Device

Abstract

To provide a technique that is able to appropriately fit components in a case where there is a defect in a component to be fitted to a moving body conveyed by unmanned operation.SOLUTION: A device includes: a specifying unit configured to specify, from among one or more moving bodies that move on a production line by unmanned operation, a corresponding moving body to which a defective component moved out of a component line, on which a plurality of components flow, is fitted, the component line merging with the production line in a fitting area for performing fitting the component to the moving body; and an instruction unit configured to issue at least one of a retraction instruction for retracting the corresponding moving body from the production line by unmanned operation and an instruction for skipping fitting the corresponding moving body.SELECTED DRAWING: Figure 4

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] 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 joined moving object, and the part is then assembled to the joined moving object. It is possible to transport the moving object to the assembly area using unmanned driving. However, no consideration has been given to properly assembling a part when the part to be assembled to the moving object being transported using unmanned driving has a defect. [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: an identification unit that identifies, among one or more mobile bodies that move in an unmanned manner on a manufacturing line, a corresponding mobile body to which a defective part that has been evacuated from a parts line on which a plurality of parts flow is to be assembled, the parts line merging with the manufacturing line in an assembly area for assembling the part onto the mobile body; and an instruction unit that issues at least one of an evacuation instruction to evacuate the corresponding mobile body from the manufacturing line in the unmanned manner and a skip instruction to skip the assembly of the corresponding mobile body. According to this aspect, it is possible to prevent incorrect parts from being assembled to the moving body in the assembly area, and to perform assembly in the assembly area appropriately. (2) In the above aspect, when the evacuation instruction is issued, the instruction unit may issue a first entry instruction to a device configured to change the position of each of the components flowing on the component line to cause the component following the defective component to enter a first empty space created by the component being removed from the component line, and a second entry instruction to a subsequent moving body that is the moving body following the corresponding moving body to enter a second empty space created by the component being removed from the production line. According to this aspect, each component can be moved efficiently on the component line, and each moving body can be moved efficiently on the production line, thereby enabling more efficient assembly in the assembly area. (3) In the above aspect, the instruction unit may cause the following moving body to enter the second empty space by slowing down the following moving body less than the moving body preceding the following moving body in the second entry instruction. According to this aspect, compared to when the following moving body is accelerated more to enter the empty space, it is possible to suppress the influence of the high speed of the moving body on the work process performed upstream of the assembly area in the production line. (4) In the above aspect, the instruction unit may issue an instruction to repair a defect in the evacuated defective part, and when the repair of the defect is completed, issue to a device configured to be able to introduce the repaired part, which is the part for which the repair has been completed, an instruction to introduce the repaired part into the parts line and an instruction to introduce the corresponding mobile object evacuated by the evacuation instruction into the production line by the unmanned operation. According to this aspect, the repaired part can be returned to the parts line and the corresponding mobile object can be returned to the production line without manual work. (5) In the above aspect, the instruction unit may issue an instruction to repair a defect in the withdrawn defective part, and when the repair of the defect is completed, issue an instruction to move the repaired part, which is the part for which the repair is completed, toward the corresponding mobile body using equipment different from the parts line, and an instruction to assemble the repaired part to the corresponding mobile body. According to this aspect, the repaired part can be assembled to the corresponding mobile body without re-entering the repaired part into the parts line. In addition to the above-described device form, the present disclosure can be realized in the form of, for example, a mobile object, a system, a method for manufacturing a mobile object, a method for controlling a mobile object, 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 part evacuation and part restoration. [Figure 3] FIG. 2 is a conceptual diagram illustrating the correspondence between each vehicle and each part. [Figure 4] FIG. 1 is a block diagram showing the configuration of a system. [Figure 5]3 is a flowchart showing a processing procedure for vehicle travel control in the first embodiment. [Figure 6] 3 is a flowchart of a manufacturing process according to the first embodiment. [Figure 7] 3A to 3C are views for explaining an example of a manufacturing process according to the first embodiment. [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 of a manufacturing process according to a second embodiment. [Figure 10] 10A to 10C are views for explaining an example of a manufacturing process according to a second embodiment. [Figure 11] FIG. 10 is a block diagram showing the configuration of a system according to a third embodiment. [Figure 12] 10 is a flowchart showing a processing procedure for vehicle travel control in a third 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 this 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 part processing device PD is disposed near the part line PL. The part processing device PD is, for example, a robot. The part processing device PD is configured to be able to perform part evacuation and part return, which will be described later.

