Control device, system, control method and moving body

Abstract

To attach a component appropriately even when component attachment through stop attachment is not enabled.SOLUTION: A control device for controlling attachment of a component to a moving body in a manufacturing process of the moving body that can travel through an unmanned operation includes: a control command section that commands the moving body to stop at a first stop target position in which stop attachment that is attachment of a component to the moving body in the stopped state is executed; and an information acquisition section that acquires first information that is information on success / failure of the stop attachment. When the first information on the failure of the stop attachment in the first stop target position is acquired, the control command section further commands the moving body to move to a second stop target position that is a position of executing again the stop attachment.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a control device, a system, a control method, and a moving object. [Background technology]

[0002] BACKGROUND ART In a vehicle manufacturing process, a technology for remotely controlling a vehicle to operate unmanned is known (for example, Patent Document 1). [Prior art documents] [Patent documents]

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

[0004] In the vehicle manufacturing process, stationary assembly, in which a robot is controlled to attach parts to a stationary vehicle, is being considered. However, Patent Document 1 does not fully consider how to deal with the case where such stationary assembly fails. This problem is not limited to vehicles, but is common to any moving object. [Means for solving the problem]

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

[0006] (1) According to one aspect of the present disclosure, there is provided a control device for controlling the assembly of parts into a mobile body capable of traveling in an unmanned operation in a manufacturing process of the mobile body, the control device including: a control command unit that instructs the mobile body to stop at a first stop target position where a stop assembly, which is the assembly of the part into the stopped mobile body, is performed; and an information acquisition unit that acquires first information that is information regarding the success or failure of the stop assembly, wherein, when the first information regarding the failure of the stop assembly at the first stop target position is acquired, the control command unit further instructs the mobile body to move to a second stop target position where the stop assembly is performed again. According to this type of control device, when first information is acquired indicating that a part could not be assembled to the moving body by stop assembly at the first stop target position, the moving body is moved to the second stop target position where stop assembly is performed again, so that stop assembly can be attempted again at the second stop target position and the part can be properly assembled to the moving body. (2) In the above embodiment, when the first information is acquired regarding the fact that the stop assembly could not be performed at the second stop target position, the control command unit may perform at least one of instructing the moving body to continue in a stopped state, instructing a subsequent moving body that is another moving body traveling following the moving body to slow down or stop, and notifying an administrator that the stop assembly could not be performed at the second stop target position. According to this aspect of the control device, when first information is acquired indicating that a part could not be assembled to a moving body by stop assembly at the second stop target position, at least one of the following is executed: instructing the moving body to remain stopped, instructing the following moving body to slow down or stop, and notifying a manager that stop assembly at the second stop target position could not be completed. Therefore, when instructing the moving body to remain stopped or instructing the following moving body to slow down or stop, it is possible to prevent at least one of the moving body and the following moving body from traveling in a situation where stop assembly at the second stop target position could not be completed, i.e., a situation where some kind of abnormality may have occurred. Furthermore, when notifying a manager that stop assembly at the second stop target position could not be completed, it is possible to prevent the situation where some kind of abnormality may have occurred from continuing. (3) In the above embodiment, when the first information is acquired regarding the completion of the stop assembly at the second stop target position, the control command unit may instruct a subsequent moving body, which is another moving body traveling following the moving body, to stop at the second stop target position. According to this type of control device, when first information is acquired indicating that stop assembly has been completed at the second stop target position, the control device instructs the following moving body to stop at the second stop target position, so that the following vehicle can be stopped from the beginning at the second stop target position where stop assembly has been completed, thereby preventing the following vehicle from being unable to perform stop assembly. (4) In the above embodiment, the second stop target position may be identified using second information, which is information about a position at which an assembly device performing the stop assembly attempts the stop assembly at the first stop target position. According to this type of control device, the second stop target position is identified by using the second information, which is information relating to the position where the assembly device that performs the stop assembly attempted to perform the stop assembly at the first stop target position. Therefore, the second stop target position can be set according to the position where the stop assembly was attempted at the first stop target position, making it easier to properly assemble parts to the moving body at the second stop target position. (5) In the above embodiment, the part may be retracted to a position where it does not come into contact with the moving body before the moving body starts to move to the second target stop position. According to this type of control device, before the moving body starts to move toward the second stop target position, the part is retracted to a position where it will not come into contact with the moving body, so that the moving body can start moving without coming into contact with the part and interfering with the moving body's movement. (6) In the above embodiment, while the moving body is moving to the second target stop position, the component may be retracted to a position where it does not come into contact with the moving body. According to this type of control device, while the moving body is moving to the second target stop position, the part is retracted to a position where it will not come into contact with the moving body, thereby preventing the moving body from coming into contact with the part and hindering its movement while the moving body is moving to the second target stop position. (7) According to another aspect of the present disclosure, there is provided a system for controlling the assembly of parts into a mobile body capable of traveling in an unmanned operation in a manufacturing process of the mobile body, the system including: a control command unit that instructs the mobile body to stop at a first stop target position where a stop assembly, which is the assembly of the part into the stopped mobile body, is performed; and an information acquisition unit that acquires first information that is information regarding the success or failure of the stop assembly, wherein, when the first information regarding the failure of the stop assembly at the first stop target position is acquired, the control command unit further instructs the mobile body to move to a second stop target position where the stop assembly is performed again. According to this type of system, if a part cannot be assembled to the moving body by stop assembly at the first stop target position, the moving body is moved to the second stop target position where stop assembly is performed again, so that stop assembly can be attempted again at the second stop target position, and the part can be properly assembled to the moving body. (8) According to another aspect of the present disclosure, there is provided a control method for controlling assembly of parts into a moving body capable of traveling in an unmanned operation in a manufacturing process of the moving body, the control method comprising the steps of instructing the moving body to stop at a first stop target position where a stop assembly is to be performed, which is an assembly of the part into the moving body that is stopped, acquiring first information that is information regarding success or failure of the stop assembly, and, when the first information regarding failure of the stop assembly at the first stop target position is acquired, further instructing the moving body to move to a second stop target position where the stop assembly is to be performed again. According to this form of control method, if a part cannot be assembled to the moving body by stop assembly at the first stop target position, the moving body is moved to the second stop target position where stop assembly is performed again, so that stop assembly can be attempted again at the second stop target position, and the part can be properly assembled to the moving body. (9) According to another aspect of the present disclosure, there is provided a mobile body capable of traveling in an unmanned operation in its own manufacturing process, the mobile body including: a control command unit that stops the mobile body at a first target stop position where a stop assembly, which is the assembly of a part to the mobile body that is stopped, is performed; and an information acquisition unit that acquires first information that is information regarding the success or failure of the stop assembly, wherein, when the first information that the stop assembly could not be performed at the first target stop position is acquired, the control command unit moves the mobile body to a second target stop position where the stop assembly is performed again. With this type of moving body, if a part cannot be assembled to the moving body by stop assembly at the first stop target position, the moving body is moved to the second stop target position where stop assembly is performed again, so that stop assembly can be attempted again at the second stop target position, and the part can be properly assembled to the moving body. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is an explanatory diagram showing a system configuration according to a first embodiment. [Figure 2] 1 is an explanatory diagram showing the configuration of a vehicle according to an embodiment of the present invention; [Figure 3] FIG. 2 is an explanatory diagram illustrating a configuration of a server device according to the present embodiment. [Figure 4] FIG. 2 is an explanatory diagram illustrating the configuration of an assembly robot according to the present embodiment. [Figure 5] FIG. 1 is an explanatory diagram showing a state in which a vehicle runs unmanned in a factory. [Figure 6] 4 is a flowchart showing a processing procedure for vehicle travel control in the first embodiment. [Figure 7] 4 is a flowchart showing a procedure for part assembly control in the first embodiment. [Figure 8] 4 is a flowchart showing a procedure of part assembly control in the first embodiment. [Figure 9] FIG. 10 is a block diagram showing the configuration of a system according to a second embodiment. [Figure 10] 10 is a flowchart showing a processing procedure for vehicle travel control in a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

