Device, moving body, and manufacturing method for moving body

Abstract

To provide a technique that is able to appropriately perform fitting components when conveying a moving body to a fitting area by unmanned operation.SOLUTION: A device includes: a first acquisition unit configured to acquire defect information related to a defect in a moving body that moves on a production line by remote control; a component specifying unit configured to specify, when the defect information is acquired, a corresponding component to be fitted to a defective moving body, which is the moving body having the defect, from a plurality of components flowing through a component line that merges with the production line in a fitting area for fitting the component to the moving body; and an instruction unit configured to execute a moving body retraction instruction for removing the defective moving body from the production line and a component retraction instruction for removing the specified component from the component line.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to an apparatus, a moving body, and a method for manufacturing a moving body. [Background technology]

[0002] Patent Document 1 discloses a technology for driving vehicles in an unmanned manner during the vehicle manufacturing process. [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] A technology is known in which a moving object, such as a vehicle, and a part are joined in an assembly area for assembling parts to the moving object, and the joined moving object and the part are assembled. It is possible to transport the moving object to the assembly area by unmanned operation. However, no consideration has been given to properly performing assembly when a malfunction occurs in the moving object being transported to the assembly area by unmanned operation. [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 an apparatus including: a first acquisition unit that acquires defect information relating to a defect in a mobile object moving by remote control on a production line; a component identification unit that, when the defect information is acquired, identifies a corresponding component to be assembled to the defective mobile object from among a plurality of components flowing on a component line, the component line merging with the production line in an assembly area for assembling the component onto the mobile object; and an instruction unit that executes an instruction to remove the defective mobile object from the production line and an instruction to remove the corresponding component from the component line. According to this aspect, the defective moving body is removed from the manufacturing line, and the corresponding part to be assembled to the defective moving body is removed from the part line, so that it is possible to prevent the wrong part from being assembled to the moving body in the assembly area, and therefore, it is possible to properly perform assembly in the assembly area. (2) In the above aspect, the instruction unit may further execute an entry instruction to instruct a subsequent moving body, which is the moving body following the defective moving body, to enter a first empty space created by the defective moving body being removed from the manufacturing line. According to this aspect, each moving body can be moved more efficiently on the manufacturing line. (3) In the above aspect, the instruction unit may cause the following moving body to enter the first empty space by slowing down the following moving body less than the degree of deceleration of the moving body preceding the following moving body in the entry instruction. According to this aspect, compared to when the following moving body is accelerated more to enter the first empty space, it is possible to suppress the influence of the high speed of the moving body on work processes performed upstream of the assembly area in the production line. (4) In the above embodiment, the instruction unit may further instruct a device configured to change the position of the component flowing on the component line to move the component following the corresponding component into a second empty space created when the corresponding component deviates from the component line. This embodiment allows each component to be moved more efficiently on the component line. (5) In the above aspect, the instruction unit may further issue a repair instruction to the defective mobile object to move the defective mobile object to a repair location for repairing the defect. According to this aspect, the defective mobile object removed from the production line can be moved to the repair location and repaired. (6) In the above embodiment, the system further includes a location identification unit that identifies the repair location based on the malfunction information, and the repair instruction may be an instruction to move the malfunctioning mobile object to the identified repair location. According to this embodiment, the malfunctioning mobile object can be moved to the repair location based on the malfunction, and the malfunctioning mobile object can be more appropriately repaired at the repair location. (7) In the above aspect, the system may further include a second acquisition unit that acquires completion information regarding the completion of the repair, and when the completion information is acquired, the instruction unit may further execute an instruction to the repaired mobile body, which is the mobile body for which the repair has been completed, to enter the repaired mobile body into the manufacturing line. According to this aspect, the repaired mobile body can be returned to the manufacturing line. (8) In the above aspect, a position identification unit may be provided that identifies an interruption position on the parts line for the corresponding part removed from the parts line using information indicating the location where the repaired mobile unit enters the production line, and the instruction unit may further execute an instruction to a device configured to be able to insert the part at the interruption position to cause the corresponding part removed from the parts line to interrupt at the interruption position. According to this aspect, the corresponding part can be inserted into the parts line in response to the repaired mobile unit being returned to the production line, and the corresponding part can be more smoothly assembled onto the repaired mobile unit in the assembly area. (9) In the above aspect, the first evacuation instruction may be an instruction to be executed on the malfunctioning moving object and may be an instruction to remove the malfunctioning moving object from the manufacturing line by the remote control. According to this aspect, for example, the malfunctioning moving object can be removed from the manufacturing line without the intervention of an operator. (10) In the above aspect, the first evacuation instruction may be an instruction to be executed by a terminal device. According to this aspect, for example, a worker carrying the terminal device can remove the defective moving object from the production line. (11) In the above aspect, the second evacuation instruction may be an instruction to be executed by a device configured to be able to remove the part from the part line. According to this aspect, for example, the corresponding part can be removed from the part line without the intervention of an operator. (12) According to a second aspect of the present disclosure, there is provided a mobile body including: a first acquisition unit that acquires defect information relating to a defect of the mobile body that moves unmanned on a production line; a component identification unit that, when the defect information is acquired, identifies a corresponding component to be assembled to the mobile body from among a plurality of components flowing on a component line that merges with the production line in an assembly area for assembling the component to the mobile body; and an instruction unit that executes an instruction to remove the mobile body from the production line and an instruction to remove the corresponding component from the component line. In addition to the above-described devices and mobile bodies, the present disclosure can be realized in the form of, for example, a system, a method for manufacturing a mobile body, a method for controlling a mobile body, a program, a non-transitory recording medium on which a program is recorded, a program product, etc. Note that the program product may be provided as a recording medium on which a program is recorded, or may be provided as a program product that can be distributed via a network, for example. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a conceptual diagram showing the configuration of a system according to a first embodiment. [Figure 2] FIG. 10 is a conceptual diagram illustrating the retraction and restoration of a part. [Figure 3] FIG. 2 is a conceptual diagram illustrating the correspondence between each vehicle and each part on each line. [Figure 4] FIG. 1 is a block diagram showing the configuration of a system according to a first embodiment. [Figure 5]3 is a flowchart showing a processing procedure for vehicle travel control in the first embodiment. [Figure 6] 1 is a flowchart of a manufacturing process. [Figure 7] FIG. 1 is a diagram illustrating an example of a manufacturing process. [Figure 8] FIG. 10 is a block diagram showing the 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 in the first embodiment. The system 50 includes one or more vehicles 100 as moving bodies, a server 200, and one or more external sensors 300. The server 200 in the first embodiment corresponds to the "device" in the present disclosure.

