take appropriate measures. (8) According to a second aspect of the present disclosure, there is provided an apparatus for assembling a part on a mobile body capable of moving in an unmanned manner, the apparatus including an arm unit for gripping the part, a sensor for detecting a motion of the mobile body during movement, and a control unit for controlling the arm unit in response to a detection result of the sensor. According to the device of this aspect, it is possible to appropriately assemble parts to a moving body while it is moving, thereby improving the efficiency of the work of assembling parts to a moving body. (9) According to a third aspect of the present disclosure, there is provided an apparatus for assembling a part on a mobile body capable of moving in an unmanned manner, the apparatus including an arm unit for gripping the part, an acquisition unit for acquiring a detection result from a sensor mounted on the mobile body that detects a motion of the mobile body while moving in an unmanned manner, and a control unit for controlling the arm unit in response to the detection result. According to the device of this aspect, it is possible to appropriately assemble parts to a moving body while it is moving, thereby improving the efficiency of the work of assembling parts to a moving body. (10) According to a fourth aspect of the present disclosure, there is provided an apparatus including: an acquisition unit that acquires operation information related to an operation of a work device that assembles a part on a moving body that is moving by unmanned operation; a generation unit that generates moving body control information used to control the moving body in accordance with the operation information; and a transmission unit that transmits the moving body control information to the moving body. According to the device of this embodiment, the movable body can be operated in response to the operation of the working device, so that the parts can be appropriately assembled to the movable body while it is moving by the working device, thereby improving the work efficiency of the assembly work of the parts to the movable body. (11) In the device of the above aspect, the generation unit may generate the moving body control information for controlling the moving body so that a relative speed between the moving body and the part when assembling the part to the moving body is within a predetermined range. According to the device of this embodiment, it is possible to reduce the impact caused when parts are assembled on the moving body. (12) In the device of the above aspect, when the relative velocity when assembling the part to the moving body is not within the range, the generation unit may generate at least one of a command to stop the moving body, a command to stop the work device, and a command to notify that an abnormality has occurred. According to the device of this embodiment, when there is a possibility that a component assembly defect may occur, it is possible to deal with the problem appropriately. (13) According to a fifth aspect of the present disclosure, there is provided an apparatus mounted on a moving body, the apparatus including: an acquisition unit configured to acquire operation information related to an operation of a work device that assembles a part on the moving body; and a control unit configured to control the moving body in accordance with the operation information. According to the device of this embodiment, the movable body can be operated in response to the operation of the working device, so that the parts can be appropriately assembled to the movable body while it is moving by the working device, thereby improving the work efficiency of the assembly work of the parts to the movable body. (14) According to a sixth aspect of the present disclosure, there is provided an apparatus including: an acquisition unit that acquires operation information related to an operation of a mobile body that can move by unmanned operation; and a generation unit that generates, in accordance with the operation information, task control information used to control a task device that assembles a part on the mobile body that is stopped at a work location by unmanned operation. According to the device of this embodiment, the working device can be operated in response to the movement of the moving body, so that parts can be appropriately assembled by the working device to the moving body that is stopped. Therefore, the work efficiency of the assembly work of parts to the moving body can be improved. (15) According to a seventh aspect of the present disclosure, there is provided an apparatus including: an acquisition unit that acquires operation information relating to an operation of a working device that assembles a part onto a mobile body that can move by unmanned operation, the operation being to assemble the part onto the mobile body that is stopped at a work location by unmanned operation; and a generation unit that generates mobile body control information used to control the mobile body to stop at the work location according to the operation information. According to the device of this embodiment, the movable body can be operated in response to the operation of the working device, so that the working device can appropriately assemble parts to the movable body that is stopped, thereby improving the work efficiency of the assembly work of parts to the movable body. (16) According to an eighth aspect of the present disclosure, there is provided an apparatus including: an acquisition unit that acquires operation information related to an operation of a mobile body that can be moved by unmanned operation; a generation unit that generates, in accordance with the operation information, work device control information used to control a work device that can be moved by unmanned operation and that can be loaded with at least one of a part to be assembled to the mobile body and a tool to be used for work on the mobile body; and a transmission unit that transmits the work device control information to the work device. According to the device of this embodiment, the working device can be moved in accordance with the movement of the moving object to be worked on, thereby improving the work efficiency of the worker who takes out parts and tools from the working device and works on the moving object. (17) In the device of the above aspect, the generation unit may generate the work device control information so that a relative speed between the work device and the moving object falls within a predetermined range. According to the device of this aspect, it is possible to suppress changes in the distance between the working device and the movable body, and therefore it is possible to effectively improve the working efficiency of the worker. (18) In the device of the above aspect, when it is determined that work on the moving body has been completed, the generation unit may generate the work device control information to cause the moving body to approach a subsequent moving body on which work is to be performed after the moving body. According to the device of this aspect, it is possible to eliminate the need for the worker to manually move the working implement closer to the following moving body, and therefore it is possible to effectively improve the working efficiency of the worker. (19) In the device of the above aspect, the acquisition unit may acquire operation information regarding the operation of the following moving body while the work device is approaching the following moving body or after the work device has approached within a predetermined distance of the following moving body, and the generation unit may generate the work device control information in accordance with the operation information of the following moving body. According to the device of this aspect, the motion of the moving object can be acquired at an appropriate timing. (20) In the device of the above aspect, when the generation unit determines that work on the moving body has been completed and that there is no subsequent moving body, the generation unit may generate the work device control information to stop the work device. According to the device of this aspect, it is possible to prevent the working device from continuing to move even when there is no following moving body, thereby preventing energy from being wasted. (21) According to a ninth aspect of the present disclosure, there is provided a working device capable of moving by unmanned operation, the working device including a platform capable of carrying at least one of parts to be assembled to a movable body capable of moving by unmanned operation and tools used for work on the movable body, a driving device for movement, an acquisition unit that acquires detection results of a sensor mounted on the movable body, and a control unit that controls the driving device in accordance with the detection results. According to this embodiment of the working device, the working device can be moved in accordance with the motion of the moving object to be worked on, thereby improving the work efficiency of the worker who takes out parts or tools from the working device and works on the moving object. (22) According to a tenth aspect of the present disclosure, there is provided an unmanned mobile working device, the working device including a platform capable of carrying at least one of parts to be assembled to a mobile body capable of unmanned movement and tools used for work on the mobile body, a drive device for movement, a sensor for detecting the movement of the mobile body, and a control unit for controlling the drive device in response to a detection result of the sensor. According to this embodiment of the working device, the working device can be moved in accordance with the movement of the moving object that is the target of the work, thereby improving the work efficiency of the worker who takes out the parts or tools from the working device and works on the moving object. The present disclosure may be realized in various forms other than a system and an apparatus, for example, a method, a computer program, and a recording medium on which a computer program is recorded. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is an explanatory diagram showing the configuration of a system according to a first embodiment. [Diagram 2] FIG. 1 is an explanatory diagram showing a configuration of a vehicle according to a first embodiment. [Diagram 3] FIG. 2 is an explanatory diagram showing the configuration of a server device according to the first embodiment. [Figure 4] FIG. 2 is an explanatory diagram showing the configuration of an assembly robot according to the first embodiment. [Diagram 5] FIG. 2 is an explanatory diagram showing a state in which a vehicle runs unmanned in a factory. [Figure 6] 4 is a flowchart showing a processing procedure of vehicle control according to the first embodiment. [Figure 7] 5 is a flowchart showing a process of controlling an assembly robot according to the first embodiment. [Figure 8] FIG. 11 is a first explanatory diagram showing the operation of the assembly robot. [Figure 9] FIG. 11 is a second explanatory diagram showing the operation of the assembly robot. [Figure 10] FIG. 11 is a third explanatory diagram showing the operation of the assembly robot. [Figure 11] FIG. 11 is an explanatory diagram showing the configuration of a system according to a second embodiment. [Figure 12] FIG. 11 is an explanatory diagram showing a configuration of an assembly robot according to a second embodiment. [Figure 13] 10 is a flowchart showing a process of controlling an assembly robot according to a second embodiment. [Figure 14] FIG. 13 is an explanatory diagram showing the configuration of a system according to a third embodiment. [Figure 15]FIG. 11 is an explanatory diagram showing the configuration of a vehicle according to a third embodiment. [Figure 16] FIG. 11 is an explanatory diagram showing the configuration of an assembly robot according to a third embodiment. [Figure 17] FIG. 13 is an explanatory diagram showing the configuration of a system according to a fourth embodiment. [Figure 18] FIG. 13 is an explanatory diagram showing the configuration of a system according to a fifth embodiment. [Figure 19] FIG. 13 is an explanatory diagram showing the configuration of a system according to a sixth embodiment. [Figure 20] FIG. 13 is an explanatory diagram showing the configuration of a system according to a seventh embodiment. [Figure 21] FIG. 13 is an explanatory diagram showing the configuration of a wagon according to a seventh embodiment. [Figure 22] 13 is a flowchart showing a procedure of a wagon control process according to the seventh embodiment. [Figure 23] FIG. [Figure 24] FIG. 23 is an explanatory diagram showing the configuration of a system according to an eighth embodiment. [Diagram 25] FIG. 13 is an explanatory diagram showing the configuration of a wagon according to an eighth embodiment. [Figure 26] FIG. 13 is an explanatory diagram showing the configuration of a system according to a ninth embodiment. [Figure 27] FIG. 13 is an explanatory diagram showing the configuration of a wagon according to a ninth embodiment. [Figure 28] 10 is a flowchart showing a processing procedure of vehicle control according to another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] A. First embodiment: 1 is an explanatory diagram showing the configuration of a system 10 in a first embodiment. The system 10 is used, for example, in a factory that manufactures vehicles 100. In this embodiment, the vehicle 100 is an electric vehicle (BEV: Battery Electric Vehicle). Note that the vehicle 100 is not limited to an electric vehicle, and may be, for example, a gasoline vehicle, a hybrid vehicle, or a fuel cell vehicle.

