System, assembly device, and mobile body

Abstract

To provide a technique by which a mobile body is appropriately stopped and assembled.SOLUTION: A system includes: a control command unit configured to transmit a first control command to the mobile body traveling in an unattended operation to stop the mobile body at a first position; and a determination unit configured to determine whether a first stop position at which the mobile body has stopped in accordance with the first control command is an appropriate work position for assembling parts. When the determination unit determines that the first stop position is not a work position, the control command unit transmits a second control command to the mobile body to move the mobile body to a second position at which assembly of the parts is performed.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a system, an assembly device, and a moving body. [Background technology]

[0002] Patent Document 1 describes a method for operating a vehicle traveling within a manufacturing system by remote control. [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, one method for assembling parts onto an unfinished vehicle that can travel unmanned to produce the vehicle is to stop the traveling vehicle at a stopping position and perform the assembly. However, with this method, the vehicle may stop at a position that is different from the stopping position. In this case, the assembly may not be performed properly. This problem is common not only to vehicles but also to moving objects. [Means for solving the problem]

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

[0006] (1) According to a first aspect of the present disclosure, there is provided a system. The system includes a control command unit that transmits a first control command to a mobile object traveling in an unmanned operation to stop the mobile object at a first position where a part is to be assembled, and a determination unit that determines whether the first stop position where the mobile object has stopped in accordance with the first control command is an appropriate work position for assembling the part. When the determination unit determines that the first stop position is not the work position, the control command unit transmits a second control command to the mobile object to move the mobile object to a second position where the part will be assembled. According to this aspect, even if the mobile object stops at a position that is not an appropriate work position for assembling the part, the control command unit moves the mobile object to the second position, thereby enabling the part to be assembled at the second position. (2) The system of the above aspect may further include a control device having the control command unit, and an assembly device having the determination unit and performing assembly of the part. According to this aspect, the assembly device can determine whether the position where the moving body is stopped is a work position, and the control device can transmit a second control command to the moving body. (3) In the system of the above aspect, the assembly device may further include a transmitter that transmits, to the control device, first information indicating that the first stop position is not the work position when the determination unit determines that the first stop position is not the work position, the control device may further include a receiver that receives the first information, and the control command unit may transmit the second control command when the receiver receives the first information. According to this aspect, when the assembly device transmits the first information, the control device can transmit the second control command. (4) In the system of the above aspect, the first information may include second information regarding a positional deviation between the first stop position and the work position. According to this aspect, the assembly device can transmit information regarding the positional deviation to the control device. This allows the movable body to be moved to a position appropriate for assembling the part. (5) In the system of the above aspect, the control device may further include a control command creation unit that uses the second information to create the second control command including at least one of route information of a route to the second position and control amount information of remote control to the second position. According to this aspect, it is possible to create a second control command including either the route information or the control amount information created by the control command creation unit. (6) The system of the above aspect may further include an assembly device that assembles the part, and the assembly device assembles the part onto the moving body that has moved in accordance with the second control command. According to this aspect, the assembly device can assemble the part onto the moving body that has stopped in accordance with the second control command. (7) The system of the above aspect may further include an assembly device that assembles the part, and when the determination unit determines that the first stop position is the work position, the assembly device assembles the part onto the moving body stopped at the first stop position. According to this aspect, the assembly device can assemble the part onto the moving body stopped at the moving body stop position. (8) In the system of the above aspect, when the determination unit determines that the first stop position is not the work position, at least one of a deceleration command and a stop command may be transmitted to the moving body following the moving body stopped at the first stop position. According to this aspect, it is possible to appropriately maintain a distance between the moving body stopped at the moving body stop position and the following moving body. (9) In the system of the above aspect, the determination unit may determine whether a second stop position where the moving body has stopped in accordance with the second control command is the work position, and when the determination unit determines that the second stop position is not the work position, the control command unit may perform at least one of the following processes: a process of transmitting a first command to continue the stop at the second stop position, a process of transmitting a second command to the moving body following the moving body stopped at the second stop position to slow down or stop it, and a transmission process of transmitting an abnormality signal to a notification unit that notifies of an abnormality. According to this aspect, when the second stop position is not the work position, i.e., when assembly cannot be properly performed on the moving body stopped at the second stop position, any of the process of transmitting the first command, the process of transmitting the second command, and the transmission process can be performed. (10) According to a second aspect of the present disclosure, there is provided an assembly device that assembles parts onto a moving body. The assembly device includes a control device that remotely controls the moving body, a transmission unit for communicating with at least one of the moving bodies, a position detection unit that detects a stop position of the moving body, and a determination unit that determines whether the stop position is an appropriate work position for assembling the part. When the determination unit determines that the stop position is not the work position, the transmission unit transmits information regarding a positional deviation between the stop position and the work position to at least one of the control device and the moving body. According to this aspect, it is possible to provide an assembly device that transmits information regarding a positional deviation between the stop position and the work position when it determines that the position of the stopped moving body is not an appropriate work position for assembly. (11) According to a second aspect of the present disclosure, there is provided a mobile body. The mobile body includes an acquisition unit that acquires information regarding a positional deviation between a stopping position of the mobile body and an appropriate work position for assembling a part to the mobile body, a mobile body creation unit that uses the acquired information to create control information for stopping the mobile body at the work position, and a control unit that uses the control information to control an actuator for driving the mobile body. According to this aspect, it is possible to provide a mobile body that moves to a work position appropriate for assembly when the position of the stopped mobile body is not an appropriate work position for assembly. The present disclosure may be realized in various forms other than those described above, such as an assembly method, a program for the assembly method, or a non-transitory tangible recording medium on which the assembly program is recorded in a computer-readable manner. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a conceptual diagram showing a system configuration. [Figure 2] FIG. [Figure 3] FIG. 1 is a block diagram showing a system configuration. [Figure 4] FIG. 2 is a block diagram showing the configuration of an assembly robot. [Figure 5] 4 is a flowchart showing a processing procedure for vehicle travel control. [Figure 6] 10 is a first flowchart showing a procedure of stop assembly control. [Figure 7] 10 is a second flowchart showing the procedure of stop assembly control. [Figure 8] FIG. 10 is an explanatory diagram showing a schematic configuration of a system according to a second embodiment. [Figure 9] 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: 1 is a conceptual diagram showing the configuration of a system 50 according to the first embodiment. The system 50 includes one or more vehicles 100 as moving objects, a server 200, one or more external sensors 300, and an assembly robot 400.