[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] 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, vehicle 100 may be equipped with at least a vehicle control device and a group of actuators (described below) to perform the three functions of "running," "turning," and "stopping" by unmanned driving. Vehicle 100 may further be equipped with a communication device when acquiring information from a device external to vehicle 100 for unmanned driving. That is, vehicle 100 capable of traveling 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 vehicle 100 before it is shipped from the factory FC, or the remaining parts, such as the body shell, may be attached to vehicle 100 after it is shipped from the factory FC without the remaining parts, such as the body shell. Each part may be attached from any direction, such as the top, bottom, front, rear, right or left side of the vehicle 100, and may be attached from the same direction or from different directions.

[0013] 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 L1 and a second location L2. The first location L1 and the second location L2 are connected by a road TR along which the vehicle 100 can travel. A plurality of external sensors 300 are installed along the road TR in the factory FC. The position of each external sensor 300 in the factory FC is adjusted in advance. The vehicle 100 moves from the first location L1 to the second location L2 along the road TR in an unmanned operation.

[0014] The factory FC has a production line ML and a parts line PL. The production line ML and the parts line PL meet at an assembly area AA. The production line ML is a line for transporting vehicles 100. On the production line ML, the vehicles 100 are transported by traveling along the production line ML in an unmanned manner. In this embodiment, a portion of the track TR corresponds to the production line ML. The parts line PL is a line for transporting multiple parts PT. On the parts line PL, each part PT to be assembled into each vehicle 100 to be manufactured in the factory FC flows. In this embodiment, the conveyor device Cv for transporting the parts PT toward the assembly area AA corresponds to the parts line PL. In the assembly area AA, the parts PT are assembled into the vehicle 100 by, for example, a robot or a worker WM. To ensure smooth assembly in the assembly area AA, it is preferable that the vehicles 100 and the parts PT corresponding to the vehicles 100 arrive at the assembly area AA in a timely manner.

[0015] The part line PL is not particularly limited in its mode or shape as long as it is configured to be able to transport the parts PT in order to the assembly area AA. For example, the part line PL is not limited to a line using a conveyor device Cv, but may be a line using hangers that move the parts PT while suspending them, or a line using automated guided vehicles (AGVs) that transport the parts PT.

[0016] The vehicle 100 traveling on the production line ML can be evacuated outside the production line ML. Furthermore, the vehicle 100 that has been evacuated outside the production line ML can return to the production line ML. Hereinafter, the evacuation of the vehicle 100 outside the production line ML will also be referred to simply as "evacuation of the vehicle 100." Furthermore, the return of the vehicle 100 to the production line ML will also be referred to simply as "return of the vehicle 100." When the vehicle 100 is evacuated, the vehicle 100 moves to, for example, the auxiliary track TP, the first track AR1, the second track AR2, or the repair site RP. The auxiliary track TP is a track that runs along the production line ML and is aligned with the production line ML in the vehicle width direction of the track TR. The first track AR1 is a track that guides the vehicle 100 from the production line ML to the repair site RP. The second track AR2 is a track that guides the vehicle 100 from the repair site RP to the production line ML. The repair site RP is a location for repairing defects, as described below. In this embodiment, the evacuation and return of the vehicle 100 is achieved by the unmanned driving of the vehicle 100. In other embodiments, the evacuation and return of the vehicle 100 may be achieved, for example, by the driving operation of the worker WM as an occupant, by the transport of the vehicle 100 using the wheels of the vehicle 100 by the worker WM or a robot, or by the transport of the vehicle 100 without using the wheels.

[0017] FIG. 2 is a conceptual diagram illustrating the evacuation and return of a part PT. A part PT flowing along a part line PL can be evacuated outside the part line PL. A part PT evacuated outside the part line PL can be returned to the part line PL. Hereinafter, the evacuation of a part PT outside the part line PL will be simply referred to as "evacuating the part PT." The return of a part PT to the part line PL will be simply referred to as "returning the part PT." In this embodiment, when a part PT is evacuated, it is moved to an evacuation position EP outside the part line PL. In this embodiment, the evacuation and return of the part PT is achieved by a part processing device PD arranged near the part line PL. The part processing device PD is, for example, a robot. In this embodiment, the part processing device PD is configured to be able to relocate and return the part PT, as well as to change the position of the part PT on the part line PL.

[0018] In other embodiments, the retraction and return of the parts PT do not have to be achieved by the part processing device PD. For example, if the part line PL is configured as a line using the conveyor device Cv as in this embodiment, the parts PT may be retracted by changing the conveyor's transport direction near the retraction position EP. Also, a return conveyor may be installed at the retraction position EP, and the parts PT may be returned using the return conveyor.