[0017] The vehicle 100 traveling on the production line ML can perform vehicle evacuation and vehicle return. "Vehicle evacuation" means that the vehicle 100 is evacuated to a second evacuation location EP2 outside the production line ML. The second evacuation location EP2 is a location for evacuating the vehicle 100 from the production line ML. "Vehicle return" means that the vehicle 100 returns to the production line ML. The second evacuation location EP2 may be, for example, a track parallel to the production line ML in the vehicle width direction of the track TR, or a track connected to the production line ML. In this embodiment, vehicle evacuation and vehicle return are achieved by the vehicle 100 traveling in an unmanned manner. In other embodiments, vehicle evacuation and vehicle return may be achieved, for example, by a worker operating the vehicle, or by a worker or robot transporting the vehicle 100 using wheels, or by transporting the vehicle 100 without using wheels. By configuring the vehicle 100 to be movable by unmanned operation, the vehicle 100 can be easily evacuated and returned by driving the vehicle 100 or transporting the vehicle 100 on the track TR.

[0018] FIG. 2 is a conceptual diagram illustrating part evacuation and part return. Parts PT traveling along the part line PL can be evacuated and returned, much like the vehicle 100. "Part evacuation" refers to the part PT being evacuated to a first evacuation location EP1 outside the part line PL. The first evacuation location EP1 is a location for evacuating the part PT from the part line PL. In this embodiment, the first evacuation location EP1 is equipped with a repair device 460, which will be described later. "Part return" refers to the part PT returning to the part line PL. In other embodiments, part evacuation and part return may be performed by, for example, a worker rather than by the part processing device PD. Furthermore, for example, the conveyor device Cv, hangers, and AGVs used on the part line PL may be configured as devices capable of performing part evacuation and part return. Specifically, for example, if the part line PL is configured as a line using the conveyor device Cv as in this embodiment, part evacuation may be performed by changing the conveyor's transport direction near the first evacuation location EP1. Furthermore, a return conveyor may be installed in the first evacuation area EP1, and the parts 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 terminal device 380 owned by a user via wireless communication, and can also communicate with each external sensor 300, the assembly robot 450, the repair device 460, and the part processing device PD via wired or wireless communication. Note that 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 a first acquisition unit 215, a first identification unit 220, an instruction unit 230, a second acquisition unit 245, and a second identification unit 240. The first identification unit 220 is also simply referred to as an identification unit.

[0024] The first acquisition unit 215 acquires defect information. The defect information is information related to defects in parts PT flowing through the part line PL. Hereinafter, parts PT having defects are also referred to as defective parts. The first acquisition unit 215 may acquire defect information by, for example, detecting a defect using the external sensor 300, or may acquire defect information input by a user. The defect information may be transmitted to the server 200 via, for example, the terminal device 380. The defect information may be, for example, information simply indicating that a defect exists, information indicating a defective part of the part PT, or information indicating the type of defect, such as a mechanical defect, an electrical defect, or an appearance defect.

[0025] When first identification unit 220 acquires defect information, it identifies a corresponding vehicle corresponding to the defective part from among the multiple parts PT flowing on part line PL. The corresponding vehicle is vehicle 100 on which the defective part would be installed if the defective part were not defective. First identification unit 220 identifies the corresponding vehicle by, for example, determining the identification number or order of the corresponding vehicle on production line ML based on the identification number of the defective part or its order on part line PL. Note that in this embodiment, first identification unit 220 also identifies the corresponding vehicle in substantially the same manner as above when it acquires completion information, which will be described later.

[0026] 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.

[0027] The instruction unit 230 in this embodiment executes a part evacuation instruction and a vehicle evacuation instruction. Furthermore, the instruction unit 230 in this embodiment also issues a part entry instruction, a vehicle entry instruction, a repair instruction, a part return instruction, and a vehicle return instruction. The vehicle evacuation instruction is also simply referred to as an "evacuation instruction." The part entry instruction is also referred to as a first entry instruction, and the vehicle entry instruction is also referred to as a second entry instruction.

[0028] The component evacuation instruction is an instruction to evacuate a defective 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 defective component from the component line PL to the first evacuation location EP1.

[0029] The vehicle evacuation instruction is an instruction to evacuate the corresponding vehicle from the production line ML by unmanned operation. In the vehicle evacuation instruction in this embodiment, the instruction unit 230 generates a driving control signal to drive the corresponding vehicle out of the production line ML and transmits it to the corresponding vehicle.

[0030] A part entry instruction is an instruction to a device configured to change the position of a part PT flowing on a part line PL to move a subsequent part into the first empty space. The subsequent part is the part PT that follows the defective part on the part line PL. The first empty space is an area that is created when a defective part is evacuated from the part line PL in response to a part evacuation instruction. In other words, the first empty space corresponds to an area that was originally occupied by the defective part on the part line PL. In this embodiment, instructing unit 230 sends a control command to part processing device PD to move the subsequent part to the first empty space.

