Control system

Abstract

To provide a technique capable of avoiding an increase in work time due to a change in the state of an accessory when changing the state of the accessory mounted on a moving body according to the characteristics of a worker and work contents.SOLUTION: The control system includes a movable body in which an accessory capable of changing a state is mounted, the movable body being movable by unmanned driving, an acquisition unit configured to acquire work information that is at least one of personal information on a worker engaged in work on the movable body and content information indicating work content, and a control unit configured to change the state of the accessory by using the acquired work information.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to control systems. [Background technology]

[0002] BACKGROUND ART Conventionally, a vehicle that travels in a factory by unmanned operation is known (Patent Document 1). [Prior art documents] [Patent documents]

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

[0004] For vehicle inspections, a worker may board a vehicle and operate the vehicle. In this case, the worker may change the position and posture of equipment such as the seat, steering wheel, and door mirrors to suit the worker's physical characteristics. Furthermore, when parts are assembled or the vehicle is repaired, the worker may change the position and posture of equipment such as the seat and steering wheel, or change the open / closed state of equipment such as door mirrors, power doors, and power windows, depending on the work content. The appropriate state of equipment installed in a vehicle varies depending on the worker's characteristics and the work content. When a worker performs an action to change the state of equipment, there is a risk that the work time will increase. This issue is not limited to vehicles, but is common to all moving objects. [Means for solving the problem]

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

[0006] (1) According to one aspect of the present disclosure, a control system is provided. The control system includes: a mobile body that is capable of moving by unmanned operation and that is equipped with a state-changeable piece of equipment; an acquisition unit that acquires work information, which is at least one of personal information about a worker engaged in work on the mobile body and content information indicating the work content; and a control unit that changes the state of the equipment using the acquired work information. According to this aspect, the control system can automatically change the state of the equipment in accordance with the characteristics of the worker and the work content, without requiring the worker to perform an action to change the state of the equipment. This allows the control system to reduce work time. (2) In the above aspect, the control unit may complete the change of the state of the equipment before the work is started. According to this aspect, the control system can change the state of the equipment in advance before the work is started. This allows the control system to further reduce the work time. (3) In the above aspect, the acquisition unit acquires at least the content information. When the work content identified by the content information includes a piloting operation in which the worker boards and pilots the moving body, the acquisition unit acquires personal information about the worker engaged in the piloting operation, and the control unit may change the state of the equipment using the acquired personal information. According to this aspect, the control system can change the state of the equipment to an appropriate state according to the characteristics of the worker engaged in the piloting operation. This makes it easier for the worker to pilot the moving body. (4) In the above aspect, the control system may further include a memory that stores a database that associates the work information with the status of the equipment, and the control unit may refer to the database to identify the status of the equipment associated with the acquired work information and change the status of the equipment to the identified status. According to this aspect, the control system can easily change the status of the equipment to an appropriate state according to the characteristics of the worker and the work content by referring to the database. (5) In the above aspect, the memory may store a plurality of the databases prepared for each type of the moving object, the acquisition unit may further acquire type information indicating the type of the moving object, and the control unit may refer to the database of the type identified by the acquired type information among the plurality of databases when identifying the state of the equipment. According to this aspect, the control system can change the state of the equipment to a more appropriate state depending on the type of the moving object. The present disclosure can be realized in various forms other than the above-described control system, such as a method for manufacturing a control system, a method for controlling equipment, a computer program for implementing the control method, a non-transitory recording medium on which the computer program is recorded, etc. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a conceptual diagram showing the configuration of a control system according to a first embodiment. [Figure 2] FIG. 1 is a block diagram showing the configuration of a control system. [Figure 3] FIG. 10 is a diagram showing an example of a database. [Figure 4] FIG. 10 is a diagram showing another example of a database. [Figure 5] 3 is a flowchart showing a processing procedure for travel control in the first embodiment. [Figure 6] 10 is a flowchart showing an example of a method for controlling equipment. [Figure 7] FIG. 10 is an explanatory diagram showing a schematic configuration of a control system according to a second embodiment. [Figure 8] 10 is a flowchart showing a processing procedure for travel control in a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] A. First embodiment: 1 is a conceptual diagram showing the configuration of a control system 50 according to the first embodiment. The control system 50 includes one or more vehicles 100 as moving objects, a server 200, and one or more external sensors 300.

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

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

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

[0012] In this embodiment, the control system 50 is used in a factory FC where a vehicle 100 is manufactured. 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. In this embodiment, the factory FC includes a first location PL1, a second location PL2, a third location PL3, and a track TR connecting the locations PL1 to PL3. A plurality of manufacturing processes are performed on the vehicle 100 while the vehicle 100 moves along the track TR. In a first work section WA1 located at the first location PL1 of the track TR, a first work process WP1 of the plurality of manufacturing processes is performed in which a first task is performed on the vehicle 100. In a first transfer section TA1 of the track TR connecting the first location PL1 and the second location PL2, a first transfer process TP1 of the plurality of manufacturing processes is performed in which the vehicle 100 is transported from the first location PL1 to the second location PL2. In the second work section WA2 located at the second location PL2 of the track TR, a second work process WP2 is carried out in which a second task is performed on the vehicle 100 among the multiple manufacturing processes. In the second transport section TA2 of the track TR connecting the second location PL2 and the third location PL3, a second transport process TP2 is carried out in which the vehicle 100 is transported from the second location PL2 to the third location PL3 among the multiple manufacturing processes. In the third work section WA3 located at the second location PL2 of the track TR, a third work process WP3 is carried out in which a third task is performed on the vehicle 100 among the multiple manufacturing processes. Of the track TR, the track width L1 in the first work section WA1, the first transport section TA1, and the second work section WA2 is wider than the predetermined reference width LS. Of the track TR, the track width L2 in the second transport section TA2 and the third work section WA3 is narrower than the reference width LS. Of the track TR, the first working section WA1, the second working section WA2, the second transport section TA2, and the third working section WA3 are located indoors, whereas the first transport section TA1 of the track TR is located outdoors.

