Information processor and information processing method

Abstract

To prevent forgetting to attach or detach a communication instrument.SOLUTION: An information processor includes: an acquisition unit configured to acquire attachment information regarding whether a communication instrument used for remote control is attached to a movable body that can operate by remote control; and an indication unit configured to execute at lest one of processing of outputting an indication to attach a temporary communication instrument to the movable body when it is determined by using the attachment information that a permanent communication instrument is not attached to the movable body and processing of outputting an indication to detach the temporary communication instrument from the movable body when it is determined by using the attachment information that the temporary communication instrument is attached to the mobile body that has completed remote control.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present disclosure relates to an information processing apparatus and an information processing method.

Background Art

[0002] In the manufacturing process of vehicles, a technology for driving a vehicle by remote control is known (for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In order to remotely control a moving body that does not have a permanent communication device, a temporary communication device may be attached to the moving body. When a temporary communication device is used, there is a possibility of forgetting to attach the temporary communication device to the moving body, or forgetting to remove the temporary communication device from the moving body after the remote control has ended.

Means for Solving the Problems

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

[0006] (1) According to a first aspect of the present disclosure, an information processing apparatus is provided. The information processing apparatus includes an acquisition unit that acquires attachment information regarding whether a communication device used for the remote control is attached to a mobile body operable by remote control, and a process of outputting an instruction to attach a temporary communication device to the mobile body when it is determined, using the attachment information, that a permanent communication device is not attached to the mobile body, and a process of outputting an instruction to remove the temporary communication device from the mobile body when it is determined, using the attachment information, that the temporary communication device is attached to the mobile body after the remote control has ended, and an instruction unit that executes at least one of the processes. According to the information processing apparatus of this aspect, it is possible to suppress at least one of forgetting to attach the temporary communication device to the mobile body and forgetting to remove the temporary communication device from the mobile body. (2) In the information processing apparatus of the above aspect, the remote control is executed in a factory that manufactures the mobile body, the acquisition unit is provided in the factory, and the attachment information may be acquired from at least one of an external sensor that detects the mobile body and a process management apparatus that manages the manufacturing process of the mobile body in the factory. According to the information processing apparatus of this aspect, the attachment information can be easily acquired. (3) In the information processing apparatus of the above aspect, the mobile body includes an actuator and a control device that controls the actuator, and the permanent communication device and the temporary communication device may receive information indicating a command value for the control device to control the actuator, or information for the control device to determine the command value. According to the information processing apparatus of this aspect, the control device of the mobile body can control the actuator using the information received by the permanent communication device or the temporary communication device. (4) In the information processing apparatus of the above aspect, the information received by the permanent communication device when the permanent communication device is attached to the mobile body and the information received by the temporary communication device when the temporary communication device is attached to the mobile body may be the same. According to the information processing apparatus of this form, when a permanent communication device is mounted on a moving body, it is possible to suppress the complication of remote control due to the difference between the information received by the permanent communication device and the information received by the temporary communication device when the temporary communication device is mounted. (5) According to the second form of the present disclosure, an information processing method is provided. This information processing method acquires mounting information regarding whether a communication device used for the remote control is mounted on a moving body operable by remote control, and when it is determined using the mounting information that the permanent communication device is not mounted on the moving body, outputs a process of instructing to mount a temporary communication device on the moving body, and when it is determined using the mounting information that the temporary communication device is mounted on the moving body after the remote control has ended, outputs a process of instructing to remove the temporary communication device from the moving body, and executes at least one of the processes. According to the information processing method of this form, it is possible to suppress at least one of forgetting to mount the temporary communication device on the moving body and forgetting to remove the temporary communication device from the moving body. The present disclosure can also be realized in various forms other than the information processing apparatus and the information processing method. For example, it can be realized in the form of a remote control system, a remote control device, a remote control method, a computer program, and a recording medium on which the computer program is recorded.

Brief Description of Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Mode for Carrying Out the Invention

[0008] A. First Embodiment: FIG. 1 is an explanatory diagram showing the configuration of the driverless system 10 including the information processing apparatus 200 in the first embodiment. FIG. 2 is an explanatory diagram showing the configurations of the vehicles 100A and 100B which are moving bodies. FIG. 3 is an explanatory diagram showing the configuration of the vehicle control apparatus 140. The driverless system 10 is used for moving a moving body by driverless operation in a factory that manufactures the moving body.

[0009] In the present disclosure, the “moving body” means an object that can move, and for example, a vehicle or an electric vertical takeoff and landing aircraft (so-called flying car). The vehicle may be a vehicle that travels on wheels or a vehicle that travels on an endless track, and for example, a passenger car, a truck, a bus, a two-wheeled vehicle, a four-wheeled vehicle, a tank, a construction vehicle, etc. The vehicle includes a battery electric vehicle (BEV), a gasoline vehicle, a hybrid vehicle, and a fuel cell vehicle. When the moving body is other than a vehicle, the expressions “vehicle” and “car” in the present disclosure can be appropriately replaced with “moving body”, and the expression “travel” can be appropriately replaced with “move”.