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

[0009] The system 10 includes a server device 200, at least one external sensor 250, and an assembly robot 300. The system 10 controls the assembly of parts into the vehicle 100 in a factory KJ where the vehicle 100 is manufactured. The vehicle 100 is configured to be capable of traveling in an unmanned manner. The vehicle 100 is in the middle of manufacturing, and the assembly robot 300 performs the assembly work of parts on the vehicle 100 traveling in an unmanned manner. In this embodiment, the vehicle 100 travels in an unmanned manner in the form of a so-called platform. The vehicle 100 may be called a mobile body, and the assembly robot 300 may be called an assembly device.

[0010] In this disclosure, "unmanned driving" refers to driving that is not performed by a passenger aboard the vehicle 100. "Driving operation" refers to an operation related to at least one of "driving," "turning," and "stopping" of the vehicle 100. Unmanned driving is achieved 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 driving operations may be on board the vehicle 100 that is traveling in an unmanned driving mode. Passengers who do not perform driving operations include, for example, a person who simply sits in the driver's seat of the vehicle 100 or a person who performs an action other than driving operations. Actions other than driving operations include, for example, assembling parts for the vehicle 100, inspecting the vehicle 100, and operating switches installed on the vehicle 100. Note that driving performed by a passenger performing driving operations is sometimes referred to as "manned driving."

[0011] The external sensor 250 is located outside the vehicle 100. The external sensor 250 is used to detect the position and orientation of the vehicle 100. In this embodiment, the external sensor 250 is a camera installed in a factory. The external sensor 250 includes a communication device (not shown) and can communicate with the server device 200 via wired communication or wireless communication. Note that the external sensor 250 is not limited to a camera and may be, for example, a LiDAR.

[0012] 2 is an explanatory diagram showing the configuration of a vehicle 100 in this embodiment. The vehicle 100 includes a vehicle control device 110 for controlling each part of the vehicle 100, an actuator group 120 including at least one actuator that is driven under the control of the vehicle control device 110, and a communication device 130 for communicating with a server device 200 via wireless communication. In this embodiment, the actuator group 120 includes an actuator of a drive device for accelerating the vehicle 100, an actuator of a steering device for changing the direction of travel of the vehicle 100, and an actuator of a braking device for decelerating the vehicle 100. The drive device includes a battery, a traction motor driven by power from the battery, and wheels that are rotated by the traction motor. The actuator of the drive device includes the traction motor.

[0013] The vehicle control device 110 is configured by a computer including a processor 111, a memory 112, an input / output interface 113, and an internal bus 114. The processor 111, the memory 112, and the input / output interface 113 are connected via the internal bus 114 to enable bidirectional communication. The input / output interface 113 is connected to an actuator group 120 and a communication device 130. The processor 111 executes a program PG1 stored in the memory 112 to realize various functions including a function as a vehicle control unit 115.

[0014] The vehicle control unit 115 controls the actuator group 120 to cause the vehicle 100 to travel. The vehicle control unit 115 controls the actuator group 120 using a travel control signal received from the server device 200 to cause the vehicle 100 to travel. The travel control signal is a control signal for causing the vehicle 100 to travel. In this embodiment, the travel control signal includes the acceleration and steering angle of the vehicle 100 as parameters. In other embodiments, the travel 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. Furthermore, when a passenger is on board the vehicle 100, the vehicle control unit 115 controls the actuator group 120 in accordance with the driving operation of the passenger, to cause the vehicle 100 to travel. Furthermore, the vehicle control unit 115 controls the actuator group 120 in accordance with the travel control signal received from the server device 200 to cause the vehicle 100 to travel, regardless of whether a passenger is on board the vehicle 100.

[0015] FIG. 3 is an explanatory diagram showing the configuration of a server device 200 in this embodiment. The server device 200 is configured by a computer including a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected via the internal bus 204 to enable bidirectional communication. A communication device 205 is connected to the input / output interface 203 for communicating with the vehicle 100 via wireless communication. In this embodiment, the communication device 205 can communicate with an external sensor 250 and an assembly robot 300 via wired or wireless communication. The processor 201 executes a program PG2 pre-stored in the memory 202 to function as a calculation unit 210, a vehicle control command unit 212, an error information acquisition unit 214, a stop position calculation unit 216, and a robot control command unit 218. As will be described later, in this embodiment, the server device 200 controls the assembly of parts into the vehicle 100 during the manufacturing process of the vehicle 100. That is, the server device 200 corresponds to the "control device" in the present disclosure.

[0016] In this embodiment, the calculation unit 210 calculates the vehicle position information using the detection results output from the external sensor 250. The vehicle position information includes information on the position and orientation of the vehicle 100.

[0017] The vehicle control command unit 212 generates a vehicle control command using the vehicle position information. The vehicle control command unit 212 generates the above-mentioned driving control signal as the vehicle control command. Note that the remote control unit 220 may generate and output not only the driving control signal but also control signals for controlling, for example, various auxiliary devices provided in the vehicle 100 and actuators that operate various equipment such as wipers, power windows, and lamps. In other words, the vehicle control command unit 212 may operate these various equipment and various auxiliary devices by remote control. In the following description, among the vehicle control commands generated by the vehicle control command unit 212, a driving control signal that instructs the vehicle 100 to stop will also be referred to as a "stop command," and a driving control signal that instructs the vehicle 100 to drive will also be referred to as a "drive command."

