Device

Abstract

To provide a technology that can confirm the correspondence between a movable body movable through unmanned operation and a component.SOLUTION: A device includes: a first acquisition unit configured to acquire first information that is unique information of a mobile body movable through unmanned operation; a second acquisition unit configured to acquire second information that is unique information of a component to be assembled to the mobile body; and a determination unit configured to determine whether the correspondence between the mobile body and the component is correct based on the first information and the second information.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to an apparatus. [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] When assembling parts to a moving object such as a vehicle in a manufacturing process, it is necessary to assemble parts that correspond to the moving object. However, when using unmanned operation in the manufacturing process, technology for confirming the correspondence between moving objects and parts has not been considered. [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 first information that is unique information of a mobile object that can move by unmanned operation; a second acquisition unit that acquires second information that is unique information of a part to be assembled to the mobile object; and a determination unit that determines whether a correspondence relationship between the mobile object and the part is correct based on the first information and the second information. According to this aspect, the correspondence relationship can be confirmed. (2) In the above embodiment, the first acquisition unit may acquire the first information for each of the plurality of moving bodies, the second acquisition unit may acquire the second information for each of the plurality of parts, and the determination unit may further determine whether the correspondence between each of the moving bodies and each of the parts is correct based on information on the order in which the first information was acquired and information on the order in which the second information was acquired. According to this embodiment, the correspondence between the plurality of moving bodies and the plurality of parts can be effectively confirmed. (3) In the above aspect, the system may further include a stop unit that, when it is determined that the correspondence is incorrect, executes at least one of a process of stopping the movement of the moving body for which the correspondence is incorrect and a process of stopping the movement of the part for which the correspondence is incorrect. According to this aspect, it is possible to prevent the moving body or the part from moving while the correspondence is incorrect, and to prevent the wrong part from being assembled to the moving body. (4) In the above embodiment, a notification unit may be further provided that notifies a user of an abnormality when it is determined that the correspondence is incorrect. According to this embodiment, for example, the user who is notified of the abnormality can investigate the cause of the incorrect correspondence and take measures to correct the correspondence. (5) In the above aspect, the system may further include an instruction unit that issues a correction instruction to correct the correspondence when it is determined that the correspondence is incorrect, and the instruction may include at least one of a first instruction to instruct the moving object having the incorrect correspondence to move so as to correct the correspondence, and a second instruction to instruct a device configured to be able to change the order of the parts having the incorrect correspondence to change the order of the parts having the incorrect correspondence so as to correct the correspondence. According to this aspect, the correspondence can be corrected by moving the moving object or changing the order of the parts without manual work. In addition to the above-described device form, the present disclosure can be realized in the form of, for example, a system, a mobile object, a determination method, 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. 2 is a conceptual diagram illustrating the correspondence between each vehicle and each part. [Figure 3] FIG. 1 is a block diagram showing the configuration of a system according to a first embodiment. [Figure 4] 3 is a flowchart showing a processing procedure for vehicle travel control in the first embodiment. [Figure 5] 4 is a flowchart of a determination process in the first embodiment. [Figure 6] 10 is a flowchart of a determination process in the second embodiment. [Figure 7] 10 is a flowchart of a determination process in the third embodiment. [Figure 8] FIG. 10 is a block diagram showing the configuration of a system according to a fourth embodiment. [Figure 9] 10 is a flowchart showing a processing procedure for vehicle travel control in a fourth 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 mounted from any direction, such as the top, bottom, front, rear, right or left side of the vehicle 100, and may be mounted from the same direction or from different directions.

[0013] In this embodiment, the system 50 is used in a factory FC that manufactures the vehicle 100. The reference coordinate system of the factory FC is a global coordinate system GC, and any position within the factory FC can be expressed by X, Y, and Z coordinates in the global coordinate system GC. The vehicle 100 moves unmanned within the factory FC from a first location L1 to a second location L2 along a road TR on which the vehicle 100 can travel.

[0014] In the factory FC, a plurality of external sensors 300 are installed along the track TR. The external sensors 300 are sensors located outside the vehicle 100. The external sensors 300 are configured with cameras. The cameras serving as the external sensors 300 capture images of the vehicle 100 and output the captured images as detection results. The external sensors 300 are equipped with a communication device (not shown) and can communicate with other devices such as the server 200 via wired or wireless communication. The positions of the external sensors 300 in the factory FC are adjusted in advance.

