Control device

Abstract

To provide a technology that can deploy a work object in accordance with a production plan at the time of self-propelled production.SOLUTION: A control device includes: an acquisition unit that acquires production plan information indicating a production plan for a moving body that is produced by self-propelled production that produces the moving body using movement of the moving body through unmanned driving; an identifying unit that uses the production plan information to identify a region for deploying at least one work object of a production facility that is used in the self-propelled production and a worker performing a particular task in the self-propelled production; and an instruction unit that instructs a manager to move the work object to the region identified by the identifying unit.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a control device.

Background Art

[0002] Conventionally, vehicles that travel within a manufacturing system for producing vehicles are known to travel autonomously or under remote control (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 vehicle production by self-propelled production that utilizes the running of vehicles by autonomous driving, vehicles may be produced. During self-propelled production, production facilities such as supply facilities for supplying parts to the vehicle, storage facilities for storing tools used when assembling parts to the vehicle, and assembly facilities for assembling parts to the vehicle may be used. However, the layout pattern of the production facilities during self-propelled production has not yet been proposed. Such problems are common not only in vehicles but also in moving bodies.

Means for Solving the Problems

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

[0006] (1) According to one aspect of the present disclosure, a control device is provided. The control device includes an acquisition unit that acquires production plan information indicating a production plan of the moving body produced by self-propelled production that uses the movement of the moving body by unmanned driving to produce the moving body, and uses the production plan information to determine at least one of the production facilities used for the self-propelled production and the worker who executes a specific operation in the self-propelled production. A specifying unit that specifies an area for arranging the working object, and an instructing unit that instructs the administrator to move the working object to the area specified by the specifying unit. According to this aspect, during self-propelled production, the working object can be arranged according to the production plan of the moving body. (2) According to another aspect of the present disclosure, a control device is provided. The control device includes an acquisition unit that acquires production plan information indicating a production plan of the moving body produced by self-propelled production that uses the movement of the moving body by unmanned driving to produce the moving body, and uses the production plan information to determine a production facility used for the self-propelled production, and a specifying unit that specifies an area for arranging the production facility that can be moved by the unmanned driving, and an equipment control unit that controls the operation of the production facility so that the production facility moves to the area specified by the specifying unit. According to this aspect, during self-propelled production, the production facility can be arranged according to the production plan of the moving body. (3) In the above aspect, further, a detection unit that detects that the production plan has been changed is provided, and when the detection unit detects that the production plan has been changed, the specifying unit may specify the area using the production plan information after the change. According to this aspect, when the production plan of the moving body is changed, the area can be specified using the production plan information after the change. (4) In the above-described form, further provided is a determination unit that determines a route when the moving body moves by the autonomous driving, including: a first determination unit that determines the route based on the area specified by the specifying unit; and a second determination unit that determines the route using the production plan information before the area is specified by the specifying unit. The specifying unit may specify the area in consideration of the route determined by the second determination unit when the route is determined by the second determination unit. According to this form, during self-propelled production, the route when the moving body moves by autonomous driving can be determined according to the production plan of the moving body. (5) In the above-described form, further provided may be a movement control unit that controls the operation of the moving body so that the moving body moves along the route determined by the determination unit. According to this form, the operation of the moving body can be controlled so that the moving body moves along the route determined according to the production plan of the moving body. The present disclosure can be realized in various forms other than the above-described control device. For example, it can be realized in the forms of a production system including a control device, production equipment, and a moving body; a method for controlling the arrangement of a work object using the control device; a method for manufacturing a control device, production equipment, a moving body, and a production system; a method for controlling a control device, production equipment, a moving body, and a production system; a computer program for realizing the control method; a non-transitory recording medium recording the computer program, and the like.

Brief Description of the Drawings

[0007]

Figure 1

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Mode for Carrying Out the Invention

[0008] A. First Embodiment: FIG. 1 is a block diagram showing the configuration of a system 50 in the first embodiment. The system 50 is a system for producing a moving body by self-propelled production. "Self-propelled production" is a production method for producing a moving body by using "self-propelled conveyance" in which the moving body is conveyed by utilizing the movement of the moving body by driverless operation. In self-propelled conveyance, for example, in a factory FC that manufactures a moving body, at least a part of the conveyance of the moving body is realized by self-propelled conveyance. The configuration for realizing self-propelled conveyance is also referred to as a "vehicle remote control autonomous driving conveyance system". The system 50 includes one or more vehicles 100 as moving bodies, a server 200, one or more external sensors 300, and one or more production facilities 400. In the present embodiment, the functions of the "control device" in the present disclosure are realized by the server 200.

[0009] In the present disclosure, a "mobile body" means an object that can move, such as a vehicle or an electric vertical take-off and landing aircraft (so-called flying car). The vehicle may be a vehicle that runs on wheels or a vehicle that runs on an endless track, 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 battery electric vehicles (BEVs), gasoline vehicles, hybrid vehicles, and fuel cell vehicles. When the mobile body is other than a vehicle, the expressions "vehicle" and "car" in the present disclosure can be appropriately replaced with "mobile body", and the expression "running" can be appropriately replaced with "moving".

[0010] The vehicle 100 is configured to be capable of running by autonomous driving. "Autonomous driving" means driving without depending on the driving operation of a passenger. The driving operation means an operation related to at least any one of "running", "turning", and "stopping" of the vehicle 100. Autonomous 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 passenger who does not perform a driving operation may board the vehicle 100 running by autonomous driving. Passengers who do not perform a driving operation include, for example, a person simply sitting in the seat of the vehicle 100, or a person performing work different from the driving operation, such as assembly, inspection, and operation of switches, while boarding the vehicle 100. Note that driving by the driving operation of a passenger is sometimes called "manned driving".