[0009] The system 10 includes a vehicle 100, a server device 200, at least one external sensor 250, an assembly robot 300, and a notification device 500. The vehicle 100 is configured to be capable of traveling in an unmanned manner. The vehicle 100 is in a state of being manufactured, and the assembly robot 300 performs an assembly operation of parts on the vehicle 100 traveling in an unmanned manner. In this embodiment, the vehicle 100 travels in an unmanned manner in the form of a so-called platform. The vehicle 100 may be called a moving body, and the assembly robot 300 may be called a working device.

[0010] In this disclosure, "unmanned driving" means driving that is not performed by a driver on board the vehicle 100. "Driving operation" means at least one of the operations of "running," "turning," and "stopping" of the vehicle 100. Unmanned driving is realized by automatic or manual remote control using a device located outside the vehicle 100, or by autonomous control of the vehicle 100. A driver who does not perform driving operations may be on board the vehicle 100 that is traveling by unmanned driving. A driver who does not perform driving operations includes, for example, a person who simply sits in the driver's seat of the vehicle 100 and a person who performs an action other than driving operations. Actions other than driving operations include, for example, assembling parts for the vehicle 100, inspecting the vehicle 100, and operating switches provided on the vehicle 100. Note that driving by a driver's driving operation is sometimes called "manned driving."

[0011] 2 is an explanatory diagram showing the configuration of the vehicle 100 in this embodiment. The vehicle 100 includes a vehicle control device 110 for controlling each part of the vehicle 100, an actuator group 120 including at least one actuator that is driven under the control of the vehicle control device 110, and a communication device 130 for communicating with the server device 200 by wireless communication. In this embodiment, the actuator group 120 includes an actuator of a drive device for accelerating the vehicle 100, an actuator of a steering device for changing the traveling direction of the vehicle 100, and an actuator of a braking device for decelerating the vehicle 100. The drive device includes a battery, a running motor driven by the power of the battery, and wheels that are rotated by the running motor. The actuator of the drive device includes the running motor.

[0012] The vehicle control device 110 is configured by a computer including a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are connected to each other via the internal bus 114 so as to be able to communicate in both directions. The input / output interface 113 is connected to an actuator group 120 and a communication device 130.

[0013] The processor 111 functions as an acquisition unit 115 and a control unit 117 by executing a computer program PG1 stored in advance in the memory 112. The acquisition unit 115 acquires vehicle control information for controlling the vehicle 100. In this embodiment, the acquisition unit 115 acquires a driving control signal from the server device 200 as the vehicle control information. The driving control signal includes the acceleration and steering angle of the vehicle 100 as parameters. The driving control signal may include the speed of the vehicle 100 instead of the acceleration of the vehicle 100. The control unit 117 controls the actuator group 120 using the driving control signal. When a passenger is on board the vehicle 100, the control unit 117 can make the vehicle 100 run by controlling the actuator group 120 in response to the driving operation of the passenger. The control unit 117 can make the vehicle 100 run by controlling the actuator group 120 in response to the driving control signal received from the server device 200, regardless of whether a passenger is on board the vehicle 100. The vehicle control information may be referred to as mobile object control information.

[0014] 3 is an explanatory diagram showing the configuration of the server device 200 in this embodiment. The server device 200 is configured by a computer including a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected via the internal bus 204 so as to be able to communicate bidirectionally. A communication device 205 for communicating with the vehicle 100 by wireless communication is connected to the input / output interface 203. In this embodiment, the communication device 205 can communicate with the external sensor 250, the assembly robot 300, and the notification device 500 by wired communication or wireless communication.

[0015] The processor 201 executes a computer program PG2 prestored in the memory 202, thereby functioning as an acquisition unit 211 that acquires vehicle position information related to the position and orientation of the vehicle 100, a generation unit 212 that generates vehicle control information used to control the vehicle 100, a transmission unit 213 that transmits the vehicle control information to the vehicle 100, an acquisition unit 221 that acquires vehicle operation information related to the operation of the vehicle 100, a generation unit 222 that generates working device control information used to control the assembly robot 300, which is a working device, and a transmission unit 223 that transmits the working device control information to the assembly robot 300. In this embodiment, the acquisition unit 211 acquires the vehicle position information using a detection result output from the external sensor 250. The vehicle position information includes information on the position and orientation of the vehicle 100. The generation unit 212 generates the vehicle control information using the vehicle position information. The generation unit 212 generates a driving control signal as the vehicle control information. The acquisition unit 221 acquires the vehicle operation information using the detection result output from the external sensor 250. In this embodiment, the vehicle operation information includes information on the position, orientation, and speed of the vehicle 100. The generating unit 222 generates the working device control information using the vehicle operation information. In this embodiment, the generating unit 222 generates an operation control signal for operating the assembly robot 300 as the operation control information. The generating unit 222 generates the operation control signal so that a part is assembled in a predetermined orientation at a predetermined position of the vehicle 100 while the vehicle 100 is moving, and so that the relative speed between the vehicle 100 and the part during assembly in a direction parallel to the assembly surface of the vehicle 100 is zero. In the following description, an operation of assembling a part in a predetermined orientation at a predetermined position of the vehicle 100, in which the relative speed between the vehicle 100 and the part during assembly in a direction parallel to the assembly surface of the vehicle 100 is zero, is referred to as an ideal assembly operation.

[0016] The external sensor 250 is located outside the vehicle 100. The external sensor 250 is used to detect the position and orientation of the vehicle 100. In this embodiment, the external sensor 250 is a camera installed in a factory. The external sensor 250 includes a communication device (not shown) and can communicate with the server device 200 by wired communication or wireless communication. The external sensor 250 is not limited to a camera and may be, for example, a LiDAR.

[0017] FIG. 4 is an explanatory diagram showing the configuration of the assembly robot 300 in this embodiment. The assembly robot 300 includes a control device 310, an arm unit 320, and a communication device 330. In this embodiment, the control device 310 controls each part of the assembly robot 300. The arm unit 320 is configured as a vertical multi-joint robot arm. An end effector for gripping a part is attached to the tip of the arm unit 320. In this embodiment, the end effector is configured to sandwich the part. The communication device 330 can communicate with the server device 200 by wired communication or wireless communication. Note that the arm unit 320 is not limited to a vertical multi-joint robot arm, and may be configured as, for example, a horizontal multi-joint robot arm, an orthogonal robot arm, or a parallel link robot arm. The end effector may be configured to suck the part instead of sandwiching it.

[0018] The control device 310 is configured by a computer including a processor 311, a memory 312, an input / output interface 313, and an internal bus 314. The processor 311, the memory 312, and the input / output interface 313 are connected to each other via the internal bus 314 so as to be able to communicate in both directions. The input / output interface 313 is connected to an arm unit 320 and a communication device 330.