[0015] 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 the vehicle 100 in an unmanned operation. In this embodiment, a portion of the track TR corresponds to the production line ML. The parts line PL is a line for transporting a plurality of parts PT. The parts PT to be assembled into each vehicle 100 to be manufactured in the factory FC flow along the parts line PL. In this embodiment, the parts line PL corresponds to a conveyor device Cv for transporting the parts PT toward the assembly area AA. Note that the parts line PL only needs to be configured to transport the parts PT sequentially to the assembly area AA. In other embodiments, the parts line PL may be a line using hangers that suspend and move the parts PT, or a line using automated guided vehicles (AGVs) that transport the parts PT. In the assembly area AA, the parts PT are assembled into the vehicle 100. In this embodiment, the assembly in the assembly area AA is performed by an assembly robot 450. The assembly robot 450 is an example of a device that assembles the part PT to the vehicle 100.

[0016] In this embodiment, a component processing device PD is disposed near the component line PL. The component processing device PD is, for example, a robot. The component processing device PD is configured to be able to change the order of the components PT on the component line PL. Note that in other embodiments, for example, an assembly robot 450 may function as the component processing device PD.

[0017] The vehicle 100 traveling on the production line ML is capable of vehicle evacuation and vehicle return. "Vehicle evacuation" means that the vehicle 100 is evacuated to an evacuation location EP outside the production line ML. "Vehicle return" means that the vehicle 100 returns from the evacuation location EP to the production line ML. The evacuation location EP may be, for example, a track parallel to the production line ML in the vehicle width direction of the track TR, a track connected to the production line ML, or a repair location for repairing the vehicle 100. In this embodiment, the vehicle evacuation and vehicle return are achieved by the vehicle 100 traveling in an unmanned manner. In other embodiments, the vehicle evacuation and vehicle return may be achieved, for example, by a worker operating the vehicle 100, or by a worker or robot transporting the vehicle 100 using wheels, or by transporting the vehicle 100 without wheels. Because the vehicle 100 is configured to be movable in an unmanned manner, the vehicle 100 can be easily evacuated and returned by traveling the vehicle 100 or transporting the vehicle 100 on the track TR. The vehicle evacuation may be performed, for example, to evacuate a vehicle 100 that has a malfunction. The vehicle return may be performed, for example, to return a vehicle 100 whose malfunction has been repaired.

[0018] Furthermore, in the production line ML, vehicle order changes, which are changes in the order of the vehicles 100, are possible. Vehicle order changes include vehicle order changes that utilize the evacuation of the vehicles 100 and order changes that do not utilize the evacuation of the vehicles 100. Order changes that utilize the evacuation of the vehicles 100 are realized by the evacuation of the vehicles 100 and the return of the vehicles. Order changes that do not utilize the evacuation of the vehicles 100 are realized by the overtaking of the vehicles 100 within the production line ML.

[0019] The parts PT flowing on the part line PL are capable of part evacuation and part return, much like the vehicle 100. "Part evacuation" means that the part PT is evacuated outside the part line PL. "Part return" means that the part PT is returned onto the part line PL. In addition, part reordering, which is a change in the order of the parts PT flowing on the part line PL, is possible. Much like vehicle reordering, part reordering includes reordering that uses evacuation of the part PT and reordering that does not use evacuation of the part PT. Part evacuation, part return, and part reordering may be performed, for example, by part processing equipment PD or by an operator. Furthermore, for example, the conveyor device Cv, hanger, and AGV used on the part line PL may be configured as equipment capable of part evacuation, part return, and part reordering.

[0020] Fig. 2 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 shown in Fig. 2 are parts PT to be assembled to vehicles 100a, 100b, 100c, and 100d, respectively. In the example of Fig. 2, assembling compatible parts PTa, PTb, PTc, and PTd on vehicles 100a, 100b, 100c, and 100d, respectively, means that each assembly in the assembly area AA is performed correctly.