[0019] FIG. 3 is a conceptual diagram illustrating the correspondence between each vehicle 100 on the production line ML and each part PT on the part line PL. Parts PTa, PTb, PTc, and PTd, which correspond one-to-one to each vehicle 100, are assembled to each of the vehicles 100a, 100b, 100c, and 100d shown in FIG. 3. The correspondence between each vehicle 100 and each part PT is managed, for example, using the identification number of the vehicle 100. The vehicles 100 shown in FIG. 3 arrive at the assembly area AA in the order of vehicles 100a, 100b, 100c, and 100d. The parts PT shown in FIG. 2 arrive at the assembly area AA in the order of parts PTa, PTb, PTc, and PTd, corresponding to the arrival order of the vehicles 100.

[0020] 4 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.

[0021] 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.

[0022] 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.

[0023] 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 and a user's terminal device 380 via wireless communication, and can also communicate with each external sensor 300 and part processing device PD via wired or wireless communication. The user refers to a user of the system 50 or the factory FC, such as a manager or worker WM of the factory FC. By executing program PG2 stored in memory 202, processor 201 realizes various functions including functions as a first acquisition unit 215, a part identification unit 220, an instruction unit 230, a location identification unit 240, a second acquisition unit 245, and a position identification unit 250.

[0024] The first acquisition unit 215 acquires defect information. The defect information is information relating to a defect in a vehicle 100 traveling on the production line ML. Hereinafter, a vehicle 100 having a defect is also referred to as a defective vehicle. The first acquisition unit 215 may acquire the defect information by detecting a defect using an external sensor 300, for example, or may acquire defect information input by a user. The defect information may be transmitted to the server 200 via a terminal device 380, for example.

[0025] The defect information may be, for example, information indicating a part of the vehicle 100 where a defect has occurred, or information indicating the type of defect, such as a mechanical defect, an electrical defect, or an appearance defect. The defect information may be information indicating the type of defect for each part of the vehicle 100.

[0026] When the part identification unit 220 acquires defect information, it identifies a corresponding part that corresponds to the defective vehicle from among the multiple parts PT flowing on the parts line PL. The corresponding part is a part that is to be assembled to the defective vehicle. The part identification unit 220 identifies the corresponding part by, for example, determining the identification number of the corresponding part and its order on the parts line PL based on the identification number of the defective vehicle and its order on the production line ML.

[0027] The instruction unit 230 in this embodiment functions as a remote control unit as appropriate. The remote control unit generates a driving control signal and transmits the driving control signal to the vehicle 100, thereby causing the vehicle 100 to drive by remote control. It can also be said that the instruction unit 230 issues a remote instruction to the vehicle 100 to cause the vehicle 100 to drive by remote control. Note that "the instruction unit 230 issuing an instruction to an object such as the vehicle 100" is also referred to as "the instruction unit 230 executing an instruction to an object."

[0028] The instruction unit 230 executes a vehicle evacuation instruction and a parts evacuation instruction. Furthermore, the instruction unit 230 in this embodiment further executes a vehicle entry instruction, a parts entry instruction, a repair instruction, a vehicle return instruction, and a parts return instruction. The vehicle evacuation instruction is also referred to as a first evacuation instruction. The parts evacuation instruction is also referred to as a second evacuation instruction. The vehicle entry instruction is also simply referred to as an "entry instruction."

[0029] The vehicle evacuation instruction is an instruction to remove the defective vehicle from the production line ML. In the vehicle evacuation instruction in this embodiment, the instruction unit 230 generates a driving control signal for causing the defective vehicle to drive outside the production line ML and transmits the generated driving control signal to the defective vehicle. In other words, the vehicle evacuation instruction in this embodiment is an instruction to remove the defective vehicle from the production line ML by remote control. As will be described later, the vehicle evacuation instruction in this embodiment is realized by a repair instruction.

[0030] The component evacuation instruction is an instruction to remove the corresponding component from the component line PL. In the component evacuation instruction in this embodiment, the instruction unit 230 transmits a control command to the component processing device PD to move the corresponding component from the component line PL to the evacuation position EP.

[0031] The vehicle entry instruction instructs a following vehicle to enter the first empty space. The following vehicle is a vehicle following the defective vehicle. The first empty space is an area created when the defective vehicle leaves the production line ML due to the vehicle evacuation instruction. In other words, the first empty space is an empty space corresponding to the area originally occupied by the defective vehicle on the production line ML. In the vehicle entry instruction in this embodiment, the instruction unit 230 generates a travel control signal for causing the following vehicle to enter the first empty space and transmits the generated travel control signal to the following vehicle. In addition, in this embodiment, the travel control signal generated in the vehicle entry instruction is a travel control signal for reducing the degree of deceleration of the following vehicle compared to the degree of deceleration of the leading vehicle. The leading vehicle is the vehicle 100 that will precede the following vehicle when the defective vehicle is evacuated. Specifically, when the leading vehicle decelerates, the instruction unit 230 generates a travel control signal for preventing the following vehicle from decelerating compared to the leading vehicle and transmits the generated travel control signal to the following vehicle.

[0032] The part entry instruction is an instruction to a device configured to change the position of a part PT flowing on the part line PL to move a subsequent part into the second empty area. The subsequent part is the part PT that follows the corresponding part. The second empty area is an area that occurs when a corresponding part is removed from the part line PL due to a part evacuation instruction. In other words, the second empty area is an empty area equivalent to the area originally occupied by the corresponding part on the part line PL. In the part entry instruction in this embodiment, the instruction unit 230 transmits a control command to the part processing device PD to move the subsequent part to the second empty area.

[0033] The repair instruction is an instruction to move the defective vehicle to a repair location RP to repair the defect. In this embodiment, the repair instruction unit 230 generates a driving control signal for driving the defective vehicle to the repair location RP and transmits the generated driving control signal to the defective vehicle. Upon receiving the repair instruction, the vehicle 100 drives to the repair location RP, for example, via the auxiliary track TP or the first track AR1. As will be described later, in this embodiment, the repair location RP is identified by the location identification unit 240.