[0010] "Driverless operation" means operation without the driving operation of a passenger. The driving operation means an operation related to at least one of "running", "turning", and "stopping" of the vehicle. Driverless operation is realized by automatic or manual remote control using a device located outside the vehicle, or by autonomous control of the vehicle. A vehicle driving under driverless operation may carry a passenger who does not perform a driving operation. Passengers who do not perform a driving operation include, for example, a person simply sitting in the seat of the vehicle, or a person performing work different from the driving operation, such as assembly, inspection, and operation of switches, while riding in the vehicle. Note that the driving by the driving operation of a passenger may be called "driver operation".

[0011] In the present disclosure, "remote control" includes "complete remote control" in which all the operations of the vehicle are completely determined from outside the vehicle, and "partial remote control" in which a part of the operations of the vehicle is determined from outside the vehicle. Further, "autonomous control" includes "complete autonomous control" in which the vehicle autonomously controls its own operations without receiving any information from a device outside the vehicle, and "partial autonomous control" in which the vehicle autonomously controls its own operations using the information received from a device outside the vehicle.

[0012] As shown in FIG. 1, the driverless operation system 10 includes vehicles 100A and 100B that can be operated by remote control, an information processing device 200 for remotely controlling the vehicles 100A and 100B, an external sensor group 300 installed in the factory, a process management device 400 for managing the manufacturing processes of the vehicles 100A and 100B in the factory, and a mobile terminal 500 carried by a factory worker. In the following description, the vehicle 100A is referred to as the first vehicle 100A, and the vehicle 100B is referred to as the second vehicle 100B. When the first vehicle 100A and the second vehicle 100B are described without particularly distinguishing them, they are simply referred to as the vehicle 100. Note that the information processing device 200 may be referred to as a remote control device.

[0013] As shown in FIG. 2, the first vehicle 100A and the second vehicle 100B include a drive device 110 for accelerating the host vehicle, a steering device 120 for changing the traveling direction of the host vehicle, a braking device 130 for decelerating the host vehicle, and a vehicle control device 140 for controlling each part of the host vehicle. The drive device 110 includes an actuator for accelerating the host vehicle, the steering device 120 includes an actuator for changing the traveling direction of the host vehicle, and the braking device 130 includes an actuator for decelerating the host vehicle. In the present embodiment, the drive device 110 includes a battery, a traveling motor driven by the power of the battery, and drive wheels rotated by the traveling motor. The traveling motor is included in the actuator for accelerating the host vehicle.

[0014] The first vehicle 100A further includes a permanent communication device 150A for communicating with the information processing device 200 by wireless communication. The permanent communication device 150A is a communication device permanently installed in the first vehicle 100A, and after being installed in the first vehicle 100A at the factory, it is not removed from the first vehicle 100A except in cases such as replacement or repair. Therefore, the first vehicle 100A is sold to the user with the permanent communication device 150A installed.

[0015] The second vehicle 100B does not include the permanent communication device 150A. The second vehicle 100B includes a connector 149 to which a temporary communication device 150B for communicating with the information processing device 200 by wireless communication is attached. The temporary communication device 150B is a communication device temporarily installed in the second vehicle 100B, and after being installed in the second vehicle 100B at the factory, it is removed from the second vehicle 100B before the second vehicle 100B is sold to the user. In the present embodiment, the temporary communication device 150B is removed from the second vehicle 100B before the second vehicle 100B is shipped from the factory. Therefore, the second vehicle 100B is sold to the user with the temporary communication device 150B not installed.

[0016] As shown in FIG. 3, the vehicle control device 140 is constituted by a computer including a processor 141, a memory 142, an input / output interface 143, and an internal bus 144. The processor 141, the memory 142, and the input / output interface 143 are connected so as to be communicable bidirectionally via the internal bus 144. The drive device 110, the steering device 120, and the braking device 130 are connected to the input / output interface 143. A permanent communication device 150A is connected to the input / output interface 143 of the first vehicle 100A, and a temporary communication device 150B is connected to the input / output interface 143 of the second vehicle 100B via a connector 149. The processor 141 functions as a travel control unit 145 that executes travel control of the vehicle 100 by executing a computer program PG1 stored in advance in the memory 142. "Travel control" means, for example, adjustment of the acceleration, speed, and steering angle of the vehicle 100. By executing travel control, in other words, by controlling the drive device 110, the steering device 120, and the braking device 130, the travel control unit 145 causes the host vehicle to travel. When a passenger is on board the host vehicle, the travel control unit 145 can cause the host vehicle to travel by controlling the various devices 110 to 130 according to the operation of the passenger. In the present embodiment, the travel control unit 145 can cause the host vehicle to travel by controlling the various devices 110 to 130 according to a control command received from the information processing device 200 regardless of whether a passenger is on board the host vehicle.