[0011] In this specification, "remote control" includes "complete remote control" in which all the operations of the vehicle 100 are completely determined from outside the vehicle 100, and "partial remote control" in which a part of the operations of the vehicle 100 is determined from outside the vehicle 100. Also, "autonomous control" includes "complete autonomous control" in which the vehicle 100 autonomously controls its own operations without receiving any information from a device outside the vehicle 100, and "partial autonomous control" in which the vehicle 100 autonomously controls its own operations using the information received from a device outside the vehicle 100.

[0012] As shown in FIG. 4 described later, the system 50 is used in the factory FC that manufactures the vehicle 100. The reference coordinate system of the factory FC is the global coordinate system GC, and any position within the factory FC can be expressed in terms of the X, Y, and Z coordinates in the global coordinate system GC. A plurality of external sensors 300 are installed along the runway TR in the factory FC. The positions of the respective external sensors 300 in the factory FC are adjusted in advance.

[0013] The vehicle 100 includes a vehicle control device 110 for controlling each part of the vehicle 100, an actuator group 120 including one or more actuators that are driven under the control of the vehicle control device 110, and a communication device 130 for communicating with an external device such as the server 200 by wireless communication. The actuator group 120 includes an actuator of a driving 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.

[0014] The vehicle control device 110 is constituted 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 so as to be communicable bidirectionally via the internal bus 114. The actuator group 120 and the communication device 130 are connected to the input / output interface 113. The processor 111 functions as an operation control unit 115 by executing a program PG1 stored in the memory 112.

[0015] The operation control unit 115 controls the vehicle 100 to run by controlling the actuator group 120. The operation control unit 115 can cause the vehicle 100 to run by controlling the actuator group 120 using the driving control signal received from the server 200. The driving control signal is a control signal for causing the vehicle 100 to run. In the present 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.

[0016] The server 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 communicably connected bidirectionally via the internal bus 204. A communication device 205 for communicating with various external devices outside the server 200 is connected to the input / output interface 203. The communication device 205 can communicate with the vehicle 100 by wireless communication and can communicate with each external sensor 300 by wired communication or wireless communication. The processor 201 functions as an acquisition unit 211, a specification unit 212, an instruction unit 213, a first determination unit 214, and a vehicle control unit 215 by executing a program PG2 stored in the memory 202.

[0017] The acquisition unit 211 acquires production plan information indicating the production plan of the vehicle 100 produced by automatic production. The production plan information includes, for example, production target information and required time information. The production target information is information indicating the target production quantity for each vehicle type within a predetermined period. The production target information may include order information indicating the production order of each vehicle 100 or each vehicle type. The required time information is information indicating the required time for the production of the vehicle 100. The required time information includes, for example, at least any one of tact time information, process time information, and equipment time information. The tact time information is information indicating the tact time for each vehicle 100. The tact time is the time spent on the production of one vehicle 100. The process time information is information indicating the required process time for each manufacturing process. The required process time is the time that can be spent on one manufacturing process. The equipment time information is information indicating the required equipment time for each production facility 400. The required equipment time is the time that can be spent when working on one vehicle 100 using one production facility 400.

[0018] The specifying unit 212 specifies an area for arranging at least one of the working objects, namely, the production facility 400 used for automatic production and the worker who performs a specific operation in automatic production, by using the production plan information. The specifying unit 212 specifies the area for arranging the working object, for example, by referring to the arrangement database DB stored in the memory 202 of the server 200. The arrangement database DB is a database indicating the arrangement of working objects according to various required times such as the tact time, process required time, and equipment required time specified by the required time information. The specifying unit 212 may also specify the area for arranging the working object by inputting the production plan information into an arrangement specifying model IM that utilizes artificial intelligence. The arrangement specifying model IM is a learned machine learning model that outputs the area for arranging the working object when the production plan information is input.

[0019] The instruction unit 213 instructs the administrator to move the work object to the area specified by the specifying unit 212. For example, the instruction unit 213 causes the area specified by the specifying unit 212 to be displayed on the display of the mobile terminal owned by the administrator. Thereby, the administrator can move the work object to the area specified by the specifying unit 212. Note that the administrator may be a worker or a person other than a worker.

[0020] The first determination unit 214 determines a route when the vehicle 100 travels by autonomous driving based on the area specified by the specifying unit 212. The first determination unit 214 stores the determined route as a reference route RR in the memory 202 of the server 200.

[0021] The vehicle control unit 215 controls the operation of the vehicle 100 so that the vehicle 100 travels along the route determined by the first determination unit 214, that is, the reference route RR. The vehicle control unit 215 acquires the detection result by the sensor, generates a driving control signal for controlling the actuator group 120 of the vehicle 100 using the detection result, and transmits the driving control signal to the vehicle 100 to drive the vehicle 100 by remote control.

[0022] The external sensor 300 is a sensor located outside the vehicle 100. The external sensor 300 in the present embodiment is a sensor that captures the vehicle 100 from the outside of the vehicle 100. The external sensor 300 includes a communication device (not shown) and can communicate with other devices such as the server 200 by wired communication or wireless communication. Specifically, the external sensor 300 is configured by a camera. The camera as the external sensor 300 images the vehicle 100 and outputs a captured image as a detection result.

[0023] The production facility 400 is a facility used when producing the vehicle 100. The production facility 400 is, for example, at least any one of a supply facility that supplies parts to the vehicle 100, a storage facility that stores tools used when assembling parts to the vehicle 100, and an assembly facility that assembles parts to the vehicle 100. Note that the type of the production facility 400 is not limited to the above. The production facility 400 may be, for example, a joining facility that joins parts to the vehicle 100 by welding or the like, a painting facility that paints the vehicle 100, or an inspection facility that inspects the functions of the vehicle 100.