[0018] In this embodiment, the vehicle control command unit 212 executes control to stop the vehicle 100 when the vehicle 100 reaches a part assembly position in the manufacturing process of the vehicle 100, and to resume the running of the vehicle 100 after completion of the stop assembly described below. The "part assembly position" refers to a position in the manufacturing process of the vehicle 100 where the assembly robot 300 assembles parts into the vehicle 100. Specific details of this control will be described later. The vehicle control command unit 212 in this embodiment corresponds to the "control command unit" in the present disclosure.

[0019] The error information acquisition unit 214 acquires assembly error information. "Assembly error information" refers to information related to an assembly error. An "assembly error" refers to a state in which a part is not properly assembled to the vehicle 100 even when the assembly robot 300 performs a part assembly operation. In other words, the assembly error information refers to information indicating that the assembly robot 300 was unable to assemble a part to the vehicle 100. The assembly error information corresponds to "first information" in the present disclosure. In the present embodiment, the error information acquisition unit 214 acquires, as the assembly error information, an error signal output from the assembly robot 300, as described below. The error information acquisition unit 214 also corresponds to the "information acquisition unit" in the present disclosure.

[0020] The robot control command unit 218 creates an operation control signal for operating the assembly robot 300 and transmits it to the assembly robot 300. Upon receiving the operation control signal, the assembly robot 300 operates in accordance with the operation control signal. In the following description, the operation control signal that instructs the assembly robot 300 to perform an operation of assembling a part on the vehicle 100 is also referred to as an "assembly command." In this embodiment, the operation control signal is created as a signal that specifically instructs the amount of movement of each part that constitutes the assembly robot 300.

[0021] In this embodiment, the robot control command unit 218 generates an operation control signal for the assembly robot 300 so that the assembly robot 300 performs the assembly work while the vehicle 100 is stopped at the above-mentioned part assembly position. In the following description, this type of part assembly mode is also referred to as "stationary assembly." In stationary assembly, the work is performed while the vehicle 100 is stopped, making it possible to perform highly difficult work and to improve the work accuracy. Another advantage of stationary assembly is that it does not require coordinated control of the travel of the vehicle 100 and the operation of the assembly robot 300.

[0022] The stop position calculation unit 216 calculates a second stop target position ST2 when an assembly error occurs during stop assembly at the first stop target position ST1, which is preset as the above-mentioned part assembly position. In FIG. 1, the vehicle 100 and the assembly robot 300 during stop assembly at the first stop target position ST1 are indicated by dashed lines, and the vehicle 100 and the assembly robot 300 during stop assembly at the second stop target position ST2 are indicated by dashed lines. The "second stop target position ST2" refers to a position where stop assembly is to be performed again. The stop position calculation unit 216 calculates the second stop target position ST2 using information regarding the position where stop assembly was attempted at the first stop target position ST1. This information corresponds to the "second information" in this disclosure.

[0023] More specifically, the stop position calculation unit 216 acquires a captured image during stop assembly at the first stop target position ST1 using, for example, a camera as the external sensor 250, detects the positional relationship between the vehicle 100 and the component in the captured image, and calculates the second stop target position ST2 based on the positional relationship. Furthermore, the stop position calculation unit 216 estimates the contact state between the vehicle 100 and the component using, for example, the motor load of the assembly robot 300, and calculates the second stop target position ST2 based on the contact state. By calculating the second stop target position ST2 in this manner, the second stop target position ST2 can be set based on the positional relationship and contact state between the vehicle 100 and the component, making it easier to appropriately assemble the component on the vehicle 100 at the second stop target position ST2. The second stop target position ST2 is determined so that, when the vehicle 100 stops at the second stop target position ST2, the position at which the component is to be installed on the vehicle 100 is within the movable range of the assembly robot 300.

[0024] FIG. 4 is an explanatory diagram showing the configuration of an assembly robot 300 according to this embodiment. The assembly robot 300 includes a robot control device 310, an arm unit 320, and a communication device 330. In this embodiment, the robot control device 310 controls each component of the assembly robot 300. The arm unit 320 is a vertically articulated robot arm. An end effector for gripping a component is attached to the tip of the arm unit 320. In this embodiment, the end effector is configured to clamp the component. The communication device 330 can communicate with the server device 200 via wired or wireless communication. The arm unit 320 is not limited to a vertically articulated robot arm, and may be, for example, a horizontally articulated robot arm, an orthogonal robot arm, or a parallel link robot arm. The end effector may be configured to pick up the component rather than clamp it. Although not shown, the assembly robot 300 is equipped with sensors that detect the motor load for driving the arm unit 320 and the impact force during component assembly. The assembly robot 300 corresponds to the "assembly device" in this disclosure.

[0025] The robot control device 310 is configured by a computer including a processor 311, a memory 312, an input / output interface 313, and an internal bus 314. The processor 311, the memory 312, and the input / output interface 313 are connected via the internal bus 314 to enable bidirectional communication. The input / output interface 313 is connected to an arm unit 320 and a communication device 330.

[0026] In this embodiment, the processor 311 functions as a robot control unit 315 by executing a program PG3 pre-stored in the memory 312. The robot control unit 315 receives an operation control signal, controls each unit of the assembly robot 300 including the arm unit 320 in accordance with the operation control signal, and performs stop assembly on the vehicle 100.

[0027] If an error occurs in assembling a part into the vehicle 100, the robot control unit 315 evacuates the part, and after the part has been evacuated, it outputs an error signal and an evacuation completion signal. The "error signal" means a signal indicating that an assembly error has occurred, in other words, that stop assembly could not be performed. Assembly errors can occur, for example, when the part assembly position is not set appropriately or when an error occurs in detecting the position of the vehicle 100. The robot control unit 315 detects the occurrence of an assembly error, for example, when the motor load or the impact force during part assembly is not within a predetermined threshold range.

[0028] "Retracting a part" means moving the part to a position where it will not come into contact with the vehicle 100. The robot control unit 315 may retract the part a predetermined distance and direction, or may determine the distance and direction to retract the part using images acquired by the external sensor 250 or the motor load during stop assembly execution, and retract the part the determined distance and direction. Also, the "retraction completion signal" means a signal indicating that retraction of the part has been completed.

[0029] 5 is an explanatory diagram showing a state in which a vehicle 100 travels in an unmanned manner in a factory KJ. In this embodiment, the factory KJ includes a first location PL1, a second location PL2, and a third location PL3. The first location PL1, the second location PL2, and the third location PL3 are connected by a travel path SR along which the vehicle 100 can travel. In the factory KJ, a plurality of external sensors 250 are installed along the travel path SR.

[0030] The first location PL1 is a location where work to assemble the vehicle 100 is carried out. The vehicle 100 assembled at the first location PL1 is in a state where it can travel by unmanned driving, in other words, it is in a state where it can perform the three functions of "running," "turning," and "stopping" by unmanned driving. In this embodiment, the vehicle 100 assembled at the first location PL1 is in the form of a platform. The vehicle 100 moves from the first location PL1 to the second location PL2 by unmanned driving.