[0031] The vehicle entry instruction is an instruction to a following vehicle to enter the second empty space. The following vehicle is a vehicle following the corresponding vehicle on the production line ML. The second empty space is an area created when the corresponding vehicle leaves the production line ML due to a vehicle evacuation instruction. In other words, the second empty space corresponds to an area originally occupied by the corresponding vehicle on the production line ML. In the vehicle entry instruction in this embodiment, the instruction unit 230 generates a driving control signal for causing the following vehicle to enter the second empty space and transmits it to the following vehicle. In addition, in this embodiment, the driving control signal generated in the vehicle entry instruction is a driving 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 corresponding vehicle is evacuated. Specifically, when the leading vehicle decelerates, the instruction unit 230 generates a driving control signal for preventing the following vehicle from decelerating compared to the leading vehicle and transmits it to the following vehicle.

[0032] The repair instruction is an instruction to repair the defect of the defective part. The repair instruction in this embodiment is an instruction to repair the defect of the defective part at a repair location. In this embodiment, the first evacuation location EP1 corresponds to the repair location. Also, in this embodiment, the repair instruction is issued to a repair device 460 for repairing the defect. Specifically, in the repair instruction, the instruction unit 230 transmits a control signal to the repair device 460 to cause the repair to be performed at the repair location. The repair device 460 is configured, for example, by a robot capable of repairing the defect. Note that in other embodiments, the repair instruction may include, for example, an instruction to move the defective part to the repair location.

[0033] The component restoration instruction is an instruction to allow a repaired component to enter the component line PL. A repaired component is a component PT whose defect has been repaired, i.e., the original defective component. The component restoration instruction is issued to equipment configured to allow the repaired component to enter the component line PL. In this embodiment, the component restoration instruction is issued to component processing equipment PD. The component restoration instruction is also executed when the repair of the defect in the defective component is completed. Specifically, in this embodiment, the instruction unit 230 issues the component restoration instruction when completion information is acquired. The completion information is information regarding the completion of the repair of the defect in the defective component. As will be described later, the completion information is acquired by the second acquisition unit 245.

[0034] The vehicle return instruction is an instruction to cause the corresponding vehicle, which has been evacuated by the vehicle evacuation instruction, to enter the production line ML in an unmanned operation. More specifically, the vehicle return instruction is an instruction to cause the corresponding vehicle to enter a second return position on the production line ML. The second return position is a location corresponding to the first return position on the parts line PL. The first return position is a position where the repaired part is returned to the parts line PL by the parts return instruction. As will be described later, the second return position is identified by the second identification unit 240. The vehicle return instruction, like the parts return instruction, is executed when the repair of the malfunction of the malfunctioning part is completed. In the vehicle return instruction in this embodiment, the instruction unit 230 generates a driving control signal to cause the corresponding vehicle to travel to the second return position on the production line ML and transmits it to the corresponding vehicle.

[0035] The second acquisition unit 245 acquires the above-mentioned completion information. The completion information may be transmitted to the server 200 via, for example, the terminal device 380. In this case, for example, the user inputs the completion information into the terminal device 380. The completion information may also be transmitted to the server 200 from a device responsible for repairing the malfunction, that is, for example, the repair device 460.

[0036] The second identification unit 240 identifies the second return position based on the first return position. The second identification unit 240 identifies the second position so that the corresponding vehicle will arrive at the assembly area AA in accordance with the repaired part that is returned from the first return position to the parts line PL and headed for the assembly area AA. That is, the second position is identified so that the corresponding vehicle will arrive at the assembly area AA in the order and timing that will allow the corresponding vehicle to be properly assembled in the assembly area AA. This allows the corresponding vehicle to be returned to the production line ML in accordance with the return of the repaired part to the parts line PL, thereby enabling smoother assembly of the corresponding vehicle in the assembly area AA. The first return position may be determined in advance based on, for example, the location of the repair site or the route from the parts line PL to the repair site. The second identification unit 240 may also identify the first return position using, for example, an external sensor 300.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[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] 6 is a flowchart of a manufacturing process for realizing a manufacturing method of the vehicle 100 in this embodiment. The processor 201 executes the manufacturing process, for example, at predetermined time intervals.