[0019] In this embodiment, the processor 311 executes a computer program PG3 pre-stored in the memory 312 to function as an acquisition unit 315 that acquires task device control information and a control unit 317 that controls the arm unit 320. In this embodiment, the acquisition unit 315 acquires an operation control signal from the server device 200 as the task device control information. The control unit 317 controls the arm unit 320 in response to the operation control signal.

[0020] As shown in FIG. 1, the notification device 500 is a device for notifying a manager of the system 10 or a worker at the factory that an abnormality has occurred in the factory. In the following description, the manager of the system 10 and the worker at the factory are referred to as the manager, etc. The notification device 500 is, for example, an alarm buzzer provided in the factory or an alarm lamp provided in the factory. The notification device 500 may be a tablet terminal carried by the manager, etc. The notification device 500 is provided with a communication device (not shown) and can communicate with the server device 200 by wired communication or wireless communication.

[0021] 5 is an explanatory diagram showing a state in which the vehicle 100 travels in an unmanned manner in a factory KJ. In this embodiment, the factory KJ includes a first location PL1, a second location PL2, and a third location PL3. The first location PL1, the second location PL2, and the third location PL3 are connected by a travel path SR along which the vehicle 100 can travel. In the factory KJ, a plurality of external sensors 250 are installed along the travel path SR.

[0022] The first location PL1 is a location where the work of assembling the vehicle 100 is carried out. The vehicle 100 assembled at the first location PL1 is in a state in which it can run by unmanned driving, in other words, in a state in which it can perform three functions of "running," "turning," and "stopping" by unmanned driving. In this embodiment, the vehicle 100 assembled at the first location PL1 is in the form of a platform. The vehicle 100 moves from the first location PL1 to the second location PL2 by unmanned driving.

[0023] The second location PL2 is a location where further work of assembling parts to the vehicle 100 is performed. An assembly robot 300 is arranged in the second location PL2. The parts to be assembled in the second location PL2 are, for example, body parts, interior parts such as seats, headlamps, windshield wipers, etc. In this embodiment, the vehicle 100 in which the parts have been assembled in the second location PL2 is in the form of a completed vehicle. The vehicle 100 moves from the second location PL2 to the third location PL3 in an unmanned driving manner.

[0024] The third location PL3 is a location where work to inspect the vehicle 100 is carried out. The vehicle 100 that passes the inspection at the third location PL3 is shipped from the factory KJ. Note that the vehicle 100 shipped from the factory KJ does not have to be in the form of a finished vehicle. In other words, the vehicle 100 shipped from the factory KJ may have parts that have not been installed. In this case, the parts that have not been installed may be installed on the vehicle 100 after the vehicle 100 is shipped from the factory KJ.

[0025] 6 is a flowchart showing the processing procedure of vehicle control in this embodiment. In this embodiment, a two-dimensional code in which the individual identification number of the vehicle 100 is recorded is affixed to the vehicle 100. When a worker at the factory KJ reads the two-dimensional code with a reading device, the individual identification number is transmitted from the reading device to the server device 200. When the server device 200 receives the individual identification number, vehicle control is started. The processor 201 of the server device 200 executes a first routine R100. The processor 111 of the vehicle 100 executes a second routine R200.

[0026] The first routine R100 includes steps S110, S120, S130, and S140. In step S110, the acquisition unit 211 acquires vehicle position information using the detection result output from the external sensor 250. In this embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GA of the factory KJ. In this embodiment, the external sensor 250 is a camera installed in the factory KJ, and an image is output from the external sensor 250 as a detection result. The position and orientation of the external sensor 250 are adjusted in advance. The acquisition unit 211 acquires the position and orientation of the vehicle 100 in the factory KJ using the image acquired from the external sensor 250.

[0027] Regarding a method for acquiring the position of the vehicle 100, the acquisition unit 211 can acquire the position of the vehicle 100 by, for example, detecting the outer shape of the vehicle 100 from an image, calculating the coordinates of the positioning point of the vehicle 100 in the coordinate system of the image, in other words, the local coordinate system of the factory KJ, and converting the calculated coordinates into coordinates in the global coordinate system GA. The outer shape of the vehicle 100 included in the image can be detected, for example, by inputting the image into a detection model using artificial intelligence. As an example of the detection model, there is a trained machine learning model that has been trained to realize either semantic segmentation or instance segmentation. As this machine learning model, for example, a convolutional neural network (hereinafter, CNN) trained by supervised learning using a training dataset can be used. The training dataset includes, 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. During CNN learning, it is preferable to update the parameters of the CNN by backpropagation (error backpropagation method) so as to reduce the error between the output result of the detection model and the correct label. Regarding the method of acquiring the orientation of the vehicle 100, the acquisition unit 211 can acquire the orientation of the vehicle 100 by, for example, using an optical flow method to calculate a movement vector of the vehicle 100 from a position change of a feature point of the vehicle 100 between image frames, and estimating the orientation of the vehicle 100 based on the orientation of the movement vector.

[0028] In step S120, the generation unit 212 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 GA. The server device 200 prestores an ideal route IR along which the vehicle 100 should travel. The ideal route IR is represented by nodes indicating a starting point, nodes indicating passing points, nodes indicating a destination, and links connecting the nodes. The generation unit 212 uses the position information of the vehicle 100 and the ideal route IR to determine a target position to which the vehicle 100 should next head. The generation unit 212 determines a target position on the ideal route IR that is ahead of the current location of the vehicle 100.

[0029] In step S130, the generating unit 212 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 generating unit 212 calculates the current 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 generating unit 212 determines the acceleration so that the vehicle 100 accelerates, and when the driving speed is higher than the target speed, the generating unit 212 determines the acceleration so that the vehicle 100 decelerates. When the vehicle 100 is located on the ideal route IR, the generating unit 212 determines the steering angle so that the vehicle 100 does not deviate from the ideal route IR, and when the vehicle 100 is not located on the ideal route IR, in other words, when the vehicle 100 deviates from the ideal route IR, the generating unit 212 determines the steering angle so that the vehicle 100 returns to the ideal route IR.

[0030] In step S140, the transmission unit 213 transmits a driving control signal to the vehicle 100. The processor 201 repeats a first routine R100, which includes obtaining position information of the vehicle 100, determining a target position, generating a driving control signal, and transmitting the driving control signal, at a predetermined cycle.

[0031] The processor 111 of the vehicle 100 executes the second routine R200 while the first routine R100 is being executed. The second routine R200 includes steps S210 and S220. In step S210, the acquisition unit 115 receives a travel control signal from the server device 200. In step S220, the control unit 117 controls the actuator group 120 using the received travel control signal to make the vehicle 100 travel with the acceleration and steering angle included in the travel control signal. The processor 111 repeats the second routine R200, including the reception of the travel control signal and the control of the actuator group 120, at a predetermined period. According to the system 10 of this embodiment, the vehicle 100 can be traveled by remote control, so that the vehicle 100 can be moved without using a conveying facility such as a crane or a conveyor.

[0032] 7 is a flowchart showing the procedure of the assembly robot control process. This process is executed by the processor 201 of the server device 200. In step S310, the acquisition unit 221 acquires the detection result output from the external sensor 250, and acquires vehicle operation information using the detection result of the external sensor 250. In this embodiment, the acquisition unit 221 acquires the position, orientation, and speed of the vehicle 100 while it is traveling as the vehicle operation information.

[0033] In step S320, the generation unit 222 determines whether or not there is an abnormality in the traveling state of the vehicle 100. In this embodiment, the generation unit 222 determines that there is an abnormality in the traveling state when at least one of the position, the orientation, and the speed of the vehicle 100 is outside a predetermined range.

[0034] If it is determined in step S320 that there is no abnormality in the traveling state, in step S330, the generation unit 222 generates an operation control signal for operating the arm unit 320 in accordance with the vehicle operation information. The generation unit 222 generates the operation control signal so that the part is assembled to the traveling vehicle 100 by an ideal assembly operation.

[0035] If it is determined in step S320 that there is an abnormality in the driving condition, then in step S335, the generation unit 222 generates an operation control signal to stop the arm unit 320, and in step S338, the generation unit 222 generates a driving control signal to stop the vehicle 100 and transmits it to the vehicle 100, and generates an alarm control signal to cause the alarm device 500 to notify the occurrence of the abnormality and transmits it to the alarm device 500.