[0024] FIG. 2 is a flowchart showing a processing procedure for travel control of the vehicle 100 in the first embodiment.

[0025] In step S1, the processor 201 of the server 200 acquires vehicle position information using the detection result output from the external sensor 300. The vehicle position information is position information that serves as a basis for generating a travel control signal. In the present embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GC of the factory FC. Specifically, in step S1, the processor 201 acquires vehicle position information using the captured image obtained from the camera which is the external sensor 300.

[0026] Specifically, in step S1, the processor 201 detects the outer shape of the vehicle 100 from, for example, a 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 GC, 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, within the system 50 or outside the system 50 and is pre-stored in the memory 202 of the server 200. Examples of the detection model DM include a trained machine learning model trained to implement 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 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 training of the CNN, it is preferable that the parameters of the CNN are updated by backpropagation (error backpropagation method) so as to reduce the error between the output result by the detection model DM and the label. 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.

[0027] In step S2, the processor 201 of the server 200 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 GC. In the memory 202 of the server 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 nodes indicating the starting point, nodes indicating passing points, nodes indicating the destination, and links connecting each node. The processor 201 determines the target position to which the vehicle 100 should next head using the vehicle position information and the reference route RR. The processor 201 determines the target position on the reference route RR ahead of the current position of the vehicle 100.

[0028] In step S3, the processor 201 of the server 200 generates a driving control signal for driving the vehicle 100 toward the determined target position. The processor 201 calculates the driving speed of the vehicle 100 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 processor 201 determines the acceleration so that the vehicle 100 accelerates, and when the driving speed is higher than the target speed, the processor 201 determines the acceleration so that the vehicle 100 decelerates. Also, when the vehicle 100 is located on the reference route RR, the processor 201 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 processor 201 determines the steering angle and acceleration so that the vehicle 100 returns to the reference route RR.

[0029] In step S4, the processor 201 of the server 200 transmits the generated driving control signal to the vehicle 100. The processor 201 repeats the acquisition of vehicle position information, determination of the target position, generation of the driving control signal, and transmission of the driving control signal at a predetermined cycle.

[0030] In step S5, the processor 111 of the vehicle 100 receives a driving control signal transmitted from the server 200. In step S6, the processor 111 of the vehicle 100 controls the actuator group 120 using the received driving control signal, thereby driving the vehicle 100 at the acceleration and steering angle represented by the driving control signal. The processor 111 repeats the reception of the driving control signal and the control of the actuator group 120 at a predetermined cycle. According to the system 50 in the present embodiment, the vehicle 100 can be driven by remote control, and the vehicle 100 can be moved without using conveyance facilities such as a crane or a conveyor.

[0031] FIG. 3 is a flowchart showing a method for controlling the arrangement of a work object in the first embodiment. In step S101, the acquisition unit 211 acquires production plan information. In step S102, the specifying unit 212 specifies an area for arranging the work object using the production plan information. In step S103, the instructing unit 213 instructs the administrator to arrange the work object in the area specified by the specifying unit 212. In step S104, the first determination unit 214 determines a route when the vehicle 100 travels by autonomous driving based on the area specified by the specifying unit 212. In step S105, the first determination unit 214 stores the determined route in the memory 202 of the server 200 as a reference route RR.

[0032] FIG. 4 is a conceptual diagram showing an example of a production method of the vehicle 100 by self-propelled production. FIG. 5 is a conceptual diagram showing an example of a production method of the vehicle 100 by conveyor production. "Conveyor production" is a production method in which a moving body is produced using "conveyor conveyance" in which a conveyor CO is used to convey the moving body. The production method shown in FIG. 5 is a comparative example of the production method shown in FIG. 4.

[0033] In the conveyor production shown in FIG. 5, the conveyor CO is fixed at a predetermined position in the factory FC. Therefore, the production equipment 400 is fixed at a predetermined position along the conveyor CO. The arrangement of the operator OP is determined according to the arrangements of the conveyor CO and the production equipment 400. Thus, in the case of conveyor production, the production space of the vehicle 100 is fixed. On the other hand, in the self-propelled production shown in FIG. 4, the vehicle 100 can be moved without using the conveyor CO. Therefore, according to the production plan of the vehicle 100, the arrangement of the work object WO can be changed, or the traveling speed VV, the inter-vehicle distance L, and the route when the vehicle 100 travels by autonomous driving can be changed. Specific examples are shown below.

[0034] In FIGS. 4 and 5, in the assembly process, the assembly facilities 401 and 402 assemble 12 parts to the vehicle 100, and during the period when the assembly facilities 401 and 402 are assembling the parts, an example is shown where one operator OP performs work on each vehicle 100. The first assembly facility 401 and the second assembly facility 402 are articulated robots having the same function. In the examples shown in FIGS. 4 and 5, the time required for each assembly facility 401 and 402 to assemble one part to the vehicle 100 is 10 seconds.

[0035] When the equipment required time for each of the assembly facilities 401 and 402 is 60 seconds, in either self-propelled production or conveyor production, for example, the following configuration can be adopted. In this case, as shown in the first figure F41 of FIG. 4 and the first figure F51 of FIG. 5, a configuration can be adopted in which the first assembly facility 401 assembles 6 parts to the vehicle 100 and the second assembly facility 402 assembles the remaining 6 parts to the vehicle 100. In this configuration, in either self-propelled production or conveyor production, no waiting time during which the assembly facilities 401 and 402 wait without performing work occurs.