[0021] In state C1 shown in FIG. 1, the correspondence between each vehicle 100 and each part PT is correct. Specifically, the order of each vehicle 100 corresponds to the order of the parts PT to be assembled to each vehicle 100. Hereinafter, the correspondence between the vehicles 100 and the parts PT will also be simply referred to as the "correspondence." The correspondence refers to the correspondence between the order in which each vehicle 100 arrives at the assembly area AA and the order in which each part PT arrives at the assembly area AA. In other words, the correspondence is the correspondence between the order in which each vehicle 100 moves toward the assembly area AA on the production line ML and the order in which each part PT moves toward the assembly area AA on the parts line PL. If the correspondence is correct, each assembly will be performed correctly if each vehicle 100 and each part PT are assembled in the assembly area AA in the order in which they arrive. On the other hand, in states C2 and C3 shown in FIG. 2, the correspondence is incorrect. Specifically, in state C2, due to the evacuation of vehicle 100c, vehicle 100d corresponds to part PTc. Furthermore, in state C3, due to the exchange of vehicles 100c and 100d, or the exchange of parts PTc and PTd, part PTc corresponds to vehicle 100d, and part PTd corresponds to vehicle 100c. In states C2 and C3, if each vehicle 100 and each part PT are assembled in the order in which they arrived at the assembly area AA, the wrong part PT will be assembled to at least some of the vehicles 100.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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 terminal device 380 owned by a user via wireless communication, and can also communicate with each external sensor 300, the assembly robot 450, and the 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 of the factory FC. The processor 201 executes the program PG2 stored in the memory 202 to realize various functions including the functions of the first acquisition unit 210, the second acquisition unit 215, the determination unit 225, the instruction unit 230, and the notification unit 240. The instruction unit 230 and the notification unit 240 correspond to an output unit. The output unit outputs information according to the result of the determination of the correspondence by the determination unit 225, which will be described later.

[0026] The first acquisition unit 210 acquires first information. The first information is information unique to the vehicle 100. The unique information of the vehicle 100 is information for distinguishing between the vehicles 100 based on predetermined criteria. For example, the identification number of the vehicle 100 or specification information of the vehicle 100 can be used as the first information. The identification number of the vehicle 100 is, for example, a vehicle identification number (VIN) or a serial number that can uniquely identify each vehicle 100. In this case, the first information makes it possible to identify the location of each vehicle 100. The specification information of the vehicle 100 is, for example, various information related to the specifications of the vehicle 100, such as information indicating the model of the vehicle 100, information indicating the color of the vehicle 100, and information indicating the grade of the vehicle 100. When specification information is used as the first information, the first information makes it possible to identify each vehicle 100 by its specifications.

[0027] In this embodiment, the first acquisition unit 210 acquires first information about the vehicle 100 when the vehicle 100 passes a predetermined first reference position on the production line ML. The first acquisition unit 210 acquires the first information using, for example, an external sensor 300 or a first detection device (not shown) that is provided in the factory FC and is capable of detecting the first information. The first information may be acquired based on the appearance of the vehicle 100, such as the shape, pattern, or color of the vehicle 100, or the presence or absence of equipment, or may be acquired using a two-dimensional code or RFID (Radio Frequency Identification).

[0028] The second acquisition unit 215 acquires second information. The second information is unique information of the part PT. The unique information of the part PT is information for distinguishing between the part PTs according to predetermined criteria, similar to the first information. For example, the second information may be an identification number of the part PT or specification information of the part PT. For example, the second information may be the same type of information as the first information, or may be a different type of information from the first information.

[0029] In this embodiment, the second acquisition unit 215 acquires second information about a part PT when the part PT passes a predetermined second reference position on the part line PL. The second acquisition unit 215 acquires the second information using, for example, an external sensor 300 or a second detection device (not shown) that is provided in the factory FC and is capable of detecting the second information. The second information may be acquired based on the external appearance of the vehicle 100, such as the shape, pattern, or color of the part PT, or may be acquired using a two-dimensional code or RFID (Radio Frequency Identification).

[0030] The determination unit 225 determines whether the correspondence between the vehicle 100 and the part PT is correct based on the first information and the second information. In this embodiment, the determination unit 225 determines the correspondence using a database DB. The database DB stores the first information and the second information corresponding to the first information in association with each other.

[0031] In addition, in this embodiment, the judgment unit 225 further judges whether the correspondence between each vehicle 100 and each part PT is correct based on at least one of the first order information and the second order information. The first order information is information regarding the order in which each piece of first information is acquired. The second order information is information regarding the order in which each piece of second information is acquired. In this embodiment, the first order information is information that indicates the timing at which each piece of first information is acquired. Furthermore, the second order information is information that indicates the timing at which each piece of second information is acquired. Specifically, the judgment unit 225 judges whether the correspondence between each vehicle 100 and each part PT is correct by comparing the order in which each piece of first information is acquired with the order in which each piece of second information is acquired.