[0045] At S105, the instruction unit 230 determines whether or not defect information has been acquired by the first acquisition unit 215. If defect information has been acquired at S105, at S110, the instruction unit 230 identifies the defective part based on the defect information and issues a part evacuation instruction for the identified defective part to the component processing device PD. The component processing device PD to which the part evacuation instruction has been issued evacuates the defective part to the first evacuation location EP1. At S111, the instruction unit 230 issues a part entry instruction to the component processing device PD. The component processing device PD to which the part entry instruction has been issued causes the subsequent part to enter the first empty area R1. At S112, the instruction unit 230 issues a repair instruction to the repair device 460. The repair device 460 to which the repair instruction has been issued repairs the defect in the defective part.

[0046] At S115, first identification unit 220 identifies a corresponding vehicle corresponding to the defective part evacuated at S110. At S120, instruction unit 230 issues a vehicle evacuation instruction to the corresponding vehicle identified at S115. Vehicle control unit 115 of the corresponding vehicle drives to the second evacuation site EP2 using the driving control signal transmitted at step S120. At S121, instruction unit 230 issues a vehicle entry instruction to the following vehicle. Vehicle control unit 115 of the following vehicle drives to the second vacant area R2 using the driving control signal transmitted at step S121.

[0047] At S125, the instruction unit 230 determines whether completion information has been acquired by the second acquisition unit 245. If completion information has been acquired at S125, at S130, the instruction unit 230 identifies the repaired part based on the completion information and issues a part return instruction for the identified repaired part to the part processing device PD. The part processing device PD to which the part return instruction has been issued returns the defective part from the first evacuation location EP1 to the part line PL. At S135, the first identification unit 220 identifies a corresponding vehicle corresponding to the repaired part returned at S130. At S140, the instruction unit 230 issues a vehicle return instruction to the corresponding vehicle identified at S135. The vehicle control unit 115 of the corresponding vehicle travels from the second evacuation location EP2 to the production line ML using the travel control signal transmitted at step S140.

[0048] FIG. 7 is a diagram illustrating an example of a manufacturing process. FIG. 7 illustrates an example in which part PTc is a defective part and vehicle 100c is a corresponding vehicle. Note that FIG. 7 omits part PT, which follows part PTd, and vehicle 100, which follows vehicle 100d. During period pd1 in FIG. 7, part PTa is being assembled to vehicle 100a in assembly area AA. During period pd1, a part evacuation instruction PC1, a part entry instruction PC2, a repair instruction PC3, a vehicle evacuation instruction CC1, and a vehicle entry instruction CC2 are issued. Period pd2 is a period that follows period pd1, specifically, a period after the repair of the defect in part PTc is completed. During period pd2, part PTb is being assembled to vehicle 100b in assembly area AA. During period pd2, a part return instruction PC4 and a vehicle return instruction CC3 are issued.

[0049] During period pd1, in response to a part evacuation instruction PC1, a defective part PTc is evacuated from the part line PL to a first evacuation location EP1. As a result, a first empty area R1 is created on the part line PL between the part PTb preceding the part PTd and the part PTd succeeding the part PTd. In response to a part entry instruction PC2, the part PTd enters the first empty area R1. The repair device 460 to which the repair instruction PC3 has been issued repairs the defect in the part PTc. In addition, in response to a vehicle evacuation instruction CC1, the corresponding vehicle 100c is evacuated from the production line ML to a second evacuation location EP2. As a result, a second empty area R2 is created on the production line ML between the preceding vehicle 100b and the succeeding vehicle 100d. In response to a vehicle entry instruction CC2, the vehicle 100d enters the second empty area R2.

[0050] During period pd2, in response to part return instruction PC4, part PTc, which is a repaired part, is moved from first evacuation location EP1 to part line PL and returns to part line PL at first return position PR1. In the example of FIG. 7, the returned part PTc is located behind part PTd on part line PL. In response to vehicle return instruction CC3, vehicle 100c, the corresponding vehicle, travels from second evacuation location EP2 to production line ML and returns to production line ML at second return position PR2. In the example of FIG. 7, the returned vehicle 100c is located behind vehicle 100d on production line ML. 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.

[0051] According to the server 200 in the present embodiment described above, a vehicle evacuation instruction is issued to evacuate a vehicle corresponding to a defective part evacuated from the part line PL from the production line ML in an unmanned operation. This prevents an incorrect part PT from being assembled on the vehicle 100 in the assembly area AA. More specifically, for example, it prevents a part PT with an incorrect model, color, or grade from being assembled on the vehicle 100. In this way, according to the present embodiment, assembly in the assembly area AA can be performed appropriately.