[0036] When the equipment required time for each of the assembly facilities 401 and 402 is 120 seconds, in conveyor production, for example, the following configuration can be adopted. In this case, as shown in the second figure F52 of FIG. 5, the conveyance speed VC of the vehicle 100 by the conveyor CO is made the same as that when the equipment required time for each of the assembly facilities 401 and 402 is 60 seconds, and the vehicle interval L is made twice that when the equipment required time for each of the assembly facilities 401 and 402 is 60 seconds. In this configuration, the number of vehicles 100 present at the location where the assembly process is executed is half that when the equipment required time for each of the assembly facilities 401 and 402 is 60 seconds. Therefore, the number of workers OP required for the assembly process can be reduced to half that when the equipment required time for each of the assembly facilities 401 and 402 is 60 seconds. However, in this configuration, a waiting time of 60 seconds occurs in each of the assembly facilities 401 and 402 after assembling 6 parts.

[0037] Also, when the equipment required time for the assembly facilities 401 and 402 is 120 seconds, in conveyor production, the following configuration can also be adopted. In this case, as shown in the third figure F53 of FIG. 5, the vehicle interval L is made the same as that when the equipment required time for each of the assembly facilities 401 and 402 is 60 seconds, and the conveyance speed VC of the vehicle 100 by the conveyor CO is made half that when the equipment required time for each of the assembly facilities 401 and 402 is 60 seconds. In this configuration, the number of workers OP required for the assembly process cannot be reduced, and furthermore, a total waiting time of 60 seconds occurs between the first assembly facility 401 and the second assembly facility 402.

[0038] On the other hand, when the equipment required time for each assembling facility 401, 402 is 120 seconds, in in-line production, the following configuration can be adopted. In this case, as shown in the second figure F42 of FIG. 4, the vehicle distance L can be made the same as in the case where the equipment required time for each assembling facility 401, 402 is 60 seconds, and the traveling speed VV of the vehicle 100 can be made half of that in the case where the equipment required time for each assembling facility 401, 402 is 60 seconds. In this configuration, the first assembling facility 401 can assemble 12 parts on the vehicle 100. As a result, the first assembling facility 401 can be operated without causing a waiting time in the first assembling facility 401. Further, in this configuration, since no work is required by the second assembling facility 402, the number of vehicles 100 existing at the place where the assembling process is executed can be reduced to half of that in the case where the equipment required time for each assembling facility 401, 402 is 60 seconds. By doing so, the number of workers OP required for the assembling process and the production space required for the assembling process can each be reduced to half of that in the case where the equipment required time for each assembling facility 401, 402 is 60 seconds. As a result, as shown in the third figure F43 of FIG. 4, the worker OP can be engaged in the production of other vehicles 100, or the empty space that is not used in the assembling process can be used for the production of other vehicles 100, and the worker OP and the production space can be effectively utilized. Further, in this configuration, the second assembling facility 402 can be used for the production of other vehicles 100 or for the work of other manufacturing processes. Thereby, the waiting time of the assembling facilities 401, 402 can be reduced, and the operating rate of the assembling facilities 401, 402 can be improved.

[0039] According to the first embodiment described above, the area where the work object WO is to be arranged can be specified using the production plan information. Then, the administrator can be instructed to move the work object WO to the specified area. By doing so, during in-line production, the work object WO can be arranged according to the production plan of the vehicle 100. Thereby, the production efficiency of the vehicle 100 can be improved.

[0040] Further, according to the first embodiment, based on the area specified as the area where the work object WO should be placed, the path when the vehicle 100 travels by autonomous driving can be determined. That is, during self-driving production, the path when the vehicle 100 travels by autonomous driving can be determined according to the production plan of the vehicle 100.

[0041] Further, according to the first embodiment, the operation of the vehicle 100 can be controlled so that the vehicle 100 travels along the path determined based on the area specified as the area where the work object WO should be placed.

[0042] B. Second Embodiment: FIG. 6 is a block diagram showing the configuration of the system 50a in the second embodiment. In this embodiment, the system 50a includes one or more vehicles 100, a server 200a, one or more external sensors 300, and one or more production facilities 400a. In this embodiment, the function of the "control device" in the present disclosure is realized by the server 200a. The configuration of the system 50a is the same as that of the first embodiment unless otherwise specified. The same components as those in the first embodiment are denoted by the same reference numerals and the description thereof is omitted.

[0043] The production facility 400a is configured to be movable by autonomous driving. The production facility 400a includes a facility control device 410, an actuator group 420 including one or more actuators that are driven under the control of the facility control device 410, and a communication device 430 for communicating with an external device such as the server 200a by wireless communication. The actuator group 420 includes an actuator of a driving device for accelerating the production facility 400a, an actuator of a steering device for changing the traveling direction of the production facility 400a, and an actuator of a braking device for decelerating the production facility 400a.

[0044] The equipment control device 410 is constituted 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 so as to be communicable bidirectionally via the internal bus 414. An actuator group 420 and a communication device 430 are connected to the input / output interface 413. The processor 411 functions as a motion control unit 415 by executing a program PG4 stored in the memory 412.

[0045] The motion control unit 415 moves the production equipment 400a by controlling the actuator group 420. The motion control unit 415 can move the production equipment 400a by controlling the actuator group 420 using the motion control signal received from the server 200a. The motion control signal is a control signal for causing the production equipment 400a to travel. In the present embodiment, the motion control signal includes the acceleration and the steering angle of the production equipment 400a as parameters. In other embodiments, the motion control signal may include the speed of the production equipment 400a as a parameter instead of or in addition to the acceleration of the production equipment 400a.

[0046] The server 200a is constituted by a computer including a processor 201a, a memory 202a, an input / output interface 203, and an internal bus 204. The processor 201a functions as an acquisition unit 211, a specifying unit 212a, a vehicle control unit 215, a second determination unit 216, and a facility control unit 217 by executing a program PG2 stored in the memory 202a.