[0034] The vehicle return instruction is an instruction to a repaired vehicle whose defect has been repaired to enter the production line ML. The instruction unit 230 executes the vehicle return instruction when completion information is acquired. The completion information is information that indicates that repairs to the defect in the defective vehicle have been completed. As will be described later, the completion information is acquired by the second acquisition unit 245. In the vehicle return instruction in this embodiment, the instruction unit 230 generates a driving control signal for driving the repaired vehicle to the production line ML, and transmits the generated driving control signal to the repaired vehicle. Upon receiving the vehicle return instruction, the vehicle 100 heads toward the production line ML via the second track AR2 and the auxiliary track TP, and enters the production line ML.

[0035] The part return instruction is an instruction to move the corresponding part removed from the part line PL to an interrupt position on the part line PL. In this embodiment, the part return instruction is issued by the instruction unit 230 transmitting a control command to the part processing device PD to move the corresponding part to the interrupt position. As will be described later, the interrupt position is identified by the position identification unit 250.

[0036] The location identification unit 240 identifies a repair location RP according to the malfunction information. In this embodiment, the location identification unit 240 identifies a repair location RP corresponding to the malfunction from among multiple candidate repair locations RP. The location identification unit 240 identifies the repair location RP, for example, based on the malfunction information, by referring to a database DB that associates parts of the vehicle 100 and types of malfunctions with repair locations RP suitable for repairing those parts and types of malfunctions.

[0037] The second acquisition unit 245 acquires the completion information. The completion information may be transmitted to the server 200 via, for example, the terminal device 380. Alternatively, the completion information may be transmitted to the server 200 from, for example, a device in charge of repairing the defective vehicle.

[0038] The position identifying unit 250 identifies the interruption position using the return location information. The return location information is information that indicates the location where the repaired vehicle enters the production line ML, i.e., the return location where the repaired vehicle will return to the production line ML. The return location may be identified, for example, based on the repair location RP, or may be identified using the external sensor 300. The position identifying unit 250 uses the return location information to identify the interruption position so that the corresponding part will arrive at the assembly area AA in accordance with the repaired vehicle returning from the return location to the production line ML and heading toward the assembly area AA. It is preferable that the interruption position be identified so that the corresponding part will arrive at the assembly area AA in a timely manner for the repaired vehicle.

[0039] 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. Specifically, the external sensor 300 is configured by a camera. The camera as the external sensor 300 captures an image of the vehicle 100 and outputs the captured image as a detection result. 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.

[0040] 5 is a flowchart showing the processing procedure for driving control of the vehicle 100 in the first embodiment. In the processing procedure in FIG. 5, the processor 201 of the server 200 functions as a remote control unit by executing the program PG2. Also, the processor 111 of the vehicle 100 functions as a vehicle control unit 115 by executing the program PG1.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] FIG. 6 is a flowchart of a manufacturing process for implementing the manufacturing method of the vehicle 100 according to this embodiment. The processor 201 executes the manufacturing process of FIG. 6, for example, at predetermined time intervals while the driving control of FIG. 5 is being executed. Hereinafter, the vehicle 100 that is the target of the manufacturing process is also referred to as the target vehicle 100. While the manufacturing process is being executed, the first acquisition unit 215 determines at predetermined time intervals whether or not defect information has been received for the target vehicle 100, and if defect information has been received, turns on a defect flag. While the manufacturing process is being executed, the second acquisition unit 245 determines at predetermined time intervals whether or not completion information has been received for the target vehicle 100, and if completion information has been received, turns off a repair flag. In step S150, which will be described later, the defect flag is turned off and the repair flag is turned on.

[0048] First, normal processing will be described below. The normal processing is executed from when the target vehicle 100 starts traveling on the production line ML or when the target vehicle 100 returns to the production line ML until defect information is acquired for the target vehicle 100. In the normal processing, steps S105, S110, S115, S120, and S125 are executed.

[0049] In step S105, the instruction unit 230 acquires vehicle position information of the target vehicle 100 using the detection result by the external sensor 300. In step S110, the instruction unit 230 determines whether or not the malfunction flag is ON. If the malfunction flag is OFF in step S110, the instruction unit 230 determines whether or not the repair flag is OFF in step S115. If the repair flag is OFF in step S115, the instruction unit 230 determines whether or not the target vehicle 100 is on the production line ML in step S120. In step S120, the instruction unit 230 determines whether or not the target vehicle 100 is on the production line ML, for example, based on the vehicle position information acquired in step S105.

[0050] If the target vehicle 100 is on the production line ML in step S120, the instruction unit 230 executes a normal instruction in step S125. The normal instruction is an instruction to transport the vehicle 100 on the production line ML along the production line ML. In step S125, the instruction unit 230 generates a driving control signal for driving the target vehicle 100 on the production line ML based on the vehicle position information acquired in step S105, and transmits the generated driving control signal to the target vehicle 100.

[0051] Next, the pre-repair process will be described. The pre-repair process is executed from when the defect information is acquired until the target vehicle 100 arrives at the repair location RP. In the pre-repair process, steps S105, S110, S115, S130, S135, S140, S145, and S150 are executed.

[0052] If the malfunction flag is ON in step S110, in step S130, the instruction unit 230 determines whether the target vehicle 100 is at the repair location RP. In step S130, the instruction unit 230 determines whether the target vehicle 100 is at the repair location RP, for example, based on the vehicle position information. Note that the instruction unit 230 may determine whether the target vehicle 100 is at the repair location RP, for example, using an area sensor (not shown) installed in the factory FC.