[0013] In the factory FC, a plurality of external sensors 300 are installed along the road TR. The external sensors 300 are sensors located outside the vehicle 100. In this embodiment, the external sensors 300 are sensors that capture the vehicle 100 from outside the vehicle 100. 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. Specifically, the external sensors 300 are configured by cameras. The cameras serving as the external sensors 300 capture images of the vehicle 100 and output the captured images as detection results. The positions of the external sensors 300 in the factory FC are adjusted in advance.

[0014] 2 is a block diagram showing the configuration of the control 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.

[0015] Furthermore, the vehicle 100 is equipped with accessories 140 whose various states, such as position, posture, and open / closed state, can be changed. Accordingly, the actuator group 120 further includes a specific actuator for changing the state of the accessories 140. The accessories 140 are, for example, power seats. Hereinafter, the "power seats" will be simply referred to as "seats." In this case, the specific actuator is a seat adjustment device for changing the state of the seats. The accessories 140 may be power tilt-telescopic steering. Hereinafter, the "power tilt-telescopic steering" will be simply referred to as "steering." In this case, the specific actuator is a steering adjustment device for changing the state of the power steering. The accessories 140 may be power door mirrors. Hereinafter, the "power door mirrors" will be simply referred to as "mirrors." In this case, the specific actuator is a mirror adjustment device for changing the state of the mirrors. The accessories 140 may be power doors. Hereinafter, the "power doors" will be simply referred to as "doors." In this case, the specific actuator is a door opening / closing device for changing the state of the doors. The accessories 140 may be power windows. Hereinafter, the term "power window" will be simply referred to as "window." In this case, the specific actuator is a window opening / closing device that changes the state of the window. Note that the vehicle 100 may be equipped with accessories 140 and specific actuators other than those described above.

[0016] 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 functions as a vehicle control unit 115 by executing a program PG1 stored in the memory 112.

[0017] The vehicle control unit 115 controls the actuator group 120 to cause the vehicle 100 to travel. In this embodiment, the vehicle control unit 115 controls the actuator group 120 using a travel control signal received from the server 200 to cause the vehicle 100 to travel. The travel control signal is a control signal for causing the vehicle 100 to travel. In this embodiment, the travel control signal includes the acceleration and steering angle of the vehicle 100 as parameters. In other embodiments, the travel control signal may include the speed of the vehicle 100 as a parameter instead of or in addition to the acceleration of the vehicle 100. Furthermore, in this embodiment, the vehicle control unit 115 changes the state of the equipment 140 by controlling a specific actuator using the equipment control signal received from the server 200. The equipment control signal is a control signal for changing the state of the equipment 140.

[0018] The server 200 is configured by a computer including a processor 201, a memory 202, an input / output interface 203, and an internal bus 204. The processor 201, the memory 202, and the input / output interface 203 are connected via the internal bus 204 to enable bidirectional communication. A communication device 205 is connected to the input / output interface 203 for communicating with various devices external to the server 200. The communication device 205 can communicate with the vehicle 100 via wireless communication, and can communicate with each external sensor 300 via wired communication or wireless communication. The processor 201 executes a program PG2 stored in the memory 202, thereby functioning as an acquisition unit 211 and a remote control unit 212.

[0019] The acquisition unit 211 acquires work information. The work information is at least one of personal information and content information. The personal information is information about a worker engaged in work on the vehicle 100. The personal information is, for example, worker identification information that identifies the worker. The personal information may also be characteristic information that indicates the characteristics of the worker. The characteristic information includes, for example, physique information that indicates the worker's physique. The physique information includes, for example, information that indicates at least one of the worker's height, sitting height, leg length, arm length, and eye level. The characteristic information may also include habit information that indicates the worker's habits. The habit information includes, for example, information that indicates the worker's dominant hand. The content information is information that indicates the work content on the vehicle 100. The content information includes, for example, process identification information that identifies multiple manufacturing processes. The content information may also include operation information that indicates whether the work includes operation work in which a worker boards and operates the vehicle 100. The content information may also include target information that indicates the work target location on the vehicle 100. The content information may include environmental information indicating the driving environment, such as the track widths L1 and L2, whether the driving location is indoors or outdoors, etc. The content information may also include sequence information indicating a predetermined execution sequence of a plurality of manufacturing processes.

[0020] The remote control unit 212 acquires detection results from the sensors, uses the detection results to generate a driving control signal for controlling the actuator group 120 of the vehicle 100, and transmits the driving control signal to the vehicle 100, thereby remotely controlling the vehicle 100 to drive. Furthermore, the remote control unit 212 generates an accessory control signal using the acquired work information. The remote control unit 212 then transmits the accessory control signal to the vehicle 100, thereby remotely controlling the state of the accessory 140. In this embodiment, the remote control unit 212 references a database DB stored in the memory 202 of the server 200, which database DB associates work information with appropriate states of the accessory 140. As a result, the remote control unit 212 identifies the state of the accessory 140 associated with the acquired work information, and generates an accessory control signal for changing the state of the accessory 140 to the identified state.