[0017] As shown in FIG. 1, the information processing apparatus 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 to be communicable bidirectionally via the internal bus 204. A communication device 205 for communicating with each of the vehicles 100A and 100B and the mobile terminal 500 by wireless communication is connected to the input / output interface 203. In the present embodiment, the communication device 205 can communicate with the external sensor group 300 and the process management apparatus 400 by wired communication or wireless communication.

[0018] By executing a computer program PG2 stored in advance in the memory 202, the processor 201 functions as a remote control unit 210, an information acquisition unit 220, and an instruction unit 230. The remote control unit 210 generates a control command for remotely controlling the vehicle 100 and transmits the control command to the vehicle 100, thereby causing the vehicle 100 to travel. The information acquisition unit 220 acquires attachment information indicating whether the vehicle 100 is equipped with the permanent communication device 150A. The instruction unit 230 executes a process of outputting an instruction to attach the temporary communication device 150B to the vehicle 100 and a process of outputting an instruction to remove the temporary communication device 150B from the vehicle 100 using the attachment information.

[0019] The external sensor group 300 is composed of a plurality of external sensors. An external sensor is a sensor installed outside the vehicle 100. The external sensor is used to detect the position and orientation of the vehicle 100. In the present embodiment, the external sensor group 300 is composed of a plurality of cameras installed in a factory. Each camera includes a communication device (not shown) and can communicate with the information processing apparatus 200 by wired communication or wireless communication.

[0020] The project management device 400 manages the entire manufacturing process of the vehicle 100 in the factory. The project management device 400 is composed of at least one computer. The project management device 400 is equipped with a communication device (not shown) and can communicate with the information processing device 200 through wired communication or wireless communication. The project management device 400 manages the progress of the manufacturing process of each vehicle 100, in other words, manages at which stage the manufacturing process of each vehicle 100 has advanced. The project management device 400 also manages when, where, which worker, and what work is to be carried out.

[0021] The mobile terminal 500 is equipped with a display screen for displaying various information. The mobile terminal 500 is equipped with a communication device (not shown) and can communicate with the information processing device 200 through wireless communication. The mobile terminal 500 displays the information received from the information processing device 200 on the display screen. In this embodiment, the mobile terminal 500 is a tablet terminal. Note that the mobile terminal 500 is not limited to a tablet terminal and may be, for example, a notebook computer or a smartphone.

[0022] FIG. 4 is an explanatory diagram showing how the first vehicle 100A and the second vehicle 100B move by remote control in the factory KJ. In this embodiment, the factory KJ includes a first location PL1 and a second location PL2. The first location PL1 and the second location PL2 are connected by a travel path SR on which each vehicle 100A, 100B can travel. In this embodiment, the first location PL1 is a place where each vehicle 100A, 100B is assembled. The second location is a place where each vehicle 100A, 100B is inspected.

[0023] The first vehicle 100A is transported to a predetermined starting point at the first location PL1 with a driving device 110, a steering device 120, a braking device 130, a vehicle control device 140, and a permanent communication device 150A mounted thereon. The second vehicle 100B is transported to the starting point with a driving device 110, a steering device 120, a braking device 130, and a vehicle control device 140 mounted thereon. A temporary communication device 150B is mounted on the second vehicle 100B at the starting point. Each of the vehicles 100A and 100B travels from the starting point at the first location PL1 to a predetermined goal point at the second location PL2 by being remotely controlled by a remote control unit 210. The temporary communication device 150B is removed from the second vehicle 100B at the goal point. Each of the vehicles 100A and 100B that has passed the inspection at the second location PL2 is then shipped from the factory KJ.

[0024] While referring to FIG. 4, a method by which the remote control unit 210 moves the vehicle 100 by remote control will be briefly described. The remote control unit 210 determines a target route for the vehicle 100 to travel to the destination through the travel route SR. In the present embodiment, the target route is a reference route RR described later. A plurality of cameras CM for photographing the travel route SR are installed in the factory KJ. The plurality of cameras CM are included in the external sensor group 300. The remote control unit 210 can acquire the relative position and orientation of the vehicle 100 with respect to the target route in real time by analyzing the images photographed by each camera CM. The remote control unit 210 generates a control command for causing the vehicle 100 to travel along the target route and transmits the control command to the vehicle 100. In the present embodiment, the control command is a travel control signal described later. The control command indicates a target value for the acceleration of the vehicle 100 and a target value for the steering angle. The vehicle control device 140 mounted on the vehicle 100 controls the driving device 110, the steering device 120, and the braking device 130 by using the control command received by the permanent communication device 150A or the temporary communication device 150B, thereby causing the vehicle 100 to travel. Therefore, the vehicle 100 can be moved without using a conveying device such as a crane or a conveyor.