[0047] Before the area where the production equipment 400a is to be arranged is specified by the specifying unit 212a, the second determination unit 216 determines a route when the vehicle 100 travels by autonomous driving using the production plan information. The second determination unit 216 stores the determined route in the memory 202a of the server 200a as a reference route RR.

[0048] When the path is determined by the second determination unit 216, the specifying unit 212a specifies the area where the production facility 400a is to be arranged, taking into account the path determined by the second determination unit 216.

[0049] The facility control unit 217 controls the operation of the production facility 400a so that the production facility 400a moves to the area specified by the specifying unit 212a. The facility control unit 217 acquires the detection result by the sensor, generates a motion control signal for controlling the actuator group 420 of the production facility 400a using the detection result, and transmits the motion control signal to the production facility 400a, thereby moving the production facility 400a by remote control.

[0050] FIG. 7 is a flowchart showing a method for controlling the arrangement of the production facility 400a in the second embodiment. In step S201, the acquisition unit 211 of the server 200a acquires production plan information. In step S202, the second determination unit 216 determines a route when the vehicle 100 travels by autonomous driving using the production plan information. In step S203, the second determination unit 216 stores the determined route in the memory 202a of the server 200a as a reference route RR. In step S204, the specifying unit 212a specifies a region for arranging the production facility 400a in consideration of the route determined by the second determination unit 216. In step S205, the facility control unit 217 acquires facility position information using a captured image acquired from a camera which is an external sensor 300. In step S206, the facility control unit 217 determines a target position to which the production facility 400a should next move using the facility position information and the region specified by the specifying unit 212a. In step S207, the facility control unit 217 generates a motion control signal for moving the production facility 400a toward the determined target position. In step S208, the facility control unit 217 transmits the generated motion control signal to the production facility 400a. In step S209, the motion control unit 415 of the production facility 400a receives the motion control signal transmitted from the server 200a. In step S210, the motion control unit 415 controls the actuator group 420 using the received motion control signal, thereby moving the production facility 400a at the acceleration and steering angle represented by the motion control signal.

[0051] According to the second embodiment described above, it is possible to specify a region for arranging the production facility 400a that can be moved by autonomous driving using production plan information. Then, the operation of the production facility 400a can be controlled so that the production facility 400a moves to the specified region.

[0052] Also, according to the second embodiment described above, before the region for arranging the production facility 400a is specified by the specifying unit 212a, it is possible to determine a route when the vehicle 100 travels by autonomous driving using production plan information. Then, the operation of the vehicle 100 can be controlled so that the vehicle 100 travels along the route determined using the production plan information.

[0053] Further, according to the second embodiment, it is possible to specify the area where the production facility 400a is arranged in consideration of the route when the vehicle 100 travels by autonomous driving.

[0054] C. Third Embodiment: FIG. 8 is a conceptual diagram showing another example of the production method of the vehicle 100. In FIG. 8, in the assembly process in the case of mixed-flow production, the assembly facilities 401 and 402 assemble parts of a number and type corresponding to the vehicle type to the vehicle 100 by an assembly method corresponding to the vehicle type, and one worker OP executes the work for each vehicle 100. This is an example.

[0055] When producing a plurality of vehicles 100 of different vehicle types in a mixed-flow manner, for example, the number of parts assembled to the vehicle 100 in the assembly process may be different for each vehicle type. As a result, the amount of work in the same manufacturing process may be different for each vehicle type. When the amount of work in the same manufacturing process is different for each vehicle type and the vehicle 100 is produced by conveyor-type production, the following problems may occur. In this case, as shown in the first diagram F81 of FIG. 8, since the required time for the process is different for each vehicle type according to the amount of work for each vehicle type, waiting time may occur in the assembly facilities 401 and 402. Further, when producing a plurality of vehicles 100 of different vehicle types in a mixed-flow manner, for example, the types of parts assembled to the vehicle 100 in the assembly process may be different for each vehicle type, or the method of assembling the parts to the vehicle 100 may be different. As a result, the work content in the same manufacturing process may be different for each vehicle type. When the work content in the same manufacturing process is different for each vehicle type and the vehicle 100 is produced by conveyor-type production, the following problems may occur. In this case, as shown in the first diagram F81 of FIG. 8, it is necessary to cause the assembly facilities 401 and 402 to execute different operations according to the work content for each vehicle type, and the control of the assembly facilities 401 and 402 may be complicated. Such problems are common also in the case of producing the vehicle 100 by self-propelled production, that is, when producing the vehicle 100 while causing the vehicle 100 to travel so as to form a single production line.

[0056] Therefore, as shown in the second figure F82 of FIG. 8, at least a part of the route when the vehicle 100 travels by autonomous driving may be paralleled according to the vehicle type. In this case, for example, the acquisition unit 211 acquires production plan information including work information. The work information is information indicating the work amount and work content of each manufacturing process executed in the production process of the vehicle 100 for each vehicle type. The determination units 214 and 216 determine the route when traveling by autonomous driving so that the vehicle 100 forms a plurality of production lines by traveling different routes for each vehicle type. The specifying units 212 and 212a specify the types of the assembling facilities 401 and 402 and the area where the assembling facilities 401 and 402 are arranged so that the assembling facilities 401 and 402 corresponding to the work content for each vehicle type are arranged. Note that even when the vehicle types are different, the work amount and work content in the same manufacturing process may be the same. In this case, at least a part of the route when the vehicle 100 travels by autonomous driving may be paralleled for each vehicle type group grouped according to the work amount and work content in the manufacturing process.