[0021] FIG. 3 is a diagram showing an example of the database DB. The database DB shown in FIG. 3 has a content table TB1 and a worker-specific table TB2. The content table TB1 indicates the appropriate state ST of the equipment 140 according to the work content. In the example shown in FIG. 3, the content table TB1 associates process identification information SI, driving information DI, object information TI, and environmental information EI, which are content information CI of the work information MI, with sequence information OI and the states ST of the seats, mirrors, doors, and windows, which are the equipment 140. In detail, the content table TB1 specifies the positions PD1, PD2, PP1, and PP2 of each seat in the fore-and-aft direction of the vehicle 100, the open / closed states of the mirrors, the open / closed states of each door, and the open / closed states of each window, as the appropriate states ST of the equipment 140. The worker-specific table TB2 indicates the appropriate states ST of the equipment 140 for each worker. 3, the worker-specific table TB2 associates worker identification information WI, which is personal information PI of the work information MI, with the states ST of the seat, steering wheel, and mirrors, which are the accessories 140. In detail, the worker-specific table TB2 specifies the driver's seat positions PD3 and PD4, the backrest tilt angles AR1 and AR2, the seat heights HS1 and HS2 and tilt angles AS1 and AS2, and the headrest heights HH1 and HH2 as the appropriate states ST of the accessories 140. Furthermore, the worker-specific table TB2 specifies the steering angles TI1 and TI2 and positions TE1 and TE2, and the mirror angles AM1 and AM2 as the appropriate states ST of the accessories 140.

[0022] FIG. 4 is a diagram showing another example of the database DB. The database DB shown in FIG. 4 has a content table TB1 and a physique-specific table TB3. The physique-specific table TB3 shown in FIG. 4 shows appropriate states ST of the equipment 140 according to the physique of the worker. In the example shown in FIG. 4, the physique-specific table TB3 defines the states ST of the equipment 140 for each of three categories classified according to the height of the worker. In detail, the physique-specific table TB3 associates characteristic information FI as personal information PI of the work information MI with the states ST of the seat, steering wheel, and mirrors as the equipment 140. More specifically, the physique-specific table TB3 defines the driver's seat positions PD1, PD5, and PD6, the backrest tilt angles AR3 to AR5, the seat heights HS3 to HS5 and tilt angles AS3 to AS5, and the headrest heights HH3 to HH5 as appropriate states ST of the equipment 140. Furthermore, in the physique-specific table TB3, steering angles TI3 to TI5 and positions TE3 to TE5, and mirror angles AM3 to AM5 are defined as appropriate states ST of the accessories 140.

[0023] In the body size-specific table TB3, the state ST of the accessory 140 is defined, for example, as follows: The position of the driver's seat is defined based on a position PD1 for a standard height, with a position PD5 being more rearward for taller people and a position PD6 being more forward for shorter people. The tilt angle of the driver's seat back is defined based on a tilt angle AR4 for a standard height, with a larger tilt angle AR3 for taller people and a smaller tilt angle AR5 for shorter people. The height of the driver's seat surface is defined based on a height HS4 for a standard height, with a higher height HS3 being higher for taller people and a lower height HS5 for shorter people. The tilt angle of the driver's seat surface is defined based on a tilt angle AS4 for a standard height, with a larger tilt angle AS3 for taller people and a smaller tilt angle AS5 for shorter people. The height of the driver's seat headrest is defined based on a height HH4 for a standard height, with a higher height HH3 being higher for taller people and a lower height HH5 for shorter people.

[0024] The configuration of the database DB is not limited to the above. The database DB only needs to include at least one of a table TB1 in which content information CI and the status ST of the equipment 140 are associated with each other, and tables TB2 and TB3 in which personal information PI and the status ST of the equipment 140 are associated with each other, depending on the type of work information MI acquired. Furthermore, the appropriate status ST of the equipment 140 can be changed as appropriate depending on the situation.

[0025] 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 executes the program PG2 to function as the remote control unit 212. Also, the processor 111 of the vehicle 100 executes the program PG1 to function as the vehicle control unit 115.

[0026] In step S1, the processor 201 of the server 200 acquires vehicle position information using the detection results output from the external sensor 300. The vehicle position information is position information that serves as the basis for generating a driving control signal. In this embodiment, the vehicle position information includes the position and orientation of the vehicle 100 in the global coordinate system GC of the factory FC. Specifically, in step S1, the processor 201 acquires the vehicle position information using a captured image acquired from a camera, which is the external sensor 300.