[0031] The second location PL2 is a location where further work is performed to assemble parts to the vehicle 100. An assembly robot 300 is located at the second location PL2. Parts assembled at the second location PL2 include, for example, body parts, interior parts such as seats, headlamps, and wipers. In this embodiment, the vehicle 100 with parts assembled at the second location PL2 is in the form of a completed vehicle. The vehicle 100 moves from the second location PL2 to the third location PL3 in an unmanned operation.

[0032] The third location PL3 is a location where work to inspect the vehicle 100 is carried out. Vehicles 100 that pass the inspection at the third location PL3 are shipped from the factory KJ. Note that the vehicle 100 shipped from the factory KJ does not have to be in the form of a completed vehicle. In other words, the vehicle 100 shipped from the factory KJ may have parts that have not been installed. In this case, the parts that have not been installed may be installed on the vehicle 100 after the vehicle 100 is shipped from the factory KJ.

[0033] A-2. Driving control: FIG. 6 is a flowchart showing the processing procedure for driving control of the vehicle 100 in the first embodiment. In step S1, the calculation unit 210 acquires vehicle position information of the vehicle 100 using the detection results output from the external sensor 250. The vehicle position information is position information that serves as the basis for generating a driving control signal. In this embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GA of the factory KJ. Specifically, in step S1, the calculation unit 210 acquires the vehicle position information using a captured image acquired from a camera, which is the external sensor 250.

[0034] In detail, in step S1, the calculation unit 210, for example, detects the outer shape of the vehicle 100 from the captured image, calculates the coordinates of the positioning point of the vehicle 100 in the coordinate system of the captured image, i.e., the local coordinate system, and converts the calculated coordinates into coordinates in the global coordinate system GA, thereby acquiring the position of the vehicle 100. The outer shape of the vehicle 100 contained in the captured image can be detected, for example, by inputting the captured image into a detection model DM that utilizes artificial intelligence. The detection model DM is prepared, for example, inside or outside the system 10 and pre-stored in the memory 202 of the server device 200. The detection model DM may be, for example, a trained machine learning model that has been trained to achieve either semantic segmentation or instance segmentation. For example, a convolutional neural network (hereinafter, CNN) trained by supervised learning using a training dataset may be used as this machine learning model. The training dataset includes, for example, a plurality of training images including the vehicle 100, and labels indicating whether each region in the training images represents the vehicle 100 or a region other than the vehicle 100. During CNN training, it is preferable to update the parameters of the CNN using backpropagation (backpropagation) to reduce the error between the output result of the detection model DM and the label. Furthermore, the calculation unit 210 can acquire the orientation of the vehicle 100 by estimating the orientation based on the orientation of the movement vector of the vehicle 100 calculated from the positional changes of feature points of the vehicle 100 between frames of captured images using, for example, an optical flow method.

[0035] In step S2, the vehicle control command unit 212 determines a target position to which the vehicle 100 should next head. In this embodiment, the target position is represented by X, Y, and Z coordinates in the global coordinate system GA. A reference route RR, which is a route along which the vehicle 100 should travel, is stored in advance in the memory 202 of the server device 200. The route is represented by nodes indicating the departure point, nodes indicating passing points, nodes indicating the destination, and links connecting the nodes. The vehicle control command unit 212 uses the vehicle position information and the reference route RR to determine a target position to which the vehicle 100 should next head. The vehicle control command unit 212 determines a target position on the reference route RR that is ahead of the current location of the vehicle 100.

[0036] In step S3, the vehicle control command unit 212 generates a travel control signal for driving the vehicle 100 toward the determined target position. The vehicle control command unit 212 calculates the travel speed of the vehicle 100 from the change in the position of the vehicle 100 and compares the calculated travel speed with the target speed. When the travel speed is lower than the target speed, the vehicle control command unit 212 determines an acceleration such that the vehicle 100 accelerates. When the travel speed is higher than the target speed, the vehicle control command unit 212 determines an acceleration such that the vehicle 100 decelerates. Furthermore, when the vehicle 100 is located on the reference route RR, the vehicle control command unit 212 determines a steering angle and acceleration such that the vehicle 100 does not deviate from the reference route RR. 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 vehicle control command unit 212 determines a steering angle and acceleration such that the vehicle 100 returns to the reference route RR.

[0037] In step S4, the vehicle control command unit 212 transmits the generated driving control signal to the vehicle 100. The vehicle control command unit 212 repeats, at a predetermined cycle, obtaining the position of the vehicle 100, determining the target position, generating the driving control signal, and transmitting the driving control signal.

[0038] In step S5, vehicle control unit 115 receives the driving control signal transmitted from server device 200. In step S6, vehicle control unit 115 controls actuator group 120 using the received driving control signal, thereby causing vehicle 100 to drive at the acceleration and steering angle indicated in the driving control signal. Vehicle control unit 115 repeats receiving the driving control signal and controlling actuator group 120 at a predetermined cycle. According to system 10 in this embodiment, vehicle 100 can be driven by remote control, and vehicle 100 can be moved without using transportation equipment such as a crane or conveyor.

[0039] A-3. Parts assembly control: 7 and 8 are flowcharts showing the procedure of the part assembly control of the first embodiment. In this embodiment, the above-described travel control is executed as the basic control, and this control is executed in combination with the travel control. The control shown in FIGS. 7 and 8 is started when the system 10 enters an operating state, and is executed repeatedly while the system 10 is operating. Furthermore, the control in the server device 200 shown in FIGS. 7 and 8 and the control in the assembly robot 300 shown in FIG. 7 are executed in parallel with each other.

[0040] The control in server device 200 will now be described. As shown in Figures 7 and 8, steps S102 to S126 are executed in server device 200. In step S102, vehicle control command unit 212 creates a driving instruction to instruct vehicle 100 to drive toward a preset first stop target position ST1, and transmits the driving instruction to vehicle 100.

[0041] In step S104, the vehicle control command unit 212 determines whether the vehicle 100 is located at the first stop target position ST1. If it is determined that the vehicle 100 is not located at the first stop target position ST1 (step S104: No), the vehicle control command unit 212 executes step S102 again. In other words, the vehicle control command unit 212 repeatedly creates and transmits a driving instruction to instruct the vehicle 100 to drive toward the first stop target position ST1 until the vehicle 100 reaches the first stop target position ST1.

[0042] If it is determined that the vehicle 100 is located at the first stop target position ST1 (step S104: Yes), the vehicle control command unit 212 creates a stop instruction and transmits it to the vehicle 100 in step S106.