[0057] According to the third embodiment described above, when the vehicles 100 of a plurality of different vehicle types are produced in a mixed flow, the route when the vehicle 100 travels by autonomous driving can be made different according to the work amount in the manufacturing process. Then, the production facilities 400 and 400a can be arranged along the route when the vehicle 100 travels by autonomous driving. Thereby, the possibility that a waiting time occurs in the production facilities 400 and 400a can be reduced.

[0058] Also, according to the third embodiment described above, when the vehicles 100 of a plurality of different vehicle types are produced in a mixed flow, the route when the vehicle 100 travels by autonomous driving can be made different according to the work content in the manufacturing process. Then, the production facilities 400 and 400a can be arranged along the route when the vehicle 100 travels by autonomous driving. Thereby, it is possible to avoid complication of the control of the production facilities 400 and 400a. Further, according to the third embodiment, when producing vehicles 100 of a plurality of different vehicle types in a mixed flow, the range of each production space paralleled according to at least one of the vehicle type and the vehicle type group can be flexibly changed according to the target production quantity of the vehicle type or the vehicle type group.

[0059] D. Fourth Embodiment: FIG. 9 is a block diagram showing the configuration of the system 50v in the fourth embodiment. In this embodiment, the system 50v is different from the above-described embodiments in that it does not include the server 200. The vehicle 100v in this embodiment can travel by autonomous control of the vehicle 100v. The production facility 400v in this embodiment can move by autonomous control of the production facility 400v. In this embodiment, the functions of the "control device" in the present disclosure are realized by the vehicle control device 110v and the facility control device 410v. For other configurations, unless otherwise specified, they are the same as those in the second embodiment. The same components as those in the above-described embodiments are denoted by the same reference numerals and the description thereof is omitted.

[0060] In this embodiment, the processor 111v of the vehicle control device 110v functions as a first determination unit 116, a vehicle control unit 117, and an operation control unit 115v by executing a program PG1 stored in the memory 112v. The first determination unit 116 acquires arrangement information indicating an area specified as an area for arranging the work object WO. Based on the arrangement information, the first determination unit 116 determines a route when the vehicle 100v travels by autonomous driving. The first determination unit 116 stores the determined route in the memory 112v of the vehicle control device 110v as a reference route RR. The vehicle control unit 117 controls the operation of the vehicle 100 so as to travel along the route determined by the first determination unit 214, that is, the reference route RR. The vehicle control unit 117 acquires the detection result by the sensor, and generates a driving control signal for controlling the actuator group 120 of the vehicle 100v using the detection result. The operation control unit 115v operates the actuator group 120 using the driving control signal generated by the vehicle control unit 117, thereby causing the vehicle 100v to travel by autonomous control.

[0061] In this embodiment, the processor 411v of the facility control device 410v functions as an acquisition unit 416, a specification unit 417, a facility control unit 418, and a motion control unit 415v by executing the program PG4 stored in the memory 412v. The acquisition unit 416 acquires production plan information. The specification unit 417 specifies the area where the production facility 400v itself is located. The facility control unit 418 controls the operation of the production facility 400v so that the production facility 400v moves to the area specified by the specification unit 417. The facility control unit 418 acquires the detection result by the sensor, and generates a motion control signal for controlling the actuator group 420 of the production facility 400v using the detection result. The motion control unit 415v moves the production facility 400v by autonomous control by operating the actuator group 420 using the motion control signal generated by the facility control unit 418.

[0062] FIG. 10 is a flowchart showing the processing procedure of the running control of the vehicle 100v in the fourth embodiment. In step S901, the processor 111v of the vehicle control device 110v acquires vehicle position information using the detection result output from the camera which is an external sensor 300. In step S902, the processor 111v determines the target position to which the vehicle 100v should next head. In step S903, the processor 111v generates a running control signal for running the vehicle 100v toward the determined target position. In step S904, the processor 111v runs the vehicle 100v according to the parameters represented in the running control signal by controlling the actuator group 120 using the generated running control signal. The processor 111v repeats the acquisition of vehicle position information, determination of the target position, generation of the running control signal, and control of the actuator at a predetermined cycle. According to the system 50v in this embodiment, the vehicle 100v can be run by autonomous control of the vehicle 100v without remotely controlling the vehicle 100v by the server 200.

[0063] According to the fourth embodiment described above, even if the production facility 400v is not remotely controlled by the server 200, the production facility 400v can be arranged in an area according to the production plan of the vehicle 100v by the autonomous control of the production facility 400v.

[0064] E. Other embodiments: (E1) The control device may further include a detection unit that detects that the production plan of the vehicles 100, 100v has been changed. The production plan is changed, for example, when the production of a specific vehicle model is suspended due to a recall or occurrence of a defect, when it becomes difficult to ship the vehicles 100, 100v to a specific destination, or when the order for a specific vehicle model has increased due to newly starting to accept orders for a specific vehicle model. When the detection unit detects that the production plan of the vehicles 100, 100v has been changed, the specifying units 212, 212a, 417 may specify the area where the work object WO is to be arranged using the production plan information after the change. In such a form, when the production plan of the vehicles 100, 100v is changed, the arrangement of the work object WO can be specified according to the production plan after the change. Further, when the detection unit detects that the production plan of the vehicles 100, 100v has been changed, the second determination unit 216 may determine the route when the vehicles 100, 100v travel by autonomous driving using the production plan information after the change. In such a form, when the production plan of the vehicles 100, 100v is changed, the route when the vehicles 100, 100v travel by autonomous driving can be determined according to the production plan after the change. Thereby, the production efficiency of the vehicles 100, 100v can be further improved.

[0065] (E2) At least some functions of the control device may be realized by the vehicle control devices 110, 110v, or may be realized by the facility control devices 410, 410v.