[0009] In this disclosure, a "mobile body" refers to an object that can move, such as a vehicle or an electric vertical take-off and landing aircraft (a so-called flying car). A vehicle may be a vehicle that runs on wheels or a vehicle that runs on tracks, such as a passenger car, truck, bus, motorcycle, automobile, tank, or construction vehicle. Vehicles include electric vehicles (BEVs: Battery Electric Vehicles), gasoline-powered vehicles, hybrid vehicles, and fuel cell vehicles. When a mobile body is something other than a vehicle, the terms "vehicle" and "car" in this disclosure may be appropriately replaced with "mobile body," and the term "traveling" may be appropriately replaced with "moving."

[0010] The vehicle 100 is configured to be capable of traveling in an unmanned manner. "Unmanned driving" refers to driving without the driver's control. Driving operation refers to operations related to at least one of "running," "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 vehicle 100 traveling in an unmanned manner may have a driver on board who does not operate the vehicle. A driver who does not operate the vehicle may, for example, simply be seated in the vehicle 100, or a person who is riding in the vehicle 100 and performing work other than driving operations, such as assembly, inspection, or operating switches. Driving in which a driver controls the vehicle is sometimes called "manned driving."

[0011] In this specification, "remote control" includes "full remote control" in which all of the operations of vehicle 100 are completely determined from outside vehicle 100, and "partial remote control" in which some of the operations of vehicle 100 are determined from outside vehicle 100. Furthermore, "autonomous control" includes "full autonomous control" in which vehicle 100 autonomously controls its own operations without receiving any information from devices external to vehicle 100, and "partial autonomous control" in which vehicle 100 autonomously controls its own operations using information received from devices external to vehicle 100.

[0012] In this embodiment, the system 50 is used in a factory FC that manufactures vehicles 100. The reference coordinate system of the factory FC is a global coordinate system GC, and any position in the factory FC can be expressed by X, Y, and Z coordinates in the global coordinate system GC. The factory FC has a first location PL1 and a second location PL2. The first location PL1 and the second location PL2 are connected by a road TR along which the vehicle 100 can travel. In the factory FC, a plurality of external sensors 300 are installed along the road TR. The position of each external sensor 300 in the factory FC is adjusted in advance. The vehicle 100 moves from the first location PL1 to the second location PL2 along the road TR in an unmanned operation.

[0013] In this embodiment, a process of assembling parts PA to vehicle 100 in the form of a platform is carried out at first location PL1. Then, once assembly is complete, vehicle 100 moves to second location PL2 where the next process is carried out. Vehicle 100 in the form of a platform is equipped with at least a vehicle control device 110, an actuator group 120, and a communication device 130 in order to perform the three functions of "running," "turning," and "stopping" through unmanned driving.

[0014] 2 is a diagram illustrating the assembly of part PA to vehicle 100 at first location PL1. As shown in Fig. 2, at first location PL1, an assembly robot 400 serving as an assembly device is arranged along a track TR of vehicle 100. Note that in the present disclosure, the path along which vehicle 100 travels within first location PL1 is also referred to as track TR.

[0015] In this embodiment, the assembly robot 400 is a vertical articulated robot. The assembly robot 400 includes an arm 420 and a robot sensor 440. An end effector 421 that grips a part PA is attached to the tip of the arm 420.

[0016] The vehicle 100 travels unmanned in the direction of the arrow shown in FIG. 2 and stops near the assembly robot 400. Then, while the vehicle 100 is stationary, the assembly robot 400 assembles the part PA. This method of assembling the part PA to the vehicle 100 in the form of a stationary platform is also called "stationary assembly." In contrast, a method of assembling the part PA to the vehicle 100 in the form of a moving platform, which differs from the present embodiment, is also called "moving assembly." "Stationary assembly" has the advantage that the precision required for control of the vehicle 100 and the robot sensor 440 tends to be lower than that required for "moving assembly."

[0017] In "stop assembly," the stopping position PS of the vehicle 100 may deviate from the appropriate position. According to the present embodiment described below, the part PA can be assembled even when the stopping position of the vehicle 100 deviates from the appropriate position.

[0018] 3 is a block diagram showing the configuration of the system 50. 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 via wireless communication with external devices such as a server 200. The actuator group 120 includes an actuator for a drive device for accelerating the vehicle 100, an actuator for a steering device for changing the traveling direction of the vehicle 100, and an actuator for a braking device for decelerating the vehicle 100.

[0019] 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.

[0020] The vehicle control unit 115 controls the actuator group 120 to cause the vehicle 100 to run. The vehicle control unit 115 controls the actuator group 120 using a running control signal received from the server 200 to cause the vehicle 100 to run. The running control signal is a control signal for causing the vehicle 100 to run. In this embodiment, the running control signal includes the acceleration and steering angle of the vehicle 100 as parameters. In other embodiments, the running 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.