[0052] In this embodiment, a part entry instruction is issued to instruct a subsequent part to enter the first vacant region R1, and a vehicle entry instruction is issued to instruct a subsequent vehicle to enter the second vacant region R2. Therefore, each vehicle 100 can be efficiently moved on the production line ML, and each part PT can be efficiently moved on the part line PL, thereby enabling more efficient assembly in the assembly area AA. The instruction unit 230 may issue an instruction to cause a subsequent part PT of the subsequent part to enter the vacant region created by the subsequent part entering the first vacant region R1, in addition to causing the subsequent vehicle to enter the second vacant region R2. The instruction unit 230 may issue an instruction to cause a subsequent vehicle 100 of the subsequent vehicle to enter the vacant region created by the subsequent vehicle entering the second vacant region R2.

[0053] Furthermore, in this embodiment, the vehicle entry command causes the following vehicle to enter the second empty area R2 by slowing the following vehicle down less than the preceding vehicle. This allows the following vehicle to enter the second empty area R2. This reduces the speed of the vehicle 100 in a work process, such as assembly or inspection, that is performed upstream of the assembly area AA on the production line ML, compared to when the following vehicle is accelerated more to enter the second empty area R2. As a result, for example, it is possible to prevent the time allocable to a work process from becoming excessively short, or the speed of the vehicle 100 from becoming faster than the speed appropriate for the work process, thereby preventing the work process from being affected by the vehicle 100's high speed. Furthermore, it is possible to save energy required for acceleration.

[0054] Furthermore, in this embodiment, when repair of the defective part is completed, a part return instruction for the repaired part is issued to the part processing device PD, and a vehicle return instruction is issued to the evacuated vehicle to return it to the production line ML in an unmanned manner. This allows the repaired part to be returned to the parts line PL and the vehicle to return to the production line ML without manual work. As a result, using the parts line PL and the production line ML, the repaired part and the vehicle can be merged in the assembly area AA, and the repaired part can be assembled on the vehicle.

[0055] B. Second embodiment: FIG. 8 is a block diagram showing the configuration of the system 50 in the second embodiment. In this embodiment, unlike the first embodiment, the instruction unit 230 executes a skip instruction instead of a vehicle evacuation instruction. Also, in this embodiment, when repair of the malfunction of the defective part is completed, the instruction unit 230 executes a delivery instruction and an assembly instruction instead of a part entry instruction and a vehicle entry instruction. Unless otherwise specified, the other configurations are the same as those in the first embodiment.

[0056] The skip instruction is an instruction to skip the assembly of the corresponding part. The skip instruction is issued, for example, to at least one of the device that performs the assembly in the assembly area AA, the worker that performs the assembly in the assembly area AA, and the manager. In this embodiment, the instruction unit 230 issues the skip instruction to the assembly robot 450. In the skip instruction in this embodiment, the instruction unit 230 transmits a control command to the assembly robot 450 to skip the assembly of the corresponding part.

[0057] In this embodiment, the instruction unit 230 issues a wait instruction along with a skip instruction. The wait instruction is an instruction to cause the corresponding vehicle, whose assembly is to be skipped, to wait at a wait location WP. In this embodiment, the wait instruction is a command to cause the corresponding vehicle to travel in an unmanned manner from the assembly area AA to the wait location WP and wait at the wait location WP. Specifically, the wait instruction is a travel control signal to cause the corresponding vehicle to travel to the wait location WP and stop at the wait location WP. In this embodiment, the wait location WP is located near the assembly area AA. In other embodiments, the wait instruction may, for example, instruct a machine or a worker configured to be able to move the corresponding vehicle from the assembly area AA to the wait location WP to move the corresponding vehicle from the assembly area AA to the wait location WP.

[0058] The delivery instruction is an instruction to move the repaired part toward the corresponding vehicle using equipment other than that of the parts line PL. The delivery instruction is executed by the delivery equipment DD. The delivery equipment DD is equipment configured to move the repaired part toward the vehicle 100. In this embodiment, the delivery equipment DD is configured as an AGV capable of traveling in an area outside the parts line PL, specifically, on a road Rd. The road Rd connects the assembly area AA and a second evacuation area EP2, which serves as a repair location, outside the parts line PL. In the delivery instruction, the instruction unit 230 transmits a control signal to the delivery equipment DD to move the repaired part from the second evacuation area EP2 toward the assembly area AA. In other embodiments, the delivery equipment DD may be, for example, a cart or a drone.