[0027] In detail, in step S1, the processor 201, for example, detects the outer shape of the vehicle 100 from the captured image, calculates the coordinates of the positioning point of the vehicle 100 in the coordinate system of the captured image, i.e., the local coordinate system, and converts the calculated coordinates into coordinates in the global coordinate system GC, thereby acquiring the position of the vehicle 100. The outer shape of the vehicle 100 contained in the captured image can be detected, for example, by inputting the captured image into a detection model DM that utilizes artificial intelligence. The detection model DM is prepared, for example, inside or outside the control system 50, and is stored in advance 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 can be used as this machine learning model. The training dataset includes, for example, a plurality of training images including the vehicle 100, and labels indicating whether each region in the training images represents the vehicle 100 or a region other than the vehicle 100. During CNN training, it is appropriate to update the parameters of the CNN using backpropagation (back propagation) to reduce errors between the output results of the detection model DM and the labels. In addition, the processor 201 can acquire the orientation of the vehicle 100 by estimating the orientation based on the orientation of the movement vector of the vehicle 100 calculated from changes in the positions of feature points of the vehicle 100 between frames of captured images using, for example, an optical flow method.

[0028] In step S2, the processor 201 of the server 200 determines a target position to which the vehicle 100 should next head. In this embodiment, the target position is represented by X, Y, and Z coordinates in the global coordinate system GC. A reference route RR, which is a route to be traveled by the vehicle 100, is stored in advance in the memory 202 of the server 200. The route is represented by nodes indicating the departure point, nodes indicating passing points, nodes indicating the destination, and links connecting the nodes. The processor 201 uses the vehicle position information and the reference route RR to determine a target position to which the vehicle 100 should next head. The processor 201 determines a target position on the reference route RR that is ahead of the current location of the vehicle 100.

[0029] In step S3, the processor 201 of the server 200 generates a travel control signal for causing the vehicle 100 to travel toward the determined target position. The processor 201 calculates the travel speed of the vehicle 100 from the change in the position of the vehicle 100 and compares the calculated travel speed with the target speed. When the travel speed is lower than the target speed, the processor 201 determines an acceleration such that the vehicle 100 accelerates. When the travel speed is higher than the target speed, the processor 201 determines an acceleration such that the vehicle 100 decelerates. Furthermore, when the vehicle 100 is located on the reference route RR, the processor 201 determines a steering angle and acceleration such that the vehicle 100 does not deviate from the reference route RR. When the vehicle 100 is not located on the reference route RR, in other words, when the vehicle 100 has deviated from the reference route RR, the processor 201 determines a steering angle and acceleration such that the vehicle 100 returns to the reference route RR.

[0030] In step S4, the processor 201 of the server 200 transmits the generated driving control signal to the vehicle 100. The processor 201 repeats, at a predetermined cycle, the acquisition of vehicle position information, the determination of a target position, the generation of a driving control signal, and the transmission of the driving control signal.

[0031] In step S5, the processor 111 of the vehicle 100 receives the driving control signal transmitted from the server 200. In step S6, the processor 111 of the vehicle 100 controls the actuator group 120 using the received driving control signal, thereby causing the vehicle 100 to drive at the acceleration and steering angle indicated in the driving control signal. The processor 111 repeats receiving the driving control signal and controlling the actuator group 120 at a predetermined cycle. According to the control 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.

[0032] FIG. 6 is a flowchart showing an example of a control method for the equipment 140. The control method shown in FIG. 6 is executed, for example, each time each of the work processes WP1 to WP3 is completed. In this embodiment, the server 200 determines whether each of the work processes WP1 to WP3 has been completed. Then, when the server 200 determines that each of the work processes WP1 to WP3 has been completed, the control method shown in FIG. 6 is started so that the change in the state ST of the equipment 140 is completed before the next work is started. For example, the server 200 determines whether each of the work processes WP1 to WP3 has been completed as follows. The server 200 executes a process of identifying the manufacturing processes TP1, TP2, WP1 to WP3 being executed on the vehicle 100 by using the vehicle position information to identify in which of the sections TA1, TA2, WA1 to WA3 on the road TR the vehicle 100 is located. The server 200 executes this process of identifying the manufacturing processes TP1, TP2, WP1 to WP3 being executed on the vehicle 100. The server 200 repeatedly executes this process at a predetermined interval to detect a change in the manufacturing processes TP1, TP2, WP1 to WP3 being executed on the vehicle 100. Then, when the server 200 detects a switch from each of the work processes WP1 to WP3 to each of the transport processes TP1 and TP2, it determines that each of the work processes WP1 to WP3 has been completed. Note that the server 200 may also determine that each of the work processes WP1 to WP3 has been completed when a sensor or the like detects that the worker has dismounted from the vehicle 100. Also, the server 200 may also determine that each of the work processes WP1 to WP3 has been completed when a sensor or the like detects that the worker has left the driver's seat.

[0033] In step S101, the acquisition unit 211 of the server 200 acquires content information CI including process identification information SI and operation information DI. If the work content identified by the content information CI includes operation operation (step S102: Yes), in step S103, the acquisition unit 211 acquires worker identification information WI for the worker engaged in the operation operation. In step S104, the remote control unit 212 of the server 200 refers to the worker-specific table TB2 of the database DB stored in the memory 202 to identify the status ST of the equipment 140 associated with the acquired worker identification information WI. If the work content identified by the content information CI does not include operation operation (step S102: No), the remote control unit 212 executes step S105. In step S105, the remote control unit 212 refers to the content table TB1 of the database DB stored in the memory 202 to identify the status ST of the equipment 140 associated with the acquired process identification information SI. In step S106, the remote control unit 212 generates an equipment control signal for changing the state ST of the equipment 140 to the specified state ST. In step S107, the remote control unit 212 transmits the generated equipment control signal to the vehicle 100. When the vehicle 100 receives the equipment control signal (step S108: Yes), the vehicle control unit 115 of the vehicle 100 executes step S109. In step S109, the vehicle control unit 115 controls the specified actuator using the received equipment control signal to change the state ST of the equipment 140 to the state ST represented in the equipment control signal.