[0021] 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 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 various devices external to the server 200. The communication device 205 can communicate with the vehicle 100 via wireless communication, and can communicate with each external sensor 300 via wired communication or wireless communication. The processor 201 executes a program PG2 stored in the memory 202 to realize various functions, including the function of the remote control unit 210.

[0022] The remote control unit 210 acquires detection results from the sensors, generates a driving control signal for controlling the actuator group 120 of the vehicle 100 using the detection results, and transmits the driving control signal to the vehicle 100, thereby remotely controlling the vehicle 100 to drive. The remote control unit 210 may generate and output not only driving control signals but also control signals for controlling actuators that operate various accessories provided in the vehicle 100 and various equipment such as wipers, power windows, and lamps. In other words, the remote control unit 210 may operate these various equipment and accessories by remote control.

[0023] In addition to the above configuration, processor 201 has a control command unit 211 and a control command creation unit 212. In addition to the above configuration, memory 202 stores program PG3. Control command unit 211 and control command creation unit 212 are functional units realized by executing program PG3. Server 200 functions as a control device for controlling vehicle 100 during the assembly process.

[0024] The external sensor 300 is a sensor located outside the vehicle 100. In this embodiment, the external sensor 300 is a sensor that captures the vehicle 100 from outside the vehicle 100. The external sensor 300 is equipped with a communication device (not shown) and can communicate with other devices such as the server 200 via wired communication or wireless communication.

[0025] Specifically, the external sensor 300 is configured by a camera. The camera serving as the external sensor 300 captures an image of the vehicle 100 and outputs the captured image as a detection result.

[0026] 4 is a block diagram showing the configuration of the assembly robot 400. The assembly robot 400 includes a robot control device 410 and a communication device 430 in addition to the above configuration.

[0027] The robot control device 410 is configured by a computer including a processor 411, a memory 412, an input / output interface 413, and an internal bus 414. The processor 411, the memory 412, and the input / output interface 413 are connected via the internal bus 414 to enable bidirectional communication. The input / output interface 413 is connected to an arm unit 420, a communication device 430, and a robot sensor 440.

[0028] In this embodiment, the processor 411 executes a program PG4 stored in advance in the memory 412, thereby functioning as a robot control unit 415, a determination unit 416, and a position detection unit 417. The robot control unit 415 controls each unit of the assembly robot 400, including the arm unit 420. The communication device 430, which functions as a transmitter and a receiver, can communicate with the server 200 and the assembly robot 400 via wired or wireless communication. The robot sensor 440 is a sensor that captures the vehicle 100 from outside the vehicle 100. Specifically, the robot sensor 440 is configured by a camera. The camera serving as the robot sensor 440 captures an image of the vehicle 100 and outputs the captured image as a detection result.

[0029] As described above, vehicle 100 in the form of a platform travels in an unmanned manner at first location PL1 under the control of server 200. Then, part PA is assembled to vehicle 100 that has stopped at stopping position PS. First, the travel control by server 200 will be described with reference to FIG. 5.

[0030] Fig. 5 is a flowchart showing the processing procedure for driving control of vehicle 100. In the processing procedure in Fig. 5, processor 201 of server 200 executes program PG2 to function as remote control unit 210. Also, processor 111 of vehicle 100 executes program PG1 to function as vehicle control unit 115.

[0031] In step S1, the processor 201 of the server 200 acquires vehicle position information using the detection results output from the external sensor 300. 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 GC of the factory FC. Specifically, in step S1, the processor 201 acquires the vehicle position information using a captured image acquired from a camera, which is the external sensor 300.

[0032] In detail, in step S1, the processor 201, 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 GC, thereby acquiring the position of the vehicle 100. The outer shape of the vehicle 100 included in the captured image can be detected, for example, by inputting the captured image into a detection model DM that utilizes artificial intelligence. The detection model DM is prepared, for example, inside or outside the system 50, and is pre-stored in the memory 202 of the server 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. As this machine learning model, for example, a convolutional neural network (hereinafter, CNN) trained by supervised learning using a training dataset may be used. The training dataset may, for example, include a plurality of training images including the vehicle 100 and labels indicating whether each region in the training image 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 by backpropagation (error backpropagation method) so as to reduce the error between the output result of the detection model DM and the label. In addition, the processor 201 can acquire the orientation of the vehicle 100 by estimating it based on the orientation of the movement vector of the vehicle 100 calculated from the positional change of the feature points of the vehicle 100 between frames of the captured image using, for example, an optical flow method.

[0033] In step S2, the processor 201 of the server 200 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 GC. A reference route RR, which is a route to be traveled by the vehicle 100, is stored in advance in the memory 202 of the server 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 processor 201 uses the vehicle position information and the reference route RR to determine a target position to which the vehicle 100 should next head. The processor 201 determines a target position on the reference route RR that is ahead of the current location of the vehicle 100.

[0034] In step S3, the processor 201 of the server 200 generates a travel control signal for causing the vehicle 100 to travel toward the determined target position. The processor 201 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 processor 201 determines an acceleration such that the vehicle 100 accelerates. When the travel speed is higher than the target speed, the processor 201 determines an acceleration such that the vehicle 100 decelerates. Furthermore, when the vehicle 100 is located on the reference route RR, the processor 201 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 processor 201 determines a steering angle and acceleration such that the vehicle 100 returns to the reference route RR.

[0035] In step S4, the processor 201 of the server 200 transmits the generated driving control signal to the vehicle 100. The processor 201 repeats, at a predetermined cycle, the acquisition of vehicle position information, the determination of a target position, the generation of a driving control signal, and the transmission of the driving control signal.

[0036] In step S5, the processor 111 of the vehicle 100 receives the 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 causing the vehicle 100 to drive at the acceleration and steering angle indicated in the driving control signal. The processor 111 repeats receiving the driving control signal and controlling the actuator group 120 at a predetermined cycle. According to the system 50 of this embodiment, the vehicle 100 can be driven by remote control, and the vehicle 100 can be moved without using transportation equipment such as a crane or conveyor.