[0059] The assembly instruction is an instruction to assemble the repaired part into the vehicle to be serviced. In this embodiment, the assembly instruction is an instruction to assemble the repaired part into the vehicle to be serviced in the assembly area AA. The assembly instruction is issued, for example, to at least one of the equipment and the worker performing the assembly in the assembly area AA. In this embodiment, the instruction unit 230 issues the assembly instruction to the assembly robot 450. Specifically, in the assembly instruction, the instruction unit 230 transmits, for example, a control command to the assembly robot 450 to assemble the delivered repaired part into the vehicle to be serviced waiting in the waiting area WP. Upon receiving the control command, the assembly robot 450 holds the repaired part and assembles it into the vehicle to be serviced. Note that the instruction unit 230 may issue a standby release instruction to move the vehicle to be serviced from the waiting area WP to the assembly area AA in response to the assembly instruction. The standby release instruction is, for example, an instruction to switch the waiting area WP and the assembly area AA in the standby instruction.

[0060] Figure 9 is a flowchart of a manufacturing process for realizing a manufacturing method for vehicle 100 in the second embodiment. In the manufacturing process in Figure 9, steps that are the same as those in the manufacturing process in Figure 6 are given the same reference numerals. Note that in the manufacturing process in this embodiment, a part entry instruction is not issued, but may be issued in a manner similar to that of the first embodiment.

[0061] After S115, in S122, the instruction unit 230 issues a skip instruction to the assembly robot 450 for the corresponding vehicle identified in S115. When the corresponding vehicle arrives at the assembly area AA, the assembly robot 450 to which the skip instruction has been issued skips assembling the corresponding vehicle. In S123, the instruction unit 230 enters a planned wait state in which it plans to issue a wait instruction to the corresponding vehicle. Specifically, in the planned wait state, when the corresponding vehicle arrives at the assembly area AA, the instruction unit 230 issues a wait instruction to the corresponding vehicle. The corresponding vehicle to which the wait instruction has been issued moves to the waiting location WP by unmanned operation and stops there. As a result, the subsequent vehicle is usually assembled before the corresponding vehicle is assembled. The arrival of the corresponding vehicle at the assembly area AA can be detected, for example, using the identification number of the corresponding vehicle. In this case, for example, the assembly robot 450 or a detector may read the identification number of the part PT arriving at the assembly area AA, and the read identification number may be compared with the identification number of the corresponding part. The identification number of the corresponding part may be transmitted to the assembly robot 450 or the detector from, for example, the terminal device 380 or the server 200. For example, a two-dimensional code or RFID (Radio Frequency Identification) may be used to read the identification number.

[0062] In this embodiment, if completion information is acquired in S125, S135 is executed without executing S130. After S135, in S145, the instruction unit 230 issues a delivery instruction to the delivery device DD. The delivery device DD, to which the delivery instruction has been issued, travels along the road Rd while holding the repaired part, thereby moving the repaired part from the first evacuation location EP1 toward the vehicle 100, more specifically, toward the assembly area AA. In S150, the instruction unit 230 issues an assembly instruction to the assembly robot 450. Note that the assembly instruction may be executed before or after the repaired part arrives at the assembly area AA. When the repaired part arrives at the assembly area AA, the assembly robot 450, to which the assembly instruction has been executed, assembles the repaired part into the corresponding vehicle. Note that the arrival of the repaired part at the assembly area AA can be detected, for example, using the identification number of the repaired part, in substantially the same way as detecting the arrival of the corresponding vehicle.

[0063] FIG. 10 is a diagram illustrating an example of a manufacturing process. Similar to FIG. 7, FIG. 10 shows an example in which part PTc is a defective part and vehicle 100c is a corresponding vehicle. FIG. 10 shows the state of each vehicle 100 and each part PT in periods pd3, pd4, and pd5. Period pd4 is a period that comes later in time than period pd3. Period pd5 is a period that comes later in time than period pd4. Period pd5 is a period after repairs of part PTc are completed.

[0064] During period pd3, part PTa is being assembled into vehicle 100a in assembly area AA. Also during period pd3, part evacuation instruction PC1, repair instruction PC3, and skip instruction CC4 are issued. The part evacuation instruction PC1 and repair instruction PC3 are the same as those in the first embodiment. The skip instruction CC4 causes the assembly robot 450 to enter a skip state CS. The skip state CS is a state in which the assembly robot 450 is scheduled to skip assembly of the corresponding vehicle. Also, the server 200 enters a planned standby state CW in response to the skip instruction CC4.

[0065] Period pd4 is the period after the assembly of part PTb to vehicle 100b is completed, and is the period after vehicle 100c and part PTd arrive at assembly area AA. During period pd2, the assembly robot 450, which is in skip state CS, skips assembly of the corresponding vehicle. Furthermore, the server 200, which is in scheduled standby state CW, issues a standby command CC5 to the corresponding vehicle. In response to the standby command CC5, the corresponding vehicle moves to the standby location WP.