[0036] After step S330 or step S338, the transmission unit 213 transmits an operation control signal to the assembly robot 300. The processor 201 repeats this process at a predetermined cycle.

[0037] FIG. 8 is a first explanatory diagram that typically shows the operation of the assembly robot 300. FIG. 9 is a second explanatory diagram that typically shows the operation of the assembly robot 300. FIG. 10 is a third explanatory diagram that typically shows the operation of the assembly robot 300. In FIGS. 8 to 10, the velocity vector of the vehicle 100 is represented by an arrow, and the velocity vector of the part PT held by the assembly robot 300 is represented by a white arrow. As shown in FIG. 8, when the vehicle 100 runs on the ideal route IR in an ideal running state, the assembly robot 300 can appropriately assemble the part PT to the running vehicle 100, for example, by a previously taught operation. However, in the vehicle 100 in the middle of manufacturing, the running state of the vehicle 100 is likely to become unstable, as shown in FIGS. 9 and 10. When the running state of the vehicle 100 becomes unstable, it becomes difficult to appropriately assemble parts to the running vehicle 100, so that the workability of the assembly work decreases and assembly defects are likely to occur.

[0038] 9, for example, if the wheel alignment of the vehicle 100 is misaligned, the vehicle 100 cannot travel straight, and the position of the vehicle 100 is likely to deviate left or right from the ideal route IR. In this case, the steering angle is repeatedly changed in an attempt to return the vehicle 100 to the ideal route IR, and the position and orientation of the vehicle 100 change periodically. Therefore, the position and orientation of the part PT with respect to the vehicle 100 may deviate left or right, and the relative speed between the vehicle 100 and the part PT may increase.

[0039] As shown in Fig. 10, for example, when resistance to the running of the vehicle 100 is large, the speed of the vehicle 100 is likely to decrease. In this case, acceleration is repeatedly applied in an attempt to restore the speed of the vehicle 100, and the speed of the vehicle 100 changes periodically. Therefore, the position of the part PT with respect to the vehicle 100 may shift forward or backward, or the relative speed between the vehicle 100 and the part PT may increase. The phenomenon shown in Fig. 9 and the phenomenon shown in Fig. 10 may combine to cause the running state of the vehicle 100 to become unstable.

[0040] To address such problems, in this embodiment, the operation of the assembly robot 300 is determined according to the driving condition of the vehicle 100. Therefore, even if the driving condition of the vehicle 100 becomes unstable, it is possible to prevent the position and orientation of the part PT from shifting relative to the vehicle 100, and to prevent an increase in the relative speed between the vehicle 100 and the part PT.

[0041] According to the system 10 in the present embodiment described above, the operation of the assembly robot 300 is determined according to the running state of the vehicle 100, so that even if the running state of the vehicle 100 becomes unstable, the assembly robot 300 can properly assemble the part PT to the traveling vehicle 100. Therefore, the part PT can be properly assembled to the vehicle 100 without stopping the vehicle 100, so that the work efficiency of the assembly work of the part PT can be improved.

[0042] Furthermore, in this embodiment, the server device 200 generates working device control information including parameters used to control the arm unit 320, and transmits the information to the assembly robot 300. The assembly robot 300 controls the arm unit 320 using the parameters included in the working device control information. Therefore, by transmitting the working device control information from the server device 200 to the assembly robot 300, it is possible to cause the assembly robot 300 to perform an operation according to the traveling state of the vehicle 100.

[0043] In this embodiment, the server device 200 further generates vehicle control information used to control the vehicle 100 and transmits it to the vehicle 100. Therefore, the server device 200 can cause the vehicle 100 and the assembly robot 300 to cooperate with each other.

[0044] Furthermore, in this embodiment, when the server device 200 determines that there is an abnormality in the running state of the vehicle 100, it stops the vehicle 100 and the assembly robot 300. Therefore, when there is an abnormality in the running state of the vehicle 100, it is possible to stop the assembly of the part PT to the vehicle 100. Furthermore, in this embodiment, when the server device 200 determines that there is an abnormality in the running state of the vehicle 100, it notifies the manager or the like that an abnormality has occurred by the notification device 500. Therefore, it is possible to make the manager or the like recognize that an abnormality has occurred at an early stage.

[0045] B. Second embodiment: Fig. 11 is an explanatory diagram showing the configuration of a system 10b in the second embodiment. Fig. 12 is an explanatory diagram showing the configuration of an assembly robot 300 in the second embodiment. This embodiment differs from the first embodiment in that the assembly robot 300 is equipped with a camera 340 and that the assembly robot 300 generates vehicle operation information using the detection result of the camera 340. The other configurations are the same as those of the first embodiment unless otherwise specified.

[0046] As shown in FIG. 12, in this embodiment, the assembly robot 300 includes a camera 340 for detecting the operation of the vehicle 100. The camera 340 is fixed to the tip of the arm unit 320. The camera 340 moves when the arm unit 320 operates. The camera 340 may be fixed to the base of the arm unit 320. In this case, the camera 340 does not move even when the arm unit 320 operates. The assembly robot 300 may include a LiDAR instead of the camera 340. The camera 340 and the LiDAR for detecting the operation of the vehicle 100 are sometimes called sensors.

[0047] In this embodiment, the processor 311 executes a computer program PG3 pre-stored in the memory 312, thereby functioning as an acquisition unit 315 that acquires vehicle operation information, a generation unit 316 that generates an operation control signal for controlling the arm unit 320, and a control unit 317 that controls the arm unit 320. Note that in this embodiment, since the assembly robot 300 generates the operation control signal by itself, the server device 200 does not need to be provided with the acquisition unit 221, the generation unit 222, and the transmission unit 223 shown in FIG.

[0048] FIG. 13 is a flowchart showing the procedure of the assembly robot control in the second embodiment. This process is executed by the processor 311 of the assembly robot 300. In step S410, the acquisition unit 315 acquires vehicle operation information using the detection result output from the camera 340. In this embodiment, the vehicle operation information includes the position, orientation, and speed of the vehicle 100 in the global coordinate system GA. From the detection result of the camera 340, the position, orientation, and speed of the vehicle 100 in the local coordinate system based on the camera 340 are obtained. For example, the acquisition unit 315 can acquire the position and orientation of the camera 340 in the global coordinate system GA from the position and orientation where the assembly robot 300 is installed in the factory KJ and information of the encoder built into the arm unit 320 in addition to the detection result of the camera 340. Therefore, the acquisition unit 315 can convert the position, orientation, and speed of the vehicle 100 in the local coordinate system based on the camera 340 into the position, orientation, and speed of the vehicle 100 in the global coordinate system GA.

[0049] In step S420, the generation unit 316 determines whether or not there is an abnormality in the traveling state of the vehicle 100. In this embodiment, the generation unit 316 determines that there is an abnormality in the traveling state when at least one of the position, the orientation, and the speed of the vehicle 100 is outside a predetermined range.

[0050] If it is determined in step S420 that the running state is not abnormal, the generating unit 316 generates an operation control signal for operating the arm unit 320 in accordance with the vehicle operation information in step S430. The generating unit 316 generates an operation control signal so that a part is assembled to the running vehicle 100 by an ideal assembly operation. The generating unit 316 can generate the operation control signal, for example, by correcting an operation control signal generated in advance by teaching in accordance with the vehicle operation information. Note that the vehicle operation information may include the relative position, relative orientation, and relative speed between the tip of the arm unit 320 and the vehicle 100, instead of the position, orientation, and speed of the vehicle 100 in the global coordinate system GA. Even in this case, the generating unit 316 can generate an operation control signal for the running vehicle 100. Since the positional relationship between the camera 340 and the tip of the arm section 320 is known, the acquisition section 315 can acquire the relative position, relative orientation, and relative speed between the tip of the arm section 320 and the vehicle 100 from the position, orientation, and speed of the vehicle 100 in a local coordinate system based on the camera 340.

[0051] If it is determined in step S420 that there is an abnormality in the driving state, in step S435, the generation unit 316 generates an operation control signal for stopping the arm unit 320. In step S438, the generation unit 316 generates a driving control signal for stopping the vehicle 100 and transmits it to the vehicle 100, and generates an announcement control signal for causing the announcement device 500 to announce the occurrence of the abnormality and transmits it to the announcement device 500.