[0037] Next, "stop assembly" will be described with reference to Figures 6 and 7. Figure 6 is a first flowchart showing the procedure for stop assembly control. Figure 7 is a second flowchart showing the procedure for stop assembly control. The server 200 performs the travel control shown in Figure 5 as well as the stop assembly control. The stop assembly control is applied when the current position of the vehicle 100 reaches a confirmation position PO1, which will be described later. In the "stop assembly" control, the communication device 205 of the server 200 functions as a receiving unit that receives first information, which will be described later. In the "stop assembly" control, the communication device 430 of the assembly robot 400 functions as a transmitting unit.

[0038] 6, similarly to step S1, the control instruction unit 211 of the server 200 acquires vehicle position information using the detection results output from the external sensor 300. The vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GC of the factory FC.

[0039] In step S22, it is determined whether the vehicle position of the vehicle 100 indicated by the vehicle position information is the confirmation position PO1. As shown in Figure 2, the confirmation position PO1 is a position on the track TR upstream of the stop position PS where the assembly by the assembly robot 400 is performed.

[0040] 6, if it is determined that the vehicle position of the vehicle 100 is not the confirmation position PO1, the control command unit 211 returns the process to step S21 after a predetermined time has elapsed. The predetermined time is, for example, several milliseconds. Here, the confirmation position PO1 is position information used to determine whether the vehicle 100 is approaching the stop position PS. For this reason, the confirmation position PO1 may be determined not as a point in the global coordinate system GC but as including a position range.

[0041] If it is determined in step S22 that the vehicle position is the confirmation position PO1, then in step S23, the control command unit 211 creates and transmits a first control command to the vehicle 100. The first control command is a signal instructing the vehicle 100 to stop at the first position PS1. In this embodiment, the first control command is, more specifically, a travel control signal set to stop the vehicle 100 at the first position PS1. The first position PS1 is a position where the assembly robot 400 is scheduled to assemble the part PA. In this embodiment, the first position PS1 is expressed by X, Y, and Z coordinates in the global coordinate system GC. Note that, like the confirmation position PO1, the first position PS1 may be determined to include a range of positions rather than a point in the global coordinate system GC. This is because, even if the stop position PS of the vehicle 100 deviates from the optimal position for the assembly work, the assembly work can be performed by compensating for the positional deviation through the operation of the arm unit 420 of the assembly robot 400.

[0042] When the first control command is received, similarly to step S6 above, vehicle control unit 115 of vehicle 100 controls actuator group 120 to stop vehicle 100 at first position PS1.

[0043] When performing assembly work, the assembly robot 400 first checks whether the position of the stopped vehicle 100 is an appropriate work position for assembly. Specifically, first, in step S41, the position detection unit 417 of the assembly robot 400 uses the robot sensor 440 to detect a first stop position, which is the stop position PS of the vehicle 100. In this embodiment, the position acquired in step S41 is the relative position of the vehicle 100 with respect to the assembly robot 400. Step S41 is performed in the same way as step S1 performed by the server 200, and therefore a description thereof will be omitted.

[0044] Next, in step S42, the determination unit 416 of the assembly robot 400 determines whether the first stop position, where the vehicle 100 has stopped in accordance with the first control command, is an appropriate work position for assembling the part PA. If it is determined in step S42 that the first stop position is not the work position, in step S43, the robot control unit 415 transmits an abnormality signal as first information to the server 200 via the communication device 430. The abnormality signal includes information indicating that the first stop position is not the work position. In this embodiment, the first information further includes second information regarding a positional deviation between the first stop position and the work position. In this embodiment, the second information is information indicating whether the position of the vehicle 100 is behind or in front of the work position. The abnormality signal is received by the communication device 205 of the server 200.

[0045] There are several reasons why the first stop position is not a work position. For example, one reason is that the vehicle position of the vehicle 100 calculated by the processor 201 of the server 200 using the captured image, i.e., the estimated position, is deviated from the actual position. Since the vehicle 100 travels according to a travel control signal created by the server 200, if the vehicle position serving as the starting point is deviated from the actual position, the first stop position serving as the end point will be deviated from the first position PS1. Another reason why the first stop position is not a work position is that there is an error in the coordinates of the first position PS1, which is the target position to which the vehicle 100 should next head.

[0046] Due to the joint mechanism, the assembly robot 400 will be in a posture that makes assembly difficult if the vehicle 100 is far away. Therefore, as described above, before performing the assembly work, the assembly robot 400 uses the robot sensor 440 to determine whether the position of the vehicle 100 is an appropriate work position for the work. Note that, for the same reason as for the first position PS1, the work position may be determined to include a position range rather than as a point in the global coordinate system GC.

[0047] If it is determined that the first stop position is a work position, the robot control unit 415 starts the assembly work on the vehicle 100 stopped at the first stop position in step S44. The robot control unit 415 performs the assembly work as a separate processing routine.

[0048] In step S24, the control command unit 211 determines whether the first stop position where the vehicle 100 has stopped in accordance with the first control command is a work position. If the control command unit 211 has received the abnormality signal transmitted in step S43, it determines that the first stop position is not a work position. On the other hand, if the control command unit 211 has not received the abnormality signal transmitted in step S43, it determines that the first stop position is a work position.

[0049] If it is determined in step S24 that the first stop position is a work position, there is no need to move the vehicle 100 further, and therefore the control command unit 211 ends this processing routine.