[0025] In this embodiment, the remote control unit 210 transmits the same control command to the vehicle 100 whether the vehicle 100 is equipped with the permanent communication device 150A or the temporary communication device 150B is attached to the vehicle 100. That is, when the remote control target is the first vehicle 100A, the remote control unit 210 transmits a control command indicating the target value of the acceleration and the target value of the steering angle of the first vehicle 100A to the first vehicle 100A. Also, when the remote control target is the second vehicle 100B, the remote control unit 210 transmits a control command indicating the target value of the acceleration and the target value of the steering angle of the second vehicle 100B to the second vehicle 100B. Therefore, it is not necessary to make the process executed by the remote control unit 210 for remotely controlling the vehicle 100 different between the case of remotely controlling the first vehicle 100A and the case of remotely controlling the second vehicle 100B. Thus, it is possible to suppress the complication of the process executed by the remote control unit 210 for remotely controlling the vehicle 100. Note that the target value of the acceleration and the target value of the steering angle of the vehicle 100 may be referred to as command values.

[0026] FIG. 5 is a flowchart showing the procedure of the driving control of the vehicle 100. While referring to FIG. 5, a method for the remote control unit 210 to drive the vehicle 100 by remote control will be described in more detail. In step S1, the remote control unit 210 acquires the vehicle position information of the vehicle 100 using the detection result output from an external sensor which is a sensor located outside the vehicle 100. The vehicle position information is the position information that serves as the basis for generating the driving control signal. In this embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the reference coordinate system of the factory KJ. In this embodiment, the reference coordinate system of the factory KJ is a global coordinate system, and any position within the factory KJ is represented by the coordinates of X, Y, and Z in the global coordinate system. In this embodiment, the external sensor is the camera CM, and an imaging image is output from the external sensor as the detection result. That is, in step S1, the remote control unit 210 acquires the vehicle position information using the imaging image obtained from the camera CM which is the external sensor.

[0027] Specifically, in step S1, the remote control unit 210 detects, for example, the outer shape of the vehicle 100 from the captured image, calculates the coordinates of the measurement points of the vehicle 100 in the coordinate system of the captured image, that is, the local coordinate system, and converts the calculated coordinates into coordinates in the global coordinate system, thereby obtaining the position of the vehicle 100. The outer shape of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into a detection model DM that utilizes artificial intelligence. The detection model DM is prepared, for example, inside or outside the driverless system 10 and is pre-stored in the memory 202 of the information processing device 200. Examples of the detection model DM include a trained machine learning model that is learned to implement either semantic segmentation or instance segmentation. As this machine learning model, for example, a convolutional neural network (hereinafter, CNN) learned by supervised learning using a training dataset can be used. The training dataset has, for example, a plurality of training images including the vehicle 100 and a label indicating whether each region in the training image is a region indicating the vehicle 100 or a region indicating other than the vehicle 100. During the learning of the CNN, it is preferable that the parameters of the CNN are updated so as to reduce the error between the output result by the detection model DM and the label by backpropagation (error backpropagation method). Further, the processor 201 can obtain the orientation of the vehicle 100, for example, by estimating based on the direction of the movement vector of the vehicle 100 calculated from the position change of the feature points of the vehicle 100 between frames of the captured image using the optical flow method.

[0028] In step S2, the remote control unit 210 determines the target position to which the vehicle 100 should next head. In this embodiment, the target position is represented by the coordinates of X, Y, and Z in the global coordinate system. In the memory 202 of the information processing apparatus 200, a reference route RR, which is the route along which the vehicle 100 should travel, is stored in advance. The route is represented by a node indicating the departure point, a node indicating the passing point, a node indicating the destination, and links connecting each node. The remote control unit 210 determines the target position to which the vehicle 100 should next head by using the vehicle position information and the reference route RR. The remote control unit 210 determines the target position on the reference route RR ahead of the current position of the vehicle 100.

[0029] In step S3, the remote control unit 210 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. In other embodiments, the driving control signal may include the speed of the vehicle 100 as a parameter instead of, or in addition to, the acceleration of the vehicle 100. The remote control unit 210 calculates the driving speed of the vehicle 100 from the change in the position of the vehicle 100 and compares the calculated driving speed with the target speed. Overall, when the driving speed is lower than the target speed, the remote control unit 210 determines the acceleration so that the vehicle 100 accelerates, and when the driving speed is higher than the target speed, the remote control unit 210 determines the acceleration so that the vehicle 100 decelerates. Further, when the vehicle 100 is located on the reference route RR, the remote control unit 210 determines the steering angle and acceleration so that the vehicle 100 does not deviate from the reference route RR, and when the vehicle 100 is not located on the reference route RR, in other words, when the vehicle 100 has deviated from the reference route RR, the remote control unit 210 determines the steering angle and acceleration so that the vehicle 100 returns to the reference route RR.