[0034] According to the first embodiment, the server 200 uses the personal information PI as the work information MI to generate an equipment control signal for changing the state ST of the equipment 140 and transmits the signal to the vehicle 100, thereby changing the state ST of the equipment 140. In this way, the control system 50 can change the state ST of the equipment 140 by remote control in accordance with the characteristics of the worker, without requiring the worker to perform an action to change the state ST of the equipment 140. Furthermore, according to the first embodiment, the server 200 uses the content information CI as the work information MI to generate an equipment control signal for changing the state ST of the equipment 140 and transmits the signal to the vehicle 100, thereby changing the state ST of the equipment 140. In this way, the control system 50 can change the state ST of the equipment 140 by remote control in accordance with the work content, without requiring the worker to perform an action to change the state ST of the equipment 140. Therefore, the control system 50 can shorten the work time. Furthermore, the control system 50 can reduce the workload of the worker.

[0035] Furthermore, according to the first embodiment, the acquisition unit 211 acquires at least the content information CI, and when the work content identified by the content information CI includes driving work, it can acquire personal information PI about the worker engaged in the driving work. Then, the remote control unit 212 can change the state ST of the equipment 140 using the acquired personal information PI. In this way, the control system 50 can change the state ST of the equipment 140 to an appropriate state ST according to the characteristics of the worker engaged in the driving work. This makes it easier for the worker to drive the vehicle 100.

[0036] Furthermore, according to the first embodiment, the control system 50 includes a memory 202 that stores a database DB that associates work information MI with the state ST of the equipment 140. Thus, the control system 50 can identify the state ST of the equipment 140 associated with the acquired work information MI by referring to the database DB, and change the state ST of the equipment 140 to the identified state ST. In this way, the control system 50 can easily change the state ST of the equipment 140 to an appropriate state ST according to the characteristics of the worker and the work content by referring to the database DB. The control system 50 may identify the appropriate state ST of the equipment 140 by a method other than referring to the database DB. For example, the control system 50 may identify the appropriate state ST of the equipment 140 by predicting the appropriate state ST of the equipment 140 according to the execution order of the multiple manufacturing processes TP1, TP2, WP1 to WP3, without referring to the database DB.

[0037] Furthermore, according to the first embodiment, the control system 50 can change the state ST of the accessories 140, such as the seat, steering wheel, mirrors, doors, and windows, depending on the characteristics of the worker and the type of work.

[0038] Furthermore, according to the first embodiment, the content table TB1 of the database DB shown in FIGS. 3 and 4 specifies the seat positions in the second work process WP2, which includes work inside the vehicle 100, so as to ensure sufficient work space at the work location. Specifically, in the second work process WP2, which includes work in the rear seat, the driver's seat and passenger seat positions PD2 and PP2 are specified to be further forward than the seat positions PD1 and PP1 in the first work process WP1, which includes work in the driver's seat. This allows the control system 50 to increase the space between the front and rear seats. In this way, the control system 50 can change the seat positions depending on the work location. This allows the control system 50 to improve the worker's workability.

[0039] Furthermore, according to the first embodiment, the content table TB1 specifies that the mirrors and doors, which are the accessories 140 that open and close in the width direction of the vehicle 100, are to be closed in the second transport process TP2 and the third work process WP3, where the track width L2 is narrower than the reference width LS. This allows the control system 50 to close the accessories 140 that open and close in the width direction of the vehicle 100 when the vehicle 100 travels through sections TA2 and WA3, where the track width L2 is narrower than the reference width LS. In this way, the control system 50 can change the state ST of the accessories 140 in accordance with the track widths L1 and L2. This allows the control system 50 to prevent the accessories 140 from contacting manufacturing equipment, building walls, and the like installed along the track TR.

[0040] Furthermore, according to the first embodiment, the content table TB1 specifies that the doors of the work locations are to be in an open state in the first work process WP1 and the second work process WP2, which include work inside the vehicle 100. As a result, when a worker works inside the vehicle 100, the control system 50 can set the doors of the work locations to an open state. In this way, the control system 50 can change the open / close state of the doors depending on the work location. This allows the control system 50 to reduce the time required for the worker to enter the vehicle 100. Furthermore, when it is difficult for the worker to open the doors because the worker is holding a tool, for example, the control system 50 can allow the worker to start work without having to open the doors. Therefore, the control system 50 can further reduce the work time. Note that even when work inside the vehicle 100 is included, such as in the third work process WP3, the control system 50 may close the doors that open and close in the width direction of the vehicle 100 if the track width L2 is narrower than the reference width LS. Furthermore, even if the travel path width L2 is narrower than the reference width LS, if the door to be controlled is a sliding door, the control system 50 may open the door.

[0041] Furthermore, according to the first embodiment, the content table TB1 specifies that each window is closed during the first transport process TP1 in which the vehicle 100 travels through the first transport section TA1 located outdoors. This allows the control system 50 to close the windows when the vehicle 100 is traveling outdoors. In this way, the control system 50 can change the open / closed state of the windows depending on the traveling location. This allows the control system 50 to prevent rain from falling into the vehicle 100 when the vehicle 100 is traveling outdoors.