[0050] If it is determined in step S24 that the first stop position is not a work position, the control command generation unit 212 generates a second control command in step S25 of FIG. 7. The second control command is a command to move the vehicle 100 to a second position PS2 where the part PA is to be assembled. In this embodiment, the second control command includes control amount information for remote control up to the second position PS2. The control amount information is control amount information to be instructed to the vehicle 100 for moving from the first stop position to the second position PS2, specifically, information on control amounts such as steering angle and acceleration.

[0051] In step S26, the control command unit 211 transmits the created second control command to the vehicle 100 via the communication device 205. Additionally, in step S26, the control command unit 211 transmits at least one of a deceleration command and a stop command to the following vehicle 100 on the road TR of the vehicle 100 that transmitted the second control command.

[0052] The second position PS2 is a position different from the first stop position. In this embodiment, the second position PS2 is determined as a relative position from the first stop position. In this embodiment, the second position PS2 is a position that is a predetermined distance forward or backward of the vehicle 100 from the first position PS1. In this embodiment, the abnormality signal includes positional deviation information indicating whether the first stop position is behind or forward of the work position. Therefore, the control command creation unit 212 determines the movement direction of the vehicle 100 in the second control command using the positional deviation information included in the abnormality signal. In other words, if the abnormality signal includes information that the first stop position is behind the work position, the movement direction commanded by the second control command is forward. The second control command commands control to move forward by, for example, 50 cm.

[0053] After the vehicle 100 moves in accordance with the second control command, the assembly robot 400 attempts to assemble the part PA again. Specifically, first, in step S45, the position detection unit 417 of the assembly robot 400 detects the stopping position PS of the vehicle 100 using the robot sensor 440, similar to step S41.

[0054] Step S45 is a processing step aimed at determining whether the second stop position, which is the position of the vehicle 100 moved to in accordance with the second control command, is a work position. Therefore, in step S25, the server 200 may transmit a signal indicating that the second control command has been transmitted to the vehicle 100 to the assembly robot 400. Then, the robot control unit 415 may perform step S45 after receiving the signal indicating that the second control command has been transmitted to the vehicle 100.

[0055] In step S46, the determination unit 416 of the assembly robot 400 determines whether the second stop position where the vehicle 100 is stopped in accordance with the second control command is an appropriate work position for assembling the part PA. If it is determined in step S46 that the vehicle position is an appropriate work position, in step S48, the robot control unit 415 starts the assembly work and ends this processing routine.

[0056] If it is determined in step S46 that the second stop position is not the working position, then in step S47, similarly to step S45, the robot control unit 415 transmits an abnormality signal to the server 200, and ends this processing routine.

[0057] In step S27, the control command unit 211 determines whether the second stop position is a work position, similar to step S24. If the control command unit 211 has received the abnormality signal transmitted in step S47, it determines that the second stop position is not a work position. On the other hand, if the control command unit 211 has not received the abnormality signal transmitted in step S47, it determines that the second stop position is a work position.

[0058] If it is determined in step S27 that the second stop position is a work position, there is no need to move the vehicle 100 further, and therefore the control command unit 211 ends this processing routine.

[0059] If it is determined in step S27 that the second stop position is not a work position, in step S28, the control command unit 211 creates a first command to continue stopping at the second stop position and performs a process of sending the first command to the vehicle 100 stopped at the second stop position.

[0060] In step S29, the control command unit 211 performs processing to transmit a second command to the vehicle 100 following the vehicle 100 stopped at the second vehicle stop position to slow down or stop the vehicle 100.

[0061] In step S30, the control instruction unit 211 performs a transmission process to transmit an abnormality signal to a notification unit (not shown) that notifies the abnormality. Specifically, the notification unit is an alarm device that issues an alarm and is located at the first location PL1, or an information terminal device used by the administrator. If the notification unit is an alarm device, the alarm device issues an alarm when it receives the abnormality signal. If the notification unit is an information terminal, the information terminal displays a message notifying the abnormality on a display when it receives the abnormality signal.

[0062] In step S27 above, it is determined that the second stop position is not a work position when the vehicle 100 stopped at the first stop position moves further but assembly work cannot be started. In this case, it is often more efficient to have a worker resolve the abnormality. Therefore, in this embodiment, steps S28, S29, and S30 are performed, thereby enabling the abnormality to be resolved early. Note that the order in which the processing steps of steps S28, S29, and S30 are performed is not limited to the order shown in FIG. 7. In another embodiment, at least one of steps S28, S29, and S30 may be performed.

[0063] Furthermore, abnormalities may occur not only before the assembly robot 400 starts assembly, but also after the assembly robot 400 starts assembly in steps S44 and S48. In this case, the control instruction unit 211 may perform steps S27, S28, and S29. This allows the abnormality to be resolved quickly. Specifically, during the assembly operation, the robot control unit 415 grasps the part PA with the end effector 421 and assembles it on the stopped vehicle 100. Abnormalities during assembly include, for example, an inability to grasp the part PA or an inability to assemble the grasped part PA. Causes of an inability to assemble the grasped part PA include, for example, an abnormal posture of the part PA before being grasped, an abnormal posture of the grasped part PA, or an abnormal relative position between the vehicle 100 and the assembly robot 400. In this configuration, if an abnormality occurs during the assembly operation, the robot control unit 415 transmits an abnormality signal to the server 200. When the control command unit 211 receives the abnormality signal, it performs steps S27, S28, and S29.

[0064] According to the first embodiment described above, the system 50 includes the control command unit 211 and the determination unit 416. If the determination unit 416 determines that the first stop position is not an appropriate work position for assembly, then in step S26, the control command unit 211 transmits a second control command to the vehicle 100 to move the vehicle 100 to the second position PS2. As a result, even if the vehicle 100 stops at a position that is not an appropriate work position for assembling the part PA, the control command unit 211 moves the vehicle 100 to the second position PS2, thereby enabling the part PA to be assembled at the second position PS2.