[0053] If the target vehicle 100 is not at the repair location RP in step S130, the instruction unit 230 executes a repair instruction in step S135. If the target vehicle 100 is on the production line ML at the start of step S135, step S135 causes the target vehicle 100 to travel toward the repair location RP outside the production line ML. In other words, the evacuation instruction is implemented. On the other hand, if the target vehicle 100 is outside the production line ML at the start of step S135, the target vehicle 100 continues traveling toward the repair location RP. Note that in this embodiment, the location identification unit 240 may identify the repair location RP at any timing between the acquisition of the defect information and the start of step S130.

[0054] In step S140, the instruction unit 230 determines whether or not the part evacuation instruction has been executed. If the part evacuation instruction has not been executed in step S140, the instruction unit 230 executes the part evacuation instruction in step S145.

[0055] If vehicle 100 is at repair location RP in step S130, instruction unit 230 executes flag processing in step S150. Flag processing is processing for turning OFF the malfunction flag and turning ON the repair flag.

[0056] Next, the during-repair processing will be described. The during-repair processing is executed from when the target vehicle 100 moves to the repair location RP until the repair of the target vehicle 100 is completed. In the during-repair processing, steps S105, S110, S115, and S155 are executed. If the repair flag is ON in step S115, in step S155, the instruction unit 230 causes the target vehicle 100 to wait at the repair location RP. In step S155, the instruction unit 230 generates a traveling control signal for causing the target vehicle 100 to wait at the repair location RP, and transmits the generated traveling control signal to the target vehicle 100. Note that in other embodiments, the instruction unit 230 may cause the target vehicle 100 to wait at the repair location RP, for example, by stopping the transmission of the traveling control signal to the target vehicle 100.

[0057] Next, the return process will be described. The return process is executed from the time when repairs on the target vehicle 100 are completed until the target vehicle 100 returns to the production line ML. In the return process, steps S105, S110, S115, S120, S160, S165, S170, and S175 are executed. If the target vehicle 100 is not on the production line ML in step S120, the instruction unit 230 executes a vehicle return instruction in step S160.

[0058] In step S165, the instruction unit 230 determines whether the part restoration instruction has been executed. If the part restoration instruction has not been executed in step S165, the position identification unit 250 identifies an interruption position in step S170. In step S175, the instruction unit 230 executes the step part restoration instruction using the interruption position identified in step S170.

[0059] FIG. 7 is a diagram illustrating an example of a manufacturing process. FIG. 7 shows an example in which vehicle 100c is a defective vehicle and part PTc is a corresponding part. Note that FIG. 7 omits the vehicle 100 following vehicle 100d and the part PT following part PTd. During period pd1 in FIG. 7, part PTa is being assembled to vehicle 100a in assembly area AA. During period pd1, repair instruction CC1, vehicle entry instruction CC2, part evacuation instruction PC1, and part entry instruction PC2 are executed. Period pd2 is a period that follows period pd1. During period pd2, part PTb is being assembled to vehicle 100b in assembly area AA. During period pd2, vehicle return instruction CC3 and part return instruction PC3 are executed.

[0060] During period pd1, in response to repair instruction CC1, vehicle 100c, which is a defective vehicle, is evacuated from production line ML and moved to repair location RP. With vehicle 100c evacuated from production line ML, a first empty area R1 is created on production line ML. In the example of FIG. 7, first empty area R1 is the empty area between vehicle 100b, which is a preceding vehicle, and vehicle 100d, which is a following vehicle. The instruction unit 230 executes vehicle entry instruction CC2 to vehicle 100d, causing vehicle 100d to enter the first empty area R1.

[0061] In response to the component evacuation instruction PC1, the corresponding component PTc is evacuated from the component line PL to the evacuation position EP. By evacuating the component PTc from the component line PL, a second empty space R2 is created on the component line PL. In the example of FIG. 7, the second empty space R2 is the empty space between the component PTb, which precedes the component PTd, and the subsequent component PTd. The instruction unit 230 executes a component entry instruction PC2 to the component processing device PD to move the component PTd to the second empty space R2, causing the component PTd to enter the second empty space R2.

[0062] During period pd2, in response to vehicle return instruction CC3, vehicle 100c, the repaired vehicle, travels from repair location RP to production line ML and returns to production line ML at return location MR on production line ML. In the example of FIG. 7, the returned vehicle 100c is located upstream, i.e., rearward, of vehicle 100d on production line ML. In response to part return instruction PC3, part PTc, the corresponding part, is moved from evacuation position EP to part line PL and returns to part line PL at interrupt position PR. In the example of FIG. 7, the returned part PTc is located upstream, i.e., rearward, of part PTd on part line PL. After period pd2, vehicle 100d and part PTd typically arrive at assembly area AA next, and then the returned vehicle 100c and returned part PTc arrive at assembly area AA. Then, in the assembly area AA, after the assembly of the part PTb to the vehicle 100b is completed, the assembly of the part PTd to the vehicle 100d and the assembly of the part PTc to the vehicle 100c are carried out in this order.

[0063] According to the server 200 of the present embodiment described above, corresponding parts to be assembled on a defective vehicle that is removed from the production line ML in response to a vehicle evacuation instruction are removed from the parts line PL in response to the parts evacuation instruction. Here, if the vehicle 100 is configured to be movable by unmanned driving, as in this embodiment, the vehicle 100 can be easily evacuated from the production line ML before arriving at the assembly area AA as the defective vehicle. Specifically, for example, the defective vehicle can be evacuated by unmanned driving or by wheeled transportation on the track TR without unmanned driving. However, simply evacuating the defective vehicle may result in the corresponding parts to be assembled on the defective vehicle arriving at the assembly area AA and being erroneously assembled on another vehicle 100. In contrast, in this embodiment, corresponding parts are removed from the parts line PL in response to a parts evacuation instruction, thereby preventing the incorrect parts PT from being assembled on another vehicle 100 in the assembly area AA. More specifically, for example, the assembly of parts PT of the wrong model, color, or grade on the vehicle 100 can be prevented. In this way, according to this embodiment, assembly in the assembly area AA can be performed appropriately.