[0042] Furthermore, according to the first embodiment, the content table TB1 specifies that each window is to be in an open state during the first work process WP1, the second work process WP2, and the third work process WP3, which include work inside the vehicle 100. This allows the control system 50 to open the windows when a worker is working inside the vehicle 100. In this way, the control system 50 can change the open / closed state of the windows depending on the work content. This allows the worker to recognize sounds outside the vehicle 100 while working. Furthermore, when the vehicle 100 is a work-in-progress or semi-finished product before inspection, a malfunction of the battery or the like may prevent the windows from opening. Even in this case, the control system 50 can open the windows in advance. Therefore, the control system 50 can improve work safety.

[0043] Furthermore, according to the first embodiment, the content table TB1 specifies that the position of the driver's seat is to be position PD1 for a standard height in the first work process WP1 and the third work process WP3, which include the piloting operation. In this way, the state ST for a standard build may be preset as the initial value of the state ST of the equipment 140 in the content table TB1. In this way, the control system 50 can reduce the amount of change in the state ST of the equipment 140. This allows the control system 50 to reduce the time required to change the state ST of the equipment 140. Therefore, when the work content identified by the content information CI includes the piloting operation, the control system 50 can reduce the work time even if it changes the state ST of the equipment 140 using the content information CI without using the personal information PI.

[0044] Furthermore, according to the first embodiment, the control system 50 can change the state ST of the accessory 140 to a more appropriate state ST for each worker by referring to the worker-specific table TB2 in the database DB, which is shown in Fig. 3. This makes it easier for the worker to operate the vehicle 100.

[0045] Furthermore, according to the first embodiment, the control system 50 can change the state ST of the equipment 140 in accordance with the physique of the worker by referring to the physique-based table TB3 shown in Fig. 4 in the database DB. In this case, in the physique-based table TB3, the state ST of the equipment 140 is defined for each of three categories classified according to the worker's height. In this way, the physique-based table TB3 defines the state ST of the equipment 140 for each category classified according to the worker's physique, so that the control system 50 can change the state ST of the equipment 140 even if there is no physique information indicating the worker's physique in detail.

[0046] Furthermore, according to the first embodiment, as shown in Fig. 1, after each work process WP1, WP2, WP3 is completed, a transport process TP1, TP2 that does not involve work on the vehicle 100 is executed before the next work process WP1, WP2, WP3 is started, respectively. Then, when each work process WP1 to WP3 is completed, the control system 50 can start the control method for the accessory 140 shown in Fig. 6. In this way, the accessory 140 can be changed to an appropriate state ST in the transport processes TP1, TP2 that do not involve work on the vehicle 100. This allows the control system 50 to further shorten the work time.

[0047] Furthermore, according to the first embodiment, the control system 50 can complete the change of the state ST of the equipment 140 before the next task is started. In this way, the control system 50 can change the state ST of the equipment 140 in advance before the next task is started. This prevents variations in the time required to change the state ST of the equipment 140, which may occur due to differences in the state ST of the equipment 140 depending on the characteristics of the worker, the task content, and the state ST of the equipment 140 before the change. Therefore, the control system 50 can stabilize the task time in each of the task processes WP1 to WP3. Furthermore, the control system 50 can further shorten the task time by completing the change of the state ST of the equipment 140 before the next task is started. This prevents an increase in the time required to change the state ST of the equipment 140 when the operating speed is slower when the state ST of the equipment 140 is electrically and automatically changed by external control compared to when the state ST of the equipment 140 is manually and mechanically changed.

[0048] 6 when each of the work processes WP1 to WP3 is completed, and the control system 50 may complete the change of the state ST of the equipment 140 after the next work is started. Even in this way, the control system 50 can start changing the state ST of the equipment 140 in the transport processes TP1 and TP2 that do not involve work. This allows the control system 50 to shorten the work time.

[0049] B. Second embodiment: 7 is an explanatory diagram showing a schematic configuration of a control system 50v in the second embodiment. In this embodiment, the control system 50v differs from the first embodiment in that it does not include a server 200. Furthermore, the vehicle 100v in this embodiment can travel by autonomous control of the vehicle 100v. The other configurations are the same as those in the first embodiment unless otherwise specified.

[0050] In this embodiment, the processor 111v of the vehicle control device 110v executes a program PG1 stored in the memory 112v, thereby functioning as a vehicle control unit 115v and an acquisition unit 116. The acquisition unit 116 acquires work information MI. The vehicle control unit 115v acquires output results from sensors, generates a driving control signal using the output results, and outputs the generated driving control signal to operate the actuator group 120, thereby causing the vehicle 100v to drive by autonomous control. Furthermore, the vehicle control unit 115v uses the acquired work information MI to generate an accessory control signal, and controls a specific actuator using the generated accessory control signal to change the state ST of the accessory 140. In this embodiment, in addition to the program PG1, a detection model DM, a reference route RR, and a database DB are pre-stored in the memory 112v.

[0051] Fig. 8 is a flowchart showing the procedure for controlling the running of the vehicle 100v in the second embodiment. In the procedure in Fig. 8, the processor 111v of the vehicle 100v functions as a vehicle control unit 115v by executing a program PG1.