[0052] After step S430 or step S438, the control unit 317, in response to the operation control signal, controls the arm unit 320. The processor 311 repeats this process at a predetermined cycle.

[0053] According to the system 10b in this embodiment described above, similarly to the first embodiment, even if the traveling state of the vehicle 100 becomes unstable, the assembly robot 300 can appropriately assemble the part PT to the traveling vehicle 100. In particular, in this embodiment, the assembly robot 300 can acquire vehicle operation information using the detection result of the camera 340, and generate an operation control signal for operating the arm unit 320 by itself.

[0054] C. Third embodiment: Fig. 14 is an explanatory diagram showing the configuration of a system 10c in the third embodiment. Fig. 15 is an explanatory diagram showing the configuration of a vehicle 100 in the third embodiment. Fig. 16 is an explanatory diagram showing the configuration of an assembly robot 300 in the third embodiment. This embodiment differs from the second embodiment in that an internal sensor 140 is mounted on the vehicle 100 and that the assembly robot 300 generates an operation control signal in response to the detection result of the internal sensor 140. The other configurations are the same as those in the second embodiment unless otherwise described.

[0055] 15, in this embodiment, the vehicle 100 includes at least one internal sensor 140. The internal sensor 140 is mounted on the vehicle 100. The internal sensor 140 detects the operation of the vehicle 100. The internal sensor 140 may include, for example, an acceleration sensor that detects the acceleration of the vehicle 100, a speed sensor that detects the speed, a yaw rate sensor that detects the yaw axis angular velocity, a wheel speed sensor that detects the rotational speed of the wheels, a steering angle sensor that detects the steering angle, a camera, a LiDAR, a GPS receiver, and the like.

[0056] In this embodiment, the processor 111 executes a computer program PG1 pre-stored in the memory 112, thereby functioning as an acquisition unit 115 that acquires driving control signals as vehicle control information from the server device 200, a control unit 117 that controls the actuator group 120 in response to the driving control signals, and a transmission unit 118 that transmits the detection results of the internal sensor 140 to the assembly robot 300.

[0057] 16, in this embodiment, the processor 311 of the assembly robot 300 executes a computer program PG3 pre-stored in the memory 312 to function as an acquisition unit 315 that acquires vehicle operation information, a generation unit 316 that generates an operation control signal for operating the arm unit 320, and a control unit 317 that controls the arm unit 320. In this embodiment, the acquisition unit 315 acquires the detection result of the internal sensor 140 from the vehicle 100 as the vehicle operation information.

[0058] According to the system 10c in this embodiment described above, similarly to the second embodiment, even if the traveling state of the vehicle 100 becomes unstable, the assembly robot 300 can appropriately assemble the part PT to the traveling vehicle 100. In particular, in this embodiment, the assembly robot 300 can generate an operation control signal for operating the arm unit 320 by itself, using the detection result of the internal sensor 140 mounted on the vehicle 100.

[0059] D. Fourth embodiment: 17 is an explanatory diagram showing the configuration of a system 10d in the fourth embodiment. This embodiment differs from the first embodiment in that the operation of the assembly robot 300 is not adjusted to match the operation of the vehicle 100, but the operation of the vehicle 100 is adjusted to match the operation of the assembly robot 300. The other configurations are the same as those of the first embodiment unless otherwise specified.

[0060] In this embodiment, the assembly robot 300 executes operations that have been taught in advance. For example, the position or orientation of a part during assembly may deviate from the ideal position or orientation due to accumulation of errors in the arm unit 320 or due to an error in gripping the part by the arm unit 320. In this case, even if the vehicle 100 travels along the ideal route IR at an ideal speed, the assembly robot 300 cannot properly assemble the part on the traveling vehicle 100. The assembly robot 300 transmits working device operation information related to the operation of the assembly robot 300 to the server device 200. The working device operation information includes, for example, the amount of deviation in the position, the amount of deviation in the orientation, and the amount of deviation in the speed of the tip of the arm unit 320.

[0061] In this embodiment, the acquisition unit 211 of the server device 200 acquires vehicle position information from the detection result of the external sensor 250 in step S110 shown in FIG. 6, and acquires working device operation information from the assembly robot 300. In step S120, the generation unit 212 determines the next target position according to the vehicle position information and the working device operation information. The generation unit 212 determines the next target position of the vehicle 100 so that the positional deviation between the part held by the assembly robot 300 and the vehicle 100 is canceled. At this time, it does not matter if the next target position deviates from the ideal route IR. In step S130, the generation unit 212 generates a traveling control signal so that the positional deviation, orientation, and speed deviation between the part held by the assembly robot 300 and the vehicle 100 are canceled. The contents after step S130 are the same as those in the first embodiment.

[0062] According to the system 10d in the present embodiment described above, the operation of the vehicle 100 is adjusted so as to cancel out the deviation in the operation of the assembly robot 300. Therefore, even if the operation of the assembly robot 300 becomes unstable, the assembly robot 300 can properly assemble the part PT to the vehicle 100 while it is traveling.

[0063] E. Fifth embodiment: 18 is an explanatory diagram showing the configuration of a system 10e in the fifth embodiment. This embodiment differs from the first embodiment in that the assembly robot 300 does not assemble parts to a vehicle 100 that is moving, but assembles parts to a vehicle 100 that is stopped. The other configurations are the same as those of the first embodiment unless otherwise specified.

[0064] The vehicle 100 moves in an unmanned manner to a work location where the assembly work is performed by the assembly robot 300, and stops in the work location in an unmanned manner. The assembly robot 300 assembles parts into the vehicle 100 stopped in the work location. After the assembly work is completed, the vehicle 100 moves in an unmanned manner to the next work location. For example, if the running state of the vehicle 100 becomes unstable, there is a possibility that the target stop position P1 and the actual stop position P2 may deviate. In this embodiment, if the stop position of the vehicle 100 deviates, the operation of the assembly robot 300 is adjusted.

[0065] In this embodiment, the acquisition unit 221 acquires a deviation amount d1 between a target stop position P1 and an actual stop position P2 as the vehicle operation information. The acquisition unit 211 can acquire the deviation amount d1 from, for example, a detection result of the external sensor 250. The acquisition unit 211 may acquire the deviation amount d1 after the vehicle 100 stops, or may acquire the deviation amount d1 by prediction before the vehicle 100 stops. For example, it becomes possible to predict the deviation amount d1 by grasping in advance how much the braking performance of the vehicle 100 deviates from the reference braking performance. The generation unit 222 generates an operation control signal so that the position of the tip of the arm unit 320 during assembly is corrected by the deviation amount d1, and the transmission unit 223 transmits the operation control signal to the assembly robot 300.

[0066] According to the system 10e in the present embodiment described above, the operation of the assembly robot 300 is adjusted so as to cancel out any deviation in the stopping position of the vehicle 100. Therefore, even if the stopping position of the vehicle 100 is deviated, the assembly robot 300 can appropriately assemble the part PT to the stopped vehicle 100.

[0067] F. Sixth embodiment: 19 is an explanatory diagram showing the configuration of a system 10f in the sixth embodiment. This embodiment is the same as the fourth embodiment in that the operation of the vehicle 100 is adjusted in accordance with the operation of the assembly robot 300, but differs from the fourth embodiment in that the assembly robot 300 does not assemble parts to the vehicle 100 while it is moving, but assembles parts to the vehicle 100 while it is stopped. The other configurations are the same as those of the fourth embodiment unless otherwise specified.

[0068] The vehicle 100 moves in an unmanned manner to a work location where the assembly work is performed by the assembly robot 300, and stops in the work location in an unmanned manner. The assembly robot 300 assembles parts to the vehicle 100 stopped in the work location. After the assembly work is completed, the vehicle 100 moves in an unmanned manner to the next work location. For example, if errors accumulate in the operation of the assembly robot 300 or if the gripping position of the part by the arm unit 320 is shifted, even if the vehicle 100 stops at the target stopping position, there is a possibility that the target position P3 of the part at the time of assembly and the actual position P4 of the part may be shifted. In this embodiment, if the operation of the assembly robot 300 is shifted, the stopping position of the vehicle 100 is adjusted.