[0043] In step S108, the robot control command unit 218 creates an assembly instruction to instruct the assembly robot 300 to stop and assemble the vehicle 100 stopped at the first target stop position ST1, and transmits the assembly instruction to the assembly robot 300.

[0044] In step S110, the error information acquisition unit 214 determines whether an error signal and an evacuation completion signal have been received. If it is determined that an error signal and an evacuation completion signal have not been received (step S108: No), the above-mentioned step S102 is executed again. In other words, if stop assembly at the first stop target position ST1 is executed in accordance with the assembly instruction and no error occurs, the vehicle control command unit 212 creates a travel instruction to direct the vehicle 100 toward coordinates preset as the first stop target position ST1 of the next process, and transmits the travel instruction to the vehicle 100.

[0045] If it is determined that the error signal and the retraction completion signal have been received (step S110: No), the stop position calculation unit 216 calculates the second target stop position ST2 in step S112 shown in FIG.

[0046] In step S114, the vehicle control command unit 212 generates a driving command to instruct the vehicle 100 to drive toward the calculated second stop target position ST2, and transmits the driving command to the vehicle 100.

[0047] In step S116, the vehicle control command unit 212 determines whether the vehicle 100 is located at the second target position. If it is determined that the vehicle 100 is not located at the second target position (step S116: No), the vehicle control command unit 212 executes step S114 again. In other words, the vehicle control command unit 212 repeatedly creates and transmits a driving instruction to instruct the vehicle 100 to drive toward the second stop target position ST2 until the vehicle 100 reaches the second stop target position ST2.

[0048] If it is determined that the vehicle 100 is located at the second stop target position ST2 (step S116: Yes), the vehicle control command unit 212 creates a stop instruction and transmits it to the vehicle 100 in step S118.

[0049] In step S120, the robot control command unit 218 creates an assembly instruction to instruct stop assembly for the vehicle 100 stopped at the second stop target position ST2, and transmits the assembly instruction to the assembly robot 300. That is, in this embodiment, if stop assembly at the first stop target position ST1 fails, the vehicle 100 is moved to the second stop target position ST2, stopped there, and then stop assembly is attempted again. This makes it possible to try stop assembly again at the second stop target position ST2, which is different from the first stop target position ST1, and to properly assemble parts onto the vehicle 100.

[0050] In step S122, the error information acquisition unit 214 determines whether an error signal and an evacuation completion signal have been received. If it is determined that an error signal and an evacuation completion signal have not been received (step S122: No), in step S124, the vehicle control command unit 212 updates the second stop target position ST2 as the first stop target position ST1 of the vehicle following the vehicle 100. That is, in this embodiment, if the stop assembly for the vehicle 100 at the second stop target position ST2 is successful, the second stop target position ST2 is updated as the first stop target position ST1 of the vehicle following the vehicle 100. As a result, the vehicle following the vehicle 100 can be stopped from the beginning at the second stop target position ST2 where the stop assembly for the vehicle 100 was successful, rather than at the first stop target position ST1 where the stop assembly for the vehicle 100 was unsuccessful, and this makes it possible to prevent the stop assembly for the following vehicle from being unable to be performed.

[0051] If it is determined that the error signal and the evacuation completion signal have been received (step S122: Yes), in step S126, the vehicle control command unit 212 transmits a stop instruction to the vehicle 100, in other words, instructs the vehicle 100 to continue the stopped state, and notifies the manager. Here, the "manager" is not limited to the person who oversees the management of the system 10, but also includes a worker who performs recovery work when some kind of abnormality occurs in the system 10 and a worker who works near the part assembly process. By maintaining the stopped state of the vehicle 100, if the retry of the stop assembly at the second stop target position ST2 also fails, that is, if there is a possibility that some kind of abnormality has occurred, it is possible to prevent the vehicle 100 from traveling. Furthermore, by notifying the manager, it is possible to prevent the situation in which the abnormality has occurred from continuing.

[0052] The following describes the control of the assembling robot 300. In step S202 shown in Fig. 7, the robot control unit 315 determines whether or not an assembling instruction has been received. If it is determined that an assembling instruction has not been received (step S202: No), the robot control unit 315 repeatedly executes step S202.

[0053] If it is determined that an assembly instruction has been received (step S202: Yes), the robot control unit 315 assembles the part onto the vehicle 100 in step S204.

[0054] In step S206, the robot control unit 315 determines whether an assembly error has occurred. If it is determined that an assembly error has not occurred (step S206: No), in other words, if the stop assembly to the vehicle 100 has been successful, the above-described step S202 is executed again.

[0055] If it is determined that an assembly error has occurred (step S206: Yes), in step S208, the robot control unit 315 evacuates the part. In this embodiment, the robot control unit 315 evacuates the part from the time the assembly error occurred until an assembly instruction is received again, in other words, from the time before the movement of the vehicle 100 to the second stop target position ST2 is started until the movement is completed. This allows the movement of the vehicle 100 to start without contact between the vehicle 100 and the part that would hinder the traveling of the vehicle 100, and also prevents contact between the vehicle 100 and the part that would hinder the movement of the vehicle 100 while the vehicle 100 is moving to the second stop target position ST2.

[0056] In step S210, robot control unit 315 transmits an error signal and an evacuation completion signal to server device 200. By transmitting the error signal and the evacuation completion signal after the evacuation of the part is completed, server device 200 can start control to move vehicle 100 to second stop target position ST2 after confirming that the evacuation of the part is complete, and it is possible to prevent contact between vehicle 100 and the part and obstruction to the travel of vehicle 100. Then, step S202 described above is executed again.

[0057] According to the embodiment of the system 10 described above, if a part cannot be assembled to the vehicle 100 by stop assembly at the first stop target position ST1, the vehicle 100 is moved to the second stop target position ST2 where stop assembly is performed again, so that stop assembly can be attempted again at the second stop target position ST2, and the part can be properly assembled to the vehicle 100.

[0058] Furthermore, if the part cannot be assembled to the vehicle 100 by stop assembly at the second stop target position ST2, the system instructs the vehicle 100 to continue the stopped state and notifies the manager that stop assembly at the second stop target position ST2 could not be completed. Therefore, in a situation where stop assembly at the second stop target position ST2 could not be completed, that is, in a situation where some kind of abnormality may have occurred, it is possible to prevent the vehicle 100 from traveling. Furthermore, since the system notifies the manager, it is possible to prevent the situation where some kind of abnormality may have occurred from continuing.

[0059] Furthermore, if stop assembly is completed at the second stop target position ST2, the following vehicle is instructed to stop at the second stop target position ST2, so that the following vehicle can be stopped from the beginning at the second stop target position ST2 where stop assembly has been completed, thereby preventing the following vehicle from being unable to perform stop assembly.