[0064] In this embodiment, a vehicle entry command is issued to vehicles following the defective vehicle to enter the first vacant area R1 created when the defective vehicle leaves the production line ML. This allows each vehicle 100 to be moved more efficiently on the production line ML. This increases the likelihood that assembly will be performed more efficiently in the assembly area AA.

[0065] Furthermore, in this embodiment, the vehicle entry instruction causes the following vehicle to enter the first empty area R1 by slowing the following vehicle down less than the preceding vehicle. This reduces the speed of the vehicle 100 in a work process, such as assembly or inspection, performed upstream of the assembly area AA on the production line ML, compared to when the following vehicle is caused to enter the first empty area R1 by accelerating it more. As a result, it is possible to prevent, for example, the time that can be allocated to the work process from being excessively short, or the speed of the vehicle 100 from being faster than a speed appropriate for the work process. In other words, it is possible to prevent the work process from being affected by the high speed of the vehicle 100. Furthermore, it is possible to save energy required for acceleration. In addition to causing the following vehicle to enter the first empty area R1, the instruction unit 230 may also execute an instruction to cause a vehicle 100 following the following vehicle to enter the empty area created by the following vehicle entering the first empty area R1.

[0066] In this embodiment, a part entry instruction is executed to a part processing device PD configured to change the position of a part PT flowing on the part line PL, instructing the part succeeding the corresponding part to enter the second vacant region R2 created when the corresponding part deviates from the part line PL. This allows each part PT to be moved more efficiently on the part line PL, increasing the likelihood of efficient assembly in the assembly area AA. In particular, executing a vehicle entry instruction and a part entry instruction, as in this embodiment, further increases the likelihood of efficient assembly. Note that in addition to instructing the subsequent part to enter the second vacant region R2, the instruction unit 230 may also execute an instruction to instruct the part PT succeeding the subsequent part to enter the vacant region created by the subsequent part entering the second vacant region R2.

[0067] Furthermore, in this embodiment, a repair instruction is executed to instruct the defective vehicle to be moved to the repair location RP, so that the defective vehicle removed from the production line ML can be moved to the repair location RP for repair. In particular, in this embodiment, the repair location RP is identified according to the defect information, so that the defective vehicle can be moved to the repair location RP according to the defect, and the defective vehicle can be more appropriately repaired at the repair location RP.

[0068] In addition, in this embodiment, when completion information for a defective vehicle is obtained, a vehicle return instruction is executed to instruct the repaired vehicle to enter the production line ML, so that the repaired vehicle can be returned to the production line ML and the assembly of parts PT onto the repaired vehicle using the production line ML can be resumed.

[0069] In this embodiment, the information about the location where the repaired vehicle will be returned to production line ML is used to identify the interruption position on parts line PL for the corresponding part that was removed from parts line PL, and a parts return instruction is issued to part processing device PD configured to be able to insert the corresponding part at the interruption position, instructing the corresponding part to be inserted at the interruption position. In this way, the corresponding part can be inserted into parts line PL in response to the repaired vehicle being returned to production line ML, and the corresponding part can be more smoothly assembled onto the repaired vehicle in assembly area AA.

[0070] In this embodiment, the defective vehicle is removed from the production line ML by remote control, so that the defective vehicle can be removed from the production line ML without the intervention of the worker WM, for example.

[0071] In this embodiment, the corresponding part is removed from the part line PL by part processing equipment PD, which is configured to be able to remove the part PT from the part line PL. Therefore, for example, the corresponding part can be removed from the part line PL without the intervention of an operator WM.

[0072] B. Second embodiment: FIG. 8 is a block diagram showing the configuration of a system 50v in the second embodiment. Unlike the first embodiment, the system 50v in this embodiment does not include a server 200. Furthermore, the vehicle in this embodiment can travel by autonomous vehicle control. Unless otherwise specified, the other configurations are the same as those in the first embodiment. Note that the device configuration of the vehicle in this embodiment is the same as that of the vehicle 100 in the first embodiment, and therefore, for convenience, the vehicle in this embodiment will also be referred to as the vehicle 100.

[0073] In this embodiment, the communication device 130 of the vehicle 100 can communicate with the external sensor 300, the terminal device 380, and the part processing device PD. The processor 111 of the vehicle control device 110 executes the program PG1 stored in the memory 112 to function as a vehicle control unit 115v, a first acquisition unit 215, a part identification unit 220, an instruction unit 230, a location identification unit 240, a second acquisition unit 245, and a position identification unit 250. In this embodiment, the instruction unit 230 does not function as a remote control unit. The vehicle control unit 115v can also autonomously control the vehicle 100 by controlling the actuator group 120 using a travel control signal generated by the vehicle 100. In addition to the program PG1, the memory 112 stores a reference route RR, a detection model DM, and a database DB.

[0074] 9 is a flowchart showing the processing procedure for driving control of the vehicle 100 in the second embodiment. In the processing procedure in FIG. 9, the processor 111 of the vehicle 100 functions as a vehicle control unit 115v by executing a program PG1.

[0075] In step S901, the processor 111 of the vehicle control device 110 acquires vehicle position information using the detection results output from the camera, which is the external sensor 300. In step S902, the processor 111 determines a target position to which the vehicle 100 should next head. In step S903, the processor 111 generates a driving control signal for driving the vehicle 100 toward the determined target position. In step S904, the processor 111 controls the actuator group 120 using the generated driving control signal, thereby causing the vehicle 100 to drive in accordance with parameters represented in the driving control signal. The processor 111 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 of this embodiment, the vehicle 100 can be driven by autonomous control of the vehicle 100 without remote control of the vehicle 100 by the server 200.