[0069] The acquisition unit 211 of the server device 200 acquires, for example, vehicle position information related to the position and orientation of the vehicle 100 from the detection result of the external sensor 250, and working device operation information related to the operation of the assembly robot 300. The acquisition unit 211 acquires, as the working device operation information, a deviation amount d2 between a target part position P3 and an actual part position P4 during assembly. The acquisition unit 211 may acquire the deviation amount d2 after the arm unit 320 stops at the assembly position, or may acquire the deviation amount d2 by prediction before the arm unit 320 stops at the assembly position. The generation unit 212 generates a traveling control signal such that the stopping position of the vehicle 100 is corrected by the deviation amount d2, and the transmission unit 213 transmits the traveling control signal to the vehicle 100.

[0070] According to the system 10f in the present embodiment described above, the stopping position of the vehicle 100 is adjusted so as to cancel out any deviation in the operation of the assembly robot 300. Therefore, even if the operation of the assembly robot 300 is delayed, the assembly robot 300 can properly assemble the part PT to the stopped vehicle 100.

[0071] G. Seventh embodiment: 20 is an explanatory diagram showing the configuration of a system 10g in the seventh embodiment. This embodiment differs from the first embodiment in that the system 10g includes a wagon 400 instead of an assembly robot 300. The other configurations are the same as those of the first embodiment unless otherwise specified. The wagon 400 may be referred to as a working device.

[0072] The wagon 400 is placed beside the road on which the vehicle 100 travels. The wagon 400 includes a loading platform 405. Parts to be assembled to the vehicle 100 are loaded on the loading platform 405. The worker WK takes the parts out of the loading platform 405 and assembles them to the vehicle 100. For example, the worker WK travels back and forth between the wagon 400 and the vehicle 100 to assemble a plurality of parts to the vehicle 100. Note that the loading platform 405 may be loaded with tools used for work on the vehicle 100 instead of or in addition to the parts. The tools are, for example, power tools for assembling parts to the vehicle 100.

[0073] FIG. 21 is an explanatory diagram showing the configuration of the wagon 400. The wagon 400 includes a control device 410, an actuator group 420 that operates under the control of the control device 410, and a communication device 430 that communicates with the server device 200 by wireless communication. In this embodiment, the actuator group 420 includes an actuator of a drive device for accelerating the wagon 400, an actuator of a steering device for changing the traveling direction of the wagon 400, and an actuator of a braking device for decelerating the wagon 400. The drive device includes a battery, a traveling motor driven by the power of the battery, and wheels that rotate by the traveling motor. The actuator of the drive device includes a traveling motor. The wagon 400 does not need to include a steering device or a braking device. Even in this case, the wagon 400 can accelerate, decelerate, and switch between forward and backward movement by the traveling motor.

[0074] The control device 410 is configured by a computer including a processor 411, a memory 412, an input / output interface 413, and an internal bus 414. The processor 411, the memory 412, and the input / output interface 413 are connected to each other via the internal bus 414 so as to be able to communicate bidirectionally. A communication device 430 for communicating with the server device 200 by wireless communication is connected to the input / output interface 413.

[0075] The processor 411 executes a computer program PG4 pre-stored in the memory 412 to function as an acquisition unit 415 that acquires working device control information and a control unit 417 that controls the actuator group 420. In this embodiment, the generation unit 222 of the server device 200 shown in Fig. 3 generates an operation control signal for controlling the actuator group 420 as the working device control information, and the transmission unit 223 transmits the operation control signal to the wagon 400. The control unit 417 of the wagon 400 controls the actuator group 420 in accordance with the operation control signal received from the server device 200.

[0076] FIG. 22 is a flowchart showing the procedure of wagon control. This process is repeatedly executed by the processor 201 of the server device 200. This process is started, for example, when an administrator or the like performs a predetermined start operation on the server device 200. In step S710, the acquisition unit 221 determines whether or not the installation of parts to the vehicle 100 to be worked on has been completed. In the following description, the vehicle 100 to be worked on is referred to as the target vehicle 100. For example, when the acquisition unit 221 receives a signal transmitted when the worker WK operates a button installed at the work location, the acquisition unit 221 determines that the installation of parts to the target vehicle 100 has been completed.

[0077] If it is not determined in step S510 that the installation of the parts to the target vehicle 100 is completed, in step S520, the acquisition unit 221 acquires information regarding the operation of the target vehicle 100. In step S530, the generation unit 222 generates an operation control signal for making the wagon 400 follow the target vehicle 100. In the present disclosure, the wagon 400 following the target vehicle 100 means that the wagon 400 runs in the same direction as the target vehicle 100. In other words, the wagon 400 following the target vehicle 100 includes not only the wagon 400 running behind the target vehicle 100, but also the wagon 400 running beside the target vehicle 100 and the wagon 400 running in front of the target vehicle 100. In this embodiment, the generation unit 222 generates an operation control signal so that the relative speed between the wagon 400 and the target vehicle 100 is within a predetermined range. It is preferable that the generating unit 222 generates the operation control signal so that the relative speed between the wagon 400 and the target vehicle 100 becomes zero.

[0078] When it is determined in step S510 that the assembly of parts into the target vehicle 100 is completed, in step S525, the generation unit 222 determines whether or not a following vehicle exists. The generation unit 222 determines whether or not a following vehicle exists, for example, by acquiring information on the manufacturing plan and manufacturing performance from the process management system of the factory KJ. For example, in a case where the plan is to manufacture 100 vehicles 100 in one day, a following vehicle exists when the assembly of parts into the 50th vehicle 100 of that day is completed, but no following vehicle exists after the assembly of parts into the 100th vehicle 100 of that day is completed.

[0079] If it is determined in step S525 that a following vehicle is present, in step S535, the generation unit 222 generates a control signal for moving the wagon 400 closer to the following vehicle. The generation unit 222 generates an operation control signal so that the distance between the wagon 400 and the following vehicle becomes equal to or smaller than a predetermined distance.

[0080] If it is not determined in step S525 that there is a following vehicle, in step S538, the generation unit 222 generates an operation control signal to stop the wagon 400. The generation unit 222 may generate an operation control signal to stop the wagon 400 on the spot, or may generate an operation control signal to move the wagon 400 to a predetermined home position and then stop it.

[0081] In step S540, the transmitting unit 223 transmits the operation control signal generated in step S530, step S535, or step S538 to the wagon. The processor 201 repeats the above-mentioned process until a predetermined end operation is performed on the server device 200 by an administrator or the like. The acquiring unit 415 of the wagon 400 receives the operation control signal via the communication device 430, and controls the actuator group 420 in accordance with the operation control signal.

[0082] FIG. 23 is an explanatory diagram showing the operation of the wagon 400. As shown in the upper part of FIG. 23, in the initial state, the wagon 400 is stopped at a predetermined home position in the work area. As shown in the middle part of FIG. 23, when the target vehicle 100 enters the work area, the wagon 400 follows the target vehicle 100A. The worker WK takes out a part from the loading platform of the wagon 400 and assembles it in the target vehicle. Furthermore, the worker WK takes out another part from the loading platform of the wagon 400 and assembles it in the target vehicle 100A. That is, the worker WK performs the part assembly work while traveling back and forth between the wagon 400 and the target vehicle 100A. As shown in the lower part of FIG. 23, when the assembly of the part in the target vehicle 100A is completed, the wagon 400 moves so as to approach the following vehicle 100B that will next enter the work area. Here, if the wagon 400 does not have a function of self-propelling, the distance between the wagon 400 and the target vehicle 100A increases as the target vehicle 100A moves, and the work efficiency of the worker WK who assembles the parts taken out of the wagon 400 to the target vehicle 100A decreases. Even if the wagon 400 does not have a function of self-propelling, when the worker WK manually moves the wagon 400, the distance between the wagon 400 and the target vehicle 100A can be prevented from increasing, but the worker WK's work efficiency decreases because the worker WK's work increases. In contrast, in this embodiment, the wagon 400 follows the target vehicle 100A, so the distance between the wagon 400 and the target vehicle 100A is kept constant while the worker WK performs the part assembly work.

[0083] According to the system 10g in the present embodiment described above, since the wagon 400 follows the target vehicle 100, it is possible to prevent the distance between the wagon 400 and the target vehicle 100 from becoming long. Therefore, it is possible to improve the work efficiency of the worker WK who performs work while moving between the wagon 400 and the target vehicle 100A.