[0060] In addition, the second stop target position ST2 is identified using second information, which is information regarding the position at which the assembly device performing the stop assembly attempted to perform the stop assembly at the first stop target position ST1.Therefore, the second stop target position ST2 can be set according to the position at which the stop assembly was attempted at the first stop target position ST1, making it easier to properly assemble parts to the vehicle 100 at the second stop target position ST2.

[0061] Furthermore, before the vehicle 100 starts moving toward the second stop target position ST2, the part is evacuated to a position where it will not come into contact with the vehicle 100, so the vehicle 100 can start moving without the vehicle 100 coming into contact with the part and interfering with the vehicle's 100 movement.

[0062] Furthermore, while the vehicle 100 is moving to the second stop target position ST2, the parts are retracted to a position where they will not come into contact with the vehicle 100, thereby preventing the vehicle 100 from coming into contact with the parts and hindering the movement of the vehicle 100 while the vehicle 100 is moving to the second stop target position ST2.

[0063] B. Second embodiment: 9 is a block diagram showing the configuration of a system 10v in the second embodiment. In this embodiment, the system 10v differs from the first embodiment in that it does not include a server device 200. Furthermore, the vehicle 100v in this embodiment can travel by autonomous control of the vehicle 100v. The other configurations are the same as those in the first embodiment unless otherwise specified.

[0064] In this embodiment, the processor 111v of the vehicle control device 110v executes a program PG1 stored in the memory 112v, thereby functioning as a vehicle control unit 115v, a calculation unit 190, an error information acquisition unit 192, a stop instruction unit 194, and a robot control command unit 196. The vehicle control unit 115v generates a driving control signal using vehicle position information, and outputs the generated driving control signal to operate the actuator group 120, thereby enabling the vehicle 100v to drive by autonomous control. In this embodiment, the memory 112v pre-stores a detection model DM and a reference route RR in addition to the program PG1. The vehicle control unit 115v in the second embodiment corresponds to the "control command unit" in this disclosure, and the vehicle control device 110v corresponds to the "control device" in this disclosure.

[0065] In this embodiment, if the stop assembly is successful at the second stop target position ST2, information indicating the second stop target position ST2 is transmitted by vehicle-to-vehicle communication to the following vehicle at 100v, and the second stop target position ST2 is updated as the first stop target position ST1 of the following vehicle of vehicle 100. Even with this configuration, as with the first embodiment described above, the following vehicle of vehicle 100 is not stopped at the first stop target position ST1 where the stop assembly for vehicle 100 has failed, but can be stopped from the beginning at the second stop target position ST2 where the stop assembly for vehicle 100 has succeeded, and it is possible to prevent the following vehicle from being unable to perform the stop assembly.

[0066] FIG. 10 is a flowchart showing the processing procedure for driving control of the vehicle 100v in the second embodiment. In step S11, the processor 111v acquires vehicle position information using the detection results output from the camera, which is the external sensor 250. In step S11 in this embodiment, the processor 111v acquires vehicle position information using a captured image and vehicle speed, similar to step S1 in FIG. 3. In step S12, the processor 111v determines a target position to which the vehicle 100v should next head. In step S13, the processor 111v generates a driving control signal for driving the vehicle 100v toward the determined target position. In step S14, the processor 111v controls the actuator group 120 using the generated driving control signal, thereby causing the vehicle 100v to drive in accordance with the parameters represented in the driving control signal. The processor 111v repeats the acquisition of vehicle position information, determination of the target position, generation of the driving control signal, and control of the actuator group 120 at a predetermined cycle. According to the system 10v of this embodiment, the vehicle 100v can be driven by autonomous control of the vehicle 100v without remotely controlling the vehicle 100v by the server device 200. Furthermore, similar to the above embodiment, according to the system 10v of this embodiment, even if a part cannot be assembled to the vehicle 100v by stop assembly at the first stop target position ST1, stop assembly can be attempted again at the second stop target position ST2, and the part can be properly assembled to the vehicle 100v.

[0067] C. Other Embodiments: (C1) In the above embodiment, the second stop target position ST2 is calculated by the stop position calculation unit 216, but the present disclosure is not limited to this. The second stop target position ST2 may be set in advance as a position that is a certain distance away from the first stop target position ST1. In such an embodiment, the server device 200 does not need to include the stop position calculation unit 216. Even with such an embodiment, if stop assembly at the first stop target position ST1 fails, stop assembly can be attempted again at the second stop target position ST2, and parts can be appropriately assembled on the vehicle 100. In addition, since calculation of the second stop target position ST2 is not necessary, the processing load on the server device 200 can be reduced.

[0068] (C2) In the above embodiment, the error information acquisition unit 214 acquires an error signal as assembly error information, but the present disclosure is not limited to this. For example, the error information acquisition unit 214 may acquire the detection result of the external sensor 250 as the assembly error information. In such a configuration, the error information acquisition unit 214 may detect the positional relationship between the vehicle 100 and the component in an image captured by a camera serving as the external sensor 250, and determine whether the component has been successfully assembled onto the vehicle 100. This configuration also achieves the same effects as the above embodiment.

[0069] Furthermore, in the above embodiment, the error information acquisition unit 214 acquires, as the assembly error information, an error signal indicating that stop assembly was not possible, but the present disclosure is not limited to this. Instead of an error signal, the error information acquisition unit 214 may acquire an assembly completion signal indicating that stop assembly was successful. Even with this configuration, it can be determined that stop assembly was successful if an assembly completion signal is received after an assembly instruction is transmitted. On the other hand, it can be determined that stop assembly was not successful if an assembly completion signal is not received even after a predetermined time has elapsed after the transmission of the assembly instruction. In other words, it can generally be said that the error information acquisition unit 214 acquires information regarding the success or failure of stop assembly.

[0070] (C3) In the above embodiment, server device 200 controls vehicle 100, the target of component assembly, depending on whether stop assembly was successful. However, the present disclosure is not limited to this. Server device 200 may also control vehicles other than vehicle 100, the target of component assembly, depending on whether stop assembly was successful. For example, if stop assembly at second stop target position ST2 fails, server device 200 may transmit a travel control signal to another vehicle traveling following vehicle 100 (hereinafter also referred to as a "following vehicle") to instruct it to stop or decelerate, in addition to step S126 shown in FIG. 8 . According to this embodiment, in a situation where stop assembly at the second stop target position could not be performed, i.e., in a situation where some kind of abnormality may have occurred, the traveling of the following vehicle can be suppressed. Furthermore, it is possible to suppress the distance between the moving body for which stop assembly failed and the following moving body from becoming shorter. In addition, the server device 200 may perform only some of the following functions: instructing the vehicle 100 to continue in a stopped state, instructing the following vehicle to slow down or stop, and notifying the administrator that stopping assembly at the second stopping target position ST2 was not possible.