[0032] 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. Hereinafter, issuing an instruction will also be referred to as "executing an instruction."

[0033] The instruction unit 230 issues a correction instruction. The correction instruction is an instruction to be executed when it is determined that the correspondence is incorrect, and is an instruction to correct the correspondence. The correction instruction includes at least one of a first instruction and a second instruction. The first instruction is to instruct the vehicle 100 to move so that the correspondence is correct. The second instruction is to instruct a device configured to be able to change the order of part PTs whose correspondence is incorrect to change the order of the part PTs so that the correspondence is correct. The correction instruction in this embodiment includes only the first instruction out of the first instruction and the second instruction.

[0034] In this embodiment, the first instruction includes an instruction to change the order. Specifically, in response to the first instruction, the instruction unit 230 generates a traveling control signal for causing the vehicle 100 to retreat, return, or overtake, and transmits the generated traveling control signal to the vehicle 100 that is the target of the instruction. When executing the first instruction, the instruction unit 230 generates the traveling control signal for the first instruction using correction information, which will be described later.

[0035] When it is determined that the correspondence is incorrect, the notification unit 240 notifies the user of the abnormality. When notifying the abnormality, the notification unit 240 may, for example, notify the user of error information related to the incorrect correspondence. The notification unit 240 may execute the notification using, for example, the terminal device 380 or an output device (not shown) provided in the factory FC. Specifically, the notification unit 240 may execute the notification by, for example, transmitting a control signal to the terminal device 380 to cause the terminal device 380 to output visual information or audio information. Similarly, the notification unit 240 may execute the notification by transmitting a control signal to the output device. The output device may, for example, be a display device or a warning light that outputs visual information, or a speaker or an alarm that outputs audio information.

[0036] 4 is a flowchart showing the processing procedure for driving control of the vehicle 100 in the first embodiment. In the processing procedure in FIG. 4, 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.

[0037] In 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 is 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 S1, the processor 201 acquires the vehicle position information using a captured image acquired from a camera, which is the external sensor 300.

[0038] In detail, in 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. For example, a convolutional neural network (hereinafter, CNN) trained by supervised learning using a training dataset may be used as this machine learning model. The training dataset 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.

[0039] At 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.

[0040] At 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, and 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, and when the vehicle 100 is not located on the reference route RR, in other words, when the vehicle 100 has deviated from the reference route RR, the processor 201 determines a steering angle and acceleration such that the vehicle 100 returns to the reference route RR.

[0041] In this embodiment, when the processor 201 generates the driving control signal for the first instruction in steps S1 to S3, the processor 201 further generates the driving control signal using correction information as described above. The correction information is used to generate the driving control signal so as to correct the correspondence. The correction information may include, for example, information representing a new target position, information representing a new route, or information for correcting each parameter included in the driving control signal.

[0042] In S4, processor 201 of server 200 transmits the generated driving control signal to vehicle 100. Processor 201 repeats, at a predetermined cycle, acquisition of vehicle position information, determination of a target position, generation of a driving control signal, and transmission of the driving control signal.

[0043] At S5, the processor 111 of the vehicle 100 receives a driving control signal transmitted from the server 200. At 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.

[0044] Fig. 5 is a flowchart of a determination process for realizing the determination method of this embodiment. The processor 201 executes the determination process of Fig. 5, for example, at predetermined time intervals while the driving control of Fig. 4 is being executed.

[0045] At S105, the first acquisition unit 210 acquires first information for each vehicle 100. As a result, first order information is acquired. At S110, the second acquisition unit 215 acquires second information for each part PT. At S115, the determination unit 225 determines whether the correspondence is correct based on the information acquired at S105 and S110 and the order information, i.e., the timing at which each piece of first information was acquired and the timing at which each piece of second information was acquired. If the correspondence is incorrect at S115, the instruction unit 230 generates correction information for the first instruction at S120. At S125 in FIG. 5, the notification unit 240 notifies the user of an abnormality. When S120 is executed, the instruction unit 230 generates a driving control signal using the correction information generated at S120 at S1 to S3 in FIG. 4. In this case, the instruction unit 230 executes the first instruction by transmitting to the vehicle 100 a driving control signal generated using the correction information in S4.