[0084] Furthermore, in this embodiment, the wagon 400 is controlled so that the relative speed between the wagon 400 and the target vehicle 100 falls within a predetermined range, so that the distance between the wagon 400 and the target vehicle 100 can be effectively prevented from becoming long.

[0085] In addition, in this embodiment, after the work on the leading vehicle 100A is completed, the wagon 400 automatically approaches the following vehicle 100B, so the worker WK does not have to manually move the wagon 400 closer to the following vehicle 100B. Therefore, the work efficiency of the worker WK can be further improved.

[0086] In addition, in this embodiment, the wagon 400 acquires the movement of the following vehicle 100B while moving toward the following vehicle 100B, so that the movement of the following vehicle 100B can be acquired early, making it easier for the wagon 400 to follow the following vehicle 100B.

[0087] In addition, in this embodiment, when the following vehicle 100B is not present, the wagon 400 automatically stops. Therefore, it is possible to prevent the wagon 400 from continuing to move even when the following vehicle 100B is not present, thereby preventing energy from being wasted.

[0088] H. Eighth embodiment: Fig. 24 is an explanatory diagram showing the configuration of a system 10h in the eighth embodiment. Fig. 25 is an explanatory diagram showing the configuration of a wagon 400 in the eighth embodiment. This embodiment is different from the seventh embodiment in that the wagon 400 does not run according to the operation control signal received from the server device 200, but generates an operation control signal by itself using vehicle operation information acquired from the vehicle 100 and runs. The other configurations are the same as those of the seventh embodiment unless otherwise described.

[0089] As shown in FIG. 25, in this embodiment, the processor 411 executes a computer program PG4 prestored in the memory 412 to function as an acquisition unit 415 that acquires vehicle operation information, a generation unit 416 that generates an operation control signal, and a control unit 417 that controls the actuator group 420. In this embodiment, the acquisition unit 415 acquires a driving control signal from the vehicle 100 as the vehicle operation information. In the case where the vehicle 100 is provided with an internal sensor 140, the acquisition unit 415 may acquire a detection result of the internal sensor 140 from the vehicle 100 and acquire the vehicle operation information from the detection result. The generation unit 416 generates an operation control signal according to the vehicle operation information so that the wagon 400 follows the vehicle 100, and the control unit 417 controls the actuator group 420 according to the operation control signal.

[0090] According to the system 10h in this embodiment described above, as in the seventh embodiment, the wagon 400 follows the target vehicle 100, so that it is possible to prevent the distance between the wagon 400 and the target vehicle 100 from becoming long. In particular, in this embodiment, it is possible to make the wagon 400 follow the vehicle 100 without relying on remote control from the server device 200.

[0091] I. Ninth embodiment: Fig. 26 is an explanatory diagram showing the configuration of the system 10i in the ninth embodiment. Fig. 27 is an explanatory diagram showing the configuration of a wagon 400 in the ninth embodiment. This embodiment differs from the seventh embodiment in that a camera 440 is mounted on the wagon 400, and the operation of the wagon 400 is determined according to the relative position between the wagon 400 and the vehicle 100 acquired by the camera 440. The other configurations are the same as those of the seventh embodiment unless otherwise specified.

[0092] As shown in FIG. 27, in this embodiment, the wagon 400 includes a camera 440. The camera 440 is fixed at a position where the wagon 400 can capture an image of the vehicle 100. In this embodiment, the camera 440 is a stereo camera, and can acquire the distance to the vehicle 100 in addition to the operation of the vehicle 100. The camera 440 is connected to an input / output interface of the control device 410. The wagon 400 may be equipped with, for example, a LiDAR or a sonar instead of the camera 440. In this disclosure, the camera 440, LiDAR, sonar, and the like for detecting the operation of the vehicle 100 may be referred to as a sensor.

[0093] In this embodiment, the processor 411 executes a computer program PG4 prestored in the memory 412 to function as an acquisition unit 415 that acquires vehicle operation information, a generation unit 416 that generates operation control information, and a control unit 417 that controls the actuator group 420. In this embodiment, the acquisition unit 415 acquires the detection result of the camera 440 and acquires the vehicle operation information from the detection result. For example, the acquisition unit 415 acquires the distance between the wagon 400 and the target vehicle 100 by analyzing the image acquired by the camera 440. The generation unit 416 generates an operation control signal so that the wagon 400 follows the vehicle 100 according to the vehicle operation information, and the control unit 417 controls the actuator group 420 according to the operation control signal.

[0094] According to the system 10i in the present embodiment described above, as in the seventh embodiment, the wagon 400 follows the target vehicle 100, so that it is possible to prevent the distance between the wagon 400 and the target vehicle 100 from becoming long. In particular, in the present embodiment, it is possible to make the wagon 400 autonomously follow the vehicle 100.

[0095] J. Other Embodiments: (J1) In each of the above-described embodiments, the server device 200 executes the processes from obtaining the position information of the vehicle 100 to generating the driving control signal. In contrast, at least a part of the processes from obtaining the position information 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.

[0096] (1) The server device 200 may acquire position information 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 indicated in the acquired position information to the target position. The server device 200 may generate a route to a target position between the current location and the destination, or may generate a route to the destination. The server device 200 may transmit the generated route to the vehicle 100. The vehicle 100 may generate a driving control signal so that the vehicle 100 drives on the route received from the server device 200, and control the actuator group 120 using the generated driving control signal.

[0097] (2) The server device 200 may acquire position information of the vehicle 100 and transmit the acquired position information 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 represented in the received position information to the target position, generate a travel control signal so that the vehicle 100 travels on the generated route, and control the actuator group 120 using the generated travel control signal. Note that in each of the above-described embodiments, the vehicle operation information may be a route from the current location of the vehicle 100 to the target position.

[0098] (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, a camera, a 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 server device 200 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.

[0099] (J2) In each of the above-described embodiments, the server device 200 may not be provided. When the server device 200 is not provided, the above-described information exchange between the vehicle 100 and the assembly robot 300 via the server device 200 and the information exchange between the vehicle 100 and the assembly robot 300 via the server device 200 may be performed directly without the server device 200. When the server device 200 is not provided, the vehicle control procedure is executed by the processor 111 of the vehicle 100. As shown in FIG. 28, in step S610, the processor 111 acquires position information of the vehicle 100 using the detection result output from the external sensor 250. In step S620, the processor 111 determines a target position to which the vehicle 100 should next head. The ideal route IR is stored in advance in the memory 112. In step S630, the processor 111 generates a driving control signal for driving the vehicle 100 toward the determined target position. In step S640, the processor 111 controls the actuator group 120 using the traveling control signal to make the vehicle 100 travel at the acceleration and steering angle represented by the traveling control signal. The processor 111 repeats the acquisition of position information of the vehicle 100, the determination of a target position, the generation of a traveling control signal, and the control of the actuator group 120 at a predetermined cycle. In this manner, the vehicle 100 can travel autonomously, not under remote control from the server device 200. The processor 111 of the vehicle 100 may also acquire position information of the vehicle 100 and working device operation information of the assembly robot 300, determine a target position of the vehicle 100 according to the working device operation information, generate a traveling control signal for traveling the vehicle 100 toward the determined target position, and control the actuator group 120 according to the traveling control signal.

[0100] (J3) In each of the above-described embodiments, 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.

[0101] (J4) In each of the above-described embodiments, the vehicle 100 acquires the position information of the vehicle 100 using the detection result of the external sensor 250. In contrast, the vehicle 100 may be equipped with an internal sensor, and the vehicle 100 may acquire position information using the detection result of the internal sensor, determine a target position to which the vehicle 100 should next head, generate a route from the current location of the vehicle 100 represented in the acquired position information to the target position, generate a travel control signal for traveling along the generated route, and control the actuator group 120 using the generated travel control signal. In this case, the vehicle 100 can travel without using any of the detection results of the external sensor 250. The vehicle 100 may acquire a target arrival time or traffic congestion information from outside the vehicle 100, and reflect the target arrival time or traffic congestion information in at least one of the route and the travel control signal.

[0102] (J5) In each of the above-described embodiments, the server device 200 automatically generates a driving control signal to be transmitted to the vehicle 100. In contrast, the server device 200 may generate a driving control signal to be transmitted to the vehicle 100 in accordance with manual operation by an operator located outside the vehicle 100. For example, the operator may operate a control device including a display for displaying an image output from the external sensor 250, a steering wheel for remotely operating the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the server device 200 via wired communication or wireless communication, and the server device 200 may generate a driving control signal in response to the operation applied to the control device.