[0030] In step S4, the remote control unit 210 transmits the generated driving control signal to the vehicle 100. The remote control unit 210 repeats obtaining the position of the vehicle 100, determining the target position, generating the driving control signal, and transmitting the driving control signal at a predetermined cycle.

[0031] In step S5, the vehicle control device 140 mounted on the vehicle 100 receives a travel control signal transmitted from the information processing device 200. In step S6, the vehicle control device 140 controls the drive device 110, the steering device 120, and the braking device 130 by using the received travel control signal, so that the vehicle 100 travels at the acceleration and steering angle represented by the travel control signal. The vehicle control device 140 repeats the reception of the travel control signal and the control of various devices 110 to 130 at a predetermined cycle.

[0032] FIG. 6 is a flowchart showing the content of the attachment instruction process. The attachment instruction process is repeatedly executed by the processor 201 of the information processing device 200. When the attachment instruction process is started, in step S110, the information acquisition unit 220 acquires attachment information indicating whether or not the permanent communication device 150A is mounted on the vehicle 100 located at the start point of the first location PL1 from the process management device 400. In the following description, the vehicle 100 located at the start point of the first location PL1 is referred to as the target vehicle 100. In the present embodiment, since the process management device 400 manages the manufacturing process of each vehicle 100, it is grasped whether or not the vehicle type of the target vehicle 100 is a vehicle type equipped with the permanent communication device 150A, and when the vehicle type of the target vehicle 100 is a vehicle type equipped with the permanent communication device 150A, whether or not the process of mounting the permanent communication device 150A on the target vehicle 100 has been completed. That is, the process management device 400 grasps whether or not the permanent communication device 150A is mounted on the target vehicle 100.

[0033] In step S120, the instruction unit 230 determines whether or not the target vehicle 100 is equipped with the permanent communication device 150A by using the attachment information of the target vehicle 100. If it is determined in step S120 that the target vehicle 100 is equipped with the permanent communication device 150A, the instruction unit 230 skips the processing after step S120 and ends the attachment instruction process.

[0034] If it is determined in step S120 that the target vehicle 100 does not include the permanent communication device 150A, the instruction unit 230 outputs a signal for instructing the attachment of the temporary communication device 150B to the target vehicle 100 in step S130. In the present embodiment, an operator located at the start point attaches the temporary communication device 150B to the target vehicle 100. The process management device 400 stores a shift table indicating when, where, which operator, and what work is being done. The instruction unit 230 identifies the operator located at the start point using the shift table acquired from the process management device 400, and transmits a signal for instructing the operator who has the mobile terminal 500 located at the start point to attach the temporary communication device 150B to the target vehicle 100. A message for instructing the attachment of the temporary communication device 150B to the target vehicle 100 is displayed on the display screen of the mobile terminal 500 that has received the signal. Thereafter, the instruction unit 230 ends the attachment instruction process. Note that a method including the processes executed in the attachment instruction process may be referred to as an information processing method.

[0035] Figure 7 is a flowchart showing the content of the removal instruction process. The removal instruction process is repeatedly executed by the processor 201 of the information processing device 200. When the removal instruction process is started, in step S210, the information acquisition unit 220 acquires attachment information indicating whether or not the temporary communication device 150B is attached to the vehicle 100 whose remote control traveling at the goal point has ended, from the process management device 400. In the following description, the vehicle 100 located at the goal point of the second location PL2 is referred to as the target vehicle 100. In the present embodiment, when the remote control traveling of the target vehicle 100 ends, the remote control unit 210 transmits information indicating that the remote control traveling of the target vehicle 100 has ended to the process management device 400. The process management device 400 grasps whether or not the vehicle type of the target vehicle 100 is a vehicle type equipped with the permanent communication device 150A, in other words, whether or not the remote control of the target vehicle 100 has been executed using the temporary communication device 150B.

[0036] In step S220, the instruction unit 230 determines whether the temporary communication device 150B is attached to the target vehicle 100 by using the attachment information of the target vehicle 100. If it is determined in step S220 that the temporary communication device 150B is not attached to the target vehicle 100, the instruction unit 230 skips the processing after step S220 and ends the removal instruction process.

[0037] If it is determined in step S220 that the temporary communication device 150B is attached to the target vehicle 100, the instruction unit 230 outputs a signal for instructing to remove the temporary communication device 150B from the target vehicle 100 in step S230. The instruction unit 230 identifies the worker located at the goal point by using the shift table acquired from the process management device 400, and transmits a signal for instructing the worker who has the mobile terminal 500 located at the goal point to remove the temporary communication device 150B from the target vehicle 100. A message for instructing to remove the temporary communication device 150B from the target vehicle 100 is displayed on the display screen of the mobile terminal 500 that has received the signal. Thereafter, the instruction unit 230 ends the removal instruction process. Note that a method including the processing executed in the removal instruction process may be referred to as an information processing method.