[0066] (E3) In each of the above embodiments, the external sensor 300 is not limited to a camera, and may be, for example, a distance measuring device. The distance measuring device is, for example, LiDAR (Light Detection And Ranging). In this case, the detection result output by the external sensor 300 may be three-dimensional point cloud data representing the vehicles 100, 100v and the production facilities 400, 400a, 400v. In this case, the servers 200, 200a, the vehicles 100, 100v, and the production facilities 400, 400a, 400v may acquire vehicle position information and facility 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.

[0067] (E4) In the second embodiment above, the server 200a executes the processes from the acquisition of the facility position information to the generation of the motion control signal. On the other hand, at least a part of the processes from the acquisition of the facility position information to the generation of the motion control signal may be executed by the production facility 400a. For example, the following forms (1) to (3) may be adopted.

[0068] (1) The server 200a may acquire the facility position information, determine the target position to which the production facility 400a should next move, and generate a path from the current position of the production facility 400a represented by the acquired facility position information to the target position. The server 200a may generate a path to the target position between the current position and the destination, or may generate a path to the destination. The server 200a may transmit the generated path to the production facility 400a. The production facility 400a may generate a motion control signal so that the production facility 400a moves on the path received from the server 200a, and control the actuator group 420 using the generated motion control signal.

[0069] (2) The server 200a may acquire the facility position information and transmit the acquired facility position information to the production facility 400a. The production facility 400a may determine the target position to which the production facility 400a should next move, generate a route from the current location of the production facility 400a represented in the received facility position information to the target position, generate a motion control signal so that the production facility 400a travels on the generated route, and control the actuator group 420 using the generated motion control signal.

[0070] (3) In the forms (1) and (2) above, a mounted sensor is mounted on the production facility 400a, and the detection result output from the mounted sensor may be used for at least one of the generation of the route and the generation of the travel control signal. The mounted sensor is a sensor mounted on the production facility 400a. The mounted sensor may include, for example, a sensor that detects the motion state of the production facility 400a, a sensor that detects the operating state of each part of the production facility 400a, or a sensor that detects the surrounding environment of the production facility 400a. Specifically, the mounted 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 server 200a may acquire the detection result of the mounted sensor and reflect the detection result of the mounted sensor in the route when generating the route. In the form (1) above, the production facility 400a may acquire the detection result of the mounted sensor and reflect the detection result of the mounted sensor in the motion control signal when generating the motion control signal. In the form (2) above, the production facility 400a may acquire the detection result of the mounted sensor and reflect the detection result of the mounted sensor in the route when generating the route. In the form (2) above, the production facility 400a may acquire the detection result of the mounted sensor and reflect the detection result of the mounted sensor in the motion control signal when generating the motion control signal.

[0071] (E5) In the above-described fourth embodiment, a sensor is mounted on the production facility 400v, and the detection result output from the mounted sensor may be used for at least one of path generation and motion control signal generation. For example, the production facility 400v may acquire the detection result of the mounted sensor and reflect the detection result of the mounted sensor in the path when generating the path. The production facility 400v may acquire the detection result of the mounted sensor and reflect the detection result of the mounted sensor in the motion control signal when generating the motion control signal.

[0072] (E6) In the above-described fourth embodiment, the production facility 400v acquires the facility position information using the detection result of the external sensor 300. In contrast, a sensor is mounted on the production facility 400v, and the production facility 400v acquires the facility position information using the detection result of the mounted sensor, determines the target position to which the production facility 400v should next head, generates a path from the current location of the production facility 400v represented in the acquired facility position information to the target position, generates a motion control signal for moving along the generated path, and controls the actuator group 420 using the generated motion control signal. In this case, the production facility 400v can move without using the detection result of the external sensor 300 at all. Note that all the functional configurations of the system 50v may be provided in the production facility 400v. That is, the processing realized by the system 50v in the present disclosure may be realized by the production facility 400v alone.

[0073] (E7) In the above-described second embodiment, the server 200a automatically generates the motion control signal to be transmitted to the production facility 400a. In contrast, the server 200a may generate the motion control signal to be transmitted to the production facility 400a according to the operation of an external operator located outside the production facility 400a. For example, an external operator operates a control device including a display for displaying a captured image output from the external sensor 300, an operation device for remotely operating the production facility 400a, and a communication device for communicating with the server 200a by wire or wireless communication, and the server 200a may generate a motion control signal corresponding to the operation applied to the control device.

[0074] (E8) In each of the embodiments from the first embodiment to the third embodiment described above, the servers 200 and 200a execute the processes from the acquisition of vehicle position information to the generation of a driving control signal. On the other hand, at least a part of the processes from the acquisition of vehicle position information to the generation of a driving control signal may be executed by the vehicle 100. For example, the following forms (1) to (3) may be adopted.

[0075] (1) The servers 200 and 200a may acquire vehicle position information, determine the target position to which the vehicle 100 should next travel, and generate a route from the current position of the vehicle 100 represented by the acquired vehicle position information to the target position. The servers 200 and 200a may generate a route to the target position between the current position and the destination, or may generate a route to the destination. The servers 200 and 200a 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 servers 200 and 200a, and control the actuator group 120 using the generated driving control signal.

[0076] (2) The servers 200 and 200a may acquire 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 travel, 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 actuator group 120 using the generated driving control signal.

[0077] (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 servers 200, 200a 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.

[0078] (E9) In the fourth embodiment above, an internal sensor is mounted on the vehicle 100v, 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. For example, the vehicle 100v 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. The vehicle 100v 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.