[0076] The manufacturing method of the vehicle 100 in this embodiment is realized by a manufacturing process similar to that shown in FIG. 6 . However, in this embodiment, the manufacturing process is executed by the processor 111 of the vehicle control device 110, not by the processor 201 of the server 200, for example, at predetermined time intervals. In this embodiment, the target vehicle 100 refers to the subject vehicle. In this embodiment, each instruction is executed by the instruction unit 230 of the vehicle 100, not by the server 200. In this embodiment, the vehicle control unit 115v of the target vehicle 100 generates and outputs a driving control signal in the normal instruction in step S125, the repair instruction in step S135, the standby instruction in step S155, and the vehicle return instruction in step S160, thereby controlling its own actuator group 120 using the driving control signal. In the vehicle entry instruction in this embodiment, the target vehicle 100 does not need to transmit a driving control signal to the following vehicle. For example, the target vehicle 100 may transmit a signal to the following vehicle that triggers the generation of a driving control signal for the following vehicle to enter the first vacant region R1.

[0077] As with the server 200 in the first embodiment, the vehicle 100 in the present embodiment described above can also prevent incorrect parts from being assembled in the assembly area AA to other vehicles 100. Therefore, assembly in the assembly area AA can be performed appropriately.

[0078] C. Other Embodiments: (C1) In each of the above embodiments, the vehicle evacuation instruction is issued to the defective vehicle. In contrast, the vehicle evacuation instruction may be issued not to the defective vehicle but to, for example, a robot configured to be able to remove the vehicle 100 from the production line ML, or to a user. The vehicle evacuation instruction to the user may be issued to, for example, the terminal device 380. In this case, the vehicle evacuation instruction may be a control command to cause the terminal device 380 to output, for example, visual information such as characters, symbols, or images, or audio information such as voice or an alarm. The vehicle evacuation instruction to the user may also be issued using, for example, an output device (not shown) provided in the factory FC. The output device may be, for example, a display device that outputs visual information, or a speaker or alarm that outputs audio information. By issuing the vehicle evacuation instruction to the user as described above, for example, even when it is difficult to drive the defective vehicle using unmanned driving, the worker WM can remove the defective vehicle from the production line ML. The phrase "when it is difficult to drive using unmanned driving" includes a first case in which driving using driving operations is difficult and a second case in which driving using driving operations is possible. The malfunction in the first case is, for example, a malfunction of the actuator group 120. The malfunction in the second case is, for example, a malfunction related to the function of executing unmanned driving, and also includes a malfunction of the communication device 130 when the vehicle 100 is in a mode in which it can run by remote control.

[0079] Furthermore, for example, the instruction unit 230 may determine whether to issue a vehicle evacuation instruction to the malfunctioning vehicle, or to a robot or a user, depending on the malfunction information. In this case, for example, if it is difficult for the malfunctioning vehicle to travel unmanned, the vehicle evacuation instruction may be issued to the robot or the user, and if it is not difficult for the malfunctioning vehicle to travel unmanned, the vehicle evacuation instruction may be issued to the malfunctioning vehicle.

[0080] (C2) In the above embodiments, the part evacuation command is issued to part processing equipment PD that can remove parts PT from part line PL. However, the part evacuation command may be issued not to part processing equipment PD but to, for example, a conveyor device CV that can remove parts PT from part line PL, or to a user.

[0081] (C3) In the above embodiments, the vehicle entry instruction suppresses the deceleration of the following vehicle relative to the preceding vehicle, but this is not necessarily required. For example, the vehicle entry instruction may cause the following vehicle to enter the first vacant area R1 by accelerating the following vehicle. Furthermore, the vehicle entry instruction may be realized, for example, by an instruction to execute group control that maintains a substantially constant inter-vehicle distance between the front and rear vehicles 100.

[0082] (C4) In each of the above embodiments, a vehicle entry instruction is executed, but the vehicle entry instruction does not have to be executed.

[0083] (C5) In each of the above embodiments, a part entry instruction is executed, but a part entry instruction does not have to be executed.

[0084] (C6) In each of the above embodiments, the evacuation instruction is implemented by a repair instruction, but this does not have to be the case. For example, the evacuation instruction may be an instruction separate from the repair instruction. Also, for example, the repair instruction does not have to be executed. If the repair instruction is not executed, the defective vehicle may, for example, be disassembled or discarded without being repaired. Also, in this case, the corresponding part may, for example, be disassembled or discarded without being returned to the parts line PL.

[0085] (C7) In the above embodiments, the repair location RP is identified based on the malfunction information, but this is not necessarily the case. For example, the repair location RP may be determined in advance without being based on the malfunction information. In this case, the server 200 and the vehicle 100 may not be provided with the location identification unit 240.

[0086] (C8) In each of the above embodiments, a vehicle return instruction is issued when completion information is acquired, but this does not have to be the case. For example, the repaired vehicle may be driven to a location other than the assembly area AA without returning to the production line ML, and the part PT may be assembled to the repaired vehicle at a location other than the assembly area AA. In this case, the corresponding part may be transported to that location by various conveying equipment or a worker WM. In this case, the system 50 may not be equipped with the second acquisition unit 245.

[0087] (C9) In each of the above embodiments, a part restoration instruction is executed, but the part restoration instruction does not have to be executed. For example, an instruction may be executed to input a new part that is compatible with the repaired vehicle into the parts line PL, instead of the corresponding part that has been evacuated. In this case, the system 50 does not have to include the position identification unit 250.