[0065] The server 200 also has a control command unit 211. The assembly robot 400 has a determination unit 416. This allows the assembly robot 400 to determine whether the position where the vehicle 100 is stopped is a work position or not, and the server 200 can transmit a second control command to the vehicle 100.

[0066] The assembly robot 400 also has a communication device 430 that transmits an abnormality signal to the server 200, indicating that the first stop position is not the work position. When the communication device 205 receives the abnormality signal, the control command unit 211 transmits a second control command in step S26. This allows the server 200 to transmit the second control command when the assembly robot 400 transmits the abnormality signal.

[0067] Furthermore, the abnormality signal indicating that the first stop position is not the work position includes information about the positional deviation. This allows the control command creation unit 212 to create a second control command that reflects the information about the positional deviation. Therefore, the vehicle 100 can be moved to a position appropriate for assembling the part.

[0068] The server 200 also includes a control command creating unit 212 that creates a second control command including control amount information for remote control up to the second position PS2. This allows the control command creating unit 212 to create a second control command including the control amount information.

[0069] Furthermore, the assembly robot 400 assembles the part PA to the vehicle 100 that has stopped in accordance with the second control command. This allows the assembly robot 400 to assemble the part PA to the vehicle 100 that has stopped in accordance with the second control command. Furthermore, the assembly robot 400 assembles the part PA to the vehicle 100 that has stopped at the first position PS1. This allows the assembly robot 400 to assemble the part PA to the vehicle 100 that has stopped in accordance with the first control command.

[0070] Furthermore, if the determination unit 416 determines that the first stop position is not a work position, in step S26, the control command unit 211 transmits at least one of a deceleration command and a stop command to the vehicle 100 following the stopped vehicle 100. This makes it possible to appropriately maintain the distance between the stopped vehicle 100 and the following vehicle 100.

[0071] Furthermore, when the determination unit 416 determines that the second stop position where the vehicle 100 has stopped in accordance with the second control command is not a work position, the control command unit 211 performs steps S28, S29, and S30. As a result, when assembly cannot be performed appropriately on the vehicle 100 stopped at the second stop position, steps S28, S29, and S30 can be performed. As a result, an appropriate distance can be maintained between the stopped vehicle 100 and the following vehicle 100. Also, the abnormality can be resolved by a worker early on.

[0072] B. Second embodiment: 8 is an explanatory diagram showing a schematic configuration of a system 50v in the second embodiment. In this embodiment, the system 50v differs from the first embodiment in that it does not include a server 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.

[0073] In this embodiment, the processor 111v of the vehicle control device 110v functions as a vehicle control unit 115v by executing a program PG1 stored in a memory 112v. The vehicle control unit 115v acquires output results from sensors, generates a driving control signal using the output results, 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, in addition to the program PG1, a detection model DM and a reference route RR are pre-stored in the memory 112v.

[0074] The processor 111v further includes an acquisition unit 116 and a vehicle creation unit 117 as a moving object creation unit. The processor 111v of the vehicle control device 110v functions as the acquisition unit 116 and the vehicle creation unit 117 by executing a program PG1 stored in the memory 112v.

[0075] 9 is a flowchart showing a processing procedure for driving control of the vehicle 100v in the second embodiment. In the processing procedure in FIG. 9, the processor 111v of the vehicle 100v functions as a vehicle control unit 115v by executing a program PG1.

[0076] In step S901, the processor 111v of the vehicle control device 110v acquires vehicle position information using the detection results output from the camera, which is the external sensor 300. In step S902, the processor 111v determines a target position to which the vehicle 100v should next head. In step S903, the processor 111v generates a driving control signal for driving the vehicle 100v toward the determined target position. In step S904, 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 actuators at a predetermined cycle. According to the system 50v in this embodiment, the vehicle 100v can be driven by autonomous control of the vehicle 100v without remote control of the vehicle 100v by the server 200.

[0077] The "stop assembly" procedure of this embodiment will be described below in terms of differences from the first embodiment. In the first embodiment, when the first stop position is not a work position, the vehicle 100 moves to the second position PS2 in accordance with the second control command transmitted from the server 200. In contrast, in this embodiment, the vehicle 100 generates a control signal to move to the second position PS2.

[0078] Specifically, when the stop position where the assembly robot 400 stops for assembly is not the work position, the acquisition unit 116 acquires information regarding the positional deviation between the stop position and the work position. Specifically, for example, the acquisition unit 116 acquires information regarding the positional deviation between the stop position and the work position from the assembly robot 400.

[0079] In this embodiment, the reason why the stop position is not the work position may be, for example, that the vehicle position information acquired by the processor 111v of the vehicle control device 110v is different from the actual position.

[0080] The vehicle creation unit 117 creates control information for stopping the vehicle 100v at the work position using the information acquired by the acquisition unit 116. The control information includes information similar to the information included in the travel control signal. The vehicle control unit 115v as a control unit controls the actuators included in the actuator group 120 in accordance with the control information. This allows the vehicle 100v to move to the second position PS2 without relying on a second control command from the server 200.

[0081] C. Other embodiments (other embodiments related to assembly): (C1) In the first embodiment, the second control command transmitted in step S26 commands the vehicle 100 to move a predetermined distance forward or backward. In another embodiment, the second information may include information on the distance between the first stop position and the work position. In this embodiment, the determination unit 416 of the assembly robot 400 generates information on the distance between the first stop position and the work position as the second information. Then, the control command creation unit 212 uses the second information to create a second control command including a movement direction and a movement distance. The second control command may also include a movement direction, including the left and right directions, and a movement distance calculated from the second information. The larger the amount of information specified in the second control command, the more accurately the vehicle 100 can be guided to the work position. The smaller the amount of information specified in the second control command, the more the calculation load on the determination unit 416 of the assembly robot 400 and the calculation load on the control command creation unit 212 can be reduced.