[0046] A specific example of the first instruction will be described below with reference to FIG. 2. In state C2, for example, a vehicle return is executed to return vehicle 100c to production line ML in order to correct the correspondence. In this case, the instruction unit 230 generates a driving control signal using correction information for returning vehicle 100c to production line ML and transmits the generated driving control signal to vehicle 100c. In addition, in state C3, for example, a vehicle order change is executed to exchange the order of vehicle 100c and vehicle 100d. In this case, the instruction unit 230 generates a driving control signal to make the speed of vehicle 100c faster than the speed of vehicle 100d, such as a driving control signal to make vehicle 100d run at a slower speed or a driving control signal to make vehicle 100c run at a faster speed, and transmits the generated driving control signal to vehicle 100d and vehicle 100c.

[0047] The server 200 in the present embodiment described above determines whether the correspondence between the vehicle 100 and the part PT is correct based on the first information, which is information unique to the vehicle 100, and the second information, which is information unique to the part PT. In this embodiment, the vehicle 100 is transported to the assembly area AA using unmanned driving. Therefore, compared to a case where unmanned driving is not used, vehicle evacuation, vehicle return, and vehicle order change can be easily performed depending on, for example, a malfunction of the vehicle 100 on the production line ML or the manufacturing status of the vehicle 100 in the factory FC. However, errors in the correspondence may occur due to vehicle evacuation, vehicle return, or vehicle order change. In this embodiment, the correspondence can be confirmed in a situation where errors in the correspondence may occur due to vehicle evacuation, vehicle return, or vehicle order change. As a result, for example, it is possible to effectively prevent an incorrect part PT from being assembled to the vehicle 100 in the assembly area AA, thereby increasing the likelihood that assembly in the assembly area AA will be performed appropriately.

[0048] Furthermore, in this embodiment, whether the correspondence between each vehicle 100 and each part PT is correct is determined based on the first order information and the second order information, so that the correspondence between multiple vehicles 100 and multiple parts PT can be effectively confirmed.

[0049] In addition, in this embodiment, if it is determined that the correspondence is incorrect, the user is notified of the abnormality, so that the user who has been notified of the abnormality can investigate the cause of the incorrect correspondence and take measures to correct the correspondence, for example.

[0050] Furthermore, in this embodiment, when it is determined that the correspondence is incorrect, the first instruction is executed for the vehicle 100. Therefore, for example, the correspondence can be corrected by moving the vehicle 100 without manual operation by the user.

[0051] B. Second embodiment: 6 is a flowchart of a determination process for realizing a determination method in the second embodiment. In this embodiment, unlike the first embodiment, the instruction unit 230 executes a second instruction as a correction instruction instead of a first instruction. The other configurations are the same as those in the first embodiment unless otherwise specified.

[0052] 6, the instruction unit 230 executes a second instruction. In this embodiment, the second instruction is executed to the component processing device PD, which is configured to be able to change the order of components with incorrect correspondences. The second instruction includes, for example, an instruction to change the order of components. In this embodiment, the second instruction causes the instruction unit 230 to generate a control signal for retracting, restoring, or overtaking the component PT, and transmits the generated control signal to the component processing device PD.

[0053] A specific example of the second instruction will be described below with reference to FIG. 2. In state C2, for example, a part evacuation is performed to evacuate part PTc that should be assembled on the evacuated vehicle 100c in order to correct the correspondence. In state C3, for example, a part order change is performed to swap the order of part PTc and part PTd. In this case, the instruction unit 230 generates, for example, a control signal to move part PTd forward of part PTc on the part line PL, or a control signal to move part PTc behind part PTd, and transmits the generated control signal to the part processing device PD. Note that such a part order change may involve part evacuation or part return.

[0054] According to the server 200 in this embodiment described above, the second instruction is executed when it is determined that the correspondence is incorrect, so that the correspondence can be corrected by changing the order of the parts PT without manual work.

[0055] In another embodiment, the instruction unit 230 may correct the correspondence by executing both the first instruction and the second instruction.

[0056] In another embodiment, the instruction unit 230 may execute a third instruction as a correction instruction. The third instruction is issued to a user such as a manager or a worker configured to be able to change the order of parts PT. In this case, the instruction unit 230 may execute the third instruction instead of the second instruction in S121 of FIG. 6, for example. According to this embodiment, the correspondence can be corrected by manually moving the parts PT.