[0079] (E10) In the above-described fourth embodiment, the vehicle 100v acquires vehicle position information using the detection results of the external sensor 300. In contrast, an internal sensor is mounted on the vehicle 100v, and the vehicle 100v acquires vehicle position information using the detection results of the internal sensor, determines the target position to which the vehicle 100v should next head, generates a route from the current position of the vehicle 100v represented in the acquired vehicle position information to the target position, generates a driving control signal for traveling along the generated route, and controls the actuator group 120 using the generated driving control signal. In this case, the vehicle 100v can travel without using the detection results of the external sensor 300 at all. Note that the vehicle 100v may acquire the target arrival time and traffic jam information from outside the vehicle 100v and reflect the target arrival time and traffic jam information in at least one of the route and the driving control signal. Also, all of the functional configurations of the system 50v may be provided in the vehicle 100v. That is, the processing realized by the system 50v in the present disclosure may be realized by the vehicle 100v alone.

[0080] (E11) In the above-described first embodiment, the servers 200, 200a automatically generate the driving control signal to be transmitted to the vehicle 100. In contrast, the servers 200, 200a may generate the driving control signal to be transmitted to the vehicle 100 in accordance with the operations of an external operator located outside the vehicle 100. For example, an external operator operates a control device including a display for displaying the captured image output from the external sensor 300, a steering wheel for remotely operating the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the servers 200, 200a by wire or wireless communication, and the servers 200, 200a may generate a driving control signal corresponding to the operations applied to the control device.

[0081] In each of the above embodiments, the vehicles 100 and 100v only need to be configured to be movable by autonomous driving. For example, they may be in the form of a platform having the configuration described below. Specifically, the vehicles 100 and 100v only need to include at least a vehicle control device 110 or 110v and an actuator group 120 in order to perform the three functions of "running", "turning", and "stopping" by autonomous driving. When the vehicles 100 and 100v acquire information from the outside for autonomous driving, the vehicles 100 and 100v may further include a communication device 130. That is, for the vehicles 100 and 100v 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 vehicles 100 and 100v are shipped from the factory FC, the remaining parts such as the body shell may be installed on the vehicles 100 and 100v, or after the vehicles 100 and 100v are shipped from the factory FC in a state where the remaining parts such as the body shell are not installed on the vehicles 100 and 100v, the remaining parts such as the body shell may be installed on the vehicles 100 and 100v. 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 vehicles 100 and 100v, 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 vehicles 100 and 100v in the first embodiment.

[0082] (E13) Vehicles 100 and 100v may be manufactured by combining a plurality of modules. A module means a unit composed of one or more parts grouped according to the configuration and function of the vehicle 100 or 100v. For example, the platform of the vehicle 100 or 100v 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 platform, parts of the vehicle 100 or 100v that are different from the platform may be modularized. Also, each type of module may include any exterior parts such as bumpers and grilles, and any interior parts such as seats and consoles. Further, not limited to the vehicle 100 or 100v, 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 or fixtures, or by integrally molding at least a part of the module as a single part by casting. The molding method of integrally molding at least a part of the module as a single part is also called gigacasting or megacasting. By using gigacasting, each part of the moving body that was conventionally formed by joining a plurality of parts can be formed as a single part. For example, the above-described front module, central module, and rear module may be manufactured using gigacasting.

[0083] 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 of the embodiments corresponding to the technical features in each form described in the summary of the invention can be appropriately replaced or combined in order to solve some or all of the above-described problems or to achieve some 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 Symbols

[0084] 50, 50a, 50v... systems, 100, 100v... vehicles, 110, 110v... vehicle control devices, 111, 111v... processors of vehicle control devices, 112, 112v... memories of vehicle control devices, 113... input / output interfaces of vehicle control devices, 114... internal buses of vehicle control devices, 115, 115v... operation control units, 116, 214... first determination units, 117, 215... vehicle control units, 120... actuator groups of vehicles, 130... communication devices of vehicles, 200, 200a... servers, 201, 201a... processors of servers, 202, 202a... memories of servers, 203... input / output interfaces of servers, 204... internal buses of servers, 205... communication devices of servers, 211, 416... acquisition units, 212, 212a, 417... specifying units, 213... instruction units, 216... second determination units, 217, 418... facility control units, 300... external sensors, 400, 400a, 400v... production facilities, 401... first assembly facility, 402... second assembly facility, 410, 410v... facility control devices,

Claims

1. A control device comprising: an acquisition unit that acquires production plan information indicating a production plan of a moving body produced by self-propelled production that produces the moving body by utilizing the movement of the moving body by autonomous driving; a specifying unit that specifies an area for arranging at least one of a production facility used in the self-propelled production and a worker who executes a specific operation in the self-propelled production, using the production plan information; an instruction unit that gives an instruction to an administrator to move the work object to the area specified by the specifying unit.

2. A control device comprising: an acquisition unit that acquires production plan information indicating a production plan of a moving body produced by self-propelled production that produces the moving body by utilizing the movement of the moving body by autonomous driving; a specifying unit that specifies an area for arranging a production facility used in the self-propelled production, which is a production facility movable by the autonomous driving, using the production plan information; a facility control unit that controls the operation of the production facility so that the production facility moves to the area specified by the specifying unit.

3. The control device according to claim 1 or claim 2, further comprising: a detection unit that detects that the production plan has been changed; wherein when the detection unit detects that the production plan has been changed, the specifying unit specifies the area using the changed production plan information.

4. The control device according to claim 1 or claim 2, further comprising: a determination unit that determines a path when the moving body moves by the autonomous driving, a first determination unit that determines the path based on the area specified by the specifying unit; either one of a second determination unit that determines the path using the production plan information before the area is specified by the specifying unit; wherein when the path is determined by the second determination unit, the specifying unit specifies the area taking into account the path determined by the second determination unit.

5. The control device according to claim 4, further comprising: a movement control unit that controls the operation of the moving body so that the moving body moves along the path determined by the determination unit.

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