[0071] (C4) In the above embodiment, the assembly robot 300 operates in accordance with the operation control signal received from the server device 200, but the present disclosure is not limited to this. The assembly robot 300 may further include an operation control signal generation unit that generates an operation control signal, and may perform operations based on the operation control signal that it has generated. In such a configuration, the operation control signal generation unit receives, for example, a signal commanding the start of assembly control from the server device 200 as an assembly instruction, identifies the assembly position of the part relative to the vehicle 100 using the detection results of a sensor (not shown), such as a camera, that the assembly robot 300 has, and autonomously generates the operation control signal. According to such a configuration, it is not necessary for the server device 200 to generate the operation control signal, and the processing on the server device 200 side can be prevented from becoming complicated.

[0072] Furthermore, the operation control signal generation unit may generate an operation control signal when it is detected that the vehicle 100 is located at a part assembly position, for example, by using the detection results of a sensor (not shown), such as a camera, provided in the assembly robot 300, without receiving an assembly instruction from the robot control command unit 218. That is, the assembly robot 300 may perform the operation of assembling a part on the vehicle 100 without receiving an instruction from another device. That is, the assembly robot 300 may perform the operation of assembling a part on the vehicle 100 without receiving an instruction from another device. In such a configuration, the server device 200 does not need to include the robot control command unit 218. Even with such a configuration, the same effects as those of the above embodiment can be achieved.

[0073] (C5) In the above embodiment, when an assembly error occurs, the robot control unit 315 transmits an error signal and a retraction completion signal, but the present disclosure is not limited to this. The robot control unit 315 may transmit only an error signal. Even in this configuration, it is possible to notify the server device 200 of the occurrence of an assembly error and to attempt stop assembly at the second target stop position ST2.

[0074] (C6) In each of the above embodiments, the external sensor 250 is a camera. However, the external sensor 250 does not have to be a camera and may be, for example, a distance measuring device. The distance measuring device may be, for example, a LiDAR (Light Detection and Ranging). In this case, the detection result output by the external sensor 250 may be three-dimensional point cloud data representing the vehicle 100. In this case, the server device 200 or the vehicle 100 may acquire vehicle position information by template matching using the three-dimensional point cloud data as the detection result and reference point cloud data prepared in advance.

[0075] (C7) In the first embodiment, the processes from obtaining vehicle position information to generating a driving control signal are executed by the server device 200. However, at least a part of the processes from obtaining vehicle position information to generating a driving control signal may be executed by the vehicle 100. For example, the following forms (1) to (3) may be used.

[0076] (1) The server device 200 may acquire vehicle position information, determine a target position to which the vehicle 100 should next head, and generate a route from the current location of the vehicle 100 indicated in the acquired vehicle position information to the target position. The server device 200 may generate a route to a target position between the current location and the destination, or may generate a route to the destination. The server device 200 may transmit the generated route to the vehicle 100. The vehicle 100 may generate a driving control signal so that the vehicle 100 drives on the route received from the server device 200, and control the actuator group 120 using the generated driving control signal.

[0077] (2) Server device 200 may acquire vehicle position information and transmit the acquired vehicle position information to vehicle 100. Vehicle 100 may determine a target position to which vehicle 100 should next head, generate a route from the current location of vehicle 100 indicated in the received vehicle position information to the target position, generate a driving control signal so that vehicle 100 travels on the generated route, and control actuator group 120 using the generated driving control signal.

[0078] (3) In the above embodiments (1) and (2), the vehicle 100 may be equipped with an internal sensor, and detection results output from the internal sensor may be used for at least one of generating a route and generating a driving control signal. The internal sensor is a sensor equipped in 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, an ultrasonic sensor, a GPS sensor, an acceleration sensor, a gyro sensor, and the like. For example, in the above embodiment (1), the server device 200 may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the route when generating a route. In the above embodiment (1), the vehicle 100 may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the driving control signal when creating a driving control signal. In the above embodiment (2), the vehicle 100 may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the route when generating a route. In the above embodiment (2), the vehicle 100 may acquire the detection result of the internal sensor, and may reflect the detection result of the internal sensor in the driving control signal when creating the driving control signal.

[0079] (C8) In the second embodiment, the vehicle 100v may be equipped with an internal sensor, and the detection results output from the internal sensor may be used for at least one of generating a route and generating a driving control signal. For example, the vehicle 100v may acquire the detection results of the internal sensor and, when generating a route, reflect the detection results of the internal sensor in the route. The vehicle 100v may acquire the detection results of the internal sensor and, when creating a driving control signal, reflect the detection results of the internal sensor in the driving control signal.

[0080] (C9) In the above embodiment in which the vehicle 100 can travel by autonomous control, the vehicle 100 acquires vehicle position information using the detection results of the external sensor 250. Alternatively, the vehicle 100 may be equipped with an internal sensor, and the vehicle 100 may acquire vehicle position information using the detection results of the internal sensor, determine a target position to which the vehicle 100 should next travel, generate a route from the current location of the vehicle 100 represented in the acquired vehicle position information to the target position, create a driving control signal for traveling along the generated route, and control the actuators of the vehicle 100 using the generated driving control signal. In this case, the vehicle 100 can travel without using any of the detection results of the external sensor 250. The vehicle 100 may acquire a target arrival time or congestion information from outside the vehicle 100 and reflect the target arrival time or congestion information in at least one of the route and the driving control signal. Furthermore, all of the functional configurations of the system 10 may be provided in the vehicle 100. In other words, the processing realized by the system 10 in the present disclosure may be realized by the vehicle 100 alone. In this embodiment, the success or failure of stop assembly to the vehicle 100 can be determined, for example, by utilizing the connection status between the part and the vehicle-mounted LAN.

[0081] (C10) In the first embodiment described above, the server device 200 automatically generates the driving control signal to be transmitted to the vehicle 100. However, the server device 200 may generate the driving control signal to be transmitted to the vehicle 100 in accordance with the operation of an external operator located outside the vehicle 100. For example, the external operator may operate a control device including a display that displays an image output from the external sensor 250, a steering wheel for remotely controlling the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the server device 200 via wired or wireless communication, and the server device 200 may generate the driving control signal in accordance with the operation applied to the control device.