[0057] C. Third embodiment: FIG. 7 is a flowchart of a determination process for implementing the determination method of the third embodiment. Unlike the first embodiment, in this embodiment, the instruction unit 230 functions as a stop unit. The stop unit, like the instruction unit 230 and the notification unit 240, corresponds to an output unit. The stop unit in this embodiment executes at least one of vehicle stop and part stop when it is determined that the correspondence is incorrect. Vehicle stop refers to a process of stopping the movement of a vehicle 100 with an incorrect correspondence in the production line ML. Part stop refers to a process of stopping the movement of a part PT with an incorrect correspondence in the part line PL. The stop unit in this embodiment executes either vehicle stop or part stop. Note that vehicle stop not only includes stopping the movement of a moving vehicle 100, but also includes continuing the stoppage of a vehicle 100 whose movement has been temporarily stopped. Similarly, part stop not only includes stopping the movement of a moving part PT, but also includes continuing the stoppage of a part PT whose movement has been temporarily stopped. Unless otherwise specified, the other configurations are the same as those in the first embodiment.

[0058] At S122 in FIG. 7 , the instruction unit 230 functions as a stopping unit, whereby the instruction unit 230 generates a driving control signal for stopping the vehicle 100 and transmits the generated driving control signal to the vehicle 100. Note that in another embodiment, the instruction unit 230 may stop the vehicle 100 by stopping transmission of the driving control signal to the vehicle 100. Furthermore, the vehicle stop may be performed on at least the vehicle 100 with an incorrect correspondence relationship among the vehicles 100. Therefore, for example, the vehicle stop may be performed on all the vehicles 100 on the production line ML. Furthermore, the vehicle stop may be performed on each vehicle 100 behind the vehicle 100 with an incorrect correspondence relationship, for example.

[0059] According to the server 200 in the third embodiment described above, when it is determined that the correspondence is incorrect, the vehicle is stopped. Therefore, it is possible to prevent the vehicle 100 from moving toward the assembly area AA while the correspondence is incorrect, and to prevent the incorrect part PT from being assembled on the vehicle 100. Furthermore, for example, while the movement of the vehicle 100 is stopped, a manager or worker can investigate the cause of the incorrect correspondence and take measures to correct the correspondence.

[0060] In other embodiments, a component stop may be performed in addition to or instead of a vehicle stop. A component stop may be performed, similar to a vehicle stop, for at least those components PTs for which the corresponding relationship is incorrect. In a component stop, the instruction unit 230 may, for example, send a control signal to the conveyor device Cv, hanger, or AGV used on the component line PL to stop the transportation of the component PT. This configuration can prevent a component PT from moving toward the assembly area AA while the corresponding relationship is incorrect, thereby preventing an incorrect component PT from being assembled on the vehicle 100. Furthermore, while the movement of the component PT is stopped, a manager or worker can investigate the cause of the incorrect correspondence and take action to correct the correspondence.

[0061] D. Fourth embodiment: FIG. 8 is a block diagram showing the configuration of a system 50v in the fourth 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.

[0062] In this embodiment, the communication device 130 of the vehicle 100 can communicate with the external sensor 300 and the terminal device 380. The processor 111 of the vehicle control device 110 executes the program PG2 stored in the memory 112 to function as a vehicle control unit 115v, a first acquisition unit 210, a second acquisition unit 215, an instruction unit 230, and a notification unit 240. The vehicle control unit 115v controls the actuator group 120 using a travel control signal generated by the vehicle 100, thereby enabling the vehicle 100 to travel by autonomous control. In addition to the program PG1, the memory 112 stores a reference route RR, a detection model DM, and a database DB. The vehicle control device 110 in the fourth embodiment corresponds to the "device" in the present disclosure.

[0063] 9 is a flowchart showing the processing procedure of the driving control of the vehicle 100 in the fourth embodiment. In the processing procedure of FIG. 9, the processor 111 of the vehicle 100 functions as a vehicle control unit 115v by executing a program PG1.

[0064] At 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. At S902, the processor 111 determines a target position to which the vehicle 100 should next head. At S903, the processor 111 generates a driving control signal for driving the vehicle 100 toward the determined target position. At 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.