[0038] FIG. 8 is an explanatory diagram showing a state where the temporary communication device 150B is attached to and detached from the second vehicle 100B. As shown in the upper part of FIG. 8, when the permanent communication device 150A is not mounted on the target vehicle 100 located at the start point, in other words, when the target vehicle 100 is the second vehicle 100B, an instruction SA for attaching the temporary communication device 150B to the target vehicle 100 is transmitted from the information processing apparatus 200 to the mobile terminal 500 held by the worker WK1 located at the start point ST. On the other hand, when the permanent communication device 150A is mounted on the target vehicle 100, in other words, when the target vehicle 100 is the first vehicle 100A, the above instruction SA is not transmitted from the information processing apparatus 200 to the mobile terminal 500 held by the worker WK1.

[0039] As shown in the lower part of FIG. 8, when the temporary communication device 150B is mounted on the target vehicle 100 located at the goal point GL, in other words, when the target vehicle 100 is the second vehicle 100B, an instruction SD to remove the temporary communication device 150B from the target vehicle 100 is transmitted from the information processing device 200 to the mobile terminal 500 held by the worker WK2 located at the goal point GL. On the other hand, when the temporary communication device 150B is not mounted on the target vehicle 100, in other words, when the target vehicle 100 is the first vehicle 100A, the above instruction SD is not transmitted from the information processing device 200 to the mobile terminal 500 held by the worker WK2.

[0040] According to the information processing device 200 in the present embodiment described above, since the attachment instruction process and the removal instruction process are executed, it is possible to prevent the temporary communication device 150B from being forgotten to be attached to the vehicle 100 not equipped with the permanent communication device 150A, and to prevent the temporary communication device 150B from being forgotten to be removed from the vehicle 100 on which the temporary communication device 150B is mounted.

[0041] Further, in the present embodiment, since the information processing device 200 acquires the mounting information from the process management device 400, the mounting information can be easily acquired.

[0042] Further, in the present embodiment, the vehicle control device 140 can control the actuators of the various devices 110 to 130 using the information received by the permanent communication device 150A or the temporary communication device 150B.

[0043] Further, in the present embodiment, the travel control signal transmitted by the remote control unit 210 to the vehicle 100 is the same whether the permanent communication device 150A is mounted on the vehicle 100 or the temporary communication device 150B is mounted on the vehicle 100. Therefore, it is possible to prevent the remote control of the vehicle 100 from becoming complicated due to the travel control signal transmitted by the remote control unit 210 to the vehicle 100 being different between the case where the permanent communication device 150A is mounted on the vehicle 100 and the case where the temporary communication device 150B is mounted on the vehicle 100.

[0044] B. Other Embodiments: (B1) In the information processing apparatus 200 in the above-described first embodiment, the instruction unit 230 executes an attachment instruction process and a detachment instruction process. The instruction unit 230 may not execute either one of the attachment instruction process and the detachment instruction process. Even if the instruction unit 230 does not execute the attachment instruction process, it is possible to suppress the occurrence of forgetting to remove the temporary communication device 150B from the vehicle 100 on which the temporary communication device 150B is mounted. Even if the instruction unit 230 does not execute the detachment instruction process, it is possible to suppress the occurrence of forgetting to attach the temporary communication device 150B to the vehicle 100 that does not include the permanent communication device 150A.

[0045] (B2) In the information processing apparatus 200 in the above-described first embodiment, the instruction unit 230 transmits an attachment instruction for the temporary communication device 150B and a detachment instruction for the temporary communication device 150B to the mobile terminal 500 held by the worker. On the other hand, when the attachment / detachment operation of the temporary communication device 150 is not performed by the worker but by a robotic arm, the instruction unit 230 may transmit an instruction for causing the robotic controller that controls the robotic arm to perform the attachment / detachment of the temporary communication device 150B.

[0046] (B3) In the information processing apparatus 200 in the above-described first embodiment, the information acquisition unit 220 acquires, from the process management apparatus 400, attachment information indicating whether the permanent communication device 150A is mounted on the vehicle 100 located at the start point. On the other hand, when a camera or LiDAR for confirming whether the permanent communication device 150A is mounted on the vehicle 100 is installed at the start point, the information acquisition unit 220 may acquire attachment information indicating whether the permanent communication device 150A is mounted on the vehicle 100 located at the start point by analyzing the video of the camera or the point cloud data of the LiDAR. Further, when the permanent communication device 150A is not mounted on the vehicle 100 on which the permanent communication device 150A should be mounted, a signal for instructing the operator located at the start point to mount the permanent communication device 150A on the vehicle 100 may be transmitted to the mobile terminal 500 held by the operator. In this case, it is possible to suppress the occurrence of forgetting to attach the permanent communication device 150A.