[0082] (C2) In the first embodiment, the second control command transmitted in step S26 commands the vehicle 100 to move a predetermined distance forward or backward. In another embodiment, the second control command may include a distance calculated from the distance between the first stop position and the work position included in the second information, rather than a predetermined distance. In this case, the control command generation unit 212 may generate the second control command on the premise that the lateral positional deviation of the vehicle 100 corresponds to the assembly robot 400 and that the vehicle 100 is to move only in the forward and backward directions. The vehicle 100 has difficulty moving in the lateral direction. Therefore, by generating a second control command that moves the vehicle 100 only in the forward and backward directions, the travel time of the vehicle 100 from the first stop position to the second position can be shortened.

[0083] (C3) In the first embodiment described above, in step S25, the second control command created by the control command creation unit 212 includes control information for remote control up to the second position PS2. In another embodiment, the second control command created by the control command creation unit 212 may include route information for the route to the second position PS2. The second control command may also include both route information and control amount information. When the second control command includes route information, the vehicle control unit 115 uses the route information to control the actuator group 120 so that the vehicle travels along the route.

[0084] (C4) In the first embodiment, the assembly robot 400 is a vertical articulated robot. The assembly robot 400 is not limited to a vertical articulated robot, and may be a robot of another type, such as a horizontal articulated robot.

[0085] (C5) In the first embodiment, the robot sensor 440 is a camera. The robot sensor 440 is not limited to a camera and may be, for example, a distance measuring device. The distance measuring device is, for example, a LiDAR (Light Detection and Ranging). In this case, the detection result output by the robot sensor 440 may be three-dimensional point cloud data representing the vehicle 100. In this case, the position detection unit 417 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.

[0086] (C6) In step S42 of the first embodiment, if the vehicle 100 is not in the work position because the coordinates of the first position PS1 commanded by the control command unit 211 are incorrect, it is expected that the abnormality signal will be transmitted frequently in step S43. Therefore, the server 200 may count the frequency with which step S43 is performed, and if the frequency exceeds a predetermined reference value, it may perform steps S28, S29, and S30. This allows the abnormality to be resolved quickly.

[0087] (C7) In the first embodiment, the determination unit 416 is provided in the assembly robot 400. In another embodiment, the server 200 may be provided with the determination unit. In this case, the determination unit of the server 200 may make a determination using a detection signal from the external sensor 300, or may make a determination using an abnormality signal transmitted from the assembly robot 400. Also, in the first embodiment, the control instruction unit 211 is provided in the server 200. In another embodiment, the assembly robot 400 may be provided with the control instruction unit 211.

[0088] (C8) In the first embodiment, at least one of a deceleration command and a stop command is issued in step S26. In another embodiment, neither a deceleration command nor a stop command may be issued in step S26. Also, in the first embodiment, if it is determined in step S27 that the second stop position is not the working position, steps S28, S29, and S30 are executed. In another embodiment, none of steps S28, S29, and S30 may be executed.

[0089] (C9) In the first embodiment, the abnormality signal as the first information includes positional deviation information as the second information. In other embodiments, the abnormality signal may not include positional deviation information. As described above, when the first stop position is not a work position, this also includes cases where there is an error in the coordinates of the first position PS1 commanded by the control command unit 211. In this case, the robot sensor 440 may not be able to detect the vehicle 100. In this case, the abnormality signal may not include positional deviation information, but may include information indicating that the first stop position is not a work position. Furthermore, when the robot sensor 440 can detect the vehicle 100, the abnormality signal may include positional deviation information, and when the robot sensor 440 cannot detect the vehicle 100, the abnormality signal may not include positional deviation information.

[0090] (C10) In the first embodiment described above, the second control command includes a command for a forward or backward movement direction determined based on information about the positional deviation. In another embodiment, the second control command may command movement in a predetermined direction. Depending on the posture of the arm unit 420 of the assembly robot 400, assembly work may be performed by moving the vehicle 100 regardless of whether the vehicle 100 is facing forward or backward. In this case, by transmitting a predetermined second control command without relying on calculation by the control command creation unit 212, the calculation load on the control command creation unit 212 can be reduced.

[0091] (C11) In the first embodiment described above, the position acquired in step S41 is the relative position of the vehicle 100 with respect to the assembly robot 400. This relative position is not limited to a detailed position that can be converted into coordinates in the global coordinate system GC, and may be rough position information. The rough information is, for example, information indicating whether the stopping position PS of the vehicle 100 is ahead of or behind the work position. Furthermore, the position acquired in step S41 may be a coordinate in the global coordinate system GC instead of a relative position.

[0092] (C12) In the first embodiment, the second position PS2 is determined as a relative position from the first stop position. In another embodiment, the second position PS2 may be a coordinate in the global coordinate system GC.

[0093] D. Other embodiments (other embodiments relating to self-propelled transport): (D1) 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 may be, for example, a 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 vehicle 100. In this case, the server 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.

[0094] (D2) In the first embodiment, the processes from obtaining vehicle position information to generating a driving control signal are executed by the server 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.

[0095] (1) The server 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 200 may generate a route to the target position between the current location and the destination, or may generate a route to the destination. The server 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 200, and control the actuator group 120 using the generated driving control signal.

[0096] (2) Server 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.

[0097] (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, etc. For example, in the above embodiment (1), the server 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 generating 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 when generating the driving control signal, may reflect the detection result of the internal sensor in the driving control signal.

[0098] (D3) In the above fourth 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 generating a driving control signal, reflect the detection results of the internal sensor in the driving control signal.