[0052] In step S901, the processor 111v of the vehicle control device 110v acquires vehicle position information using the detection results output from the camera, which is the external sensor 300. In step S902, the processor 111v determines a target position to which the vehicle 100v should next head. In step S903, the processor 111v generates a driving control signal for driving the vehicle 100v toward the determined target position. In step S904, the processor 111v controls the actuator group 120 using the generated driving control signal, thereby causing the vehicle 100v to drive in accordance with the parameters represented in the driving control signal. The processor 111v repeats the acquisition of vehicle position information, determination of the target position, generation of the driving control signal, and control of the actuators at a predetermined cycle. According to the control system 50v of this embodiment, the vehicle 100v can be driven by autonomous control of the vehicle 100v without remote control of the vehicle 100v by the server 200.

[0053] According to the second embodiment, the control system 50v can change the state ST of the equipment 140 through autonomous control of the vehicle 100v in accordance with the characteristics of the worker and the work content, without requiring the worker to perform any action to change the state ST of the equipment 140.

[0054] C. Other Embodiments: (C1) The control method for the equipment 140 as shown in Fig. 6 may be executed during a shift change time when workers are changed in the same work processes WP1 to WP3. In this way, the control system 50, 50v can change the state ST of the equipment 140 when workers are changed in the same work processes WP1 to WP3. This makes it easier for the worker to operate the vehicle 100. Furthermore, the control system 50, 50v can change the state ST of the equipment 140 to an appropriate state by utilizing the shift change time between workers. This allows the control system 50, 50v to further shorten the work time.

[0055] (C2) The memory 112v, 202 may store multiple databases DB prepared for each type of vehicle 100, 100v. In this case, the acquisition unit 116, 211 further acquires type information indicating the type of vehicle 100, 100v. When identifying the state ST of the equipment 140, the control unit 115v, 212 refers to the database DB of the type identified by the acquired type information among the multiple databases DB. In this way, when the size, shape, placement, etc. of the equipment 140 differ depending on the type of vehicle 100, 100v, the control system 50, 50v can change the state ST of the equipment 140 to a more appropriate state ST. Furthermore, even when the size and shape of the vehicle 100, 100v itself, the type and number of installed equipment 140, etc. differ depending on the type of vehicle 100, 100v, the control system 50, 50v can change the state ST of the equipment 140 to a more appropriate state ST.

[0056] (C3) When changing the state ST of a plurality of pieces of equipment 140, the control unit 115v, 212 may change the state ST of at least two or more pieces of equipment 140 simultaneously. In this way, the control system 50, 50v can reduce the time required to change the state ST of the piece of equipment 140. This allows the control system 50, 50v to further reduce the operation time.

[0057] (C4) 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, 100v. In this case, the server 200 or the vehicle 100, 100v 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.

[0058] (C5) 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.

[0059] (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.

[0060] (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.

[0061] (3) In the above embodiments (1) and (2), the vehicle 100 may be equipped with an internal sensor, and detection results output from the internal sensor may be used for at least one of generating a route and generating a driving control signal. The internal sensor is a sensor equipped in the vehicle 100. The internal sensor may include, for example, a sensor that detects the motion state of the vehicle 100, a sensor that detects the operating state of each part of the vehicle 100, and a sensor that detects the environment around the vehicle 100. Specifically, the internal sensor may include, for example, a camera, LiDAR, millimeter-wave radar, an ultrasonic sensor, a GPS sensor, an acceleration sensor, a gyro sensor, etc. For example, in the above embodiment (1), the server 200 may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the route when generating a route. In the above embodiment (1), the vehicle 100 may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the driving control signal when generating a driving control signal. In the above embodiment (2), the vehicle 100 may acquire the detection results of the internal sensor and reflect the detection results of the internal sensor in the route when generating a route. In the above embodiment (2), the vehicle 100 may acquire the detection result of the internal sensor, and when generating the driving control signal, may reflect the detection result of the internal sensor in the driving control signal.

[0062] (C6) In the second embodiment, the vehicle 100v may be equipped with an internal sensor, and the detection results output from the internal sensor may be used for at least one of generating a route and generating a driving control signal. For example, the vehicle 100v may acquire the detection results of the internal sensor and, when generating a route, reflect the detection results of the internal sensor in the route. The vehicle 100v may acquire the detection results of the internal sensor and, when generating a driving control signal, reflect the detection results of the internal sensor in the driving control signal.

[0063] (C7) In the second embodiment, the vehicle 100v acquires vehicle position information using the detection results of the external sensor 300. Alternatively, the vehicle 100v may be equipped with an internal sensor. The vehicle 100v may acquire vehicle position information using the detection results of the internal sensor, determine a target position to which the vehicle 100v should next travel, generate a route from the current location of the vehicle 100v represented in the acquired vehicle position information to the target 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 100v can travel without using any of the detection results of the external sensor 300. The vehicle 100v may acquire a target arrival time or traffic congestion information from outside the vehicle 100v and reflect the target arrival time or traffic congestion information in at least one of the route and the driving control signal. Furthermore, all of the functional configuration of the control system 50v may be provided in the vehicle 100v. In other words, the processing performed by the control system 50v in the present disclosure may be performed solely by the vehicle 100v.

[0064] (C8) 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.