[0065] The determination method of the vehicle 100 in this embodiment is realized by a determination process similar to that shown in FIG. 5 . However, in this embodiment, the determination 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. Also, in this embodiment, the first instruction is executed by the instruction unit 230 of the vehicle 100, not by the server 200. When executing the first instruction to itself, the vehicle 100 generates and outputs a traveling control signal for the first instruction, and controls its own actuator group 120 using the traveling control signal. The vehicle 100 may execute the first instruction to a preceding vehicle that is preceding the vehicle 100 or a following vehicle that is following the vehicle 100. In this case, the vehicle 100 does not need to transmit a traveling control signal to the preceding vehicle or the following vehicle, and may transmit, for example, a signal or correction information that serves as a trigger for generating a traveling control signal to the preceding vehicle or the following vehicle.

[0066] The vehicle 100 in this embodiment described above can also check the correspondence relationship in the same way as the server 200 in the first embodiment.

[0067] E. Other Embodiments: (E1) In each of the above embodiments, the determination unit 225 determines whether the correspondence is correct based on the first information and the second information, as well as the first order information and the second order information. Alternatively, the determination unit 225 may determine whether the correspondence is correct without using the first order information and the second order information. For example, when each piece of first information is simultaneously acquired at multiple locations using the external sensor 300 and each piece of second information is simultaneously acquired at multiple locations, the determination unit 225 may determine whether the correspondence is correct based on information representing the position of each vehicle 100 on the production line ML at the time each piece of first information is acquired and information representing the position of each component PT on the component line PL at the time each piece of second information is acquired. Furthermore, for example, when determining whether the correspondence between one vehicle 100 on the production line ML and one component PT on the component line PL is correct, the determination unit 225 does not need to use the first order information and the second order information.

[0068] (E2) In the above embodiments, the server 200 and the vehicle 100 are provided with the notification unit 240, but they may not be provided with the notification unit 240.

[0069] (E3) In each of the above embodiments, the instruction unit 230 executes a correction instruction, but the correction instruction may not be executed. In this case, for example, the notification unit 240 may issue a notification without executing a correction instruction, or the determination result by the determination unit 225 may be output to an output device, or the determination result by the determination unit 225 may be output to the terminal device 380.

[0070] (E4) 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.

[0071] (E5) 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.

[0072] (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.

[0073] (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.

[0074] (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.

[0075] (E6) In the above fourth 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.

[0076] (E7) In the fourth 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.

[0077] (E8) 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 operating 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.

[0078] (E9) 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.

[0079] (E10) 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.

[0080] 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]

[0081] 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, 210...first acquisition unit, 215...second acquisition unit, 220...part identification unit, 225...determination unit, 230...instruction unit, 240...alert unit, 300...external sensor, 380...terminal device, 450...assembly robot

Claims

1. a first acquisition unit that acquires first information that is unique information of a mobile object that can be moved by unmanned operation; a second acquisition unit that acquires second information that is unique information of a part to be assembled to the moving body; a determination unit that determines whether or not a correspondence relationship between the moving object and the part is correct based on the first information and the second information.

2. 10. The apparatus of claim 1, the first acquisition unit acquires the first information for each of the plurality of moving objects; the second acquisition unit acquires the second information for each of the plurality of parts; The judgment unit further determines whether the correspondence between each of the moving bodies and each of the parts is correct based on information regarding the order in which each of the first information was acquired and information regarding the order in which each of the second information was acquired.

3. 3. The device according to claim 1 or 2, The device further includes a stopping unit that, when it is determined that the correspondence is incorrect, executes at least one of a process of stopping the movement of the moving body for which the correspondence is incorrect and a process of stopping the movement of the part for which the correspondence is incorrect.

4. 3. The device according to claim 1 or 2, The device further comprises a notification unit that notifies a user of an abnormality when it is determined that the correspondence relationship is incorrect.

5. 3. The device according to claim 1 or 2, an instruction unit that issues a correction instruction to correct the correspondence relationship when it is determined that the correspondence relationship is incorrect; The correction instruction is: a first instruction to instruct the moving object having the incorrect correspondence relationship to move so that the correspondence relationship becomes correct; a second instruction to instruct a device configured to be able to change the order of the parts having the incorrect correspondence relationship to change the order of the parts having the incorrect correspondence relationship so that the order becomes correct; Device.

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