[0103] (J6) In each of the above-described embodiments, the deviation in the movement of the vehicle 100 may be adjusted by the movement of the assembly robot 300 rather than by the movement of the assembly robot 300. Also, the deviation in the movement of the assembly robot 300 may be adjusted by the movement of the vehicle 100 and the movement of the assembly robot 300 rather than by the movement of the vehicle 100.

[0104] (J7) In each of the above-described embodiments, each part may be mounted from any direction, such as the top, bottom, front, rear, right or left side of the vehicle 100, and may be mounted from the same direction or from different directions.

[0105] (J8) The vehicle 100 may be manufactured by combining a plurality of modules. A module means a unit composed of a plurality of parts grouped according to the location or function of the vehicle 100. For example, the platform of the vehicle 100 may be manufactured by combining a front module that constitutes the front part of the platform, a central module that constitutes the central part of the platform, and a rear module that constitutes the rear part of the platform. The number of modules that constitute 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 constitute the platform, parts that constitute 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 constitute 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.

[0106] (J9) In each of the above-described embodiments, the vehicle 100 is not limited to a passenger car, and may be, for example, a truck, a bus, a construction vehicle, etc. The vehicle 100 is not limited to a four-wheeled vehicle, and may be, for example, a two-wheeled vehicle, etc. The vehicle 100 is not limited to a type that runs on wheels, and may be a type that runs on caterpillar tracks.

[0107] (J10) Transporting the vehicle 100 using the vehicle 100 traveling by unmanned driving is also called "self-propelled transport." Also, the configuration for realizing self-propelled transport is also called "vehicle remote control autonomous traveling transport system." Also, the production method for producing the vehicle 100 using self-propelled transport is also called "self-propelled production." In self-propelled production, for example, at the factory KJ where the vehicle 100 is manufactured, at least a part of the transportation of the vehicle 100 is realized by self-propelled transport.

[0108] 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]

[0109] 10...system, 100...vehicle, 110...vehicle control device, 111...processor, 112...memory, 113...input / output interface, 114...internal bus, 115...acquisition unit, 117...control unit, 118...transmission unit, 120...actuator group, 130...communication device, 140...internal sensor, 200...server device, 201...processor, 202...memory, 203...input / output interface, 204...internal bus, 205...communication device, 211...acquisition unit, 212...generation unit, 213...transmission unit, 221...acquisition unit, 222...generation unit, 223...transmission unit, 250...external sensor 300... assembly robot, 310... control device, 311... processor, 312... memory, 313... input / output interface, 314... internal bus, 315... acquisition unit, 316... generation unit, 317... control unit, 320... arm unit, 330... communication device, 340... camera, 400... wagon, 405... loading platform, 410... control device, 411... processor, 412... memory, 413... input / output interface, 414... internal bus, 415... acquisition unit, 416... generation unit, 417... control unit, 420... actuator group, 430... communication device, 440... camera, 500... alarm device

Claims

1. 1. A system comprising: A system characterized in that, in controlling at least one of a working device used for work on a mobile body that can move by unmanned operation and the mobile body that moves by unmanned operation to a work location where the working device is located, operation information regarding the operation of the other is reflected.

2. 2. The system of claim 1, an acquisition unit that acquires the motion information related to a motion of the moving object; A control unit that controls the working device in response to the operation information; A system comprising:

3. 2. The system of claim 1, an acquisition unit that acquires the operation information related to an operation of the working device; A control unit that controls the moving object in response to the operation information; A system comprising:

4. An apparatus comprising: An acquisition unit that acquires operation information related to the operation of a moving object moving by unmanned driving; a generating unit that generates, in response to the operation information, working device control information used to control a working device that assembles a part on the moving body while the moving body is moving; a transmitter for transmitting the work device control information to the work device; An apparatus comprising:

5. 5. The apparatus of claim 4, The working device includes an arm unit that grips the component and a control unit that controls the arm unit, the generation unit generates the working device control information including parameters used to control the arm unit; The control unit controls the arm unit using the parameters.

6. 5. The apparatus of claim 4, The generation unit further generates mobile object control information used to control the mobile object.

7. 5. The apparatus of claim 4, The generation unit generates at least one of an instruction to stop the moving body, an instruction to stop the work device, and an instruction to notify the occurrence of an abnormality when the operation of the moving body satisfies a predetermined condition.

8. An apparatus for assembling parts onto a movable body capable of moving by unmanned operation, comprising: An arm portion that grips the part; A sensor for detecting a motion of the moving object while it is moving; a control unit that controls the arm unit in response to a detection result of the sensor; An apparatus comprising:

9. An apparatus for assembling parts onto a movable body capable of moving by unmanned operation, comprising: An arm portion that grips the part; An acquisition unit that acquires a detection result of a sensor mounted on the moving body and detects a motion of the moving body while the moving body is moving by unmanned driving from the sensor; a control unit that controls the arm unit in response to the detection result; An apparatus comprising:

10. An apparatus comprising: an acquisition unit that acquires operation information related to an operation of a work device that assembles parts on a moving body that is moving by unmanned operation; a generating unit that generates, in response to the operation information, moving object control information used for controlling the moving object; a transmitter for transmitting the mobile object control information to the mobile object; An apparatus comprising:

11. 11. The apparatus of claim 10, The generation unit generates the moving body control information for controlling the moving body so that a relative speed between the moving body and the part when assembling the part to the moving body is within a predetermined range.

12. 11. The apparatus of claim 10, The generation unit generates at least one of a command to stop the moving body, a command to stop the work device, and a command to notify that an abnormality has occurred when the relative speed when the part is assembled to the moving body is not within the range.

13. An apparatus mounted on a mobile body capable of moving by unmanned operation, an acquisition unit that acquires operation information related to an operation of a work device that assembles a part on the moving body while the work device is moving; A control unit that controls the moving object in response to the operation information; An apparatus comprising:

14. An apparatus comprising: An acquisition unit that acquires operation information related to an operation of a mobile object that can move by unmanned operation; a generation unit that generates, in response to the operation information, working device control information used to control a working device that assembles parts on the moving body stopped at a work location by unmanned operation; An apparatus comprising:

15. An apparatus comprising: an acquisition unit that acquires operation information relating to an operation of a working device that assembles a part on a movable body that can move by unmanned operation, the operation being to assemble the part on the movable body that is stopped at a work location by unmanned operation; a generating unit that generates, in response to the operation information, moving object control information used for controlling the moving object to stop at the work place; An apparatus comprising:

16. An apparatus comprising: An acquisition unit that acquires operation information related to an operation of a mobile object that can move by unmanned operation; a generation unit that generates, in response to the operation information, work device control information used to control a work device that is capable of moving by unmanned operation and that can be loaded with at least one of a part to be assembled to the movable body and a tool to be used for work on the movable body; and a transmitter for transmitting the work device control information to the work device; An apparatus comprising:

17. 17. The apparatus of claim 16, The generation unit generates the work implement control information such that a relative speed between the work implement and the moving object falls within a predetermined range.

18. 17. The apparatus of claim 16, When it is determined that work on the moving body has been completed, the generation unit generates the work device control information for causing a subsequent moving body on which work will be performed after the moving body to approach the moving body.

19. 20. The apparatus of claim 18, the acquisition unit acquires operation information regarding an operation of the following moving body while the working device is approaching the following moving body or after the working device has approached the following moving body within a predetermined distance; The generation unit generates the work device control information in response to operation information of the following moving body.

20. 20. The apparatus of claim 18, The generation unit generates the work device control information for stopping the work device when it determines that work on the moving object has been completed and that there is no subsequent moving object.

21. An unmanned mobile device, a loading platform capable of loading at least one of a part to be assembled to a movable body capable of moving by unmanned operation and a tool to be used for work on the movable body; A drive mechanism for moving the device; an acquisition unit that acquires a detection result of a sensor mounted on the moving object; A control unit that controls the drive device in response to the detection result; An apparatus comprising:

22. An unmanned mobile device, a loading platform capable of loading at least one of a part to be assembled to a movable body capable of moving by unmanned operation and a tool to be used for work on the movable body; A drive mechanism for moving the device; A sensor for detecting a motion of the moving object; A control unit that controls the drive device in response to a detection result of the sensor; An apparatus comprising:

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