[0099] (D4) In the fourth embodiment, the vehicle 100v acquires vehicle position information using the detection results of the external sensor 300. Alternatively, the vehicle 100v may be equipped with an internal sensor. The vehicle 100v may acquire vehicle position information using the detection results of the internal sensor, determine a target location to which the vehicle 100v should next travel, generate a route from the current location of the vehicle 100v represented in the acquired vehicle position information to the target location, generate a driving control signal for traveling along the generated route, and control the actuator group 120 using the generated driving control signal. In this case, the vehicle 100v can travel without using any of the detection results of the external sensor 300. The vehicle 100v may acquire a target arrival time or traffic congestion information from outside the vehicle 100v and reflect the target arrival time or traffic congestion information in at least one of the route and the driving control signal. Furthermore, all of the functional configuration of the system 50v may be provided within the vehicle 100v. In other words, the processing performed by the system 50v in the present disclosure may be performed solely by the vehicle 100v.

[0100] (D5) In the first embodiment described above, the server 200 automatically generates a driving control signal to be transmitted to the vehicle 100. However, the server 200 may generate a 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 300, a steering wheel for remotely controlling the vehicle 100, an accelerator pedal, a brake pedal, and a communication device for communicating with the server 200 via wired or wireless communication, and the server 200 may generate a driving control signal in accordance with the operation applied to the control device.

[0101] (D6) In each of the above embodiments, the vehicle 100 may be configured to be able 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 be equipped with at least a vehicle control device 110 and an actuator group 120 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 be equipped with a communication device 130. In other words, the vehicle 100 that can travel by unmanned driving may not be equipped with at least some of its interior parts, such as a driver's seat and a dashboard, may not be equipped with at least some of its 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 FC, 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 FC without the remaining parts, such as the body shell. Each component may be attached from any direction, such as the upper, lower, front, rear, right 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 manner as for the vehicle 100 in the first embodiment.

[0102] (D7) 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 portion of the platform, a central module that forms the center portion of the platform, and a rear module that forms the rear portion 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 into a single component by casting. The molding method of integrally molding at least a portion of the module into a single component 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.

[0103] (D8) 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 FC where vehicle 100 is manufactured, at least a portion of the transport of vehicle 100 is realized by self-propelled transport.

[0104] (D9) 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.

[0105] 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 of 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]

[0106] 50, 50v... 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, 116... acquisition unit, 117... vehicle creation unit, 120... actuator group, 130... communication device, 200... server, 201... processor, 202... memory, 203... input / output interface, 204... internal Internal bus, 205...communication device, 210...remote control unit, 211...control command unit, 212...control command generation unit, 300...external sensor, 400...assembly robot, 410...robot control device, 411...processor, 412...memory, 413...input / output interface, 414...internal bus, 415...robot control unit, 416...determination unit, 417...position detection unit, 420...arm unit, 421...end effector, 430...communication device, 440...robot sensor

Claims

1. a control command unit that transmits a first control command to the unmanned moving body to stop the moving body at a first position where the part is to be assembled; a determination unit that determines whether a first stop position at which the movable body is stopped in accordance with the first control command is an appropriate work position for assembling the part, When the determination unit determines that the first stop position is not the work position, the control command unit sends a second control command to the mobile body to move it to a second position where the part is assembled.

2. 10. The system of claim 1, a control device having the control command unit; an assembly device having the determination unit and assembling the part.

3. 3. The system of claim 2, the assembly device further includes a transmitting unit that transmits, to the control device, first information indicating that the first stop position is not the work position when the determining unit determines that the first stop position is not the work position; The control device further includes a receiving unit that receives the first information, The control instruction unit transmits the second control instruction when the receiving unit receives the first information.

4. 4. The system of claim 3, The system, wherein the first information includes second information regarding a positional deviation between the first stop position and the working position.

5. 5. The system of claim 4, The control device further includes a control command creation unit that uses the second information to create the second control command, which includes at least one of route information of a route to the second position and control amount information of remote control to the second position.

6. 10. The system of claim 1, further comprising an assembly device that assembles the parts; The assembly device assembles the part onto the moving body that has moved in accordance with the second control command.

7. 10. The system of claim 1, further comprising an assembly device that assembles the parts; When the determination unit determines that the first stop position is the work position, the assembly device assembles the part onto the moving body stopped at the first stop position.

8. 10. The system of claim 1, When the determination unit determines that the first stop position is not the work position, the system transmits at least one of a deceleration command and a stop command to a moving body following the moving body stopped at the first stop position.

9. 10. The system of claim 1, the determination unit determines whether a second stop position where the moving body is stopped in accordance with the second control command is the work position; When the judgment unit determines that the second stop position is not the work position, the control command unit performs at least one of the following processes: a process of sending a first command to continue stopping at the second stop position, a process of sending a second command to slow down or stop a moving body following the moving body stopped at the second stop position, and a transmission process of sending an abnormality signal to an alarm unit that alerts of an abnormality.

10. An assembly device that assembles parts to a moving body, a control device that remotely controls the mobile body; and a transmission unit that communicates with at least one of the mobile body and the control device; a position detection unit that detects a stop position of the moving object; a determination unit that determines whether the stop position is an appropriate work position for assembling the part, When the determination unit determines that the stop position is not the work position, the transmission unit transmits information regarding a positional deviation between the stop position and the work position to at least one of the control device and the moving body.

11. A mobile object, an acquisition unit that acquires information regarding a positional deviation between a stop position of the moving body and an appropriate work position for assembling a part onto the moving body; a moving body creation unit that uses the acquired information to create control information for stopping the moving body at the work position; a control unit that uses the control information to control an actuator for causing the moving body to travel.

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