[0088] (C10) In each of the above embodiments, for example, some or all of the vehicle entry instruction, part entry instruction, repair instruction, vehicle return instruction, and part return instruction may be executed by separate functional units for executing each process. For example, the vehicle entry instruction, part entry instruction, repair instruction, vehicle return instruction, and part return instruction may be executed by a vehicle entry instruction unit, a part entry instruction unit, a repair instruction unit, a vehicle return instruction unit, and a part return instruction unit. In this case, the functional unit that combines the respective functional units corresponds to the "instruction unit" in this disclosure.

[0089] (C11) In each of the above embodiments, the external sensor 300 is not limited to a camera and may be, for example, a distance measuring device. The distance measuring device is, for example, 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.

[0090] (C12) 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.

[0091] (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.

[0092] (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.

[0093] (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. 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 results of the internal sensor and reflect the detection results of the internal sensor in the route when generating a route.

[0094] (C13) In the second embodiment, the vehicle 100 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 100 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 100 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.

[0095] (C14) In the second embodiment, the vehicle 100 acquires vehicle position information using the detection results of the external sensor 300. Alternatively, the vehicle 100 may be equipped with an internal sensor. 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, 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 100 can travel without using any of the detection results of the external sensor 300. The vehicle 100 may acquire a target arrival time or traffic congestion information from outside the vehicle 100 and reflect the target arrival time or traffic congestion information in at least one of the route and the driving control signal. Furthermore, all of the functional configuration of the system 50v may be provided in the vehicle 100. In other words, the processing performed by the system 50v in the present disclosure may be performed by the vehicle 100 alone.

[0096] (C15) 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.

[0097] (C16) 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 part by casting. The molding method of integrally molding at least a portion of the module into 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.

[0098] (C17) Transporting vehicle 100 by 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 by 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.

[0099] 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. Hardware for implementing the various functions in each of the above embodiments may be implemented by various circuits, such as integrated circuits and discrete circuits. [Explanation of symbols]

[0100] 50, 50v...system, 100, 100a, 100b, 100c, 100d...vehicle, 110...vehicle control device, 111...processor, 112...memory, 113...input / output interface, 114...internal bus, 115, 115v...vehicle control unit, 120...actuator group, 130...communication device, 200...server, 201...processor, 202...memory, 203...input / output interface, 204...internal bus, 205...communication device, 215...first acquisition unit, 220...part identification unit, 230...instruction unit, 240...location identification unit, 245...second acquisition unit, 250...position identification unit, 300...external sensor, 380...terminal device

Claims

1. a first acquisition unit that acquires defect information relating to a defect in a mobile object that moves on a production line by remote control; a part identification unit that, when acquiring the defect information, identifies a corresponding part to be assembled to the defective mobile body, which is the mobile body having the defect, from among a plurality of parts flowing on a parts line, the part line merging with the production line at an assembly area for assembling the part to the mobile body; an instruction unit that executes a first evacuation instruction to remove the defective moving body from the manufacturing line and a second evacuation instruction to remove the corresponding component from the component line.

2. 10. The apparatus of claim 1, The instruction unit further executes an entry instruction to instruct a subsequent moving body, which is the moving body following the defective moving body, to enter a first empty space created by the defective moving body being removed from the manufacturing line.

3. 3. The apparatus of claim 2, The instruction unit, in the entry instruction, causes the following moving body to enter the first empty space by making the degree of deceleration of the following moving body less than the degree of deceleration of the moving body preceding the following moving body.

4. 10. The apparatus of claim 1, The instruction unit further instructs a device configured to change the position of the part flowing on the part line to cause the part succeeding the corresponding part to enter a second empty space created when the corresponding part deviates from the part line.

5. 5. An apparatus according to any one of claims 1 to 4, comprising: The instruction unit further executes a repair instruction to the malfunctioning mobile object to move the malfunctioning mobile object to a repair location for repairing the malfunction.

6. 6. The apparatus of claim 5, a location specifying unit that specifies the repair location in accordance with the defect information; The repair instruction is an instruction to move the malfunctioning mobile object to the specified repair location.

7. 6. The apparatus of claim 5, a second acquisition unit that acquires completion information regarding completion of the repair; The device, wherein when the completion information is acquired, the instruction unit further executes an instruction to enter the repaired mobile body, which is the mobile body for which the repair has been completed, into the manufacturing line.

8. 8. The apparatus of claim 7, a position specifying unit that specifies an interruption position on the parts line for the corresponding part removed from the parts line, using information indicating a position where the repaired mobile object enters the production line; The instruction unit further instructs a device configured to be able to insert the component at the interruption position to insert the corresponding component removed from the component line at the interruption position.

9. 10. The apparatus of claim 1, The first evacuation instruction is an instruction to be executed on the defective moving object, and is an instruction to remove the defective moving object from the manufacturing line by the remote control.

10. 10. The apparatus of claim 1, The first evacuation instruction is an instruction to be executed by a terminal device.

11. 10. The apparatus of claim 1, The second evacuation instruction is an instruction to be executed by a device configured to be able to remove the component from the component line.

12. A mobile object, a first acquisition unit that acquires defect information relating to a defect in the mobile object that moves on the production line by unmanned operation; a part identification unit that, when acquiring the defect information, identifies a corresponding part to be assembled to the mobile body from among a plurality of parts flowing on a parts line, the parts line merging with the production line at an assembly area for assembling the part to the mobile body; a command unit that executes an instruction to remove the moving body from the production line and an instruction to remove the corresponding component from the component line.

13. acquiring defect information relating to a defect in a mobile object that moves through the manufacturing line by unmanned operation; a step of identifying a corresponding part to be assembled to the defective moving body having the defect from among a plurality of parts flowing on a parts line when the defect information is acquired, the parts line merging with the production line at an assembly area for assembling the part to the moving body; and executing an instruction to remove the defective moving body from the manufacturing line and an instruction to remove the corresponding part from the part line.

Images