[0066] During period pd5, vehicle 100d arrives at assembly area AA. During period pd3, delivery instruction PC5 and assembly instruction PC6 are executed. In response to delivery instruction PC5, delivery device DD moves part PTc, which is the repaired part, toward vehicle 100d to assembly area AA. In response to assembly instruction PC6, the assembly robot 450 enters assembly state CA. The assembly state CA is a state in which the assembly robot 450 is scheduled to assemble the repaired part into the corresponding vehicle. After period pd5, when part PTc arrives at assembly area AA, the assembly robot 450, in assembly state CA, assembles the arrived part PTc into vehicle 100c.

[0067] According to the server 200 in the present embodiment described above, a skip instruction is issued to skip the assembly of the defective part that has been evacuated from the part line PL to the corresponding vehicle. Therefore, according to the present embodiment, it is possible to prevent the wrong part PT from being assembled to the vehicle 100 in the assembly area AA, and the assembly can be performed appropriately.

[0068] In this embodiment, when the repair of the defective part is completed, a delivery instruction is issued to move the repaired part to the corresponding vehicle using the delivery device DD, and an assembly instruction is issued to assemble the repaired part into the corresponding vehicle. Therefore, the repaired part can be assembled into the corresponding vehicle in the assembly area AA without having to re-enter the repaired part into the parts line PL.

[0069] In other embodiments, when a skip instruction is issued, a wait instruction may not be issued. In this case, the corresponding vehicle may continue traveling on the production line ML, for example, after assembly is skipped in the assembly area AA. In this case, the delivery instruction may be, for example, an instruction to move the repaired part toward the corresponding vehicle traveling on the production line ML. Furthermore, for example, when the corresponding vehicle whose assembly has been skipped heads toward an area subsequent to the assembly area AA, the delivery instruction may be an instruction to move the repaired part toward the subsequent area.

[0070] C. Third embodiment: FIG. 11 is a block diagram showing the configuration of a system 50v in the third embodiment. 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, since the device configuration of the vehicle in this embodiment is the same as that of the vehicle 100 in the first embodiment, for convenience, the vehicle in this embodiment will also be referred to as the vehicle 100.

[0071] In this embodiment, the communication device 130 of the vehicle 100 can communicate with the external sensor 300. The processor 111 of the vehicle control device 110 functions as a vehicle control unit 115v by executing a program PG2 stored in the memory 112. In this embodiment, the instruction unit 230 does not generate a driving control signal. Furthermore, the vehicle control unit 115v can cause the vehicle 100 to drive by autonomous control by controlling the actuator group 120 using the driving control signal generated by the vehicle 100. In addition to the program PG1, the memory 112 stores a reference route RR and a detection model DM.

[0072] 12 is a flowchart showing the processing procedure for driving control of the vehicle 100 in the third embodiment. In the processing procedure in FIG. 12, the processor 111 of the vehicle 100 functions as a vehicle control unit 115v by executing a program PG1.

[0073] 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.

[0074] The manufacturing method of vehicle 100 in this embodiment is realized by the same manufacturing process as in Fig. 6. However, in this embodiment, the vehicle evacuation instruction in S120 is an instruction to evacuate the corresponding vehicle from the production line ML by autonomous control, for example, an instruction to set the destination of the corresponding vehicle to a second evacuation location EP2. Furthermore, the vehicle return instruction in S140 is an instruction to return the corresponding vehicle from the production line ML by autonomous control, for example, an instruction to set the destination of the corresponding vehicle to a second return position PR2 on the production line ML.

[0075] The server 200 in this embodiment described above can also prevent an incorrect part PT from being assembled to the vehicle 100 in the assembly area AA. Therefore, assembly in the assembly area AA can be performed appropriately. Note that in other embodiments, if the vehicle 100 is configured to be able to run by autonomous control, a skip instruction may be executed, for example, as in the second embodiment. That is, the manufacturing method for the vehicle 100 may be realized by, for example, a manufacturing process similar to that shown in FIG. 9.

[0076] D. Other Embodiments: (D1) In each of the above embodiments, both a vehicle evacuation instruction and a skip instruction may be issued.

[0077] (D2) In each of the above embodiments, the part evacuation instruction is issued to part processing equipment PD that is capable of evacuating part PT from part line PL. However, the part evacuation instruction may be issued not to part processing equipment PD but to, for example, a conveyor device CV that is capable of evacuating part PT from part line PL, or to a user. The user may be, for example, a manager or a worker that is capable of evacuating part PT. The part evacuation instruction for the user may be issued to terminal device 380.