[0047] (B4) In the information processing apparatus 200 in the above-described first embodiment, the information acquisition unit 220 acquires, from the process management apparatus 400, attachment information indicating whether the temporary communication device 150B is mounted on the vehicle 100 located at the goal point. On the other hand, when a camera or LiDAR for confirming whether the temporary communication device 150B is mounted on the vehicle 100 is installed at the goal point, the information acquisition unit 220 may acquire attachment information indicating whether the temporary communication device 150B is mounted on the vehicle 100 located at the goal point by analyzing the video of the camera or the point cloud data of the LiDAR.

[0048] (B5) In the above-described first embodiment, the external sensor is the camera CM. In contrast, the external sensor may not be the camera CM, and for example, it may be a LiDAR (Light Detection And Ranging). In this case, the detection result output from the external sensor may be three-dimensional point cloud data representing the vehicle 100. In this case, the remote control unit 210 may acquire the vehicle position information by template matching using the three-dimensional point cloud data as the detection result and the reference point cloud data prepared in advance.

[0049] (B6) In the above-described first embodiment, the information processing device 200 executes the processes from the acquisition of the vehicle position information to the generation of the driving control signal. In contrast, at least a part of the processes from the acquisition of the vehicle position information to the generation of the driving control signal may be executed by the vehicle 100. For example, the following forms (1) to (3) may be used.

[0050] (1) The information processing device 200 may acquire the vehicle position information, determine the target position to which the vehicle 100 should next head, and generate a route from the current position of the vehicle 100 represented by the acquired vehicle position information to the target position. The information processing device 200 may generate a route to the target position between the current position and the destination, or may generate a route to the destination. The information processing 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 travels on the route received from the information processing device 200, and control the driving device 110, the steering device 120, and the braking device 130 using the generated driving control signal.

[0051] (2) The information processing device 200 may acquire the vehicle position information and transmit the acquired vehicle position information to the vehicle 100. The vehicle 100 may determine the target position to which the vehicle 100 should next head, generate a route from the current position of the vehicle 100 represented by the received vehicle position information to the target position, generate a driving control signal so that the vehicle 100 travels on the generated route, and control the driving device 110, the steering device 120, and the braking device 130 using the generated driving control signal.

[0052] (3) In the forms (1) and (2) above, an internal sensor is mounted on the vehicle 100, and the detection result output from the internal sensor may be used for at least one of the generation of the route and the generation of the driving control signal. The internal sensor is a sensor mounted on the vehicle 100. The internal sensor may include, for example, a sensor that detects the motion state of the vehicle 100, a sensor that detects the operating state of each part of the vehicle 100, and a sensor that detects the environment around the vehicle 100. Specifically, the internal sensor may include, for example, a camera, LiDAR, millimeter-wave radar, ultrasonic sensor, GPS sensor, acceleration sensor, gyro sensor, etc. For example, in the form (1) above, the information processing device 200 may acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the route when generating the route. In the form (1) above, the vehicle 100 may acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the driving control signal when generating the driving control signal. In the form (2) above, the vehicle 100 may acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the route when generating the route. In the form (2) above, the vehicle 100 may acquire the detection result of the internal sensor and reflect the detection result of the internal sensor in the driving control signal when generating the driving control signal.

[0053] (B7) In the above-described first embodiment, the information processing device 200 automatically generates the driving control signal to be transmitted to the vehicle 100. In contrast, the information processing device 200 may generate the driving control signal to be transmitted to the vehicle 100 according to the operation of an external operator located outside the vehicle 100. For example, an external operator operates a control device including a display that displays a captured image output from a camera CM which is an external sensor, a steering wheel for remotely operating the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the information processing device 200 by wire communication or wireless communication, and the information processing device 200 may generate a driving control signal corresponding to the operation applied to the control device.

[0054] In the above-described first embodiment, the vehicle 100 only needs to be configured to be movable by autonomous driving. For example, it may be in the form of a platform having the following-described configuration. Specifically, in order for the vehicle 100 to exhibit the three functions of "running", "turning", and "stopping" by autonomous driving, the vehicle 100 only needs to include at least a driving device 110, a steering device 120, a braking device 130, and a vehicle control device 140. When the vehicle 100 acquires information from the outside for autonomous driving, the vehicle 100 only needs to further include a permanent communication device 150A or a temporary communication device 150B. That is, in the vehicle 100 that can be moved by autonomous driving, at least a part of the interior parts such as the driver's seat and the dashboard may not be installed, at least a part of the exterior parts such as the bumper and the fender may not be installed, and the body shell may not be installed. In this case, until the vehicle 100 is shipped from the factory KJ, the remaining parts such as the body shell may be installed on the vehicle 100, or after the vehicle 100 is shipped from the factory KJ in a state where the remaining parts such as the body shell are not installed on the vehicle 100, the remaining parts such as the body shell may be installed on the vehicle 100. Each part may be installed from any direction such as the upper side, the lower side, the front side, the rear side, the right side, or the left side of the vehicle 100, and they may be installed from the same direction or from different directions respectively. Note that the positioning of the platform form can also be performed in the same manner as the vehicle 100 in the first embodiment.