[0082] (C11) In each of the above embodiments, the vehicle 100 may have a configuration that allows it to travel by unmanned driving, and may be in the form of a platform having the configuration described below, for example. Specifically, the vehicle 100 may have at least a control device that controls the travel of the vehicle 100 and actuators such as a drive device, a steering device, and a braking device in order to perform the three functions of "running," "turning," and "stopping" by unmanned driving. When the vehicle 100 acquires information from the outside for unmanned driving, the vehicle 100 may further have a communication device. In other words, the vehicle 100 that can travel by unmanned driving may not be equipped with at least some of the interior parts such as a driver's seat and a dashboard, may not be equipped with at least some of the exterior parts such as bumpers and fenders, and may not be equipped with a body shell. In this case, the remaining parts such as the body shell may be attached to the vehicle 100 before the vehicle 100 is shipped from the factory KJ, or the remaining parts such as the body shell may be attached to the vehicle 100 after the vehicle 100 is shipped from the factory KJ without the remaining parts such as the body shell being attached to the vehicle 100. Each part may be attached from any direction, such as the top, bottom, front, rear, right side, or left side of the vehicle 100, and may be attached from the same direction or from different directions. Note that the position of the platform configuration may also be determined in the same way as for the vehicle 100 in the first embodiment.

[0083] (C12) The vehicle 100 may be manufactured by combining multiple modules. A module refers to a unit composed of one or more parts grouped according to the configuration or function of the vehicle 100. For example, the platform of the vehicle 100 may be manufactured by combining a front module that forms the front part of the platform, a central module that forms the center part of the platform, and a rear module that forms the rear part of the platform. The number of modules that form the platform is not limited to three, but may be two or less, or four or more. In addition to or instead of the platform, parts of the vehicle 100 that are different from the platform may be modularized. The various modules may include any exterior parts such as a bumper or a grille, or any interior parts such as a seat or a console. Any type of mobile object, not limited to the vehicle 100, may be manufactured by combining multiple modules. Such a module may be manufactured, for example, by joining multiple parts using welding or fasteners, or by integrally molding at least a portion of the module as a single part by casting. The molding method of integrally molding at least a portion of the module as a single part is also called gigacasting or megacasting. By using Gigacast, each part of a moving body that has conventionally been formed by joining multiple parts can be formed as a single part. For example, the front module, center module, and rear module described above may be manufactured using Gigacast.

[0084] (C13) Transporting vehicle 100 using the unmanned driving of vehicle 100 is also called "self-propelled transport." The configuration for realizing self-propelled transport is also called a "vehicle remote-controlled autonomous transport system." The production method for producing vehicle 100 using self-propelled transport is also called "self-propelled production." In self-propelled production, for example, at a factory KJ where vehicle 100 is manufactured, at least a portion of the transport of vehicle 100 is realized by self-propelled transport.

[0085] (C14) In each of the above embodiments, some or all of the functions and processes implemented by software may be implemented by hardware. Furthermore, some or all of the functions and processes implemented by hardware may be implemented by software. For example, various circuits such as integrated circuits and discrete circuits may be used as hardware for implementing the various functions in each of the above embodiments.

[0086] The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit thereof. For example, the technical features in the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention section can be appropriately replaced or combined to solve some or all of the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0087] 10, 10v...system, 100, 100v...vehicle, 110, 110v...vehicle control device, 111, 111v...processor, 112, 112v...memory, 113...input / output interface, 114...internal bus, 115, 115v...vehicle control unit, 120...actuator group, 130...communication device, 190...calculation unit, 192...error information acquisition unit, 194...stop instruction unit, 196...robot control command unit, 200...server device, 201...processor, 202...memory, 203...input / output interface, 204...internal bus, 205...communication device, 210...calculation unit, 212...vehicle control command unit, 214...error information Acquisition unit, 216...stop position calculation unit, 218...robot control command unit, 220...remote control unit, 250...external sensor, 300...assembly robot, 310...robot control device, 311...processor, 312...memory, 313...input / output interface, 314...internal bus, 315...robot control unit, 320...arm unit, 330...communication device, DM...detection model, GA...global coordinate system, KJ...factory, LAN...mounted in vehicle, PG1, PG2, PG3...program, PL1...first location, PL2...second location, PL3...third location, RR...reference path, SR...travel path, ST1...first target stop position, ST2...second target stop position

Claims

1. A control device that controls assembly of parts into a moving body in a manufacturing process of the moving body that can travel by unmanned operation, a control instruction unit that instructs the moving body to stop at a first target stop position where stop assembly, which is assembly of the part to the moving body that is stopped, is performed; an information acquisition unit that acquires first information that is information regarding success or failure of the stop assembly; Equipped with the control instruction unit further instructs the movable body to move to a second target stop position where the stop assembly will be performed again when the first information relating to the failure of the stop assembly at the first target stop position is acquired. Control device.

2. The control device according to claim 1, When the first information relating to the fact that the stop assembly could not be performed at the second target stop position is acquired, the control command unit: instructing the moving object to continue in a stopped state; instructing a following moving body that is another moving body traveling following the moving body to slow down or stop; notifying an administrator that the stop assembly at the second target stop position has not been completed; Execute at least one of the following: Control device.

3. The control device according to claim 1, When the first information relating to the completion of the stop assembly at the second stop target position is acquired, the control command unit instructs a subsequent moving body that is another moving body traveling following the moving body to stop at the second stop target position. Control device.

4. The control device according to claim 1, The second target stop position is specified by using second information, which is information about a position at which an assembly device that performs the stop assembling attempts the stop assembling at the first target stop position. Control device.

5. The control device according to claim 1, the component is retracted to a position where it will not come into contact with the moving body before the moving body starts to move to the second target stop position; Control device.

6. The control device according to claim 1, While the moving body is moving to the second target stop position, the component is retracted to a position where it does not come into contact with the moving body. Control device.

7. A system for controlling assembly of parts onto a mobile body capable of traveling by unmanned operation in a manufacturing process of the mobile body, comprising: a control instruction unit that instructs the moving body to stop at a first target stop position where stop assembly, which is assembly of the part to the moving body that is stopped, is performed; an information acquisition unit that acquires first information that is information regarding success or failure of the stop assembly; Equipped with the control instruction unit further instructs the movable body to move to a second target stop position where the stop assembly will be performed again when the first information relating to the failure of the stop assembly at the first target stop position is acquired. system.

8. A control method for controlling assembly of parts into a mobile body capable of traveling by unmanned operation in a manufacturing process of the mobile body, comprising: instructing the moving body to stop at a first target stop position where stop assembly, which is assembly of the part to the moving body that is stopped, is performed; acquiring first information which is information relating to success or failure of the stop assembly; When the first information relating to the failure of the stop assembling at the first target stop position is acquired, further instructing the moving body to move to a second target stop position where the stop assembling is to be performed again; Equipped with Control method.

9. A mobile body capable of traveling unmanned in its own manufacturing process, a control command unit that stops the moving body at a first target stop position where stop assembly, which is assembly of a part to the moving body that is stopped, is performed; an information acquisition unit that acquires first information that is information regarding success or failure of the stop assembly; Equipped with when the first information relating to the failure of the stop assembly at the first target stop position is acquired, the control command unit moves the movable body to a second target stop position where the stop assembly is to be performed again. Mobile object.

Images