[0078] (D3) 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 second vacant area R2 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.

[0079] (D4) In the first embodiment, a part entry instruction is executed, but a part entry instruction need not be executed. Also, substantially similarly, a vehicle entry instruction need not be executed.

[0080] (D5) In each of the above embodiments, a repair instruction is executed, but it does not have to be executed. If a repair instruction is not executed, the defective part may, for example, be disassembled or discarded without being repaired. That is, in this case, a part restoration instruction or a delivery instruction may not be issued. Also, in this case, a new part PT that is compatible with the corresponding vehicle may be assembled in the corresponding vehicle. Also, in this case, the corresponding vehicle may be disassembled or discarded without assembly being executed.

[0081] (D6) In each of the above embodiments, for example, some or all of the part evacuation instruction, vehicle evacuation instruction, part entry instruction, vehicle entry instruction, repair instruction, part return instruction, vehicle return instruction, and standby instruction may be issued by separate functional units for issuing each instruction. For example, each process may be executed by a part evacuation instruction unit, vehicle evacuation instruction unit, part entry instruction unit, vehicle entry instruction unit, repair instruction unit, part return instruction unit, vehicle return instruction unit, and standby instruction unit, respectively. In this case, the functional unit that combines each of the functional units corresponds to the "instruction unit" in this disclosure.

[0082] (D7) In each of the above embodiments, server 200 includes first acquisition unit 215, second identification unit 240, and second acquisition unit 245. However, server 200 may not include some or all of first acquisition unit 215, second identification unit 240, and second acquisition unit 245. In this case, a device other than server 200, such as part processing device PD, assembly robot 450, or repair device 460, may include first acquisition unit 215, second identification unit 240, and second acquisition unit 245.

[0083] (D8) In the second embodiment, the vehicle 100 may include some or all of the functional units included in the server 200. For example, the vehicle 100 may include the first identification unit 220 and the instruction unit 230. In this case, the vehicle 100 corresponds to the "device" in the present disclosure. In this case, the server 200 may be omitted. The vehicle 100 may also include the first acquisition unit 215, the second acquisition unit 245, and the second identification unit 240.

[0084] (D9) 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.

[0085] (D10) 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.

[0086] (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.

[0087] (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.

[0088] (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.

[0089] (D11) In the third 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.

[0090] (D12) In the third 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.

[0091] (D13) 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.

[0092] (D14) 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.

[0093] (D15) 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.

[0094] 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]

[0095] 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...first identification unit, 230...instruction unit, 240...second identification unit, 245...second acquisition unit, 300...external sensor, 380...terminal device, 450...assembly robot, 460...repair equipment

Claims

1. an identification unit that identifies a corresponding mobile body, among one or more mobile bodies that move in an unmanned operation on a production line, onto which a defective part that has been evacuated from a parts line on which a plurality of parts flow is to be assembled, the parts line joining the production line at an assembly area for assembling the part onto the mobile body; An apparatus comprising: an instruction unit that issues at least one of an evacuation instruction to cause the corresponding moving body to evacuate from the manufacturing line by the unmanned operation, and a skip instruction to skip the assembly of the corresponding moving body.

2. 10. The apparatus of claim 1, When the evacuation instruction is issued, the instruction unit: a first entry instruction to instruct a device configured to be able to change the position of each of the components flowing on the component line to cause the component following the defective component to enter a first empty space created by the component being removed from the component line; and issuing a second entry instruction to a subsequent moving body that is the moving body following the corresponding moving body to enter a second empty space that is generated when the corresponding moving body is removed from the production line. Device.

3. 3. The apparatus of claim 2, The instruction unit, in the second entry instruction, causes the following moving body to enter the second 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. 4. An apparatus according to any one of claims 1 to 3, The instruction unit issuing instructions to repair the defect in the withdrawn defective part; Once the repair of the defect has been completed, an instruction to a device configured to be able to introduce the repaired part, which is the part for which the repair has been completed, into the parts line, to introduce the repaired part into the parts line; and issuing an instruction to cause the corresponding mobile object evacuated in response to the evacuation instruction to enter the production line by the unmanned operation. Device.

5. 4. An apparatus according to any one of claims 1 to 3, The instruction unit issuing instructions to repair the defect in the withdrawn defective part; Once the repair of the defect has been completed, an instruction to move the repaired part, which is the part for which the repair has been completed, toward the corresponding moving body using equipment different from that on the part line; and issuing instructions for assembling the repaired part to the corresponding moving body. Device.

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