[0055] (B9) 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 parts and functions 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. Note that the number of modules constituting 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 constituting the platform, the parts constituting a portion of the vehicle 100 different from the platform may be modularized. Further, each type of module may include any exterior parts such as bumpers and grills, and any interior parts such as seats and consoles. Further, not limited to the vehicle 100, any type of moving body may be manufactured by combining a plurality of modules. Such modules may be manufactured, for example, by joining a plurality of parts by welding, fixtures, or the like, or by integrally molding at least a part of the parts constituting the module as one part by casting. The molding method of integrally molding one part, particularly a relatively large part, is also called gigacasting or megacasting. For example, the above-mentioned front module, central module, and rear module may be manufactured using gigacasting.

[0056] (B10) Using the running of the vehicle 100 by autonomous driving to transport the vehicle 100 is also called "self-propelled transport". Further, the configuration for realizing self-propelled transport is also called "vehicle remote control autonomous driving transport system". Further, the production method of producing the vehicle 100 using self-propelled transport is also called "self-propelled production". In self-propelled production, for example, in the factory KJ that manufactures the vehicle 100, at least a part of the transport of the vehicle 100 is realized by self-propelled transport.

[0057] In the above-described first embodiment, part or all of the functions and processes realized software-wise may be realized hardware-wise. Also, part or all of the functions and processes realized hardware-wise may be realized software-wise. As the hardware for realizing the various functions in the above embodiments, for example, various circuits such as integrated circuits and discrete circuits may be used.

[0058] The present disclosure is not limited to the above-described embodiments, and can be realized in various configurations without departing from the gist thereof. For example, the technical features in the embodiments corresponding to the technical features in each of the forms described in the summary of the invention can be appropriately replaced or combined in order to solve part or all of the above-described problems, or to achieve part or all of the above-described effects. Also, if the technical feature is not described as essential in this specification, it can be appropriately deleted.

Description of Reference Numerals

[0059] 10…Driverless system, 100A…First vehicle, 100B…Second vehicle, 110…Drive device, 120…Steering device, 130…Brake device, 140…Vehicle control device, 141…Processor, 142…Memory, 143…Input / output interface, 144…Internal bus, 145…Travel control unit, 149…Connector, 150A…Permanent communication device, 150B…Temporary communication device, 200…Information processing device, 201…Processor, 202…Memory, 203…Input / output interface, 204…Internal bus, 205…Communication device, 210…Remote control unit, 220…Information acquisition unit, 230…Instruction unit, 300…External sensor group, 400…Process management device, 500…Mobile terminal

Claims

1. An information processing device, an acquisition unit that acquires mounting information regarding whether or not a communication device used for remote control is mounted on a moving object operable by remote control; an instruction unit that executes at least one of the following processes: a process of outputting an instruction to attach a temporary communication device to the moving body when it is determined that a permanent communication device is not attached to the moving body using the attachment information; and a process of outputting an instruction to remove the temporary communication device from the moving body when it is determined that the temporary communication device is attached to the moving body for which the remote control has been terminated using the attachment information; An information processing device comprising:

2. 2. The information processing device according to claim 1, the remote control is executed in a factory that manufactures the moving object; The acquisition unit is an information processing device that is provided in the factory and acquires the wearing information from at least one of an external sensor that detects the moving object and a process management device that manages a manufacturing process of the moving object in the factory.

3. 2. The information processing device according to claim 1, The moving body includes an actuator and a control device that controls the actuator, The permanent communication device and the temporary communication device receive information indicating a command value for the control device to control the actuator, or information for the control device to determine the command value.

4. 2. The information processing device according to claim 1, An information processing device, wherein the information received by the permanent communication device when the permanent communication device is attached to the mobile body is the same as the information received by the temporary communication device when the temporary communication device is attached to the mobile body.

5. 1. An information processing method, comprising: acquiring mounting information regarding whether or not a communication device used for remote control is mounted on a moving object operable by remote control; executes at least one of the following processes: when it is determined using the mounting information that a permanent communication device is not mounted on the moving body, outputting an instruction to mount a temporary communication device on the moving body; and when it is determined using the mounting information that the temporary communication device is mounted on the moving body for which the remote control has been terminated, outputting an instruction to remove the temporary communication device from the moving body. Information processing methods.

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