[0065] (C9) In each of the above embodiments, the vehicle 100, 100v may have a configuration that allows it to travel by unmanned driving, and may be in the form of a platform having the configuration described below, for example. Specifically, the vehicle 100, 100v may have at least a vehicle control device 110, 110v and an actuator group 120 to perform the three functions of "running," "turning," and "stopping" by unmanned driving. When the vehicle 100, 100v acquires information from the outside for unmanned driving, the vehicle 100, 100v may further have a communication device 130. In other words, the vehicle 100, 100v that can travel by unmanned driving may not be equipped with at least some interior parts such as a driver's seat or a dashboard, may not be equipped with at least some exterior parts such as a bumper or a fender, and may not be equipped with a body shell. In this case, the remaining components, such as the body shell, may be attached to the vehicle 100, 100v before the vehicle 100, 100v is shipped from the factory FC, or the remaining components, such as the body shell, may be attached to the vehicle 100, 100v after the vehicle 100, 100v is shipped from the factory FC without the remaining components, such as the body shell, being attached to the vehicle 100, 100v. Each component may be attached from any direction, such as the top, bottom, front, rear, right side, or left side of the vehicle 100, 100v, and may be attached from the same direction or from different directions. Note that the position of the platform configuration may also be determined in the same manner as for the vehicle 100, 100v in the first embodiment.

[0066] (C10) Vehicle 100, 100v 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 vehicle 100, 100v. For example, the platform of vehicle 100, 100v 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. Furthermore, in addition to or instead of the platform, portions of vehicle 100, 100v that are different from the platform may be modularized. Furthermore, various modules may include any exterior part such as a bumper or a grille, or any interior part such as a seat or a console. Furthermore, not limited to vehicle 100, 100v, any type of mobile object may be manufactured by combining multiple modules. Such a module may be manufactured, for example, by joining multiple parts by welding or fasteners, or by integrally molding at least a portion of the module into a single part by casting. The molding technique of integrally molding at least a portion of a module as a single component is also called gigacasting or megacasting. By using gigacasting, each part of a moving object that was previously formed by joining multiple components can be formed as a single component. For example, the front module, center module, and rear module described above may be manufactured using gigacasting.

[0067] (C11) Transporting vehicles 100, 100v using unmanned driving of vehicles 100, 100v 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 vehicles 100, 100v using self-propelled transport is also called "self-propelled production." In self-propelled production, for example, at a factory FC where vehicles 100, 100v are manufactured, at least a portion of the transport of vehicles 100, 100v is realized by self-propelled transport.

[0068] The present disclosure is not limited to the above-described embodiments and can be realized in various configurations without departing from the spirit thereof. For example, the technical features of the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention section can be appropriately replaced or combined to solve some or all of the above-described problems or achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0069] 50, 50v... control system, 100, 100v... vehicle, 110, 110v... vehicle control device, 111, 111v... processor of vehicle control device, 112, 112v... memory of vehicle control device, 113... input / output interface of vehicle control device, 114... internal bus of vehicle control device, 115, 115v... vehicle control unit, 116, 211... acquisition unit, 120... actuator group, 130... vehicle communication device, 140... equipment, 200... server, 20 1...server processor, 202...server memory, 203...server input / output interface, 204...server internal bus, 205...server communication device, 212...remote control unit, 300...external sensor, AM1 to AM5...mirror angle, AR1 to AR5...backrest tilt angle, AS1 to AS5...seat tilt angle, CI...content information, DB...database, DI...operation information, DM...detection model, EI...environmental information, FC...factory, FI...feature information information, GC...global coordinate system, HH1~HH5...headrest height, HS1~HS5...seat height, L1,L2...travel path width, LS...reference width, MI...operation information, OI...sequence information, PD1~PD6,PP1,PP2...seat position, PG1,PG2...program, PI...personal information, PL1...first location, PL2...second location, PL3...third location, RR...reference route, SI...process identification information, ST...equipment status, TA1...first transport section, TA 2...Second transport section, TB1...Contents table, TB2...Table by worker, TB3...Table by physique, TE1 to TE5...Steering position, TI...Object information, TI1 to TI5...Steering angle, TP1...First transport process, TP2...Second transport process, TR...Travel path, WA1...First work section, WA2...Second work section, WA3...Third work section, WI...Worker identification information, WP1...First work process, WP2...Second work process, WP3...Third work process

Claims

1. 1. A control system comprising: a mobile body equipped with equipment whose state can be changed and capable of moving by unmanned operation; an acquisition unit that acquires work information, which is at least one of personal information about a worker engaged in work on the moving object and content information indicating the work content; a control unit that changes the state of the equipment using the acquired work information.

2. 2. The control system of claim 1, The control unit completes the change in the state of the equipment before the work is started.

3. 2. The control system of claim 1, The acquisition unit acquires at least the content information, When the work content identified by the content information includes a driving operation in which the worker gets on and drives the moving body, the acquisition unit acquires the personal information about the worker engaged in the piloting work, The control unit changes the state of the equipment using the acquired personal information.

4. 10. The control system of claim 1, further comprising: a memory that stores a database in which the work information and the status of the equipment are associated with each other; The control unit refers to the database to identify the state of the equipment associated with the acquired work information, and changes the state of the equipment so that it becomes the identified state.

5. 5. The control system of claim 4, the memory stores a plurality of the databases prepared for each type of the mobile object; The acquisition unit further acquires type information indicating the type of the moving object, The control unit, when identifying the status of the equipment, refers to the database of the type identified by the acquired type information, among the plurality of databases.

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